An automated acetabular reamer gun system

Abstract

The application discloses an automatic acetabulum reamer gun system, which comprises a reamer head, a connecting rod, a coupling, a pressure value acquisition assembly, a driving moving assembly, a positioning assembly, a reamer motor driving assembly, a connecting plate, a shell, a lower computer controller, an optical positioning system, an upper computer controller and a wireless module. The acetabulum of a patient is automatically reamed through the driving moving assembly, the reamer motor driving assembly, the lower computer controller, the upper computer controller and the wireless module, and the relative resistance during sliding is reduced through the pressure value acquisition assembly, so that the contact pressure value of the reamer head is accurately measured in a constant small resistance during the operation, and the system gives an alarm when the contact pressure value exceeds a set threshold value, thereby enhancing the safety of the system. The fixing structure of the positioning assembly is improved, the positioning assembly is convenient to assemble and disassemble, the optical positioning system is used for tracking and positioning the positioning assembly, the reaming change value is acquired in real time, and the quality of the operation is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an automatic acetabular reamer gun system. BACKGROUND

[0002] Total hip arthroplasty is to grind the acetabular cartilage at the patient's hip joint with an acetabular reamer, and then install a prosthesis. In order to ensure that the joint prosthesis structure is correctly placed, it is very important to grind the acetabulum according to the preoperative planning value during the operation, which can improve the success rate of clinical operation and avoid the problem of unstable joint prosthesis after replacement.

[0003] In the traditional total hip arthroplasty operation process, the more common method of acetabular reaming is to use a handheld reamer gun to ream the acetabulum during the operation. The surgeon only relies on subjective experience to judge the depth of the acetabulum that needs to be reamed, which is difficult to control the depth and intensity of the reaming, and is easy to cause the effect of reaming the acetabulum to be poor, which affects the placement of the prosthesis. In addition, in some traditional acetabular reamer guns, the connection reamer head position is not effectively set to prevent loosening, the resistance between the sliding structure of the sliding block and the sliding groove affects the stability of the reaming, and there is a lack of positioning tools or the positioning tools are not easy to install. SUMMARY

[0004] The purpose of the present application is to provide an automatic acetabular reamer gun system to solve one or more technical problems existing in the prior art, and at least provide a beneficial choice or create conditions.

[0005] The solution to the technical problem of the present application is to provide an automatic acetabular reamer gun system, which comprises: a reamer head, a connecting rod, a shaft coupling, a pressure value acquisition assembly, a driving moving assembly, a positioning assembly, a reamer motor driving assembly, a connecting plate, a shell, a lower computer controller, an optical positioning system, an upper computer controller and a wireless module.

[0006] The shaft coupling, the reamer motor driving assembly, the pressure value acquisition assembly, the driving moving assembly and the connecting plate are all arranged inside the shell, the bottom of the connecting plate is connected to the end of the mechanical arm outside the shell through the shell, the top of the connecting plate is connected to the driving moving assembly, the side surface of the shell is provided with a positioning port, the positioning assembly is connected to the driving moving assembly through the positioning port, the driving moving assembly is connected to the reamer motor driving assembly through the pressure value acquisition assembly, one end of the connecting rod is connected to the reamer head, the other end of the connecting rod is connected to the reamer motor driving assembly through the shaft coupling, the lower computer controller is connected to the reamer motor driving assembly, the pressure value acquisition assembly, the driving moving assembly and the wireless module respectively, the optical positioning system is connected to the upper computer controller, and the upper computer controller is connected to the lower computer controller through the wireless module.

[0007] The driving movement assembly is used to drive the grinding and polishing motor driving assembly to move, so as to drive the grinding and polishing head to move, the grinding and polishing motor driving assembly is used to drive the grinding and polishing head to rotate, the positioning assembly is used to obtain the position information of the grinding and polishing head, the optical positioning system tracks and positions the positioning assembly, obtains the spatial distance change value of the positioning assembly and sends it to the upper computer controller, the pressure value acquisition assembly is used to acquire the contact pressure value fed back by the grinding and polishing head and send it to the lower computer controller, the lower computer controller sends the contact pressure value to the upper computer controller through the wireless module, the upper computer controller obtains the control instruction according to the contact pressure value and the spatial distance change value and sends it to the lower computer controller through the wireless module, and the lower computer controller controls the driving movement assembly and the grinding and polishing motor driving assembly to operate according to the control instruction.

