CN117653267A

CN117653267A - Knee joint osteotomy planning device, knee joint automatic osteotomy device and related equipment

Info

Publication number: CN117653267A
Application number: CN202410134407.7A
Authority: CN
Inventors: 马朝阳; 姚凤杰; 陆臻陶
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

Abstract

The application provides a knee joint cuts bone planning device, knee joint automatic bone cutting device and related equipment, relates to robot control technical field. According to the method, according to the prosthesis size information of the knee joint prosthesis to be assembled and the tool size parameters of an osteotomy tool, the relative pose relation between the respective osteotomy feed pose of the tibial/femoral assembly face of the knee joint prosthesis to be assembled and the corresponding tibial/femoral prosthesis reference position is determined under a reference coordinate system, after the expected assembly pose information of the tibial/femoral prosthesis reference position for the tibial/femoral of the entity to be osteotomized under the base coordinate system of the surgical robot is obtained, the expected osteotomy feed pose of each assembly face under the base coordinate system is calculated according to the expected assembly pose information and the relative pose relation, and then the plane osteotomy track of the corresponding assembly face under the base coordinate system is planned by combining the surface size information of the corresponding assembly face so as to achieve the automatic osteotomy function of the surgical robot, promote osteotomy precision and ensure that TKA operation achieves the expected effect.

Description

Knee joint osteotomy planning device, knee joint automatic osteotomy device and related equipment

Technical Field

The application relates to the technical field of robot control, in particular to a knee joint osteotomy planning device, an automatic knee joint 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 femoral plateaus 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.

However, it is worth noting that, in this TKA surgery implementation, the force applied by the main doctor manually pushing the osteotomy tool is uneven or the direction of force applied fluctuates, so that the osteotomy amount of the resected tibia and/or the resected femur is excessive, thereby affecting the osteotomy precision, and the knee prosthesis cannot be perfectly installed, so that the TKA surgery cannot achieve the expected effect, and even the surgery fails. Therefore, how to improve the osteotomy precision in the robot-assisted TKA surgery process is an important technical problem in the medical field of the current robot control technology.

Disclosure of Invention

In view of this, the present application aims to provide a knee joint osteotomy planning method and apparatus, a knee joint automatic osteotomy method and apparatus, a computer device, a surgical robot and a readable storage medium, which can deeply consider the influence of knee joint prosthesis size and osteotomy tool size parameters on the osteotomy starting pose of the solid tibia/femur in the same frame of reference, plan a planar osteotomy trajectory with good trajectory consistency and short planning time for the solid tibia/femur, and realize the automatic osteotomy function of the tibia/femur of the surgical robot through the planned planar osteotomy trajectory, so as to improve the positioning precision, osteotomy accuracy and osteotomy stability of the tibial/femur platform surface, ensure that the finally-cut tibial/femur platform surface can be closely attached to the knee joint prosthesis to be assembled, and meanwhile, as much as possible, strive for precious treatment time for the patient, greatly reduce TKA surgery waiting time, ensure that TKA surgery reaches the expected effect, and ensure significant effectiveness and safety of the robot automatic osteotomy scheme provided by the present application for the solid tibia/femur.

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 knee osteotomy planning, the method comprising:

acquiring prosthesis size information of a knee joint prosthesis to be assembled and tool size parameters of an osteotomy tool, wherein the osteotomy tool is arranged at the tail end of a robot of an operation robot, and the knee joint prosthesis to be assembled comprises a plurality of femur assembling surfaces positioned near a femur prosthesis reference position and a tibia assembling surface where a tibia prosthesis reference position is positioned;

calculating a first relative pose relationship of the osteotomy tool with respect to the femoral prosthesis reference position under a reference coordinate system for each osteotomy feed pose of the plurality of femoral assembly surfaces and a second relative pose relationship of the osteotomy tool with respect to the tibial assembly surface under the reference coordinate system for each osteotomy feed pose of the tibial assembly surfaces according to the prosthesis size information and the tool size parameters;

acquiring first expected assembly pose information of the femoral prosthesis reference part aiming at the solid femur to be osteotomized under a basic coordinate system of the surgical robot, and second expected assembly pose information of the tibial prosthesis reference part aiming at the solid tibia to be osteotomized under the basic coordinate system;

Calculating an expected osteotomy tool-entering pose required by each of the plurality of femur assembly surfaces when assembled on the femur of the entity to be osteotomized under the base coordinate system according to the first expected assembly pose information and a first relative pose relation corresponding to each of the plurality of femur assembly surfaces, and calculating an expected osteotomy tool-entering pose required by the tibia assembly surface when assembled on the tibia of the entity to be osteotomized under the base coordinate system according to the second expected assembly pose information and the second relative pose relation;

and aiming at each of the plurality of femur assembling surfaces and the tibia assembling surface, according to the surface size information of the assembling surface in the prosthesis size information, performing osteotomy track planning based on the expected osteotomy tool-entering pose corresponding to the assembling surface, and obtaining the corresponding planar osteotomy track of the assembling surface under the base coordinate system.

In an alternative embodiment, the plurality of femoral component surfaces includes a posterior condylar component surface, a posterior oblique component surface, a distal component surface, an anterior oblique component surface, and an anterior condylar component surface, the femoral prosthesis reference location is located on the distal component surface, and the step of calculating a first relative pose relationship of the osteotomy tool to the femoral prosthesis reference location in a reference coordinate system for each osteotomy feed pose of the plurality of femoral component surfaces based on the prosthesis dimensional information and the tool dimensional parameters comprises:

For each femoral bone assembly surface of the posterior condyle assembly surface, the posterior oblique assembly surface, the distal end assembly surface, the anterior oblique assembly surface and the anterior condyle assembly surface, according to the relative position condition of the femoral bone assembly surface and the femoral prosthesis reference position, carrying out coordinate system transformation on a reference coordinate system of the femoral prosthesis reference position under the reference coordinate system through coordinate system translation operation and/or coordinate system rotation operation to obtain a preliminary feed point coordinate system of the femoral assembly surface in the extending direction of a target plane, wherein the distance from a plane intersection line between the femoral assembly surface and the distal end assembly surface to an origin of the corresponding preliminary feed point coordinate system is larger than or equal to a preset withdrawal distance, and the extending direction of the target plane is the extending direction of a plane of the femoral prosthesis structure of the knee prosthesis to be assembled, which is pointed to the corresponding femoral assembly surface;

determining at least one target assembly surface from the plurality of femoral assembly surfaces according to a tool type of the osteotomy tool;

performing coordinate system translation compensation on a preliminary feed point coordinate system corresponding to each target assembly surface in a vertical plane of the target assembly surface according to the tool size parameters to obtain an actual feed point coordinate system corresponding to the target assembly surface;

For each target assembly surface, taking a coordinate system transformation relation between an actual feed point coordinate system corresponding to the target assembly surface and a reference coordinate system of the femoral prosthesis reference part as a first relative pose relation corresponding to the target assembly surface;

and aiming at each femoral bone assembling surface except all target assembling surfaces in the plurality of femoral bone assembling surfaces, taking the coordinate system transformation relation between a preliminary feed point coordinate system corresponding to the femoral bone assembling surface and a reference coordinate system of the femoral prosthesis reference position as a first relative pose relation corresponding to the femoral bone assembling surface.

In an alternative embodiment, the step of calculating a second relative pose relationship of the osteotomy tool to the tibial assembly surface with respect to the tibial prosthetic reference site in the reference coordinate system according to the prosthetic size information and the tool size parameter includes:

carrying out coordinate system translation on a reference coordinate system of the tibial prosthesis reference part under the reference coordinate system in a plane where the tibial assembly surface is located to obtain a preliminary feed point coordinate system of the tibial assembly surface, wherein the distance from the origin of the preliminary feed point coordinate system of the tibial assembly surface to the origin of the reference coordinate system of the tibial prosthesis reference part is greater than or equal to a preset withdrawal distance;

Performing coordinate system translation compensation on a preliminary feed point coordinate system of the tibia assembly surface in a vertical plane of the tibia assembly surface according to the tool size parameter to obtain an actual feed point coordinate system of the tibia assembly surface;

and taking the coordinate system transformation relation between the actual feed point coordinate system corresponding to the tibia assembly surface and the reference coordinate system of the tibia prosthesis reference position as a second relative pose relation corresponding to the tibia assembly surface.

In an alternative embodiment, the step of obtaining first desired assembly pose information of the femoral prosthesis reference site for the solid femur to be osteotomized under a base coordinate system of the surgical robot includes:

acquiring a first assembly pose relationship between a femur reference position on a femur model of the solid femur to be osteotomized and a femur prosthesis reference position under the reference coordinate system;

performing point cloud registration on the femur tracer corresponding to the femur of the entity to be osteotomized and the reference coordinate system to obtain a first registration matrix of the reference coordinate system relative to the femur tracer;

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

And carrying out coordinate system transformation on the first assembly pose relation according to the first registration matrix and the first pose matrix to obtain the first expected assembly pose information.

In an alternative embodiment, the step of obtaining second desired assembly pose information of the tibial prosthesis reference site for the solid tibia to be resected in the base coordinate system includes:

acquiring a second assembly pose relationship between a tibial reference position on a tibial model of the solid tibia to be osteotomized and the tibial prosthesis reference position under the reference coordinate system;

performing point cloud registration on a tibial tracer corresponding to the entity tibia to be osteotomized and the reference coordinate system to obtain a second registration matrix of the reference coordinate system relative to the tibial tracer;

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

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

In an alternative embodiment, for each of the femoral tracer and the tibial tracer, the step of performing relative pose registration of the bone tracer and the surgical robot to obtain a target pose matrix of the bone tracer relative to a base coordinate system of the surgical robot, comprises:

Performing pose calibration on the osteotomy tool and the surgical robot to obtain a first pose calibration matrix of a tool coordinate system of the 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 osteotomy tool to obtain a second pose registration matrix of the tool tracer relative to a tool coordinate system of the 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 a target pose matrix corresponding to the bone tracer, wherein the first pose matrix is a target pose matrix corresponding to the bone tracer when the bone tracer is the femur tracer, and the second pose matrix is a target pose matrix corresponding to the bone tracer when the bone tracer is the tibia 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 last 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 a target pose matrix corresponding to the bone tracer, wherein the first pose matrix corresponds to the target pose matrix when the bone tracer is the femur tracer, and the second pose matrix corresponds to the target pose matrix when the bone tracer is the tibia tracer.

