Hip joint grinding and rasp control method and system

Abstract

The application discloses a kind of hip joint grinding control method, comprising the following steps: according to acetabular fossa model generates cup cavity;Real-time acquisition of acetabular fossa pose, the pose of grinding tool, and the relative pose of acetabular fossa and grinding tool;In response to the action of user, grinding tool executes movement, executes grinding in acetabular fossa and forms cup cavity, wherein grinding tool moves to set position, triggers to execute virtual boundary control.When.The application also discloses a kind of hip joint grinding control system.In the manual operation control of the grinding operation of mechanical arm, grinding tool and hip joint, further cooperate to generate virtual boundary control, through the interaction of grinding equipment and virtual boundary in the way such as mechanical arm admittance control, ensure that grinding tool is executed within the range of safe virtual boundary, greatly reduce the situation such as grinding too much, grinding too little, grinding wrong position caused by low precision of manual operation, ensure the finished product quality of technical model.

Description

Technical Field

[0001] The invention belongs to the field of medical control systems and relates to a hip joint rasping control method and system. Background Art

[0002] There are many types of surgeries targeting the hip joint in clinical practice, among which reaming and joint replacement surgeries acting on the acetabulum are more typical.

[0003] For this type of clinical application, some existing companies will adopt an emerging method to better demonstrate their own solutions and technical advantages for their own product technology promotion, external technical exchanges or the production of related instruction materials. By making a simulated hip joint model and performing hip joint grinding and rasp surgery on it, they can simulate the surgical conditions of related products in clinical practice, so that they can be displayed more intuitively as a technical model.

[0004] Currently, the existing methods for grinding and filing hip joint models still mostly use manually controlled grinding and filing tools, and the operation is judged by visual and tactile perception. As a surgery with very high precision requirements, the grinding and filing surgery requires a very high degree of perception, proficiency and body control ability to achieve the corresponding precision. This high requirement makes the technology difficult to reproduce and standardize. At the same time, manual operation will inevitably have defects, resulting in various problems such as over-grinding, under-grinding, and misalignment, resulting in inconsistent quality of the finished technical models, making it difficult to achieve the expected display effect and unable to be popularized. Summary of the Invention

[0005] In order to overcome the deficiencies of the prior art, the present invention provides a hip joint rasping control method and system.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A hip joint rasping control method comprises the following steps:

[0008] Generate the acetabular cup cavity according to the acetabular socket model;

[0009] Acquire the position of the acetabulum, the position of the grinding tool, and the relative position of the acetabulum and the grinding tool in real time;

[0010] In response to the user's action, the rasp tool moves and performs rasp operation in the acetabulum to form an acetabular cup cavity. When the rasp tool moves to a set position, virtual boundary control is triggered to limit the position of the rasp tool to a set range.

[0011] Furthermore, the virtual boundary control includes: angle control for limiting the angular direction of the filing rod, and depth control for limiting the filing action depth of the filing head.

[0012] Furthermore, the angle control includes forming a set conical angle boundary with the central axis of the acetabular cup cavity as the center, triggering the angle control when the rasp rod enters the set range, and limiting the angle between the rasp rod and the central axis from exceeding the angle boundary.

[0013] Furthermore, the depth control includes forming a hemispherical depth boundary with the center of the acetabular cup cavity as the center, triggering the depth control when the grinding head enters a set range, and limiting the outer periphery of the grinding head from exceeding the depth boundary.

[0014] Furthermore, the invention also includes a filing boundary control for limiting the spatial movement position of the center of the filing head.

[0015] Furthermore, the restriction of the filing tool is performed by the admittance control of the filing tool by the robot arm.

[0016] Furthermore, the filing tool also includes a bone drill for driving the filing action, and when the virtual boundary control is triggered, it also includes a restriction on the power supply of the bone drill.

[0017] Furthermore, the generation of the acetabular cup cavity includes: selecting an acetabular cup model, combining the acetabular cup model with the acetabular socket model to form the acetabular cup cavity, and the acetabular cup cavity includes the contour and posture of the acetabular cup model on the acetabular socket model.

[0018] Furthermore, it also includes a visualization screen for displaying at least the acetabulum model, the grinding tool model, the posture of the acetabulum, the posture of the grinding tool, and the relative posture of the acetabulum and the grinding tool.

