Prosthesis position adjusting system and method, pose calibration method and device and storage medium

Abstract

The invention relates to a prosthesis position adjusting system and method, a pose calibration method and device and a storage medium. The prosthesis position adjusting system comprises a connecting rod used for being connected with different working rods in a replaceable mode and rotating around the axis of the connecting rod so as to drive the connected working rods to rotate around the axes of the working rods; and the mechanical arm equipment comprises a mechanical arm, the tail end of the mechanical arm is connected with the connecting rod, and the mechanical arm is used for controlling the connecting rod to move and / or rotate according to the poses of the first tracing module and the second tracing module, so that the target prosthesis reaches the planned pose and / or the target nail hole of the target prosthesis reaches the planned nail hole pose. According to the embodiment of the invention, the requirement of early-stage nail path planning of the implanted nails can be met, the parameters such as the mounting position, angle and length of each implanted nail can be accurately determined, and accurate implantation of the implanted nails can be realized.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a prosthesis positioning system and method, a posture calibration method, device and storage medium. Background Art

[0002] The success of the screw placement procedure is crucial because they directly affect the stability of the prosthesis fixed by the screw. For example, in total hip replacement, the installation and fixation of the acetabular cup is one of the key steps. The stability of the acetabular cup affects the long-term performance and rehabilitation effect of the acetabular cup. In certain specific cases, due to insufficient bone mass, osteoporosis or structural defects, screw fixation is usually required to enhance the stability of the acetabular cup.

[0003] At present, the relevant technology mainly relies on manual experience to select the screw and measure the implantation length. For example, after the screw is partially implanted, a probe or a screw hole detector is usually inserted into the hole of the acetabular cup to measure the implanted length. This method has the problems of strong subjectivity and low accuracy, which may lead to improper selection of screw length; repeated measurement and adjustment are required, and the operation efficiency is low; and due to the lack of real-time and accurate depth feedback, there is a risk of the screw being too long to penetrate the pelvis, resulting in adverse consequences.

[0004] Therefore, accurate implantation of the screw is crucial. Summary of the invention

[0005] In view of this, the embodiments of the present application provide a prosthesis positioning system and method, a prosthesis posture calibration method, an electronic device and a storage medium to solve at least one problem existing in the background technology.

[0006] In a first aspect, an embodiment of the present application provides a prosthesis positioning system, the prosthesis positioning system comprising: A connecting rod, used to replaceably connect different working rods and rotate around the axis of the connecting rod to drive the connected working rod to rotate around the axis of the working rod; A first tracing module, mounted on the connecting rod, for indicating the position and posture of the connecting rod; A second tracing module is used to indicate the planned position and posture of the target prosthesis; An optical navigation device, used for measuring the positions and postures of the first tracing module and the second tracing module; A robotic arm device, comprising a robotic arm, a distal end of which is connected to the connecting rod, and is used to control the movement and / or rotation of the connecting rod according to the postures of the first tracing module and the second tracing module, so that a target prosthesis reaches a planned posture and / or a target nail hole of the target prosthesis reaches a planned nail hole posture; Wherein, the working rod comprises a tracer rod and a mounting rod; The end of the tracer rod is used to install the second tracer module, and the end of the mounting rod is used to install the target prosthesis. When the robotic arm device controls the movement of the robotic arm according to the postures of the first tracer module and the second tracer module to control the end of the tracer rod to reach a preset posture, when the mounting rod replaces the tracer rod and is installed on the connecting rod, the movement of the robotic arm is controlled to control the target prosthesis to reach the planned posture and / or the target nail hole of the target prosthesis to reach the planned nail hole posture.

[0007] In combination with the first aspect, in an optional embodiment, the tracer rod includes a polishing rod; The end of the polishing rod is used to install the second tracing module and polish the installation part of the target prosthesis.

[0008] In combination with the first aspect, in an optional implementation, the connecting rod includes a first connecting port; The working rod includes a second connection port; The first connection port and the second connection port are used for detachable connection, so that the connecting rod can be interchangeably connected to different working rods.

[0009] In combination with the first aspect, in an optional implementation, the prosthesis positioning system further includes: The tracing probe is used to contact the target nail hole and detect the position and posture of the target nail hole; the robotic arm device is also used to control the movement and / or rotation of the mounting rod according to the position and posture of the target nail hole to calibrate the position and posture of the target nail hole so that the target nail hole reaches the planned nail hole position and posture; The third tracing module is installed on the tracing probe and is used to indicate the position and posture of the tracing probe.

[0010] In a second aspect, an embodiment of the present application provides a prosthesis positioning method, the prosthesis positioning method comprising: Acquire a planned position and posture of a target prosthesis; wherein the planned position and posture comprises at least one of the following: a planned prosthesis position and posture of the target prosthesis; a planned nail hole position and posture of each target nail hole on the target prosthesis; Acquire a first real-time posture of a first tracer module relative to an optical navigation device and a second real-time posture of a second tracer module relative to the optical navigation device, and control the action of a mechanical arm based on the first real-time posture and the second real-time posture to control the movement and / or rotation of a connecting rod, so that the end of the tracer rod reaches a preset posture; wherein the end of the mechanical arm is connected to the connecting rod; the tracer rod is connected to the connecting rod and rotates around the axis of the tracer rod as the connecting rod rotates around the axis of the connecting rod; the first tracer module is mounted on the connecting rod to indicate the posture of the connecting rod; the second tracer module is mounted at the end of the tracer rod to indicate the posture of the end of the tracer rod to indicate the planned posture; When the end of the tracer rod completes reaching the preset posture, when the mounting rod replaces the tracer rod and is installed on the connecting rod, the robot arm is controlled to control the movement and / or rotation of the mounting rod, so that the target prosthesis reaches the planned posture; wherein, the mounting rod is connected to the connecting rod and rotates around the mounting rod axis as the connecting rod rotates around the connecting rod axis; the target prosthesis is mounted at the end of the mounting rod.

