Robot joint positioning and implanting method

Abstract

The invention belongs to the technical field of medical apparatus and instruments, and discloses a robot joint positioning and implanting method which comprises the following steps: S1, acquiring an implanting pose: acquiring a preset implanting position and a preset implanting angle according to a calibrated implanting pose; s2, registering an acetabulum: constructing an acetabulum model, and simulating and displaying a preset implantation position and a joint at a preset implantation angle in the acetabulum model; s3, positioning and reaming: placing a grinding and filing rod according to a preset implantation angle, and grinding and expanding a preset implantation position; s4, positioning and implanting the joint: placing a knocking rod according to a preset implanting angle, knocking and implanting the joint into a preset implanting position; the method for positioning and implanting the joint through the robot is high in automation degree and high in implantation precision, it can be guaranteed that the joint is implanted at the optimal position and angle, and postoperative complications are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a method for robot positioning and implanting joints. Background Art

[0002] In joint replacement surgery, especially hip or knee replacement surgery, precise positioning of the implant is crucial to the success of the operation. Traditional surgical methods rely on the doctor's experience and manual operation, and there is a certain risk of error.

[0003] With the development of electromechanical technology and imaging technology, minimally invasive surgical robots have entered people's field of vision. They can overcome the shortcomings of traditional minimally invasive techniques, such as uncoordinated eye-hand movements, easy shaking, and long learning curves. The robot reconstructs the collected two-dimensional medical images in three dimensions, making target identification more accurate. At the same time, it uses spatial positioning technology to achieve precise control of the position of the actuator. It has accurate positioning, high stability, dexterous movement, and can work continuously for a long time. Therefore, the introduction of robot technology can greatly improve the safety and treatment effect of interventional surgery. Moreover, robots have been applied in many medical fields, which also verifies the role and superiority of robots in some medical fields.

[0004] Minimally invasive surgical robots are being used more and more widely in joint replacement surgeries, but there is still a lack of minimally invasive surgical robot implantation methods for precise implantation of joint implants. Summary of the invention

[0005] The purpose of the present invention is to provide a robot-positioned joint implantation method, which can implant the joint at the optimal position and angle and reduce postoperative complications.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A method for robot positioning and implanting a joint comprises the following steps:

[0008] S1. Collecting implantation posture: obtaining a preset implantation position and a preset implantation angle according to the calibrated implantation posture;

[0009] S2, registering the acetabulum: constructing an acetabulum model, and simulating and displaying the joint at the preset implantation position and the preset implantation angle in the acetabulum model;

[0010] S3, positioning and expanding the hole: placing the grinding rod according to the preset implantation angle, and grinding and expanding the preset implantation position;

[0011] S4. Positioning the implanted joint: placing the knocking rod according to the preset implantation angle, knocking and implanting the joint into the preset implantation position.

[0012] Preferably, the S1 comprises:

[0013] S11, inserting the probe along the implantation angle to calibrate the implantation position;

[0014] S12. The optical locator collects the coordinates of the tip of the probe according to the base coordinate system, and records the posture of the probe to obtain a preset implantation position and a preset implantation angle.

[0015] Preferably, S2 comprises:

[0016] S21, the probe tip identifies the collection points inside and outside the acetabulum in turn;

[0017] S22, the optical locator sequentially collects the coordinates of the probe tip corresponding to each collection point according to the base coordinate system;

[0018] S23, constructing an acetabulum model according to the coordinates of the tip of the probe (1) corresponding to each of the acquisition points.

[0019] Preferably, before S21, the method further includes:

[0020] One of the acquisition points on the outer surface of the acetabulum is set as a marker point, the probe tip identifies the marker point, and the optical locator records the coordinates of the marker point according to the base coordinate system.

[0021] Preferably, the step S2 further includes:

[0022] S201, judging whether the acetabulum registration accuracy is qualified;

[0023] S202: If qualified, proceed to S3; if unqualified, return to S2, reset the collection points and identify them in sequence.

