Acetabular reamer tool testing system and method

Abstract

The application relates to a kind of acetabulum grinding tool test system and method.The acetabulum grinding tool test system includes test tool and test component arranged in the test tool;The test tool includes driving assembly, force sensor and grinding tool, the driving assembly drives the force sensor or the grinding tool moves;The test component includes acquisition component and reproduction component, wherein the acquisition component is used to acquire force information when simulating real acetabulum grinding in acquisition state, and the reproduction component is used to reproduce the force information in reproduction state;By acquisition component, the stress data during actual grinding is acquired, and subsequent grinding test is carried out using reproduction component with relatively small friction, to reduce consumable consumption and reduce test cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of orthopedic surgical equipment, in particular to a acetabular reamer tool testing system and method. BACKGROUND

[0002] In the robot-assisted total hip arthroplasty surgery, the end gripper performs accurate reaming on the acetabular fossa through the reamer rod. During the polishing process, the end gripper will bear axial and radial thrust. The friction of the reamer rod rotating in the gripper under this force will significantly increase, which affects the service life of the reamer tool. Since the reamer tool is used in surgery, unexpected failure will have a serious impact on the continuity of the surgery. Therefore, it is necessary to test the reliability of the reamer tool under load, so as to obtain convincing reliability data of the reamer tool and facilitate the optimization design of the product.

[0003] At present, the test method for the reliability of the end gripper and the reamer rod is mostly to apply axial pressure to the reamer rod by the tester holding the reamer tool to realize acetabular reaming, and the reliability test efficiency is low. In addition, the acetabular reamer grinds the artificial bone for a long time during the test process, and the acetabular reamer and the artificial bone will be damaged due to grinding, so new acetabular reamer and artificial bone need to be replaced frequently, and the test cost is high. SUMMARY

[0004] Therefore, it is necessary to provide an acetabular reamer tool testing system and method with relatively high test efficiency and relatively low test cost in view of the problems of low test efficiency and high test cost of the acetabular reamer tool reliability test at present.

[0005] The reamer tool includes a reamer rod, an end gripper and a power tool. After the reamer rod, the end gripper and the power tool are assembled, the reamer rod can make rotary motion in the end gripper under the driving of the power tool, and the service life of the whole instrument is determined by the rotary pair composed of the reamer rod and the end gripper. In the clinical scene, the acetabular reamer is subjected to forces in XYZ three directions and torque around the Z axis during the reaming process, and the torque basically does not affect the service life of the rotary pair. Therefore, the influence of the forces in XYZ three directions on the service life of the rotary pair is mainly considered in the reliability test process. The forces in XYZ three directions during the reaming process are collected in real time by using a force sensor, and then the forces are reproduced by a tooling platform and applied to the instrument, so that the reliability test of the instrument in the clinical environment can be simulated. When the rotary pair fails, the rotation resistance will change, and when the torque of the power tool is abnormally monitored, it can be determined that the rotary pair of the instrument has failed, and the reliability test is terminated.

[0006] The application first provides an acetabulum reamer tool test system, comprising a test tool and a test assembly arranged on the test tool; the test tool comprises a driving assembly, a force sensor and a reamer tool, the driving assembly drives the force sensor or the reamer tool to move; the test assembly comprises a collection assembly and a reproduction assembly, wherein the collection assembly is used to collect force information when simulating real acetabulum reaming in a collection state, and the reproduction assembly is used to reproduce the force information in a reproduction state.

[0007] In one of the embodiments, the collection assembly comprises a prosthetic bone and an acetabulum reamer, and the reproduction assembly comprises a prosthetic bone tool and an acetabulum reamer tool.

[0008] In one of the embodiments, in the collection state, the prosthetic bone is arranged on the force sensor, the acetabulum reamer is arranged on the reamer tool, the reamer tool drives the acetabulum reamer to press against and ream the prosthetic bone, so as to collect the force information through the force sensor; in the reproduction state, the prosthetic bone tool is arranged on the force sensor, the acetabulum reamer tool is arranged on the reamer tool, and the driving assembly can drive the prosthetic bone tool and the acetabulum reamer tool to move relative to each other based on the force information.

[0009] In one of the embodiments, the force information is XYZ three-directional force varying with time suffered by the prosthetic bone in the collection state.

