Prosthesis position planning tool and prosthesis visual placement system and method

Abstract

The invention relates to a prosthesis position planning tool and a prosthesis visual placement system and method. The prosthesis position planning tool comprises a connecting rod installed at the tail end of the mechanical arm; the mounting rod is used for being connected with the connecting rod and can rotate around the axis of the mounting rod; the tail end of the mounting rod is used for mounting a target prosthesis; the inspection rod is used for being in contact with a target nail hole of a target prosthesis so as to detect the pose of the target nail hole; the tracing module is mounted on the connecting rod and used for indicating the pose of the connecting rod; the movable tracing rod is used for indicating the pose of the target nail hole under the condition that the movable tracing rod is connected with the inspection rod; and under the condition that the target nail hole is connected with the mounting rod, the deviation value between the current nail hole pose of the target nail hole and the planned nail hole pose is indicated. According to the embodiment of the invention, the placement precision of the target prosthesis can be improved, and the nail path position can be visualized.

Description

Technical Field

[0001] The present application relates to the field of medical equipment technology, and in particular to a prosthesis position planning tool, a prosthesis visualization placement system and a method. Background Art

[0002] At present, the placement of the prosthesis is usually determined based on manual experience, which may result in large errors, which may lead to the prosthesis being placed unsecured or loosened prematurely, resulting in poor stability. For example, in total hip replacement surgery, the installation and fixation of the acetabular cup as a prosthesis is one of the key steps.

[0003] Therefore, it is crucial to quantify and visualize the accuracy of prosthesis placement during replacement surgery. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a prosthesis position planning tool, a prosthesis visualization placement system and a method to solve at least one problem existing in the background technology.

[0005] In a first aspect, an embodiment of the present application provides a prosthesis position planning tool, the prosthesis position planning tool comprising: A connecting rod, mounted at the end of the robotic arm; A mounting rod, which is connected to the connecting rod and can rotate around the axis of the mounting rod; the end of the mounting rod is used to mount the target prosthesis; An inspection rod, used for contacting with a target nail hole of the target prosthesis to detect the position and posture of the target nail hole; A tracing module, mounted on the connecting rod, for indicating the position and posture of the connecting rod; The mobile tracer rod is used to indicate the position of the target nail hole when connected to the inspection rod; and to indicate the deviation value between the current nail hole position and the planned nail hole position of the target nail hole when connected to the installation rod.

[0006] In combination with the first aspect, in an optional implementation, when the mobile tracer rod is connected to the mounting rod, the mobile tracer rod is further used to push the mounting rod to rotate around the mounting rod axis to drive the target nail hole to reach the planned nail hole position; and / or, the mobile tracer rod comprises a first connection port; The mounting rod includes a second connection port; the inspection rod includes a second connection port; The first connection port and the second connection port are used for detachable connection to achieve the connection of the mobile tracer rod with the installation rod and the inspection rod respectively.

[0007] In combination with the first aspect, in an optional embodiment, the detachable connection between the first connection port and the second connection port includes at least one of the following: a threaded connection, a snap connection, a hinge connection, a key connection, and a pin connection.

[0008] In a second aspect, an embodiment of the present application provides a prosthesis visualization placement system, the prosthesis visualization placement system comprising: The prosthesis position planning tool as described in the first aspect; An optical navigation device for measuring the position and posture of the tracer module and the mobile tracer rod; The robotic arm is used to control the movement of the mounting rod according to the posture of the tracing module, the posture of the mobile tracer rod when the mobile tracer rod is connected to the inspection rod, and the posture of the mobile tracer rod when the mobile tracer rod is connected to the mounting rod, so that the target nail hole reaches the planned nail hole posture.

[0009] In conjunction with the second aspect, in an optional implementation, the prosthesis visualization placement system further includes at least one of the following: An electronic device, used for verifying and confirming that the target nail hole reaches the planned nail hole posture according to the posture of the mobile tracer rod when the mobile tracer rod is connected to the inspection rod; A display device, configured to display at least one of the following: The current nail hole position of the target nail hole; The moving trajectory of the target nail hole; a current prosthesis pose of the target prosthesis; The moving trajectory of the target prosthesis; Plan the nail hole position; A deviation value between the current nail hole posture and the planned nail hole posture; A current nail path determined based on the current nail hole posture of the target nail hole; Planning of nail paths; The offset between the current track and the planned track.

[0010] In a third aspect, an embodiment of the present application provides a method for visual placement of a prosthesis, the method comprising: Obtaining the planned nail hole positions of each target nail hole on the target prosthesis; In a case where the mobile tracer rod is connected to the inspection rod, when the inspection rod contacts the target nail hole, based on a first posture of the mobile tracer rod relative to the optical navigation device and a second posture of the tracer module relative to the optical navigation device, determining a first nail hole posture of the target nail hole relative to the tracer module; When the mobile tracer rod is connected to the mounting rod, the movement of the mounting rod is controlled based on the first nail hole position so that the target nail hole reaches the planned nail hole position; wherein, the end of the mounting rod is used to mount the target prosthesis.

