CN117653266A

CN117653266A - Intercondylar fossa osteotomy planning device, intercondylar fossa automatic osteotomy device and related equipment

Info

Publication number: CN117653266A
Application number: CN202410134406.2A
Authority: CN
Inventors: 马朝阳; 姚凤杰; 陆臻陶; 姜黎威
Original assignee: Xinjunte Suzhou Medical Technology Co ltd
Current assignee: Xinjunte Suzhou Medical Technology Co ltd
Priority date: 2024-01-31
Filing date: 2024-01-31
Publication date: 2024-03-08
Anticipated expiration: 2044-01-31
Also published as: CN117653266B

Abstract

The application provides an intercondylar fossa osteotomy planning device, an intercondylar fossa automatic osteotomy device and related equipment, and relates to the technical field of robot control. According to the method, the coordinate system of the marked prosthesis of the knee joint prosthesis to be assembled is transformed according to the prosthesis size information of the knee joint prosthesis to be assembled under the reference coordinate system, so that an osteotomy feed point coordinate system of the knee joint prosthesis to be assembled under the reference coordinate system is obtained, tool tail end track planning is conducted under the osteotomy feed point coordinate system according to the osteotomy radius of the rotary osteotomy tool and the intercondylar fossa prosthesis size information, and coordinate system transformation is conducted according to the expected assembly pose information of the knee joint prosthesis to be assembled under the base coordinate system of the operation robot relative to the intercondylar fossa of the entity to be osteotomy, so that at least one layer of expected osteotomy track of the rotary osteotomy tool acting on the intercondylar fossa of the entity to be osteotomy under the base coordinate system is obtained, the high-precision intercondylar fossa automatic osteotomy function of the operation robot is achieved, and the TKA operation is ensured to achieve the expected effect.

Description

Intercondylar fossa osteotomy planning device, intercondylar fossa automatic osteotomy device and related equipment

Technical Field

The application relates to the technical field of robot control, in particular to an intercondylar fossa osteotomy planning device, an intercondylar fossa automatic osteotomy device and related equipment.

Background

Knee joint is one of the largest and most important joints of human body, and the disease loss of knee joint can seriously affect the activity function of a patient and reduce the life quality of the patient. For knee joints where severe lesions exist (e.g., severe knee osteoarthritis, rheumatoid knee inflammatory late lesions, severe joint post-traumatic knee dysfunction, knee osteocartilage necrosis involving the articular surface, bone tumors, etc.), knee prostheses may be used to replace the original knee joint with TKA (Total Knee Arthroplasty, total knee replacement) surgery to reconstruct knee function, improving the quality of life of the patient.

At present, the TKA surgery generally needs to cut off a small amount of bones of femur, tibia and intercondylar fossa at the knee joint to be operated so as to cut off a tibial plateau on the tibia, cut off five intersecting plateau surfaces on the femur, and remove intercondylar fossa osseous structures at the intercondylar fossa, thereby cutting off a model of the knee joint to be operated, which is matched with the knee joint prosthesis to be assembled, so as to realize the installation of the prosthesis.

With the continuous development of science and technology, the application of the robot technology in various industries is more and more extensive, and the use of the robot to assist the TKA surgery is an important application direction of the robot technology in the medical industry at present. Currently, robots generally play a role in locating and maintaining an osteotomy plane during an auxiliary TKA procedure, so that an attending physician can directly drag an osteotomy tool (e.g., a swing saw, a milling cutter, a grinding drill, etc.) in the osteotomy plane defined by the robot to perform a manual osteotomy operation, thereby completing the entire TKA procedure.

In this procedure, it is noted that the intercondylar fossa belongs to a narrower but deeper U-like fossa surface, and the physician needs to fix the target solid intercondylar fossa by means of a guide plate, and remove the intercondylar fossa bony structure by using an osteotomy tool such as a reciprocating saw or chisel under the guiding action of the guide plate. The scheme for removing the intercondylar fossa bone structure generally leads the osteotomy tool not to accurately perform the osteotomy on Ji Daoban edges due to the thickness of the mechanical structure of the guide plate, and simultaneously leads to phenomena of hand shake, doctor fatigue and the like easily occurring in the manual osteotomy process, and/or phenomena of installation deflection, unstable installation and the like easily occurring in the guide plate installation process, so that the final intercondylar fossa osteotomy precision is poor, the anastomosis degree of the corresponding osteotomy fossa bone structure and the knee joint prosthesis is not high, the knee joint prosthesis cannot be normally installed on the osteotomy knee joint, so that the TKA operation cannot achieve the expected effect, and even the operation failure phenomenon occurs.

Disclosure of Invention

In view of the above, an object of the present application is to provide a method and an apparatus for planning intercondylar fossa osteotomies, a method and an apparatus for automatic intercondylar fossa osteotomies, a computer device, a surgical robot, and a readable storage medium, which can plan an expected osteotomic track with a size adapted to an intercondylar fossa of a knee prosthesis to be assembled according to size information of the intercondylar fossa prosthesis to be assembled, and realize an automatic intercondylar fossa osteotomic function of the surgical robot through the planned expected osteotomic track, so as to improve intercondylar fossa osteotomic precision, intercondylar fossa osteotomic stability, improve a coincidence degree between an osteotomic structure of the resected intercondylar fossa and the knee prosthesis to be assembled, and synchronously simplify TKA operation flow, promote TKA operation efficiency, ensure that TKA operation achieves an expected effect, and ensure that the robot automatic osteotomic scheme provided by the present application has remarkable effectiveness and safety.

In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

in a first aspect, the present application provides a method of intercondylar notch osteotomy planning, the method comprising:

acquiring prosthesis size information of a knee joint prosthesis to be assembled and an osteotomy radius of a rotary osteotomy tool, wherein the rotary osteotomy tool is arranged at the tail end of a robot of a surgical robot;

Performing coordinate system transformation on a marked prosthesis coordinate system of the knee joint prosthesis to be assembled under a reference coordinate system according to the prosthesis size information to obtain an osteotomy feed point coordinate system of the knee joint prosthesis to be assembled under the reference coordinate system;

performing tool end track planning on the rotary osteotomy tool under the osteotomy feed point coordinate system according to the osteotomy radius and intercondylar fossa prosthesis size information included in the prosthesis size information to obtain at least one layer of tool end movement track under the osteotomy feed point coordinate system, wherein the projection position of each layer of tool end movement track on a plane of the intercondylar fossa prosthesis bottom surface of the knee prosthesis to be assembled is positioned in the intercondylar fossa prosthesis bottom surface;

acquiring expected assembly pose information of the knee joint prosthesis to be assembled relative to the intercondylar fossa of the entity to be osteotomy under a basic coordinate system of the surgical robot;

and respectively carrying out coordinate system transformation on all tool tail end moving tracks under the osteotomy feed point coordinate system according to the coordinate system transformation relation between the osteotomy feed point coordinate system and the marking prosthesis coordinate system and the expected assembly pose information to obtain at least one layer of expected osteotomy track acted on the intercondylar fossa of the entity to be osteotomy by the rotary osteotomy tool under the base coordinate system, wherein each layer of expected osteotomy track independently corresponds to one layer of tool tail end moving track.

In an alternative embodiment, the knee prosthesis to be assembled includes a femoral prosthesis structure and an intercondylar glenoid prosthesis structure, the femoral prosthesis structure includes a posterior condylar assembly surface, a posterior oblique assembly surface, a distal end assembly surface, an anterior oblique assembly surface and an anterior condylar assembly surface, the marked prosthesis coordinate system is located on the distal end assembly surface at a marked prosthesis position corresponding to the femoral prosthesis structure, the intercondylar glenoid prosthesis structure is fixedly connected with the posterior condylar assembly surface, the posterior oblique assembly surface, the distal end assembly surface and the anterior oblique assembly surface at the same time, and the step of transforming the marked prosthesis coordinate system of the knee prosthesis to be assembled under a reference coordinate system according to the prosthesis size information to obtain an osteotomy point coordinate system of the knee prosthesis to be assembled under the reference coordinate system includes:

determining a target vertical plane of the condylar fossa prosthesis bottom surface according to the prosthesis size information, wherein the target vertical plane is perpendicular to the condylar fossa prosthesis bottom surface, and the target vertical plane intersects the condylar fossa prosthesis bottom surface and the front oblique fitting surface at the same plane intersection line;

and deflecting the marked prosthesis coordinate system towards a target position far away from the bottom surface of the intercondylar fossa prosthesis on the target vertical plane under the reference coordinate system to obtain the osteotomy feed point coordinate system, wherein the origin of the coordinate system of the osteotomy feed point coordinate system is overlapped with the target position, and the distance from the target position to the plane intersection is greater than or equal to the structural depth of the intercondylar fossa prosthesis structure.

In an optional embodiment, the step of performing tool end trajectory planning on the rotary osteotomy tool under the osteotomy feed point coordinate system according to the intercondylar fossa prosthesis size information included in the tool radius and the prosthesis size information to obtain at least one layer of tool end movement trajectory under the osteotomy feed point coordinate system includes:

determining vertex coordinates corresponding to four bottom vertexes of the condylar fossa prosthesis bottom surface under the osteotomy feed point coordinate system according to the structure depth of the condylar fossa prosthesis structure, the length information and the width information of the condylar fossa prosthesis bottom surface included in the condylar fossa prosthesis size information;

determining the vertex coordinates of four moving boundary vertexes of the tool tail end central part of the rotary osteotomy tool on the bottom surface of the intercondylar fossa prosthesis according to the vertex coordinates of the four bottom surface vertexes and the osteotomy radius, wherein each moving boundary vertex is independently close to one bottom surface vertex, and the actual distance from each moving boundary vertex to the bottom surface edge of the bottom surface of the intercondylar fossa prosthesis is consistent with the osteotomy radius;

performing full coverage path planning in a circle center moving area matched with the four moving boundary vertexes according to the vertex coordinates of the four moving boundary vertexes to obtain a target tool tail end moving track of the rotary osteotomy tool corresponding to the bottom surface of the intercondylar fossa prosthesis under the osteotomy feed point coordinate system;

And carrying out track translation on the moving track of the tail end of the target tool along the direction of the structure depth towards the origin of the coordinate system of the osteotomy feed point coordinate system according to the preset track planning layer number to obtain the moving track of the tail end of the at least one layer tool comprising the moving track of the tail end of the target tool, wherein the total track translation frequency is obtained by subtracting one from the preset track planning layer number.

In an optional embodiment, the step of performing full coverage path planning in a circle center moving area matched with the four moving boundary vertices according to the vertex coordinates of the four moving boundary vertices to obtain a target tool end moving track of the rotary osteotomy tool corresponding to the bottom surface of the intercondylar notch prosthesis under the osteotomy feed point coordinate system includes:

grouping the four moving boundary vertexes to obtain two vertex combinations corresponding to the length direction or the width direction of the bottom surface of the intercondylar fossa prosthesis, wherein the connecting lines between the two moving boundary vertexes included by the two vertex combinations are parallel to the length direction or the width direction;

for each vertex combination, performing path point interpolation planning between the two moving boundary vertices with the osteotomy diameter of the rotary osteotomy tool as interpolation interval according to the vertex coordinates of each of the two moving boundary vertices included in the vertex combination, so as to obtain the path point coordinates of each of all interpolation path points between the two moving boundary vertices, wherein the osteotomy diameter is twice the osteotomy radius;

Randomly selecting one moving boundary vertex from two moving boundary vertices included in any vertex combination as a tool terminal moving starting point, and determining a corresponding tool terminal moving end point from the two moving boundary vertices included in the rest vertex combination according to the total number of interpolation path points corresponding to the single vertex combination;

and planning an arcuate path according to the actual coordinates of the tool tail end moving starting point, the tool tail end moving end point and all interpolation path points corresponding to the osteotomy feed point coordinate system, so as to obtain the target tool tail end moving track.

