CN111467036A - Surgical navigation system, surgical robot system for acetabular osteotomy and control method thereof - Google Patents

Abstract

The invention discloses a surgical navigation system, a surgical robot system for acetabular osteotomy and a control method thereof. The surgical navigation system is used for acquiring image data of a hip joint image and establishing a three-dimensional model of the hip joint based on the image data, and further Get the position of the center of the sphere where the acetabular socket is located. The invention can automatically search and move to the center of the acetabular socket, and control the end tool at the end of the mechanical arm system to perform a rotational osteotomy operation on the acetabulum according to the motion instruction sequence, thereby improving the accuracy of the operation; the operation is performed based on the mechanical arm. The operation improves the stability of the osteotomy operation; it can be stopped at the edge of the safe area during the operation to ensure the safety of the operation; in addition, real-time navigation of the rotational osteotomy can be performed, thereby improving the convenience of the operation and the user user experience.

Description

Surgical navigation system, surgical robot system for acetabular osteotomy and control method thereof

technical field

The invention relates to the technical field of medical equipment, in particular to a surgical navigation system, a surgical robot system for acetabular osteotomy and a control method thereof.

Background technique

Acetabular dysplasia (DDH) is a common cause of secondary osteoarthritis of the hip. According to statistics, the current incidence of acetabular dysplasia in my country is 0.9‰ to 3.8‰, and artificial hip replacement surgery must be performed in the late stage. It is a more effective treatment for older patients, but for young and active patients, because the artificial joint has a certain service life, early surgical intervention can be very effective in delaying the progression of osteoarthritis , avoid or delay artificial joint replacement surgery. Periacetabular osteotomy (PAO) solves the above problems by changing the orientation of the acetabulum, increasing the coverage of the acetabulum, and reducing stress concentration. The advantages of periacetabular osteotomy are complete deformity correction and good anatomical recovery; complete pelvic ring, small postoperative pelvic deformation; no damage to the blood circulation of the acetabulum, which is conducive to postoperative healing; strong internal fixation, fast postoperative functional recovery, etc. .

In a traditional periacetabular osteotomy, a doctor manually performs a polygonal osteotomy around the acetabulum using an orthopedic swing saw to separate the acetabulum from the surrounding pelvis. The removed acetabulum can be moved substantially to cover the femoral head rate was corrected to a greater extent. However, the osteotomy plane of this polygonal osteotomy is usually flat, which will lead to inflexible adjustment when adjusting the angle, and gaps are usually formed at the broken ends of the osteotomy, which will cause the osteotomy plane to be uneven, which is likely to cause poor fracture healing and fixation. It is not strong, and the fixings break, etc. The incision exposed during the operation is also quite large, which may lead to delayed healing and even severe acetabular malcorrection and acetabular necrosis.

Therefore, it is difficult to grasp the spherical center of the spherical osteotomy in the existing scheme of performing the osteotomy around the acetabulum by the doctor holding the saw blade, and the spherical structure of the osteotomy area cannot be guaranteed during cutting; in addition, the vibration of the manual operation of the circular saw is relatively large , the reaction force of the osteotomy is not easy to grasp, which can easily lead to eccentricity.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a surgical navigation system, a surgical robot system for acetabular osteotomy and its control in order to overcome the defect that the acetabular osteotomy scheme of the hip joint in the prior art cannot meet the actual use requirements. method.

The present invention solves the above-mentioned technical problems through the following technical solutions:

The present invention provides a surgical navigation system for a hip joint, which includes a surgical navigation module;

The surgical navigation module is used for acquiring image data of the hip joint image, and establishing a three-dimensional model of the hip joint based on the image data;

The surgical navigation module is further configured to obtain the center position of the sphere where the acetabular fossa is located in the hip joint according to the three-dimensional model of the hip joint.

Preferably, the surgical navigation module is used to obtain the first target feature point of the affected side surface of the acetabular fossa on the three-dimensional model of the hip joint, and to obtain the first target feature point by fitting the first target feature point. The position of the center of the sphere where the acetabular socket is located.

Preferably, the surgical navigation module is configured to perform segmentation processing on the hip joint image to obtain multiple segmented images, and establish the three-dimensional model of the hip joint according to image data corresponding to the multiple segmented images.

Preferably, the surgical navigation system includes a display module;

the display module is electrically connected to the surgical navigation module;

The surgical navigation module is configured to output the three-dimensional model of the hip joint to the display module for display; and/or,

The surgical navigation system further includes a main control module, a vehicle body structure and a first movable bracket;

Wherein, the vehicle body structure is fixed on the first movable bracket, the main control module is fixed in the vehicle body structure, and the display module is fixedly connected with the vehicle body structure;

the main control module is electrically connected to the surgical navigation module;

The main control module is used for storing the hip joint image, and the surgical navigation module is used for acquiring the hip joint image from the main control module.

The present invention also provides a surgical robot system for acetabular rotation osteotomy, the surgical robot system includes the above-mentioned hip joint surgical navigation system, and the surgical robot system further includes an optical positioning system and a mechanical arm system;

The optical positioning system is respectively connected in communication with the surgical navigation system and the robotic arm system;

The surgical navigation system is configured to generate a motion instruction sequence according to the three-dimensional model of the hip joint, and send the spherical center position and the motion instruction sequence to the optical positioning system;

The optical positioning system is used to convert the spherical center position into the center point position of the patient's acetabulum, and send the center point position and the motion instruction sequence to the robotic arm system;

The robotic arm system is used to move the tool center of the end tool to the center point position, and control the end tool to perform a rotational osteotomy operation on the acetabulum according to the motion instruction sequence.

Preferably, the surgical navigation system is used to obtain three-dimensional morphological parameters, lower limb alignment parameters, diameter parameters of the acetabular fossa, rim shape parameters of the acetabulum and orientation parameters of the acetabulum according to the three-dimensional model of the hip joint;

Wherein, the three-dimensional morphological parameters include the anteversion angle and the abduction angle of the acetabulum;

The surgical navigation system is further configured to determine the target size of the end tool according to the three-dimensional morphological parameter, the lower limb alignment parameter, the diameter parameter, the edge morphological parameter and the orientation parameter.

Preferably, the surgical navigation system is further configured to determine a plurality of osteotomy lines during the acetabular rotational osteotomy operation according to the position of the spherical center, the orientation parameter and the target size of the end tool;

Wherein, the parameters of each of the osteotomy lines include an osteotomy orientation parameter and an osteotomy depth parameter, and a plurality of the osteotomy lines form an osteotomy area;

The surgical navigation system is further configured to generate the motion instruction sequence according to a plurality of the osteotomy lines.

Preferably, the robotic arm system includes a base, a robotic arm body, an end effector and the end tool;

The bottom of the manipulator body is fixed on the base, and the end tool is fixed on the end of the manipulator body through the end effector;

Wherein, a first reference target ball is fixed on the base, and a second reference target ball is fixed on the end tool;

The optical positioning system is used to obtain the first reference coordinate system of the base according to the first reference target ball under the optical positioning reference coordinate system, and obtain the end tool according to the second reference target ball. The second reference coordinate system of the tool center, and the hand-eye calibration is performed on the robotic arm system according to the first reference coordinate system and the second reference coordinate.