[0010] In one of the embodiments, the driving assembly is an XYZ three-directional slide, and the force sensor or the reamer tool is fixedly arranged on a free end of the driving assembly.

[0011] In one of the embodiments, the prosthetic bone tool and the acetabulum reamer tool are both made of wear-resistant material, and the friction coefficient is less than 0.2.

[0012] The second aspect of the application provides an acetabulum reamer tool test method, comprising the following steps:

[0013] a. starting the reamer tool according to preset parameters, simulating real acetabulum reaming and collecting torque information and force information;

[0014] b. replacing the collection assembly with the reproduction assembly and installing the reproduction assembly to the test tool;

[0015] c. starting the reamer tool according to preset parameters, and driving the driving assembly to reproduce the force information to the reproduction assembly, and monitoring the real-time torque of the reamer tool;

[0016] d. continuously performing step c until the real-time torque exceeds the torque range in step a, obtaining and feeding back the test result, and ending the test.

[0017] In one of the embodiments, the step a of recording the force information of the prosthetic bone comprises:

[0018] a1. collecting a force-time curve of the artificial bone by the force sensor;

[0019] a2. performing data processing on the force-time curve to obtain a displacement-time curve of the driving assembly.

[0020] In one embodiment, the step a1 of collecting the force-time curve of the artificial bone comprises:

[0021] a11. driving the acetabular reamer to ream the artificial bone by the reaming tool, and collecting a force-time curve of the artificial bone by the force sensor;

[0022] a12. repeatedly performing the bone reaming process of the step a11 to repeatedly collect a plurality of force-time curves;

[0023] a13. fitting the plurality of force-time curves to obtain a force-time golden curve.

[0024] In one embodiment, the step a2 of performing data processing on the collected force-time curve comprises:

[0025] a21. discretizing the force-time golden curve obtained in the step a13 to obtain a series of time points and corresponding force values;

[0026] a22. controlling the driving assembly to move to a force value corresponding to each discrete point reached by the force sensor, and recording corresponding XYZ three-direction displacement values;

[0027] a23. repeating the step a22 to obtain XYZ three-direction displacement values of the driving assembly corresponding to all time points, and obtaining a displacement-time curve of the driving assembly.

[0028] In one embodiment, the step c comprises:

[0029] c1. controlling the artificial bone tool to abut against the acetabular reamer tool by the driving assembly;

[0030] c2. starting the reaming tool according to a preset parameter to drive the acetabular reamer tool to ream the artificial bone tool;

[0031] c3. driving the artificial bone tool to move relative to the acetabular reamer tool by the driving assembly to reproduce the force information collected in the step a to the reproducing assembly;

[0032] c4. continuously performing the step c3 and monitoring a real-time torque of the reaming tool.

[0033] In one embodiment, the step d comprises:

[0034] d1. Comparing the real-time torque of the grinding tool in step c with the torque information of the grinding tool in step a, if the real-time torque is within the range of the torque information, step c is continued, if the real-time torque is out of the range of the torque information, step d2 is executed;

[0035] d2. Turn off the grinding tool, and the driving assembly controls the prosthetic tool to reset after separating from the acetabular reamer tool and turns off;

[0036] d3. Prompt and send the test results to the tester, and the test is over.

[0037] The acetabular grinding tool test system can collect the force data during actual grinding through the acquisition assembly, and use the reappearing assembly with small friction coefficient for subsequent grinding test, so as to reduce the consumption of consumables and the test cost. The driving assembly can displace in XYZ three-axis direction according to the force data during actual grinding, so as to ensure that the force state of the grinding tool after replacing the reappearing assembly is consistent with that during actual grinding, and the reliability test is accurate and reliable. At the same time, only one module replacement is needed in the whole test process, which greatly improves the test efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 It is a three-dimensional structure schematic diagram of the acetabular grinding tool test system of the application in the acquisition state;

[0039] Figure 2 It is a three-dimensional structure schematic diagram of the acetabular grinding tool test system of the application in the reappearing state;

[0040] Figure 3 It is a flowchart of the acetabular grinding tool test method of the application;

[0041] Figure 4 It is a flowchart of part of the steps of the acetabular grinding tool test method of the application;

[0042] Figure 5 It is a flowchart of part of the steps of the acetabular grinding tool test method of the application;

[0043] Figure 6 It is a flowchart of part of the steps of the acetabular grinding tool test method of the application;

[0044] Figure 7 It is a flowchart of part of the steps of the acetabular grinding tool test method of the application.

