Prosthesis Positioning System and Device, Pose Calibration Device, Equipment and Storage Medium

Abstract

The present application relates to a prosthesis positioning system and device, a pose calibration device, equipment, and a storage medium. The prosthesis positioning system according to an embodiment of the present application includes: a connecting rod, which is 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 robotic arm device, including a robotic arm, the end of the robotic arm is connected to the connecting rod, and is used to control the movement and / or rotation of the connecting rod 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. The embodiments of the present application can meet the requirements of the nail track planning in the early stage of nail implantation, accurately determine parameters such as the installation position, angle, and length of each nail implantation, and can achieve the accurate implantation of the nail.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular, to a prosthesis positioning system and device, a pose calibration device, equipment, and a storage medium. Background Art

[0002] The success of the implant operation of nails is crucial because they directly affect the stability of the prosthesis fixed by the nails. For example, in total hip arthroplasty, the installation and fixation of the acetabular cup are 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] Currently, in the related art, the selection of nails and the measurement of the implantation length are mainly based on manual experience. For example, after the screw is partially implanted, a probe or a nail hole detector is usually used multiple times to extend into the hole of the acetabular cup to measure the implanted length. This method has problems such as strong subjectivity and low accuracy, which may lead to improper selection of the screw length; it requires repeated measurement and adjustment, resulting in low operation efficiency; and due to the lack of real-time and accurate depth feedback, there is a risk of the screw penetrating the pelvis too long, leading to adverse consequences.

[0004] Therefore, the precise implantation of nails 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 pose calibration method, an electronic device, and a storage medium to solve at least one problem in the background art.

[0006] In a first aspect, the embodiments of the present application provide a prosthesis positioning system, and the prosthesis positioning system includes:

[0007] A connecting rod, which is used to connect different working rods replaceably and rotate around the axis of the connecting rod to drive the connected working rod to rotate around the axis of the working rod;

[0008] A first tracing module, which is installed on the connecting rod and is used to indicate the pose of the connecting rod;

[0009] A second tracing module, which is used to indicate the planned pose of the target prosthesis;

[0010] An optical navigation device, which is used to measure the poses of the first tracing module and the second tracing module;

[0011] A robotic arm device, including a robotic arm, the end of the robotic arm is connected to the connecting rod, and is used to control the movement and / or rotation of the connecting rod 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;

[0012] Wherein, the working rod includes a tracing rod and a mounting rod;

[0013] The end of the tracing rod is used to mount the second tracing module, and the end of the mounting rod is used to mount the target prosthesis. In the case where the robotic arm device controls the movement of the robotic arm according to the poses of the first tracing module and the second tracing module to control the end of the tracing rod to reach the preset pose, when the mounting rod replaces the tracing rod and is mounted on the connecting rod, control the movement of the robotic arm to control the target prosthesis to reach the planned pose and / or the target nail hole of the target prosthesis to reach the planned nail hole pose.

[0014] Combined with the first aspect, in an alternative embodiment, the tracing rod includes a grinding rod;

[0015] The end of the grinding rod is used to mount the second tracing module and grind the mounting part of the target prosthesis.

[0016] Combined with the first aspect, in an alternative embodiment, the connecting rod includes a first connection port;

[0017] The working rod includes a second connection port;

[0018] The first connection port and the second connection port are used for detachable connection to realize that the connecting rod can be replaceably connected to different working rods.

[0019] Combined with the first aspect, in an alternative embodiment, the prosthesis positioning system further includes:

[0020] A tracing probe, which is used to contact the target nail hole and detect the pose of the target nail hole; the robotic arm device is further used to control the movement and / or rotation of the mounting rod according to the pose of the target nail hole to calibrate the pose of the target nail hole so that the target nail hole reaches the planned nail hole pose;

[0021] A third tracing module, which is mounted on the tracing probe and is used to indicate the pose of the tracing probe.

[0022] In a second aspect, an embodiment of the present application provides a prosthesis positioning method, and the prosthesis positioning method includes:

[0023] Obtain the planned pose of the target prosthesis; wherein, the planned pose includes at least one of the following: the planned prosthesis pose of the target prosthesis; the planned hole poses of each target hole on the target prosthesis;

[0024] Obtain the first real-time pose of the first tracking module relative to the optical navigation device and the second real-time pose of the second tracking module relative to the optical navigation device, and control the movement of the robotic arm based on the first real-time pose and the second real-time pose to control the movement and / or rotation of the connecting rod, so that the end of the tracking rod reaches a preset pose; wherein, the end of the robotic arm is connected to the connecting rod; the tracking rod is connected to the connecting rod and rotates around the axis of the tracking rod as the connecting rod rotates around the axis of the connecting rod; the first tracking module is installed on the connecting rod and is used to indicate the pose of the connecting rod; the second tracking module is installed at the end of the tracking rod and is used to indicate the pose of the end of the tracking rod to indicate the planned pose;

[0025] In the case where the end of the tracking rod has reached the preset pose, when the installation rod replaces the tracking rod and is installed on the connecting rod, control the movement of the robotic arm to control the movement and / or rotation of the installation rod, so that the target prosthesis reaches the planned pose; wherein, the installation rod is connected to the connecting rod and rotates around the axis of the installation rod as the connecting rod rotates around the axis of the connecting rod; the target prosthesis is installed at the end of the installation rod.