[0011] In combination with the second aspect, in an optional embodiment, the tracer rod includes a grinding rod; the end of the grinding rod is used to install the second tracer module to position the end, or to install a grinding device to grind the installation part of the target prosthesis; The controlling the action of the robot arm based on the first real-time posture and the second real-time posture to control the movement and / or rotation of the connecting rod so that the end of the tracer rod reaches a preset posture includes: Registering the medical image coordinate system and the optical navigation device coordinate system to obtain a conversion relationship between the medical image coordinate system and the optical navigation device coordinate system; Acquire a polishing posture in a medical image coordinate system obtained based on medical image data planning, and convert the polishing posture into a preset posture in an optical navigation device coordinate system according to the conversion relationship and the polishing posture; Based on the first real-time posture and the second real-time posture, the action of the robot arm is controlled to control the movement and / or rotation of the connecting rod, so that the end of the grinding rod grinds the installation part of the target prosthesis and reaches the preset posture.

[0012] In a third aspect, an embodiment of the present application provides a prosthesis posture calibration method, the prosthesis posture calibration method comprising: Using the prosthesis positioning method as described in the second aspect, the target prosthesis reaches the planned position; Acquire the first position of the second tracing module relative to the first tracing module, and when the end of the tracing probe contacts the central target nail hole of the target prosthesis, determine the current position of the central target nail hole relative to the third tracing module according to the first position; wherein the third tracing module is installed on the tracing probe and is used to indicate the position of the tracing probe; The deviation of the central target nail hole is determined according to the current posture and the planned posture, and the robot arm movement is controlled to control the installation rod to move and / or rotate so that the deviation is within the calibration threshold range.

[0013] In combination with the third aspect, in an optional implementation, when the end of the tracing probe contacts the central target nail hole of the target prosthesis, determining the current posture of the central target nail hole relative to the third tracing module according to the first posture includes: Obtaining an axial offset matrix of the central target nail hole relative to the end of the tracer rod, and determining a transformation matrix between the central target nail hole coordinate system and the first tracer module coordinate system according to the axial offset matrix and the second posture of the end of the tracer rod relative to the first tracer module; wherein the Z-axis direction of the central target nail hole coordinate system is the axis direction of the mounting rod; The current posture of the central target nail hole relative to the third tracing module is determined according to the transformation matrix and the transformed posture of the first tracing module relative to the third tracing module when the distal end of the tracing probe contacts the central target nail hole of the target prosthesis.

[0014] In a fourth aspect, an embodiment of the present application provides an electronic device, the electronic device comprising: a memory storing instructions; and A processor is configured to execute the instructions to implement the prosthesis positioning method as described in the second aspect and / or the prosthesis posture calibration method as described in the third aspect.

[0015] In a fifth aspect, an embodiment of the present application provides a storage medium, in which a computer program is stored. When the computer program is executed, it can implement the prosthesis positioning method as described in the second aspect and / or the prosthesis posture calibration method as described in the third aspect.

[0016] The beneficial effects brought by the technical solution provided by the embodiment of the present application include: by setting a prosthesis positioning system including a connecting rod, a first tracing module, a second tracing module, an optical navigation device, a mechanical arm device and a mechanical arm, and setting a working rod including a tracing rod and a mounting rod, and both of which can be connected to the connecting rod, it is possible to control the movement and / or rotation of the connecting rod to drive the tracing rod and the mounting rod to move and / or rotate, so that the target prosthesis reaches the planned posture and the target nail hole of the target prosthesis reaches the planned posture, thereby meeting the requirements of the preliminary nail channel planning of the nailing, and accurately determining the installation position, angle and length of each nail, so as to achieve accurate implantation of the nail. And it is possible to measure, accurately feedback and navigate the target prosthesis and nail channel posture in real time during the implantation process, without multiple measurements and adjustments, thereby improving the implantation efficiency and reducing the risk of penetration.

[0017] 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

[0018] 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 This is a structural schematic diagram of a specific example of a prosthesis positioning system in an embodiment of the present application; Figure 2 This is a schematic structural diagram of a specific example of a tracer probe in an embodiment of the present application; Figure 3 A schematic flow chart of a specific example of a prosthesis positioning method in an embodiment of the present application; Figure 4 A flowchart of a specific example of a prosthesis posture calibration method in an embodiment of the present application; Figure 5 A schematic diagram of a principle block diagram of a specific example of a prosthesis positioning device in an embodiment of the present application; Figure 6 A schematic diagram of a principle block diagram of a specific example of a prosthesis posture calibration device in an embodiment of the present application; Figure 7 A schematic diagram of a principle block diagram of a specific example of an electronic device in an embodiment of the present application.

[0019] Description of reference numerals: 101 - connecting rod, 102 - first tracing module, 103 - second tracing module, 104 - mechanical arm, 105 - tracing rod, 106 - mounting rod, 107 - target prosthesis, 1071 - target nail hole, 108 - sleeve, 109 - tracing probe, 110 - third tracing module. DETAILED DESCRIPTION

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] In the embodiments of the present application, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above", "said", "aforementioned", "this", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun after the article may be understood as a singular expression or a plural expression.