In a second aspect, the present application provides an automatic knee osteotomy method for use with a surgical robot having an osteotomy tool mounted at a robot tip, the method comprising:

acquiring plane osteotomy tracks corresponding to a plurality of femur assembly faces of a knee joint prosthesis to be assembled for a solid femur to be osteoced included in the knee joint to be osteoced by the osteotomy tool under a basic coordinate system of the operation robot, and plane osteotomy tracks corresponding to tibia assembly faces of the knee joint prosthesis to be assembled for a solid tibia to be osteoced included in the knee joint to be osteoced by the osteotomy tool under the basic coordinate system;

Determining the execution sequence of osteotomy of the plane osteotomy tracks of the femur assembly surfaces and the tibia assembly surfaces at the knee joint to be operated;

according to the execution sequence of the osteotomy operations corresponding to all the planar osteotomy tracks, the surgical robot is controlled to drive the osteotomy tool to osteotomy on the knee joint to be operated according to the corresponding planar osteotomy track in sequence, so that the femur flat table surfaces which are respectively matched with the femur assembly surfaces are cut on the femur of the entity to be osteotomy, and the tibia flat table surfaces which are matched with the tibia assembly surfaces are cut on the tibia of the entity to be osteotomy.

In an alternative embodiment, the planar osteotomy trajectories of each of the plurality of femoral and tibial mounting surfaces are planned using the knee osteotomy planning method of any of the preceding embodiments.

In a third aspect, the present application provides a knee osteotomy planning device, the device comprising:

the device comprises a tool information acquisition module, a tool information acquisition module and a bone cutting module, wherein the tool information acquisition module is used for acquiring prosthesis size information of a knee joint prosthesis to be assembled and tool size parameters of an osteotomy tool, the osteotomy tool is arranged at the tail end of a robot of an operation robot, and the knee joint prosthesis to be assembled comprises a plurality of femur assembling surfaces positioned near a femur prosthesis reference position and a tibia assembling surface where a tibia prosthesis reference position is positioned;

The pose relation calculating module is used for calculating a first relative pose relation between the osteotomy tool and the femoral prosthesis reference part under a reference coordinate system for each osteotomy feed pose of the plurality of femoral assembly surfaces and a second relative pose relation between the osteotomy tool and the tibial prosthesis reference part under the reference coordinate system for the osteotomy feed pose of the tibial assembly surfaces according to the prosthesis size information and the tool size parameters;

the prosthesis pose acquisition module is used for acquiring first expected assembly pose information of the femoral prosthesis reference part aiming at the femur of the entity to be osteotomized under the basic coordinate system of the surgical robot, and second expected assembly pose information of the tibial prosthesis reference part aiming at the tibia of the entity to be osteotomized under the basic coordinate system;

the cutter feeding pose calculation module is used for calculating expected cutter feeding poses required by the femur assembly faces when the femur assembly faces are assembled on the femur of the entity to be cut under the base coordinate system according to the first expected assembly pose information and the first relative pose relation corresponding to the femur assembly faces, and calculating expected cutter feeding poses required by the tibia assembly faces when the tibia assembly faces are assembled on the tibia of the entity to be cut under the base coordinate system according to the second expected assembly pose information and the second relative pose relation;

And the feed track planning module is used for carrying out osteotomy track planning on each of the plurality of femur assembly surfaces and the tibia assembly surface according to the surface size information of the assembly surface in the prosthesis size information and based on the expected osteotomy tool-feeding pose corresponding to the assembly surface, so as to obtain the planar osteotomy track of the assembly surface under the base coordinate system.

In a fourth aspect, the present application provides an automatic knee osteotomy device for use with a surgical robot, wherein an osteotomy tool is mounted at a robot tip of the surgical robot, the device comprising:

the device comprises an osteotomy track acquisition module, a bone cutting module and a bone cutting module, wherein the osteotomy track acquisition module is used for acquiring plane osteotomy tracks, which are respectively corresponding to a plurality of femur assembly surfaces of a knee joint prosthesis to be assembled, of a femur of a solid to be osteotomy, which is included by a knee joint to be operated, aiming at the bone of the bone to be osteotomy, and plane osteotomy tracks, which are respectively corresponding to the tibia assembly surfaces of the knee joint prosthesis to be assembled, of the solid tibia to be osteotomy, which is included by the knee joint to be operated, aiming at the bone to be osteotomy tool, which is included by the knee joint to be operated, aiming at the bone to be tibial assembly surfaces of the knee joint prosthesis to be assembled, under the basic coordinate system;

the osteotomy sequence determining module is used for determining the osteotomy operation execution sequence of the plane osteotomy tracks of the femur assembly surfaces and the tibia assembly surfaces at the knee joint to be operated;

The plane osteotomy control module is used for sequentially controlling the operation robot to drive the osteotomy tool to osteotomy on the knee joint to be operated according to the corresponding plane osteotomy track according to the execution sequence of osteotomy operations corresponding to all plane osteotomy tracks, so as to cut out femur plane surfaces which are respectively matched with the femur assembly surfaces on the femur of the entity to be osteotomy, and cut out tibia plane surfaces which are matched with the tibia assembly surfaces on the tibia of the entity to be osteotomy.

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 knee joint osteotomy planning method of any one of the foregoing embodiments, or drive the knee joint osteotomy planning apparatus to operate.

In a sixth aspect, the present application provides a surgical robot, the robot end of which is provided with an osteotomy tool, 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 knee osteotomy method of any one of the foregoing embodiments, or to drive the automatic knee osteotomy device of the foregoing embodiments to operate.

In a seventh aspect, the present application provides a readable storage medium, on which a computer program is stored, the computer program, when executed, implementing the knee joint osteotomy planning method of any one of the foregoing embodiments, or driving a computer device to load and run the knee joint osteotomy planning apparatus of any one of the foregoing embodiments, or driving a surgical robot to implement the knee joint automatic osteotomy method of any one of the foregoing embodiments, or driving a surgical robot to load and run the knee joint automatic osteotomy apparatus of any one of the foregoing embodiments, wherein the robot tip of the surgical robot is equipped with an osteotomy tool.

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

1. according to the method, the influence of the knee joint prosthesis size and the osteotomy tool size parameters on the osteotomy initial pose of the solid tibia/femur can be deeply considered under the same reference frame, the planar osteotomy track planning with good track consistency and short planning time is performed on the solid tibia/femur, the automatic tibial/femoral osteotomy function of the surgical robot is realized through the planned planar osteotomy track, so that the positioning precision, osteotomy precision and osteotomy stability of the tibial/femur platform surface are improved, the final osteotomy tibial/femur platform surface is ensured to be tightly attached to the knee joint prosthesis to be assembled, and the automatic osteotomy scheme of the robot provided by the method for the solid tibia/femur is ensured to have remarkable effectiveness and safety.

2. According to the method, the plane osteotomy track corresponding to each of the plurality of prosthesis assembly surfaces (comprising the tibia assembly surface and the plurality of femur assembly surfaces) can be directly planned by utilizing a short time under the same reference system, so that the plane osteotomy track planning efficiency of the solid tibia/femur is greatly improved, and precious treatment time is strived for patients as much as possible by matching with automatic osteotomy operation of a robot, and the waiting time of TKA operation is greatly reduced.

3. The tibia/femur osteotomy track planning scheme and the tibia/femur automatic osteotomy scheme provided by the application have strong scheme universality, can be suitable for various knee joint prostheses with different structures and styles of the tibia/femur prostheses, and can drive the operation robot provided with the osteotomy tool to automatically osteotomy the entity tibia/femur so as to cut out a bone platform surface matched with the structure size of the tibia/femur prosthesis of the knee joint prostheses on the corresponding entity tibia/femur, thereby facilitating the normal installation of the knee joint prostheses, improving the success rate of TKA operation and ensuring that the TKA operation 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 knee osteotomy planning method according to an embodiment of the present disclosure;

FIG. 4 is one of the flow charts of the sub-steps included in step S220 of FIG. 3;

FIG. 5 is a sagittal view of a prosthesis of a femoral prosthesis configuration included in a knee prosthesis to be assembled, provided in an embodiment of the present application;

FIG. 6 is a second flowchart illustrating the sub-steps included in the step S220 in FIG. 3;

FIG. 7 is a prosthetic crown of a tibial prosthetic structure included in a knee prosthesis to be assembled according to an embodiment of the present application;

FIG. 8 is one of the flow charts of the sub-steps included in step S230 of FIG. 3;

FIG. 9 is a second flowchart illustrating the sub-steps included in the step S230 in FIG. 3;

fig. 10 is a schematic diagram of the composition of a surgical robot according to an embodiment of the present disclosure;

FIG. 11 is a flow chart of an automatic knee osteotomy method provided in an embodiment of the present application;

fig. 12 is a schematic diagram of a knee osteotomy planning device according to an embodiment of the present disclosure;

fig. 13 is a schematic view illustrating the composition of an automatic knee-joint 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-knee osteotomy planning device; 110-a tool information acquisition module; 120-pose relation calculation module; 130-a prosthesis pose acquisition module; 140, a feed pose calculation module; 150-a feed track planning module; 20-surgical robot; 21-a second memory; 22-a second processor; 23-a second communication unit; 300-automatic osteotomy device of knee joint; 310-an osteotomy track acquisition module; 320-an osteotomy sequence determination module; 330-a planar 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.

The applicant finds through hard investigation that the current robot independently calculates expected feed point positions and postures in the osteotomy plane aiming at each osteotomy plane in the auxiliary TKA operation process, so that the problems of large calculated amount and poor data consistency exist in the integral view of the expected feed point positions and postures corresponding to the osteotomy planes, and the positioning error of the osteotomy plane is extremely easy to cause. In addition, the existing robot needs to set tool position points for the osteotomy tool to describe the expected feed point pose of different osteotomy planes by combining tool size parameters (such as the tool end radius of a milling cutter, the tool end radius of a grinding drill, or the saw thickness of a saw) of the osteotomy tool with the corresponding tool position points, so that the influence of the tool size parameters on the osteotomy plane positioning operation cannot be compensated in time, and the osteotomy plane positioning error is easily caused.

Therefore, the applicant solves the above problems by providing a knee joint osteotomy planning method and device, a knee joint automatic osteotomy method and device, a computer device, an operation robot and a readable storage medium, wherein the applicant can deeply consider the influence of knee joint prosthesis size and osteotomy tool size parameters on the osteotomy starting pose of the solid tibia/femur under the same frame of reference, plan a planar osteotomy track with good track consistency and short planning time for the solid tibia/femur, and realize the automatic osteotomy function of the tibia/femur of the operation robot by the planned planar osteotomy track so as to improve the positioning precision, osteotomy accuracy and osteotomy stability of the tibial/femur platform, ensure that the final osteotomy platform and the knee joint prosthesis to be assembled can be closely attached, and simultaneously provide precious treatment time for patients, greatly reduce TKA operation waiting time, ensure that TKA operation reaches the expected effect, and ensure that the robot automatic osteotomy plan provided by the solid tibia/femur has remarkable effectiveness and safety.