[0026] Combined with the second aspect, in an alternative embodiment, the tracking rod includes a grinding rod; the end of the grinding rod is used to install the second tracking module to position the end, or is used to install a grinding device to grind the installation part of the target prosthesis;

[0027] The controlling the movement of the robotic arm based on the first real-time pose and the second real-time pose to control the movement and / or rotation of the connecting rod, so that the end of the tracking rod reaches a preset pose includes:

[0028] Register the medical image coordinate system and the optical navigation device coordinate system to obtain the conversion relationship between the medical image coordinate system and the optical navigation device coordinate system;

[0029] Obtain the grinding pose in the medical image coordinate system planned based on the medical image data, and convert it to the preset pose in the optical navigation device coordinate system according to the conversion relationship and the grinding pose;

[0030] Based on the first real-time pose and the second real-time pose, control the movement of the robotic arm 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 pose.

[0031] In a third aspect, an embodiment of the present application provides a prosthesis pose calibration method, which includes:

[0032] Using the prosthesis positioning method as described in the second aspect, the target prosthesis is moved to the planned pose;

[0033] Obtain the first pose of the second tracking module relative to the first tracking module, and when the end of the tracking probe touches the central target pin hole of the target prosthesis, determine the current pose of the central target pin hole relative to the third tracking module according to the first pose; wherein, the third tracking module is installed on the tracking probe and is used to indicate the pose of the tracking probe;

[0034] Determine the deviation amount of the central target pin hole according to the current pose and the planned pose, and control the movement of the robotic arm to control the movement and / or rotation of the mounting rod, so that the deviation amount is within the calibration threshold range.

[0035] Combined with the third aspect, in an optional implementation manner, when the end of the tracking probe touches the central target pin hole of the target prosthesis, determining the current pose of the central target pin hole relative to the third tracking module according to the first pose includes:

[0036] Obtain the axial offset matrix of the central target pin hole relative to the end of the tracking rod, and determine the transformation matrix between the central target pin hole coordinate system and the first tracking module coordinate system according to the axial offset matrix and the second pose of the end of the tracking rod relative to the first tracking module; wherein, the Z-axis direction of the central target pin hole coordinate system is the axis direction of the mounting rod;

[0037] Determine the current pose of the central target pin hole relative to the third tracking module according to the transformation matrix and the conversion pose of the first tracking module relative to the third tracking module when the end of the tracking probe touches the central target pin hole of the target prosthesis.

[0038] In a fourth aspect, an embodiment of the present application provides an electronic device, which includes:

[0039] A memory that stores instructions; and

[0040] A processor configured to execute the instructions to implement the prosthesis positioning method as described in the second aspect and / or the prosthesis pose calibration method as described in the third aspect.

[0041] In a fifth aspect, an embodiment of the present application provides a storage medium, in which a computer program is stored, and when the computer program is executed, it can implement the prosthesis positioning method as described in the second aspect and / or the prosthesis pose calibration method as described in the third aspect.

[0042] The beneficial effects brought by the technical solution provided in the embodiments of the present application include: By providing a prosthesis positioning system including a connecting rod, a first tracing module, a second tracing module, an optical navigation device, a robotic arm device, and a robotic arm, and by providing a working rod including a tracing rod and a mounting rod, both of which can be connected to the connecting rod, it is possible to drive the tracing rod and the mounting rod to move and / or rotate by controlling the movement and / or rotation of the connecting rod, so that the target prosthesis reaches the planned pose and the target nail holes of the target prosthesis reach the planned pose. Thus, the requirements for the pre-implantation nail track planning can be met, and parameters such as the installation position, angle, and length of each implant nail can be accurately determined, enabling the precise implantation of the implant nail. And it can measure, accurately feedback, and navigate the pose of the target prosthesis and the nail track in real time during the implantation process, without multiple measurements and adjustments, improving the implantation efficiency and reducing the penetration risk.