[0025] In the embodiments of the present application, "plurality" refers to two or more.

[0026] In some embodiments, the terms “at least one”, “one or more”, “a plurality of”, “multiple”, etc. can be used interchangeably.

[0027] 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.

[0028] 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.

[0029] 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).

[0030] The embodiment of the present application provides a prosthesis positioning system, Figure 1 A structural schematic diagram of a specific example of a prosthesis positioning system in an embodiment of the present application is shown. As shown in the figure, the prosthesis positioning system includes: The connecting rod 101 is used to connect different working rods interchangeably and rotate around the axis of the connecting rod to drive the connected working rod to rotate around the axis of the working rod; A first tracing module 102, mounted on the connecting rod 101, for indicating the position of the connecting rod 101; A second tracing module 103, used to indicate the planned position and posture of the target prosthesis; An optical navigation device (not shown in the figure), used to measure the position and posture of the first tracer module and the second tracer module; A robotic arm device, comprising a robotic arm 104, the end of which is connected to the connecting rod 101, and is used to control the movement of the connecting rod 101 and / or the rotation of the connecting rod 101 according to the postures of the first tracing module 102 and the second tracing module 103, so that the target prosthesis 107 reaches the planned posture and / or the target nail hole 1071 of the target prosthesis 107 reaches the planned nail hole posture; Wherein, the working rod includes a tracer rod 105 and a mounting rod 106; The end of the tracer rod 105 is used to install the second tracer module 103, and the end of the mounting rod 106 is used to install the target prosthesis 107. When the robotic arm device controls the movement of the robotic arm 104 according to the postures of the first tracer module 102 and the second tracer module 103 to control the end of the tracer rod 105 to reach a preset posture, when the mounting rod 106 replaces the tracer rod 105 and is installed on the connecting rod 101, the robotic arm 104 is controlled to move to control the target prosthesis 107 to reach the planned posture and / or the target nail hole 1071 of the target prosthesis 107 to reach the planned nail hole posture.

[0031] In this way, the embodiment of the present application sets a prosthesis positioning system including a connecting rod, a first tracing module, a second tracing module, an optical navigation device, a mechanical arm device and a mechanical arm, and sets a working rod including a tracing rod and a mounting rod, and both of which can be connected to the connecting rod, so that the target prosthesis reaches the planned posture and the target nail hole of the target prosthesis reaches the planned posture by controlling the movement and / or rotation of the connecting rod, thereby meeting the requirements of the preliminary nail channel planning of the nailing, accurately determining the installation position, angle and length of each nail, and realizing the accurate implantation of the nail. In addition, the target prosthesis and nail channel posture can be measured, accurately fed back and navigated in real time during the implantation process, without the need for multiple measurements and adjustments, thereby improving the implantation efficiency and reducing the risk of penetration.

[0032] In some possible implementations, the connecting rod 101 can be inserted into a sleeve 108 connected to the end of the mechanical arm 104 to achieve connection with the end of the mechanical arm 104, and can rotate around the connecting rod axis in the sleeve 108, but the present invention is not limited thereto. The connecting rod 101 can also be connected to the end of the mechanical arm 104 and can rotate around the connecting rod axis through meshing between external gears or other connection methods.

[0033] The connecting rod 101 can be detachably connected to the working rod coaxially, and the connecting rod axis and the working rod axis are in the same straight line. The connecting rod 101 can also be detachably connected to the working rod non-coaxially, and the connecting rod axis and the working rod axis can be parallel to each other or at an angle to meet the installation requirements of various target prostheses.

[0034] The connecting rod 101 can be connected to any type and function of working rods. For example, the working rod can include a tracing rod with only a tracing function, a grinding rod with a tracing and grinding function, a mounting rod for mounting a target prosthesis, and the like.

[0035] In the embodiment of the present application, the tracing module may include a first tracing module, a second tracing module and a third tracing module.

[0036] In some possible implementations, the tracing module may include a tracking bracket and three or more (e.g., four) active luminous markers or passive markers, wherein the markers are fixed to the tracking bracket in a preset manner, and the tracking bracket is fixed to a marking position to be located and calibrated (e.g., a connecting rod, a tracing rod, a tracing probe, etc.), so as to be used for the optical navigation device to identify and track the position of the marking position in the working space.

[0037] 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.

[0038] Exemplarily, the optical navigation device can measure the pose of the tracer module in the optical navigation device coordinate system, that is, can measure the pose of the first tracer module, the second tracer module and the third tracer module in the optical navigation device coordinate system, and record and / or output. For example, the electronic device (processor) of the system can obtain the real-time pose of the first tracer module and the second tracer module in the optical navigation device coordinate system, respectively, so that the pose of the second tracer module relative to the first tracer module can be calculated by pose conversion. The pose conversion can be achieved based on at least one intermediate pose.

[0039] The pose can be a description of the position and posture of an object in three-dimensional space. In some possible implementations, the description of the 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. The pose can be named differently, such as spatial coordinates, etc., and the names are not limited here.

[0040] The first tracer module may be installed at any position of the connecting rod, for example, may be installed at one end of the connecting rod.

[0041] The second tracer module can be installed at the end of the tracer rod, which can directly indicate the position of the end of the tracer rod, reduce calculations, and improve work efficiency, but is not limited to this. The second tracer module can also be installed at any position of the tracer rod.