[0011] In combination with the third aspect, in an optional implementation, determining a first nail hole posture of the target nail hole relative to the tracing module based on a first posture of the mobile tracing rod relative to the optical navigation device and a second posture of the tracing module relative to the optical navigation device includes: Based on the first pose of the mobile tracer rod relative to the optical navigation device and the fixed position relationship between the end of the inspection rod and the mobile tracer rod, a first intermediate pose of the target nail hole relative to the optical navigation device is determined by using pose conversion when the inspection rod contacts the target nail hole; Based on the first intermediate posture and the second posture of the tracing module relative to the optical navigation device, determining a first nail hole posture of the target nail hole relative to the tracing module by using posture conversion; And / or, in a case where the mobile tracer rod is connected to the mounting rod, controlling the movement of the mounting rod based on the first nail hole posture so that the target nail hole reaches the planned nail hole posture, comprising: Based on the first nail hole position, controlling the movement of the mounting rod makes the target nail hole reach the middle nail hole position, so that the target prosthesis reaches the planned position; When the mobile tracer rod is connected to the mounting rod, the rotation angle of the target nail hole is determined based on the deviation angle between the intermediate nail hole posture and the planned nail hole posture, and the mounting rod is rotated by the rotation angle so that the target nail hole reaches the planned nail hole posture from the intermediate nail hole posture.

[0012] In combination with the third aspect, in an optional implementation, rotating the mounting rod by the rotation angle so that the target nail hole reaches the planned nail hole posture from the intermediate nail hole posture includes: The mobile tracer rod is controlled to push the mounting rod to rotate around the mounting rod axis, so as to drive the target nail hole to rotate the rotation angle and reach the planned nail hole posture.

[0013] In conjunction with the third aspect, in an optional implementation, the prosthesis visualization placement method further includes: Display at least one of the following during the movement of the target nail hole: The current nail hole position of the target nail hole; The moving trajectory of the target nail hole; a current prosthesis pose of the target prosthesis; The moving trajectory of the target prosthesis; Plan the nail hole position; A deviation value between the current nail hole posture and the planned nail hole posture; A current nail path determined based on the current nail hole posture of the target nail hole; Planning of nail paths; An offset between the current nail path and the planned nail path; And / or, when the mobile tracer rod is connected to the inspection rod, the inspection rod contacts the target nail hole to obtain the current position of the target nail hole, so as to determine the final position of the target prosthesis after placement.

[0014] In combination with the third aspect, in an optional implementation manner, obtaining the current posture of the target nail hole includes: Based on the third posture of the mobile tracer rod relative to the optical navigation device, and the fixed position relationship between the end of the inspection rod and the mobile tracer rod, posture conversion is used to determine the current posture of the target nail hole relative to the optical navigation device when the inspection rod contacts the target nail hole.

[0015] The embodiments of the present application provide a prosthesis position planning tool, a prosthesis visualization placement system and method, which can visualize the position of the nail channel of the prosthesis. After the prosthesis position correction is completed, it can be displayed on the screen in real time, and the nail channel position can be planned. During placement, the position and angle of the nail channel can be seen on the screen, and the difference between the angle and the planned angle can be verified after the prosthesis is placed, so as to achieve a precise placement angle, make the position of the nail channel more reasonable, and fix the prosthesis more securely.

[0016] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below and in part will become apparent from the description below or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic structural diagram of a specific example of a prosthesis position planning tool in an embodiment of the present application; Figure 2 A schematic structural diagram of a specific example of a prosthesis visualization placement system in an embodiment of the present application; Figure 3 A schematic flow chart of a specific example of a method for visual placement of a prosthesis in an embodiment of the present application; Figure 4A schematic diagram of a principle block diagram of a specific example of a visual placement device for a prosthesis in an embodiment of the present application; Figure 5 A schematic diagram of a principle block diagram of a specific example of an electronic device in an embodiment of the present application.

[0018] Description of reference numerals: 101 -connecting rod, 102 -mounting rod, 1021 -second connection port, 103 -inspection rod, 104 -tracing module, 105 -movable tracer rod, 1051 -first connection port, 106 -mechanical arm, 107 -target prosthesis, 1071 -target nail hole. DETAILED DESCRIPTION

[0019] In order to make the technical solutions and beneficial effects of the present invention more clearly understandable, the following is a detailed description by listing specific embodiments. The drawings are not necessarily drawn to scale, and local features may be enlarged or reduced to more clearly show the details of the local features; unless otherwise defined, the technical and scientific terms used herein have the same meanings as those in the technical field to which this application belongs.

[0020] The embodiments of the present application are not exhaustive, but are only illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present application. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, in a certain embodiment, the solution after removing some steps can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementations in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined, for example, some or all of the steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementations of other embodiments.

[0021] In each embodiment of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form a new embodiment based on their internal logical relationships.

[0022] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0023] In the embodiments of the present application, unless otherwise specified, elements expressed in the singular form, such as "a", "an", etc., may mean "one and only one", or may mean "one or more", "at least one", etc.

[0024] In the embodiments of the present application, "plurality" refers to two or more.

[0025] The prefixes such as "first" and "second" in the embodiments of the present application are only used to distinguish different description objects, and do not constitute restrictions on the position, order, priority, value or content of the description objects. For the statement of the description object, please refer to the description of the context in the embodiments, and no unnecessary restrictions should be constituted due to the use of prefixes. For example, the value of the description object is not limited by the ordinal number, and can be one or more. Taking "first device" as an example, the value of "device" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the description object is "device", the "first device" and the "second device" can be the same device or different devices, and their types can be the same or different.