[0019] A hip joint rasping control system, used to execute the above-mentioned hip joint rasping control method, comprising:

[0020] A filing tool, comprising a filing rod and a filing head;

[0021] A robotic arm, for mounting and moving the filing tool;

[0022] 3D planning software for generating the acetabular cup cavity based on the acetabular socket model;

[0023] A three-dimensional navigation and tracking system is used to obtain the position of the acetabulum, the position of the grinding tool, and the relative position of the acetabulum and the grinding tool in real time;

[0024] The host computer is used to perform virtual boundary control.

[0025] In summary, the present invention is beneficial in that:

[0026] The present invention further cooperates with the generation of virtual boundary control in the manual operation control of the robotic arm, the grinding and filing tool and the hip joint grinding and filing operation. Through the interaction between the grinding and filing equipment and the virtual boundary by means of the robotic arm admittance control and other methods, it ensures that the grinding and filing tool is executed within a safe virtual boundary range, greatly reduces the over-grinding, under-grinding, misalignment and other situations caused by the low precision of manual operation, and ensures the quality of the finished product of the technical model; in the control, through real-time tracking and monitoring of the three-dimensional posture, combined with the model coordination of the operation object, the robot operation range is more accurately defined to ensure the installation planning of the grinding and filing operation. Combined with the virtual boundary, the standardization of surgical technology is greatly improved, and the accuracy and consistency of the operation can be guaranteed even if different users operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a flowchart of the hip joint rasping control method of the present invention.

[0028] Figure 2 A structural diagram of an exemplary software interface.

[0029] Identification in the figure: 1. 3D model object; 21. Bone drill power icon; 22. Angle control icon; 23. Depth control icon; 31. Equipment model object; 32. Current control mode object; 4. Remaining workload object; 5. Acetabular cup posture object; 6. Trolley foot support icon. DETAILED DESCRIPTION

[0030] Exemplary methods and systems are described herein. Any exemplary embodiment or feature described herein is not necessarily to be construed as preferred or advantageous over other embodiments or features. The exemplary embodiments described herein are not meant to be limiting. It is readily understood that certain aspects of the disclosed systems and methods may be arranged and combined in a wide variety of different configurations, all of which are expressly contemplated herein.

[0031] In addition, the specific arrangement scheme shown in the figures should not be regarded as limiting. It should be understood that other embodiments may include more or less of each element shown in a given figure. In addition, some of the elements shown may be combined or omitted. Again, exemplary embodiments may include elements not shown in the figures.

[0032] Exemplary system arrangements

[0033] Referring to the figures, several non-limiting examples of system devices will be described, including a multi-axis robotic trolley, a grinding and filing tool, a C-arm machine, a host computer, an acetabular socket tracer, a virtual mass spring damper system, and three-dimensional planning software.

[0034] The C-arm machine is used to scan a target object, such as scanning an X-ray image or a computed tomography (CT) image.

[0035] The multi-axis robot trolley includes a movable trolley body with multiple casters, a robotic arm that can move along multiple degrees of freedom and is arranged on the trolley, and a connecting flange is provided at the end of the robotic arm, so that the grinding and filing tool and the robotic arm are fixedly installed through the connecting flange. After the grinding and filing tool is installed on the robotic arm, the robotic arm can serve as a support and movable joint of the grinding and filing tool. The user can manually drag the grinding and filing tool. At the same time, according to the dragging force information applied by the user, a control amount can be generated to control the robotic arm to drive the grinding and filing tool to move and follow the user's dragging. The end of the robotic arm and the part where the robotic arm is connected to the trolley can be installed with tracers to support monitoring of the posture of the robotic arm and the posture of the robotic arm and the grinding and filing tool.

[0036] The filing tool includes a bracket for connecting to a robotic arm, a filing rod mounted on the bracket, and a bone drill for driving the filing rod to rotate. An acetabular file (hereinafter referred to as the filing head) is mounted on the front end of the filing rod. The filing head has a hemispherical structure. The filing rod is connected to the center of the filing head and is perpendicular to the plane of the hemispherical file head. A plurality of holes are provided on the surface of the sphere, and the edges of the holes form cutting edges. When the filing rod drives the filing head to rotate, the holes can interfere with the surface of the target object and cut, so that the target object can be filed into a standard hemispherical socket.