In an alternative embodiment, the step of obtaining the desired fitting pose information of the knee prosthesis to be fitted relative to the intercondylar fossa of the entity to be osteotomy in the base coordinate system of the surgical robot comprises:

acquiring a relative assembly pose relation between a marked reference position on a intercondylar fossa model of the entity intercondylar fossa to be osteotomy and a marked prosthesis position of the knee joint prosthesis to be assembled under the reference coordinate system, wherein the marked prosthesis position corresponds to the marked prosthesis coordinate system;

performing point cloud registration on a bone tracer corresponding to the intercondylar fossa of the entity to be osteotomized and the reference coordinate system to obtain a target registration matrix of the reference coordinate system relative to the bone tracer;

Performing relative pose registration on the bone tracer and the surgical robot to obtain an actual pose matrix of the bone tracer relative to the base coordinate system;

and carrying out coordinate system transformation on the relative assembly pose relation according to the target registration matrix and the actual pose matrix to obtain the expected assembly pose information.

In an alternative embodiment, the step of registering the relative pose of the bone tracer and the surgical robot to obtain an actual pose matrix of the bone tracer with respect to the base coordinate system includes:

performing pose calibration on the rotary osteotomy tool and the surgical robot to obtain a first pose calibration matrix of a tool coordinate system of the rotary osteotomy tool relative to the base coordinate system;

performing pose registration on the bone tracer and the tool tracer to obtain a first pose registration matrix of the bone tracer relative to the tool tracer;

performing pose registration on the tool tracer and the rotary osteotomy tool to obtain a second pose registration matrix of the tool tracer relative to a tool coordinate system of the rotary osteotomy tool;

And performing matrix multiplication operation on the first pose calibration matrix, the second pose registration matrix and the first pose registration matrix to obtain an actual pose matrix corresponding to the bone tracer.

performing pose registration on a base tracer and the surgical robot to obtain a third pose registration matrix of the base tracer relative to the base coordinate system;

performing pose registration on the bone tracer and the base tracer to obtain a fourth pose registration matrix of the bone tracer relative to the base tracer;

and performing matrix multiplication operation on the third pose registration matrix and the fourth pose registration matrix to obtain an actual pose matrix corresponding to the skeleton tracer.

In a second aspect, the present application provides an automated intercondylar notch osteotomy method for use with a surgical robot having a rotary osteotomy tool mounted on a robotic end of the surgical robot, the method comprising:

Acquiring at least one layer of expected osteotomy track of the rotary osteotomy tool for an intercondylar fossa of an entity to be osteotomized in a basic coordinate system of the surgical robot, wherein the at least one layer of expected osteotomy track is matched with a intercondylar fossa prosthesis structure of the knee prosthesis to be assembled;

determining the execution sequence of osteotomy operations of the at least one layer of expected osteotomy tracks at the intercondylar fossa of the entity to be osteotomized according to the relative depth relation of the at least one layer of expected osteotomy tracks at the intercondylar fossa of the entity to be osteotomized;

according to the execution sequence of the respective osteotomy operation of the at least one layer of expected osteotomy track, the surgical robot is controlled to drive the rotary osteotomy tool to perform osteotomy on the intercondylar fossa of the entity to be osteotomized according to the corresponding expected osteotomy track in order to cut a bone surface structure matched with the structure size of the intercondylar fossa prosthesis in the intercondylar fossa of the entity to be osteotomized.

In an alternative embodiment, said at least one desired osteotomy trace is planned using an intercondylar notch osteotomy planning method as described in any of the preceding embodiments.

In a third aspect, the present application provides an intercondylar notch osteotomy planning device, the device comprising:

The tool information acquisition module is used for acquiring prosthesis size information of the knee joint prosthesis to be assembled and an osteotomy radius of a rotary osteotomy tool, wherein the rotary osteotomy tool is arranged at the tail end of a robot of the surgical robot;

the feed coordinate transformation module is used for carrying out coordinate system transformation on a marked prosthesis coordinate system of the knee joint prosthesis to be assembled under a reference coordinate system according to the prosthesis size information to obtain an osteotomy feed point coordinate system of the intercondylar fossa prosthesis bottom surface of the knee joint prosthesis to be assembled under the reference coordinate system;

the movement track planning module is used for carrying out tool end track planning on the rotary osteotomy tool under the osteotomy feed point coordinate system according to the osteotomy radius and the intercondylar fossa prosthesis size information included in the prosthesis size information to obtain at least one layer of tool end movement track under the osteotomy feed point coordinate system, wherein the projection position of each layer of tool end movement track on the plane of the intercondylar fossa prosthesis bottom surface is positioned in the intercondylar fossa prosthesis bottom surface;

the prosthesis pose acquisition module is used for acquiring expected assembly pose information of the knee joint prosthesis to be assembled relative to the intercondylar fossa of the entity to be osteotomy under the basic coordinate system of the surgical robot;

And the osteotomy track planning module is used for respectively carrying out coordinate system transformation on all tool tail end movement tracks under the osteotomy feed point coordinate system according to the coordinate system transformation relation between the osteotomy feed point coordinate system and the marking prosthesis coordinate system and the expected assembly pose information to obtain at least one layer of expected osteotomy track acted on the intercondylar fossa of the entity to be osteotomy by the rotary osteotomy tool under the base coordinate system, wherein each layer of expected osteotomy track independently corresponds to one layer of tool tail end movement track.

In a fourth aspect, the present application provides an automated intercondylar notch osteotomy device for use with a surgical robot, wherein a rotary osteotomy tool is mounted at a robotic end of the surgical robot, the device comprising:

the system comprises an osteotomy track acquisition module, a rotation type osteotomy tool, a rotation type surgical robot and a rotation type surgical robot, wherein the osteotomy track acquisition module is used for acquiring at least one layer of expected osteotomy track aiming at an intercondylar fossa of an entity to be osteotomy under a basic coordinate system of the surgical robot, and the at least one layer of expected osteotomy track is matched with an intercondylar fossa prosthesis structure of a knee joint prosthesis to be assembled;

the osteotomy sequence determining module is used for determining the osteotomy operation execution sequence of each of the at least one layer of expected osteotomy tracks at the intercondylar fossa of the entity to be osteotomy according to the relative depth relation of the at least one layer of expected osteotomy tracks at the intercondylar fossa of the entity to be osteotomy;

The rotary osteotomy control module is used for sequentially controlling the surgical robot to drive the rotary osteotomy tool to perform osteotomy on the intercondylar fossa of the entity to be osteotomized according to the respective osteotomy operation execution sequence of the at least one layer of expected osteotomy track so as to cut a bone surface structure matched with the structure size of the intercondylar fossa prosthesis in the intercondylar fossa of the entity to be osteotomized according to the corresponding expected osteotomy track.

In a fifth aspect, the present application provides a computer device, including a processor and a memory, where the memory stores a computer program executable by the processor, where the processor may execute the computer program to implement the method for intercondylar notch osteotomy planning as described in any one of the preceding embodiments, or drive the operation of the intercondylar notch osteotomy planning apparatus in the preceding embodiments.

In a sixth aspect, the present application provides a surgical robot, a rotary osteotomy tool is mounted at a robot end of the surgical robot, the surgical robot including a processor and a memory, the memory storing a computer program executable by the processor, the processor being executable by the processor to implement the automatic intercondylar fossa osteotomy method of any of the previous embodiments, or to drive the intercondylar fossa osteotomy planning device of the previous embodiments to operate.

In a seventh aspect, the present application provides a readable storage medium, on which a computer program is stored, where the computer program is executed to implement the method for planning an intercondylar notch according to any one of the foregoing embodiments, or to drive a computer device to load and operate the apparatus for planning an intercondylar notch according to any one of the foregoing embodiments, or to drive a surgical robot to implement the method for automatically cutting an intercondylar notch according to any one of the foregoing embodiments, or to drive a surgical robot to load and operate the apparatus for automatically cutting an intercondylar notch according to any one of the foregoing embodiments, where an osteotomy tool of a rotary osteotomy tool is mounted at a robot end of the surgical robot.

In this case, the beneficial effects of the embodiments of the present application may include the following:

1. according to the size information of the intercondylar fossa prosthesis of the knee joint prosthesis to be assembled, a desired osteotomy track with the size being matched is planned for the intercondylar fossa of the entity to be osteotomy, the automatic intercondylar fossa osteotomy function of the surgical robot is realized through the planned desired osteotomy track, the intercondylar fossa osteotomy precision and the intercondylar fossa osteotomy stability are improved, so that the good assembly anastomosis degree of an osteotomy face structure of the intercondylar fossa and the knee joint prosthesis to be assembled is ensured, and the automatic intercondylar fossa osteotomy scheme provided by the robot for the intercondylar fossa is remarkably effective and safe;

2. According to the method, the intercondylar fossa osteotomy track planning operation is matched with the robot automatic osteotomy operation, so that a main doctor is not required to conduct the intercondylar fossa artificial osteotomy operation by virtue of the guide plate and the osteotomy tool, the operation flow related to the intercondylar fossa in the TKA operation process is greatly simplified, the complicated preoperative guide plate installation flow and the intraoperative osteotomy tool replacement flow are avoided, the TKA operation efficiency is improved, meanwhile, the pain of a patient caused by guide plate installation and/or manual osteotomy in the TKA operation process is avoided, and the pain of the patient caused by the TKA operation is greatly reduced;

3. the intercondylar fossa osteotomy track planning scheme and the intercondylar fossa automatic osteotomy scheme provided by the application have strong scheme universality, can be suitable for various knee joint prostheses with intercondylar fossa prosthesis structures and different styles, and can drive a surgical robot provided with a rotary osteotomy tool to perform automatic osteotomy operation on the entity intercondylar fossa so as to cut out a bone surface structure matched with the intercondylar fossa prosthesis structure size of the knee joint prostheses in the corresponding entity intercondylar fossa, thereby facilitating normal installation of the knee joint prostheses, improving the success rate of TKA surgery and ensuring that TKA surgery achieves the expected effect.