[0026] In some embodiments, the term "connection" may indicate that an electrical signal or data is transmitted between a connected end and a connected end, and may be understood as "electrical connection", "communication connection", etc. "Connection" may be a direct connection between two components, an indirect connection established through other components, internal communication between two components, or any other possible connection form.

[0027] This specification provides method operation steps such as embodiments or flow charts, but more or fewer operation steps may be included based on conventional or non-creative work. The order of steps listed in the embodiments is only one way of executing the order of many steps and does not represent the only execution order. When the actual device, system or server product is executed, it can be executed in the order of the method shown in the embodiments or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment). Example 1

[0028] The present application embodiment provides a prosthesis position planning tool, Figure 1 A structural schematic diagram of a specific example of a prosthesis position planning tool in an embodiment of the present application is shown. As shown in the figure, the prosthesis position planning tool includes: A connecting rod 101 is mounted at the end of a mechanical arm 106; The mounting rod 102 is used to connect with the connecting rod 101 and can rotate around the axis of the mounting rod; the end of the mounting rod 102 is used to install the target prosthesis 107; The inspection rod 103 is used to contact the target nail hole 1071 of the target prosthesis 107 to detect the position of the target nail hole 1071; A tracing module 104, mounted on the connecting rod 101, for indicating the position and posture of the connecting rod 101; The mobile tracer rod 105 is used to indicate the position of the target nail hole 1071 when connected to the inspection rod 103; and when connected to the installation rod 102, it indicates the deviation value between the current nail hole position of the target nail hole 1071 and the planned nail hole position.

[0029] In the embodiment of the present application, the movement of the installation rod 102 may include at least one of translation and rotation around the axis of the installation rod.

[0030] In some possible implementations, the tracing module 104 may include a tracking bracket and three or more (e.g., four) active luminous markers or passive markers, the markers being fixed to the tracking bracket in a preset manner, and the tracking bracket being fixed to the mark position to be located and calibrated (e.g., the connecting rod 101, the end of the mechanical arm 106, etc.), for the optical navigation device to identify and track the mark position in the working space. The tracing module 104 may be installed at any fixed position of the connecting rod 101.

[0031] The mobile tracer rod 105 may be provided with three or more (eg, four) active luminous markers or passive markers, which may be arranged in a preset manner, for optical navigation equipment to identify and track the position of the mobile tracer rod 105 in the working space.

[0032] The mobile tracer rod 105 and the inspection rod 103 may be fixed structures, that is, the distance between the end of the inspection rod 103 and the marker on the mobile tracer rod 105 is fixed. Therefore, the posture of the end of the inspection rod 103 relative to the mobile tracer rod 105 can be obtained by obtaining the posture of the mobile tracer rod 105 in the coordinate system of the optical navigation device, and the posture conversion calculation is used to obtain the posture of the end of the inspection rod 103 relative to the mobile tracer rod 105. When the end of the inspection rod 103 contacts the target nail hole 1071, the posture of the target nail hole 1071 relative to the mobile tracer rod 105 can be obtained, and then the posture of the target nail hole 1071 relative to the tracer module 104 can be obtained through posture conversion.

[0033] The optical navigation device may include at least one of the following: a binocular camera; an OTS (Optical Tracking System) optical positioning device; an infrared tracker; a structured light camera. In the embodiments of the present application, the optical navigation device may be named differently, such as an NDI device, etc., and the name is not limited here.

[0034] Exemplarily, the optical navigation device can measure the position and posture of the tracking module 104 in the optical navigation device coordinate system, and record and / or output it. For example, the electronic device (processor) of the system can obtain the real-time position and posture of the tracking module 104 in the optical navigation device coordinate system, so that the position and posture of the target prosthesis relative to the tracking module 104 can be calculated by using the position and posture conversion. The position and posture conversion can be implemented based on at least one intermediate position and posture.

[0035] Pose can be a description of the position and posture of an object in three-dimensional space. In some possible implementations, the description of pose can include at least one of the following: three translation parameters of the object in three-dimensional space (e.g., x, y, z coordinates); three rotation parameters (e.g., rotation angles around the x-axis, y-axis, and z-axis). In some possible implementations, the representation of the three rotation parameters can include at least one of the following: Euler angles; quaternions; rotation matrices. Pose can be named differently, such as spatial coordinates, spatial position, etc., and the names are not limited here.

[0036] In this way, the position of the prosthesis nail channel can be visualized through the prosthesis position planning tool. Through the tracing module 104 and the mobile tracing rod 105, the movement of the target nail hole 1071 on the target prosthesis 107 can be displayed on the screen in real time, and the position of the nail channel can be planned. When placing the nail channel, the position and angle of the nail channel can be seen on the screen, and the difference between the angle and the planning can be verified after the prosthesis is placed, so as to improve the placement accuracy of the target prosthesis, so that the position of the target nail hole can meet the requirements of the early nail channel planning, and the installation position, angle and length of each implant nail can be accurately determined, so that the position of the nail channel is more reasonable, the accurate implantation of the implant nail can be achieved, and the fixation of the target prosthesis is more reliable.

[0037] In an optional embodiment, when the mobile tracer rod 105 is connected to the mounting rod 102, the mobile tracer rod 105 is also used to push the mounting rod 102 to rotate around the mounting rod axis to drive the target nail hole 1071 to reach the planned nail hole position.

[0038] In this way, by moving the tracer rod 105 to push the installation rod 102 to rotate around the axis of the installation rod, the prosthesis placement steps are simplified and the operation efficiency is improved.