[0008] When the contact pressure value is greater than the set contact pressure threshold value, the lower computer controller controls the grinding and polishing motor driving assembly to stop operating, controls the driving movement assembly to reset the grinding and polishing head, and sends an alarm signal to the upper computer controller through the wireless module.

[0009] Further, the automatic acetabular grinding and polishing gun system further comprises: a machine screw;

[0010] One end of the connecting rod is provided with an annular groove, one end of the connecting rod is rotationally clamped with the grinding and polishing head through the annular groove, a locking hole is arranged on the annular groove, and the machine screw locks the grinding and polishing head through the locking hole.

[0011] Further, the driving movement assembly comprises: a connecting seat, a lead screw, a step coupling, a step motor and a mounting support;

[0012] The connecting seat, the lead screw and the step coupling are all mounted on the mounting support, the bottom of the mounting support is threadedly connected with the top of the connecting plate, the step motor is connected with one end of the step coupling through the mounting support, the other end of the step coupling is connected with one end of the lead screw, the other end of the lead screw is connected with the mounting support, the lead screw passes through the connecting seat, the bottom of the connecting seat is slidingly connected with the top of the mounting support, the step motor is connected with the lower computer controller, and the step motor drives the lead screw to rotate through the step coupling, so as to drive the connecting seat on the lead screw to move.

[0013] Further, the pressure value acquisition assembly comprises: an L-shaped support plate, a pressure sensor, a sliding block, a sliding guide rail and a locking block;

[0014] The bottom of the L-shaped support plate is connected with the top of the connecting seat, the bottom of the sliding guide rail is connected with the top of the L-shaped support plate, the bottom of the sliding block is provided with sliding rollers on both sides, the bottom of the sliding block is connected with the top of the sliding guide rail through the sliding rollers, the locking block is arranged at the front end of the sliding guide rail and is used for limiting the sliding block, the pressure sensor is installed on the L-shaped support plate and is connected with the lower controller, and the pressure sensor is located above the sliding block.

[0015] Further, the grinding and polishing motor driving assembly comprises a locking upper cover, a locking lower cover and a grinding and polishing motor.

[0016] The locking lower cover is threadedly connected with the locking upper cover, so as to be sleeved with the grinding and polishing motor, the bottom of the locking lower cover is connected with the top of the sliding block, the grinding and polishing motor is connected with the lower controller, one end of the grinding and polishing motor is connected with the pressure sensor, and the other end of the grinding and polishing motor is connected with the shaft coupling.

[0017] Further, the positioning assembly comprises a positioning ball, a fixing support, a connecting bent rod and a supporting connecting rod.

[0018] The positioning ball is fixed to the top of the fixing support, the bottom of the fixing support is connected with one end of the connecting bent rod, the other end of the connecting bent rod is connected with one end of the supporting connecting rod through the positioning port, and the other end of the supporting connecting rod is connected with the side of the connecting seat.

[0019] Further, the mounting support comprises a first longitudinal plate, a first transverse plate and a second longitudinal plate.

[0020] One end of the first transverse plate is connected with the first longitudinal plate, the other end of the first transverse plate is connected with the second longitudinal plate, the other end of the lead screw is connected with the first longitudinal plate, the second longitudinal plate is provided with a through hole, and the stepping motor is connected with one end of the stepping shaft coupling through the through hole.

[0021] Further, the grinding and polishing motor is a direct current motor.