Preferably, the end effector comprises a spherical osteotomy oscillating saw;

the end tool includes a spherical saw blade of the target size;

The top position of the inner arc surface of the spherical saw blade coincides with the center point of the spherical osteotomy saw.

Preferably, the robotic arm system further includes a motion controller, an electrical control module and a communication module;

The electrical control module is electrically connected to the motion controller and the communication module, respectively;

the communication module is in communication connection with the optical positioning system;

The communication module is used for acquiring the position of the center point and the motion command sequence sent by the optical positioning system and sending it to the electrical control module;

The electrical control module is configured to trigger the motion controller to control the tool center of the end tool to move to the center point position according to the center point position, and trigger the end tool to start work according to the motion instruction sequence; and / or,

The base also includes a movement locking mechanism, a control cabinet and a marker fixing device;

The movement locking mechanism is fixed on the bottom of the base, the control cabinet is fixed inside the base, and the first reference target ball is fixed on the base through the marker fixing device .

Preferably, the movement locking mechanism includes a support pedal and a release pedal;

A plurality of supporting wheels and a plurality of moving wheels are arranged under the base;

When the support pedal starts to work, the hydraulic device in the support pedal pushes the support column out to support the base, and the moving wheel under the base leaves the ground to fix the mechanical arm system;

When the release pedal starts to work, the hydraulic device in the release pedal retracts the support column, and the moving roller under the base contacts the ground to move the mechanical arm system.

Preferably, the surgical robot system further includes a probe;

When a third reference target ball is fixed on the patient's acetabulum, the optical positioning system is used to obtain a third reference coordinate system of the patient's acetabulum according to the third reference target ball under the optical positioning reference coordinate system ;

The optical positioning system is further configured to obtain the fourth reference coordinate system corresponding to the surgical navigation system and the fifth reference coordinate system corresponding to the probe respectively under the optical positioning reference coordinate system, and according to the first reference coordinate system Five reference coordinate systems to obtain the conversion relationship between the third reference coordinate system and the fourth reference coordinate system;

The optical positioning system is further configured to convert the position of the spherical center to the position of the center point of the patient's acetabulum according to the conversion relationship.

Preferably, the surgical navigation system is used for real-time display and navigation of the patient's acetabulum in the three-dimensional model of the hip joint according to the conversion relationship.

Preferably, the probe is connected in communication with the optical positioning system;

The probe is used to select the second target feature point of the patient's bone and send the optical positioning system;

The optical positioning system is used to read the first parameter information of the second target feature point clicked by the probe;

The optical positioning system is further configured to acquire the second parameter information corresponding to the second target feature point in the three-dimensional model of the hip joint, and calculate the matching degree between the first parameter information and the second parameter information, and When the matching degree is less than the set threshold, the probe is called to re-click the new second target feature point on the patient's acetabulum until the matching degree is greater than or equal to the set threshold.

Preferably, the optical positioning system includes a binocular camera and a second movable bracket;

the binocular camera is fixed on the second movable bracket;

The optical positioning system obtains the first reference coordinate system, the second reference coordinate system, the third reference coordinate system, the fourth reference coordinate system and the fifth reference coordinate through the binocular camera Tie.

Preferably, the optical positioning system is also used to obtain the current execution path of the end tool in the robotic arm system;

The optical positioning system is also used to convert the motion instruction sequence into a reference path under the fourth reference coordinate system, and determine whether the current execution path is consistent with the reference path, and if so, continue to control the The end tool performs a rotational osteotomy of the acetabulum; if not, exits the current execution path.

The present invention also provides a surgical navigation method, which is implemented by the above-mentioned hip joint surgical navigation system, and the surgical navigation method includes:

Obtain the image data of the hip joint image;

establishing a three-dimensional model of the hip joint based on the image data;

According to the three-dimensional model of the hip joint, the position of the spherical center of the sphere where the acetabular fossa is located in the hip joint is obtained.

Preferably, the step of establishing a three-dimensional model of the hip joint based on the image data includes:

Performing segmentation processing on the hip joint image to obtain a plurality of segmented images;

The three-dimensional model of the hip joint is established according to the image data corresponding to the plurality of segmented images.

Preferably, the step of obtaining the center position of the sphere where the acetabular socket is located in the hip joint according to the three-dimensional model of the hip joint includes:

Obtaining the first target feature point on the affected side surface of the acetabular fossa on the three-dimensional model of the hip joint, and fitting the first target feature point to obtain the sphere center position of the sphere where the acetabular fossa is located .

The present invention also provides a control method of a surgical robot system, the control method is realized by the above-mentioned surgical robot system for acetabular rotary osteotomy, and the control method includes:

The surgical navigation system generates a motion instruction sequence according to the three-dimensional model of the hip joint, and sends the spherical center position and the motion instruction sequence to the optical positioning system;

The optical positioning system converts the spherical center position into the center point position of the patient's acetabulum, and sends the center point position and the motion instruction sequence to the robotic arm system;

The robotic arm system moves the tool center of the end tool to the center point position, and controls the end tool to perform a rotational osteotomy operation on the acetabulum according to the motion instruction sequence.

Preferably, the navigation subsystem is also used to obtain the anteversion angle and the abduction angle of the acetabulum according to the feature points.

The positive progressive effect of the present invention is:

(1) Accurately obtain the center position of the sphere where the acetabular socket is located by establishing a three-dimensional model of the hip joint, and then accurately obtain the actual center point position of the patient's acetabulum according to the position of the center of the ball, and control the end tool at the end of the robotic arm system according to the movement. The instruction sequence performs a rotational osteotomy operation on the acetabulum, that is, automatic search and movement to the center of the acetabular fossa, thus improving the accuracy of the operation;

(2) The use of mechanical arms for surgical operations can eliminate the vibration factors existing in manual operations, thereby improving the stability and safety of osteotomy operations;

(3) During the operation, it can be stopped at the edge of the safe area to ensure the safety of the operation;

(4) Monitoring and navigation of the rotational osteotomy through the surgical navigation system improves the convenience of surgical operations and the experience of operators (such as doctors).

Description of drawings

FIG. 1 is a first structural schematic diagram of a surgical navigation system for a hip joint according to Embodiment 1 of the present invention.

FIG. 2 is a second structural schematic diagram of the surgical navigation system for the hip joint according to Embodiment 1 of the present invention.

3 is a schematic structural diagram of a surgical robot system for acetabular rotational osteotomy according to Embodiment 2 of the present invention.

4 is a schematic structural diagram of a robotic arm system in a surgical robot system for acetabular rotational osteotomy according to Embodiment 3 of the present invention.

5 is a schematic structural diagram of the first part of the mechanical arm system in the surgical robot system for acetabular rotational osteotomy according to Embodiment 3 of the present invention.

6 is a schematic structural diagram of the second part of the robotic arm system in the surgical robot system for acetabular rotational osteotomy according to Embodiment 3 of the present invention.