[0037] A positioning tracer is also installed on the file rod. After the positioning tracer is installed, it forms a set relative spatial position with the file head. The positioning tracer can be observed and positioned by a three-dimensional navigation tracking system. The three-dimensional navigation tracking system can be simply referred to as a tracking system. It can be an infrared optical navigation system, a visible light optical navigation system, a magnetic navigation system or an electric navigation system, or other three-dimensional navigation systems based on physical principles. The position and posture of the positioning tracer are captured by the three-dimensional navigation tracking system, and then the position and posture of the file head and the file rod are determined through the coordinate conversion relationship between the positioning tracer and the file head and the file rod. The position and posture tracking process can be real-time. In this embodiment, the center position of the file head and the angular position of the axis of the file rod can be specifically determined.

[0038] The acetabular socket tracer is installed near the acetabular socket where the operation is required on the hip joint. It is used to characterize the position of the acetabular socket so that the position of the acetabular socket can be tracked in real time through the three-dimensional navigation tracking system during the operation.

[0039] There are multiple models of grinding and filing heads, specifically, multiple models with different radius sizes. The three-dimensional navigation and tracking system can preset data of multiple models of grinding and filing heads, so that when selecting a corresponding grinding and filing head for operation, the hemispherical contour of the grinding and filing head can be determined by tracking the center position of the current model of the grinding and filing head.

[0040] The host computer is communicatively connected to the robotic arm, and the host computer can obtain the real-time coordinate conversion relationship between the base coordinate system and the end coordinate system of the robotic arm in real time, and drive the robotic arm to move through instructions; the host computer can also execute the hip joint grinding and filing control method provided in the embodiment of the present application. The specific steps can be referred to the description below.

[0041] A virtual mass spring damping system is provided at the end of the robotic arm, and is used to analyze the external force applied by the user to the end of the robotic arm to obtain the target external force of the filing head at the end of the filing tool, wherein the target external force includes force and torque in the XYZ directions; when the user wants to drag the filing tool, the virtual mass spring damping system analyzes the target external force and generates a control quantity to control the robotic arm to perform movement following in response to the user's dragging; the mass spring damping system used in this embodiment, and the method of obtaining the target external force by analyzing the mass spring damping system to control the movement of the robotic arm both adopt existing technologies, and reference can be made to Chinese invention patent CN114454166B, a method and device for controlling the impedance of a robotic arm, which will not be described in detail here.

[0042] The three-dimensional planning software can generate a corresponding proportional three-dimensional model based on the acquired position and shape boundaries of the currently operating acetabulum, and display it through a display device such as a visualization screen. By presetting and entering data of various possible acetabular cups in the planning software, a proportional three-dimensional model is also generated, in which the acetabular cup also has a hemispherical structure. The planning software can also combine the three-dimensional model of the acetabular cup with the three-dimensional model of the acetabulum in the required position and orientation to reflect the cavity in the acetabulum for installing the acetabular cup that is ultimately required to be achieved in the actual operation; the planning software can also generate the areas where the acetabular cup and the acetabular cup interfere with and overlap after the three-dimensional software combination of the acetabular cup and the acetabular cup, and highlight these areas on the three-dimensional model of the acetabular cup to form the grinding and filing areas required during the operation; the planning software can also generate a proportional three-dimensional model of the grinding and filing head, and display it synchronously with the three-dimensional model of the acetabular cup in a real spatial position relationship, and the position and posture of the grinding and filing head and the three-dimensional model of the acetabular cup can be updated and displayed on the visualization screen through real-time monitoring.

[0043] The bottom of the trolley is also provided with a foot support, which can be set downward to resist the ground, thereby limiting the movement of the trolley and positioning it in a fixed position. The overall stability of the multi-axis robot trolley should be maintained during the operation of the grinding and filing tools, and then the foot support is used to form a stable positioning after the trolley moves to the working position.

[0044] The trolley is also provided with an operating foot pedal, which includes a left foot pedal and a right foot pedal, and the left foot pedal and the right foot pedal are both triggered by stepping down, wherein, when the left foot pedal and the right foot pedal are not triggered, the robotic arm will not respond to the user's dragging of the grinding and filing tool, so the user cannot drag the grinding and filing tool; when the left foot pedal is triggered, the robotic arm starts to respond to the user's dragging in real time to perform mobile following; when the right foot pedal is triggered, the robotic arm starts to respond to the user's dragging in real time to perform mobile following, and performs a set condition judgment to determine whether to start the power supply of the bone drill power supply.