[0039] In an optional embodiment, the mobile tracer rod 105 includes a first connection port 1051; The installation rod 102 includes a second connection port 1021; the inspection rod 103 includes a second connection port 1021; The first connection port 1051 and the second connection port 1021 are used for detachable connection to achieve the connection of the mobile tracer rod 105 with the installation rod 102 and the inspection rod 103 respectively.

[0040] In this way, by detachably connecting the first connection port and the second connection port, the flexible usability of the prosthesis visualization placement system can be improved and the scope of application can be expanded.

[0041] In some possible implementations, the detachable connection between the first connection port and the second connection port may include at least one of the following: a threaded connection, a snap connection, a hinge connection, a key connection, and a pin connection. Example 2

[0042] The present application also provides a visual prosthesis placement system. Figure 2 FIG. 1 is a schematic diagram showing a specific example of a prosthesis visualization placement system in an embodiment of the present application. Figure 1 and Figure 2 , the prosthesis visualization placement system includes: A prosthesis position planning tool as described in the above embodiment; An optical navigation device, used to measure the position and posture of the tracing module 104 and the mobile tracing rod 105; The robotic arm 106 is used to control the movement of the mounting rod 102 according to the posture of the tracing module 104, the posture of the mobile tracing rod 105 when the mobile tracing rod 105 is connected to the inspection rod 103, and the posture of the mobile tracing rod 105 when the mobile tracing rod 105 is connected to the mounting rod 102, so that the target nail hole 1071 reaches the planned nail hole posture.

[0043] In this way, the embodiment of the present application sets up a prosthesis visualization placement system including a connecting rod 101, a mounting rod 102, an inspection rod 103, a tracing module 104, a mobile tracing rod 105, an optical navigation device and a robotic arm 106, and sets the mobile tracing rod 105 to be respectively connected to the inspection rod 103 and the mounting rod 102, so that when the mobile tracing rod 105 is connected to the inspection rod 103, when the inspection rod 103 contacts the target nail hole 1071, the posture of the target nail hole 1071 relative to the mobile tracing rod 105 is collected, and the posture of the target nail hole 1071 relative to the tracing module 104 can be obtained through posture conversion; and when the mobile tracing rod 105 is connected to the mounting rod 102, the movement value of the target nail hole 1071 with the movement of the mounting rod 102 can be indicated, including the translation value and / or the rotation angle value, so as to eliminate the deviation value between the current nail hole and the target nail hole 1071, so that the target nail hole 1071 reaches the planned nail hole posture.

[0044] Therefore, the embodiments of the present application can visualize the position of the nail channel of the prosthesis. After the prosthesis position correction is completed, it can be displayed on the screen in real time, and the nail channel position can be planned. During placement, the position and angle of the nail channel can be seen on the screen, and the difference in angle from the planned angle can be verified after the prosthesis is placed, so as to improve the placement accuracy of the target prosthesis, so that the position of the target nail hole can meet the requirements of the preliminary nail channel planning, and the installation position, angle, length and other parameters of each implant nail can be accurately determined, so that the position of the nail channel is more reasonable, the accurate implantation of the implant nail can be achieved, and the fixation of the target prosthesis is more secure.

[0045] In some possible implementations, the mobile tracer rod 105 connected to the mounting rod 102 can be held to translate and rotate the mounting rod 102 to achieve motion control of the mounting rod 102; the motion control of the mounting rod 102 can also be achieved through the robotic arm 106, but it is not limited to this. The motion control method of the mounting rod 102 can be set according to actual needs.

[0046] In some possible implementations, the mobile tracer rod 105 and the mounting rod 102 may be connected via an intermediate connector. The intermediate connector may be named differently, such as a connector, etc., and the name is not limited here.

[0047] In some possible implementations, the target prosthesis may include a prosthesis such as an acetabular cup. The target nail hole may be each nail hole on the target prosthesis for passing the target implant. The target implant may be a medical screw for fixing the target prosthesis, which is implanted into the human bone structure to fix the prosthesis to the bone structure. Taking total hip replacement (such as acetabular cup implantation) as an example, the target prosthesis may be an acetabular cup.

[0048] The starting position of the target screw can be determined by the position of the target screw hole, and then the screw path of the target screw can be determined. In this way, the initial position of the target screw can be determined based on the preliminary screw path planning of the position of the target prosthesis and the target screw hole, so as to maximize the adaptation to the individual differences of different implant objects and reduce the complexity and risk of implantation. Taking total hip replacement (such as acetabular cup implantation) as an example, the early nail track planning may include: medical imaging data acquisition and import: collect hip joint CT imaging data, perform three-dimensional reconstruction through software, and generate a 3D model of the hip joint; prosthesis selection and virtual implantation: select the most suitable acetabular cup model from the preset prosthesis database according to the acetabular morphology; virtually adjust the position and posture of the acetabular cup on the 3D model to ensure that the anteversion angle, abduction angle and acetabular cup coverage meet the use requirements; planning and design: on the virtually implanted acetabular cup, accurately locate and adjust the position and direction of each nail hole through software; select the best screw length for each nail hole to ensure sufficient fixation strength and will not penetrate the installation site of the acetabular cup; comprehensively evaluate the safety and effectiveness of nail implantation through 3D views and multi-plane CT views; plan generation: based on the above planning, generate detailed operation parameters, including acetabular cup posture parameters, the precise posture of each implant (i.e., the posture of the target nail hole) and length.