7 is a schematic structural diagram of the third part of the robotic arm system in the surgical robot system for acetabular rotational osteotomy according to Embodiment 3 of the present invention.

8 is a schematic structural diagram of the end effector in the surgical robot system for acetabular rotational osteotomy according to Embodiment 3 of the present invention.

FIG. 9 is a schematic structural diagram of an end tool in a surgical robot system for acetabular rotational osteotomy according to Embodiment 3 of the present invention.

10 is a schematic structural diagram of an optical positioning system in the surgical robot system for acetabular rotational osteotomy according to Embodiment 3 of the present invention.

11 is a schematic structural diagram of a surgical robot system for acetabular rotational osteotomy according to Embodiment 3 of the present invention.

12 is a schematic diagram of the state of the first acetabulum after the osteotomy of the surgical robot system for acetabular rotational osteotomy according to Embodiment 3 of the present invention.

13 is a schematic diagram of the state of the second acetabulum after the osteotomy of the surgical robot system for acetabular rotational osteotomy according to Embodiment 3 of the present invention.

14 is a schematic diagram of the first execution state of the spherical saw blade in the surgical robot system for acetabular rotational osteotomy according to Embodiment 3 of the present invention.

15 is a schematic diagram of the second execution state of the spherical saw blade in the surgical robot system for acetabular rotational osteotomy according to Embodiment 3 of the present invention.

FIG. 16 is a flowchart of a surgical navigation method according to Embodiment 4 of the present invention.

FIG. 17 is a flowchart of a control method of a surgical robot system according to Embodiment 5 of the present invention.

Detailed ways

The present invention is further described below by way of examples, but the present invention is not limited to the scope of the described examples.

Example 1

As shown in FIG. 1 , the surgical navigation system for the hip joint in this embodiment includes a surgical navigation module 1 , a display module 2 , a main control module 3 , a vehicle body structure 4 and a first movable bracket 5 .

The surgical navigation module 1 is used for acquiring image data of the hip joint image, and establishing a three-dimensional model of the hip joint based on the image data.

In an optional embodiment, the surgical navigation module 1 is configured to perform segmentation processing on a hip joint image to obtain multiple segmented images, and establish a three-dimensional model of the hip joint according to image data corresponding to the multiple segmented images.

Among them, the image data is a CT (computer tomography) scan image of the patient's dysplastic acetabulum, including data such as the shape of the pelvis and femur, and the shape of the cross-section. According to these data, the three-dimensional model of the hip joint is reconstructed, that is, the virtual pelvis As well as the femur, in order to reproduce the diagnostic information of the patient's affected area to prepare for preoperative planning and surgical evaluation.

Specifically, three-dimensional surface reconstruction and display are performed based on a set of inputted DICOM (Digital Imaging and Communications in Medicine) data, namely CT data. Specifically, (1) perform a preoperative CT scan on the patient, and obtain CT image data of the acetabulum and femur according to the preset CT imaging slice distance and slice thickness; (2) segment the input CT image to obtain the target bone region First, the data is roughly segmented by machine learning, and then the overall segmentation method based on energy evolution is used to further obtain smooth segmentation results; (3) After obtaining the segmented images corresponding to each CT, use multiple two-dimensional segmentations The information in the image reconstructs the three-dimensional information, and completes the reconstruction of the three-dimensional model of the bone; (4) through the attributes of the reconstructed object surface data, map to display the required geometric data, and then render the bone cross-sectional view.

In addition, the MatchingCubes algorithm (a three-dimensional surface reconstruction algorithm) in the publicly available image processing library VTK (Visualization Toolkit) can be used but not limited to establish a three-dimensional model based on CT images.

The surgical navigation module 1 is also used to obtain the center position of the sphere where the acetabular fossa is located in the hip joint according to the three-dimensional model of the hip joint.

Among them, the acetabular fossa can be approximated as a spherical surface, and the surgical navigation module is used to obtain the position of the center of the sphere where the acetabular fossa is located directly according to the model parameters of the three-dimensional model of the hip joint. or,

The surgical navigation module 1 is used to obtain the first target feature point of the affected side surface of the acetabular fossa on the three-dimensional model of the hip joint, and fit the first target feature point to obtain the position of the center of the sphere where the acetabular fossa is located. The position serves as the reference point for subsequent robot trajectory planning.

The first target feature points include the anterior superior iliac spine, the anterior edge of the acetabulum, the posterior edge of the acetabulum, the upper edge of the acetabulum, the surface of the acetabular fossa, and the like.

The user can use the mouse to click on the acetabular spherical surface of the three-dimensional model of the hip joint to collect data of multiple surface points (eg 10), and then fit the position of the center of the sphere where the acetabular fossa is located by the least squares method.

The healthy side surface of the acetabular fossa on the three-dimensional model of the hip joint can also be used as a reference, and the position of the center of the ball can be adjusted by means of manual fine-tuning, etc., to further ensure the accuracy of the surgical operation.

In addition, three-dimensional point cloud data registration algorithms such as ICP (Iterative Closest Point) algorithm can be used to obtain the spherical center position of the acetabular fossa of the three-dimensional model based on the selected target feature points and the neural network model, and the acetabular edge parameters can also be obtained. and diameter parameters, etc.

The display module 2 is electrically connected with the surgical navigation module 1, and the surgical navigation module 1 is used for outputting the three-dimensional model of the hip joint to the display module 2 for display.

The surgical navigation system includes two parts, the server and the movable table. The server includes a surgical navigation module 1 and a main control module 3 ; the movable workbench includes a display module 2 , a vehicle body structure 4 and a first movable bracket 5 .

In an optional embodiment, as shown in FIG. 2 , the vehicle body structure 4 is fixed on the first movable bracket 5 , the main control module 3 is fixed in the vehicle body structure 4 , and the display module 2 is connected to the vehicle body. Structure 4 is fixedly connected. The first movable bracket 5 includes a bracket body and a roller disposed below the bracket body, so as to facilitate the user to move the surgical navigation system.

The main control module 3 is electrically connected with the surgical navigation module 1 , the main control module 3 is used for storing the hip joint image, and the surgical navigation module 1 is used for acquiring the hip joint image from the main control module 3 .

The surgical navigation system for the hip joint of this embodiment corresponds to the preoperative planning stage, establishes a three-dimensional model of the hip joint based on the image of the hip joint, and accurately obtains the position of the center of the sphere where the acetabular fossa is located according to the three-dimensional model of the hip joint, thereby ensuring the subsequent rotation of the acetabulum Accuracy and safety of osteotomy.

Example 2

As shown in FIG. 3 , the surgical robot system for acetabular rotational osteotomy of this embodiment includes the surgical navigation system 100 of the hip joint of Embodiment 1, and the surgical robot system for acetabular rotational osteotomy of this embodiment further includes an optical positioning system 6 and the robotic arm system 7. The optical positioning system 6 is connected in communication with the surgical navigation system 100 and the robotic arm system 7 respectively.

