US-12616537-B2 - Control method for arthroplasty surgical robot

US12616537B2US 12616537 B2US12616537 B2US 12616537B2US-12616537-B2

Abstract

A control method for an arthroplasty surgical robot includes: capturing a bone image, transmitting the image to a computer system, and acquiring image data of a bone; selecting a suitable prosthesis model and placing it on a diseased joint for matching, wherein the overlapping part between the model and the bone is the part that needs to be removed and replaced; mounting signal sources; capturing a bone image again, including the signal sources and the joint part; establishing a coordinate system using the signal sources as the origin, and calculating and memorizing an interface between the model and the bone overlapping part and the coordinates of the interface in the coordinate system; and receiving the coordinates by a surgical robot, and obtaining the positional coordinates by the surgical robot of a part of the diseased joint that needs to be removed, and performing a surgical operation by the surgical robot.

Inventors

Kunzheng Wang
Shuo Sun
Jianran WANG
Dexiu Sun
Shaobin HAO
Delu WANG
Hui Dong

Assignees

SHANDONG HANGWEI ORTHOPEDICS MEDICAL INSTRUMENT CO., LTD.

Dates

Publication Date: 20260505
Application Date: 20221104
Priority Date: 20211225

Claims (8)

1 . A control method for an arthroplasty surgical robot, the method comprising: a first step of capturing a bone image of a patient, transmitting the bone image to a computer system, and acquiring image data of a bone by the computer system; a second step of placing the bone image according to a normal biological force line in the computer system; a third step of selecting, in the computer system, a suitable prosthesis model and placing the prosthesis model on a diseased joint for matching, wherein after matching is completed, the overlapping part between the joint prosthesis model and the bone is the part that needs to be removed and replaced; a fourth step of selecting one or more fixed points arbitrarily on a tibia and a femur of the diseased joint respectively after the patient arrives on an operating table, fixing a bracket at the fixed points through bone screws, equipping each bracket with at least three signal sources not aligned in the same straight line, serving as signal sending ends; a fifth step of capturing a bone image of the patient again, wherein a photographing range comprises the signal sources and the joint parts, transmitting the bone image to the computer system; a sixth step of establishing a coordinate system by taking the positions of the signal sources on the tibia and femur as the origin in the computer system, and correspondingly placing the bone image obtained in the fifth step onto the matched joint prosthesis model bone image in the third step in the coordinate system in an overlapping way; and the computer system automatically calculates and memorizes an interface between the joint prosthesis model and the tibia bone and the femur bone overlapping part obtained in the sixth step and the coordinates of the interface in the coordinate system, and outputs the coordinates to the surgical robot; a seventh step of receiving the coordinates by a surgical robot, and obtaining, in conjunction with received signals which are sent by the signal sources, the positional coordinates by the surgical robot, in the coordinate system, of a part of the diseased joint that needs to be removed, and performing osteotomy resection by the surgical robot based on the positional coordinates, completing the placement of the joint prosthesis.
2 . The control method for the arthroplasty surgical robot according to claim 1 , wherein in the sixth step, the positions of the signal sources on the tibia and the femur are used as the origin to respectively establish a tibia coordinate system and a femur coordinate system, and the computer system automatically calculates and memorizes the coordinates of the interface in the tibia coordinate system and the femur coordinate system respectively.
3 . The control method for the arthroplasty surgical robot according to claim 2 , wherein in the first step, the bone image of the patient is shot through X-ray, the bone of the patient is aligned according to an anteroposterior full-length position and a lateral position, the lateral position is vertical to the anteroposterior position, and an anteroposterior X-ray film and a lateral X-ray film of the full length of the bone are taken.
4 . The control method for the arthroplasty surgical robot according to claim 3 , wherein in the fifth step, capturing a bone image of the patient again, and the bone direction determined in the first step is used for shooting an anteroposterior X-ray film and a lateral X-ray film of the bone of the patient, and the photographing range comprises the signal sources and the joint parts.
5 . The control method for the arthroplasty surgical robot according to claim 4 , wherein in the sixth step, within the computer system and the X-ray image data containing the signal sources shot in the fifth step, the X-ray image containing the signal sources shot in the fifth step and the full-length X-ray images of the matched joint prosthesis model from the third step are placed correspondingly in an overlapping way in the tibia coordinate system and the femur coordinate system respectively.
6 . The control method for the arthroplasty surgical robot according to claim 2 , wherein in the first step, capturing a bone image of a patient via CT imaging, in the fifth step, capturing the bone image of the patient again via CT imaging, and the photographing range comprises the signal sources and the joint parts.
7 . The control method for the arthroplasty surgical robot according to claim 6 , wherein in the second step, within the computer system, a three-dimensional modeling is performed according to the CT images, and the bone of the patient is placed according to the normal biological force line to obtain a first bone three-dimensional model in the computer system, the first bone three-dimensional model includes the joint parts.
8 . The control method for the arthroplasty surgical robot according to claim 7 , wherein in the sixth step, within the computer system, a three-dimensional modeling is performed on the CT images containing the signal sources and joint parts, resulting in a second bone three-dimensional model, which is placed correspondingly in an overlapping way with the first bone three-dimensional model matched of the joint prosthesis model in the third step in the tibial coordinate system and the femoral coordinate system respectively.