[0042] The third tracing module can be installed at any position of the tracing probe, for example, it can be installed at the other end opposite to one end of the contact pin hole. The markers of the third tracing module can be arranged according to the shape of the tracing probe to reduce the volume of the tracing probe, simplify the structure and improve the convenience of operation.

[0043] In some possible implementations, the target prosthesis may include a prosthesis such as an acetabular cup or a patch. The target nail hole may be each nail hole on the target prosthesis for passing the target implant. The target implant may be each implant used to fix the target prosthesis. Taking total hip replacement (such as acetabular cup implantation) as an example, the target prosthesis may be an acetabular cup.

[0044] 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.

[0045] The planned position and posture of the target prosthesis may include at least one of the following: the planned prosthesis position and posture of the target prosthesis; and the planned nail hole position and posture of each target nail hole on the target prosthesis.

[0046] Since there may be a fixed spacing between the end of the mounting rod and the end of the grinding rod, there is a corresponding relationship between the preset posture to be reached by the end of the tracer rod and the planned posture to be reached by the target prosthesis. That is, when the end of the tracer rod reaches the preset posture, the target prosthesis connected to the end of the mounting rod can reach the planned posture accordingly; and at this time, the motion parameters of the robot arm can be recorded, and then after the connecting rod is connected to the mounting rod, the target prosthesis can be made to reach the planned posture according to the motion parameters.

[0047] In some possible implementations, the current position of the target prosthesis and the target nail hole can also be displayed by a display device. The display device can be a device included in the robot arm device, for example, a display device such as a display screen is provided on the robot arm device. The display device can also be a device included in an electronic device, for example, an electronic device is provided with a display device such as a display screen.

[0048] In an optional embodiment, the tracer rod 105 comprises a polished rod; The end of the grinding rod is used to install the second tracing module 103 to locate the end, or to install a grinding device to grind the installation part of the target prosthesis.

[0049] In this way, the grinding rod can grind away obstacles that prevent the end of the grinding rod from accurately reaching the preset position, which can improve the accuracy of the end of the grinding rod reaching the preset position, thereby achieving accurate implantation of the nail.

[0050] In an optional embodiment, the connecting rod 101 includes a first connecting port; The working rod includes a second connection port; The first connection port and the second connection port are used for detachable connection, so that the connection rod 101 can be interchangeably connected to different working rods.

[0051] In this way, by detachably connecting the first connection port and the second connection port, the flexible usability of the prosthesis positioning system can be improved and the scope of application can be expanded.

[0052] 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.

[0053] Figure 2 A schematic diagram of the structure of a specific example of a tracing probe in an embodiment of the present application is shown. As shown in the figure, in an optional embodiment, the prosthesis positioning system further includes: The tracing probe 109 is used to contact the target nail hole and detect the position of the target nail hole; the robotic arm device is also used to control the installation rod 106 to move and / or rotate according to the position of the target nail hole, so as to calibrate the position of the target nail hole so that the target nail hole reaches the planned nail hole position; The third tracing module 110 is installed on the tracing probe 109 and is used to indicate the position and posture of the tracing probe 109 .

[0054] In this way, by setting up the prosthesis positioning system including the tracing probe and the third tracing module, it is possible to calibrate the position of the target nail hole, improve the positioning accuracy of the target nail hole, and further improve the implantation accuracy of the nail.

[0055] In some possible implementations, the tracer probe 109 may be a fixed structure, that is, the distance between the end of the tracer probe 109 and the third tracer module 110 is fixed. Therefore, the posture of the end of the tracer probe relative to the third tracer module can be obtained by obtaining the posture of the third tracer module in the optical navigation device coordinate system, and using posture conversion calculation. When the end of the tracer probe contacts the target nail hole, the posture of the target nail hole relative to the third tracer module can be obtained.

[0056] The present application also provides a prosthesis positioning method. Figure 3 A flow chart of a specific example of a prosthesis adjustment method in an embodiment of the present application is shown. As shown in the figure, the prosthesis adjustment method includes: S101: Acquire a planned position and posture of a target prosthesis; wherein the planned position and posture includes at least one of the following: a planned prosthesis position and posture of the target prosthesis; a planned nail hole position and posture of each target nail hole on the target prosthesis; S102: Obtain a first real-time posture of the first tracer module relative to the optical navigation device and a second real-time posture of the second tracer module relative to the optical navigation device, and control the action of the mechanical arm based on the first real-time posture and the second real-time posture to control the movement and / or rotation of the connecting rod, so that the end of the tracer rod reaches a preset posture; wherein the end of the mechanical arm is connected to the connecting rod; the tracer rod is connected to the connecting rod and rotates around the axis of the tracer rod as the connecting rod rotates around the axis of the connecting rod; the first tracer module is installed on the connecting rod to indicate the posture of the connecting rod; the second tracer module is installed at the end of the tracer rod to indicate the posture of the end of the tracer rod to indicate the planned posture; S103: When the end of the tracer rod completes reaching the preset posture, when the mounting rod replaces the tracer rod and is installed on the connecting rod, the robot arm is controlled to control the movement and / or rotation of the mounting rod, so that the target prosthesis reaches the planned posture; wherein, the mounting rod is connected to the connecting rod and rotates around the mounting rod axis as the connecting rod rotates around the connecting rod axis; the target prosthesis is installed at the end of the mounting rod.