[0022] The system can automatically grind and polish the acetabulum of a patient smoothly and uniformly through the driving moving assembly, the grinding and polishing motor driving assembly, the lower controller, the upper controller and the wireless module, the relative resistance during sliding is reduced through the pressure value acquisition assembly, the contact pressure value of the grinding and polishing head is accurately measured in constant small resistance during the operation, the system gives an alarm when the contact pressure value exceeds the set threshold value, the safety of the system is enhanced, the fixing structure of the positioning assembly is improved, the positioning assembly is convenient to assemble and disassemble, the optical positioning system is used for tracking and positioning the positioning assembly, the grinding and polishing change value is acquired in real time, and the quality of the operation is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 is a partial structural diagram of an automatic acetabular reamer gun system according to an embodiment of the present application;

[0024] Figure 2 is a partial structural diagram of an automatic acetabular reamer gun system according to another embodiment of the present application;

[0025] Figure 3 is a structural diagram of a driving moving assembly of an automatic acetabular reamer gun system according to the present application;

[0026] Figure 4 is a structural diagram of a pressure value acquisition assembly and a reamer motor driving assembly of an automatic acetabular reamer gun system according to the present application;

[0027] Figure 5 is a structural diagram of a reamer head and a connecting rod of an automatic acetabular reamer gun system according to the present application.

[0028] Reference signs: 100, reamer head, 200, connecting rod, 210, annular groove, 211, locking hole, 300, coupling, 400, connecting plate, 500, shell, 510, positioning port;

[0029] Driving moving assembly: 600, connecting seat, 610, screw rod, 620, step coupling, 630, step motor, 640, first longitudinal plate, 650, first transverse plate, 660, second longitudinal plate, 661, through hole;

[0030] Pressure value acquisition assembly: 700, L-shaped support plate, 710, pressure sensor, 720, sliding block, 730, sliding guide rail, 740, locking stopper;

[0031] Reamer motor driving assembly: 800, locking upper cover, 810, locking lower cover, 820, reamer motor;

[0032] Positioning assembly includes: 900, positioning ball, 910, fixed support, 920, connecting bent rod, 930, support connecting rod. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0034] In the description of the present application, it should be understood that, in relation to orientation description, for example: up, down, front, back, left, right and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application, and does not indicate or imply that the device or element must have a specific orientation or be constructed in a specific orientation, so it cannot be understood as a limitation on the present application.

[0035] It should be noted that, unless otherwise explicitly limited, the words such as setting, installing, connecting and the like should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0036] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include one or more features.

[0037] Reference Figures 1 to 5 In some embodiments of the present application, an automatic acetabulum reamer gun system comprises a reamer head 100, a connecting rod 200, a shaft coupling 300, a pressure value acquisition assembly, a driving movement assembly, a positioning assembly, a reamer motor driving assembly, a connecting plate 400, a shell 500, a lower machine controller, an optical positioning system, an upper machine controller and a wireless module. The shaft coupling 300, the reamer motor driving assembly, the pressure value acquisition assembly, the driving movement assembly and the connecting plate 400 are all arranged inside the shell 500. The bottom of the connecting plate 400 is connected to the end of the external machine arm through the shell 500, the driving movement assembly is threadedly fixedly connected to the top of the connecting plate 400, the side surface of the shell 500 is provided with a positioning port 510, the positioning assembly is locked and connected to the driving movement assembly inside the shell 500 through the positioning port 510, the pressure value acquisition assembly is connected to the top of the driving movement assembly, and the reamer motor driving assembly is connected to the pressure value acquisition assembly.

[0038] One end of the shaft coupling 300 is connected to the reamer motor driving assembly, one end of the connecting rod 200 is connected to the other end of the shaft coupling 300 inside the shell 500, and the other end of the connecting rod 200 is clamped to the reamer head 100. The shaft coupling 300 connects the reamer motor driving assembly and the connecting rod 200, so that the reamer motor driving assembly can drive the reamer head 100 on the connecting rod 200 to rotate through the shaft coupling 300, so that the reamer head 100 can ream the acetabulum. The lower machine controller is electrically connected to the reamer motor driving assembly, the pressure value acquisition assembly, the driving movement assembly and the wireless module respectively, the optical positioning system is connected to the upper machine controller, and the upper machine controller is wirelessly connected to the lower machine controller through the wireless module.

