Acetabular grinding system and method

Abstract

The embodiment of the present application provides an acetabular grinding system and method, which relates to the field of medical device technology. The system includes: a grinding module, a robotic arm module and a control module. The grinding module includes a bone drill, a grinding rod and an acetabular rasp. The robotic arm module includes a robotic arm and a tracer. The tracer is used to obtain the current posture of the robotic arm and send it to the control module. The robotic arm is used to drive the grinding rod to place the acetabular rasp in the patient's acetabulum. The bone drill is used to provide power to the grinding rod so that the acetabular rasp can grind the acetabular socket. The control module is used to determine the current angle of the grinding rod according to the current posture of the robotic arm when the difference between the specifications of the acetabular rasp and the planned acetabular cup specifications does not exceed a preset difference threshold. When the current grinding mode is intelligent grinding, when the current angle exceeds a first angle range, the bone drill is controlled to be powered off. The embodiment of the present application reduces the occurrence of excessive acetabular grinding.

Description

Technical Field

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

[0002] Hip replacement surgery involves fixing an artificial prosthesis (consisting of the spherical femoral head of the femur and the bowl-shaped acetabulum of the acetabulum) to healthy bone using bone cement and screws to replace the diseased hip joint and restore normal hip function. Before installing the prosthesis, hip replacement surgery requires refacing the patient's acetabulum with an acetabular rasp to ensure the shape and size of the acetabulum accommodate the stable and accurate installation of the acetabulum prosthesis. However, excessive refacing can easily damage the patient's acetabulum during surgery. Summary of the Invention

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

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

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

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

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

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

[0009] In one embodiment of the present application,

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

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

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

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

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

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

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

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

[0018] The control module is further configured to control the bone drill to be powered off when the foot support has not touched the ground.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0037] Of course, it is not necessary to achieve all the advantages described above at the same time when implementing any product or method of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0052] A tracer 108 is built into the robotic arm 107 and monitors the current position (position and posture) of the robotic arm 107 in real time during surgery. The acetabular rasp 106 is connected to one end of the file rod 105, and the other end of the file rod 105 is connected to the bone drill 104. The file rod 105 is fixed to the robotic arm 107.

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

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

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

[0056] When the power supply conditions are met, the control module 103 controls the bone drill to be powered on, and the bone drill 104 provides power to the grinding rod 105 to move the grinding rod 105 forward, driving the acetabular rasp 106 to grind the patient's acetabulum.

[0057] During the refining process, the tracer 108 constantly monitors the position of the robotic arm 107 and continuously obtains the real-time position of the robotic arm 107. If the difference between the specifications of the acetabular rasp 106 and the planned acetabular cup specifications does not exceed a preset difference threshold, the current angle of the refining rod 105 is determined in real time based on the current position of the robotic arm 107.

[0058] Planning the acetabular cup specifications refers to pre-planning a customized acetabular cup prosthesis for the patient based on the patient's acetabular socket size and shape. If the specifications of the acetabular rasp 106 differ from the planned acetabular cup specifications, but the difference does not exceed a preset difference threshold, it indicates that the size of the acetabular rasp 106 is similar to the patient's acetabular socket. For example, the planned acetabular cup specifications are 52, and the acetabular rasp 106 specifications are 50. In this case, refacing the acetabular socket typically requires refacing at different angles, and monitoring the refacing depth is less necessary. The current angle of the refacing rod 105 is monitored in real time.

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

[0060] The intelligent refraction mode activates refraction boundary protection. Specifically, the acetabular refraction system may also include a display for displaying the real-time status of the refraction area calculated based on the current position of the robotic arm 107, including the planned refraction area (green area to be refractioned), the completed refraction area (white), and the refraction area outside the plan (red). In the intelligent refraction mode, if the control module 103 detects that the current angle exceeds a first angle range, it controls the power supply of the bone drill 104 to prevent excessive refraction.

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

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

[0063] The control module 103 is further configured to control the bone drill 104 to be powered off when the foot support 1012 is not on the ground.

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

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

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

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

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

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

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

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

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

[0073] In the case of free filing or intelligent filing, the bone drill 104 is powered off when the following conditions occur:

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

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

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

[0077] The control module 103 is configured to control the bone drill 104 to be powered off based on the mechanical interface 1013 when a power-off condition is met.

[0078] The power supply of the bone drill 104 is connected to the robotic arm 107 via a mechanical interface 1013. This allows the bone drill 104 to be powered by the robotic arm 107, which in turn is powered by a robotic arm trolley 109. The robotic arm trolley has a power cord connected to the power supply. The control module 103 powers the bone drill 104 on and off in real time based on the mechanical interface 1013.