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 parameter of the osteotomy tool, an osteotomy track adapted to each prosthesis assembly surface of the knee joint prosthesis to be assembled and having good track consistency is planned for the knee joint prosthesis to be assembled in the same frame of reference by using a relatively short time, so as to drive the surgical robot to implement an automatic osteotomy function on the knee joint to be assembled, thereby ensuring that the knee joint prosthesis to be assembled can be perfectly installed on the knee joint to be operated after osteotomy, effectively ensuring that the TKA surgery achieves the desired effect, and simultaneously, by planning the operation of the osteotomy track with good track consistency and less planning time, precious treatment time is strived for the patient as much as possible, and greatly reducing waiting time of TKA surgery.

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 prosthesis to be assembled at least comprises a tibia prosthesis structure and a femur 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 a knee 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 digital model of each of the knee prosthesis to be assembled and the knee joint to be operated, and obtain, by identifying information on the digital model, size information of each of the knee 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 knee osteotomy planning apparatus 100 includes at least one software functional module that can be stored in the first memory 11 in the form of software or firmware or 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 knee osteotomy planning device 100. The computer device 10 may deeply consider the effect of the knee prosthesis size and the bone cutting tool size parameter on the bone cutting initial pose of the solid tibia/femur included in the knee joint to be operated by the knee joint bone cutting planning device 100 under the same reference frame, and plan the plane bone cutting track with good track consistency and short planning time for the solid tibia/femur, so as to realize the automatic bone cutting function of the tibia/femur of the surgical robot through the planned plane bone cutting track, improve the positioning precision, bone cutting accuracy and bone cutting stability of the tibia/femur platform surface, avoid the bone cutting error caused by the artificial bone cutting operation, ensure that the finally cut tibia/femur platform surface is tightly attached to the knee joint prosthesis to be assembled, and meanwhile strive for precious treatment time for the patient as much as possible, greatly reduce the waiting time of the TKA operation, ensure that the TKA operation achieves the expected effect, and ensure that the robot automatic bone cutting scheme provided by the present application 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 knee prosthesis to be assembled, it may 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 assembling surface of the knee prosthesis to be assembled consists of the posterior condyle assembling surface, the posterior oblique assembling surface, the distal assembling surface, the anterior oblique assembling surface, the anterior condyle assembling surface and the tibia assembling surface, and the computer device 10 needs to plan a plurality of osteotomy tracks for the solid femur of the knee prosthesis to be assembled, so that each osteotomy track can correspondingly cut a local bone of the solid femur into a bone flat adapted to a certain femur assembling surface, so as to ensure that the femoral prosthesis structure can be exactly mounted on the solid femur after being cut, and meanwhile, the computer device 10 also needs to plan an osteotomy track for the solid tibia of the knee prosthesis to be assembled, so that the osteotomy track can correspondingly cut a local bone of the solid tibia into a bone flat adapted to the tibia assembling surface, so as to ensure that the tibial prosthesis structure can be exactly mounted on the solid tibia after being cut.

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 deeply consider the effect of the size of the knee joint prosthesis and the size parameters of the osteotomy tool on the initial pose of the osteotomy of the solid tibia/femur included in the knee joint to be operated under the same reference frame, plan the planar osteotomy track with good track consistency and short planning time for the solid tibia/femur, so as to realize the automatic osteotomy function of the tibia/femur of the surgical robot through the planned planar osteotomy track, improve the positioning precision, osteotomy precision and osteotomy stability of the tibial/femur plateau surface, avoid the tibial/femur osteotomy errors caused by the artificial osteotomy operation, ensure that the finally-cut tibial/femur plateau surface can be closely attached to the knee joint prosthesis to be assembled, and meanwhile strive for precious treatment time for the patient as much as possible, greatly reduce the waiting time of TKA surgery, ensure that TKA surgery achieves the expected effect. The knee osteotomy planning method provided in the present application is described in detail below.

Referring to fig. 3, fig. 3 is a flowchart illustrating a knee joint osteotomy planning method according to an embodiment of the present disclosure. In an embodiment of the present application, the knee osteotomy planning method may include step S210 to step S250.

Step S210, obtaining prosthesis size information of a knee joint prosthesis to be assembled and tool size parameters of an osteotomy tool, wherein the osteotomy tool is installed at the tail end of a robot of a surgical robot, and the knee joint prosthesis to be assembled comprises a plurality of femur assembling surfaces positioned near a femur prosthesis reference position and a tibia assembling surface where a tibia prosthesis reference position is located.

The prosthesis size information may include surface size information of each femoral assembling surface in the femoral prosthesis structure, a plane included angle between two adjacent femoral assembling surfaces, and surface size information of a tibial assembling surface of the tibial prosthesis structure. The femoral prosthesis reference position can be arranged on the far-end assembly surface, and the actual assembly pose state of the femoral prosthesis structure is represented through the pose state of the femoral prosthesis reference position; the tibial prosthesis reference location may be disposed on the tibial mounting surface and the actual mounting pose condition of the tibial prosthesis structure is characterized by the pose condition of the tibial prosthesis reference location. The tool size parameter is matched with the tool type of the osteotomy tool, for example, if the tool type of the osteotomy tool is a pendulum saw, the tool size parameter comprises a pendulum saw thickness of the corresponding pendulum saw; if the tool type of the osteotomy tool is a milling cutter, the tool size parameter comprises the tail end working radius of the corresponding milling cutter; if the tool type of the osteotomy tool is a burr, the tool size parameter includes a tip working radius of the corresponding burr.

It is to be understood that the femoral prosthesis reference site and the tibial prosthesis reference site may be physical sites on the knee prosthesis to be assembled or may be virtual sites provided for the knee prosthesis to be assembled; the femur prosthesis reference position corresponds to a target position (namely a femur reference position) on the solid femur of the knee joint to be operated, and the assembly position state of the femur prosthesis structure relative to the solid femur of the knee joint to be operated can be described by describing the position state of the femur prosthesis reference position relative to the femur reference position under the same coordinate system; the tibial prosthesis reference position corresponds to a target position (namely a tibial reference position) on the solid tibia of the knee joint to be operated, and the assembly position state of the tibial prosthesis structure relative to the solid tibia of the knee joint to be operated can be described by describing the position state of the tibial prosthesis reference position relative to the tibial reference position under the same coordinate system.

Step S220, according to the prosthesis size information and the tool size parameters, calculating a first relative pose relation between the osteotomy tool and the femoral prosthesis reference part under the reference coordinate system for each osteotomy feed pose of the plurality of femoral assembly surfaces, and a second relative pose relation between the osteotomy tool and the tibial prosthesis reference part under the reference coordinate system for the osteotomy feed pose of the tibial assembly surfaces.

In this embodiment, after the computer device 10 obtains the prosthesis size information of the knee joint prosthesis to be assembled and the tool size parameter of the osteotomy tool, a three-dimensional prosthesis model of the knee joint prosthesis to be assembled may be constructed under a reference coordinate system corresponding to a CT (Computed Tomography, electronic computed tomography) image, and it may be determined in the three-dimensional prosthesis model which femur assembling surfaces need to be subjected to pose compensation for an osteotomy starting pose acting on an entity femur by using the tool size parameter of the osteotomy tool, so as to ensure that a bone plateau corresponding to the entity femur can be cut out and adapted to the aforementioned femur assembling surface, and determine which femur assembling surfaces need not to be subjected to pose compensation for an osteotomy starting pose acting on the entity femur by using the tool size parameter of the osteotomy tool, so as to ensure that a bone plateau corresponding to the entity femur can be cut out and adapted to the aforementioned assembling surface, while determining assembling surfaces need to be subjected to pose compensation for an osteotomy starting pose acting on the entity femur by using the tool size parameter of the osteotomy tool, so as to ensure that a bone plateau corresponding to be adapted to the tibia plateau corresponding to the entity femur can be assembled. At this time, the first relative pose relationship of each femoral mount surface may be used to characterize the relative pose condition of the corresponding actual bone platform surface with the femoral prosthesis reference site when it is resected under the action of the resection tool; the second relative pose relationship of the tibial assembly surface may be used to characterize the relative pose of the corresponding actual bone platform surface with the tibial prosthetic reference site when resected by the resection tool.

Optionally, referring to fig. 4, fig. 4 is a schematic flow chart of the sub-steps included in step S220 in fig. 3. In the embodiment of the present application, the step "calculating, according to the prosthesis size information and the tool size parameter, the first relative pose relationship between the osteotomy tool and the femoral prosthesis reference position in the reference coordinate system for each of the plurality of femoral fitting surfaces" in the step S220 may include the substep S221 to the substep S224, so as to deeply consider, in the same reference system, the influence of the knee prosthesis size and the tool size parameter of the osteotomy tool on the osteotomy starting pose of the solid femur, and ensure that the obtained first relative pose relationship can accurately describe the relative pose condition of the bone platform surface and the femoral prosthesis reference position of each of the plurality of femoral fitting surfaces under the influence of the osteotomy tool, and improve the positioning accuracy of the femoral platform surface and the positioning consistency of the femoral platform surface.

Substep S221, for each femoral bone assembly surface of the posterior condylar assembly surface, the posterior oblique assembly surface, the distal end assembly surface, the anterior oblique assembly surface, and the anterior condylar assembly surface, performing coordinate system transformation on a reference coordinate system of the femoral prosthesis reference part under the reference coordinate system by coordinate system translation operation and/or coordinate system rotation operation according to the relative position condition of the femoral assembly surface and the femoral prosthesis reference part, to obtain a preliminary feed point coordinate system of the femoral assembly surface in the extension direction of the target plane.

Taking the prosthetic sagittal view of the femoral 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, the letters in fig. 5gI.e. for characterizing the planar intersection between the posterior condylar-fitting surface and the distal-fitting surface, the letters in fig. 5hFor characterizing the planar intersection between the anterior condyle mating surface and the distal mating surface, the letters in FIG. 5dI.e. for characterizing the plane intersection between the front oblique mounting face and the distal mounting face, the letters in fig. 5cI.e. for characterizing the plane intersection between the rear oblique fitting face and the distal fitting face, points in fig. 5I.e. for characterizing the femoral prosthesis reference site, in which case the coordinate system +.>Namely the reference coordinate system of the femoral prosthesis reference part under the reference coordinate system, the plane +.>I.e. the plane in which the distal mounting surface is located.