[0024] Preferably, the S201 includes:

[0025] S2011, obtaining relative position data of a preset implantation position in the acetabulum model relative to the landmark point;

[0026] S2012, installing a pelvic reference frame at the landmark point of the acetabulum to construct a first coordinate system;

[0027] S2013, obtaining the relative position and posture between the base coordinate system and the first coordinate system;

[0028] S2014, inserting the probe tip into the calibrated implantation position, acquiring the coordinates of the probe in the first coordinate system according to the relative posture, and obtaining the actual position data of the calibrated implantation position relative to the marker point;

[0029] S2015. Determine the error between the relative position data and the actual position data. If the error is within the standard range, the acetabulum registration accuracy is qualified; otherwise, it is unqualified.

[0030] Preferably, before S3, the method further includes:

[0031] S301, installing an effector at the end of the robot arm, wherein the effector is relatively fixed to the end of the robot arm,

[0032] S302: Install an end reference frame on the effector, construct a third coordinate system, and obtain a relative position and posture between the base coordinate system and the third coordinate system.

[0033] Preferably, S3 includes:

[0034] S31, installing the grinding rod at the output end of the effector, installing a calibration reference frame at the top of the grinding rod, constructing a fourth coordinate system, and obtaining a relative position and posture between the base coordinate system and the fourth coordinate system;

[0035] S32, obtaining relative position data between the fourth coordinate system and the third coordinate system;

[0036] S33, the mechanical arm drives the actuator and the grinding rod to move until the top end of the grinding rod reaches the preset implantation position, and adjusts the grinding rod to the preset implantation angle;

[0037] S34, dismantling the calibration reference frame, installing a file basket on the top of the grinding file rod, and the actuator drives the grinding file rod to rotate along its own axis to control the file basket to grind and expand the preset implantation position.

[0038] Preferably, after S33, the step further includes:

[0039] The tip of the probe is inserted into the positioning pit of the grinding rod, and the distance from the positioning pit to the top of the grinding rod is constant. The position coordinates of the tip of the probe in the base coordinate system are obtained, and its relative position data with the third coordinate system are obtained. If it is consistent with the relative position data obtained in S32, enter S34. If not consistent, return to S31.

[0040] Preferably, S4 includes:

[0041] S41, removing the grinding rod, installing the knocking rod at the output end of the effector, installing a calibration reference frame at the top of the knocking rod, constructing a fifth coordinate system, and obtaining a relative position and posture between the base coordinate system and the fifth coordinate system;

[0042] S42, obtaining relative position data between the fifth coordinate system and the third coordinate system;

[0043] S43, the mechanical arm drives the effector and the knocking rod to move until the top end of the knocking rod reaches the preset implantation position, and adjusts the knocking rod to the preset implantation angle;

[0044] S44, dismantling the calibration reference frame, installing the joint on the top end of the knocking rod, and the actuator controlling the knocking rod to knock the implanted joint.

[0045] Beneficial effects of the present invention:

[0046] The present invention provides a robot positioning joint implantation method, comprising the following steps: S1, collecting implantation posture: obtaining a preset implantation position and a preset implantation angle according to a calibrated implantation posture; S2, aligning the acetabulum: constructing an acetabulum model, and simulating and displaying the joint at the preset implantation position and the preset implantation angle in the acetabulum model; S3, positioning and reaming: placing a grinding rod according to the preset implantation angle, grinding and expanding the preset implantation position; S4, positioning and implanting the joint: placing a knocking rod according to the preset implantation angle, knocking and implanting the joint into the preset implantation position; the robot positioning joint implantation method provided by the present invention has a high degree of automation and high implantation accuracy, can ensure that the joint is implanted at the optimal position and angle, and reduce postoperative complications. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a flow chart of a method for robot positioning and implanting a joint provided by an embodiment of the present invention;

[0048] Figure 2 is a schematic diagram of implantation posture collection provided by an embodiment of the present invention;

[0049] Figure 3 is a schematic diagram of a positioning expansion structure provided by an embodiment of the present invention;

[0050] Figure 4 It is a schematic diagram of the positioning implant joint structure provided by an embodiment of the present invention.

