Acetabulum grinding and filing system and method

Abstract

The embodiment of the invention provides an acetabulum grinding and filing system and method, and relates to the technical field of medical instruments, the system comprises a grinding and filing module, a mechanical arm module and a control module, the grinding and filing module comprises a bone drill, a grinding and filing rod and an acetabulum file, and the mechanical arm module comprises a mechanical arm and a tracer; the tracer is used for acquiring the current pose of the mechanical arm and sending the current pose to the control module; the mechanical arm is used for driving the grinding and filing rod to place the acetabular file in an acetabular fossa of a patient; the bone drill is used for providing power for the grinding and filing rod, so that the acetabular fossa is ground and filed by the acetabular file; the control module is used for determining the current angle of the grinding and filing rod according to the current pose of the mechanical arm under the condition that the difference value between the specification of the acetabulum file and the specification of a planned acetabulum cup does not exceed a preset difference value threshold value; under the condition that the current grinding and filing mode is the intelligent grinding and filing mode, when the current angle exceeds the first angle range, the bone drill is controlled to be powered off. According to the acetabulum grinding method and device, excessive acetabulum grinding is reduced.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to an acetabular grinding system and method. Background Art

[0002] Hip replacement surgery refers to fixing an artificial prosthesis (including the spherical femoral head of the femur and the bowl-shaped acetabular cup of the acetabulum) to normal bone using bone cement and screws to replace the diseased hip joint and reconstruct the normal function of the patient's hip joint. Before installing the prosthesis in hip replacement surgery, the patient's acetabulum needs to be ground with an acetabular rasp to make the shape and size of the acetabulum fit the acetabular cup prosthesis for stable and accurate installation. However, during the operation, it is easy for the patient's acetabulum to be damaged due to excessive grinding. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide an acetabular grinding system and method to reduce the occurrence of excessive acetabular grinding. The specific technical solution is as follows:

[0004] In a first aspect, an embodiment of the present application provides an acetabular grinding system, comprising: a grinding module, a robotic arm module and a control module, wherein the grinding module comprises a bone drill, a grinding rod and an acetabular rasp, and the robotic arm module comprises a robotic arm and a tracer;

[0005] The tracer is used to obtain the current position and posture of the robot arm and send it to the control module;

[0006] The mechanical arm is used to drive the grinding rod to place the acetabular rasp in the acetabulum of the patient;

[0007] The bone drill is used to provide power to the grinding rod so that the acetabular rasp grinds the acetabular socket;

[0008] The control module is used to determine the current angle of the grinding rod according to the current position of the robotic arm when the difference between the specifications of the acetabular rasp and the planned acetabular cup specifications does not exceed a preset difference threshold; when the current grinding mode is intelligent grinding, when the current angle exceeds a first angle range, control the bone drill to cut off power.

[0009] In one embodiment of the present application,

[0010] The control module is used to determine the current angle of the grinding rod and the current depth of the acetabular grinding rod in the acetabular fossa according to the current posture of the robotic arm when the difference between the specifications of the acetabular grinding rod and the planned acetabular cup specifications exceeds a preset difference threshold; and to control the bone drill to be powered off when at least one of the following power-off conditions is met when the current grinding mode is intelligent grinding:

[0011] The current angle exceeds the first angle range;

[0012] The current depth exceeds a first depth threshold.

[0013] In one embodiment of the present application, a light ring is provided on the mechanical arm;

[0014] The control module is used to determine the current warning level according to the current angle and / or the current depth when the current grinding mode is intelligent grinding, when the current angle exceeds the second angle range but does not exceed the first angle range, and / or when the current depth exceeds the second depth threshold but does not exceed the first depth threshold; and control the light ring to emit a warning signal of a corresponding color according to the current warning level.