[0057] In this way, the embodiment of the present application controls the movement and / or rotation of the connecting rod based on the first real-time posture and the second real-time posture to achieve the movement and / or rotation of the tracer rod, so that the end of the tracer rod reaches the preset posture; and when the connecting rod is connected to the mounting rod, the movement and / or rotation of the mounting rod can be controlled to move the target prosthesis to the planned posture corresponding to the preset posture reached by the end of the tracer rod, thereby improving the positioning accuracy, shortening the operation time, improving the work efficiency, reducing the risk of penetration, and achieving accurate implantation of the implant nail. And through the planned posture of the target prosthesis, personalized customization can be achieved, and the scope of application is increased.

[0058] In an optional embodiment, the tracer rod includes a grinding rod; the end of the grinding rod is used to install the second tracer module and grind the installation part of the target prosthesis; The controlling the action of the robot arm based on the first real-time posture and the second real-time posture to control the movement and / or rotation of the connecting rod so that the end of the tracer rod reaches a preset posture includes: S1021: registering the medical image coordinate system and the optical navigation device coordinate system to obtain a conversion relationship between the medical image coordinate system and the optical navigation device coordinate system; S1022: Acquire a polishing posture in a medical image coordinate system obtained based on the medical image data planning, and convert the polishing posture into a preset posture in an optical navigation device coordinate system according to the conversion relationship and the polishing posture; S1023: Based on the first real-time posture and the second real-time posture, the robot arm is controlled to move and / or rotate the connecting rod, so that the end of the grinding rod grinds the installation part of the target prosthesis and reaches the preset posture.

[0059] In this way, by accurately aligning the medical image coordinate system and the optical navigation device coordinate system, the measurement accuracy of the end of the grinding rod is improved, so that the end of the grinding rod can accurately reach the preset position, improve the positioning accuracy, and then achieve accurate implantation of the nail.

[0060] In some possible implementations, the registration between the medical image coordinate system and the optical navigation device coordinate system can be achieved based on a marking module set at the installation site of the target prosthesis. The marking module can be recognized and measured by the medical imaging device and the optical navigation device at the same time. By collecting multiple feature points at the installation site of the target prosthesis, accurate registration of the medical image coordinate system and the optical navigation device coordinate system can be achieved. The specific method of registration is not the inventive point of the present invention, and it is all prior art, so the present invention will not introduce it in detail.

[0061] Medical imaging equipment may include at least one of the following: CT equipment (computer tomography equipment), MRI equipment (magnetic resonance imaging equipment). Medical imaging data may include at least one of the following: CT data, MRI data. Medical imaging data obtained by CT equipment is CT data, and medical imaging data obtained by MRI equipment is MRI data.

[0062] Taking total hip replacement (such as acetabular cup implantation) as an example, the planning based on medical imaging data can be the above-mentioned preliminary nail track planning, which will not be repeated here. The grinding rod can include an acetabular rasp (grinding device), which can drive the acetabular rasp to grind the installation part of the target prosthesis (such as the acetabular socket). The system automatically monitors the grinding progress and automatically stops when the planned grinding posture is reached.

[0063] Automatic positioning of the target prosthesis can be performed after polishing is completed, and may include the following steps: remove the straight polishing rod and insert the straight mounting rod from the sleeve; install the target prosthesis (such as acetabular cup) at the end of the mounting rod; according to the planned position of the target prosthesis, control the robotic arm to guide the target prosthesis to the planned position; ensure that the anteversion angle and abduction angle of the target prosthesis are consistent with the plan.

[0064] like Figure 1 and Figure 2 As shown, the coordinate system in the embodiment of the present application may include: a medical image coordinate system (not shown in the figure), an optical navigation device coordinate system (not shown in the figure), a first tracing module coordinate system (sleeve, such as a sleeve tracer coordinate system), a second tracing module coordinate system (grind, such as a grinding rod end coordinate system), a center target nail hole coordinate system (install), and a third tracing module coordinate system (probe, such as a tracing probe coordinate system).

[0065] The central target nail hole may be a target nail hole located at the center of the target prosthesis among all the target nail holes of the target prosthesis. The Z-axis direction of the central target nail hole coordinate system (install) may be the axis direction of the installation rod, and the X-axis direction and the Y-axis direction are respectively perpendicular to the Z-axis direction, so that there is only an axial deviation between the central target nail hole position, the installation rod end position and the grinding rod end position, thereby simplifying the calculation and improving the work efficiency, but not limited to this. The X-axis, Y-axis and Z-axis directions of the central target nail hole coordinate system (install) may also be set according to actual needs.

[0066] The present application also provides a prosthesis posture calibration method. Figure 4 A flow chart of a specific example of a prosthesis posture calibration method in an embodiment of the present application is shown. As shown in the figure, the prosthesis posture calibration method includes: S201: using the prosthesis positioning method of the above embodiment to make the target prosthesis reach the planned posture; S202: acquiring a first position of the second tracing module relative to the first tracing module, and determining a current position of the central target nail hole relative to a third tracing module according to the first position when the end of the tracing probe contacts the central target nail hole of the target prosthesis; wherein the third tracing module is mounted on the tracing probe and is used to indicate the position of the tracing probe; S203: Determine the deviation of the central target nail hole according to the current posture and the planned posture, and control the robot arm to move and / or rotate the mounting rod so that the deviation is within a calibration threshold range.

[0067] In this way, the embodiment of the present application can measure the current posture of the central target nail hole relative to the third tracer module in real time by using the tracer probe, and can determine the deviation of the central target nail hole in combination with the planned posture; by controlling the movement and / or rotation of the mounting rod so that the deviation is within the calibration threshold range, the deviation can be reduced or eliminated, the positioning accuracy of the target nail hole can be improved, and the implantation accuracy of the nail can be improved. In addition, the positions of the target nail holes on the target prosthesis are relatively fixed. By calibrating the deviation of the central target nail hole, the posture calibration of all target nail holes can be achieved, and the posture calibration of the target prosthesis can be achieved; and the use of the central target nail hole can also simplify calculations and improve work efficiency.