In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a computer device according to an embodiment of the present disclosure;

fig. 2 is a schematic view of the components of a knee prosthesis to be assembled according to an embodiment of the present application;

fig. 3 is a flow chart of a method for planning intercondylar notch osteotomy provided in an embodiment of the present application;

fig. 4 is a schematic flow chart of the sub-steps included in step S220 in fig. 3;

FIG. 5 is a prosthetic sagittal view of a femoral prosthetic structure and an intercondylar notch prosthetic structure included in a knee prosthesis to be assembled as provided in an embodiment of the present application;

fig. 6 is a flow chart illustrating the sub-steps included in step S230 in fig. 3;

FIG. 7 is a schematic plan view of a tool tip movement trajectory corresponding to a bottom surface of an intercondylar notch prosthesis according to an embodiment of the present application;

FIG. 8 is a flow chart illustrating the sub-steps involved in step S240 in FIG. 3;

Fig. 9 is a schematic diagram of the composition of a surgical robot according to an embodiment of the present disclosure;

FIG. 10 is a flow chart of an automated intercondylar notch osteotomy method provided in an embodiment of the present application;

FIG. 11 is a schematic diagram of the composition of an intercondylar notch osteotomy planning device provided in an embodiment of the present application;

fig. 12 is a schematic view of the composition of an automatic intercondylar notch osteotomy device according to an embodiment of the present application.

Icon: 10-a computer device; 11-a first memory; 12-a first processor; 13-a first communication unit; 100-an intercondylar fossa osteotomy planning device; 110-a tool information acquisition module; 120-a feed coordinate transformation module; 130-a movement track planning module; 140-a prosthesis pose acquisition module; 150-an osteotomy track planning module; 20-surgical robot; 21-a second memory; 22-a second processor; 23-a second communication unit; 300-automatic bone cutting device for intercondylar fossa; 310-an osteotomy track acquisition module; 320-an osteotomy sequence determination module; 330-a rotational osteotomy control module.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present application, it should be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like indicate orientations or positional relationships based on those shown in the drawings, or those conventionally put in place when the product of the application is used, or those conventionally understood by those skilled in the art, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the application.

In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Furthermore, in the description of the present application, it is to be understood that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a schematic diagram illustrating a composition of a computer device 10 according to an embodiment of the present application. In this embodiment of the present application, the computer device 10 may be communicatively connected to a surgical robot equipped with an osteotomy tool (including tools such as a swing saw, a milling cutter, and a grinding drill), and according to the prosthesis size information of the knee joint prosthesis to be assembled and the tool size information of the osteotomy tool, an osteotomy track adapted to each prosthesis assembly surface of the knee joint prosthesis to be assembled is planned for the knee joint prosthesis to be operated, so as to drive the surgical robot to implement an automatic osteotomy function on the knee joint to be operated, thereby improving the precision of the osteotomy of the knee joint, the accuracy of the osteotomy of the knee joint, and the stability of the osteotomy of the knee joint, avoiding osteotomy errors caused by manual osteotomy operation, ensuring that the knee joint prosthesis to be assembled can be normally installed on the solid knee joint after osteotomy, and effectively ensuring that TKA surgery achieves an expected effect, and simultaneously, by means of the robot automatic osteotomy operation, greatly simplifying TKA surgery flow, avoiding a pre-operation guide plate installation flow and in-operation osteotomy tool replacement surgery flow, and avoiding TKA from causing great pain to the patient due to manual operation in the procedure.

Wherein the computer device 10 may be an electronic device independent of the surgical robot, the computer device 10 may be, but is not limited to, a personal computer, a server, etc.; the computer device 10 may also be a physical hardware device integrated with the surgical robot; the surgical robot may be, but is not limited to, a position control mechanical arm, a force control mechanical arm, a mechanical arm with force and position mixed control, etc.; the knee joint prosthesis to be assembled at least comprises an intercondylar notch prosthesis structure.

In the embodiment of the present application, the computer device 10 may include a first memory 11, a first processor 12, a first communication unit 13, and an intercondylar notch osteotomy planning apparatus 100. The first memory 11, the first processor 12, and the first communication unit 13 are electrically connected directly or indirectly to each other, so as to realize data transmission or interaction. For example, the first memory 11, the first processor 12 and the first communication unit 13 may be electrically connected to each other through one or more communication buses or signal lines.

In this embodiment, the first Memory 11 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. Wherein the first memory 11 is configured to store a computer program, and the first processor 12 may execute the computer program accordingly after receiving an execution instruction.

In this embodiment, the first processor 12 may be an integrated circuit chip with signal processing capability. The first processor 12 may be a general purpose processor including at least one of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU) and a network processor (Network Processor, NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application.

In this embodiment, the first communication unit 13 is configured to establish a communication connection between the computer device 10 and other electronic devices through a network, and send and receive data through the network, where the network includes a wired communication network and a wireless communication network. For example, the computer device 10 may obtain, through the first communication unit 13, a three-dimensional digital model of each of the knee joint prosthesis to be assembled and the knee joint to be operated, and obtain, by performing information identification on the three-dimensional digital model, size information of each of the knee joint prosthesis to be assembled and the knee joint to be operated; the computer device 10 may also send an osteotomy track planned for the knee joint to be operated to the surgical robot through the first communication unit 13, so as to drive the surgical robot to perform an automatic osteotomy operation on the knee joint to be operated according to the osteotomy track.

In this embodiment, the intercondylar notch osteotomy planning apparatus 100 includes at least one software functional module capable of being stored in the first memory 11 in the form of software or firmware or being cured in the operating system of the computer device 10. The first processor 12 may be configured to execute executable modules stored in the first memory 11, such as software functional modules and computer programs included in the intercondylar notch osteotomy planning device 100. The computer device 10 may plan, by using the intercondylar fossa osteotomy planning apparatus 100, a desired osteotomy track adapted to the size of the intercondylar fossa prosthesis of the knee prosthesis to be assembled according to the intercondylar fossa of the entity to be osteotomy, so as to achieve the automatic intercondylar fossa osteotomy function of the surgical robot according to the planned desired osteotomy track, improve the intercondylar fossa osteotomy precision, the intercondylar fossa osteotomy precision and the intercondylar fossa osteotomy stability, avoid the intercondylar fossa osteotomy error caused by the manual osteotomy operation, improve the anastomosis degree of the osteotomy surface structure of the intercondylar fossa and the knee prosthesis to be assembled, and simultaneously simplify the a operation flow, improve TKA operation efficiency, so as to facilitate the normal installation of the knee prosthesis including the intercondylar fossa prosthesis structure on the entity intercondylar fossa, improve TKA operation success rate, ensure that TKA operation achieves the desired effect, and ensure that the automatic osteotomy scheme of the robot provided by the intercondylar fossa has remarkable effectiveness and safety.

It will be appreciated that the block diagram shown in fig. 1 is merely a schematic diagram of one component of the computer device 10, and that the computer device 10 may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.

And for the above knee prosthesis to be assembled, it can be described with reference to the composition diagram shown in fig. 2. In embodiments of the present application, the knee prosthesis to be assembled may include a femoral prosthesis structure, an intercondylar notch prosthesis structure, and a tibial prosthesis structure. Wherein the femoral prosthetic structure may include 5 femoral bone-mounting surfaces (i.e., the posterior condylar-mounting surface, the posterior oblique-mounting surface, the distal-mounting surface, the anterior oblique-mounting surface, and the anterior condylar-mounting surface of fig. 2) by which the femoral prosthetic structure is mounted on the solid femur of the osteotomy knee joint; the tibial prosthetic structure may include a tibial mounting surface (i.e., the tibial mounting surface of fig. 2) with a taper feature provided thereon to enable the tibial prosthetic structure to be mounted on a solid tibia of an osteotomy knee joint via the tibial mounting surface and taper feature; the intercondylar notch prosthesis structure is mounted on the femur prosthesis structure and is fixedly connected with a rear intercondylar assembling surface, a rear oblique assembling surface, a far-end assembling surface and an front oblique assembling surface on the femur prosthesis structure, the intercondylar notch prosthesis structure comprises a intercondylar notch prosthesis bottom surface, and the intercondylar notch prosthesis bottom surface is the outer side surface of the intercondylar notch prosthesis structure far away from the femur prosthesis structure, when the femur prosthesis structure is mounted on a solid femur of an osteotomy knee joint, the bone structure in the solid intercondylar notch on the solid femur needs to be removed, and the size of the corresponding osteotomy solid notch bone surface structure is matched with that of the intercondylar notch prosthesis structure, so that the intercondylar notch prosthesis structure can be smoothly embedded into the solid intercondylar notch of the solid femur, and the mounting firmness of the femur prosthesis structure on the osteotomy knee joint is improved. In one implementation of this embodiment, the knee prosthesis to be assembled may be a Posterior Stabilized (PS) knee prosthesis or a posterior cruciate ligament (CR) knee prosthesis with intercondylar notch prosthesis structure.

Thus, in the case of the knee prosthesis to be assembled shown in fig. 2, the prosthesis assembly surface to which the knee prosthesis to be assembled relates consists of the posterior condylar assembly surface, the posterior oblique assembly surface, the distal assembly surface, the anterior oblique assembly surface, the anterior condylar assembly surface, the tibial assembly surface and the intercondylar fossa prosthesis bottom surface; the computer device 10 requires an osteotomy trajectory planning for the physical intercondylar fossa of the knee joint to be operated to drive the surgical robot to segment the corresponding physical intercondylar fossa into a intercondylar fossa bone surface structure that matches the intercondylar fossa prosthesis structure of the knee joint prosthesis to be assembled to ensure that the intercondylar fossa prosthesis structure of the knee joint prosthesis to be assembled can be normally installed on the physical intercondylar fossa after osteotomy.

It will be appreciated that the drawing shown in fig. 2 is only a schematic illustration of one composition of the knee prosthesis to be assembled, which may also include more or fewer components than shown in fig. 2, or have a different configuration than shown in fig. 2.

In this application, in order to ensure that the computer device 10 can plan a desired osteotomy track with a size fit for a condyle fossa of a solid to-be-osteotomy according to size information of the condyle fossa prosthesis of the knee prosthesis to be assembled, so as to achieve an automatic intercondylar fossa osteotomy function of the surgical robot through the planned desired osteotomy track, improve intercondylar fossa osteotomy precision, intercondylar fossa osteotomy precision and intercondylar fossa osteotomy stability, avoid intercondylar fossa osteotomy errors caused by manual osteotomy operation, improve the anastomosis degree of an osteotomy structure of the intercondylar fossa and the knee prosthesis to be assembled, and synchronously simplify TKA operation flow, improve TKA operation efficiency, so as to facilitate normal installation of the knee prosthesis including the intercondylar fossa prosthesis structure on the solid fossa, improve TKA operation success rate, and the embodiment of the application provides a method for planning intercondylar fossa osteotomy to achieve the above-mentioned purposes. The intercondylar fossa osteotomy planning method provided herein is described in detail below.

Referring to fig. 3, fig. 3 is a flow chart of an intercondylar notch osteotomy planning method according to an embodiment of the present application. In an embodiment of the present application, the method for planning an intercondylar notch osteotomy may include step S210 to step S250.

Step S210, obtaining prosthesis size information of the knee prosthesis to be assembled and an osteotomy radius of a rotary osteotomy tool, wherein the rotary osteotomy tool is mounted at a robot end of the surgical robot.

The prosthetic size information may include surface size information of each femoral fitting surface in the femoral prosthetic structure, a plane angle between two adjacent femoral fitting surfaces, surface size information of a tibial fitting surface of the tibial prosthetic structure, and intercondylar notch prosthetic size information, where the intercondylar notch prosthetic size information includes a depth of structure of the intercondylar notch prosthetic structure, length information and width information of a bottom surface of the intercondylar notch prosthetic structure, a plane angle between the bottom surface of the intercondylar notch prosthetic structure and the anterior oblique fitting surface, a plane angle between the bottom surface of the intercondylar notch prosthetic structure and the posterior condyle fitting surface, and the like.