[0015] In one embodiment of the present application, the robotic arm module further comprises a robotic arm trolley, and the robotic arm trolley comprises a first footrest;

[0016] The control module is further configured to control the bone drill to be powered off when the first pedal is stepped on, and to unlock the robotic arm so that the robotic arm moves in response to a user's dragging instruction.

[0017] In one embodiment of the present application, the robotic arm trolley further includes a foot support;

[0018] The control module is also used to control the bone drill to be powered off when the foot support has not landed.

[0019] In one embodiment of the present application, the robotic arm further includes a mechanical interface, and the bone drill power supply is connected to the robotic arm via the mechanical interface;

[0020] The control module is used to control the bone drill power supply to be powered off based on the mechanical interface when a power-off condition is met.

[0021] In one embodiment of the present application, the robotic arm trolley further includes a second footrest;

[0022] The control module is further configured to lock the robotic arm, discard the user's drag command, and control the bone drill to power on when the following power supply conditions are met:

[0023] The difference between the specifications of the acetabular rasp and the planned acetabular cup specifications does not exceed a preset difference threshold; the current grinding mode is intelligent grinding; the acetabular rasp enters the first stage of the virtual boundary; the footrest lands; the first pedal is not stepped on and the second pedal is stepped on, wherein the first stage of the virtual boundary indicates that the acetabular rasp is placed in the acetabulum of the patient and the current angle does not exceed the second angle range.

[0024] In one embodiment of the present application, the robotic arm trolley further includes a second footrest;

[0025] The control module is further configured to lock the robotic arm, discard the user's drag command, and control the bone drill to power on when the following power supply conditions are met:

[0026] The difference between the acetabular rasp model and the planned acetabular cup model exceeds a preset difference threshold; the current grinding mode is intelligent grinding; the acetabular rasp enters the second stage of the virtual boundary; the foot support lands; the first pedal is not stepped on and the second pedal is stepped on, wherein the second stage of the virtual boundary indicates that the acetabular rasp is placed in the acetabulum of the patient, the current angle does not exceed the second angle range, and the current depth does not exceed the second depth threshold.

[0027] In one embodiment of the present application, the robotic arm trolley further includes a second footrest;

[0028] The control module is further configured to lock the robotic arm, discard the user's drag command, and control the bone drill to power on when the following power supply conditions are met:

[0029] The current grinding mode is free grinding; the footrest is on the ground; the first pedal is not stepped on and the second pedal is stepped on.

[0030] In a second aspect, an embodiment of the present application provides an acetabular grinding method, which is applied to any of the above-mentioned acetabular grinding systems, comprising:

[0031] Use the tracer to obtain the current position of the robot arm and send it to the control module;

[0032] The mechanical arm drives the grinding rod to place the acetabular rasp in the acetabulum of the patient;

[0033] Using a bone drill to provide power to the grinding rod, so that the acetabular rasp grinds the acetabular socket;

[0034] The control module is used to determine the current angle of the grinding rod according to the current position of the robotic arm when the difference between the specifications of the acetabular rasp and the planned acetabular cup specifications does not exceed the preset difference threshold; and when the current grinding mode is intelligent grinding, the bone drill is controlled to be powered off when the current angle exceeds a first angle range.

[0035] Beneficial effects of the embodiments of the present application:

[0036] The acetabular grinding system provided in the embodiment of the present application uses a tracer to obtain the current position of the robotic arm and sends it to the control module; uses the robotic arm to drive the grinding rod to place the acetabular rasp in the patient's acetabular fossa; uses a bone drill to provide power to the grinding rod so that the acetabular rasp grinds the acetabular fossa; uses the control module to determine the current angle of the grinding rod according to the current position of the robotic arm when the difference between the specifications of the acetabular rasp and the planned acetabular cup specifications does not exceed the preset difference threshold; when the current grinding mode is intelligent grinding, when the current angle exceeds the first angle range, it indicates that continued grinding will cause damage to the patient's acetabular fossa, and the bone drill is controlled to cut off power. The bone drill power supply is connected to the robotic arm through a mechanical interface, and the control module realizes real-time power on and power off of the bone drill based on the mechanical interface, thereby achieving timely stopping of grinding, reducing the occurrence of excessive acetabular grinding and causing damage to the patient's acetabular fossa, improving the safety and accuracy of hip replacement surgery, and reducing the overall risk of surgery.