Therefore, a preliminary feed point coordinate system considering the withdrawal distance of the osteotomy tool can be constructed for each femoral bone assembling surface through coordinate system translation operation and/or coordinate system rotation operation under the reference coordinate system, and the distance from the plane intersection line between each femoral bone assembling surface and the far-end assembling surface to the origin of the corresponding preliminary feed point coordinate system is greater than or equal to the preset withdrawal distance, wherein the target plane extending direction is the plane extending direction of the femoral prosthesis structure, which points to the knee joint prosthesis to be assembled, of the corresponding femoral bone assembling surface.

At this time, the coordinate system of the primary feed point corresponding to the posterior condylar fitting surface is the coordinate system in FIG. 5Wherein plane->I.e. the plane in which the posterior condylar-fitting surface lies, distance +.>Is greater than or equal to the preset retracting distance; the coordinate system of the preliminary feeding point corresponding to the rear oblique assembling surface is the coordinate system in fig. 5Wherein plane->I.e. the plane in which the rear oblique fitting plane is located, distance +.>Is greater than or equal to the preset retracting distance; the coordinate system of the preliminary feeding point corresponding to the far-end assembling surface is the coordinate system +.>Wherein plane->I.e. the plane in which the distal fitting surface lies, distance +.>Is greater than or equal to the preset retracting distance; the coordinate system of the preliminary feeding point corresponding to the front oblique assembly surface is the coordinate system +.>Wherein plane->I.e. the plane in which the front oblique mounting face lies, distance +.>Is greater than or equal to the preset retracting distance; the coordinate system of the primary feed point corresponding to the front condyle assembling surface is the coordinate system +.>Wherein plane->I.e. the plane in which the anterior condyle fitting surface is located, distanceIs greater than or equal to the preset retracting distance.

Substep S222, determining at least one target assembly surface from the plurality of femoral assembly surfaces based on the tool type of the osteotomy tool.

The target assembly surface is a femur assembly surface which needs to be subjected to pose compensation by utilizing the tool size parameters of the osteotomy tool; if the tool type of the osteotomy tool is a pendulum saw, at least one femoral bone assembling surface can be randomly selected or fixedly selected from the plurality of femoral bone assembling surfaces to be respectively used as the target assembling surfaces, for example, the anterior oblique assembling surface and the anterior condyle assembling surface in fig. 5 are used as the target assembling surfaces when the tool type is a pendulum saw; and if the tool type of the osteotomy tool is milling cutter or grinding drill, taking each femoral bone assembling surface in the plurality of femoral bone assembling surfaces as the target assembling surface.

In the substep S223, for each target assembly surface, in the vertical plane of the target assembly surface, the coordinate system translation compensation is performed on the preliminary feed point coordinate system corresponding to the target assembly surface according to the tool size parameter, so as to obtain the actual feed point coordinate system corresponding to the target assembly surface.

In this embodiment, for each target assembly surface, the primary feed point coordinate system corresponding to the target assembly surface may be translated along the positive Z-axis direction, so that the distance between the origin of the translated actual feed point coordinate system and the origin of the corresponding primary feed point coordinate system is consistent with the tool size parameter.

Taking the example of the front oblique and front condyle mounting surfaces serving as target mounting surfaces when the tool type shown in fig. 5 is a pendulum saw, the front oblique and front condyle mounting surfaces are planar in respective preliminary feed point coordinate systemsAnd->The corresponding actual femur platform surface cannot be characterized, the respective initial feed point coordinate systems of the front oblique assembling surface and the front condyle assembling surface need to be translated along the positive direction of the Z axis, so that the distance between the origin of the actual feed point coordinate system obtained after translation and the origin of the initial feed point coordinate system is the thickness of the pendulum saw, and at the moment, the actual feed point coordinate system corresponding to the front oblique assembling surface is the coordinate system ∈>Wherein plane->I.e. the femoral plateau surface of the anterior oblique fitting surface under the influence of a pendulum saw, distance +.>Keeping the thickness consistent with that of the swing saw; the coordinate system of the actual feed point corresponding to the front condyle assembling surface is the coordinate system +.>Wherein plane->I.e. the femoral plateau surface of the anterior condyle fitting surface under the influence of the pendulum saw, distance +.>Keeping the thickness consistent with that of the pendulum saw.

In the substep S224, for each target assembly surface, a coordinate system transformation relationship between the actual feed point coordinate system corresponding to the target assembly surface and the reference coordinate system of the femoral prosthesis reference part is used as the first relative pose relationship corresponding to the femoral assembly surface.

In this embodiment, since the femur platform surface corresponding to each target assembly surface can be a plane corresponding to the actual feed point coordinate systemAnd when the relative pose is expressed, the coordinate system transformation relation between the actual feed point coordinate system of the corresponding target assembly surface and the reference coordinate system of the femoral prosthesis reference part under the reference coordinate system is used as the first relative pose relation of the corresponding target assembly surface, so that the relative pose condition of the bone platform surface of the corresponding target assembly surface under the influence of the osteotomy tool and the femoral prosthesis reference part can be accurately described.

At this time, the first relative pose relationship corresponding to the front oblique fitting surface shown in fig. 5 may be expressed by the following formula:

；

the first relative pose relationship for the anterior condyle mating surface illustrated in fig. 5 may be represented by the following equation:

；

wherein,for representing the actual feed point coordinate system of said front oblique assembly plane,/for>For representing the actual feed point coordinate system of the anterior condyle fitting surface +.>Reference coordinate system for representing the femoral prosthesis reference site,/a>For representing the distance of the plane intersection between the front oblique fitting face and the distal fitting face to the origin of the reference coordinate system,/o >For representing the distance of the plane intersection between the anterior condyle fitting surface and the distal fitting surface to the origin of the reference coordinate system,/v>For indicating the planar included angle between the front angled mounting surface and the distal mounting surface,for representing the plane angle between said anterior condyle mating surface and said distal mating surface, +.>And->The values of (2) are all greater than or equal to the preset withdrawal distance,/>The tool type used to represent the osteotomy tool is the tool dimension parameter (i.e., the saw thickness) of the saw. 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:

。

in the substep S225, for each femoral component surface except for all target component surfaces, a coordinate system transformation relationship between the coordinate system of the preliminary feeding point corresponding to the femoral component surface and the reference coordinate system of the femoral prosthesis reference part is used as the first relative pose relationship corresponding to the femoral component surface.

Wherein, because the osteotomy tool-entering pose of each femoral component surface except all target component surfaces does not need to be compensated by using the tool size parameters of the osteotomy tool, namely the plane of each femoral component surface except all target component surfaces in the corresponding preliminary feed point coordinate system is represented (e.g., plane in the preliminary feed point coordinate system corresponding to each of the posterior condylar-mounting surface, the posterior oblique-mounting surface, and the distal-mounting surface in FIG. 5)Plane->And plane->) The corresponding femur platform surface can be characterized, and the coordinate system transformation relation between the preliminary feed point coordinate system of each femur assembly surface except all target assembly surfaces in the multiple femur assembly surfaces and the reference coordinate system of the femur prosthesis reference position under the reference coordinate system can be used as the first relative pose relation of the corresponding femur assembly surface to accurately describe the relative pose condition of the corresponding femur assembly surface and the femur prosthesis reference position under the influence of the osteotomy tool.

At this time, the first relative pose relationship corresponding to the posterior condylar-fitting surface shown in fig. 5 may be expressed by the following formula:

；

the first relative pose relationship corresponding to the rear angled mounting surface shown in fig. 5 can be expressed by the following equation:

；

the first relative pose relationship for the distal mounting surface shown in fig. 5 can be expressed by the following equation:

；

wherein,a preliminary feed point coordinate system for representing the posterior condylar-fitting surface, < >>A preliminary feed point coordinate system for representing the rear oblique mounting face, +. >A preliminary feed point coordinate system for representing the distal mounting surface, < >>For representing the distance of the plane intersection between the posterior condylar-fitting surface and the distal fitting surface to the origin of the reference coordinate system,/o>For representing the distance of the plane intersection line between the rear oblique fitting face and the distal fitting face to the origin of the reference coordinate system,/for>，/>For representing the plane angle between said posterior condylar-fitting surface and said distal-fitting surface, +.>For indicating the plane angle between said rear inclined mounting surface and said distal mounting surface,/->And->The values of the number (a) are all larger than or equal to the preset tool withdrawal distance.

Therefore, the influence of the knee joint prosthesis size and the tool size parameter of the osteotomy tool on the osteotomy starting position of the solid femur can be deeply considered under the same reference system by executing the substeps S221-S224, the obtained first relative position relation can be ensured to accurately describe the relative position conditions of the bone platform surface of the femur assembly surfaces under the influence of the osteotomy tool and the reference position of the femur prosthesis, the positioning accuracy of the femur platform surface is improved, and the positioning consistency of the femur platform surface is synchronously improved.

Optionally, referring to fig. 6, fig. 6 is a second flowchart illustrating the sub-steps included in step S220 in fig. 3. In the embodiment of the present application, the step "calculating, according to the prosthesis size information and the tool size parameter, the second relative pose relation between the osteotomy tool and the tibial prosthesis reference position in the reference coordinate system of the tibial assembly surface by using the osteotomy tool" in the step S220 may include the substep S225 to the substep S227, so as to deeply consider the influence of the knee prosthesis size and the tool size parameter of the osteotomy tool on the osteotomy starting pose of the solid tibia in the same reference system, ensure that the obtained second relative pose relation can accurately describe the relative pose condition of the tibial assembly surface and the tibial prosthesis reference position of the tibial assembly surface under the influence of the osteotomy tool, improve the positioning accuracy of the tibial platform surface, and synchronously improve the positioning consistency of the tibial platform surface.

Sub-step S225, carrying out coordinate system translation on a reference coordinate system of the tibial prosthesis reference part under the reference coordinate system in the plane of the tibial assembly surface to obtain a preliminary feed point coordinate system of the tibial assembly surface.

Taking the prosthetic crown of the tibial prosthetic configuration of fig. 7 as an example, the points in fig. 6I.e. for characterizing the tibial prosthesis reference site, in which case the coordinate system +.>Namely the reference coordinate system of the tibial prosthesis reference part under the reference coordinate system, the plane +.>I.e. the plane in which the tibial mounting surface lies.