[0051] In the figure:

[0052] 1. Probe; 2. Pelvic reference frame; 3. Robotic arm; 4. Actuator; 5. End reference frame; 6. Grinding rod; 7. Tapping rod. DETAILED DESCRIPTION

[0053] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0054] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0056] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0057] This embodiment provides a method for robot positioning and implanting joints, which can ensure that the joints are implanted at the optimal position and angle and reduce postoperative complications.

[0058] Specifically, see Figure 1-Figure 4 The present embodiment provides a robot positioning joint implantation method, comprising the following steps:

[0059] S1. Collecting implantation posture: obtaining a preset implantation position and a preset implantation angle according to the calibrated implantation posture;

[0060] S2. Acetabular registration: construct an acetabulum model and simulate and display the joint at the preset implantation position and preset implantation angle in the acetabulum model;

[0061] S3, positioning and expanding the hole: placing the grinding rod 6 according to the preset implantation angle, grinding and expanding the preset implantation position;

[0062] S4, positioning the implanted joint: placing the knocking rod 7 according to the preset implantation angle, knocking and implanting the joint into the preset implantation position.

[0063] S1 includes:

[0064] S11, inserting the probe 1 into the implantation position along the implantation angle;

[0065] S12. The optical locator collects the coordinates of the tip of the probe 1 according to the base coordinate system, and records the posture of the probe 1 to obtain the preset implantation position and the preset implantation angle.

[0066] Specifically, see Figure 2 , insert the probe 1 to the calibrated implantation position along the optimal implantation angle. It should be noted that a reference frame is provided on the body of the probe 1, and a second coordinate system is constructed based on the reference frame. The fixed position of the tip of the probe 1 relative to the second coordinate system is preset, and the identification side of the reference frame faces the optical locator, so that the optical locator determines the posture of the probe 1 and the coordinates of the tip of the probe 1 by positioning the reference frame and multiple identification marks on the reference frame. At this time, the posture of the probe 1 is also the preset implantation angle, and the coordinates of the tip of the probe 1 are the preset implantation position.

[0067] Furthermore, S2 includes:

[0068] S21, the tip of probe 1 identifies the collection points inside and outside the acetabulum in turn;

[0069] S22, the optical locator collects the coordinates of the tip of the probe 1 corresponding to each collection point in sequence according to the base coordinate system;

[0070] S23, constructing an acetabulum model according to the coordinates of the tip of the probe 1 corresponding to each of the acquisition points.

[0071] Specifically, the probe 1 is used to sequentially identify the collection points on the inner and outer surfaces of the acetabulum, and then sequentially identify the collection points on the posterior and anterior angles of the acetabulum. Furthermore, during the collection process, the reference frame identification side provided on the body of the probe 1 is always facing the optical locator, and the optical locator is used to sequentially determine the coordinates of the tip of the probe 1 and register them, thereby constructing an acetabulum model, and simulating and displaying the joint at a preset implantation position and a preset implantation angle in the acetabulum model.

[0072] It should be noted that the more uniform the distribution of the acquisition points, the higher the matching degree between the registration data and the CT data, and accordingly, the higher the implantation accuracy.

[0073] Preferably, in this embodiment, one of the acquisition points on the outer surface of the acetabulum is used as a landmark point. Before step S21, the landmark point is first identified using the probe 1, and the optical locator records the coordinates of the landmark point according to the base coordinate system for subsequent verification of the acetabulum registration accuracy.

[0074] More preferably, after S2, the step further includes:

[0075] S201, judging whether the acetabulum registration accuracy is qualified;

[0076] S202: If qualified, proceed to S3; if unqualified, return to S2, reset the collection points and identify them in sequence.

[0077] Specifically, S201 includes:

[0078] S2011, obtaining relative position data of a preset implantation position relative to a landmark point in the acetabulum model;

[0079] S2012, installing a pelvic reference frame 2 at a landmark point of the acetabulum to construct a first coordinate system;

[0080] S2013, obtaining the relative position and posture of the base coordinate system and the first coordinate system;

[0081] S2014, inserting the tip of probe 1 to calibrate the implantation position, and obtaining the coordinates of probe 1 in the first coordinate system based on the relative posture;

[0082] S2015, determining the error between the relative position data and the coordinates of the tip of the probe 1 in the first coordinate system. If the error is within the standard range, the acetabulum registration accuracy is qualified; otherwise, it is unqualified.