[0039] The driving moving assembly is used to drive the grinding motor driving assembly to move, so as to drive the grinding head 100 to move, that is, the driving moving assembly can drive the grinding motor driving assembly to move linearly, and the grinding head 100 is connected with the grinding motor driving assembly through the two determined rigid components, so that the linear movement of the grinding motor driving assembly can drive the linear movement of the grinding head 100.

[0040] The grinding motor driving assembly is used to drive the grinding head 100 to rotate, so as to grind the acetabulum, that is, the grinding motor driving assembly drives the grinding head 100 to rotate through the two determined rigid components of the coupling 300 and the connecting rod 200, so as to grind the hip bone of the patient.

[0041] The pressure value acquisition assembly is used to acquire the contact pressure value fed back by the grinding head 100, that is, the pressure value acquisition assembly can acquire the pressure received by the grinding head 100 when contacting the acetabulum under a constant small resistance, convert the pressure into an electric signal, and send the converted electric signal to the lower machine controller.

[0042] The positioning assembly is used to acquire the position information of the grinding head 100, and the optical positioning system tracks and positions the positioning assembly based on the optical positioning principle, obtains the spatial distance change value of the positioning assembly, and transmits the spatial distance change value to the upper machine controller. The positioning assembly is connected with the grinding head 100 through the two determined rigid components, so that the optical positioning system can acquire the position information of the grinding head 100 through the spatial distance change value of the positioning assembly.

[0043] The lower machine controller sends the contact pressure value to the upper machine controller through the wireless module, the upper machine controller obtains the control instruction according to the contact pressure value and the spatial distance change value, and sends the control instruction to the lower machine controller, the lower machine controller receives the control instruction through the wireless module, and the lower machine controller controls the driving moving assembly and the grinding motor driving assembly to operate according to the control instruction. When the contact pressure value acquired by the pressure value acquisition assembly is greater than the set contact pressure threshold value, the lower machine controller controls the grinding motor 820 driving module to stop operating, controls the driving moving assembly to reset the grinding head 100 to the initial position, and sends an alarm signal to the upper machine controller through the wireless module, so as to ensure the safety of intraoperative grinding, so that the doctor can check the reason. The system can automatically grind the acetabulum of the patient smoothly and uniformly through the driving moving assembly, the grinding motor driving assembly, the lower machine controller, the upper machine controller and the wireless module, and reduce the relative resistance when sliding through the pressure value acquisition assembly, so that the contact pressure value of the grinding head 100 can be accurately measured under a constant small resistance, the positioning assembly is tracked and positioned by the optical positioning system when the contact pressure value exceeds the set threshold value, the grinding change value is acquired in real time, and the quality of the operation is improved.

[0044] It should be noted that the upper computer controller is provided with a man-machine interaction interface, the man-machine interaction interface can display the contact pressure value and position information of the grinding head 100, the doctor can monitor the working state of the grinding head 100 through the contact pressure value and position information, and adjust the control instruction according to the working state of the grinding head 100, wherein the control instruction includes: a pre-set instruction obtained by an algorithm or an instruction input by the doctor according to the actual needs.

[0045] With reference to Figures 1 to 5 In some embodiments of the present application, the automatic hip joint grinding gun system further comprises: a machine screw. One end of the connecting rod 200 is provided with an annular groove 210, and the one end of the connecting rod 200 is rotatably connected with the grinding head 100 through the annular groove 210. The annular groove 210 is provided with a locking hole 211, and the machine screw is used to lock the grinding head 100 through the locking hole 211. That is, the connecting rod 200 and the grinding head 100 are connected by the annular groove 210 locking mode. After the connecting rod 200 is inserted into the grinding head 100 and tightened, the machine screw is used to lock the grinding head 100 by passing through the locking hole 211. The machine screw not only increases the locking strength, but also is convenient to disassemble, so that the grinding head 100 can be replaced conveniently and quickly. The phenomenon of deflection during rotation caused by loose clearance during grinding rotation can be effectively solved.