[0049] During the target prosthesis placement phase, refer to Figure 1 After the acetabular grinding is completed according to the plan, the acetabular cup prosthesis of the required model is installed on the end of the mounting rod 102, and the mounting rod 102 is connected to the connecting rod 101; the mobile tracer rod 105 is installed on the inspection rod 103, and then the spherical part of the head of the inspection rod 103 contacts the nail holes of the acetabular cup prosthesis in turn, and the position of the nail hole can be collected at each contact. After the position of all the nail holes (such as three nail holes) on the acetabular cup is collected, the measurement of the initial position of the nail holes on the acetabular cup prosthesis can be completed, and the initial position of the nail holes can be displayed in the form of an image on the software interface. Then the robot arm can be controlled to move so that the target nail hole moves to the planned nail hole position and reaches the preset nail hole position, and the movement process can also be displayed in the form of an image on the software interface.

[0050] Afterwards, the inspection rod 103 can be removed and the mobile tracer rod 105 can be installed on the mounting rod 102. Figure 2 , the mobile tracer rod 105 can be held and rotated to the planned angle so that the target nail hole 1071 reaches the planned nail hole position, completing the calibration operation, and then the acetabular cup prosthesis can be pushed into the prepared acetabulum and knocked into the acetabular cup.

[0051] In the stage of measuring the position of the nail track, that is, after the acetabular cup is placed, the installation rod 102 with the mobile tracer rod 105 is removed, the installation rod 102 is replaced with the inspection rod 103, and the mobile tracer rod 105 is installed in the inspection rod 103, and the nail holes of the acetabular cup prosthesis are contacted in sequence, and the posture of the nail hole is collected at each contact to complete the measurement of the current posture of the target nail hole. The current posture, such as the angle after the acetabular cup is placed, can also be displayed in the form of an image on the software interface. At this time, the posture calibration can be performed to adjust the difference between the angle after placement and the planned angle to achieve a precise placement angle.

[0052] In an optional embodiment, the prosthesis visualization placement system further includes an electronic device for verifying and confirming that the target nail hole 1071 reaches the planned nail hole position based on the position of the mobile tracer rod 105 when the mobile tracer rod 105 is connected to the inspection rod 103.

[0053] In this way, by verifying the position and posture of the target nail hole 1071 while the mobile tracer rod 105 is connected to the inspection rod 103, the position and posture of the target nail hole can be calibrated, thereby further improving the positioning accuracy of the target nail hole.

[0054] In an optional embodiment, the prosthesis visualization placement system further includes a display device for displaying at least one of the following: The current nail hole position of the target nail hole 1071; The moving trajectory of the target nail hole 1071; a current prosthesis pose of the target prosthesis; The moving trajectory of the target prosthesis; Plan the nail hole position; A deviation value between the current nail hole posture and the planned nail hole posture; A current nail path determined based on the current nail hole position of the target nail hole 1071; Planning of nail paths; The offset between the current track and the planned track.

[0055] In this way, the above items during the placement of the target prosthesis can be observed in real time, and the position of the nail channel of the target prosthesis can be visualized. After the correction of the position of the target prosthesis is completed, it can be displayed on the screen in real time. The position of the nail channel can also be planned. During placement, the position and angle of the target prosthesis can be seen on a display device such as a screen, and the difference between the angle and the planned angle can be verified after placement to achieve a precise placement angle, so that the position of the nail channel is more reasonable and the fixation of the target prosthesis is more secure. Example 3

[0056] The present application also provides a method for visual placement of a prosthesis. Figure 3A flowchart of a specific example of a method for visual placement of a prosthesis in an embodiment of the present application is shown. As shown in the figure, the method for visual placement of a prosthesis includes: S101: Acquire the planned nail hole positions of each target nail hole 1071 on the target prosthesis; S102: When the mobile tracer rod 105 is connected to the inspection rod 103, when the inspection rod 103 contacts the target nail hole 1071, based on the first posture of the mobile tracer rod 105 relative to the optical navigation device and the second posture of the tracer module 104 relative to the optical navigation device, determine the first nail hole posture of the target nail hole 1071 relative to the tracer module 104; S103: When the mobile tracer rod 105 is connected to the mounting rod 102, the movement of the mounting rod 102 is controlled based on the first nail hole position so that the target nail hole 1071 reaches the planned nail hole position; wherein the end of the mounting rod 102 is used to install the target prosthesis.

[0057] In this way, the embodiment of the present application determines the first nail hole position of the target nail hole relative to the tracing module when the inspection rod contacts the target nail hole when the mobile tracer rod is connected to the inspection rod, and combines the movement and rotation of the mounting rod when the mobile tracer rod is connected to the mounting rod, so that the target nail hole reaches the planned nail hole position, thereby improving positioning accuracy, shortening operation time, and improving work efficiency.

[0058] In an embodiment of the present application, the inspection rod 103 is used to contact the target nail hole 1071; the mobile tracer rod 105 is used to indicate the position of the target nail hole 1071 when connected to the inspection rod 103, and to indicate the deviation value between the current nail hole position and the planned nail hole position of the target nail hole 1071 when connected to the installation rod 102.