[0083] Specifically, based on the coordinate data of the marker points collected by the optical locator, the marker points are simulated and displayed in the acetabulum model, and the relative position data of the preset implant position coordinates marked in the acetabulum model relative to the marker points are obtained, and the pelvic reference frame 2 is installed at the marker points of the acetabulum, and the identification side of the pelvic reference frame 2 faces the optical locator, and then the first coordinate system is constructed, and the relative posture between the base coordinate system of the optical locator and the first coordinate system is obtained according to the optical locator, and the tip of the probe 1 is inserted into the calibrated implant position, and the optical locator obtains the coordinates of the tip of the probe 1 in the base coordinate system, and based on the relative posture, obtains the coordinates of the probe 1 in the first coordinate system, that is, the actual position data of the calibrated implant position relative to the marker points, and judges the error between the relative position data and the actual position data. If the error is within the standard range, the acetabulum registration accuracy is qualified and the process goes to step S3. Otherwise, it is unqualified and the process returns to step S2.

[0084] Furthermore, before S3, the robot is placed in the surgical area, and the effector 4 is mounted on the end of the robotic arm 3. The effector 4 and the end of the robotic arm 3 are relatively fixed, and then the control coordinate system of the robotic arm 3 is transferred to the coordinate system of the effector 4 to achieve positioning guidance. Furthermore, the end reference frame 5 is installed on the effector 4, and the optical locator can observe the end reference frame 5 in real time to position the effector 4.

[0085] Optionally, the end reference frame 5 constructs a third coordinate system, and the optical positioning instrument obtains the relative position and posture between the base coordinate system and the third coordinate system.

[0086] It should be noted that the robot in this embodiment is equipped with a seven-axis robotic arm 3. The seven-axis robotic arm 3 adjusts its multi-degree-of-freedom joint angles and selects a more optimal path to complete the task, thereby reducing unnecessary movement and time consumption during the movement process, thereby improving efficiency. The seven-axis robotic arm 3 can maintain higher operating accuracy when completing complex tasks.

[0087] Specifically, S3 includes:

[0088] S31, installing the grinding rod 6 at the output end of the effector 4, installing the calibration reference frame at the top of the grinding rod 6, constructing the fourth coordinate system, and obtaining the relative position and posture of the base coordinate system and the fourth coordinate system;

[0089] S32, obtaining relative position data between the fourth coordinate system and the third coordinate system;

[0090] S33, the robot arm 3 drives the actuator 4 and the top end of the grinding rod 6 to move until the top end of the grinding rod 6 reaches the preset implantation position, and adjusts the grinding rod 6 to the preset implantation angle;

[0091] S34, dismantle the calibration reference frame, install a file basket on the top of the grinding file rod 6, and the actuator 4 drives the grinding file rod 6 to rotate along its own axis to control the file basket to grind and expand to the preset implantation position.

[0092] For example, see Figure 3 , the grinding rod 6 is driven and connected to the effector 4, and the effector 4 can drive the grinding rod 6 to rotate along its own axis. First, a calibration reference frame is installed at the top of the grinding rod 6 to construct a fourth coordinate system, and the relative posture of the base coordinate system and the fourth coordinate system is obtained, and the relative position data of the fourth coordinate system and the third coordinate system are further obtained to calculate the position relationship of the top of the grinding rod 6 relative to the robotic arm 3, so as to further ensure the coordinate accuracy of the top of the grinding rod 6 and ensure that the top of the grinding rod 6 can accurately reach the preset implantation position. Further, the robotic arm 3 drives the effector 4 and the grinding rod 6 to move until the top of the grinding rod 6 reaches the preset implantation position, and adjusts the grinding rod 6 to the preset implantation angle.

[0093] To further verify that the top end of the grinding rod 6 is located at the preset implantation position, a positioning pit is set at the preset position of the grinding rod 6. The distance from the positioning pit to the top end of the grinding rod 6 is constant. The tip of the probe 1 is placed in the positioning pit, and the position coordinates of the tip of the probe 1 in the base coordinate system are obtained at this time, and its relative position data with the third coordinate system are obtained. Based on the relative position data and the interval between the positioning pit and the top end of the grinding rod 6, the relative position data of the top end of the grinding rod 6 with the third coordinate system are obtained. If it is consistent with the relative position data obtained in S32, enter S34. If it is inconsistent, return to S31.