The surgical navigation system 100 is used to generate a motion instruction sequence according to the three-dimensional model of the hip joint, and send the position of the ball center and the motion instruction sequence to the optical positioning system 6;

During acetabular rotation osteotomy, the optical positioning system 6 is used to convert the position of the center of the ball into the center point of the patient's acetabulum, and send the center point position and the motion instruction sequence to the robotic arm system 7;

The robotic arm system 7 is used to move the tool center of the end tool to the center point position, and control the end tool to perform a rotational osteotomy operation on the acetabulum according to the motion instruction sequence.

Specifically, the optical positioning system 6 is communicated with the surgical navigation system 100 and the robotic arm system 7 through a network cable, respectively.

The surgical navigation system sends data and user instructions to the optical positioning system through Gigabit Ethernet; after the optical positioning system obtains the information, it converts it into a position command under the coordinates of the robotic arm, and sends it to the robotic arm system through the communication interface ; Then, the robot arm system directly transmits the target motion command to the robot arm body through 100M Ethernet to realize data interactive transmission and command transmission and execution.

The surgical navigation system sends the tool center of the end tool to the robotic arm system through the optical positioning system, and the robotic arm system automatically moves to the ball center of the patient's acetabular fossa when the user manually drags it to a certain safety range; when it moves to the robotic arm After the tool center of the end tool coincides with the ball center of the patient's bone acetabular fossa, the path planning reference position is reached; the user manually presses the ball swing saw button to provide power to start executing the preset ball motion.

The robotic arm can be interrupted at any time during the movement of the sphere, and the path can be manually adjusted again; a virtual fixture is provided for the surgical operation through preoperative planning, and it will stop immediately at the edge of the safe area; the display module in the surgical navigation system will display the corresponding Virtual scenes that provide users with real-time image navigation.

In this embodiment, the three-dimensional model of the hip joint is established by the surgical navigation system to accurately obtain the position of the sphere center of the sphere where the acetabular fossa is located, and the actual center point position of the patient's acetabulum is accurately obtained based on the position of the sphere center based on the optical positioning system, and then the mechanical The end tool in the arm system performs a rotational osteotomy operation on the acetabulum according to the motion instruction sequence, that is, it can automatically search and move to the center of the acetabular fossa, thereby ensuring the accuracy and safety of the subsequent acetabular rotational osteotomy, and improving the stability of the osteotomy operation.

Example 3

The surgical robot system for acetabular rotational osteotomy of the present embodiment is a further improvement to Embodiment 2, specifically:

The surgical navigation system 100 is used to obtain three-dimensional morphological parameters, lower limb alignment parameters, diameter parameters of the acetabular fossa, rim shape parameters of the acetabulum, and orientation parameters of the acetabulum according to the three-dimensional model of the hip joint;

Among them, the three-dimensional morphological parameters include the anteversion angle and abduction angle of the acetabulum; the acetabular anteversion angle on imaging is the angle α between the acetabular axis and the coronal plane, and the abduction angle is the acetabular axis on the coronal plane. The angle β of the projection to the vertical axis.

The surgical navigation system 100 is also used to determine the target size of the end tool according to the three-dimensional morphological parameters, lower limb alignment parameters, diameter parameters, edge morphological parameters and orientation parameters.

The surgical navigation system 100 is also used to determine a plurality of osteotomy lines during the acetabular rotational osteotomy operation according to the position of the center of the ball, the orientation parameters, and the target size of the end tool.

The parameters of each osteotomy line include osteotomy orientation parameters and osteotomy depth parameters. Multiple osteotomy lines form an osteotomy area, and the planned osteotomy line will be used as the boundary of the safe area for intraoperative control.

The spherical center of the acetabular socket is the center of the osteotomy area, and the diameter of the end tool (ie, spherical saw blade) is the diameter of the osteotomy area, and then the planned spherical virtual osteotomy line and spherical virtual osteotomy area are obtained.

The surgical navigation system 100 is also used to generate a sequence of motion instructions from the plurality of osteotomy lines.

After completing the above-mentioned preoperative planning, the surgical navigation system will store the relevant information of the corresponding patient and provide it to the relevant authorized operators for calling. The above operations in the surgical navigation system only need the user to perform the operation before the operation, and do not need to be performed in the operating room, and do not require the participation of the patient.

As shown in FIG. 4 , the robotic arm system 7 includes a base 8 , a robotic arm body 9 , an end effector 10 , an end tool 11 , a motion controller 12 , an electrical control module 13 and a communication module 14 .

As shown in FIG. 5 , the bottom of the manipulator body 9 is fixed on the base 8 , and the end effector 10 is fixed on the end of the manipulator body 9 ; as shown in FIGS. 6 and 7 , the end tool 11 is fixed at the end on actuator 10.

Among them, the end effector provides lateral swinging power for the end tool, and the robotic arm system completes the rotational osteotomy around the center of the acetabular socket according to the motion instruction sequence while reducing the eccentricity caused by vibration.

As shown in FIG. 8 , the end effector 10 includes a spherical osteotomy oscillating saw, and as shown in FIG. 9 , the end tool 11 includes a spherical saw blade of a target size.

The top position P of the inner arc surface of the spherical saw blade coincides with the center point O of the spherical osteotomy oscillating saw, and then according to the diameter parameter of the spherical saw blade of the target size, the spherical center position P0 of the spherical saw blade is used as the point in the robotic arm system. The tool center of the end tool, that is, the diameter parameter of the spherical saw blade of the target size planned before operation, translates the second reference coordinate system T2 to the spherical center P0 of the spherical saw blade, and the calibration of the tool spherical center is completed.

In addition, in this embodiment, the spherical oscillating saw is used, combined with the precise control of the mechanical arm, to realize the spherical osteotomy adapted to the acetabular socket-shaped structure, which is easy to adjust and fix accurately, and can effectively reduce the wide range of the original pelvis. The interference of the osteotomy on the bone structure greatly reduces the surgical trauma.

The electrical control module 13 is electrically connected to the motion controller 12 and the communication module 14 respectively;

The communication module 14 is connected in communication with the optical positioning system 6;

The communication module 14 is used to obtain the center point position and motion command sequence sent by the optical positioning system 6 and send it to the electrical control module 13;

The electrical control module 13 is used to trigger the motion controller 12 to control the tool center of the end tool 11 to move to the center point position according to the center point position, and trigger the end tool 11 to start work around the center point position according to the motion command sequence.

The robotic arm system 7 also includes a mobile locking mechanism, a control cabinet and a marker fixing device;

The moving locking mechanism is fixed on the bottom of the base 8 , the control cabinet is fixed inside the base 8 , and the first reference target ball is fixed on the base 8 through a marker fixing device.

The moving locking mechanism includes a support pedal and a release pedal;

A plurality of supporting wheels and a plurality of moving wheels are arranged below the base 8;

Wherein, when stepping on the support pedal to make it work, the hydraulic device in the support pedal pushes the support column out to support the base 8, and the moving wheel under the base 8 leaves the ground to fix the mechanical arm system 7;

When the release pedal is stepped on to make it work, the hydraulic device in the release pedal retracts the support column, and the moving roller under the base 8 contacts the ground to move the robotic arm system 7 .