[0045] 10, base; 20, driving assembly; 21, X direction sliding table; 22, Y direction sliding table; 23, Z direction sliding table; 30, force sensor; 40, grinding tool; 41, power tool; 411, information output port; 42, end holder; 43, grinding rod; 50, collecting assembly; 51, artificial bone; 52, acetabular reamer; 60, reproducing assembly; 61, artificial bone tooling; 62, acetabular reamer tooling. DETAILED DESCRIPTION

[0046] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below in conjunction with the drawings. In the following description, a large number of specific details are set forth in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the scope of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0047] Please refer to Figure 1 and Figure 2 , the present application first provides an acetabular grinding tool test system, which comprises a test tooling and a test assembly arranged on the test tooling; the test tooling comprises a driving assembly 20, a force sensor 30 and a grinding tool 40, and the driving assembly 20 drives the force sensor 30 or the grinding tool to move; the test assembly comprises a collecting assembly 50 and a reproducing assembly 60, wherein the collecting assembly 50 is used to collect force information in a simulation of a real acetabular grinding state, and the reproducing assembly 60 is used to reproduce the force information in a reproduction state;

[0048] The collecting assembly 50 comprises an artificial bone 51 and an acetabular reamer 52, and the reproducing assembly 60 comprises an artificial bone tooling 61 and an acetabular reamer tooling 62;

[0049] In the collecting state, the artificial bone 51 is arranged on the force sensor 30, and the acetabular reamer 52 is arranged on the grinding tool, and the grinding tool drives the acetabular reamer 52 to press against the artificial bone 51 to collect force information through the force sensor 30; in the reproduction state, the artificial bone tooling 61 is arranged on the force sensor 30, and the acetabular reamer tooling 62 is arranged on the grinding tool, and the driving assembly 20 can drive the artificial bone tooling 61 and the acetabular reamer tooling 62 to move relative to each other based on the force information.

[0050] In some embodiments, the force sensor can be a six-dimensional force sensor; the artificial bone 51 can be a commercially available artificial bone with a performance close to that of human bones, and the acetabular reamer 52 can be a commercially available artificial bone reamer; the artificial bone tooling 61 has a similar hemispherical socket structure as the artificial bone 51, and the acetabular reamer tooling 62 has a similar hemispherical head structure as the acetabular reamer 52;

[0051] The acetabular reamer tool test system further comprises a base 10, one of the reamer tool 40 or the force sensor 30 is directly arranged on the base 10, and the other is arranged on the base 10 through the driving assembly 20;

[0052] The reamer tool 40 comprises a power tool 41, an end holder 42, and a reamer rod 43, the power tool 41 can drive the reamer rod 43 to rotate through the end holder 42, and the acetabular reamer 52 and the acetabular reamer tool 62 can be fixed with the reamer rod 43; the power tool 41 has an information output port 411 capable of outputting its own torque information.

[0053] The acetabular reamer tool test system described above is divided into a collection state and a reproduction state;

[0054] In the collection state, the collection assembly 50 is installed on the test tool, that is, the artificial bone 51 is fixed on the force sensor 30, the acetabular reamer 52 is fixed on the reamer tool 40, the reamer tool 40 drives the acetabular reamer 52 to rotate and ream the artificial bone 51, and the force data of the artificial bone 51 in the reaming process can be collected through the force sensor 30;

[0055] In the reproduction state, the reproduction assembly 60 is installed on the test tool, that is, the artificial bone tool 61 is fixed on the force sensor 30, and the acetabular reamer tool 62 is fixed on the reamer tool 40. The friction between the artificial bone tool 61 and the acetabular reamer tool 62 is relatively small, so the wear is relatively small or even no wear occurs.

[0056] On the other hand, the small friction between the artificial bone tool 61 and the acetabular reamer tool 62 will make the force state of the reamer tool 40 different from the actual reaming state. Therefore, in this application, the driving assembly 20 drives the artificial bone tool 61 or the acetabular reamer tool 62 to move along the XYZ three-axis direction, so that the actual force of the artificial bone tool 61 is the same as the force data of the artificial bone 51 in the collection state, thereby simulating the force state of the reamer tool 40 in the collection state, and ensuring the accuracy and reliability of the durability test of the reamer tool 40.