[0037] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0039] Figure 1 A schematic structural diagram of a first acetabular grinding system provided in an embodiment of the present application;

[0040] Figure 2 A schematic diagram of the structure of a second acetabular grinding system provided in an embodiment of the present application;

[0041] Figure 3 A schematic structural diagram of a third acetabular grinding system provided in an embodiment of the present application;

[0042] Figure 4 A schematic structural diagram of a fourth acetabular grinding system provided in an embodiment of the present application;

[0043] Figure 5 A schematic flow chart of an acetabulum grinding method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0045] In the related art, before installing the prosthesis in hip replacement surgery, the patient's acetabulum is ground with an acetabular rasp, which can easily cause damage to the patient's acetabulum due to excessive grinding. To solve this problem, the embodiments of the present application provide an acetabular grinding system and method.

[0046] The acetabular grinding system is described in detail below through embodiments.

[0047] See also Figure 1 , Figure 1 The first acetabular grinding system provided in the embodiment of the present application is a schematic structural diagram, comprising: a grinding module 101, a robotic arm module 102 and a control module 103, wherein the grinding module 101 comprises a bone drill 104, a grinding rod 105 and an acetabular rasp 106, and the robotic arm module 102 comprises a robotic arm 107 and a tracer 108;

[0048] The tracer 108 is used to obtain the current position and posture of the robot arm 107 and send it to the control module 103;

[0049] The mechanical arm 107 is used to drive the grinding rod 105 to place the acetabular rasp 106 in the acetabulum of the patient;

[0050] The bone drill 104 is used to provide power to the grinding rod 105 so that the acetabular rasp 106 grinds the acetabular socket;

[0051] The control module 103 is used to determine the current angle of the grinding rod 105 according to the current posture of the robotic arm 107 when the difference between the specifications of the acetabular rasp 106 and the planned acetabular cup specifications does not exceed a preset difference threshold; when the current grinding mode is intelligent grinding, when the current angle exceeds a first angle range, control the bone drill 104 to cut off power.

[0052] The tracer 108 is built into the robot arm 107 to monitor the current position (position and posture) of the robot arm 107 in real time during the operation. The acetabular rasp 106 is connected to one end of the grinding rod 105, and the other end of the grinding rod 105 is connected to the bone drill 104. The grinding rod 105 is fixed on the robot arm 107.

[0053] In one embodiment of the present application, Figure 2As shown, a structural schematic diagram of a second acetabular grinding system is provided, wherein the robot module 102 further includes a robot trolley 109, and the robot trolley 109 includes a first footrest 1010, a second footrest 1011 and a foot support 1012;

[0054] The control module 103 is further configured to control the bone drill to be powered off when the first pedal 1010 is stepped on, and to unlock the robotic arm 107 so that the robotic arm 107 moves in response to a drag command from the user.

[0055] When the user (medical staff, surgical operator) steps on the first pedal 1010, the control module 103 controls the bone drill to be powered off, and the user freely drags the robotic arm 107 (issues a drag command) so that the robotic arm moves in response to the drag command until the robotic arm 107 drives the grinding rod 105 to the specified position, so that the acetabular rasp 106 connected to one end of the grinding rod 105 is placed in the patient's acetabulum.

[0056] When the power supply condition is met, the control module 103 controls the bone drill to be powered on, and the bone drill 104 provides power to the grinding rod 105, so that the grinding rod 105 moves forward, driving the acetabular rasp 106 to grind the acetabular socket of the patient.