[0059] In some possible implementations, determining the first nail hole posture of the target nail hole 1071 relative to the tracing module 104 based on the first posture of the mobile tracing rod 105 relative to the optical navigation device and the second posture of the tracing module 104 relative to the optical navigation device includes: S1021: Based on the first posture of the mobile tracer rod 105 relative to the optical navigation device and the fixed position relationship between the end of the inspection rod 103 (i.e., the part contacting the target nail hole) and the mobile tracer rod 105, a first intermediate posture of the target nail hole 1071 relative to the optical navigation device is determined by posture conversion when the inspection rod 103 contacts the target nail hole 1071; S1022: Based on the first intermediate posture and the second posture of the tracing module 104 relative to the optical navigation device, determine the first nail hole posture of the target nail hole 1071 relative to the tracing module 104 by using posture conversion.

[0060] In an optional embodiment, when the mobile tracer rod 105 is connected to the mounting rod 102, controlling the movement of the mounting rod 102 based on the first nail hole posture so that the target nail hole 1071 reaches the planned nail hole posture includes: S1031: Based on the first nail hole position, the installation rod 102 is controlled to move so that the target nail hole 1071 reaches the middle nail hole position, so that the target prosthesis reaches the planned position; S1032: When the mobile tracer rod 105 is connected to the mounting rod 102, the rotation angle of the target nail hole 1071 is determined based on the deviation angle between the intermediate nail hole posture and the planned nail hole posture, and the mounting rod 102 is rotated by the rotation angle so that the target nail hole 1071 reaches the planned nail hole posture from the intermediate nail hole posture.

[0061] In this way, by controlling the movement of the mounting rod 102, the target nail hole reaches the middle nail hole position, so that when the mobile tracer rod 105 is connected to the mounting rod 102, only the mounting rod 102 needs to be rotated to make the target nail hole move from the middle nail hole position to the planned nail hole position, thereby simplifying the calibration operation steps and improving the operation efficiency.

[0062] In some possible implementations, the intermediate nail hole posture can be determined based on the planned nail hole posture. For example, the intermediate nail hole posture can be the posture before the target nail hole is finally rotated to reach the planned nail hole posture, thereby obtaining the simplest operation; or it can be a preset nail hole posture, and the target nail hole can also reach the planned nail hole posture from the preset nail hole posture by moving and rotating the mounting rod, but such an operation is a more complex operation compared to the above-mentioned simplest operation.

[0063] In an optional embodiment, rotating the mounting rod 102 by the rotation angle so that the target nail hole 1071 reaches the planned nail hole posture from the intermediate nail hole posture includes: S10321: Control the mobile tracer rod 105 to push the mounting rod 102 to rotate around the mounting rod axis, so as to drive the target nail hole to rotate by the rotation angle and reach the planned nail hole posture.

[0064] In this way, by directly pushing the mobile tracer rod 105 to push the installation rod 102 to rotate around the axis of the installation rod, the prosthesis placement steps are simplified and the operation efficiency is improved.

[0065] In an optional embodiment, the prosthesis visualization placement method further includes: S104: Displaying at least one of the following items during the movement of the target nail hole: The current nail hole position of the target nail hole 1071; The moving trajectory of the target nail hole 1071; a current prosthesis pose of the target prosthesis; The moving trajectory of the target prosthesis; Plan the nail hole position; A deviation value between the current nail hole posture and the planned nail hole posture; A current nail path determined based on the current nail hole position of the target nail hole 1071; Planning of nail paths; The offset between the current track and the planned track.

[0066] In this way, the above items during the placement of the target prosthesis can be observed in real time, and the position of the nail channel of the target prosthesis can be visualized. After the correction of the position of the target prosthesis is completed, it can be displayed on the screen in real time. The position of the nail channel can also be planned. During placement, the position and angle of the target prosthesis can be seen on a display device such as a screen, and the difference between the angle and the planned angle can be verified after placement to achieve a precise placement angle, so that the position of the nail channel is more reasonable and the fixation of the target prosthesis is more secure.

[0067] In some possible implementations, the target nail hole movement process may include at least one of the following: a movement process during the target prosthesis placement phase; a movement process during the nail track position measurement phase.

[0068] In an optional embodiment, the prosthesis visualization placement method further includes: S105: When the mobile tracer rod 105 is connected to the inspection rod 103, the inspection rod 103 contacts the target nail hole 1071 to obtain the current posture of the target nail hole 1071, so as to determine the final posture of the target prosthesis after placement.

[0069] In this way, after the target prosthesis such as the acetabular cup is placed, the mounting rod 102 with the mobile tracer rod 105 (for completing the nail track verification and calibration) can be removed, the mobile tracer rod 105 can be connected to the inspection rod 103, and the mounting rod 102 can be replaced, so that the inspection rod 103 with the mobile tracer rod 105 can be used to contact the three nail holes on the inner side of the acetabular cup prosthesis in turn, and the acquisition button can be clicked on the software to complete the acquisition of the nail hole position each time the contact is made. After the three nail hole positions are acquired, the angle after placement can be displayed on the software.

[0070] In addition, the current position of the target nail hole can be further calibrated through the angle after placement, so that the deviation between the current nail path and the planned nail path is within the deviation threshold range, thereby reducing or eliminating the deviation and improving the positioning accuracy, thereby improving the implantation accuracy of the nail.