[0057] In the collection state, the force sensor 30 collects the force data in the actual grinding through the collection assembly 50, and the subsequent grinding test is carried out by using the reproduction assembly 60 with relatively small friction, which reduces the consumption of consumables and the test cost. The driving assembly 20 can displace along the XYZ three-axis direction according to the force data in the actual grinding, so as to ensure that the force state of the reamer tool 40 remains consistent with the actual grinding after replacing the reproduction assembly 60, and ensure the accuracy and reliability of the durability test;

[0058] In addition, only one module replacement is needed in the whole test process, that is, after the collection assembly 50 completes the collection of force data, the collection assembly 50 is replaced by the reproduction assembly 60 to complete the subsequent test. Compared with the traditional test process which needs to replace the consumables frequently, the test efficiency is greatly improved.

[0059] Of course, the test assembly can also be other structures, as long as it can collect force information in the collection state when simulating the actual acetabular reaming, and reproduce the force information in the reproduction state.

[0060] Please refer to Figure 2 In some embodiments, the prosthesis tool 61 has a corresponding groove corresponding to the acetabular reamer tool 62, so that the acetabular reamer tool 62 can be in full abutment with the prosthesis tool 61, so as to more accurately simulate the actual load state of the reaming tool 40, and improve the test accuracy.

[0061] In some embodiments, the force information is the XYZ three-direction force of the prosthesis 51 in the collection state.

[0062] Please refer to Figure 1 In some embodiments, the driving assembly 20 is an XYZ three-direction slide, and the force sensor 30 or the reaming tool is fixed to the free end of the XYZ three-direction slide.

[0063] Of course, other driving structures can also be selected as the driving assembly 20, as long as the free end of the driving assembly 20 can move relative to the fixed end along the XYZ three directions, and the present application does not make further limitations here.

[0064] Please refer to Figure 1 and Figure 2 In some embodiments, the driving assembly 20 includes an X-direction slide 21, a Y-direction slide 22, and a Z-direction slide 23. The Z-direction slide 23 is fixed to other components, the Y-direction slide 22 is fixed to the moving end of the Z-direction slide 23, and the X-direction slide 21 is fixed to the moving end of the Y-direction slide 22. Here, the moving end of the X-direction slide 21 is the free end of the XYZ three-direction slide;

[0065] Of course, the X-direction slide 21, the Y-direction slide 22, and the Z-direction slide 23 can also be connected and arranged according to other connection modes, as long as the force sensor 30 or the reaming tool 40 is arranged at the free end of the XYZ three-direction slide.

[0066] Please refer to Figure 1 and Figure 2 In some embodiments, the force sensor 30 is fixed to the moving end of the X-direction slide 21. Since the prosthesis tool 61 is fixed to the force sensor 30 in the reproduction state, the force sensor 30 is fixed to the moving end of the X-direction slide 21, so that the driving assembly 20 can drive the prosthesis tool 61 to move along the XYZ three-axis directions.

[0067] The artificial bone tooling 61 is driven by the driving assembly 20 to move according to the data obtained in the collection state, so as to ensure that the stress state of the artificial bone tooling 61 is the same as the stress state of the artificial bone 51 in the collection state, thereby realizing the reliability test by simulating the grinding process of the collection assembly 50 by the reproduction assembly 60, reducing the wear amount of consumables, and reducing the test cost.

[0068] In other embodiments, the grinding tool 40 is fixed to the moving end of the X-direction sliding table 21; since the acetabular reamer tooling 62 is fixed to the grinding tool 40 in the reproduction state, the force sensor 30 is fixed to the moving end of the X-direction sliding table 21, so that the driving assembly 20 can drive the acetabular reamer tooling 62 to move along the XYZ three-axis direction;

[0069] Since the acetabular reamer tooling 62 is in contact with the artificial bone tooling 61 in the reproduction state, the stress of the acetabular reamer tooling 62 can be transmitted to the artificial bone tooling 61, and the acetabular reamer tooling 62 is driven by the driving assembly 20 to move according to the data obtained in the collection state, so as to ensure that the stress state of the artificial bone tooling 61 is the same as the stress state of the artificial bone 51 in the collection state, thereby realizing the reliability test by simulating the grinding process of the collection assembly 50 by the reproduction assembly 60, reducing the wear amount of consumables, and reducing the test cost.