[0057] During the grinding process, the tracer 108 always monitors the position of the robot arm 107 and continuously obtains the real-time position of the robot arm 107. When the difference between the specifications of the acetabular rasp 106 and the planned acetabular cup specifications does not exceed the preset difference threshold, the current angle of the grinding rod 105 is determined in real time according to the current position of the robot arm 107.

[0058] The specification of the planned acetabular cup refers to the pre-planning of a customized acetabular cup prosthesis for the patient based on the patient's acetabular fossa size, shape and other data. When there is a difference between the specification of the acetabular rasp 106 and the specification of the planned acetabular cup, but the difference does not exceed the preset difference threshold, it means that the size of the acetabular rasp 106 is similar to the size of the patient's acetabular fossa. For example, the specification of the planned acetabular cup is 52, and the specification of the acetabular rasp 106 is 50. In this case, the grinding of the acetabular fossa mostly needs to be performed at different angles, and the monitoring demand for the grinding depth is relatively small. The current angle of the grinding rod 105 is monitored in real time.

[0059] When the current grinding mode is intelligent grinding, when the current angle exceeds the first angle range, it means that continuing grinding will cause damage to the patient's acetabulum. The control module 103 controls the bone drill 104 to cut off the power supply and stop providing power to the grinding rod 105, so that the grinding rod 105 drives the acetabular rasp 106 to stop grinding.

[0060] The intelligent grinding mode indicates that the grinding boundary protection is turned on. Specifically, the acetabular grinding system may also include a display, which is used to display the real-time status of the grinding area calculated according to the current position of the robot arm 107, including the planned grinding area (green area to be ground), the completed grinding area (white), and the grinding area beyond the plan (red). In the intelligent grinding mode, when the control module 103 detects that the current angle exceeds the first angle range, it controls the bone drill 104 to cut off the power supply to avoid excessive grinding.

[0061] In addition to intelligent grinding, this system also includes a free grinding mode. When the grinding mode is free grinding, the grinding boundary protection will be released, and the doctor can perform acetabular grinding without restriction, and only make manual judgments based on the real-time status of the grinding area on the display.

[0062] Exemplarily, the preset difference threshold is set according to actual needs, and may be 4 mm (millimeter). The first angle range may also be determined according to actual needs.

[0063] The control module 103 is also used to control the bone drill 104 to cut off the power supply when the foot support 1012 is not on the ground.

[0064] As can be seen from the above, the acetabulum grinding system provided in the embodiment of the present application controls the bone drill power supply to be continuously cut off when the foot support of the robotic arm trolley has not landed, thereby avoiding the danger that may be caused by the bone drill being powered on, thereby improving the safety of hip replacement surgery.

[0065] In one embodiment of the present application, the control module 103 is further configured to lock the robotic arm 107, discard the user's drag command (the robotic arm 107 is in a fixed state and cannot be dragged freely), and control the bone drill 104 to power on when the following power supply conditions are met:

[0066] The difference between the specifications of the acetabular rasp 106 and the planned acetabular cup specifications does not exceed the preset difference threshold; the current grinding mode is intelligent grinding; the acetabular rasp 106 enters the first stage of the virtual boundary; the foot support 1012 lands; the first foot pedal 1010 is not stepped on and the second foot pedal 1011 is stepped on, wherein the first stage of the virtual boundary indicates that the acetabular rasp 106 is placed in the acetabulum of the patient and the current angle does not exceed the second angle range.

[0067] Exemplarily, the first stage of the virtual boundary indicates that the angle of the acetabular rasp 106 / grinding rod 105 is within the planned angle cone range of the planned direction, where the planned direction refers to the direction of the pre-planned surgical path, and the angle protection includes that the anteversion angle and the abduction angle are both within the planned angle cone range.