Therefore, a preliminary feed point coordinate system considering the withdrawal distance of the osteotomy tool can be constructed in the plane extending direction of the tibia assembly surface through the coordinate system translation operation under the reference coordinate system, so that the distance from the origin of the preliminary feed point coordinate system of the tibia assembly surface to the origin of the reference coordinate system of the tibia prosthesis reference position is larger than or equal to the preset withdrawal distance.

At this time, the coordinate system of the preliminary feeding point corresponding to the tibia-mounted surface is the coordinate system in fig. 7Wherein plane->I.e. the plane in which the tibial mounting surface lies, distance +.>Is greater than or equal to the preset retracting distance.

And step S226, carrying out coordinate system translation compensation on the preliminary feed point coordinate system of the tibia assembly surface in the vertical plane of the tibia assembly surface according to the tool size parameters to obtain the actual feed point coordinate system of the tibia assembly surface.

Wherein, because the tool size parameter of the osteotomy tool is needed to be used for compensating the position and the posture of the osteotomy tool, namely, the tool size parameter represents the plane of the tibia assembly surface in the coordinate system corresponding to the primary feed pointThe corresponding tibial plane surface cannot be characterized, the primary feed point coordinate system of the tibial assembly surface needs to be translated along the positive direction of the Z axis, so that the distance between the origin of the actual feed point coordinate system obtained after translation and the origin of the primary feed point coordinate system is consistent with the tool size parameter, and the actual feed point coordinate system corresponding to the tibial assembly surface is the coordinate system ++>Wherein plane->I.e. a tibial plateau surface, distance +.>Consistent with the tool size parameters.

In sub-step S227, a coordinate system transformation relationship between the actual feed point coordinate system corresponding to the tibial mounting surface and the reference coordinate system of the tibial prosthesis reference position is used as a second relative pose relationship corresponding to the tibial mounting surface.

In this embodiment, the tibial plane surface corresponding to the tibial assembly surface can directly pass through the plane surface corresponding to the actual feed point coordinate system(i.e. plane->) Representing the actual feed point coordinate system corresponding to the tibia-mounted surfaceAnd the coordinate system transformation relation of the tibial prosthesis reference position reference coordinate system under the reference coordinate system is used as a second relative pose relation of the tibial assembly surface to accurately describe the relative pose condition of the tibial platform surface of the tibial assembly surface and the tibial prosthesis reference position under the influence of the osteotomy tool.

At this time, the second relative pose relationship corresponding to the tibial assembly surface shown in fig. 7 can be expressed by the following formula:

；

wherein,for representing the actual feed point coordinate system of the tibial mounting surface +.>Reference coordinate system for representing the tibial prosthesis reference site,/a>Is equal to the preset retracting distance, < >>Tool dimension parameters (e.g., saw thickness) are used to represent the osteotomy tool.

Therefore, the influence of the knee joint prosthesis size and the tool size parameter of the osteotomy tool on the osteotomy starting pose of the solid tibia can be deeply considered under the same reference system by executing the substeps S225-S227, the obtained second relative pose relation can be ensured to accurately describe the relative pose condition of the tibial plateau surface of the tibia assembly surface under the influence of the osteotomy tool and the reference position of the tibial prosthesis, the positioning accuracy of the tibial plateau surface is improved, and the positioning consistency of the tibial plateau surface is synchronously improved.

Step S230, obtaining first expected assembly pose information of the femoral prosthesis reference part for the solid femur to be resected under the basic coordinate system of the surgical robot, and second expected assembly pose information of the tibial prosthesis reference part for the solid tibia to be resected under the basic coordinate system.

In this embodiment, the first expected assembly pose information is used to represent an expected assembly pose of the femoral prosthesis reference part in a base coordinate system after a successful resection of the solid femur to be resected, and the second expected assembly pose information is used to represent an expected assembly pose of the tibial prosthesis reference part in the base coordinate system after a successful resection of the solid tibia to be resected, wherein the solid femur to be resected and the solid tibia to be resected are attributed to the same knee joint to be operated.

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

Optionally, referring to fig. 8, fig. 8 is one of the flow charts of the sub-steps included in step S230 in fig. 3. In the embodiment of the present application, the step of obtaining the first expected assembly pose information of the femoral prosthesis reference position for the solid femur to be osteotomized in the base coordinate system of the surgical robot in step S230 may include substep S231 to substep S234 to accurately solve the expected assembly pose condition of the femoral prosthesis reference position on the knee joint prosthesis to be assembled after the bone osteotomized of the solid femur to be osteotomized.

Substep S231, acquiring a first assembly pose relationship between a femoral reference position on a femoral model of a solid femur to be osteotomized and a femoral prosthesis reference position in a reference coordinate system.

Wherein, the femur model corresponding to the femur of the entity to be osteotomy included in the knee joint to be operated is established under the reference coordinate system, and the main doctor of the knee joint to be operated adjusts the three parts of the knee joint prosthesis to be assembled under the reference coordinate system according to the expected TKA operation effectDetermining the expected assembly pose of the femoral prosthesis reference position of the knee prosthesis to be assembled relative to the femoral reference position after the femur of the entity to be osteotomized is osteotomized by maintaining the assembly pose of the prosthesis model to obtain the first assembly pose relationship, wherein the first assembly pose relationship can represent the expected assembly pose of the femoral prosthesis reference position relative to the femoral reference position under the reference coordinate system, and the method can adopt The representation is performed.

And step S232, performing point cloud registration on the femoral tracer corresponding to the solid femur to be osteotomized and the reference coordinate system to obtain a first registration matrix of the reference coordinate system relative to the femoral tracer.

The femur tracer is used for marking the real pose condition of the solid femur to be osteotomized in the real operation environment, and the first registration matrix can be used for representing the mapping relationship between the femur model of the solid femur to be osteotomized and the solid femur to be osteotomized in the real operation environment, which can be adoptedThe representation is performed.

And sub-step S233, performing relative pose registration on the femur tracer and the surgical robot to obtain a first pose matrix of the femur tracer relative to a base coordinate system of the surgical robot.

In this embodiment, the first pose matrix is used to describe an actual pose of the femur of the entity to be osteotomized in the real surgical environment under the base coordinate system of the surgical robot, and may be adoptedThe representation is performed.

Optionally, in one implementation of this embodiment, a tool tracer may be installed on the surgical robot for an osteotomy tool to calibrate an installation position of the osteotomy tool with the tool tracer, wherein the tool tracer is relatively stationary with respect to the osteotomy tool, and the substep S233 may include:

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

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

and performing matrix multiplication operation on the first pose calibration matrix, the second pose registration matrix and the first pose registration matrix to obtain a first pose matrix corresponding to the femoral tracer.

Wherein the first pose calibration matrix can adoptRepresenting, the first pose registration matrix corresponding to the femoral tracer may employ +.>Representing, the second pose registration matrix can adopt +.>The representation is performed.

Alternatively, in another implementation manner of this embodiment, a base tracer that is relatively stationary with respect to a robot base of the surgical robot may be installed in a real surgical environment of the knee joint to be operated, so as to determine a relative pose relationship between the femoral tracer and the surgical robot using the base tracer as a reference, where the substep S233 may include:

performing pose registration on the femoral tracer and the base tracer to obtain a fourth pose registration matrix of the femoral 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 a first pose matrix corresponding to the femoral tracer.

Wherein the third pose registration matrix may employRepresenting, a fourth pose registration matrix corresponding to the femoral tracer may employ +.>The representation is performed.

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

Substep S234, performing coordinate system transformation on the first assembly pose relationship according to the first registration matrix and the first pose matrix, to obtain first desired assembly pose information.

The first expected assembly pose information can be obtained by performing matrix multiplication operation on the first registration matrix, the first pose matrix and the first assembly pose relation.

Therefore, the expected assembly pose state of the femoral prosthesis reference part on the knee prosthesis to be assembled after the femur of the entity to be osteotomized is osteotomized can be accurately solved by executing the substeps S231-S234.

Optionally, referring to fig. 9, fig. 9 is a second flowchart illustrating the sub-steps included in step S230 in fig. 3. In the embodiment of the present application, the step of obtaining the second desired assembly pose information of the tibial prosthesis reference part for the tibia of the entity to be osteotomized in the base coordinate system in the step S230 may include the substep S235 to the substep S238 to accurately solve the desired assembly pose condition of the tibial prosthesis reference part on the knee prosthesis to be assembled after the osteotomization of the tibia of the entity to be osteotomized is completed.

Sub-step S235, obtaining a second assembly pose relationship of the tibial reference position on the tibial model of the solid tibia to be osteotomized and the tibial prosthetic reference position under the reference coordinate system.

Wherein the knee joint to be operated comprises a tibia model corresponding to a solid tibia to be osteotomized which is established under the reference coordinate system, a doctor for treating 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 tibial prosthesis reference position of the knee joint prosthesis to be assembled relative to the tibial reference position after the tibia of the solid tibia to be osteotomized is completed, the second assembly pose relation is obtained, at this time, the second assembly pose relation can represent the expected assembly pose of the tibial prosthesis reference position relative to the tibial reference position under the reference coordinate system, and the method can adopt The representation is performed.

And step S236, performing point cloud registration on the tibial tracer and the reference coordinate system corresponding to the solid tibia to be osteotomized to obtain a second registration matrix of the reference coordinate system relative to the tibial tracer.

Wherein the tibial tracer is used for marking the real pose condition of the solid tibia to be osteotomized in the real operation environment, and the second registration matrix can be used for representing the mapping relationship between the tibial model of the solid tibia to be osteotomized and the solid tibia to be osteotomized in the real operation environment, and can be adoptedThe representation is performed.

And step S237, performing relative pose registration on the tibia tracer and the surgical robot to obtain a second pose matrix of the tibia tracer relative to a base coordinate system of the surgical robot.

In this embodiment, the second pose matrix is used to describe the real surgical ringThe actual pose state of the solid tibia to be osteotomized in the environment under the basic coordinate system of the surgical robot can be adoptedThe representation is performed.

Optionally, in one implementation of this embodiment, when a tool tracer is mounted on the surgical robot for an osteotomy tool, the substep S237 may include:

Performing pose registration on the tibia tracer and the tool tracer to obtain a first pose registration matrix of the tibia tracer relative to the tool tracer;

and performing matrix multiplication operation on the first pose calibration matrix, the second pose registration matrix and the first pose registration matrix to obtain a second pose matrix corresponding to the tibia tracer.

Wherein the first pose calibration matrix can adoptRepresenting, a first pose registration matrix corresponding to the tibial tracer may employ +.>Representing, the second pose registration matrix can adopt +.>The representation is performed.