[0043] Additional aspects and advantages of the embodiments of the present application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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 schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0045] Figure 1 is a schematic structural diagram of a specific example of the prosthesis positioning system in the embodiments of the present application;

[0046] Figure 2 is a schematic structural diagram of a specific example of the tracing probe in the embodiments of the present application;

[0047] Figure 3 is a schematic flowchart of a specific example of the prosthesis positioning method in the embodiments of the present application;

[0048] Figure 4 is a schematic flowchart of a specific example of the prosthesis pose calibration method in the embodiments of the present application;

[0049] Figure 5 is a schematic block diagram of a specific example of the prosthesis positioning device in the embodiments of the present application;

[0050] Figure 6 is a schematic block diagram of a specific example of the prosthesis pose calibration device in the embodiments of the present application;

[0051] Figure 7 is a schematic block diagram of a specific example of the electronic device in the embodiments of the present application.

[0052] Explanation of the reference numerals in the drawings:

[0053] 101 - connecting rod, 102 - first tracing module, 103 - second tracing module, 104 - robotic arm, 105 - tracing rod, 106 - mounting rod, 107 - target prosthesis, 1071 - target nail hole, 108 - sleeve, 109 - tracing probe, 110 - third tracing module. Detailed implementation manners

[0054] To make the technical solutions and beneficial effects of the present invention more obvious and understandable, the following provides a detailed description by listing specific embodiments. Among them, 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 and scientific fields to which this application belongs.

[0055] The embodiments of this application are not an exhaustive list, but only schematic illustrations of some embodiments, and do not constitute a specific limitation on the protection scope of this application. Without conflict, each step in an embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily. For example, the solution after removing some steps in an embodiment can also be implemented as an independent embodiment, and the order of the steps in an embodiment can be arbitrarily exchanged. Additionally, the optional implementation manners in an embodiment can be combined arbitrarily; moreover, the embodiments can be combined arbitrarily. For example, some or all of the steps of different embodiments can be combined arbitrarily, and an embodiment can be combined arbitrarily with the optional implementation manners of other embodiments.

[0056] In each embodiment of this application, if there is no special description and logical conflict, the terms and / or descriptions among the embodiments are consistent and can be cited from each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0057] The terms used in the embodiments of this application are only for the purpose of describing specific embodiments, and do not constitute a limitation on this application.

[0058] In the embodiments of this application, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above", "said", "aforementioned", "this", etc., can mean "one and only one", or can also mean "one or more", "at least one", etc. For example, in the case of using articles such as "a", "an", "the" in English during translation, the noun after the article can be understood as a singular expression form or a plural expression form.

[0059] In the embodiments of the present application, "a plurality of" means two or more.

[0060] In some embodiments, terms such as "at least one (at least one, at least one item, at least one) (at least one of)", "one or more", "a plurality of", "multiple", etc. can be replaced with each other.

[0061] Prefix words such as "first", "second", etc. in the embodiments of the present application are only used to distinguish different described objects, and do not constitute restrictions on the position, order, priority, value or content of the described objects, etc. For the description of the described objects, refer to the description in the context of the embodiments, and no redundant restrictions should be formed due to the use of prefix words. For example, the value of the described object is not restricted by ordinal numbers and can be one or more. Taking "the first device" as an example, the value of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different. For example, if the described object is "device", then "the first device" and "the second device" can be the same device or different devices, and their types can be the same or different.

[0062] In some embodiments, the term "connection" can indicate that there is a transfer of electrical signals or data between one end to be connected and the end to which it is connected, and can be understood as "electrical connection", "communication connection", etc. "Connection" can be a direct connection between two components, an indirect connection established through other components, a connection inside two components, or any other possible connection form.

[0063] This specification provides method operation steps such as in the embodiments or flowcharts, but based on routine or non-creative labor, it can include more or fewer operation steps. The order of steps listed in the embodiments is only one way among the execution orders of numerous steps and does not represent the only execution order. When an 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 executed in parallel (for example, in an environment of parallel processors or multi-threaded processing).

[0064] The embodiments of the present application provide a prosthesis positioning system. Figure 1 The structural schematic diagram of a specific example of the prosthesis positioning system in the embodiments of the present application is shown. As shown in the figure, the prosthesis positioning system includes:

[0065] A connecting rod 101, which is used to replaceably connect different working rods and rotate around the axis of the connecting rod, so as to drive the connected working rod to rotate around the axis of the working rod.