[0068] In some possible implementations, the deviation amount of the central target nail hole may include at least one of the following: deviation displacement, deviation angle. By controlling the rotation of the mounting rod, the deviation angle can be calibrated, for example, so that the deviation angle is 0, or within the deviation angle threshold range. And by controlling the movement of the mounting rod, the deviation displacement can be calibrated, for example, so that the deviation displacement is 0, or within the deviation displacement threshold range. Therefore, calibration can be achieved in terms of both angle and displacement, thereby improving calibration accuracy.

[0069] Exemplarily, the deviation angle can be obtained by calculating the angle deviation between the projection point coordinates of the central target nail hole relative to the current posture of the third tracing module (i.e., the starting posture of the target implant or nail channel) on the XY plane of the central target nail hole coordinate system (install) and the X-axis, that is, the deviation angle between the actual nail channel and the planned nail channel. Rotate the mounting rod to rotate the projection point coordinates on the XY plane until the deviation angle is 0, indicating that the target nail hole is in place and reaches the planned nail hole posture. In this way, after completing the calibration of the target prosthesis posture, the mounting rod can be locked to prevent axial rotation so that the implant of the pre-selected length can be accurately implanted into each nail hole.

[0070] In an optional embodiment, when the end of the tracing probe contacts the central target nail hole of the target prosthesis, determining the current posture of the central target nail hole relative to the third tracing module according to the first posture includes: S2031: Obtain an axial offset matrix of the central target nail hole relative to the end of the tracer rod, and determine a transformation matrix between the central target nail hole coordinate system and the first tracer module coordinate system according to the axial offset matrix and the second posture of the end of the tracer rod relative to the first tracer module; wherein the Z-axis direction of the central target nail hole coordinate system is the axis direction of the mounting rod; S2032: Determine a current posture of the central target nail hole relative to the third tracing module based on the transformation matrix and the transformed posture of the first tracing module relative to the third tracing module when the distal end of the tracing probe contacts the central target nail hole of the target prosthesis.

[0071] Exemplarily, since there is only an axial deviation between the position of the center target nail hole, the position of the end of the mounting rod and the position of the end of the grinding rod, the axial deviation matrix T_grind2offset of the center target nail hole relative to the end of the tracer rod can be measured and calculated, and then the transformation matrix T_sleeve2install between the center target nail hole coordinate system and the first tracer module coordinate system can be obtained through matrix operation: T_sleeve2install = T_sleeve2grind × T_grind2offset; wherein T_sleeve2grind represents the second posture of the end of the tracer rod relative to the first tracer module.

[0072] So through the coordinate system conversion method: T_install2probe = T_sleeve2install.inverse() × T_sleeve2probe, The current position T_install2probe of the center target nail hole relative to the third tracing module can be obtained; wherein, T_sleeve2install.inverse() represents the inverse matrix of the transformation matrix between the center target nail hole coordinate system and the first tracing module coordinate system, and T_sleeve2probe represents the transformation position of the first tracing module relative to the third tracing module when the end of the tracing probe contacts the center target nail hole of the target prosthesis.

[0073] Thus, the beneficial effects of the embodiments of the present application are as follows: 1. Improve measurement accuracy: The present invention uses high-precision three-dimensional imaging analysis and computer-aided planning to accurately determine the ideal position, angle and length of each implant. This method greatly improves the accuracy of measurement and effectively solves the problem of inaccurate subjective measurement.

[0074] 2. Shorten the operation time and improve efficiency: Based on the accurate planning in the early stage, the screw can be implanted directly in one step during the operation without multiple measurements and adjustments. This significantly reduces the operation time and improves the operation efficiency.

[0075] 3. Reduce the risk of penetration: Through accurate planning in the early stage and real-time navigation during the operation, the risk of penetration due to excessive length of the implant is greatly reduced. The system will provide real-time feedback during the operation to ensure that the implantation of the implant strictly follows the preset safety parameters and effectively prevent damage to important surrounding structures.

[0076] 4. Realize individual customization: The present invention fully takes individual differences into consideration. By analyzing and planning each specific imaging data, the system can formulate the optimal nail implantation strategy.

[0077] In summary, the present invention, by combining advanced imaging technology, computer-assisted planning and real-time navigation systems, can provide a comprehensive, accurate, efficient and safe solution for fixation of screws (such as acetabular cup screws in total hip replacement), significantly improving the accuracy and safety of the operation.

[0078] The following describes the device, electronic device, storage medium, etc. used to execute the prosthesis adjustment method and prosthesis posture calibration method provided in this application. The specific implementation process and technical effects are mentioned above and will not be repeated below.