[0045] Exemplary software interface

[0046] Figure 2 2 shows a software interface of a three-dimensional planning software displayed on a visualization screen according to an exemplary embodiment. As shown, the software interface may include a real-time operation information window and an equipment information window.

[0047] The device information window is used to display the device model object 31 in the current surgical scene, including the planned acetabular cup model and the file head model installed on the current file tool. Since the acetabular cup and the file head are both hemispherical structural components, their models are directly displayed in the device information window using numbers. The displayed numbers are the diameter values ​​corresponding to the acetabular cup or the file head. The acetabular cup model and the file head model displayed in the device information window can be manually selected or input.

[0048] The device information window is also used to display the current control mode object 32 of the multi-axis robot trolley, including the intelligent filing mode and the free filing mode, which correspond to the intelligent filing mode icon and the free filing mode icon set in the device information window. When in any mode, the corresponding icon is highlighted, otherwise it is grayed out. Any icon can be highlighted or grayed out by manual selection and clicking, and when any icon changes from grayed out to highlighted, the multi-axis robot trolley will be controlled by the upper computer to execute the corresponding control mode.

[0049] The real-time operation information window is used to display including but not limited to a three-dimensional model object 1, a status prompt information object, a remaining operation amount object 4, and an acetabular cup posture object 5, wherein the three-dimensional model object 1 includes a three-dimensional model of the current operation acetabular socket simulation and a three-dimensional model of the current operation grinding tool simulation.

[0050] The simulated three-dimensional model of the currently operating acetabulum is displayed in the middle of the real-time operation information window, including a complete model of the acetabulum that needs to be operated, and the user can use the mouse to transform and drag the three-dimensional perspective. Similarly, the surface area of ​​the simulated three-dimensional model of the currently operating acetabulum is accompanied by different color displays. Specifically, the white display represents the area that does not need to be filed or the filing is completed, the green display represents the planned area that needs to be filed, and the red display represents the area where the actual filing has exceeded the planned 1mm. The status represented by the color display is real-time. The filing area and filing depth of the real acetabulum represented by the three-dimensional model during the filing operation are monitored in real time and displayed on the three-dimensional model in real time through color.

[0051] The simulated three-dimensional model of the current operating grinding and filing tool is also displayed in the middle of the real-time operation information window, and is displayed together with the simulated three-dimensional model of the current operating acetabulum, so as to form a real three-dimensional spatial interaction that can be reflected through the display of the real-time operation information window. The posture, position movement and spatial position relationship between the real grinding and filing tool represented by the three-dimensional model during the operation and the acetabulum are all monitored in real time and displayed in real time together with the three-dimensional model of the acetabulum in the form of a three-dimensional model. At the same time, when the user changes the three-dimensional perspective by dragging the mouse, the three-dimensional model of the grinding and filing tool and the three-dimensional model of the acetabulum will maintain the actual spatial position relationship in real time and change the perspective together. In this embodiment, the three-dimensional model of the grinding and filing tool displays the entire grinding and filing head and a part of the grinding and filing rod connected to the grinding and filing head.

[0052] The status prompt information object is displayed in one corner of the real-time operation information window, and is used to indicate the bone drill power status, angle control status, and depth control status, and the status is indicated by the bone drill power icon 21, angle control icon 22, and depth control icon 23 respectively. When any one or more of the bone drill power status, angle control status, and depth control status are turned on, the corresponding icon is displayed in highlight, otherwise it is displayed in gray.

[0053] The remaining workload object 4 is displayed in another corner of the real-time operation information window. It is used to indicate the remaining required filing depth at the medial, posterior, and superior positions of the acetabulum of the current operation relative to the planned filing depth. The filing depth unit is mm. When all remaining workload parameters are displayed as 0, the filing operation can be terminated.

[0054] The cup posture object 5 is displayed in another corner of the real-time operation information window, and is used to respectively represent the planned parameters and the current parameters of the anteversion angle and the abduction angle of the cup cavity. The planned parameters of the anteversion angle and the abduction angle of the cup cavity represent the orientation of the cup cavity, specifically, the central axis perpendicular to the plane on the hemispherical shape of the cup cavity. The current parameters of the anteversion angle and the abduction angle of the cup cavity represent the orientation of the shaft line of the reamer. When the shaft line of the reamer coincides with the central axis, the current parameters are equal to the planned parameters, that is, the optimal reaming posture of the reaming tool. In the embodiment, the current parameters and the planned parameters are allowed to have a certain range of differences, that is, the reamer is allowed to have a certain angle relative to the central axis.