The rotary osteotomy tool is an osteotomy tool for removing the bone structure through rotary action, and osteotomy modes related to the rotary osteotomy tool can comprise a milling mode, a grinding mode and the like, and the osteotomy radius is the working radius of the rotary osteotomy tool when the tool tail end removes the bone structure. In one implementation of this embodiment, the rotary osteotomy tool may be a milling cutter corresponding to a milling mode or a grinding drill corresponding to a grinding mode.

And step S220, carrying out coordinate system transformation on a marked prosthesis coordinate system of the knee joint prosthesis to be assembled under a reference coordinate system according to the prosthesis size information to obtain an osteotomy feed point coordinate system of the knee joint prosthesis to be assembled under the reference coordinate system.

In this embodiment, after the computer device 10 acquires the prosthesis size information of the knee prosthesis to be assembled and the osteotomy radius of the rotary osteotomy tool, a three-dimensional prosthesis model of the knee prosthesis to be assembled may be constructed under a reference coordinate system corresponding to a CT (Computed Tomography, electronic computer tomography) image, and a marked prosthesis coordinate system of a marked prosthesis portion of the knee prosthesis to be assembled on the three-dimensional prosthesis model may be constructed under the reference coordinate system, so as to represent the actual assembly pose condition of the condylar prosthesis structure by the pose condition of the marked prosthesis portion, and then the computer device 10 may obtain an osteotomy point coordinate system for delineating an intercondylar initial osteotomy plane by performing a coordinate system translation operation and a coordinate system rotation operation on the marked prosthesis coordinate system under the reference coordinate system, wherein a distance from the osteotomy point coordinate system to a condylar prosthetic bottom surface of the condylar prosthesis structure is greater than or equal to the depth of the intercondylar prosthesis structure, and the intercondylar cavity initial osteondylar prosthesis structure is the intercondylar surface of the intercondylar prosthesis.

It is to be understood that the marked prosthesis part may be a physical part on the knee prosthesis to be assembled or may be a virtual part provided for the knee prosthesis to be assembled; the marked prosthetic site corresponds to a standard alignment site (namely a marked reference site) at the physical intercondylar fossa of the knee joint to be operated, and the assembly pose state of the intercondylar fossa prosthetic structure relative to the physical intercondylar fossa of the knee joint to be operated can be described by describing the pose state of the marked prosthetic site relative to the marked reference site under the same coordinate system.

In one implementation of this embodiment, the marker prosthesis site corresponding to the marker prosthesis coordinate system is disposed on a plane on which the distal assembly surface of the femoral prosthesis structure is located, wherein the marker prosthesis site may be disposed at a projection position of the central axis of the femoral prosthesis structure on the plane on which the distal assembly surface is located.

Optionally, referring to fig. 4, fig. 4 is a flowchart illustrating the sub-steps included in step S220 in fig. 3. In the embodiment of the present application, the step S220 may include a substep S221 and a substep S222 to accurately determine a matching osteotomy feed point coordinate system for the intercondylar notch prosthetic structure under the coordinate system corresponding to the CT image.

Substep S221, determining a target vertical plane of the condylar notch prosthesis bottom surface according to the prosthesis size information, wherein the target vertical plane is perpendicular to the condylar notch prosthesis bottom surface, and the target vertical plane intersects the condylar notch prosthesis bottom surface and the front oblique fitting surface at the same plane intersection line.

Taking the prosthetic sagittal view of the femoral prosthetic structure and the intercondylar notch prosthetic structure shown in fig. 5 as an example, the line segment in fig. 5abI.e. for characterizing the posterior condylar-fitting surface, line segment in fig. 5bcI.e. for characterizing the rear oblique mounting face, line segment in fig. 5cdI.e. for characterizing said distal mounting surface, line segments in fig. 5deI.e. for characterizing the front oblique assembly plane, line segment in fig. 5efI.e. for characterizing the anterior condyle fitting surface, line segment in fig. 5ghI.e. for characterizing the condylar fossa prosthesis base surface, line segmentsghThe specific value of (2) is consistent with the length information L of the condylar notch prosthesis bottom surface, the letters in FIG. 5jFor characterizing the plane intersection between the condylar-socket prosthesis base surface and the plane of the distal fitting surface, points in fig. 5I.e. for characterizing the marker prosthesis site, in which case the coordinate system +.>Namely the marked prosthesis coordinate system of the marked prosthesis part under the reference coordinate system, plane +. >I.e. the plane of the distal mounting surface, line segment in FIG. 5go ₁ I.e. for characterizing the target vertical plane, letters in fig. 5gPlane intersection lines for characterizing the common intersection of the target vertical plane, the condylar-socket prosthesis bottom surface, and the anterior-oblique fitting surface, the letters in fig. 5iFor representing a planar intersection between the target vertical plane and the distal mounting surface.

Sub-step S222, deflecting the marked prosthesis coordinate system towards a target position far away from the bottom surface of the intercondylar fossa prosthesis on a target vertical plane under the reference coordinate system to obtain an osteotomy feed point coordinate system, wherein the origin of the coordinate system of the osteotomy feed point coordinate system is overlapped with the target position, and the distance from the target position to the plane intersection line is greater than or equal to the structural depth of the intercondylar fossa prosthesis structure.

Wherein the target location may take the form of a point in FIG. 5To indicate, the osteotomy feed point coordinate system is the coordinate system +.>Plane->Namely the initial intercondylar fossa osteotomy plane corresponding to the bottom surface of the intercondylar fossa prosthesis, the distance +.>Greater than or equal to the depth of structure H of the intercondylar notch prosthesis structure. In one implementation of the present example, the distance +.>Is consistent with the depth H of the intercondylar notch prosthesis structure.

At this time, the coordinate system transformation relationship between the osteotomy feed point coordinate system and the marker prosthesis coordinate system may be expressed by the following formula:

；

wherein,for representing the osteotomy feed point coordinate system,/->For representing the marksProsthesis coordinate system->For representing the distance of the plane intersection between the anterior oblique fitting surface and the distal fitting surface to the origin of the coordinate system of the marker prosthesis, < >>For representing the distance between the plane intersection of said target vertical plane and said front oblique mounting face and said distal mounting face, respectively,/for each of said target vertical plane and said front oblique mounting face>For representing the plane angle between said target vertical plane and said distal mounting surface, +.>For representing the distance from the plane intersection between the target vertical plane and the distal mounting surface to the origin of the osteotomy feed point coordinate system. Furthermore, the->For representing a translation operator->For representing a rotation operator, wherein a translation operator is typically represented by the following equation: />

；

The rotation operator is typically expressed using the following equation:

。

therefore, the matched osteotomy feed point coordinate system can be accurately determined for the intercondylar notch prosthesis structure under the illumination coordinate system corresponding to the CT image by executing the substeps S221-S222.

Step S230, planning a tool tail end track of a rotary osteotomy tool according to the intercondylar fossa prosthesis size information included in the osteotomy radius and prosthesis size information under an osteotomy feed point coordinate system, and obtaining at least one layer of tool tail end moving track under the osteotomy feed point coordinate system.

In this embodiment, the projection position of the movement track of each layer of tool end on the plane of the intercondylar fossa prosthesis bottom surface of the knee joint prosthesis to be assembled is located in the intercondylar fossa prosthesis bottom surface, and the rotary osteotomy tool can remove the bone structure with the volume and shape matched with the intercondylar fossa prosthesis structure under the osteotomy feed point coordinate system through all the planned tool end movement tracks.

Optionally, referring to fig. 6, fig. 6 is a flowchart illustrating the sub-steps included in step S230 in fig. 3. In an embodiment of the present application, the step S230 may include sub-steps S231 to S234 to plan at least one layer of tool tip movement track for the rotary osteotomy tool under an osteotomy feed point coordinate system for removing a bony structure that matches the condylar notch prosthesis structure size.

Substep S231, determining vertex coordinates corresponding to four bottom vertices of the condylar glenoid prosthesis bottom under an osteotomy feed point coordinate system according to the structural depth of the condylar glenoid prosthesis structure, the length information and the width information of the condylar glenoid prosthesis bottom included in the condylar glenoid prosthesis size information.

Taking the two tool tip movement trajectories shown in fig. 7 (a) and (b) as an example, if the projected position of the coordinate system origin of the osteotomy feed point coordinate system on the condylar notch prosthesis bottom surface is at the upper edge center position of the condylar notch prosthesis bottom surface, the vertex coordinates of the condylar notch prosthesis bottom surface at the left upper corner bottom surface vertex in fig. 7 (a) or (b) can be expressed asThe vertex coordinates of the condylar notch prosthesis bottom surface at the top right corner bottom surface vertex in fig. 7 (a) or (b) can be expressed as +.>The vertex coordinates of the condylar-socket prosthetic floor at the bottom left corner vertex in fig. 7 (a) or (b) may be expressed asThe vertex coordinates of the condylar notch prosthesis bottom surface at the bottom surface vertex of the lower right corner in fig. 7 (a) or (b) can be expressed as +.>WhereinHFor representing the depth of the structure of the intercondylar notch prosthesis,Wwidth information representing the bottom surface of the intercondylar notch prosthesis,Lfor representing length information of the condylar notch prosthesis bottom surface. />

In the substep S232, the vertex coordinates of the four moving boundary vertices of the tool end center part of the rotary osteotomy tool on the bottom surface of the intercondylar notch prosthesis are determined according to the vertex coordinates and the osteotomy radius of the four bottom surface vertices.

Wherein each mobile boundary vertex is individually proximate to a bottom surface vertex, and wherein the actual distance of each mobile boundary vertex from the bottom surface edge of the intercondylar notch prosthesis bottom surface is consistent with the osteotomy radius.

Taking the two osteotomy tip movement trajectories shown in fig. 7 (a) and (b) as an example, the vertex coordinates of the upper left corner movement boundary vertex Pl1 in the bottom surface of the intercondylar notch prosthesis can be expressed asThe vertex coordinates of the upper right corner movement boundary vertex Pr1 within the condylar notch prosthesis floor may be expressed asThe vertex coordinates of the left inferior angle movement boundary vertex Pl2 within the condylar notch prosthesis floor can be expressed as +.>The vertex coordinates of the lower right corner movement boundary vertex Pr2 within the condylar notch prosthesis floor may be expressed asWhereinrFor representing the osteotomy radius of the rotary osteotomy tool.

And S233, performing full-coverage path planning in a circle center moving area matched with the four moving boundary vertexes according to the vertex coordinates of the four moving boundary vertexes to obtain a target tool tail end moving track of the rotary osteotomy tool corresponding to the bottom surface of the intercondylar fossa prosthesis under an osteotomy feed point coordinate system.

In this embodiment, after determining that the central part of the tool end of the rotary osteotomy tool is located at four moving boundary vertices in the bottom surface of the condylar fossa prosthesis, the computer device 10 determines a rectangular area on the basis of the four moving boundary vertices in the inner circle of the bottom surface of the condylar fossa prosthesis, so as to represent the movable range of the central part of the tool end in the bottom surface of the condylar fossa prosthesis by using the rectangular area, and at this moment, the rectangular area is the circle center moving area, and the computer device 10 can perform full coverage path planning on the central part of the tool end in the circle center moving area, so as to ensure that the finally obtained target tool end moving track can effectively ensure that the rotary osteotomy tool removes the bony structure matched with the structure size of the condylar fossa prosthesis.

