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Tight-bone positioning method for full knee-joint replacement operation by robot

A total knee replacement and robotic technology, applied in the field of robotic total knee replacement surgery, can solve problems such as difficult fast re-matching and difficult femur positioning, and achieve the effect of reducing surgical costs, reducing complexity, and simple principles

Inactive Publication Date: 2004-12-15
SHANGHAI JIAOTONG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to address the deficiencies and shortcomings of the prior art and propose a new femur positioning method for robotic total knee arthroplasty to solve the problems of difficult femur positioning and fast re-matching in robotic total knee arthroplasty

Method used

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  • Tight-bone positioning method for full knee-joint replacement operation by robot
  • Tight-bone positioning method for full knee-joint replacement operation by robot
  • Tight-bone positioning method for full knee-joint replacement operation by robot

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Embodiment Construction

[0021] In order to better understand the technical solutions of the present invention, a further detailed description will be made below in conjunction with the accompanying drawings and embodiments.

[0022] 1. When determining the center of the femoral head, the upper body and the other lower limb of the patient should be fixed, and the distal femur is partially exposed. Change the position of the distal femur to obtain the coordinate information of the center point of the intercondylar fossa at different positions, such as figure 1 A, B, C, and D in A, B, C, and D; take three space points, such as A, B, and C, to form a triangle, and find out O 1 And the straight line l perpendicular to the plane of the triangle 1 , and then use different combinations of three points, such as A, B, D, to find another straight line l passing through the circumcenter vertical triangle plane 2 . If there are 8 center point data of the intercondylar fossa collected, then a total of C 8 3 (=...

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Abstract

The present invention proposes a femur positioning method for robotic total knee arthroplasty. First, the problem of determining the center of the femoral head is abstracted into points on a known spherical surface to solve the geometric model of the center of the sphere, and the collected data of the center of the intercondylar fossa are analyzed at any three points. Combination, the coordinate information of the center of the femoral head is determined by the numerical calculation method, and the coordinate information of the highest point of the medial epicondyle, the highest point of the lateral epicondyle and the center of the intercondylar notch are collected to establish the femoral coordinate system, and then the robot coordinate system is lowered to three The unit vectors of the coordinate axes of the femoral coordinate system form a one-to-one correspondence with the unit vectors of the three coordinate axes of the robot coordinate system. Based on this, the corresponding relationship between the robot coordinate system and the femoral coordinate system is solved and established to realize the precise positioning of the femoral part. Utilizing the positioning results of the present invention, a specific operation plan for robot total knee replacement can be designed, and the operation is performed by the robot, which simplifies the operation steps, reduces the complexity of the re-matching algorithm, and reduces the pain of the patient and the operation cost.

Description

Technical field: [0001] The invention relates to a femur positioning method for robotic total knee joint replacement, which is used for robotic total knee replacement without CT. It belongs to the field of advanced manufacturing and automation (medicine). Background technique: [0002] In our country, thousands of patients with severe arthritis need total knee replacement every year. Artificial knee replacement is a typical orthopedic prosthesis implantation operation. The key operations are five directional cuts to the patient's femur and longitudinal opening of the tibia. The placement position of the prosthesis, the accuracy of cutting and opening are all directly related to the quality of the operation. The position of the prosthesis and the sawing and cutting of the femur and tibia in artificial knee replacement are all controlled by the doctor based on experience. The special positioning template can only provide a certain degree of accuracy guarantee, and the human...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B17/56A61B90/10
Inventor 罗毅刘宏建刘允才
Owner SHANGHAI JIAOTONG UNIV
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