Alternatively, in another implementation of the present embodiment, when the base tracer is installed in the real surgical environment of the knee joint to be operated, the substep S237 may include:

performing pose registration on the tibia tracer and the base tracer to obtain a fourth pose registration matrix of the tibia 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 a second pose matrix corresponding to the tibia tracer.

Wherein the third pose registration matrix may employRepresenting, a fourth pose registration matrix corresponding to the tibial tracer may employ +.>The representation is performed.

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

Sub-step S238, performing coordinate system transformation on the second assembly pose relationship according to the second registration matrix and the second pose matrix to obtain second expected assembly pose information.

Wherein the second desired assembly pose information may be obtained by performing a matrix multiplication operation on the second registration matrix, the second pose matrix, and the second assembly pose relationship.

Therefore, the method can accurately solve the expected assembly pose condition of the tibial prosthesis reference position on the knee prosthesis to be assembled after the tibia of the entity to be osteotomized is osteotomized by executing the substeps S235-S238.

Step S240, calculating expected osteotomy tool feed positions required by the femur assembly surfaces when the femur assembly surfaces are assembled on the femur of the entity to be osteotomized under the basic coordinate system according to the first expected assembly position information and the first relative position relation corresponding to the femur assembly surfaces, and calculating expected osteotomy tool feed positions required by the tibia assembly surfaces when the tibia assembly surfaces are assembled on the tibia of the entity to be osteotomized under the basic coordinate system according to the second expected assembly position information and the second relative position relation.

For each femoral component surface, a first relative pose relationship corresponding to the femoral component surface and the first expected component pose information can be subjected to matrix multiplication operation to obtain an expected osteotomy feed pose of the osteotomy tool acting on the femur of the entity to be osteotomy in the base coordinate system, wherein the expected osteotomy feed pose is used for cutting out a femoral platform surface matched with the corresponding femoral component surface, and if the facing direction of the expected osteotomy feed pose is regarded as an X-axis positive direction and the left transverse direction of the expected osteotomy feed pose is regarded as a Y-axis positive direction, a plane formed by the corresponding X-axis and Y-axis can be regarded as a plane of the femur of the entity to be osteotomy in the base coordinate system, wherein the plane is matched with the corresponding femoral component surface.

For the tibia assembly surface, matrix multiplication operation can be performed on the second relative pose relationship corresponding to the tibia assembly surface and the second expected assembly pose information to obtain an expected osteotomy feed pose of the femur platform surface matched with the tibia assembly surface, which is acted on the tibia of the entity to be osteotomized in the base coordinate system by the osteotomy tool, if the facing direction of the expected osteotomy feed pose is taken as an X-axis positive direction and the left transverse direction of the expected osteotomy feed pose is taken as a Y-axis positive direction, a plane formed by the corresponding X-axis and Y-axis can be taken as a plane of the expected tibia platform surface matched with the tibia assembly surface of the entity to be osteotomized in the base coordinate system.

Step S250, for each of the plurality of femur and tibia assembling surfaces, according to the surface size information of the assembling surface in the prosthesis size information, performing osteotomy track planning based on the expected osteotomy tool-entering pose corresponding to the assembling surface, and obtaining the corresponding planar osteotomy track of the assembling surface under the basic coordinate system.

In this embodiment, after determining the expected osteotomy position of each of the plurality of femur assembling surfaces and the tibia assembling surface in the base coordinate system, the plane of the expected bone platform surface of the prosthesis assembling surface in the base coordinate system may be accurately located based on the expected osteotomy position of the corresponding prosthesis assembling surface, and then, in the plane of the expected bone platform surface, according to the surface size information of the prosthesis assembling surface, a full-coverage osteotomy path planning may be performed for the prosthesis assembling surface with the corresponding expected osteotomy position as a reference, so as to obtain the planar osteotomy track of the prosthesis assembling surface in the base coordinate system.

After the computer device 10 plans all the matched planar osteotomy trajectories (including the planar osteotomy trajectories corresponding to the femur and the planar osteotomy trajectories corresponding to the tibia of the entity to be osteotomized) for the knee joint to be operated, each planar osteotomy trajectory can be sequentially sent to the operation robot according to the operation flow of the TKA operation, so that the operation robot drives the osteotomy tool to perform osteotomy according to the obtained planar osteotomy trajectories, the knee joint to be operated is cut into a shape matched with the knee joint prosthesis to be assembled, the finally-cut tibial plateau surface and the finally-cut femoral plateau surface can be closely attached to the knee joint prosthesis to be assembled, the knee joint prosthesis to be assembled can be ensured to be normally installed on the knee joint to be osteotomized, the automatic osteotomy function of the operation robot is synchronously realized, the osteotomy precision, the osteotomy accuracy and the osteotomy stability are improved, and the TKA operation is ensured to achieve the expected effect.

Therefore, the above steps S210 to S250 can be performed, the influence of the size of the knee joint prosthesis and the size parameters of the osteotomy tool on the osteotomy starting position of the entity tibia/femur included in the knee joint to be operated is deeply considered under the same reference frame, the plane osteotomy track planning with good track consistency and short planning time is performed on the entity tibia/femur, so that the automatic osteotomy function of the tibia/femur of the operation robot is realized through the planned plane osteotomy track, the positioning precision, osteotomy precision and osteotomy stability of the tibia/femur platform are improved, the tibial/femur osteotomy errors caused by the artificial osteotomy operation are avoided, the finally-cut tibia/femur platform and the knee joint prosthesis to be assembled can be tightly attached, the entity knee joint prosthesis with different styles can be conveniently installed on the entity tibia, precious treatment time is simultaneously taken for patients as much as possible, the TKA operation waiting time is greatly reduced, the expected effect of TKA operation is ensured, and the machine provided by the entity automatic femur is ensured to have significant safety in osteotomy.

In addition, referring to fig. 10, fig. 10 is a schematic diagram illustrating a composition of a surgical robot 20 according to an embodiment of the present application. In the embodiment of the present application, the robot end of the surgical robot 20 is provided with an osteotomy tool; the surgical robot 20 may be communicatively connected to the computer device 10, so as to obtain a planar 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 an osteotomy tool to implement an automatic osteotomy function on the knee joint to be operated according to the obtained planar osteotomy track, so as to improve the osteotomy efficiency, osteotomy precision, osteotomy accuracy and osteotomy stability of the knee joint, so as to strive for precious treatment time for a patient as much as possible, greatly reduce the waiting time of TKA operation, improve the TKA operation efficiency and the TKA operation success rate, avoid osteotomy errors caused by manual osteotomy operation, and ensure that the knee joint prosthesis to be assembled can be normally installed on the solid knee joint after osteotomy, and ensure that the TKA operation achieves the expected effect. The computer device 10 may draw the aforementioned planar osteotomy track by using the knee joint osteotomy planning rules in fig. 3-9, or may also use another planar 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 planar osteotomy track planning is performed under the robot base coordinates based on the model overlapping area corresponding to the tibia between the two three-dimensional models, so that the planned planar osteotomy track can remove the tibial osteotomy structure corresponding to the knee joint in the aforementioned model overlapping area to cut out the desired tibial plateau surface on the knee joint to be operated, and simultaneously planar osteotomy track planning is performed under the robot base coordinates based on the model overlapping area corresponding to the femur between the two three-dimensional models, so that the planned planar osteotomy track can remove the femoral osteotomy structure corresponding to the aforementioned model overlapping area on the knee joint to be operated, so as to draw out the desired femoral osteotomy plateau surface on the knee joint to be operated).

In the 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 automatic knee 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 knee 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 being 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 knee osteotomy device 300. The automatic knee-joint osteotomy device 300 can realize the automatic tibia/femur osteotomy function for the knee joint to be operated, so that the osteotomy precision, the osteotomy accuracy and the osteotomy stability of the tibia/femur platform surface are improved, the tibia/femur osteotomy errors caused by manual osteotomy operation are avoided, the finally-cut tibia/femur platform surface can be tightly attached to the knee joint prosthesis to be assembled, the automatic knee-joint osteotomy scheme provided by the robot for the solid tibia/femur is ensured to have remarkable effectiveness and safety, precious treatment time is strived for patients as much as possible, the waiting time of TKA operation is greatly reduced, the knee joint prostheses with different styles and including femur/tibia prosthesis structures can be normally installed on the solid knee joint, the success rate of TKA operation is improved, and the expected effect of TKA operation is ensured.

It will be appreciated that the block diagram shown in fig. 10 is merely a schematic 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. 10, or have a different configuration than shown in fig. 10. The components shown in fig. 10 may be implemented in hardware, software, or a combination thereof.

In this application, in order to ensure that the surgical robot 20 can implement the automatic osteotomy function of the tibia/femur for the knee joint to be operated according to the plane osteotomy track planned in advance, improve the osteotomy precision, osteotomy accuracy and osteotomy stability of the tibia/femur platform surface, avoid the tibia/femur osteotomy error caused by the manual osteotomy operation, ensure that the finally-cut tibia/femur platform surface can be closely attached to the knee joint prosthesis to be assembled, ensure that the automatic osteotomy scheme of the robot provided for the entity tibia/femur has remarkable effectiveness and safety, and meanwhile strive for precious treatment time for patients as much as possible, greatly reduce TKA operation waiting time, so that the knee joint prostheses with different styles including femur/tibia prosthesis structures can be normally installed on the entity knee joint, improve TKA operation success rate, ensure that TKA operation reaches the expected effect. The automatic knee joint osteotomy method provided in the present application is described in detail below.

Referring to fig. 11, fig. 11 is a flowchart of an automatic knee joint osteotomy method according to an embodiment of the present disclosure. In the embodiment of the present application, the automatic knee joint osteotomy method is applied to the surgical robot 20, and the automatic knee joint osteotomy method may include steps S410 to S430.

Step S410, obtaining a planar osteotomy track corresponding to each of a plurality of femur assembly surfaces of the knee joint prosthesis to be assembled for a solid femur to be osteoced included in the knee joint to be osteoced by an osteotomy tool in a basic coordinate system of an operation robot, and a planar osteotomy track corresponding to a tibia assembly surface of the knee joint prosthesis to be assembled for a solid tibia to be osteoced included in the knee joint to be osteoced by the osteotomy tool in the basic coordinate system.