Optionally, in one implementation manner of this embodiment, the substep S233 may include substep a to substep D:

and (C) sub-step A, grouping four moving boundary vertexes to obtain two vertex combinations corresponding to the length direction or the width direction of the bottom surface of the intercondylar fossa prosthesis, wherein the connecting lines between the two moving boundary vertexes included in the two vertex combinations are parallel to the length direction or the width direction.

Taking the tool end movement track shown in fig. 7 (a) as an example, four movement boundary vertices may be divided into two vertex combinations, so that an upper left corner movement boundary vertex Pl1 and a lower left corner movement boundary vertex Pl2 form a vertex combination, and an upper right corner movement boundary vertex Pr1 and a lower right corner movement boundary vertex Pr2 form a vertex combination, so as to ensure that a connecting line between two movement boundary vertices included in the two vertex combinations is parallel to the length direction of the intercondylar notch prosthesis bottom surface.

Taking the tool end movement track shown in fig. 7 (b) as an example, four movement boundary vertices may be divided into two vertex combinations, so that an upper left corner movement boundary vertex Pl1 and an upper right corner movement boundary vertex Pr1 form a vertex combination, and a lower left corner movement boundary vertex Pl2 and a lower right corner movement boundary vertex Pr2 form a vertex combination, so as to ensure that a connection line between two movement boundary vertices included in the two vertex combinations is parallel to the width direction of the intercondylar notch prosthesis bottom surface.

And B, performing path point interpolation planning between the two moving boundary vertexes by taking the osteotomy diameter of the rotary osteotomy tool as an interpolation interval according to the vertex coordinates of the two moving boundary vertexes included in each vertex combination, and obtaining the path point coordinates of all interpolation path points between the two moving boundary vertexes, wherein the osteotomy diameter is twice the osteotomy radius.

If the connecting line between two moving boundary vertexes included in a single vertex combination is parallel to the length direction of the bottom surface of the intercondylar fossa prosthesis, the number of interpolation path points between the two moving boundary vertexes corresponding to the vertex combination can be expressed by the formulaCalculated, whereinDFor representing the osteotomy diameter, +.>For representing a downward rounding function.

Taking the tool end moving trajectory shown in fig. 7 (a) as an example, when the number of interpolation path points corresponding to a single vertex combination is 5, the coordinates of the respective path points including 5 interpolation path points corresponding to the vertex combination of the upper left corner moving boundary vertex Pl1 and the lower left corner moving boundary vertex Pl2 (i.e., path points P1, P2, P3, P4, and P5) are sequentially 、、、、And the coordinates of the 5 interpolation path points (i.e., path points P1', P2', P3', P4', and P5 ') corresponding to the vertex combination including the upper right corner moving boundary vertex Pr1 and the lower right corner moving boundary vertex Pr2 are +.>、、、、。

Wherein if the connecting line between two moving boundary vertexes included in a single vertex combination is parallel to the width direction of the bottom surface of the intercondylar fossa prosthesis, the number of interpolation path points between the two moving boundary vertexes corresponding to the vertex combination can be represented by a formulaCalculated, whereinDFor representing the osteotomy diameter, +.>For representing a downward rounding function.

Take the example of the movement trace of the tool tip shown in FIG. 7 (b)When the number of interpolation path points corresponding to the single vertex combination is 2, the coordinates of the respective path points of the 2 interpolation path points (i.e., the path points P1 and P2) corresponding to the vertex combination including the upper left corner movement boundary vertex Pl1 and the upper right corner movement boundary vertex Pr1 are sequentiallyAnd->And the coordinates of the respective 2 interpolation path points (i.e., path points P1 'and P2') corresponding to the vertex combination including the left lower corner movement boundary vertex Pl2 and the right lower corner movement boundary vertex Pr2 are +. >And。

and C, randomly selecting one moving boundary vertex from two moving boundary vertices included in any vertex combination as a tool terminal moving start point, and determining a corresponding tool terminal moving end point from the two moving boundary vertices included in the rest vertex combination according to the total number of interpolation path points corresponding to the single vertex combination.

Wherein the computer device 10 can determine whether the corresponding tool tip movement end point is on a diagonal with the current tool tip movement start point or near the same bottom surface edge of the intercondylar notch prosthesis bottom surface based on whether the total number of interpolation path points corresponding to a single vertex combination is odd or even. If the total number of interpolation path points corresponding to the single vertex combination is an odd number, the corresponding tool tail end moving end point and the current tool tail end moving start point are positioned on a diagonal line; if the total number of interpolation path points corresponding to the single vertex combination is even, the corresponding tool end moving end point and the current tool end moving starting point are close to the same bottom surface edge of the intercondylar notch prosthesis bottom surface.

Taking the tool end movement track shown in fig. 7 (a) as an example, when the top left corner movement boundary vertex Pl1 is selected from the vertex combinations including the top left corner movement boundary vertex Pl1 and the top right corner movement boundary vertex Pr1 as the tool end movement start point, since the total number of interpolation path points corresponding to the vertex combination is 5, the corresponding tool end movement end point is the bottom right corner movement boundary vertex Pr2 in another vertex combination.

Taking the tool end movement track shown in fig. 7 (b) as an example, when the top left corner movement boundary vertex Pl1 is selected from the vertex combinations including the top left corner movement boundary vertex Pl1 and the bottom left corner movement boundary vertex Pl2 as the tool end movement start point, since the total number of interpolation path points corresponding to the vertex combination is 2, the corresponding tool end movement end point is the top right corner movement boundary vertex Pr1 in the other vertex combination.

And D, performing arcuate path planning according to the actual coordinates corresponding to the tool end moving starting point, the tool end moving end point and all the interpolation path points in the osteotomy feed point coordinate system, and obtaining the target tool end moving track.

Taking the tool end movement track shown in fig. 7 (a) as an example, the corresponding target tool end movement track is Pl1- > Pr1- > P1' - > P1- > P2' - > P3- > P4' - > P5- > P2- > Pr2.

Taking the tool end moving track shown in fig. 7 (b) as an example, the corresponding target tool end moving track is Pl1- > Pl2- > P1'- > P1- > P2' - > Pr2- > Pr1.

Therefore, the method can plan the target tool tail end moving track of the rotary osteotomy tool corresponding to the bottom surface of the intercondylar fossa prosthesis under the osteotomy feed point coordinate system by executing the substeps A-substep D.

And step S234, according to the preset track planning layer number, carrying out track translation on the moving track of the tail end of the target tool along the direction of the depth of the structure towards the origin of the coordinate system of the osteotomy feed point coordinate system to obtain at least one layer of tool tail end moving track comprising the moving track of the tail end of the target tool, wherein the total track translation number is obtained by subtracting one from the preset track planning layer number.

If the number of the preset track planning layers is 1, all tool tail end moving tracks planned by the rotary osteotomy tool under the osteotomy feed point coordinate system only comprise the target tool tail end moving track;

if the number of the preset track planning layers is greater than or equal to 2, the actual track layers of all the tool tail end moving tracks planned by the rotary osteotomy tool under the osteotomy feed point coordinate system are consistent with the preset track planning layers, and the distances between the two adjacent tool tail end moving tracks can be the same or different. In one implementation of this embodiment, the distance between the moving tracks of the ends of the two adjacent layers of tools is the same, and the distance between the moving tracks of the ends of the two adjacent layers of tools may be obtained by performing a division operation on the depth of the intercondylar notch prosthesis structure and the number of planned layers of the preset track.

Thus, the present application may plan at least one layer of tool tip movement trajectory for the rotary osteotomy tool under an osteotomy feed point coordinate system for removing bony structures that match the condylar glenoid prosthesis structure size by performing sub-steps S231-S234 described above.

Step S240, obtaining the expected fitting pose information of the knee joint prosthesis to be fitted relative to the intercondylar fossa of the entity to be osteotomy under the basic coordinate system of the surgical robot.

In this embodiment, the desired assembly pose information is used to characterize a desired assembly pose of the intercondylar notch prosthesis structure in the knee prosthesis to be assembled within a base coordinate system after successful osteotomy of the intercondylar notch of the entity to be osteotomized.

It is understood that the computer device 10 may obtain the desired assembly pose information from other electronic devices through the first communication unit 13; the computer device 10 may also generate corresponding desired mounting pose information for the knee prosthesis to be mounted and the knee to be operated on by itself in response to a configuration operation by the attending physician.

Optionally, referring to fig. 8, fig. 8 is a flowchart illustrating the sub-steps included in step S240 in fig. 3. In this embodiment, the step S240 may include sub-steps S241 to S244 to accurately solve the expected assembly pose condition of the intercondylar notch prosthesis structure on the knee joint prosthesis to be assembled after the intercondylar notch of the entity to be osteotomized completes osteotomization.

Sub-step S241, obtaining the relative assembly pose relation of a marked reference position on a intercondylar nest model of the intercondylar nest of the entity to be osteotomy and a marked prosthesis position of the knee joint prosthesis to be assembled under a reference coordinate system, wherein the marked prosthesis position corresponds to the marked prosthesis coordinate system.

Wherein the bone model corresponding to the intercondylar fossa of the entity to be osteotomized included in the knee joint to be operated is established under the reference coordinate system, the doctor of the knee joint to be operated adjusts the assembly pose of the three-dimensional prosthesis model of the knee joint prosthesis to be assembled under the reference coordinate system according to the expected TKA operation effect, so as to determine the expected assembly pose of the marked prosthesis part of the knee joint prosthesis to be assembled relative to the marked reference part after the intercondylar fossa of the entity to be osteotomized is osteotomized, and obtain the relative assembly pose relation, at this time, the relative assembly pose relation can represent the expected assembly pose of the marked prosthesis part relative to the marked reference part under the reference coordinate system, and the method can be adoptedThe representation is performed.

And sub-step S242, performing point cloud registration on the bone tracer corresponding to the entity intercondylar fossa to be osteotomized and the reference coordinate system to obtain a target registration matrix of the reference coordinate system relative to the bone tracer.

Wherein the bone tracer is used for marking the real pose state of the entity intercondylar fossa to be cut in the real operation environment, the target registration matrix can be used for representing the mapping relation between the bone model of the entity intercondylar fossa to be cut and the entity intercondylar fossa to be cut in the real operation environment, and the mapping relation can be adoptedThe representation is performed.

Substep S243, performing relative pose registration on the bone tracer and the surgical robot to obtain an actual pose matrix of the bone tracer relative to the base coordinate system.

Wherein the actual pose matrix is used for describing the actual pose state of the intercondylar fossa of the entity to be osteotomy in the actual operation environment under the basic coordinate system of the operation robot, and can be adopted by the methodThe representation is performed.

Optionally, in one implementation of this embodiment, a tool tracer may be mounted on the surgical robot for a rotary osteotomy tool to calibrate a mounting position of the rotary osteotomy tool with the tool tracer, wherein the tool tracer is relatively stationary with respect to the rotary osteotomy tool, at which time the substep S243 may include:

Wherein the first pose calibration matrix can adoptRepresenting, a first pose registration matrix corresponding to the bone tracer may be +.>Representing, the second pose registration matrix can adopt +.>By way of illustration, the bone tracer may be a femoral tracer.