Description

TECHNICAL FIELD The invention relates to a control method of a joint arthroplasty surgical robot and belongs to the technical field of electronic control. BACKGROUND Presently, surgical precision, minimally invasive approaches, and intelligent safety represent the focal objectives for surgeons. With the advancements in Computer Aided Surgery (CAS), Computer Aided Minimally Invasive Surgery (CAMIS), Computer Aided Orthopedics Surgery (CAOS), and their interdisciplinary integration, surgical navigation robots have become one of the main development directions for future surgical procedures. These surgical navigation robots involve multiple technologies such as automation, artificial intelligence, electronic information, and medical image processing, seamlessly integrating principles of surgery with computer software and construction machinery. They extend the visual and tactile capabilities of surgeons, enhancing the precision, safety, and reproducibility of surgical procedures, thereby assisting in the completion of high-risk complex surgeries previously deemed unattainable and effectively reducing surgical trauma. For example, patent No. “201910164262.4” discloses a pre-positioning method of a prosthesis before a joint arthroplasty surgery, which includes the following steps: acquiring CT image data; performing segmentation and three-dimensional reconstruction on a bone of a patient in the CT image data to obtain a bone model of the patient in a model space, wherein the bone model includes a joint three-dimensional model; selecting at least two fixed feature points on the end face of the joint three-dimensional model; selecting the same number of fixed points at the same position as the fixed feature points of the joint three-dimensional model on the end face of the prosthesis model; performing three-dimensional matching on the joint three-dimensional model and the prosthesis model, realizes the pre-positioning of the prosthesis, thereby the efficiency and the precision of pre-positioning are improved. SUMMARY OF THE INVENTION In view of the above problem, the invention provides a control method for a joint arthroplasty surgical robot, which can accurately determine a diseased joint section through three-dimensional modeling and a coordinate system establishment mode. As a result, the surgical robot can perform accurate operations with a high degree of precision, ensuring a high matching rate between the prosthesis and the original diseased joint. This significantly enhances the accuracy of the surgery. In order to solve the above technical problems, the invention adopts the following technical scheme: A control method for an arthroplasty surgical robot, which comprises the following steps: a first step of capturing a bone image of a patient, transmitting the bone image to a computer system, and acquiring image data of a bone by the computer system;a second step of placing the bone image according to a normal biological force line in the computer system;a third step of selecting, in the computer system, a suitable prosthesis model and placing the prosthesis model on a diseased joint for matching, wherein after matching is completed, the overlapping part between the joint prosthesis model and the bone is the part that needs to be removed and replaced;a fourth step of selecting one or more fixed points arbitrarily on a tibia and a femur of the diseased joint respectively after the patient arrives on an operating table, fixing a bracket at the fixed points through bone screws, equipping each bracket with at least three signal sources not aligned in the same straight line, serving as signal sending ends;a fifth step of capturing a bone image of the patient again, wherein the photographing range comprises the signal sources and the joint parts, transmitting the bone image to the computer system;a sixth step of establishing a coordinate system by taking the positions of the signal sources on the tibia and femur as the origin in the computer system, and correspondingly placing the bone image obtained in the fifth step onto the matched joint prosthesis model bone image in the third step in the coordinate system in an overlapping way;and the computer system automatically calculates and memorizes an interface between the joint prosthesis model and the tibia bone and the femur bone overlapping part obtained in the sixth step and the coordinates of the interface in the coordinate system, and outputs the coordinates to the surgical robot;a seventh step of receiving the coordinates by a surgical robot, and obtaining, in conjunction with received signals which are sent by the signal sources, the positional coordinates by the surgical robot, in the coordinate system, of a part of the diseased joint that needs to be removed, and performing osteotomy resection by the surgical robot based on the positional coordinates, completing the placement of the joint prosthesis. Furthermore, in the sixth step, the positions of the signa