[0079] The present application also provides a prosthesis positioning device, Figure 5The schematic diagram of the principle block diagram of a specific example of the prosthesis positioning device in the embodiment of the present application is shown. As shown in the figure, the prosthesis positioning device includes: The first acquisition module 1001 is used to acquire the planned posture of the target prosthesis; wherein the planned posture includes at least one of the following: the planned prosthesis posture of the target prosthesis; the planned nail hole posture of each target nail hole on the target prosthesis; The first control module 1002 is used to obtain a first real-time posture of the first tracer module relative to the optical navigation device and a second real-time posture of the second tracer module relative to the optical navigation device, and control the action of the mechanical arm based on the first real-time posture and the second real-time posture to control the movement and / or rotation of the connecting rod, so that the end of the tracer rod reaches a preset posture; wherein the end of the mechanical arm is connected to the connecting rod; the tracer rod is connected to the connecting rod and rotates around the axis of the tracer rod as the connecting rod rotates around the axis of the connecting rod; the first tracer module is installed on the connecting rod to indicate the posture of the connecting rod; the second tracer module is installed at the end of the tracer rod to indicate the posture of the end of the tracer rod to indicate the planned posture; The second control module 1003 is used to control the movement of the robotic arm to control the movement and / or rotation of the mounting rod when the mounting rod replaces the tracer rod and is installed on the connecting rod when the end of the tracer rod completes reaching the preset posture, so that the target prosthesis reaches the planned posture; wherein the mounting rod is connected to the connecting rod and rotates around the mounting rod axis as the connecting rod rotates around the connecting rod axis; and the target prosthesis is installed at the end of the mounting rod.

[0080] In an optional embodiment, the tracer rod includes a grinding rod; the end of the grinding rod is used to install the second tracer module and grind the installation part of the target prosthesis; The first control module comprises: A registration module, used for registering the medical image coordinate system and the optical navigation device coordinate system to obtain a conversion relationship between the medical image coordinate system and the optical navigation device coordinate system; A first determination module is used to obtain a grinding posture in a medical image coordinate system obtained based on medical image data planning, and convert the grinding posture into a preset posture in an optical navigation device coordinate system according to the conversion relationship and the grinding posture; The third control module is used to control the movement of the robot arm based on the first real-time posture and the second real-time posture to control the movement and / or rotation of the connecting rod, so that the end of the grinding rod grinds the installation part of the target prosthesis and reaches the preset posture.

[0081] The present application also provides a prosthesis posture calibration device, Figure 6The schematic diagram of the principle block diagram of a specific example of the prosthesis posture calibration device in the embodiment of the present application is shown. As shown in the figure, the prosthesis posture calibration device includes: The fourth control module 2001 is used to use the prosthesis positioning device of the above embodiment to make the target prosthesis reach the planned posture; The second determination module 2002 is used to obtain the first position of the second tracing module relative to the first tracing module, and when the end of the tracing probe contacts the central target nail hole of the target prosthesis, determine the current position of the central target nail hole relative to the third tracing module according to the first position; wherein the third tracing module is installed on the tracing probe and is used to indicate the position of the tracing probe; The calibration module 2003 is used to determine the deviation of the central target nail hole according to the current posture and the planned posture, and control the robot arm movement to control the installation rod to move and / or rotate so that the deviation is within the calibration threshold range.

[0082] In an optional implementation manner, the second determining module includes: A third determination module is used to obtain an axial offset matrix of the central target nail hole relative to the end of the tracer rod, and determine a transformation matrix between the central target nail hole coordinate system and the first tracer module coordinate system according to the axial offset matrix and the second posture of the end of the tracer rod relative to the first tracer module; wherein the Z-axis direction of the central target nail hole coordinate system is the axis direction of the mounting rod; The fourth determination module is used to determine the current posture of the central target nail hole relative to the third tracing module based on the transformation matrix and the conversion posture of the first tracing module relative to the third tracing module when the end of the tracing probe contacts the central target nail hole of the target prosthesis.

[0083] 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.

[0084] The present application also provides an electronic device, Figure 7 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 prosthesis positioning method and / or the prosthesis posture calibration method as described in the above embodiments.

[0085] like Figure 7 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.

[0086] Those skilled in the art will understand that Figure 7 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.

[0087] The electronic device of the embodiment of the present application may be a device included in a robotic arm device or an optical navigation device, that is, the function of the electronic device may be implemented on the robotic arm device or the optical navigation device; it may also be independent of the equipment in the prosthesis positioning system (such as an optical navigation device, a robotic arm device, etc.). 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 televisions, cameras and other types of electronic devices.

[0088] An 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 prosthesis positioning method and / or the prosthesis posture calibration method as described in the above embodiments can be implemented.

[0089] The computer program may also be used in Figure 7 The memory of the electronic device contains various program modules constituting the above-mentioned prosthesis positioning device and / or prosthesis posture calibration device, and the computer program composed of various program modules can realize the functions corresponding to the various steps in the prosthesis positioning method and / or prosthesis posture calibration method described in the above-mentioned embodiments when being executed.

[0090] The embodiment of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the 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 positioning method and / or the prosthesis posture calibration method provided in the above various implementations.

[0091] 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).

[0092] 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 positioning system, characterized in that: The prosthesis positioning system comprises: A connecting rod, used to replaceably connect different working rods and rotate around the axis of the connecting rod to drive the connected working rod to rotate around the axis of the working rod; A first tracing module, mounted on the connecting rod, for indicating the position and posture of the connecting rod; A second tracing module is used to indicate the planned position and posture of the target prosthesis; An optical navigation device, used for measuring the positions and postures of the first tracing module and the second tracing module; A robotic arm device, comprising a robotic arm, a distal end of which is connected to the connecting rod, and is used to control the movement and / or rotation of the connecting rod according to the postures of the first tracing module and the second tracing module, so that a target prosthesis reaches a planned posture and / or a target nail hole of the target prosthesis reaches a planned nail hole posture; Wherein, the working rod comprises a tracer rod and a mounting rod; The end of the tracer rod is used to install the second tracer module, and the end of the mounting rod is used to install the target prosthesis. When the robotic arm device controls the movement of the robotic arm according to the postures of the first tracer module and the second tracer module to control the end of the tracer rod to reach a preset posture, when the mounting rod replaces the tracer rod and is installed on the connecting rod, the movement of the robotic arm is controlled to control the target prosthesis to reach the planned posture and / or the target nail hole of the target prosthesis to reach the planned nail hole posture.