[0055] The trolley foot prop state information object is also displayed in the real-time operation information window, and is displayed through the trolley foot prop icon 6. When the trolley foot prop is arranged in place, that is, the trolley foot prop is placed on the ground to support the ground and ensure the stability of the trolley, the trolley foot prop icon 6 is displayed in high light, otherwise, it is displayed in gray.

[0056] Exemplary method

[0057] A hip reaming control method according to an exemplary embodiment is provided.

[0058] Specifically comprising the following steps:

[0059] Step 1:

[0060] The hip joint part is scanned by a C-arm machine or the like to obtain high-resolution medical image data (such as CT or MRI), and the data is input into three-dimensional planning software, and then a simulated three-dimensional model of the hip joint part including the acetabular socket is formed through three-dimensional reconstruction technology, and the model can be displayed on a visual screen;

[0061] According to the three-dimensional model of the hip joint, a three-dimensional model of the cup of a suitable size is selected in the three-dimensional planning software. The three-dimensional model of the cup is generated according to the parameters preset and input into the three-dimensional planning software in advance, and the specific position of the cup to be installed on the acetabular socket in actual operation is taken as the standard. The three-dimensional model of the cup is combined to the acetabular socket in the three-dimensional model of the hip joint, and then the outer peripheral contour of the three-dimensional model of the cup at this time is the model contour of the cup cavity formed after the subsequent acetabular socket reaming operation is completed. And through the interaction of the three-dimensional models of the cup and the acetabular socket, the overlapping parts of the cup and the acetabular socket are generated, and these parts are highlighted on the three-dimensional model of the acetabular socket. The highlighted parts are the parts that need to be reamed. In the embodiment, the parts are displayed in green in the software interface.

[0062] According to the three-dimensional model of the combination of the cup and the acetabular cavity, the profile, position and orientation of the cup cavity are determined, and a virtual boundary for limiting the action of the grinding tool when the grinding tool is operating on the acetabular cavity is generated, the virtual boundary including an angle boundary, a depth boundary and a grinding boundary.

[0063] Step 2:

[0064] The spatial position of the acetabular cavity tracer is tracked by the three-dimensional navigation tracking system, and the position of the acetabular cavity tracer relative to the three-dimensional model of the acetabular cavity is combined to obtain the real-time spatial position and attitude of the acetabular cavity in the tracking system coordinate system; the spatial position of the positioning tracer is tracked to obtain the real-time spatial position and attitude of the grinding tool in the tracking system coordinate system; further, the real-time relative spatial position relationship and relative attitude relationship between the grinding tool and the acetabular cavity in the tracking system coordinate system are obtained, and the relationship is displayed on the visualization screen through the three-dimensional model of the acetabular cavity and the three-dimensional model of the grinding tool.

[0065] In this embodiment, the tracking of the position and attitude of the tracer and the calculation technology of the spatial position relationship and attitude relationship by the three-dimensional navigation tracking system are references of the prior art, and the specific content can be referred to in the Chinese invention patent CN116473677A.

[0066] Step 3:

[0067] In response to the action of the user, the grinding tool performs movement and grinding action in the acetabular cavity; wherein, in response to the user's dragging of the grinding tool, the mechanical arm drives the grinding tool to perform movement following, and in response to the user's control of the bone drill, the grinding tool is driven to grind in the acetabular cavity.

[0068] In the movement of the grinding tool, when the grinding tool enters a certain range centered on the acetabular cavity, virtual boundary control can be triggered, including angle control and / or depth control, to limit the position and attitude of the grinding tool; the virtual boundary control also includes grinding boundary control which can be triggered simultaneously or independently, to limit the movement range of the grinding head.

[0069] Wherein, when the grinding rod enters a certain radial range centered on the central axis of the cup cavity, the angle control can be triggered to keep the included angle between the axis of the grinding rod and the central axis within a certain range by the mechanical arm admittance control, the range is embodied as a conical angle boundary centered on the central axis, the tip of the cone is towards the cup cavity, or by executing the on-off of the power of the bone drill, the grinding rod is kept off the power of the bone drill when it exceeds the range so as to be unable to grind, in this embodiment, the included angle range is preferably within 15°.