[0070] In some embodiments, the artificial bone tooling 61 and the acetabular reamer tooling 62 are both made of wear-resistant materials, and the friction coefficient of the two is less than 0.2, preferably, the friction coefficient of the artificial bone tooling 61 and the acetabular reamer tooling 62 is less than 0.1.

[0071] Since the three-axis displacement of the driving assembly 20 is used to simulate the reproduction in the reproduction state, the friction between the reproduction assemblies 60 will cause the actual stress of the artificial bone tooling 61 to be different from the grinding stress of the artificial bone 51 in the collection state, and by limiting the friction coefficient between the artificial bone tooling 61 and the acetabular reamer tooling 62, the dynamic friction threshold of the ball pair between the artificial bone tooling 61 and the acetabular reamer tooling 62 can be as small as possible, thereby achieving the effect of accurately reproducing the XYZ three-axis direction grinding stress in the collection state.

[0072] By using materials with small friction coefficients, the resistance of the acetabular reamer tooling 62 rotating and grinding in the artificial bone tooling 61 can be controlled within a very small range, thereby reducing the wear amount of the reproduction assembly 60 during the reliability test; and using wear-resistant materials can also reduce the wear amount caused by the test, further reducing the wear amount.

[0073] In some embodiments, the artificial bone tooling 61 and the acetabular reamer tooling are made of nylon or Teflon; of course, the artificial bone tooling 61 and the acetabular reamer tooling 62 can also be made of other materials, as long as the dynamic friction force between the artificial bone tooling 61 and the acetabular reamer tooling 62 is one order of magnitude smaller than the actual bone grinding force received by the artificial bone 51 in the XY direction in the collection state.

[0074] In some embodiments, lubrication is applied between the artificial bone tooling 61 and the acetabular reamer tooling 62; by applying lubrication, the friction coefficient between the artificial bone tooling 61 and the acetabular reamer tooling 62 can be further reduced, thereby reducing the amount of wear of the reproduction assembly 60 during the reliability test, and further achieving the effect of reducing the amount of wear of consumables and reducing the test cost.

[0075] Of course, other ways of reducing friction between the artificial bone tooling 61 and the acetabular reamer tooling 62 can also be adopted, as long as the friction coefficient between the artificial bone tooling 61 and the acetabular reamer tooling 62 is less than 0.1.

[0076] Please refer to Figure 3 The second aspect of the present application provides an acetabular reamer tool testing method, comprising the steps of:

[0077] S100. Install the collection assembly to the test tooling;

[0078] S200. Start the reamer tool according to the preset parameters, simulate the actual acetabular reaming, and collect torque information and force information;

[0079] S300. Replace the collection assembly with the reproduction assembly and install it to the test tooling;

[0080] S400. Start the reamer tool according to the preset parameters, and drive the reproduction assembly to reproduce the force information to the reproduction assembly, and monitor the real-time torque of the reamer tool;

[0081] S500. Continue to perform step S400 until the real-time torque exceeds the torque range in step S200, obtain and feedback the test results, and the test is completed.

[0082] It should be noted that when the acetabular reamer reams the artificial bone in step S200, the artificial bone is deformed by grinding, and during this process, the acetabular reamer needs to be constantly pressed against the artificial bone. This can be achieved by an operator pushing the reamer tool along the corresponding track to ensure that the acetabular reamer presses against the artificial bone, or by a driving assembly driving the force sensor or the reamer tool to move to ensure that the acetabular reamer presses against the artificial bone. The present application does not limit this, and it should be noted that in order to simulate the reaming in a real scenario to improve the accuracy of the test, the degree of pressure should be comparable to the degree of pressure in a real scenario.

[0083] In addition, the time for the grinding and reproducing in step S400 using the reproducing assembly is much longer than the time for the collecting in step S200, so the force information collected in step S200 is reproduced in step S400, that is, the force information collected in step S200 is reproduced in the reproducing assembly.

[0084] Referring to FIG. 1, in some embodiments, the recording of the force data of the artificial bone in step S200 includes Figure 4

[0085] S210. The force sensor collects the force-time curve of the artificial bone.

[0086] S220. The data of the force-time curve is processed to obtain the displacement-time curve of the driving assembly.

[0087] Referring to FIG. 1, in some embodiments, the collecting of the force-time curve of the artificial bone in step S210 includes Figure 5

[0088] S211. The grinding tool drives the acetabular reamer to grind the artificial bone, and the force sensor collects the force-time curve of the artificial bone.