Each planar osteotomy track corresponding to the knee joint to be operated can be planned by any one of the knee joint osteotomy planning methods related to fig. 3-9, or other planar 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 planar osteotomy track planning is performed under the robot-based coordinate based on the model overlapping area corresponding to the tibia between the two three-dimensional models, so that the planned planar osteotomy track can remove the tibial bone structure corresponding to the knee joint in the model overlapping area to be operated to cut out a desired tibial plateau on the knee joint to be operated, and planar osteotomy track planning is performed under the robot-based coordinate based on the model overlapping area corresponding to the femur between the two three-dimensional models, so that the planned planar osteotomy track can remove the femoral bone structure corresponding to the model overlapping area on the knee joint to be operated to cut out a desired plateau on the knee joint to be operated). The specific track planning means of each planar osteotomy track corresponding to the knee joint to be operated, which is obtained by the surgical robot 20, is not specifically limited in the present application.

In one implementation manner of this embodiment, the planar osteotomy trajectories of the plurality of femur assembling surfaces and the tibia assembling surface are planned by any one of the knee joint osteotomy planning methods related to fig. 3 to 9.

Step S420, determining an execution sequence of osteotomy of the planar osteotomy trajectories of the respective femur and tibia mounting surfaces at the knee joint to be operated.

Step S430, according to the execution sequence of the osteotomy operations corresponding to all the planar osteotomy trajectories, the surgical robot is controlled to drive the osteotomy tool to perform osteotomy on the knee joint to be operated according to the corresponding planar osteotomy trajectories, so as to cut out the femur flat table surfaces respectively matched with the femur assembly surfaces on the solid femur to be osteotomy, and cut out the tibia flat table surfaces matched with the tibia assembly surfaces on the solid tibia to be osteotomy.

Therefore, the automatic tibia/femur osteotomy function can be achieved for the knee joint to be operated according to the plane osteotomy track planned in advance, the osteotomy precision, the osteotomy accuracy and the osteotomy stability of the tibia/femur platform surface are improved, the tibia/femur osteotomy error caused by manual osteotomy operation is avoided, the tibia/femur platform surface finally cut out is ensured to be tightly attached to the knee joint prosthesis to be assembled, the robot automatic osteotomy scheme provided by the robot automatic osteotomy method for the solid tibia/femur is ensured to have remarkable effectiveness and safety, precious treatment time is strived for patients as much as possible, the TKA operation waiting time is greatly reduced, so that the knee joint prostheses with different styles and including femur/tibia prosthesis structures can be normally installed on the solid knee joint, the TKA operation success rate is improved, and the TKA operation is ensured to achieve the expected effect.

In this application, to ensure that the computer device 10 can execute the above-mentioned knee-joint osteotomy planning method by using the knee-joint osteotomy planning apparatus 100, the present application implements the foregoing functions by dividing functional modules of the knee-joint osteotomy planning apparatus 100. The specific components of the knee osteotomy planning device 100 provided herein are described in detail below.

Referring to fig. 12, fig. 12 is a schematic diagram illustrating a knee osteotomy planning device 100 according to an embodiment of the present disclosure. In an embodiment of the present application, the knee osteotomy planning apparatus 100 may include a tool information acquisition module 110, a pose relationship calculation module 120, a prosthesis pose acquisition module 130, a feed pose calculation module 140, and a feed trajectory planning module 150.

The tool information acquisition module 110 is configured to acquire prosthesis size information of a knee prosthesis to be assembled and tool size parameters of an osteotomy tool, where the osteotomy tool is installed at a robot end of a surgical robot, and the knee prosthesis to be assembled includes a plurality of femur assembly surfaces located near a femur prosthesis reference site and a tibia assembly surface where a tibia prosthesis reference site is located.

The pose relation calculating module 120 is configured to calculate, according to the prosthesis size information and the tool size parameters, a first relative pose relation of the osteotomy tool to the femoral prosthesis reference site in the reference coordinate system for each of the plurality of femoral assembly surfaces, and a second relative pose relation of the osteotomy tool to the tibial prosthesis reference site in the reference coordinate system for the osteotomy tool to the tibial assembly surface.

The prosthesis pose acquisition module 130 is configured to acquire first expected assembly pose information of the femoral prosthesis reference part for the femur of the entity to be osteotomized under a base coordinate system of the surgical robot, and second expected assembly pose information of the tibial prosthesis reference part for the tibia of the entity to be osteotomized under the base coordinate system.

The tool setting position calculating module 140 is configured to calculate, according to the first expected assembly position information and the first relative position relation corresponding to each of the plurality of femur assembly surfaces, an expected bone cutting tool setting position required when each of the plurality of femur assembly surfaces is assembled to the femur of the entity to be cut in the basic coordinate system, and calculate, according to the second expected assembly position information and the second relative position relation, an expected bone cutting tool setting position required when each of the tibia assembly surfaces is assembled to the tibia of the entity to be cut in the basic coordinate system.

The feed track planning module 150 is configured to plan, for each of the plurality of femur and tibia assembling surfaces, an osteotomy track based on a desired osteotomy tool feed pose corresponding to the assembling surface according to surface size information of the assembling surface in the prosthesis size information, and obtain a planar osteotomy track of the assembling surface in a base coordinate system.

Optionally, in one implementation of this embodiment, the plurality of femoral fitting surfaces includes a posterior condyle fitting surface, a posterior oblique fitting surface, a distal fitting surface, an anterior oblique fitting surface, and an anterior condyle fitting surface, the femoral prosthesis reference site is located on the distal fitting surface, and the pose relationship calculation module includes a first relative pose relationship calculation sub-module, wherein the first relative pose relationship calculation sub-module includes: a femoral feed coordinate system output unit, configured to, for each femoral bone assembly surface of the posterior condyle assembly surface, the posterior oblique assembly surface, the distal end assembly surface, the anterior oblique assembly surface, and the anterior condyle assembly surface, perform coordinate system transformation on a reference coordinate system of the femoral prosthesis reference part under the reference coordinate system through coordinate system translation operation and/or coordinate system rotation operation according to a relative position condition of the femoral assembly surface and the femoral prosthesis reference part, to obtain a preliminary feed point coordinate system of the femoral assembly surface in a target plane extension direction, where a distance from a plane intersection line between the femoral assembly surface and the distal end assembly surface to an origin of the corresponding preliminary feed point coordinate system is greater than or equal to a preset withdrawal distance, and the target plane extension direction is a plane extension direction of the femoral prosthesis structure of the femoral prosthesis to be assembled, which is directed to the knee prosthesis of the corresponding femoral assembly surface; a to-be-compensated fitting surface determining unit configured to determine at least one target fitting surface among the plurality of femur fitting surfaces according to a tool type of the osteotomy tool; the first coordinate system compensation unit is used for carrying out coordinate system translation compensation on a preliminary feed point coordinate system corresponding to the target assembly surface in a vertical plane of the target assembly surface according to the tool size parameter for each target assembly surface to obtain an actual feed point coordinate system corresponding to the target assembly surface; a first pose relation output unit, configured to, for each target assembly surface, use a coordinate system transformation relation between an actual feed point coordinate system corresponding to the target assembly surface and a reference coordinate system of the femoral prosthesis reference part as a first relative pose relation corresponding to the target assembly surface; the first pose relation output unit is further configured to, for each femoral component surface except all target component surfaces in the plurality of femoral component surfaces, use a coordinate system transformation relation between a preliminary feed point coordinate system corresponding to the femoral component surface and a reference coordinate system of the femoral prosthesis reference part as a first relative pose relation corresponding to the femoral component surface.

Furthermore, the pose relationship calculation module may further comprise a second relative pose relationship calculation sub-module, wherein the second relative pose relationship calculation sub-module comprises: a tibial feed coordinate system output unit, configured to perform coordinate system translation on a reference coordinate system of the tibial prosthesis reference position under the reference coordinate system in a plane where the tibial assembly surface is located, to obtain a preliminary feed point coordinate system of the tibial assembly surface, where a distance from an origin of the preliminary feed point coordinate system of the tibial assembly surface to an origin of the reference coordinate system of the tibial prosthesis reference position is greater than or equal to a preset withdrawal distance; the second coordinate system compensation unit is used for carrying out coordinate system translation compensation on the preliminary feed point coordinate system of the tibia assembly surface in the vertical plane of the tibia assembly surface according to the tool size parameter to obtain the actual feed point coordinate system of the tibia assembly surface; and the second pose relation output unit is used for taking the coordinate system transformation relation between the actual feed point coordinate system corresponding to the tibia assembly surface and the reference coordinate system of the tibia prosthesis reference position as the second relative pose relation corresponding to the tibia assembly surface.

Optionally, in one implementation of this embodiment, the prosthesis pose acquisition module may include a first assembly pose acquisition sub-module, wherein the first assembly pose acquisition sub-module includes: a first assembly pose acquisition unit, configured to acquire a first assembly pose relationship between a femoral reference position on a femoral model of the solid femur to be osteotomized and the femoral prosthesis reference position under the reference coordinate system; the first point cloud registration unit is used for carrying out point cloud registration on the femur tracer corresponding to the femur of the entity to be osteotomized and the reference coordinate system to obtain a first registration matrix of the reference coordinate system relative to the femur tracer; the first relative pose registration unit is used for carrying out relative pose registration on the femur tracer and the surgical robot to obtain a first pose matrix of the femur tracer relative to a base coordinate system of the surgical robot; and the first expected pose output unit is used for carrying out coordinate system transformation on the first assembly pose relation according to the first registration matrix and the first pose matrix to obtain the first expected assembly pose information.

Furthermore, the prosthesis pose acquisition module may further comprise a second assembly pose acquisition sub-module, wherein the second assembly pose acquisition sub-module comprises: a second assembly pose acquisition unit, configured to acquire a second assembly pose relationship between a tibial reference position on a tibial model of the solid tibia to be osteotomized and the tibial prosthesis reference position in the reference coordinate system; the second point cloud registration unit is used for carrying out point cloud registration on the tibia tracer corresponding to the entity tibia to be osteotomized and the reference coordinate system to obtain a second registration matrix of the reference coordinate system relative to the tibia tracer; a second relative pose registration unit, configured to perform relative pose registration on the tibial tracer and the surgical robot, to obtain a second pose matrix of the tibial tracer relative to a base coordinate system of the surgical robot; and the second expected pose output unit is used for carrying out coordinate system transformation on the second assembly pose relation according to the second registration matrix and the second pose matrix to obtain the second expected assembly pose information.