[0070] When the center of the grinding head enters a certain radial range centered on the center of the acetabular cup cavity, the depth control can be triggered to generate a hemispherical depth boundary centered on the center of the acetabular cup cavity. The movable range of the grinding head can be kept within a certain depth range from the acetabular cup cavity to the outside by means of the admittance control of the robotic arm, or the bone drill power can be turned off when the grinding head exceeds a certain depth range outside the acetabular cup cavity, thereby preventing the grinding head from grinding. In this embodiment, the depth range is preferably 2-3 mm outside the acetabular cup cavity, and the radial range triggered by the grinding head is preferably within 45 mm from the acetabular cup cavity.

[0071] When the center of the file head enters the file boundary, the file boundary control can be triggered, and the activity range of the center of the file head can be limited by the file boundary. When the file head is about to exceed the file boundary, the robotic arm limits the further dragging of the file tool through admittance control, and generates tactile feedback to make the user feel and stop further dragging. The file boundary is a three-dimensional spatial structure with the central axis of the acetabular cup cavity as the center. When the center of the file head moves within the file boundary, it can achieve full filing of the acetabular cup cavity while avoiding filing of other unnecessary positions in the acetabulum.

[0072] In this embodiment, the admittance control technology of the robotic arm is a reference to the prior art, and for details, reference may be made to the contents disclosed in Chinese invention patent CN117901089A.

[0073] Before performing the filing operation, the user can select or enter the model of the filing head currently used on the filing tool in the device information window; the user can select one of the intelligent filing mode and the free filing mode in the device information window, light up the corresponding intelligent filing mode icon or the free filing mode icon, and the upper computer sends a control instruction to the multi-axis robot trolley to prepare to execute the corresponding current control mode, so that in the current control mode, the user can perform operations such as dragging the filing tool, filing the filing tool in the acetabulum, and angle control, depth control, and filing boundary control of the filing tool.

[0074] In addition, the positional relationship between the acetabulum and the grinding tool will be displayed in real time in the form of a three-dimensional model in the real-time operation information window.

[0075] In some embodiments, in the smart filing mode, when the user steps on either the left or right foot pedal and holds it in a triggered state, the robotic arm can perform movement following in response to the user's drag, enabling the user to drag the filing tool to move and deliver the filing head toward the acetabulum.

[0076] In this mode, angle control, depth control and filing boundary control can be triggered. When angle control is triggered, angle control icon 22 lights up. When depth control is triggered, depth control icon 23 lights up. The user can obtain the current status in real time through the icon lighting status.

[0077] In the intelligent filing mode, when the user steps on the right pedal and keeps it in the triggered state, the bone drill power supply may be turned on after executing the set condition judgment, so that the bone drill can drive the rotation of the filing head to perform the filing operation in the acetabulum.

[0078] Among them, the setting conditions in the intelligent filing mode include:

[0079] When the size difference between the current grinding and filing head model and the planned acetabular cup model is within 4 mm, it is determined whether the trolley foot support is supported on the ground, whether the power cord of the bone drill is connected, whether the grinding and filing tool has triggered the angle control, and whether the right foot pedal has been continuously triggered. If all of the above determinations are yes, the bone drill power is turned on.

[0080] Alternatively, when the size difference between the current grinding file head model and the planned acetabular cup model is greater than 4 mm, it is determined whether the trolley foot support is supported on the ground, whether the power cord of the bone drill is connected, and whether the right foot pedal has been continuously triggered. If all of the above determinations are yes, the bone drill power is turned on.

[0081] Or, determine whether the foot pedal of the trolley is not supported on the ground, determine whether the grinding tool has not triggered the angle control, determine whether the grinding rod exceeds the 15° limit angle, determine whether the grinding tool has not triggered the depth control, determine whether the grinding head has not triggered the grinding boundary control, determine whether the left foot pedal is triggered, determine whether the left and right foot pedals are triggered at the same time, determine whether the foot pedal connection is disconnected, determine whether the bone drill power cord is disconnected, determine whether the software interface in the three-dimensional planning software has not been entered / exited. When any one or more of the above determinations are yes, the bone drill power supply is disconnected or remains disconnected.

[0082] In some embodiments, in the free filing mode, when the user steps on either the left or right foot pedal and holds it in a triggered state, the robotic arm can perform movement following in response to the user's drag, enabling the user to drag the filing tool to move and deliver the filing head toward the acetabulum.