Alternatively, in another implementation of this embodiment, a base tracer that is relatively stationary with respect to a robot base of the surgical robot may be installed within a real surgical environment of the knee joint to be operated to determine a relative pose relationship of the bone tracer and the surgical robot using the base tracer as a reference, at which time the substep S243 may include:

Wherein the third pose registration matrix may employRepresenting, a fourth pose registration matrix corresponding to the bone tracer may employ +.>By way of illustration, the bone tracer may be a femoral tracer.

Therefore, the method and the device can effectively measure the actual pose state of the intercondylar fossa of the entity to be osteotomy in the real operation environment under the basic coordinate system of the operation robot through the two embodiments.

Sub-step S244, performing coordinate system transformation on the relative assembly pose relationship according to the target registration matrix and the actual pose matrix, to obtain the desired assembly pose information.

The expected assembly pose information can be obtained by performing matrix multiplication operation on the target registration matrix, the actual pose matrix and the relative assembly pose relationship.

Therefore, the method can accurately solve the expected assembling pose condition of the intercondylar fossa prosthesis structure on the knee joint prosthesis to be assembled after the intercondylar fossa of the entity to be osteotomized is osteotomized by executing the substeps S241-S244.

And S250, respectively carrying out coordinate system transformation on all tool tail end moving tracks under the osteotomy feed point coordinate system according to the coordinate system transformation relation between the osteotomy feed point coordinate system and the marked prosthesis coordinate system and the expected assembly pose information, so as to obtain at least one layer of expected osteotomy track of the rotary osteotomy tool acting on the intercondylar fossa of the entity to be osteotomy under the base coordinate system.

Wherein, each layer of expected osteotomy track corresponds to a layer of tool tail end movement track independently; for each layer of tool end moving track, the expected osteotomy track matched with the layer of tool end moving track can be obtained by performing matrix multiplication operation on the layer of tool end moving track, the expected assembly pose information and the coordinate system transformation relation.

After planning an expected osteotomy track matched with the size of the intercondylar fossa prosthesis structure of the knee prosthesis to be assembled for the to-be-operated knee joint by the computer equipment 10, each layer of expected osteotomy track can be sequentially sent to the operation robot according to the operation flow of the TKA operation, so that the operation robot drives the rotary osteotomy tool to perform osteotomy operation according to the obtained expected osteotomy track, thereby cutting the to-be-operated knee joint to be in a bone surface structure matched with the intercondylar fossa prosthesis structure of the knee prosthesis to be assembled for the to-be-operated knee joint, improving the intercondylar fossa osteotomy precision, the intercondylar fossa osteotomy precision and the intercondylar fossa osteotomy stability of the operation robot, avoiding the intercondylar fossa osteotomy error caused by the artificial osteotomy operation, greatly simplifying the flow related to the intercondylar fossa in the operation process of TKA operation, improving the efficiency of the TKA operation, avoiding the installation of a guide plate in the operation process of the TKA operation, and greatly reducing the cost of the TKA operation guide plate in the operation, and greatly reducing the cost of the patient's operation success rate, and reducing the cost of the patient's operation due to the TKA.

Therefore, the above steps S210 to S250 can be executed to ensure that the computer device 10 can plan the expected osteotomy track of the size adaptation for the intercondylar fossa of the entity to be osteotomy according to the size information of the intercondylar fossa prosthesis of the knee prosthesis to be assembled, so that the automatic osteotomy function of the intercondylar fossa of the surgical robot can be realized through the planned expected osteotomy track, the intercondylar fossa osteotomy precision and the intercondylar fossa osteotomy stability can be improved, the intercondylar fossa osteotomy error caused by the manual osteotomy operation can be avoided, the anastomosis degree of the osteotomy structure of the intercondylar fossa with the knee prosthesis to be assembled can be improved, the operation flow related to the intercondylar fossa in the TKA operation process can be greatly simplified, the TKA operation efficiency can be improved, the pain of patients caused by the guide plate installation and/or manual TKA operation in the TKA operation process can be avoided, the pain caused by the patient can be greatly reduced, the artificial knee prosthesis with different styles including the intercondylar fossa prosthesis structure can be installed on the entity intercondylar fossa, the normal operation success rate of TKA can be improved, the expected osteotomy effect of the entity can be ensured, and the normal osteotomy effect of the patient can be ensured, and the safety of the system can be remarkably ensured.

In addition, referring to fig. 9, fig. 9 is a schematic diagram illustrating the composition of the surgical robot 20 according to the embodiment of the present application. In the embodiment of the present application, the robot end of the surgical robot 20 is provided with a rotary osteotomy tool; the operation robot 20 may be communicatively connected to the computer device 10, so as to obtain an osteotomy track planned by the computer device 10 for the knee joint to be operated based on the prosthesis size information of the knee joint prosthesis to be assembled, and drive the rotary osteotomy tool to implement an automatic osteotomy function on the knee joint to be operated according to the obtained osteotomy track, thereby improving the osteotomy precision of the knee joint, simplifying TKA operation flow, improving TKA operation efficiency, avoiding osteotomy errors caused by manual osteotomy operation, ensuring that the knee joint prosthesis to be assembled can be normally installed on the solid knee joint after osteotomy, and ensuring that the TKA operation achieves the expected effect.

The computer device 10 may use the rules of the intercondylar fossa osteotomy planning method related to fig. 3-8 to draw the aforementioned osteotomy track, or may use another osteotomy track planning means (for example, the three-dimensional model of the knee joint prosthesis to be assembled is assembled on the three-dimensional model of the knee joint to be operated according to the assembly requirement of the prosthesis in the same model space, and the osteotomy track planning is performed under the robot base coordinates based on the model overlapping area corresponding to the intercondylar fossa between the two three-dimensional models, so that the drawn osteotomy track can remove the intercondylar fossa osteotomy structure corresponding to the model overlapping area on the knee joint to be operated).

In an embodiment of the present application, the surgical robot 20 may include a second memory 21, a second processor 22, a second communication unit 23, and an intercondylar notch automatic osteotomy device 300. The second memory 21, the second processor 22, and the second communication unit 23 are electrically connected directly or indirectly to each other, so as to realize data transmission or interaction. For example, the second memory 21, the second processor 22 and the second communication unit 23 may be electrically connected to each other through one or more communication buses or signal lines.

In this embodiment, the second Memory 21 may be, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read Only Memory (ROM), a programmable Read Only Memory (Programmable Read-Only Memory, PROM), an erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc. Wherein the second memory 21 is configured to store a computer program, and the second processor 22 can execute the computer program accordingly after receiving the execution instruction.

In this embodiment, the second processor 22 may be an integrated circuit chip with signal processing capability. The second processor 22 may be a general purpose processor including at least one of a central processing unit (Central Processing Unit, CPU), a graphics processor (Graphics Processing Unit, GPU) and a network processor (Network Processor, NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application.

In this embodiment, the second communication unit 23 is configured to establish a communication connection between the surgical robot 20 and other electronic devices through a network, and send and receive data through the network, where the network includes a wired communication network and a wireless communication network.

In this embodiment, the intercondylar notch automatic osteotomy device 300 includes at least one software functional module capable of being stored in the second memory 21 in the form of software or firmware or cured in the operating system of the surgical robot 20. The second processor 22 may be configured to execute executable modules stored in the second memory 21, such as software functional modules and computer programs included in the automatic intercondylar notch osteotomy device 300. The automatic intercondylar fossa osteotomy device 300 can realize the automatic intercondylar fossa osteotomy function for the intercondylar fossa of the entity to be operated according to the expected osteotomy track planned in advance, so that the intercondylar fossa osteotomy precision, the intercondylar fossa osteotomy precision and the intercondylar fossa osteotomy stability are improved, the intercondylar fossa osteotomy errors caused by manual osteotomy operation are avoided, the coincidence degree of the osteotomy surface structure of the intercondylar fossa and the knee joint prosthesis to be assembled is improved, the automatic intercondylar fossa osteotomy scheme provided by the method for the intercondylar fossa has remarkable effectiveness and safety, the operation flow related to the intercondylar fossa in the TKA operation process is greatly simplified, the patient pain caused by guide plate installation and/or manual osteotomy in the TKA operation process is avoided, the pain caused by TKA operation to the patient is greatly reduced, the artificial structure of the intercondylar fossa is conveniently avoided, the artificial prosthesis with different styles can be normally installed on the entity intercondylar fossa, the success rate of the TKA operation is improved, and the expected effect of the TKA operation is ensured.

It will be appreciated that the block diagram shown in fig. 9 is merely a schematic representation of one component of the surgical robot 20, and that the surgical robot 20 may also include more or fewer components than shown in fig. 9, or have a different configuration than shown in fig. 9. The components shown in fig. 9 may be implemented in hardware, software, or a combination thereof.

In the present application, in order to ensure that the surgical robot 20 can implement the automatic intercondylar fossa osteotomy function for the intercondylar fossa of the entity to be operated according to the expected osteotomy track planned in advance, improve the intercondylar fossa osteotomy precision, the intercondylar fossa osteotomy precision and the intercondylar fossa osteotomy stability, avoid the intercondylar fossa osteotomy errors caused by the manual osteotomy operation, improve the anastomosis degree of the osteotomy face structure of the intercondylar fossa to be assembled with the knee joint prosthesis, ensure that the robot automatic osteotomy scheme provided for the intercondylar fossa has remarkable effectiveness and safety, greatly simplify the operation flow related to the intercondylar fossa in the TKA operation process, improve the TKA operation efficiency, avoid the pain of the patient caused by the guide plate installation and/or the manual osteotomy in the TKA operation process, greatly reduce the pain caused by the TKA operation on the patient, facilitate the normal installation of the knee joint prosthesis with different styles on the entity intercondylar fossa, improve the success rate of the TKA operation, and ensure that the intended effect of the TKA operation is achieved by the intercondylar fossa. The following describes the automated intercondylar notch osteotomy method provided in the present application.

Referring to fig. 10, fig. 10 is a flow chart of an automatic intercondylar notch osteotomy method according to an embodiment of the present application. In the embodiment of the present application, the automatic intercondylar notch osteotomy method is applied to the surgical robot 20, and the automatic intercondylar notch osteotomy method may include steps S410 to S430.

Step S410, obtaining at least one layer of expected osteotomy track of the rotary osteotomy tool for the intercondylar fossa of the entity to be osteotomized under the basic coordinate system of the surgical robot, wherein the at least one layer of expected osteotomy track is matched with the intercondylar fossa prosthesis structure of the knee joint prosthesis to be assembled.