[0094] Furthermore, the calibration reference frame is removed, and a file basket is installed at the top of the grinding file rod 6. Under the control of the robot, the actuator 4 drives the grinding file rod 6 to rotate along its own axis, thereby controlling the file basket to grind and expand the preset implantation position.

[0095] Specifically, S4 includes:

[0096] S41, remove the grinding and filing parts, install the knocking rod 7 at the output end of the effector 4, install the calibration reference frame at the top of the knocking rod 7, construct the fifth coordinate system, and obtain the relative position and posture of the base coordinate system and the fifth coordinate system;

[0097] S42, obtaining relative position data between the fifth coordinate system and the third coordinate system;

[0098] S43, the robot arm 3 drives the effector 4 and the knocking rod 7 to move until the top end of the knocking rod 7 reaches the preset implantation position, and adjusts the knocking rod 7 to the preset implantation angle;

[0099] S44, dismantle the calibration reference frame, install the joint at the top of the knocking rod 7, and the actuator 4 controls the knocking rod 7 to knock the implanted joint.

[0100] See also Figure 4 After the grinding and expansion is completed, the grinding rod 6 is removed, and a knocking rod 7 is installed at the output end of the effector 4. The knocking rod 7 is connected to the effector 4 along its axial sliding connection. The effector 4 can drive the knocking rod 7 to move linearly along its own axis. Further, a calibration reference frame is installed at the top of the knocking rod 7 to construct the fifth coordinate system, and the relative posture of the base coordinate system and the fifth coordinate system is obtained. The relative position data of the fifth coordinate system and the third coordinate system are obtained to calculate the position relationship of the top of the knocking rod 7 relative to the robotic arm 3, further ensuring the coordinate accuracy of the top of the knocking rod 7, and ensuring that the top of the knocking rod 7 can accurately reach the preset implantation position. Further, the robotic arm 3 drives the effector 4 and the knocking rod 7 to move until the top of the knocking rod 7 reaches the preset implantation position, and adjusts the knocking rod 7 to the preset implantation angle.

[0101] To further verify that the top end of the knocking rod 7 is located at the preset implantation position, a positioning pit is set at the preset position of the knocking rod 7. The positioning pit is at a certain distance from the top end of the knocking rod 7. The tip of the probe 1 is placed in the positioning pit, and the position coordinates of the tip of the probe 1 in the base coordinate system are obtained at this time, and its relative position data with the third coordinate system are obtained. Based on the relative position data and the interval between the positioning pit and the top end of the knocking rod 7, the relative position data of the top end of the knocking rod 7 with the third coordinate system is obtained. If it is consistent with the relative position data obtained in S42, enter S44. If it is inconsistent, return to S41.

[0102] Furthermore, the calibration reference frame is removed, and a joint is installed at the top of the knocking rod 7. Under the control of the robot, the actuator 4 drives the knocking rod 7 to reciprocate along its own axis in a straight line to implant the joint knocking into the preset implantation position.

[0103] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A robot positioning joint implantation method, characterized in that: The following steps are involved: S1. Collecting implantation posture: obtaining a preset implantation position and a preset implantation angle according to the calibrated implantation posture; S2, registering the acetabulum: constructing an acetabulum model, and simulating and displaying the joint at the preset implantation position and the preset implantation angle in the acetabulum model; S3, positioning and expanding the hole: placing the grinding rod (6) according to the preset implantation angle, and grinding and expanding the preset implantation position; S4, positioning the implanted joint: placing the knocking rod (7) according to the preset implantation angle, knocking and implanting the joint into the preset implantation position.

2. A robot positioning joint implantation method according to claim 1, characterized in that: The S1 includes: S11, inserting the probe (1) along the implantation angle to calibrate the implantation position; S12, the optical positioning instrument collects the coordinates of the tip of the probe (1) according to the base coordinate system, and records the posture of the probe (1), and obtains the preset implantation position and the preset implantation angle.