[0068] In one embodiment of the present application, the control module 103 is further configured to lock the robotic arm 107, discard the user's drag command (the robotic arm 107 is in a fixed state and cannot be dragged freely), and control the bone drill 104 to power on when the following power supply conditions are met:

[0069] The difference between the model of the acetabular rasp 106 and the planned acetabular cup model exceeds a preset difference threshold; the current grinding mode is intelligent grinding; the acetabular rasp 106 enters the second stage of the virtual boundary; the foot support 1012 lands; the first foot pedal 1010 is not stepped on and the second foot pedal 1011 is stepped on, wherein the second stage of the virtual boundary indicates that the acetabular rasp 106 is placed in the acetabulum of the patient, the current angle does not exceed the second angle range, and the current depth does not exceed the second depth threshold.

[0070] In one embodiment of the present application, the control module 103 is further configured to lock the robotic arm 107, discard the user's drag command (the robotic arm 107 is in a fixed state and cannot be dragged freely), and control the bone drill 104 to power on when the following power supply conditions are met:

[0071] The current grinding mode is free grinding; the foot support 1012 is on the ground; the first pedal 1010 is not stepped on and the second pedal 1011 is stepped on.

[0072] In one embodiment of the present application, in the case of intelligent grinding, when the acetabular rasp 106 has not entered / exited the first virtual boundary stage and the second virtual boundary stage, the control module 103 controls the bone drill 104 to be powered off.

[0073] In the case of free grinding or intelligent grinding, the bone drill 104 power supply is cut off when the following situations occur:

[0074] The connection between the first pedal 1010 or the second pedal 1011 is interrupted; the first pedal 1010 and the second pedal 1011 are stepped on simultaneously; the power connection of the bone drill 104 fails (not connected / interrupted); the display shows that the grinding interface has not been entered / exited.

[0075] The acetabulum grinding system provided in the embodiment of the present application controls the bone drill power supply to be cut off when any power-off condition is met; and controls the bone drill power supply to be powered on only when all power supply conditions are met, thereby further reducing the occurrence of excessive grinding and improving the safety of hip replacement surgery.

[0076] In one embodiment of the present application, Figure 3 As shown, the mechanical arm 107 also includes a mechanical interface 1013, and the power supply of the bone drill 104 is connected to the mechanical arm 107 through the mechanical interface 1013;

[0077] The control module 103 is used to control the bone drill 104 to cut off the power supply based on the mechanical interface 1013 when the power-off condition is met.

[0078] The bone drill 104 power supply is connected to the robot arm 107 via a mechanical interface 1013, so that the bone drill 104 is powered by the robot arm 107, and the robot arm 107 is powered by the robot arm trolley 109, which has a power cord connected to the power supply. The control module 103 realizes real-time power on and power off of the bone drill 104 power supply based on the mechanical interface 1013.

[0079] As can be seen from the above, the acetabular grinding system provided in the embodiment of the present application uses a tracer to obtain the current position of the robotic arm and sends it to the control module; uses the robotic arm to drive the grinding rod to place the acetabular rasp in the patient's acetabular fossa; uses a bone drill to provide power to the grinding rod so that the acetabular rasp grinds the acetabular fossa; uses the control module to determine the current angle of the grinding rod according to the current position of the robotic arm when the difference between the specifications of the acetabular rasp and the planned acetabular cup specifications does not exceed the preset difference threshold; when the current grinding mode is intelligent grinding, when the current angle exceeds the first angle range, it indicates that continued grinding will cause damage to the patient's acetabular fossa, and the bone drill is controlled to cut off power. The bone drill power supply is connected to the robotic arm through a mechanical interface, and the control module realizes real-time power on and power off of the bone drill based on the mechanical interface, thereby achieving timely cessation of grinding, reducing the occurrence of excessive acetabular grinding and damage to the patient's acetabular fossa, improving the safety and accuracy of hip replacement surgery, and reducing the overall risk of surgery.