[0089] S212. The bone grinding process of step S211 is performed multiple times, and multiple force-time curves are repeatedly collected.

[0090] S213. The multiple force-time curves are fitted to obtain the force-time gold standard curve.

[0091] In some embodiments, the handheld end holder grinds the bone, and the XYZ force-time curve during the grinding process is collected in real time by the six-axis force sensor. The bone grinding process is performed multiple times, and the grinding force-time curve is repeatedly collected. The multiple collected force-time curves are fitted to obtain the force-time gold standard curve.

[0092] Referring to FIG. 1, in some embodiments, the data processing of the collected force-time curve in step S220 includes Figure 5

[0093] S221. The force-time gold standard curve obtained in step S213 is discretely processed to obtain a series of time points and corresponding force values.

[0094] S222. The driving assembly is controlled to move to the force value corresponding to each discrete point reached by the force sensor, and the corresponding XYZ three-direction displacement value is recorded.

[0095] S223. Step S222 is repeated to obtain the XYZ three-direction displacement value of the driving assembly corresponding to all time points, and the displacement-time curve of the driving assembly is obtained.

[0096] ​​​It can be understood that the displacement-time curve is a curve of XYZ three-way displacement values of the XYZ three-way slide table in a period of time, wherein the period of time corresponds to the time in step S210. In order to improve the accuracy of the test, that is, the time of each collection is adapted to the real scene, and the specific limitation is not made here.

[0097] It should be noted that the XYZ three-way position value here refers to the displacement value of the X-way slide table, the Y-way slide table and the Z-way slide table in the driving assembly.

[0098] Please refer to Figure 6 In some embodiments, step S400 includes:

[0099] S410. The driving assembly controls the artificial bone tool to abut against the acetabular reamer tool;

[0100] S420. Start the grinding and reaming tool according to the preset parameters to drive the acetabular reamer tool to grind and ream the artificial bone tool;

[0101] S430. The driving assembly drives the artificial bone tool to move relative to the acetabular reamer tool according to the displacement-time curve obtained in step S220 to reproduce the force information collected in step S200 to the reproduction assembly;

[0102] S440. Continuously execute step S430 and monitor the real-time torque of the grinding and reaming tool.

[0103] Specifically, the driving of the artificial bone tool relative to the acetabular reamer tool in step S430 can be repeated multiple times according to the displacement-time curve to drive the artificial bone tool relative to the acetabular reamer tool.

[0104] Please refer to Figure 7 In some embodiments, step S500 includes:

[0105] S510. Compare the real-time torque of the grinding and reaming tool in step S400 with the torque information of the grinding and reaming tool in step S200. If the real-time torque is within the range of the torque information, continue to execute step S400. If the real-time torque exceeds the range of the torque information, execute step S520;

[0106] S520. Turn off the grinding and reaming tool, and control the driving assembly to separate the artificial bone tool from the acetabular reamer tool, reset and turn off;

[0107] S530. Prompt and send the test result to the tester, and the test is ended.

[0108] In the description of the application, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the purpose of facilitating the description of the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the application.

[0109] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0110] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0111] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or it can only mean that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or it can only mean that the horizontal height of the first feature is less than that of the second feature.

[0112] It is to be noted that when an element such as a layer, film, or panel is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or intervening elements can also be present. In contrast, when an element is referred to as being "directly on" or "directly connected to" another element, there are no intervening elements present. It will be understood that, when an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements can be present. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0113] Any technical features in the above-described embodiments can be combined in any manner, and in order to make the description simple, all possible combinations of technical features in the above-described embodiments are not described, however, as long as the combinations of technical features do not exist in contradiction, it should be considered that the combinations are within the scope of the present disclosure.

[0114] The above-described embodiments are merely representative of several embodiments of the present disclosure, and the description is relatively specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present disclosure, a number of modifications and improvements can be made, which are within the scope of the present disclosure. Therefore, the scope of protection of the patent of the present disclosure should be subject to the appended claims.