[0071] In some examples, the deviation amount may include at least one of the following: deviation displacement, deviation angle. By adjusting the target prosthesis, the deviation angle and deviation displacement may be calibrated, for example, such that the deviation angle is 0 or within a deviation angle threshold range; and the deviation displacement is 0 or within a deviation displacement threshold range. Therefore, calibration can be achieved in terms of both angle and displacement, thereby improving calibration accuracy.

[0072] In some possible implementations, obtaining the current position of the target nail hole 1071 includes: S1051: Based on the third posture of the mobile tracer rod 105 relative to the optical navigation device, and the fixed position relationship between the end of the inspection rod 103 (i.e., the part contacting the target nail hole) and the mobile tracer rod 105, posture conversion is utilized to determine the current posture of the target nail hole 1071 relative to the optical navigation device when the inspection rod 103 contacts the target nail hole 1071.

[0073] The following describes the device, electronic device, storage medium, etc. used to execute the prosthesis visualization placement method provided in the present application. The specific implementation process and technical effects are described above and will not be repeated below. Example 4

[0074] The present application also provides a visual implant placement device. Figure 4 The schematic diagram of the principle block diagram of a specific example of the visual placement device of the prosthesis in the embodiment of the present application is shown. As shown in the figure, the visual placement device of the prosthesis includes: The first acquisition module 1001 is used to acquire the planned nail hole position of each target nail hole 1071 on the target prosthesis; The first determination module 1002 is used to determine a first nail hole posture of the target nail hole 1071 relative to the tracing module 104 based on a first posture of the mobile tracing rod 105 relative to the optical navigation device and a second posture of the tracing module 104 relative to the optical navigation device when the inspection rod 103 contacts the target nail hole 1071 when the mobile tracing rod 105 is connected to the inspection rod 103; The first control module 1003 is used to control the movement of the mounting rod 102 based on the first nail hole posture when the mobile tracer rod 105 is connected to the mounting rod 102, so that the target nail hole 1071 reaches the planned nail hole posture; wherein the end of the mounting rod 102 is used to install the target prosthesis.

[0075] It should be understood that the division of the units or modules in the above devices is only a division of logical functions, and in actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. In addition, the units or modules in the device can be implemented in the form of a processor calling software: for example, the device includes a processor, the processor is connected to a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of the units or modules of the above devices. Example 5

[0076] The embodiment of the present application also provides an electronic device, Figure 5 A schematic diagram of a principle block diagram of a specific example of an electronic device in an embodiment of the present application is shown. As shown in the figure, the electronic device includes: a memory storing instructions; and A processor is configured to execute the instructions to implement the visual placement method of the prosthesis as described in the above embodiment.

[0077] like Figure 5 As shown, the electronic device may include a processor, a memory, a network interface, a display, and an input device connected via a system bus. The processor may be used to provide computing and control capabilities. The memory may include a non-volatile storage medium and an internal memory. The non-volatile storage medium may store an operating system and a computer program. The internal memory may provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface may be used to communicate with an external terminal via a network connection. The display may be a liquid crystal display or an electronic ink display. The input device may be a touch layer covered on the display, or a button, trackball, or touchpad provided on the housing of the electronic device, or an external keyboard, touchpad, or mouse, etc.

[0078] Those skilled in the art will understand that Figure 5 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0079] The electronic device of the embodiment of the present application may be a device included in a robotic arm or an optical navigation device, that is, the function of the electronic device may be implemented on the robotic arm or the optical navigation device; it may also be independent of the equipment in the prosthesis visualization placement system. For example, the electronic device may include but is not limited to smart phones, desktop computers, tablet computers, laptops, smart speakers, digital assistants, smart wearable devices, vehicle-mounted terminals, smart TVs, and cameras. Example 6

[0080] The embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed, the method for visual placement of a prosthesis as described in the above embodiment can be implemented.

[0081] The computer program may also be used in Figure 5 The memory of the electronic device contains various program modules constituting the above-mentioned visual prosthesis placement device, and the computer program composed of various program modules can realize the functions corresponding to the various steps in the visual prosthesis placement method described in the above-mentioned embodiment when executed. Example 7

[0082] The present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs the prosthesis visualization placement method provided in the above various implementations.

[0083] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. Among them, any reference to memory, storage, database or other medium used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0084] It should be understood that the above embodiments are exemplary and are not intended to include all possible implementations included in the present application. Various modifications and changes may also be made on the basis of the above embodiments without departing from the scope of the present disclosure. Similarly, the various technical features of the above embodiments may also be combined arbitrarily to form other embodiments of the present application that may not be clearly described. Therefore, the above embodiments only express several implementations of the present application and do not limit the scope of protection of the patent of this application.

Claims

1. A prosthesis position planning tool, characterized in that: The prosthesis position planning tool comprises: A connecting rod, mounted at the end of the robotic arm; A mounting rod, which is used to be connected to the connecting rod and can rotate around the axis of the mounting rod; the end of the mounting rod is used to mount the target prosthesis; An inspection rod, used for contacting with a target nail hole of the target prosthesis to detect the position and posture of the target nail hole; A tracing module, mounted on the connecting rod, for indicating the position and posture of the connecting rod; The mobile tracer rod is used to indicate the position of the target nail hole when connected to the inspection rod; and to indicate the deviation value between the current nail hole position and the planned nail hole position of the target nail hole when connected to the installation rod.