The marker fixing device includes a fixing marker (first reference target ball), a marker holder, and a fixing device. Among them, the position of the fixing device can be adjusted, and the posture of the marker fixed on it can also be adjusted. The moving method of the fixing device is a telescopic guide rod, and it is positioned through the slot, which can be locked and loosened by the external knob to fix and move the position of the device; at the same time, the end of the marker bracket and the top of the fixing device are clamped by a clamp, and the marker can be rotated by rotating the marker. , adjust the posture of the marker within a certain range before surgery, and place the robotic arm system to one side of the operating table to ensure that the patient's bone is contained in the robotic arm workspace.

As shown in FIG. 10 , the optical positioning system 6 includes a binocular camera 15 and a second movable bracket 16 , and the binocular camera is fixed on the second movable bracket 16 .

Before the intraoperative control, a first reference target ball is fixed on the base 8 of the robotic arm system, and a second reference target ball is fixed on the end tool 11 .

The optical positioning system 6 is used to obtain the first reference coordinate system T1 of the base 8 according to the first reference target ball under the optical positioning reference coordinate system T0 through the calibration algorithm, and obtain the tool center of the end tool 11 according to the second reference target ball. The second reference coordinate system T2, and the hand-eye calibration of the robotic arm system 7 is performed according to the first reference coordinate system T1 and the second reference coordinate.

As shown in FIG. 11 , the surgical robot system further includes a probe 17 , and the probe 17 is connected in communication with the optical positioning system 6 .

When the third reference target ball is fixed on the patient's acetabulum B, the optical positioning system 6 is used to obtain the third reference coordinate system T3 of the patient's acetabulum according to the third reference target ball under the optical positioning reference coordinate system T0;

The optical positioning system 6 is also used to obtain the fourth reference coordinate system T4 corresponding to the surgical navigation system 100 and the fifth reference coordinate system corresponding to the probe 17 under the optical positioning reference coordinate system T0, and according to the fifth reference coordinate system T5 The conversion relationship between the third reference coordinate system T3 and the fourth reference coordinate system T4 is acquired.

Convert the parameter information obtained from the preoperative planning based on the fourth reference coordinate system T4 corresponding to the surgical navigation system 100 to the optical positioning reference coordinate system T0, and make the patient's acetabulum, the surgical navigation system, the patient's acetabulum, the surgical navigation system, The robotic arm system and the optical positioning system are in the same coordinate system.

In the preoperative estimation stage, the probe 17 is used to select the second target feature point on the patient's acetabulum and send the optical positioning system 6;

The optical positioning system 6 is used to read the first position parameter information of the second target feature point selected by the probe 17;

The optical positioning system 6 is also used to obtain the second position parameter information corresponding to the second target feature point in the three-dimensional model of the hip joint, and calculate the matching degree between the first position parameter information and the second position parameter information, and when the matching degree is less than the set value. When the threshold is reached, the probe 17 is called to select a new second target feature point on the patient's acetabulum again until the matching degree is greater than or equal to the set threshold, that is, the readjustment of the preoperative planning is completed to ensure the accuracy of the surgical operation.

During the intraoperative control stage, the optical positioning system 6 is also used to convert the position of the spherical center to the position of the center point of the patient's acetabulum according to the conversion relationship.

During the acetabular rotational osteotomy, the surgical navigation system 100 is used to display and navigate the patient's acetabulum in real time in the three-dimensional model of the hip joint according to the conversion relationship, so as to feedback the rotational osteotomy of the patient's acetabulum in real time, that is, through the operation The navigation system 100 monitors the rotational osteotomy and navigates, which improves the convenience of the surgical operation and the experience of the operator (such as a doctor).

During acetabular rotation osteotomy, the optical positioning system 6 is also used to obtain the current execution path of the end tool 11 in the robotic arm system 7;

The optical positioning system 6 is also used to convert the motion instruction sequence into a reference path under the fourth reference coordinate system T4, and determine whether the current execution path is consistent with the reference path, and if so, continue to control the end tool 11 to perform rotational osteotomy on the acetabulum. Action; if not, exit the current execution path.

The surgical robot system of this embodiment participates in preoperative planning, preoperative evaluation, intraoperative control, and intraoperative real-time monitoring, which ensures the safety, accuracy and operability of acetabular rotational osteotomy.

In addition, according to the real-time 3D model of the hip joint and the relative position information of the saw blade center displayed by the surgical navigation system, the user can also interrupt the motion command at any time, readjust the path, and realize intraoperative navigation.

During the user's intraoperative operation, the optical positioning system is used to monitor the surgical process in real time, feedback and display the current osteotomy position and depth information; once the motion path exceeds the predetermined safe area, the robotic arm system immediately stops the osteotomy operation. After the osteotomy operation, the main body of the robotic arm in the robotic arm system can exit according to the preset safe path or the user can operate and drag the robotic arm to exit safely. After the robotic arm moves to a safe position, the intraoperative monitoring is completed.

In this embodiment, a dedicated navigation system supporting software covering preoperative planning and intraoperative control is installed in the surgical navigation system, as well as database software for storing patient information, diagnosis information and surgical information. The surgical navigation system should be placed in the operating room away from the operating bed. The user interacts with the user interface to complete preoperative diagnostic planning, 3D reconstruction, and issue system instructions to control the robotic arm system to perform surgical operations according to the specified instructions. It can display three-dimensional image information of patients in real time and monitor intraoperative dynamic images.

The optical positioning system 6 is placed on the side of the operating bed that is not easily blocked, and is used in conjunction with the reference target ball installed on the patient's pelvis and the base of the robotic arm system to dynamically capture the motion trajectory of the reference target ball and the robotic arm system in real time. Monitor the surgical status and dynamically locate the surgical operating area. It can also be used with other surgical positioning devices, such as the matching probe and the reference target ball installed on the end tool, to use the completed intraoperative registration and coordinate system transformation algorithm to accurately locate the target surgical position and achieve intraoperative navigation.

The robotic arm system is mainly used to complete the surgical operation according to the instructions, and move the end effector according to the target surgical path and the posture of the instrument. The robotic arm system is placed on the operable side of the operating table, close to the affected part of the patient, and the end effector, the spherical oscillating saw, is fixed on the robotic arm, and the spherical oscillating saw that matches the shape and size of the patient’s acetabulum planned and designed before surgery is installed. By machining to ensure that the top position of the inner arc surface of the spherical saw blade coincides with the center point of the spherical osteotomy oscillating saw, the tool center (point O) of the end tool can be converted to the spherical shape through the diameter parameter of the saw blade. Saw blade center point P0; the motion trajectory of the end tool is controlled by the human-computer interaction command of the surgical navigation system, and the optical positioning system captures and feeds back the pose information of the end effector in real time to form a closed-loop control, and the surgical robot system ensures the saw blade center P0 The movement trajectory of the point conforms to the expected spherical section, and finally the osteotomy operation is completed by the user's manual operation to provide power to swing the spherical oscillating saw.