In this process, it may be understood that, for each of the first relative pose registration unit and the second relative pose registration unit, the manner of performing relative pose registration on the bone tracer and the surgical robot corresponding to the relative pose registration unit to obtain the target pose matrix of the corresponding bone tracer relative to the base coordinate system of the surgical robot may include:

and performing matrix multiplication operation on the first pose calibration matrix, the second pose registration matrix and the first pose registration matrix to obtain a target pose matrix corresponding to the bone tracer, wherein the first pose matrix is the target pose matrix when the bone tracer corresponding to the first relative pose registration unit is the bone tracer, and the second pose matrix is the target pose matrix when the bone tracer corresponding to the second relative pose registration unit is the tibia tracer.

It may be further understood that, for each of the first and second relative pose registration units, the manner of performing relative pose registration on the bone tracer corresponding to the relative pose registration unit and the surgical robot to obtain the target pose matrix of the corresponding bone tracer relative to the base coordinate system of the surgical robot may include:

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 a target pose matrix corresponding to the bone tracer, wherein the first pose matrix is the target pose matrix when the bone tracer corresponding to the first relative pose registration unit is the femur tracer, and the second pose matrix is the target pose matrix when the bone tracer corresponding to the second relative pose registration unit is the tibia tracer.

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

In the present application, in order to ensure that the above-mentioned surgical robot 20 can perform the above-mentioned automatic knee osteotomy method by using the above-mentioned automatic knee osteotomy device 300, the present application implements the above-mentioned functions by dividing the functional blocks of the above-mentioned automatic knee osteotomy device 300. The specific composition of the knee automatic osteotomy device 300 provided in this application is described in the following.

Referring to fig. 13, fig. 13 is a schematic view illustrating a composition of an automatic knee osteotomy device 300 according to an embodiment of the present application. In the embodiment of the present application, the automatic knee osteotomy device 300 is applied to the surgical robot 20, and the automatic knee osteotomy device 300 may include an osteotomy track acquisition module 310, an osteotomy sequence determination module 320, and a planar osteotomy control module 330.

The osteotomy track obtaining module 310 is configured to obtain, in a base coordinate system of the surgical robot, a planar osteotomy track corresponding to each of a plurality of femur fitting surfaces of the knee joint prosthesis to be assembled for a solid femur to be osteotomized included in the knee joint to be operated, and a planar osteotomy track corresponding to each of a tibia fitting surface of the knee joint prosthesis to be assembled for a solid tibia to be osteotomized included in the knee joint to be operated for the bone cutting tool in the base coordinate system, where the planar osteotomy tracks of each of the plurality of femur fitting surfaces and the tibia fitting surface are planned by the knee joint osteotomy planning device 100 of any of the above.

The osteotomy sequence determination module 320 is configured to determine an osteotomy sequence of planar osteotomy trajectories of the plurality of femoral and tibial mounting surfaces at the knee joint to be operated on.

The planar osteotomy control module 330 is configured to sequentially control the surgical robot to drive the osteotomy tool to perform osteotomy on the knee joint to be operated according to the corresponding planar osteotomy trajectories according to the respective osteotomy execution sequences of all the planar osteotomy trajectories, so as to cut out a femoral plateau surface on the femur of the entity to be osteotomy, which is respectively matched with the plurality of femur assembly surfaces, and cut out a tibial plateau surface on the tibia of the entity to be osteotomy, which is matched with the tibia assembly surfaces.

It should be noted that, the basic principle and the technical effects of the automatic knee osteotomy device 300 provided in the embodiment of the present application are the same as the aforementioned automatic knee osteotomy method. For a brief description, reference may be made to the description of the automatic knee 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 an 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. A knee osteotomy planning device, the device comprising:

and the feed track planning module is used for carrying out osteotomy track planning on each of the plurality of femur assembly surfaces and the tibia assembly surface according to the surface size information of the assembly surface in the prosthesis size information and based on the expected osteotomy tool-feeding pose corresponding to the assembly surface, so as to obtain the planar osteotomy track corresponding to the assembly surface under the base coordinate system.

2. The apparatus of claim 1, wherein the plurality of femoral mount surfaces comprises a posterior condyle mount surface, a posterior oblique mount surface, a distal mount surface, an anterior oblique mount surface, and an anterior condyle mount surface, the femoral prosthesis reference site being located on the distal mount surface, the pose relationship calculation module comprising a first relative pose relationship calculation sub-module, wherein the first relative pose relationship calculation sub-module comprises:

a femoral feed coordinate system output unit, configured to, for each femoral bone assembly surface of the posterior condyle assembly surface, the posterior oblique assembly surface, the distal end assembly surface, the anterior oblique assembly surface, and the anterior condyle assembly surface, perform coordinate system transformation on a reference coordinate system of the femoral prosthesis reference part under the reference coordinate system through coordinate system translation operation and/or coordinate system rotation operation according to a relative position condition of the femoral assembly surface and the femoral prosthesis reference part, to obtain a preliminary feed point coordinate system of the femoral assembly surface in a target plane extension direction, where a distance from a plane intersection line between the femoral assembly surface and the distal end assembly surface to an origin of the corresponding preliminary feed point coordinate system is greater than or equal to a preset withdrawal distance, and the target plane extension direction is a plane extension direction of the femoral prosthesis structure of the femoral prosthesis to be assembled, which is directed to the knee prosthesis of the corresponding femoral assembly surface;

A to-be-compensated fitting surface determining unit configured to determine at least one target fitting surface among the plurality of femur fitting surfaces according to a tool type of the osteotomy tool;

the first coordinate system compensation unit is used for carrying out coordinate system translation compensation on a preliminary feed point coordinate system corresponding to the target assembly surface in a vertical plane of the target assembly surface according to the tool size parameter for each target assembly surface to obtain an actual feed point coordinate system corresponding to the target assembly surface;

a first pose relation output unit, configured to, for each target assembly surface, use a coordinate system transformation relation between an actual feed point coordinate system corresponding to the target assembly surface and a reference coordinate system of the femoral prosthesis reference part as a first relative pose relation corresponding to the target assembly surface;

the first pose relation output unit is further configured to, for each femoral component surface except all target component surfaces in the plurality of femoral component surfaces, use a coordinate system transformation relation between a preliminary feed point coordinate system corresponding to the femoral component surface and a reference coordinate system of the femoral prosthesis reference part as a first relative pose relation corresponding to the femoral component surface.

3. The apparatus of claim 1, wherein the pose relationship calculation module further comprises a second relative pose relationship calculation sub-module, wherein the second relative pose relationship calculation sub-module comprises:

a tibial feed coordinate system output unit, configured to perform coordinate system translation on a reference coordinate system of the tibial prosthesis reference position under the reference coordinate system in a plane where the tibial assembly surface is located, to obtain a preliminary feed point coordinate system of the tibial assembly surface, where a distance from an origin of the preliminary feed point coordinate system of the tibial assembly surface to an origin of the reference coordinate system of the tibial prosthesis reference position is greater than or equal to a preset withdrawal distance;

the second coordinate system compensation unit is used for carrying out coordinate system translation compensation on the preliminary feed point coordinate system of the tibia assembly surface in the vertical plane of the tibia assembly surface according to the tool size parameter to obtain the actual feed point coordinate system of the tibia assembly surface;

and the second pose relation output unit is used for taking the coordinate system transformation relation between the actual feed point coordinate system corresponding to the tibia assembly surface and the reference coordinate system of the tibia prosthesis reference position as the second relative pose relation corresponding to the tibia assembly surface.

4. The apparatus of any of claims 1-3, wherein the prosthesis pose acquisition module comprises a first assembly pose acquisition sub-module, wherein the first assembly pose acquisition sub-module comprises:

a first assembly pose acquisition unit, configured to acquire a first assembly pose relationship between a femoral reference position on a femoral model of the solid femur to be osteotomized and the femoral prosthesis reference position under the reference coordinate system;

the first point cloud registration unit is used for carrying out point cloud registration on the femur tracer corresponding to the femur of the entity to be osteotomized and the reference coordinate system to obtain a first registration matrix of the reference coordinate system relative to the femur tracer;

the first relative pose registration unit is used for carrying out relative pose registration on the femur tracer and the surgical robot to obtain a first pose matrix of the femur tracer relative to a base coordinate system of the surgical robot;

and the first expected pose output unit is used for carrying out coordinate system transformation on the first assembly pose relation according to the first registration matrix and the first pose matrix to obtain the first expected assembly pose information.

5. The apparatus of claim 4, wherein the prosthesis pose acquisition module further comprises a second assembly pose acquisition sub-module, wherein the second assembly pose acquisition sub-module comprises:

a second assembly pose acquisition unit, configured to acquire a second assembly pose relationship between a tibial reference position on a tibial model of the solid tibia to be osteotomized and the tibial prosthesis reference position in the reference coordinate system;

the second point cloud registration unit is used for carrying out point cloud registration on the tibia tracer corresponding to the entity tibia to be osteotomized and the reference coordinate system to obtain a second registration matrix of the reference coordinate system relative to the tibia tracer;

a second relative pose registration unit, configured to perform relative pose registration on the tibial tracer and the surgical robot, to obtain a second pose matrix of the tibial tracer relative to a base coordinate system of the surgical robot;

and the second expected pose output unit is used for carrying out coordinate system transformation on the second assembly pose relation according to the second registration matrix and the second pose matrix to obtain the second expected assembly pose information.

6. The apparatus of claim 5, wherein for each of the first and second relative pose registration units, performing relative pose registration on the bone tracer and the surgical robot corresponding to the relative pose registration unit to obtain a target pose matrix of the corresponding bone tracer relative to a base coordinate system of the surgical robot, comprising:

7. The apparatus of claim 5, wherein for each of the first and second relative pose registration units, performing relative pose registration on the bone tracer and the surgical robot corresponding to the relative pose registration unit to obtain a target pose matrix of the corresponding bone tracer relative to a base coordinate system of the surgical robot, comprising:

8. An automatic knee osteotomy device for use with a surgical robot having an osteotomy tool mounted at a robotic end of the surgical robot, the device comprising:

9. The apparatus of claim 8, wherein the planar osteotomy trajectories of each of the plurality of femoral and tibial mounting surfaces are planned by the knee osteotomy planning apparatus of any 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 knee osteotomy planning apparatus of any one of claims 1-7.

11. A surgical robot, wherein an osteotomy tool is mounted at a robot end of the surgical robot, 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 automatic knee osteotomy device of any of claims 8-9.

12. A readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed, drives a computer device to load and run the knee joint osteotomy planning apparatus of any one of claims 1-7, or drives a surgical robot to load and run the knee joint automatic osteotomy apparatus of any one of claims 8-9, wherein the robot tip of the surgical robot is fitted with an osteotomy tool.