The rotary osteotomy tool is an osteotomy tool mounted on the surgical robot 20 for osteotomy of the intercondylar fossa. The at least one layer of expected osteotomy track can be obtained by planning by adopting any intercondylar fossa osteotomy planning method related in fig. 3-8, or by adopting other osteotomy track planning means (for example, a three-dimensional model of a knee joint prosthesis to be assembled is assembled on a three-dimensional model of a knee joint to be operated according to prosthesis assembly requirements in the same model space, a target overlapping area corresponding to the intercondylar fossa is determined from a model overlapping area between the two three-dimensional models, then the actual position information of the intercondylar fossa osteotomy structure corresponding to the target overlapping area on the intercondylar fossa of the entity to be osteotomy is determined under a robot base coordinate through coordinate system transformation operation, then the intercondylar fossa osteotomy structure is structurally layered under the robot base coordinate, and for each layered osteotomy structure area, the osteotomy track is performed on the basis of a rotary osteotomy tool under the robot base coordinate, so as to obtain at least one layer of expected osteotomy track of the intercondylar fossa of the entity to be osteotomy structure of the entity to be osteotomy, and the intercondylar fossa of the intercondylar fossa to be assembled. The specific track planning means of the at least one layer of desired osteotomy track obtained by the surgical robot 20 is not particularly limited.

In one implementation manner of this embodiment, the at least one layer of desired osteotomy trace is planned by using any of the intercondylar notch osteotomy planning methods related to fig. 3-8.

Step S420, determining the execution sequence of the osteotomy of at least one layer of expected osteotomy track at the intercondylar notch of the entity to be osteotomized according to the relative depth relation of the at least one layer of expected osteotomy track at the intercondylar notch of the entity to be osteotomized.

When the total number of track layers of the at least one layer of expected bone-cutting track is 1, the execution sequence of the bone-cutting operation corresponding to the expected bone-cutting track is a one-time operation sequence, and the surgical robot 20 can directly drive the rotary bone-cutting tool to move according to the expected bone-cutting track, so that the rotary bone-cutting tool can cut bone on the intercondylar fossa of the entity to be cut according to the expected bone-cutting track, and a bone surface structure matched with the structure size of the intercondylar fossa prosthesis is cut in the intercondylar fossa of the entity to be cut.

When the total track layers of the at least one layer of expected osteotomy track are multiple, the depth of the corresponding expected osteotomy track at the intercondylar fossa of the entity to be osteotomized is deeper, the execution sequence of the osteotomy operation corresponding to the expected osteotomy track is more backward, and thus the execution sequence of the osteotomy operation of all the expected osteotomy tracks executed by the surgical robot 20 can be obtained.

Step S430, according to the respective execution sequence of the osteotomy operation of at least one layer of expected osteotomy track, the operation robot is controlled to drive the rotary osteotomy tool to perform osteotomy on the intercondylar fossa of the entity to be osteotomized according to the corresponding expected osteotomy track, so as to cut a bone surface structure matched with the structure size of the intercondylar fossa prosthesis in the entity intercondylar fossa of the entity to be osteotomized.

Therefore, the automatic intercondylar notch osteotomy function can be achieved for the intercondylar notch of the entity to be operated according to the expected osteotomy track planned in advance, the intercondylar notch osteotomy precision and the intercondylar notch osteotomy stability are improved, the intercondylar notch osteotomy errors caused by manual osteotomy operation are avoided, the anastomosis degree of the cut intercondylar notch bone surface structure and the knee joint prosthesis to be assembled is improved, the robot automatic osteotomy scheme provided by the robot automatic osteotomy method for the intercondylar notch has remarkable effectiveness and safety, meanwhile, the operation flow related to the intercondylar notch in the TKA operation process is greatly simplified, the TKA operation efficiency is improved, the pain of a patient caused by the TKA operation is avoided, the TKA operation is greatly reduced, the artificial bone structures with different styles can be normally installed on the entity notch, the TKA operation success rate is improved, and the expected effect is ensured to be achieved.

In this application, to ensure that the computer device 10 can perform the above-mentioned intercondylar notch osteotomy planning method by using the intercondylar notch osteotomy planning apparatus 100, the present application implements the foregoing functions by performing functional module division on the intercondylar notch osteotomy planning apparatus 100. The specific components of the intercondylar notch osteotomy planning device 100 provided herein are described in detail below.

Referring to fig. 11, fig. 11 is a schematic diagram illustrating a composition of an intercondylar notch osteotomy planning device 100 according to an embodiment of the present application. In an embodiment of the present application, the intercondylar notch osteotomy planning apparatus 100 may include a tool information acquisition module 110, a feed coordinate transformation module 120, a movement trajectory planning module 130, a prosthesis pose acquisition module 140, and an osteotomy trajectory planning module 150.

A tool information acquisition module 110 for acquiring prosthesis size information of a knee prosthesis to be assembled and an osteotomy radius of a rotary osteotomy tool mounted at a robot end of a surgical robot.

And the feed coordinate transformation module 120 is used for transforming the coordinate system of the marked prosthesis coordinate system of the knee prosthesis to be assembled under the reference coordinate system according to the prosthesis size information to obtain the osteotomy feed point coordinate system of the knee prosthesis to be assembled under the reference coordinate system.

And the movement track planning module 130 is configured to plan a tool end track of the rotary osteotomy tool under the osteotomy feed point coordinate system according to the osteotomy radius and the intercondylar fossa prosthesis size information included in the prosthesis size information, so as to obtain at least one layer of tool end movement track under the osteotomy feed point coordinate system, wherein a projection position of each layer of tool end movement track on a plane of the intercondylar fossa prosthesis bottom surface of the knee prosthesis to be assembled is located in the intercondylar fossa prosthesis bottom surface.

A prosthesis pose acquisition module 140, configured to acquire expected assembly pose information of the knee joint prosthesis to be assembled relative to the intercondylar fossa of the entity to be osteotomy under a base coordinate system of the surgical robot.

And the osteotomy track planning module 150 is configured to perform coordinate system transformation on all tool end movement tracks under the osteotomy feed point coordinate system according to the coordinate system transformation relationship between the osteotomy feed point coordinate system and the marker prosthesis coordinate system and the desired assembly pose information, so as to obtain at least one layer of desired osteotomy track of the rotary osteotomy tool acting on the intercondylar fossa of the entity to be osteotomy under the base coordinate system, where each layer of desired osteotomy track individually corresponds to one layer of tool end movement track.

Optionally, in one implementation manner of this embodiment, the knee joint prosthesis to be assembled includes a femoral prosthesis structure and an intercondylar notch prosthesis structure, the femoral prosthesis structure includes a posterior condyle assembling surface, a posterior oblique assembling surface, a distal assembling surface, an anterior oblique assembling surface and an anterior condyle assembling surface, the marking prosthesis coordinate system is located on the distal assembling surface at a marking prosthesis position corresponding to the femoral prosthesis structure, and the intercondylar notch prosthesis structure is fixedly connected with the posterior condyle assembling surface, the posterior oblique assembling surface, the distal assembling surface and the anterior oblique assembling surface at the same time, then the feed coordinate transformation module may include: a vertical plane determination sub-module for determining a target vertical plane of the condylar notch prosthesis bottom surface based on the prosthesis size information, wherein the target vertical plane is perpendicular to the condylar notch prosthesis bottom surface, and the target vertical plane intersects the condylar notch prosthesis bottom surface and the anterior oblique fitting surface at a same plane intersection line; and the feed coordinate output sub-module is used for deflecting the marked prosthesis coordinate system to a target position far away from the bottom surface of the intercondylar fossa prosthesis on the target vertical plane under the reference coordinate system to obtain the osteotomy feed point coordinate system, wherein the coordinate system origin of the osteotomy feed point coordinate system is overlapped with the target position, and the distance from the target position to the plane intersection line is greater than or equal to the structural depth of the intercondylar fossa prosthesis structure.

Optionally, in one implementation manner of this embodiment, the movement track planning module may include: the prosthesis bottom surface vertex determining submodule is used for determining vertex coordinates corresponding to four bottom surface vertexes of the condylar fossa prosthesis bottom surface under the osteotomy feed point coordinate system according to the structure depth of the condylar fossa prosthesis structure, the length information and the width information of the condylar fossa prosthesis bottom surface, which are included in the condylar fossa prosthesis size information; a moving boundary vertex determining sub-module, configured to determine, according to the vertex coordinates of each of the four bottom surface vertices and the osteotomy radius, vertex coordinates of each of four moving boundary vertices of a tool end center portion of the rotary osteotomy tool on the bottom surface of the intercondylar notch prosthesis, wherein each moving boundary vertex is individually close to one bottom surface vertex, and an actual distance from each moving boundary vertex to a bottom surface edge of the bottom surface of the intercondylar notch prosthesis is consistent with the osteotomy radius; the tool end movement planning sub-module is used for carrying out full coverage path planning in a circle center movement area matched with the four movement boundary vertexes according to the vertex coordinates of the four movement boundary vertexes, so as to obtain a target tool end movement track of the rotary osteotomy tool corresponding to the bottom surface of the intercondylar fossa prosthesis under the osteotomy feed point coordinate system; and the tool tail end track translation sub-module is used for carrying out track translation on the target tool tail end moving track along the direction of the structure depth towards the origin of the coordinate system of the osteotomy feed point coordinate system according to the preset track planning layer number, so as to obtain at least one layer of tool tail end moving track comprising the target tool tail end moving track, wherein the total track translation frequency is obtained by subtracting one from the preset track planning layer number.

Wherein the tool tip movement planning sub-module may include: the boundary vertex grouping unit is used for grouping the four movable boundary vertices to obtain two vertex combinations corresponding to the length direction or the width direction of the bottom surface of the intercondylar fossa prosthesis, wherein the connecting lines between the two movable boundary vertices respectively included by the two vertex combinations are parallel to the length direction or the width direction; a path point interpolation planning unit, configured to perform path point interpolation planning between two moving boundary vertices with an interpolation interval according to vertex coordinates of each of the two moving boundary vertices included in the vertex combination, to obtain respective path point coordinates of all interpolation path points between the two moving boundary vertices, where the osteotomy diameter is twice the osteotomy radius; a track endpoint selection unit, configured to randomly select one moving boundary vertex from two moving boundary vertices included in any vertex combination as a tool end moving start point, and determine a corresponding tool end moving endpoint from two moving boundary vertices included in the remaining vertex combination according to a total number of interpolation path points corresponding to the single vertex combination; and the tail end track planning unit is used for carrying out arcuate path planning according to the actual coordinates corresponding to the tool tail end moving starting point, the tool tail end moving end point and all the interpolation path points under the osteotomy feed point coordinate system respectively to obtain the target tool tail end moving track.

Optionally, in one implementation manner of this embodiment, the prosthesis pose acquisition module may include: the assembly pose acquisition sub-module is used for acquiring the relative assembly pose relation between a marked reference position on a intercondylar fossa model of the entity intercondylar fossa to be osteotomy and a marked prosthesis position of the knee joint prosthesis to be assembled under the reference coordinate system, wherein the marked prosthesis position corresponds to the marked prosthesis coordinate system; the bone point cloud registration sub-module is used for carrying out point cloud registration on the bone tracer corresponding to the intercondylar fossa of the entity to be osteotomized and the reference coordinate system to obtain a target registration matrix of the reference coordinate system relative to the bone tracer; the relative pose registration sub-module is used for carrying out relative pose registration on the bone tracer and the surgical robot to obtain an actual pose matrix of the bone tracer relative to the base coordinate system; and the expected pose output sub-module is used for carrying out coordinate system transformation on the relative assembly pose relation according to the target registration matrix and the actual pose matrix to obtain the expected assembly pose information.