This embodiment makes up for the defect that the existing surgical navigation device cannot navigate during the osteotomy around the acetabulum, and expands the applicable scope of the navigation device. Through the self-developed world's first calculation method and software evaluation system for acetabular coverage for hip dysplasia, it provides a theoretical basis for scientific and standardized acetabular surgery. The surgical robot system for acetabular rotary osteotomy is suitable for hospitals at all levels, especially primary hospitals. This system will effectively improve the medical level of primary hospitals, realize the sharing of medical resources, and effectively reduce the difficulty of osteotomy around the acetabulum. Dramatically shorten the learning curve.

In addition, after the surgical robot system completes the rotational osteotomy, the cut bone needs to be rotated by a certain angle. Specifically, as shown in Figure 12, the acetabulum is completely cut off at this time, and then the cut acetabulum is rotated in the direction indicated by the arrow by a planned rotation angle (as shown in Figure 13), and screws are used at this time. The acetabulum is fixed to the pelvis in the current position, and the operation is determined to be completed; wherein, the acetabular coverage is calculated based on the coincidence of the femoral head and the acetabulum in this position.

The following is a detailed description with examples:

User: The hospital has a system administrator role and a hospital has a surgeon who has obtained a training certificate. Objective: To complete a series of acetabular rotation osteotomy procedures from preoperative planning to postoperative evaluation according to the user's operation on the visual interface.

(1) Preoperative planning stage

The user opens the surgical navigation system of the hip joint, logs in to view and loads the corresponding basic information, diagnosis information and CT data information of the patient;

Start the 3D reconstruction based on the CT data information to obtain the 3D model of the patient's hip joint;

Select feature points on the 3D model of the hip joint, automatically detect the center of the acetabular socket and the acetabular edge based on the feature points, and calculate the required 3D morphological parameters to plan the size of the end effector;

Start the automatic planning, automatically display the osteotomy area of the acetabular osteotomy and the situation around the pelvis, and automatically plan the rotation angle of the osteotomy;

Predict and evaluate the acetabular coverage parameter. When the acetabular coverage parameter is less than the set value, manually adjust the plan according to the evaluation result, and repeat the process of the previous step and this step until the acetabular coverage parameter meets the surgical requirements;

Use the virtual osteotomy area to generate the surgical motion planning path of the end tool in the robotic arm system. You can manually adjust the osteotomy position and depth according to the displayed situation around the pelvis. Repeat the previous step and this step until the surgical motion planning path is safe and reliable. Save Preoperative planning information and closing the stage.

(2) Preoperative equipment confirmation stage

The user turns on the surgical navigation system of the hip joint, and the user operates the connection and checks the working status of each system;

After confirming that the working state is normal, install the first reference target ball on the base of the robotic arm system, install the second reference target ball on the end effector, start the equipment calibration, and determine that the end effector corresponds to the second reference coordinate system T2;

Verify the comprehensive positioning accuracy of the system. If it does not meet the expectations, repeat the process of the previous step and this step until the preset comprehensive positioning accuracy index is met; after completing the above confirmation, end this stage;

(3) Intraoperative registration stage

After the user pushes the surgical robot system into the designated position in the operating room and the patient lies down, the user checks that the preoperative planning and preoperative equipment confirmation have been completed. If it is not completed or needs to be adjusted, repeat the above two stages until the surgical needs are met;

After the probe connection is confirmed, the third reference target ball is installed in the patient's acetabulum to realize the dynamic tracking of the patient's acetabulum position;

Feature points were selected on the patient's acetabulum and CT 3D model for matching;

Based on the optical positioning system to read the position information of the feature points selected by the probe, the bone registration is completed, and the fourth reference coordinate system T4 of the patient's acetabulum is generated;

Verify the bone registration accuracy, if it does not meet the expectations, repeat the previous two steps and this step until the preset registration accuracy is met;

After the bone registration accuracy is confirmed, the end effector registration is completed according to the preoperatively planned end effector size, and the second reference coordinate system T2 of the end effector calibrated in the preoperative equipment confirmation is translated to the spherical center of the spherical saw blade. P0, form a new reference coordinate system of the end effector; end this stage after completing the above confirmation;

(4) Intraoperative planning and intraoperative navigation control stage

The user inspection starts after completing the aforementioned preoperative planning, preoperative equipment confirmation, and intraoperative registration;

Export the model information, position information and trajectory planning information during preoperative planning, and enable intraoperative navigation after confirmation;

Based on the pre-registration of pre-operative planning and the 3-dimensional registration results of intra-operative registration, the relative position between the patient's acetabulum and the end effector is displayed, and the pre-operatively planned motion path is converted to the fourth reference coordinate of the patient's acetabulum Get path 1 under T4;

Using the optical positioning system to capture the dynamic path of the end effector in real time is path two;

After the user confirms that the end effector is in the correct position relative to the patient's bone, the hand-held end effector provides power;

The robot executes path 1 through path 2 feedback. The optical positioning system monitors the surgical process in real time, feeds back and displays the osteotomy position and depth information, and the user checks whether the position is appropriate after path 2 is completed;

If the position is inaccurate, re-adjust path 1, repeat the previous two steps and this step until it meets the surgical expectations;

After the user's operation is over, manually disconnect the power of the end effector, the robotic arm exits according to path 3, and the robotic arm moves to a safe position to end this stage.

In an optional implementation manner, the motion instruction sequence executed by the end tool in the robotic arm system specifically includes:

As shown in Figure 14, the robotic arm reaches a safe initial position above the surgical target area in a posture S1;

(1) Start the osteotomy motion command sequence, the robotic arm reaches the position A1 with the posture S1, even if the center point P0 of the spherical saw blade coincides with the center point of the patient’s acetabulum, the center point is used as the origin, and the axis of the spherical saw blade is the Z axis to establish the target Coordinate System;

(2) Keep the center point P0 of the spherical saw blade unchanged, and rotate counterclockwise around the direction of the target coordinate system perpendicular to the Z axis (as shown in the Y axis) to the posture S2;

(3) Keep the center point P0 of the spherical saw blade unchanged, and rotate counterclockwise around the direction of the target coordinate system perpendicular to the Z axis (as shown in the Y axis) to the posture Si;

(4) Keep the center point P0 of the spherical saw blade unchanged, and rotate counterclockwise around the direction of the target coordinate system perpendicular to the Z axis (as shown in the Y axis) to the posture SN;

(5) Keep the center point P0 of the spherical saw blade unchanged, and rotate clockwise around the direction of the target coordinate system perpendicular to the Z axis (as shown in the Y axis) to return to the posture Si;

(6) Keep the center point P0 of the spherical saw blade unchanged, and rotate clockwise around the direction of the target coordinate system perpendicular to the Z axis (as shown in the Y axis) to return to the posture S2;

(7) Keep the center point P0 of the spherical saw blade unchanged, and rotate clockwise around the direction of the target coordinate system perpendicular to the Z axis (as shown in the Y axis) to return to the posture S1;

(8) After returning to position A1 with attitude S1, keep the center point P0 of the spherical saw blade unchanged, and rotate clockwise around the Z-axis direction of the target coordinate system to attitude S2;

(9) Repeat above-mentioned steps (3)-(8);

(10) After returning to the position Ai with the attitude S1, keep the center point P0 of the spherical saw blade unchanged, and rotate clockwise around the Z-axis direction of the target coordinate system to the attitude Si;

(11) Repeat above-mentioned steps (3)-(8);

(12) Repeat the above steps (3)-(11) until returning to the position AN with the attitude S1, that is, the position A1, as shown in Figure 15;

Return to the safe initial position above the surgical target area with posture S1 to complete the osteotomy motion command sequence.