[0046] With reference to Figures 1 to 4In some embodiments of the present application, the driving moving assembly comprises a connecting seat 600, a lead screw 610, a step coupling 620, a step motor 630 and a mounting support. The connecting seat 600, the lead screw 610 and the step coupling 620 are all mounted on the mounting support. The bottom of the mounting support is threadedly fixedly connected with the top of the connecting plate 400, and the bottom of the lead screw is connected with the top of the mounting support. The rotating shaft of the step motor 630 is connected with one end of the step coupling 620 through the mounting support, the other end of the step coupling 620 is connected with one end of the lead screw, the other end of the lead screw is connected with the mounting support, the lead screw passes through the connecting seat 600, the bottom of the connecting seat 600 is slidingly connected with the mounting support, so that the lead screw 610 is rotated to drive the connecting seat 600 to move linearly, the step motor 630 is connected with the lower controller, when the step motor 630 is rotated, the connecting seat 600 on the lead screw 610 can be driven to move through the step coupling 620. That is, the step motor 630 and the lead screw 610 are connected through the step coupling 620 and are fixed on the mounting support, the connecting seat 600 is connected with the lead screw 610 in cooperation, the bottom of the connecting seat 600 is slidingly connected with the mounting support, so as to realize that the step motor 630 is rotated to drive the lead screw 610 to rotate, and the connecting seat 600 is driven to move linearly forward and backward through the rotation of the lead screw 610. Under the driving of the lead screw 610 and the step motor 630, the uniformity of the grinding process and the stability of the movement can be realized, the operation difficulty in the grinding process is overcome, and the quality of the operation is improved.

[0047] With reference to Figures 1 to 4 In some embodiments of the present application, the mounting support comprises a first longitudinal plate 640, a first transverse plate 650 and a second longitudinal plate 660. One end of the first transverse plate 650 is connected with the first longitudinal plate 640, the other end of the first transverse plate 650 is connected with the second longitudinal plate 660, the other end of the lead screw 610 is connected with the first longitudinal plate 640, the second longitudinal plate 660 is provided with a through hole 661, and the rotating shaft of the step motor 630 passes through the through hole 661 and is connected with one end of the step coupling 620.

[0048] With reference to Figures 1 to 4In some embodiments of the present application, the pressure value acquisition assembly comprises an L-shaped support plate 700, a pressure sensor 710, a sliding block 720, a sliding guide rail 730 and a locking stopper 740. The bottom of the L-shaped support plate 700 is connected to the top of the connecting seat 600, the bottom of the sliding guide rail 730 is connected to the top of the L-shaped support plate 700, the bottom of the sliding block 720 is provided with sliding rollers on both sides, the bottom of the sliding block 720 is connected to the top of the sliding guide rail 730 through the sliding rollers, the locking stopper 740 is arranged at the front end of the sliding guide rail 730, the locking stopper 740 is used for limiting the sliding block 720, the pressure sensor 710 is installed on the L-shaped support plate 700 through threads, the pressure sensor 710 is located above the sliding block 720 and is electrically connected to the lower controller, is used for collecting the contact pressure value fed back by the grinding and polishing head 100 and is sent to the lower controller. That is, the stepper motor 630 drives the lead screw 610 to rotate through the step shaft coupling 620, drives the connecting seat 600 to move linearly forward and backward through the rotation of the lead screw 610, drives the L-shaped support plate 700 to move linearly forward and backward through the connection between the L-shaped support plate 700 and the connecting seat 600, and drives the grinding and polishing motor driving assembly to move linearly forward and backward through the connection between the L-shaped support plate 700 and the sliding block 720 and the sliding guide rail 730. The mechanical structure combining the sliding block 720 and the sliding guide rail 730 is adopted to slide and collect the contact pressure value of the grinding and polishing head 100, which greatly reduces the sliding resistance, increases the sensitivity of pressure collection and the reliability of the system under constant small resistance, and improves the reliability of collecting the contact pressure value.