2. The prosthesis position planning tool according to claim 1, characterized in that: When the mobile tracer rod is connected to the mounting rod, the mobile tracer rod is also used to push the mounting rod to rotate around the mounting rod axis to drive the target nail hole to reach the planned nail hole position; and / or, the mobile tracer rod comprises a first connection port; The mounting rod includes a second connection port; the inspection rod includes a second connection port; The first connection port and the second connection port are used for detachable connection to achieve the connection of the mobile tracer rod with the installation rod and the inspection rod respectively.

3. The prosthesis position planning tool according to claim 2, characterized in that: The detachable connection between the first connection port and the second connection port includes at least one of the following: a threaded connection, a snap connection, a hinge connection, a key connection, and a pin connection.

4. A visual prosthesis placement system, characterized in that: The prosthesis visualization placement system comprises: A prosthesis position planning tool as claimed in any one of claims 1 to 3; An optical navigation device for measuring the position and posture of the tracer module and the mobile tracer rod; The robotic arm is used to control the movement of the mounting rod according to the posture of the tracing module, the posture of the mobile tracer rod when the mobile tracer rod is connected to the inspection rod, and the posture of the mobile tracer rod when the mobile tracer rod is connected to the mounting rod, so that the target nail hole reaches the planned nail hole posture.

5. The prosthesis visualization placement system according to claim 4, characterized in that: The prosthesis visualization placement system further includes at least one of the following: An electronic device, used for verifying and confirming that the target nail hole reaches the planned nail hole posture according to the posture of the mobile tracer rod when the mobile tracer rod is connected to the inspection rod; A display device, configured to display at least one of the following: The current nail hole position of the target nail hole; The moving trajectory of the target nail hole; a current prosthesis pose of the target prosthesis; The moving trajectory of the target prosthesis; Plan the nail hole position; A deviation value between the current nail hole posture and the planned nail hole posture; A current nail path determined based on the current nail hole posture of the target nail hole; Planning of nail paths; The offset between the current track and the planned track.

6. A method for visual placement of a prosthesis, characterized in that: The prosthesis visualization placement method comprises: Obtaining the planned nail hole positions of each target nail hole on the target prosthesis; In a case where the mobile tracer rod is connected to the inspection rod, when the inspection rod contacts the target nail hole, based on a first posture of the mobile tracer rod relative to the optical navigation device and a second posture of the tracer module relative to the optical navigation device, determining a first nail hole posture of the target nail hole relative to the tracer module; When the mobile tracer rod is connected to the mounting rod, the movement of the mounting rod is controlled based on the first nail hole position so that the target nail hole reaches the planned nail hole position; wherein, the end of the mounting rod is used to mount the target prosthesis.

7. The method for visual placement of a prosthesis according to claim 6, characterized in that: The method of determining a first nail hole posture of the target nail hole relative to the tracing module based on a first posture of the mobile tracing rod relative to the optical navigation device and a second posture of the tracing module relative to the optical navigation device comprises: Based on the first pose of the mobile tracer rod relative to the optical navigation device and the fixed position relationship between the end of the inspection rod and the mobile tracer rod, a first intermediate pose of the target nail hole relative to the optical navigation device is determined by using pose conversion when the inspection rod contacts the target nail hole; Based on the first intermediate posture and the second posture of the tracing module relative to the optical navigation device, determining a first nail hole posture of the target nail hole relative to the tracing module by using posture conversion; And / or, in a case where the mobile tracer rod is connected to the mounting rod, controlling the movement of the mounting rod based on the first nail hole posture so that the target nail hole reaches the planned nail hole posture, comprising: Based on the first nail hole position, controlling the movement of the mounting rod makes the target nail hole reach the middle nail hole position, so that the target prosthesis reaches the planned position; When the mobile tracer rod is connected to the mounting rod, the rotation angle of the target nail hole is determined based on the deviation angle between the intermediate nail hole posture and the planned nail hole posture, and the mounting rod is rotated by the rotation angle so that the target nail hole reaches the planned nail hole posture from the intermediate nail hole posture.

8. The method for visual placement of a prosthesis according to claim 7, characterized in that: The step of rotating the mounting rod by the rotation angle so that the target nail hole reaches the planned nail hole posture from the intermediate nail hole posture comprises: The mobile tracer rod is controlled to push the mounting rod to rotate around the mounting rod axis, so as to drive the target nail hole to rotate the rotation angle and reach the planned nail hole posture.

9. The method for visual placement of a prosthesis according to any one of claims 6 to 8, characterized in that: The prosthesis visualization placement method also includes: Display at least one of the following during the movement of the target nail hole: The current nail hole position of the target nail hole; The moving trajectory of the target nail hole; a current prosthesis pose of the target prosthesis; The moving trajectory of the target prosthesis; Plan the nail hole position; A deviation value between the current nail hole posture and the planned nail hole posture; A current nail path determined based on the current nail hole posture of the target nail hole; Planning of nail paths; An offset between the current nail path and the planned nail path; And / or, when the mobile tracer rod is connected to the inspection rod, the inspection rod contacts the target nail hole to obtain the current position of the target nail hole, so as to determine the final position of the target prosthesis after placement.

10. The method for visual placement of a prosthesis according to claim 9, characterized in that: The obtaining of the current position of the target nail hole comprises: Based on the third posture of the mobile tracer rod relative to the optical navigation device, and the fixed position relationship between the end of the inspection rod and the mobile tracer rod, posture conversion is used to determine the current posture of the target nail hole relative to the optical navigation device when the inspection rod contacts the target nail hole.

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