In this embodiment, the three-dimensional model of the hip joint is established by the surgical navigation system to accurately obtain the position of the sphere center of the sphere where the acetabular fossa is located, and the actual center point position of the patient's acetabulum is accurately obtained based on the position of the sphere center based on the optical positioning system, and then the mechanical The end tool in the arm system performs a rotational osteotomy operation on the acetabulum according to the motion instruction sequence, that is, it can automatically search and move to the center of the acetabular fossa, thereby ensuring the accuracy and safety of the subsequent acetabular rotational osteotomy, and improving the stability of the osteotomy operation.

Example 4

As shown in FIG. 16 , the surgical navigation method of this embodiment is implemented by the surgical navigation system of the hip joint in Embodiment 1, and the surgical navigation method includes:

S101, acquiring image data of a hip joint image;

S102, establishing a three-dimensional model of the hip joint based on the image data;

Specifically, step S102 includes:

The hip joint image is segmented to obtain multiple segmented images;

A three-dimensional model of the hip joint is established according to the image data corresponding to the plurality of segmented images.

S103: Acquire the center position of the sphere where the acetabular socket in the hip joint is located according to the three-dimensional model of the hip joint.

Specifically, step S103 includes:

The first target feature point on the affected side surface of the acetabular fossa on the three-dimensional model of the hip joint is acquired, and the first target feature point is fitted to obtain the spherical center position of the sphere where the acetabular fossa is located.

In this embodiment, a three-dimensional model of the hip joint is established through the image of the hip joint, and the position of the center of the sphere where the acetabular socket is located is accurately obtained according to the three-dimensional model of the hip joint, that is, the automatic search and movement to the center of the acetabular socket are realized, thereby ensuring the follow-up Accuracy and safety of rotational acetabular osteotomy.

Example 5

As shown in FIG. 17 , the control method of the surgical robot system of this embodiment is implemented by the surgical robot system of the acetabular rotational osteotomy in Embodiment 2 or 3, and the control method includes:

S201, the surgical navigation system generates a motion instruction sequence according to the three-dimensional model of the hip joint, and sends the position of the ball center and the motion instruction sequence to the optical positioning system;

S202. During the acetabular rotation osteotomy, the optical positioning system converts the position of the center of the ball into the position of the center point of the patient's acetabulum, and sends the center point position and the motion instruction sequence to the robotic arm system;

S203, the robotic arm system moves the tool center of the end tool to the center point position, and controls the end tool to perform a rotational osteotomy operation on the acetabulum according to the motion instruction sequence.

In this embodiment, the three-dimensional model of the hip joint is established by the surgical navigation system to accurately obtain the position of the sphere center of the sphere where the acetabular fossa is located, and the actual center point position of the patient's acetabulum is accurately obtained based on the position of the sphere center based on the optical positioning system, and then the mechanical The end tool in the arm system performs a rotational osteotomy operation on the acetabulum according to the motion instruction sequence, that is, it can automatically search and move to the center of the acetabular fossa, thereby ensuring the accuracy and safety of the subsequent acetabular rotational osteotomy, and improving the The stability of the osteotomy operation is improved; in addition, the rotational osteotomy is monitored and navigated through the surgical navigation system, which improves the convenience of the surgical operation and the experience of the operator (such as a doctor).

Although the specific embodiments of the present invention are described above, those skilled in the art should understand that this is only an illustration, and the protection scope of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principle and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims (20)