Claims

1. A test system for acetabular reamer tools, the test system comprising: The test tooling comprises a test tooling and a test assembly arranged on the test tooling; The test tooling comprises a driving assembly (20), a force sensor (30) and a grinding tool (40), the driving assembly (20) drives the force sensor (30) or the grinding tool (40) to move; The test assembly comprises a collection assembly (50) and a reproduction assembly (60), wherein the collection assembly (50) is used to collect force information and torque information in a collection state when simulating real acetabular grinding, and the reproduction assembly (60) is used to reproduce the force information in a reproduction state; The collection assembly (50) comprises a false bone (51) and an acetabular file (52), and the reproduction assembly (60) comprises a false bone tooling (61) and an acetabular file tooling (62); In the collection state, the false bone (51) is arranged on the force sensor (30), the acetabular file (52) is arranged on the grinding tool (40), the grinding tool (40) drives the acetabular file (52) to press against and grind the false bone (51), so as to collect the force information and the torque information through the force sensor (30); in the reproduction state, the false bone tooling (61) is arranged on the force sensor (30), the acetabular file tooling (62) is arranged on the grinding tool (40), and the driving assembly (20) can drive the false bone tooling (61) to move relative to the acetabular file tooling (62) based on the force information.

2. The acetabular reamer tool testing system of claim 1, wherein, The force information comprises XYZ three-directional force of the false bone (51) changing with time in the collection state.

3. The acetabular reamer tool testing system of claim 1, wherein, The false bone tooling (61) and the acetabular file tooling (62) are both made of wear-resistant material and have a friction coefficient less than 0.

2.

4. The acetabular reamer tool testing system of claim 1, wherein, The force sensor (30) or the grinding tool (40) is fixedly arranged on a free end of the driving assembly (20).

5. A method of testing a reamer tool for an acetabular cup, adapted for use with the system of testing a reamer tool for an acetabular cup of any one of claims 1 to 4, characterized in that, The method comprises the following steps: a. Start the grinding tool according to preset parameters, simulate real acetabular grinding, and collect torque information and force information; b. Replace the collection assembly with the reproduction assembly and install it to the test tooling; c. Start the grinding tool according to preset parameters, and drive the driving assembly to reproduce the force information to the reproduction assembly, and monitor the real-time torque of the grinding tool; d. Continue step c until the real-time torque exceeds the torque range in step a, obtain and feedback the test result, and end the test.

6. The acetabular reamer tool testing method of claim 5, wherein, The force information collected in step a comprises: a1. The force sensor collects the force-time curve of the false bone; a2. Data processing is performed on the force-time curve to obtain the displacement-time curve of the driving assembly.

7. The acetabular reamer tool testing method of claim 6, wherein, The force-time curve of the false bone collected in step a1 comprises: a11. The grinding tool drives the acetabular file to grind the false bone, and the force sensor collects the force-time curve of the false bone; a12. The bone grinding process of step a11 is performed multiple times, and multiple force-time curves are repeatedly collected; a13. The multiple force-time curves are fitted to obtain a force-time gold curve.

8. The acetabular reamer tool testing method of claim 7, wherein, The data processing on the collected force-time curve in step a2 comprises: a21. Discrete processing is performed on the force-time gold curve obtained in step a12 to obtain a series of time points and corresponding force values; a22. Control the driving assembly to move to the force sensor to reach the force value corresponding to each discrete point, and record the corresponding XYZ three-way displacement value; a23. Repeat step a22 to obtain the XYZ three-way displacement value of the driving assembly at all time points, and obtain the displacement-time curve of the driving assembly.

9. The acetabular reamer tool testing method of claim 5, wherein, The step c comprises: c1. The driving assembly controls the artificial bone tool to abut against the acetabular reamer tool; c2. Start the grinding and reaming tool according to the preset parameters to drive the acetabular reamer tool to grind and ream the artificial bone tool; c3. The driving assembly drives the artificial bone tool to move relative to the acetabular reamer tool to reproduce the force information collected in step a to the reproduction assembly; c4. Continue to perform step c3, and monitor the real-time torque of the grinding and reaming tool.

10. The acetabular reamer tool testing method of claim 5, wherein, The step d comprises: d1. Compare the real-time torque of the grinding and reaming tool in step c with the torque information of the grinding and reaming tool in step a. If the real-time torque is within the range of the torque information, continue to perform step c. If the real-time torque is out of the range of the torque information, perform step d2; d2. Turn off the grinding and reaming tool, and control the driving assembly to separate the artificial bone tool from the acetabular reamer tool, reset and turn off the driving assembly; d3. Prompt and send the test results to the tester, and the test is completed.

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