[0080] In one embodiment of the present application, the control module 103 is used to determine the current angle of the grinding rod 105 and the current depth of the acetabular rasp 106 in the acetabular fossa according to the current posture of the robotic arm 107 when the difference between the specifications of the acetabular rasp 106 and the planned acetabular cup specifications exceeds a preset difference threshold; and to control the bone drill 104 to power off when at least one of the following power-off conditions is met when the current grinding mode is intelligent grinding:

[0081] The current angle exceeds the first angle range;

[0082] The current depth exceeds a first depth threshold.

[0083] When the difference between the specifications of the acetabular rasp 106 and the planned acetabular cup exceeds the preset difference threshold, it means that the size of the acetabular rasp is greatly different from that of the planned acetabular cup. For example, the planned acetabular cup specification is 46, and the acetabular rasp 106 specification is 52. During the refining process, not only is it necessary to perform refining at different angles, but also the monitoring requirement for the refining depth is high.

[0084] In this case, the grinding boundary protection includes angle protection and depth protection. The control module 103 determines the current angle of the grinding rod 105 and the current depth of the acetabular rasp 106 in the acetabular fossa in real time according to the current position of the robot arm 107. When the current angle exceeds the first angle range or the current depth exceeds the first depth threshold, the bone drill 104 is controlled to be powered off.

[0085] Exemplarily, the first angle range may be a cone range of 15°, and the first depth threshold may be 2.3 mm exceeding a pre-planned grinding depth.

[0086] From the above, it can be seen that in the acetabular grinding system provided in the embodiment of the present application, when the difference between the specifications of the acetabular rasp and the planned acetabular cup specifications exceeds the preset difference threshold, the grinding boundary protection also includes depth protection. When the current angle exceeds the first angle range or the current depth exceeds the first depth threshold, the control module controls the bone drill to cut off the power supply, thereby increasing the judgment conditions for excessive acetabular grinding, further reducing the occurrence of excessive acetabular grinding, improving the accuracy of acetabular grinding, and further improving the safety of hip replacement surgery.

[0087] In one embodiment of the present application, Figure 4 As shown, a light ring 1014 is provided on the mechanical arm 107;

[0088] The control module 103 is used to determine the current warning level according to the current angle and / or the current depth when the current grinding mode is intelligent grinding, when the current angle exceeds the second angle range but does not exceed the first angle range, and / or when the current depth exceeds the second depth threshold but does not exceed the first depth threshold; and according to the current warning level, control the light ring 1014 to emit a warning signal of a corresponding color.

[0089] The second angle range indicates that the planned friction region is exceeded, but the first angle range that may cause damage to the patient is not reached. The second depth threshold indicates that the planned friction region is exceeded, but the first depth threshold that may cause damage to the patient is not reached. For example, when the first depth threshold is 2.3 mm exceeding the planned friction depth, the second depth threshold may be a depth between the planned friction depth and 2.3 mm exceeding the planned friction depth.

[0090] Between the second angle range and the first angle range, and between the second depth threshold and the first depth threshold, different warning levels are pre-set according to different values, and warning signals of corresponding colors of the warning levels are pre-set. For example, when the first depth threshold is 2.3 mm exceeding the planned grinding depth, and the second depth threshold is the planned grinding depth, 1 mm, 1.5 mm, and 2 mm exceeding the planned grinding depth are respectively set as three warning levels, and the warning signals of blue, yellow, and purple are used to correspond to them. When the current depth of the acetabular rasp 106 reaches the depth corresponding to the warning level, the light ring 1014 on the robot arm 107 displays the corresponding warning signal.

[0091] When the current angle reaches the first angle range, and / or the current depth reaches the first depth threshold, the bone drill 104 is powered off, and the light ring 1014 may display a red warning signal to warn the user.