1. an operation navigation system of hip joint, is characterized in that, described operation navigation system comprises operation navigation module; The surgical navigation module is used for acquiring image data of the hip joint image, and establishing a three-dimensional model of the hip joint based on the image data; The surgical navigation module is further configured to obtain the center position of the sphere where the acetabular fossa is located in the hip joint according to the three-dimensional model of the hip joint. 2 . The surgical navigation system of the hip joint according to claim 1 , wherein the surgical navigation module is configured to obtain the sphere of the sphere where the acetabular fossa is located according to the model parameters of the three-dimensional model of the hip joint. 3 . heart position; or, The surgical navigation module is used to obtain the first target feature point on the affected side surface of the acetabular fossa on the three-dimensional model of the hip joint, and fit the first target feature point to obtain where the acetabular fossa is located. The position of the center of the sphere. 3. The surgical navigation system of the hip joint according to claim 1, wherein the surgical navigation module is used for segmenting the hip joint image to obtain a plurality of segmented images, and according to the plurality of segmented images The corresponding image data establishes the three-dimensional model of the hip joint. 4. The surgical navigation system of the hip joint according to claim 1, wherein the surgical navigation system comprises a display module; the display module is electrically connected to the surgical navigation module; The surgical navigation module is configured to output the three-dimensional model of the hip joint to the display module for display; and/or, The surgical navigation system further includes a main control module, a vehicle body structure and a first movable bracket; Wherein, the vehicle body structure is fixed on the first movable bracket, the main control module is fixed in the vehicle body structure, and the display module is fixedly connected with the vehicle body structure; the main control module is electrically connected to the surgical navigation module; The main control module is used for storing the hip joint image, and the surgical navigation module is used for acquiring the hip joint image from the main control module. 5. A surgical robot system for acetabular rotation osteotomy, wherein the surgical robot system comprises the surgical navigation system of the hip joint according to any one of claims 1 to 4, and the surgical robot system also includes Optical positioning system and robotic arm system; The optical positioning system is respectively connected in communication with the surgical navigation system and the robotic arm system; The surgical navigation system is configured to generate a motion instruction sequence according to the three-dimensional model of the hip joint, and send the spherical center position and the motion instruction sequence to the optical positioning system; The optical positioning system is used to convert the spherical center position into the center point position of the patient's acetabulum, and send the center point position and the motion instruction sequence to the robotic arm system; The robotic arm system is used to move the tool center of the end tool to the center point position, and control the end tool to perform a rotational osteotomy operation on the acetabulum according to the motion instruction sequence. 6. The surgical robot system for acetabular rotational osteotomy according to claim 5, wherein the surgical navigation system is used to obtain three-dimensional morphological parameters, lower limb alignment parameters, and acetabulum according to the three-dimensional model of the hip joint. The diameter parameter of the socket, the rim shape parameter of the acetabulum and the orientation parameter of the acetabulum; Wherein, the three-dimensional morphological parameters include the anteversion angle and the abduction angle of the acetabulum; The surgical navigation system is further configured to determine the target size of the end tool according to the three-dimensional morphological parameter, the lower limb alignment parameter, the diameter parameter, the edge morphological parameter and the orientation parameter. 7. The surgical robot system for acetabular rotational osteotomy according to claim 6, wherein the surgical navigation system is further configured to determine the target size of the end tool according to the position of the ball center, the orientation parameter and the end tool Determine multiple osteotomy lines during acetabular rotational osteotomy; Wherein, the parameters of each of the osteotomy lines include an osteotomy orientation parameter and an osteotomy depth parameter, and a plurality of the osteotomy lines form an osteotomy area; The surgical navigation system is further configured to generate the motion instruction sequence according to a plurality of the osteotomy lines. 8. The surgical robot system for acetabular rotational osteotomy according to claim 7, wherein the robotic arm system comprises a base, a robotic arm body, an end effector and the end tool; The bottom of the manipulator body is fixed on the base, and the end tool is fixed on the end of the manipulator body through the end effector; Wherein, a first reference target ball is fixed on the base, and a second reference target ball is fixed on the end tool; The optical positioning system is used to obtain the first reference coordinate system of the base according to the first reference target ball under the optical positioning reference coordinate system, and obtain the end tool according to the second reference target ball. The second reference coordinate system of the tool center, and the hand-eye calibration is performed on the robotic arm system according to the first reference coordinate system and the second reference coordinate. 9. The surgical robotic system for acetabular rotational osteotomy of claim 8, wherein the end effector comprises a spherical osteotomy oscillating saw, and the end tool comprises a spherical saw blade of the target size; Wherein, the top position of the inner arc surface of the spherical saw blade coincides with the center point of the spherical osteotomy oscillating saw. 10. The surgical robot system for acetabular rotational osteotomy according to claim 9, wherein the robotic arm system further comprises a motion controller, an electrical control module and a communication module; The electrical control module is electrically connected to the motion controller and the communication module, respectively; the communication module is in communication connection with the optical positioning system; The communication module is used for acquiring the position of the center point and the motion command sequence sent by the optical positioning system and sending it to the electrical control module; The electrical control module is used to trigger the motion controller to control the tool center of the end tool to move to the center point position according to the center point position, and trigger the end tool to move around the center point according to the motion instruction sequence. start work at the said center point location; and/or, The robotic arm system further includes a mobile locking mechanism, a control cabinet and a marker fixing device; The movement locking mechanism is fixed on the bottom of the base, the control cabinet is fixed inside the base, and the first reference target ball is fixed on the base through the marker fixing device . 11. The surgical robot system for acetabular rotational osteotomy according to claim 10, wherein the movement locking mechanism comprises a support pedal and a relaxation pedal; A plurality of supporting wheels and a plurality of moving wheels are arranged under the base; Wherein, when the support pedal starts to work, the hydraulic device in the support pedal pushes the support column out to support the base, and the moving wheel under the base leaves the ground to fix the mechanical arm system; When the release pedal starts to work, the hydraulic device in the release pedal retracts the support column, and the moving roller under the base contacts the ground to move the mechanical arm system. 12. The surgical robot system for acetabular rotational osteotomy according to claim 8, wherein the surgical robot system further comprises a probe; When a third reference target ball is fixed on the patient's acetabulum, the optical positioning system is used to obtain a third reference coordinate system of the patient's acetabulum according to the third reference target ball under the optical positioning reference coordinate system ; The optical positioning system is further configured to obtain the fourth reference coordinate system corresponding to the surgical navigation system and the fifth reference coordinate system corresponding to the probe respectively under the optical positioning reference coordinate system, and according to the first reference coordinate system Five reference coordinate systems to obtain the conversion relationship between the third reference coordinate system and the fourth reference coordinate system; The optical positioning system is further configured to convert the position of the spherical center to the position of the center point of the patient's acetabulum according to the conversion relationship. 13. The surgical robot system for acetabular rotational osteotomy according to claim 12, wherein the surgical navigation system is used to display the patient's acetabulum in real time in the three-dimensional model of the hip joint according to the conversion relationship and navigation. 14. The surgical robot system for acetabular rotational osteotomy according to claim 12 or 13, wherein the probe is connected in communication with the optical positioning system; The probe is used for selecting the second target feature point on the patient's acetabulum and sending the optical positioning system; The optical positioning system is used to read the first position parameter information of the second target feature point clicked by the probe; The optical positioning system is further configured to acquire the second position parameter information corresponding to the second target feature point in the three-dimensional model of the hip joint, and calculate the matching of the first position parameter information and the second position parameter information and when the matching degree is less than the set threshold, the probe is called to re-click the new second target feature point on the patient's acetabulum until the matching degree is greater than or equal to the set threshold. 15. The surgical robot system for acetabular rotational osteotomy according to claim 14, wherein the optical positioning system comprises a binocular camera and a second movable bracket; the binocular camera is fixed on the second movable bracket; The optical positioning system obtains the first reference coordinate system, the second reference coordinate system, the third reference coordinate system, the fourth reference coordinate system and the fifth reference coordinate through the binocular camera Tie. 16. The surgical robot system for acetabular rotational osteotomy according to claim 12, wherein the optical positioning system is further used to obtain the current execution path of the end tool in the robotic arm system; The optical positioning system is also used to convert the motion instruction sequence into a reference path under the fourth reference coordinate system, and determine whether the current execution path is consistent with the reference path, and if so, continue to control the The end tool performs a rotational osteotomy of the acetabulum; if not, exits the current execution path. 17. A surgical navigation method, characterized in that the surgical navigation method is implemented by using the hip joint surgical navigation system according to any one of claims 1 to 4, and the surgical navigation method comprises: Obtain the image data of the hip joint image; establishing a three-dimensional model of the hip joint based on the image data; According to the three-dimensional model of the hip joint, the position of the spherical center of the sphere where the acetabular fossa is located in the hip joint is obtained. 18. The surgical navigation method according to claim 17, wherein the step of establishing a three-dimensional model of the hip joint based on the image data comprises: Performing segmentation processing on the hip joint image to obtain a plurality of segmented images; The three-dimensional model of the hip joint is established according to the image data corresponding to the plurality of segmented images. 19. The surgical navigation method according to claim 17, wherein the step of obtaining the center position of the sphere where the acetabular fossa is located in the hip joint according to the three-dimensional model of the hip joint comprises: Obtaining the first target feature point on the affected side surface of the acetabular fossa on the three-dimensional model of the hip joint, and fitting the first target feature point to obtain the sphere center position of the sphere where the acetabular fossa is located . 20. A control method for a surgical robot system, wherein the control method is implemented by the surgical robot system for acetabular rotational osteotomy according to any one of claims 5 to 16, and the control method comprises: The surgical navigation system generates a motion instruction sequence according to the three-dimensional model of the hip joint, and sends the spherical center position and the motion instruction sequence to the optical positioning system; The optical positioning system converts the spherical center position into the center point position of the patient's acetabulum, and sends the center point position and the motion instruction sequence to the robotic arm system; The robotic arm system moves the tool center of the end tool to the center point position, and controls the end tool to perform a rotational osteotomy operation on the acetabulum according to the motion instruction sequence.

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