2. The prosthesis positioning system according to claim 1, characterized in that: The tracer rod includes a polished rod; The end of the grinding rod is used to install the second tracing module to position the end, or to install a grinding device to grind the installation part of the target prosthesis.

3. The prosthesis positioning system according to claim 1, characterized in that: The connecting rod includes a first connecting port; The working rod includes a second connection port; The first connection port and the second connection port are used for detachable connection, so that the connecting rod can be interchangeably connected to different working rods.

4. The prosthesis positioning system according to any one of claims 1 to 3, characterized in that: The prosthesis positioning system also includes: The tracing probe is used to contact the target nail hole and detect the position and posture of the target nail hole; the robotic arm device is also used to control the movement and / or rotation of the mounting rod according to the position and posture of the target nail hole to calibrate the position and posture of the target nail hole so that the target nail hole reaches the planned nail hole position and posture; The third tracing module is installed on the tracing probe and is used to indicate the position and posture of the tracing probe.

5. A prosthesis positioning method, characterized in that: The prosthesis positioning method comprises: Acquire a planned position and posture of a target prosthesis; wherein the planned position and posture comprises at least one of the following: a planned prosthesis position and posture of the target prosthesis; a planned nail hole position and posture of each target nail hole on the target prosthesis; Acquire a first real-time posture of a first tracer module relative to an optical navigation device and a second real-time posture of a second tracer module relative to the optical navigation device, and control the action of a mechanical arm based on the first real-time posture and the second real-time posture to control the movement and / or rotation of a connecting rod, so that the end of the tracer rod reaches a preset posture; wherein the end of the mechanical arm is connected to the connecting rod; the tracer rod is connected to the connecting rod and rotates around the axis of the tracer rod as the connecting rod rotates around the axis of the connecting rod; the first tracer module is mounted on the connecting rod to indicate the posture of the connecting rod; the second tracer module is mounted at the end of the tracer rod to indicate the posture of the end of the tracer rod to indicate the planned posture; When the end of the tracer rod completes reaching the preset posture, when the mounting rod replaces the tracer rod and is installed on the connecting rod, the robot arm is controlled to control the movement and / or rotation of the mounting rod, so that the target prosthesis reaches the planned posture; wherein, the mounting rod is connected to the connecting rod and rotates around the mounting rod axis as the connecting rod rotates around the connecting rod axis; the target prosthesis is mounted at the end of the mounting rod.

6. The prosthesis positioning method according to claim 5, characterized in that: The tracer rod includes a polishing rod; the end of the polishing rod is used to install the second tracer module and polish the installation part of the target prosthesis; The controlling the action of the robot arm based on the first real-time posture and the second real-time posture to control the movement and / or rotation of the connecting rod so that the end of the tracer rod reaches a preset posture includes: Registering the medical image coordinate system and the optical navigation device coordinate system to obtain a conversion relationship between the medical image coordinate system and the optical navigation device coordinate system; Acquire a polishing posture in a medical image coordinate system obtained based on medical image data planning, and convert the polishing posture into a preset posture in an optical navigation device coordinate system according to the conversion relationship and the polishing posture; Based on the first real-time posture and the second real-time posture, the action of the robot arm is controlled to control the movement and / or rotation of the connecting rod, so that the end of the grinding rod grinds the installation part of the target prosthesis and reaches the preset posture.

7. A prosthesis posture calibration method, characterized in that: The prosthesis posture calibration method comprises: Using the prosthesis positioning method as described in claim 5 or 6, the target prosthesis reaches the planned posture; Acquire the first position of the second tracing module relative to the first tracing module, and when the end of the tracing probe contacts the central target nail hole of the target prosthesis, determine the current position of the central target nail hole relative to the third tracing module according to the first position; wherein the third tracing module is installed on the tracing probe and is used to indicate the position of the tracing probe; The deviation of the central target nail hole is determined according to the current posture and the planned posture, and the robot arm movement is controlled to control the installation rod to move and / or rotate so that the deviation is within the calibration threshold range.

8. The prosthesis posture calibration method according to claim 7, characterized in that: When the end of the tracing probe contacts the central target nail hole of the target prosthesis, determining the current posture of the central target nail hole relative to the third tracing module according to the first posture includes: Obtaining an axial offset matrix of the central target nail hole relative to the end of the tracer rod, and determining a transformation matrix between the central target nail hole coordinate system and the first tracer module coordinate system according to the axial offset matrix and the second posture of the end of the tracer rod relative to the first tracer module; wherein the Z-axis direction of the central target nail hole coordinate system is the axis direction of the mounting rod; The current posture of the central target nail hole relative to the third tracing module is determined according to the transformation matrix and the transformed posture of the first tracing module relative to the third tracing module when the distal end of the tracing probe contacts the central target nail hole of the target prosthesis.

9. An electronic device, characterized in that: The electronic device comprises: a memory storing instructions; and A processor configured to execute the instructions to implement the prosthesis positioning method as described in claim 5 or 6 and / or the prosthesis posture calibration method as described in claim 7 or 8.

10. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed, can implement the prosthesis positioning method as described in claim 5 or 6 and / or the prosthesis posture calibration method as described in claim 7 or 8.

Images