[0092] When the current grinding mode is intelligent grinding, if only the angle protection is turned on (the difference between the specifications of the acetabular rasp 106 and the planned acetabular cup specifications exceeds the preset difference threshold), the warning level is judged only according to the relationship between the angle of the grinding rod 105 and the angle range, and a warning signal of the light ring is displayed; if the angle protection and depth protection are turned on at the same time (the difference between the specifications of the acetabular rasp 106 and the planned acetabular cup specifications does not exceed the preset difference threshold), the warning level is judged according to the relationship between the angle of the grinding rod 105 and the angle range, and / or the depth of the acetabular rasp 106 in the acetabulum and the depth threshold, and a warning signal of the light ring is displayed.

[0093] Specifically, if the warning levels indicated by the angle protection and the depth protection are consistent, the warning signal of the light ring 1014 is displayed according to the warning level. If the warning levels indicated by the angle protection and the depth protection are inconsistent, the warning signal is displayed according to the more serious warning level of the two.

[0094] From the above, it can be seen that the acetabular friction system provided in the embodiment of the present application has a light ring installed on the mechanical arm, which is used to warn the user when the planned friction area has been exceeded during the friction process but the patient's acetabulum has not been damaged, so that the user can promptly determine the current friction state of the acetabulum, thereby further improving the accuracy of acetabular friction.

[0095] See also Figure 5 , Figure 5 A schematic flow chart of an acetabulum grinding method provided in an embodiment of the present application, which is applied to any of the above-mentioned acetabulum grinding systems, includes:

[0096] Step S101, using a tracer to obtain the current position and posture of the robot arm and send it to the control module;

[0097] Step S102, using the mechanical arm to drive the grinding rod to place the acetabular rasp in the acetabulum of the patient;

[0098] Step S103, using a bone drill to provide power to the grinding rod, so that the acetabular rasp grinds the acetabular socket;

[0099] Step S104, using the control module to determine the current angle of the grinding rod according to the current posture of the robotic arm when the difference between the specifications of the acetabular rasp and the planned acetabular cup specifications does not exceed a preset difference threshold; and when the current grinding mode is intelligent grinding, when the current angle exceeds a first angle range, controlling the bone drill to cut off power.

[0100] The acetabular grinding method provided in the embodiment of the present application uses a tracer to obtain the current position of the robotic arm and sends it to the control module; uses the robotic arm to drive the grinding rod to place the acetabular rasp in the patient's acetabular fossa; uses a bone drill to provide power to the grinding rod so that the acetabular rasp grinds the acetabular fossa; uses the control module to determine the current angle of the grinding rod according to the current position of the robotic arm when the difference between the specifications of the acetabular rasp and the planned acetabular cup specifications does not exceed the preset difference threshold; when the current grinding mode is intelligent grinding, when the current angle exceeds the first angle range, it indicates that continuing to grind will cause damage to the patient's acetabular fossa, and controls the bone drill to cut off power. The bone drill power supply is connected to the robotic arm through a mechanical interface, and the control module realizes real-time power on and power off of the bone drill based on the mechanical interface, thereby realizing timely stopping of grinding, reducing the occurrence of excessive acetabular grinding and causing damage to the patient's acetabular fossa, improving the safety and accuracy of hip replacement surgery, and reducing the overall risk of surgery.

[0101] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0102] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0103] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the method embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0104] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. An acetabular grinding system, characterized in that: include: A grinding module, a mechanical arm module and a control module, wherein the grinding module includes a bone drill, a grinding rod and an acetabular rasp, and the mechanical arm module includes a mechanical arm and a tracer; The tracer is used to obtain the current position and posture of the robot arm and send it to the control module; The mechanical arm is used to drive the grinding rod to place the acetabular rasp in the acetabulum of the patient; The bone drill is used to provide power to the grinding rod so that the acetabular rasp grinds the acetabular socket; The control module is used to determine the current angle of the grinding rod according to the current position of the robotic arm when the difference between the specifications of the acetabular rasp and the planned acetabular cup specifications does not exceed a preset difference threshold; when the current grinding mode is intelligent grinding, when the current angle exceeds a first angle range, control the bone drill to cut off power.