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

[0080] In one embodiment of the present application, the control module 103 is configured to determine, based on the current position of the robotic arm 107, the current angle of the file rod 105 and the current depth of the acetabular file 106 within the acetabulum when the difference between the specifications of the acetabular rasp 106 and the planned acetabular cup specifications exceeds a preset difference threshold; and, when the current resolving mode is intelligent resolving, control the bone drill 104 to be powered off when at least one of the following power-off conditions is met:

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

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

[0083] When the difference between the specifications of the acetabular rasp 106 and the planned acetabular cup exceeds a preset difference threshold, it indicates that the size of the acetabular rasp and the planned acetabular cup are significantly different. For example, the planned acetabular cup size is 46, and the acetabular rasp 106 size is 52. During the filing process, not only is filing required at different angles, but the filing depth also needs to be monitored.

[0084] In this case, the file boundary protection includes angle protection and depth protection. The control module 103 determines the current angle of the file rod 105 and the current depth of the acetabular rasp 106 within the acetabulum in real time based on the current position of the robotic arm 107. If the current angle exceeds a first angle range or the current depth exceeds a first depth threshold, the bone drill 104 is powered off.

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

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

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

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

[0089] The second angle range indicates that the planned friction zone is exceeded but the first angle range that would cause harm to the patient is not reached. The second depth threshold indicates that the planned friction zone is exceeded but the first depth threshold that would cause harm to the patient is not reached. For example, if the first depth threshold is 2.3 mm above the planned friction depth, the second depth threshold can be a depth between the planned friction depth and 2.3 mm above the planned friction depth.

[0090] Within the second angle range and the first angle range, and within the second depth threshold and the first depth threshold, different warning levels are pre-set based on different values, along with corresponding warning signal colors. For example, if the first depth threshold is exceeding the planned grinding depth by 2.3 mm, and the second depth threshold is the planned grinding depth, three warning levels are set for exceeding the planned grinding depth by 1 mm, 1.5 mm, and 2 mm, respectively, with corresponding warning signals in blue, yellow, and purple. When the current depth of the acetabular rasp 106 reaches the corresponding warning level, the light ring 1014 on the robotic arm 107 displays the corresponding warning signal.

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

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

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

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

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

[0096] Step S101: Use the tracer to obtain the current posture of the robotic arm and send it to the control module;

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

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

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

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

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

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

[0103] Each embodiment in this specification is described in a related manner. Similar portions between the embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. In particular, the method embodiment is generally similar to the method embodiment, so the description is relatively simple. For related portions, refer to the description of the method embodiment.

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

Claims

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

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

3. The system according to claim 2, characterized in that The mechanical arm is provided with a light ring; The control module is configured to, when the current grinding mode is intelligent grinding, determine a current warning level based on the current angle and / or the current depth when the current angle exceeds a second angle range but does not exceed the first angle range, and / or when the current depth exceeds a second depth threshold but does not exceed the first depth threshold; and control the light ring to emit a warning signal of a corresponding color based on the current warning level.

4. The system according to claim 2, wherein: The robotic arm module further includes a robotic arm trolley, and the robotic arm trolley includes a first footrest; The control module is further configured to control the bone drill to be powered off when the first pedal is stepped on, and to unlock the robotic arm so that the robotic arm moves in response to a user's dragging instruction.

5. The system according to claim 4, characterized in that The robotic arm trolley further includes a foot support; The control module is further configured to control the bone drill to be powered off when the foot support has not touched the ground.

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

7. The system according to claim 5, characterized in that The robotic arm trolley further includes a second footrest; The control module is further configured to lock the robotic arm, discard the user's drag command, and control the bone drill to power on when the following power supply conditions are met: The difference between the specifications of the acetabular rasp and the planned acetabular cup does not exceed the preset difference threshold; the current grinding mode is intelligent grinding; The acetabular rasp enters a first virtual boundary stage; the footrest touches the ground; the first footrest is not pressed down and the second footrest is pressed down, wherein the first virtual boundary stage indicates that the acetabular rasp is placed in the acetabulum of the patient and the current angle does not exceed a second angle range.

8. The system according to claim 5, wherein: The robotic arm trolley further includes a second footrest; The control module is further configured to lock the robotic arm, discard the user's drag command, and control the bone drill to power on when the following power supply conditions are met: The difference between the acetabular rasp model and the planned acetabular cup model exceeds a preset difference threshold; the current grinding mode is intelligent grinding; the acetabular rasp enters the second virtual boundary stage; the footrest touches the ground; the first pedal is not stepped on and the second pedal is stepped on, wherein the second virtual boundary stage indicates that the acetabular rasp is placed in the patient's acetabulum, the current angle does not exceed a second angle range, and the current depth does not exceed a second depth threshold.

9. The system according to claim 5, characterized in that The robotic arm trolley further includes a second footrest; The control module is further configured to lock the robotic arm, discard the user's drag command, and control the bone drill to power on when the following power supply conditions are met: The current grinding mode is free grinding; the footrest is on the ground; the first pedal is not stepped on and the second pedal is stepped on.

Images