[0049] With reference to Figures 1 to 5 In some embodiments of the present application, the grinding and polishing motor driving assembly comprises a locking upper cover 800, a locking lower cover 810 and a grinding and polishing motor 820. The locking upper cover 800 is threadedly connected to the locking lower cover 810 to lock and connect the grinding and polishing motor 820, the bottom of the locking lower cover 810 is connected to the top of the sliding block 720, the grinding and polishing motor 820 is electrically connected to the lower controller, one end of the grinding and polishing motor 820 faces the pressure sensor 710 and is connected to the pressure sensor 710, the other end of the rotating shaft of the grinding and polishing motor 820 is connected to the shaft coupling 300, the lower controller can control the rotation of the grinding and polishing motor 820, and the grinding and polishing motor 820 drives the grinding and polishing head 100 to rotate through the shaft coupling 300 to grind and polish the acetabulum, wherein the grinding and polishing motor 820 is a direct current motor. That is, the grinding and polishing motor 820 controls the grinding and polishing head 100 to grind and polish the acetabulum, the contact pressure fed back by the grinding and polishing head 100 is transmitted to the pressure sensor 710 through the rigid components determined by the connecting rod 200, the shaft coupling 300 and the grinding and polishing motor 820, the pressure sensor 710 collects the contact pressure value fed back by the grinding and polishing head 100 through the determined rigid components, and the grinding and polishing motor 820 is connected through the locking upper cover 800 and the locking lower cover 810 to reduce the deflection of the components and reduce the error of the data collected by the pressure sensor 710.

[0050] Referring to Figures 1 to 5 In some embodiments of the present application, the positioning assembly comprises a positioning ball 900, a fixed support 910, a connecting bent rod 920 and a supporting link 930. The positioning ball 900 is fixedly connected to the fixed support 910 by a screw, the bottom of the fixed support 910 is connected to one end of the connecting bent rod 920, the other end of the connecting bent rod 920 passes through the positioning opening 510 on the side surface of the shell 500 and is locked and connected to one end of the supporting link 930 inside the shell 500 by a screw, and the side surface of the connecting seat 600 and the other end of the supporting link 930 are locked and connected by a screw. The positioning assembly is convenient to disassemble and assemble by means of the segmented fixing structure, the positioning ball 900 on the fixed support 910 adopts an asymmetric structure to improve the robustness of the optical positioning system in identifying a rigid body, in addition, the optical positioning system is used to track the positioning ball 900 in real time, the spatial distance change value of the positioning ball 900 is obtained and sent to the upper computer controller, the working state of the grinding head 100 is monitored, and the quality of the operation is improved.

