Navigation and positioning system and method for joint replacement surgery robot

A navigation and positioning system for a joint replacement surgical robot, comprising:

• a preoperative planning module, an optical navigation and positioning module and a mechanical arm control module;
• wherein the preoperative planning module is configured to perform, based on medical image data of a hip joint of a patient, segmentation and reconstruction for the hip joint to obtain a three-dimensional model of the hip joint, and perform, based on the three-dimensional model of the hip joint, a preoperative planning to determine a surgical scheme;
• the optical navigation and positioning module is configured to generate a navigation instruction based on the surgical scheme, register the three-dimensional model of the hip joint based on spatial position relationships between an optical positioning device, a hip joint of a patient and a surgical probe to obtain a hip joint entity model, match the hip joint entity model with a preoperative planned model, and determine a surgical position on a bone of the patient based on the hip joint entity model;
• the mechanical arm control module is configured to move an end effector to the surgical position on the bone of the patient, and control the end effector to perform an osteotomy operation, a rasion operation, and a press-fitting operation on the hip joint based on the navigation instruction;
• wherein the preoperative planning module comprises:
• a data obtaining submodule, a three-dimensional model reconstruction submodule, an acetabular side plan determination submodule, a femoral side plan determination submodule and a plan scheme confirmation submodule;
• wherein the data obtaining submodule is configured to obtain the medical image data of the hip joint;
• the three-dimensional model reconstruction submodule is configured to perform, based on the medical image data of the hip joint, segmentation and reconstruction for the hip joint to obtain the three-dimensional model of the hip joint;
• the acetabular side plan determination submodule is configured to determine an acetabulum rotation center, an acetabulum diameter, an acetabulum anteversion angle and an acetabulum abduction angle based on the three-dimensional model of the hip joint, and determine a size and a position of an acetabular side prosthesis based on the acetabulum rotation center, the acetabulum diameter, the acetabulum anteversion angle and the acetabulum abduction angle when considering an acetabular shell coverage rate;
• the femoral side plan determination submodule is configured to determine a caput femoris rotation center, a femur marrow cavity shape, a femur marrow cavity anatomical axis and a femur collodiaphyseal angle based on the three-dimensional model of the hip joint, and determine a size and a position of a femoral side prosthesis based on the caput femoris rotation center, the femur marrow cavity shape, the femur marrow cavity anatomical axis and the femur collodiaphyseal angle when considering a leg length difference and a femoral combined offset;
• and
• the plan scheme confirmation submodule is configured to confirm whether an acetabular side prosthesis implantation plan determined by the acetabular side plan determination submodule and a femoral side prosthesis implantation plan determined by the femoral side plan determination submodule are suitable;
• in case that the acetabular side prosthesis implantation plan determined by the acetabular side plan determination submodule or the femoral side prosthesis implantation plan determined by the femoral side plan determination submodule is not suitable, the acetabular side plan determination submodule and/or the femoral side plan determination submodule are triggered to re-determine an acetabular side prosthesis implantation plan and a femoral side prosthesis implantation plan;
• and in case that the acetabular side prosthesis implantation plan determined by the acetabular side plan determination submodule and the femoral side prosthesis implantation plan determined by the femoral side plan determination submodule are suitable, the acetabular side prosthesis implantation plan determined by the acetabular side plan determination submodule and the femoral side prosthesis implantation plan determined by the femoral side plan determination submodule are used as preoperative planning schemes.