3. A robot positioning joint implantation method according to claim 2, characterized in that: The S2 includes: S21, the tip of the probe (1) identifies the collection points inside and outside the acetabulum in turn; S22, the optical locator sequentially collects the coordinates of the tip of the probe (1) corresponding to each collection point according to the base coordinate system; S23, constructing an acetabulum model according to the coordinates of the tip of the probe (1) corresponding to each of the acquisition points.

4. A robot positioning joint implantation method according to claim 3, characterized in that: The S21 also includes: One of the acquisition points on the outer surface of the acetabulum is set as a marker point, the tip of the probe (1) identifies the marker point, and the optical locator records the coordinates of the marker point according to the base coordinate system.

5. A robot positioning joint implantation method according to claim 4, characterized in that: The S2 also includes: S201, judging whether the acetabulum registration accuracy is qualified; S202: If qualified, proceed to S3; if unqualified, return to S2, reset the collection points and identify them in sequence.

6. A robot positioning joint implantation method according to claim 5, characterized in that: The S201 includes: S2011, obtaining relative position data of a preset implantation position in the acetabulum model relative to the landmark point; S2012, installing a pelvic reference frame (2) at the landmark point of the acetabulum to construct a first coordinate system; S2013, obtaining the relative position and posture between the base coordinate system and the first coordinate system; S2014, inserting the tip of the probe (1) into the calibrated implantation position, acquiring the coordinates of the probe (1) in the first coordinate system according to the relative posture, and obtaining actual position data of the calibrated implantation position relative to the marker point; S2015. Determine the error between the relative position data and the actual position data. If the error is within the standard range, the acetabulum registration accuracy is qualified; otherwise, it is unqualified.

7. A robot positioning joint implantation method according to claim 1, characterized in that: The S3 also includes: S301, installing an effector (4) at the end of the mechanical arm (3), wherein the effector (4) is relatively fixed to the end of the mechanical arm (3), S302, installing an end reference frame (5) on the actuator (4), constructing a third coordinate system, and obtaining a relative position and posture between the base coordinate system and the third coordinate system.

8. A robot positioning joint implantation method according to claim 7, characterized in that: The S3 includes: S31, installing the grinding rod (6) at the output end of the actuator (4), installing a calibration reference frame at the top end of the grinding rod (6), constructing a fourth coordinate system, and obtaining a relative position and posture between the base coordinate system and the fourth coordinate system; S32, obtaining relative position data between the fourth coordinate system and the third coordinate system; S33, the mechanical arm (3) drives the actuator (4) and the grinding rod (6) to move until the top end of the grinding rod (6) reaches the preset implantation position, and adjusts the grinding rod (6) to the preset implantation angle; S34, dismantling the calibration reference frame, installing a file basket on the top of the grinding file rod (6), and the actuator (4) drives the grinding file rod (6) to rotate along its own axis to control the file basket to grind and expand the preset implantation position.

9. A robot positioning joint implantation method according to claim 8, characterized in that: The S33 also includes: The tip of the probe (1) is inserted into the positioning pit of the grinding rod (6), the distance from the positioning pit to the top of the grinding rod (6) is constant, the position coordinates of the tip of the probe (1) in the base coordinate system are obtained, and its relative position data with the third coordinate system are obtained. If it is consistent with the relative position data obtained in S32, enter S34, if not consistent, return to S31.

10. A robot positioning joint implantation method according to claim 9, characterized in that: The S4 includes: S41, removing the grinding rod (6), installing the knocking rod (7) at the output end of the actuator (4), installing a calibration reference frame at the top end of the knocking rod (7), constructing a fifth coordinate system, and obtaining the relative position and posture between the base coordinate system and the fifth coordinate system; S42, obtaining relative position data between the fifth coordinate system and the third coordinate system; S43, the mechanical arm (3) drives the actuator (4) and the knocking rod (7) to move until the top end of the knocking rod (7) reaches the preset implantation position, and adjusts the knocking rod (7) to the preset implantation angle; S44, dismantling the calibration reference frame, installing the joint at the top end of the knocking rod (7), and the actuator (4) controlling the knocking rod (7) to knock the implanted joint.

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