[0083] In this mode, angle control and depth control will not be triggered, but filing boundary control may be triggered, and the user can drag the filing tool relatively freely. In this mode, when the user steps on the right pedal and keeps it in the triggered state, the bone drill power supply may be turned on after executing the set condition judgment, so that the bone drill can drive the rotation of the filing head to perform filing operations in the acetabulum.

[0084] Among them, the setting conditions in the free filing mode include:

[0085] Determine whether the foot support of the trolley is supported on the ground, whether the power cord of the bone drill is connected, and whether the right foot pedal has been continuously triggered. When all of the above determinations are yes, the bone drill power is turned on.

[0086] Or, determine whether the trolley's foot support is supported on the ground, determine whether the left foot pedal is triggered, determine whether the left and right foot pedals are triggered at the same time, determine whether the foot pedal connection is disconnected, determine whether the bone drill power cord is disconnected, and determine whether the software interface in the three-dimensional planning software is not entered / exited. When any one or more of the above determinations are yes, the bone drill power supply is disconnected or remains disconnected.

[0087] Furthermore, when the user operates the filing tool to perform filing operations in the acetabulum fossa, in the three-dimensional model of the acetabulum fossa displayed in the software interface, the three-dimensional model of the hip joint around the acetabulum fossa is displayed in white, the area in the acetabulum fossa that overlaps with the acetabular cup cavity or extends within 1 mm outside the acetabular cup cavity is displayed in white, the area in the acetabulum fossa located within the acetabular cup cavity is displayed in green, and the area in the acetabular fossa that extends beyond 1 mm outside the acetabular cup cavity is displayed in red. By viewing the three-dimensional model of the acetabulum fossa, the user can intuitively obtain that the area in the acetabulum fossa displayed in green is waiting for filing, the area displayed in white has completed the filing operation, and the area displayed in red cannot be further filed.

[0088] Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

Claims

1. A hip joint grinding and rasp control system, characterized in that: The hip joint rasp control system is used to execute a hip joint rasp control method, which includes the following steps: Generate the acetabular cup cavity according to the acetabular socket model; Acquire the position of the acetabulum, the position of the grinding tool, and the relative position of the acetabulum and the grinding tool in real time; In response to the user's action, the rasp tool moves and performs rasp operation in the acetabulum to form the acetabular cup cavity. When the rasp tool moves to a set position, a virtual boundary control is triggered to limit the position of the rasp tool to a set range. The virtual boundary control includes: angle control for limiting the angular direction of the file rod, and depth control for limiting the depth of the file action of the file head; The angle control includes: forming a set angle boundary with the central axis of the acetabular cup cavity as the center, triggering the angle control when the grinding rod enters the set range, and limiting the angle between the grinding rod and the central axis from exceeding the angle boundary; The depth control includes: forming a set depth boundary with the center of the acetabular cup cavity as the center, triggering the depth control when the grinding head enters the set range, and limiting the outer periphery of the grinding head from exceeding the depth boundary.

2. A hip joint rasping control system according to claim 1, characterized in that: The invention also includes a file boundary control for limiting the spatial movement position of the center of the file head.

3. A hip joint rasp control system according to claim 1 or 2, characterized in that: The restriction of the filing tool is performed by the admittance control of the filing tool by the robot arm.

4. A hip joint rasping control system according to claim 1, characterized in that: The filing tool also includes a bone drill for driving the filing action, and when the virtual boundary control is triggered, it also includes a restriction on the power supply to the bone drill.

5. A hip joint rasping control system according to claim 1, characterized in that: The generation of the acetabular cup cavity includes: selecting an acetabular cup model, combining the acetabular cup model with the acetabular socket model to form the acetabular cup cavity, and the acetabular cup cavity includes the contour and posture of the acetabular cup model on the acetabular socket model.

6. A hip joint rasping control system according to claim 1, characterized in that: The device further comprises a visualization screen for displaying at least the acetabular socket model, the rasp tool model, the position of the acetabular socket, the position of the rasp tool, and the relative position of the acetabular socket and the rasp tool.

7. A hip joint rasping control system according to claim 1, characterized in that: The invention is characterized by comprising: A filing tool, including a filing rod and a filing head; A robotic arm, for mounting and moving the filing tool; 3D planning software for generating the acetabular cup cavity based on the acetabular socket model; A three-dimensional navigation and tracking system is used to obtain the position of the acetabulum, the position of the grinding tool, and the relative position of the acetabulum and the grinding tool in real time; The host computer is used to perform virtual boundary control.

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