2. The system according to claim 1, characterized in that The control module is used to determine the current angle of the grinding rod and the current depth of the acetabular grinding rod in the acetabular fossa according to the current posture of the robotic arm when the difference between the specifications of the acetabular grinding rod and the planned acetabular cup specifications exceeds a preset difference threshold; and to control the bone drill to be powered off when at least one of the following power-off conditions is met when the current grinding mode is intelligent grinding: The current angle exceeds the first angle range; The current depth exceeds a first depth threshold.

3. The system according to claim 1, characterized in that The mechanical arm is provided with a light ring; The control module is used to determine the current warning level according to the current angle and / or the current depth when the current grinding mode is intelligent grinding, when the current angle exceeds the second angle range but does not exceed the first angle range, and / or when the current depth exceeds the second depth threshold but does not exceed the first depth threshold; and control the light ring to emit a warning signal of a corresponding color according to the current warning level.

4. The system according to claim 1, characterized in that The robot arm module further includes a robot arm trolley, and the robot arm trolley includes a first footrest; The control module is further configured to control the bone drill to be powered off when the first pedal is stepped on, and to unlock the robotic arm so that the robotic arm moves in response to a user's dragging instruction.

5. The system according to claim 4, characterized in that The mechanical arm trolley also includes a foot support; The control module is also used to control the bone drill to be powered off when the foot support has not landed.

6. The system according to any one of claims 1 to 5, characterized in that: The mechanical arm also includes a mechanical interface, and the bone drill power supply is connected to the mechanical arm through the mechanical interface; The control module is used to control the bone drill power supply to be powered off based on the mechanical interface when a power-off condition is met.

7. The system according to claim 4, characterized in that The robotic arm trolley also includes a second footrest; The control module is further configured to lock the robotic arm, discard the user's drag command, and control the bone drill to power on when the following power supply conditions are met: The difference between the specifications of the acetabular rasp and the planned acetabular cup does not exceed the preset difference threshold; the current grinding mode is intelligent grinding; The acetabular rasp enters a first virtual boundary stage; the foot support lands; the first footrest is not stepped on and the second footrest is stepped on, wherein the first virtual boundary stage indicates that the acetabular rasp is placed in the acetabulum of the patient and the current angle does not exceed a second angle range.

8. The system according to claim 4, characterized in that The robotic arm trolley also includes a second footrest; The control module is further configured to lock the robotic arm, discard the user's drag command, and control the bone drill to power on when the following power supply conditions are met: The difference between the acetabular rasp model and the planned acetabular cup model exceeds a preset difference threshold; the current grinding mode is intelligent grinding; the acetabular rasp enters the second stage of the virtual boundary; the foot support lands; the first pedal is not stepped on and the second pedal is stepped on, wherein the second stage of the virtual boundary indicates that the acetabular rasp is placed in the acetabulum of the patient, the current angle does not exceed the second angle range, and the current depth does not exceed the second depth threshold.

9. The system according to claim 4, characterized in that The robotic arm trolley also includes a second footrest; The control module is further configured to lock the robotic arm, discard the user's drag command, and control the bone drill to power on when the following power supply conditions are met: The current grinding mode is free grinding; the footrest is on the ground; the first pedal is not stepped on and the second pedal is stepped on.

10. A method for grinding an acetabulum, characterized in that: The acetabular grinding system used in any one of claims 1 to 9 comprises: Use the tracer to obtain the current position of the robot arm and send it to the control module; The mechanical arm drives the grinding rod to place the acetabular rasp in the acetabulum of the patient; Using a bone drill to provide power to the grinding rod, so that the acetabular rasp grinds the acetabular socket; The control module is used to determine the current angle of the grinding rod according to the current position of the robotic arm when the difference between the specifications of the acetabular rasp and the planned acetabular cup specifications does not exceed the preset difference threshold; and when the current grinding mode is intelligent grinding, the bone drill is controlled to be powered off when the current angle exceeds a first angle range.

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