[0051] The preferred embodiments of the present application are specifically described above, but the present application is not limited to the described embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application, and these equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. An automated acetabular reamer gun system, characterized by, The application relates to a grinding head, a connecting rod, a shaft coupling, a pressure value acquisition assembly, a driving moving assembly, a positioning assembly, a grinding motor driving assembly, a connecting plate, a shell, a lower computer controller, an optical positioning system, a machine meter fixing screw, an upper computer controller and a wireless module. The shaft coupling, the grinding motor driving assembly, the pressure value acquisition assembly, the driving moving assembly and the connecting plate are arranged in the interior of the shell, the bottom of the connecting plate is connected with the end of an external mechanical arm through the shell, the top of the connecting plate is connected with the driving moving assembly, the side surface of the shell is provided with a positioning opening, the positioning assembly is connected with the driving moving assembly through the positioning opening, the driving moving assembly is connected with the grinding motor driving assembly through the pressure value acquisition assembly, one end of the connecting rod is clamped with the grinding head, the other end of the connecting rod is connected with the grinding motor driving assembly through the shaft coupling, the lower computer controller is connected with the grinding motor driving assembly, the pressure value acquisition assembly, the driving moving assembly and the wireless module respectively, the optical positioning system is connected with the upper computer controller, and the upper computer controller is connected with the lower computer controller through the wireless module. The driving moving assembly is used for driving the grinding motor driving assembly to move, so as to drive the grinding head to move, the grinding motor driving assembly is used for driving the grinding head to rotate, so as to grind the acetabulum, the positioning assembly is used for acquiring the position information of the grinding head, the optical positioning system is used for tracking and positioning the positioning assembly, obtaining the space distance change value of the positioning assembly and sending the space distance change value to the upper computer controller, the pressure value acquisition assembly is used for acquiring the contact pressure value fed back by the grinding head and sending the contact pressure value to the lower computer controller, the lower computer controller sends the contact pressure value to the upper computer controller through the wireless module, the upper computer controller obtains a control instruction according to the contact pressure value and the space distance change value and sends the control instruction to the lower computer controller through the wireless module, and the lower computer controller controls the driving moving assembly and the grinding motor driving assembly to operate according to the control instruction. When the contact pressure value is greater than a set contact pressure threshold value, the lower computer controller controls the grinding motor driving assembly to stop operating, controls the driving moving assembly to reset the grinding head and sends an alarm signal to the upper computer controller through the wireless module. One end of the connecting rod is provided with an annular groove, one end of the connecting rod is rotationally clamped with the grinding head through the annular groove, a locking hole is arranged on the annular groove, and the machine meter fixing screw locks the grinding head through the locking hole. The driving moving assembly comprises a connecting seat, and the pressure value acquisition assembly comprises an L-shaped supporting plate, a pressure sensor, a sliding block, a sliding guide rail and a locking block. The bottom of the L-shaped supporting plate is connected with the top of the connecting seat, the bottom of the sliding guide rail is connected with the top of the L-shaped supporting plate, the bottom of the sliding block is provided with sliding rollers on the two sides, the bottom of the sliding block is slidingly connected with the top of the sliding guide rail through the sliding rollers, the locking block is arranged at the front end of the sliding guide rail and is used for limiting the sliding block, the pressure sensor is installed on the L-shaped supporting plate and is connected with the lower controller, and the pressure sensor is located above the sliding block. ​ 2. The automated acetabular rasping gun system according to claim 1, wherein: The driving moving assembly comprises a screw rod, a step coupling, a step motor and a mounting support; The connecting seat, the screw rod and the step coupling are mounted on the mounting support, the bottom of the mounting support is threadedly connected with the top of the connecting plate, one end of the step coupling is connected with the step motor through the mounting support, the other end of the step coupling is connected with one end of the screw rod, the other end of the screw rod is connected with the mounting support, the screw rod passes through the connecting seat, the bottom of the connecting seat is slidably connected with the top of the mounting support, the step motor is connected with the lower computer controller, and the step motor drives the screw rod to rotate through the step coupling to drive the connecting seat on the screw rod to move.

3. The automated acetabular reamer gun system of claim 1, wherein, The grinding motor driving assembly comprises a locking upper cover, a locking lower cover and a grinding motor; The locking lower cover is threadedly connected with the locking upper cover to sleeve the grinding motor, the bottom of the locking lower cover is connected with the top of the sliding block, the grinding motor is connected with the lower computer controller, one end of the grinding motor is connected with the pressure sensor, and the other end of the grinding motor is connected with the coupling.

4. The automated acetabular reamer firing gun system of claim 2, wherein, The positioning assembly comprises a positioning ball, a fixing support, a connecting bent rod and a supporting connecting rod; The positioning ball is fixed to the top of the fixing support, the bottom of the fixing support is connected with one end of the connecting bent rod, the other end of the connecting bent rod passes through the positioning port and is connected with one end of the supporting connecting rod, and the other end of the supporting connecting rod is connected with the side of the connecting seat.

5. An automated acetabular reamer gun system as recited in claim 4, wherein, The mounting support comprises a first longitudinal plate, a first transverse plate and a second longitudinal plate; One end of the first transverse plate is connected with the first longitudinal plate, the other end of the first transverse plate is connected with the second longitudinal plate, the other end of the screw rod is connected with the first longitudinal plate, the second longitudinal plate is provided with a through hole, and the step motor passes through the through hole and is connected with one end of the step coupling.

6. An automated acetabular reamer gun system as recited in claim 5, wherein, The grinding motor is a direct current motor.

Images