In this process, it may be understood that, in one implementation manner of this embodiment, the relative pose registration sub-module performs relative pose registration on the bone tracer and the surgical robot, to obtain an actual pose matrix of the bone tracer relative to the base coordinate system, which may include:

It will also be appreciated that, in another implementation of this embodiment, the means for performing, by the relative pose registration sub-module, the relative pose registration of the bone tracer and the surgical robot to obtain an actual pose matrix of the bone tracer with respect to the base coordinate system may include:

It should be noted that, the basic principle and the technical effects of the intercondylar notch osteotomy planning device 100 provided in the embodiments of the present application are the same as the aforementioned intercondylar notch osteotomy planning method. For a brief description, reference may be made to the description of the method for intercondylar notch osteotomy planning described above, where this embodiment is not mentioned.

In this application, in order to ensure that the surgical robot 20 can perform the automatic intercondylar notch osteotomy method by using the automatic intercondylar notch osteotomy device 300, the present application implements the foregoing functions by performing functional module division on the automatic intercondylar notch osteotomy device 300. The specific composition of the automatic intercondylar notch osteotomy device 300 provided in this application is described in response.

Referring to fig. 12, fig. 12 is a schematic view illustrating an automatic intercondylar notch osteotomy device 300 according to an embodiment of the present application. In the embodiment of the present application, the automatic intercondylar notch osteotomy device 300 is applied to the surgical robot 20, and the automatic intercondylar notch osteotomy device 300 may include an osteotomy track acquisition module 310, an osteotomy sequence determination module 320, and a rotary osteotomy control module 330.

An osteotomy trajectory acquisition module 310 for acquiring at least one layer of desired osteotomy trajectories for the physical intercondylar fossa to be osteotomized by the rotary osteotomy tool in a base coordinate system of the surgical robot, wherein the at least one layer of desired osteotomy trajectories matches the intercondylar fossa prosthesis structure of the knee prosthesis to be assembled.

In one implementation manner of this embodiment, the at least one desired osteotomy track may be planned by any of the intercondylar notch osteotomy planning methods related to fig. 3-8, or may be planned by any of the intercondylar notch osteotomy planning apparatuses 100 described above.

An osteotomy sequence determination module 320, configured to determine an osteotomy procedure execution sequence for each of the at least one layer of desired osteotomy trajectories at the intercondylar notch of the entity to be osteotomized according to a relative depth relationship of the at least one layer of desired osteotomy trajectories at the intercondylar notch of the entity to be osteotomized.

The rotary osteotomy control module 330 is configured to sequentially control the surgical robot to drive the rotary osteotomy tool to perform osteotomy on the intercondylar fossa of the solid to be osteotomized according to the respective osteotomy execution sequence of the at least one layer of desired osteotomy trajectories, so as to cut a bone surface structure in the intercondylar fossa of the solid to be osteotomized, the bone surface structure being matched with the structure size of the intercondylar fossa prosthesis.

It should be noted that, the basic principle and the technical effects of the automatic intercondylar notch osteotomy device 300 according to the embodiments of the present application are the same as the aforementioned automatic intercondylar notch osteotomy method. For a brief description, reference may be made to the description of the automated intercondylar notch osteotomy method described above, where this embodiment is not mentioned.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part. The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a readable storage medium, comprising several instructions for causing an electronic device (which may be a computer device, or a surgical robot with a rotary osteotomy tool installed, etc.) to perform all or part of the steps of the method described in the various embodiments of the present application, or to load and run all or part of the modules of the apparatus described in the various embodiments of the present application. And the aforementioned readable storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An intercondylar notch osteotomy planning device, the device comprising:

the feed coordinate transformation module is used for carrying out coordinate system transformation on a marked prosthesis coordinate system of the knee joint prosthesis to be assembled under a reference coordinate system according to the prosthesis size information to obtain an osteotomy feed point coordinate system of the knee joint prosthesis to be assembled under the reference coordinate system;

the movement track planning module is used for carrying out tool end track planning on the rotary osteotomy tool under the osteotomy feed point coordinate system according to the osteotomy radius and the intercondylar fossa prosthesis size information included in the prosthesis size information to obtain at least one layer of tool end movement track under the osteotomy feed point coordinate system, wherein the projection position of each layer of tool end movement track on the plane of the intercondylar fossa prosthesis bottom surface of the knee prosthesis to be assembled is positioned in the intercondylar fossa prosthesis bottom surface;

2. The apparatus of claim 1, wherein the knee prosthesis to be assembled comprises a femoral prosthesis structure and a intercondylar socket prosthesis structure, the femoral prosthesis structure comprising a posterior condyle assembly surface, a posterior oblique assembly surface, a distal end assembly surface, an anterior oblique assembly surface, and an anterior condyle assembly surface, the marking prosthesis coordinate system being located on the distal end assembly surface at a marking prosthesis site corresponding to the femoral prosthesis structure, the intercondylar socket prosthesis structure being fixedly connected with the posterior condyle assembly surface, the posterior oblique assembly surface, the distal end assembly surface, and the anterior oblique assembly surface simultaneously, the feed coordinate conversion module comprising:

A vertical plane determination sub-module for determining a target vertical plane of the condylar notch prosthesis bottom surface based on the prosthesis size information, wherein the target vertical plane is perpendicular to the condylar notch prosthesis bottom surface, and the target vertical plane intersects the condylar notch prosthesis bottom surface and the anterior oblique fitting surface at a same plane intersection line;

and the feed coordinate output sub-module is used for deflecting the marked prosthesis coordinate system to a target position far away from the bottom surface of the intercondylar fossa prosthesis on the target vertical plane under the reference coordinate system to obtain the osteotomy feed point coordinate system, wherein the coordinate system origin of the osteotomy feed point coordinate system is overlapped with the target position, and the distance from the target position to the plane intersection line is greater than or equal to the structural depth of the intercondylar fossa prosthesis structure.

3. The apparatus of claim 1, wherein the movement trajectory planning module comprises:

the prosthesis bottom surface vertex determining submodule is used for determining vertex coordinates corresponding to four bottom surface vertexes of the condylar fossa prosthesis bottom surface under the osteotomy feed point coordinate system according to the structure depth of the condylar fossa prosthesis structure, the length information and the width information of the condylar fossa prosthesis bottom surface, which are included in the condylar fossa prosthesis size information;

A moving boundary vertex determining sub-module, configured to determine, according to the vertex coordinates of each of the four bottom surface vertices and the osteotomy radius, vertex coordinates of each of four moving boundary vertices of a tool end center portion of the rotary osteotomy tool on the bottom surface of the intercondylar notch prosthesis, wherein each moving boundary vertex is individually close to one bottom surface vertex, and an actual distance from each moving boundary vertex to a bottom surface edge of the bottom surface of the intercondylar notch prosthesis is consistent with the osteotomy radius;

the tool end movement planning sub-module is used for carrying out full coverage path planning in a circle center movement area matched with the four movement boundary vertexes according to the vertex coordinates of the four movement boundary vertexes, so as to obtain a target tool end movement track of the rotary osteotomy tool corresponding to the bottom surface of the intercondylar fossa prosthesis under the osteotomy feed point coordinate system;

and the tool tail end track translation sub-module is used for carrying out track translation on the target tool tail end moving track along the direction of the structure depth towards the origin of the coordinate system of the osteotomy feed point coordinate system according to the preset track planning layer number, so as to obtain at least one layer of tool tail end moving track comprising the target tool tail end moving track, wherein the total track translation frequency is obtained by subtracting one from the preset track planning layer number.

4. The apparatus of claim 3, wherein the tool tip movement planning submodule comprises:

the boundary vertex grouping unit is used for grouping the four movable boundary vertices to obtain two vertex combinations corresponding to the length direction or the width direction of the bottom surface of the intercondylar fossa prosthesis, wherein the connecting lines between the two movable boundary vertices respectively included by the two vertex combinations are parallel to the length direction or the width direction;

a path point interpolation planning unit, configured to perform path point interpolation planning between two moving boundary vertices with an interpolation interval according to vertex coordinates of each of the two moving boundary vertices included in the vertex combination, to obtain respective path point coordinates of all interpolation path points between the two moving boundary vertices, where the osteotomy diameter is twice the osteotomy radius;

a track endpoint selection unit, configured to randomly select one moving boundary vertex from two moving boundary vertices included in any vertex combination as a tool end moving start point, and determine a corresponding tool end moving endpoint from two moving boundary vertices included in the remaining vertex combination according to a total number of interpolation path points corresponding to the single vertex combination;

And the tail end track planning unit is used for carrying out arcuate path planning according to the actual coordinates corresponding to the tool tail end moving starting point, the tool tail end moving end point and all the interpolation path points under the osteotomy feed point coordinate system respectively to obtain the target tool tail end moving track.

5. The apparatus of any one of claims 1-4, wherein the prosthesis pose acquisition module comprises:

the assembly pose acquisition sub-module is used for acquiring the relative assembly pose relation between a marked reference position on a intercondylar fossa model of the entity intercondylar fossa to be osteotomy and a marked prosthesis position of the knee joint prosthesis to be assembled under the reference coordinate system, wherein the marked prosthesis position corresponds to the marked prosthesis coordinate system;

the bone point cloud registration sub-module is used for carrying out point cloud registration on the bone tracer corresponding to the intercondylar fossa of the entity to be osteotomized and the reference coordinate system to obtain a target registration matrix of the reference coordinate system relative to the bone tracer;

the relative pose registration sub-module is used for carrying out relative pose registration on the bone tracer and the surgical robot to obtain an actual pose matrix of the bone tracer relative to the base coordinate system;

And the expected pose output sub-module is used for carrying out coordinate system transformation on the relative assembly pose relation according to the target registration matrix and the actual pose matrix to obtain the expected assembly pose information.

6. The apparatus of claim 5, wherein the means for relatively pose registering the bone tracer and the surgical robot by the relative pose registering sub-module to obtain an actual pose matrix of the bone tracer relative to the base coordinate system comprises:

7. The apparatus of claim 5, wherein the means for relatively pose registering the bone tracer and the surgical robot by the relative pose registering sub-module to obtain an actual pose matrix of the bone tracer relative to the base coordinate system comprises:

8. An automated intercondylar notch osteotomy device for use with a surgical robot having a rotary osteotomy tool mounted on a robotic end of the surgical robot, the device comprising:

9. The apparatus of claim 8, wherein the at least one layer of desired osteotomy trajectory is planned by an intercondylar notch osteotomy planning apparatus of any one of claims 1-7.

10. A computer device comprising a processor and a memory, the memory storing a computer program executable by the processor, the processor executable by the computer program to drive the intercondylar notch osteotomy planning device of any one of claims 1-7.

11. A surgical robot having a rotary osteotomy tool mounted at a robot end thereof, the surgical robot comprising a processor and a memory, the memory storing a computer program executable by the processor, the processor being executable by the computer program to drive the automated intercondylar notch osteotomy device of any of claims 8-9.

12. A readable storage medium having stored thereon a computer program, which when executed, drives a computer device to load and run the intercondylar notch osteotomy planning apparatus of any one of claims 1-7, or drives a surgical robot to load and run the automatic intercondylar notch osteotomy apparatus of any one of claims 8-9, wherein a rotary osteotomy tool is mounted at a robotic end of the surgical robot.