[0066] The first tracing module 102 is installed on the connecting rod 101 and is used to indicate the pose of the connecting rod 101;

[0067] The second tracing module 103 is used to indicate the planned pose of the target prosthesis;

[0068] An optical navigation device (not shown in the figure) is used to measure the poses of the first tracing module and the second tracing module;

[0069] The robotic arm device includes a robotic arm 104. The end of the robotic arm is connected to the connecting rod 101 and is used to control the movement and / or rotation of the connecting rod 101 according to the poses of the first tracing module 102 and the second tracing module 103, so that the target prosthesis 107 reaches the planned pose and / or the target nail hole 1071 of the target prosthesis 107 reaches the planned nail hole pose;

[0070] Wherein, the working rod includes a tracing rod 105 and a mounting rod 106;

[0071] The end of the tracing rod 105 is used to install the second tracing 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 poses of the first tracing module 102 and the second tracing module 103 to control the end of the tracing rod 105 to reach the preset pose, when the mounting rod 106 replaces the tracing rod 105 and is installed on the connecting rod 101, control the movement of the robotic arm 104 to control the target prosthesis 107 to reach the planned pose and / or the target nail hole 1071 of the target prosthesis 107 to reach the planned nail hole pose.

[0072] In this way, in the embodiment of the present application, by setting the prosthesis positioning system to include a connecting rod, a first tracing module, a second tracing module, an optical navigation device, a robotic arm device and a robotic arm, and setting the working rod to include a tracing rod and a mounting rod, and both can be connected to the connecting rod, it is possible to realize that by controlling the movement and / or rotation of the connecting rod, driving the tracing rod and the mounting rod to move and / or rotate, so that the target prosthesis reaches the planned pose and the target nail hole of the target prosthesis reaches the planned pose, thereby being able to meet the requirements of the pre-implantation nail track planning, accurately determine parameters such as the installation position, angle and length of each implant nail, and be able to realize the precise implantation of the implant nail. And it can measure, accurately feedback and navigate the pose of the target prosthesis and the nail track in real time during the implantation process, without multiple measurements and adjustments, improving the implantation efficiency and reducing the penetration risk.

[0073] In some possible implementation manners, the connecting rod 101 can penetrate into and be connected to the sleeve 108 at the end of the robotic arm 104 to achieve connection with the end of the robotic arm 104, and can rotate around the axis of the connecting rod within the sleeve 108, but is not limited thereto. The connecting rod 101 can also achieve connection with the end of the robotic arm 104 and can rotate around the axis of the connecting rod through the meshing between external gears or other connection manners.

[0074] The connecting rod 101 can be detachably connected coaxially with the working rod, and the axis of the connecting rod is on the same straight line as the axis of the working rod. The connecting rod 101 can also be detachably connected non - coaxially with the working rod, and the axis of the connecting rod and the axis of the working rod can be parallel to each other or at an angle to meet the installation requirements of various target prostheses.

[0075] The connecting rod 101 can be connected to working rods of any type and function. For example, the working rod can include a tracing rod with only a tracing function, a grinding rod with tracing and grinding functions, an installation rod for installing a target prosthesis, etc.

[0076] In the embodiments of the present application, the tracing module can include a first tracing module, a second tracing module, and a third tracing module.

[0077] In some possible implementation manners, the tracing module can include a tracking bracket and more than 3 (such as 4) active light - emitting markers or passive markers, and the markers are fixed on the tracking bracket in a preset manner. The tracking bracket is fixed on the marking position to be positioned and calibrated (such as a connecting rod, a tracing rod, a tracing probe, etc.) for an optical navigation device to identify and track the position of the marking position in the operation space.

[0078] The optical navigation device can 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 can adopt different names, such as an NDI device, etc., and the name is not limited here.

[0079] Exemplarily, the optical navigation device can measure the pose of the tracing module in the coordinate system of the optical navigation device, that is, it can measure the poses of the first tracing module, the second tracing module, and the third tracing module in the coordinate system of the optical navigation device, and record and / or output them. For example, the electronic device (processor) of the system can obtain the real - time poses of the first tracing module and the second tracing module respectively in the coordinate system of the optical navigation device, so as to calculate the pose of the second tracing module relative to the first tracing module by using pose transformation. The pose transformation can be realized based on at least one intermediate pose.

[0080] The pose can be a description of the position and orientation of an object in three-dimensional space. In some possible implementation manners, the description of the pose may include at least one of the following: three translation parameters of the object in three-dimensional space (for example, x, y, z coordinates); three rotation parameters (for example, rotation angles about the x-axis, y-axis, and z-axis). In some possible implementation manners, the representation manners of the three rotation parameters may include at least one of the following: Euler angles; quaternions; rotation matrices. The pose may adopt different names, such as spatial coordinates, etc., and the names are not limited herein.

[0081] The first tracing module can be installed at any position of the connecting rod. For example, it can be installed at one end of the connecting rod.

[0082] The second tracing module can be installed at the end of the tracing rod, which can directly indicate the pose of the end of the tracing rod, reduce calculations, and improve work efficiency, but is not limited thereto. The second tracing module can also be installed at any position of the tracing rod.

[0083] 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 nail 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 operation convenience.

[0084] In some possible implementation manners, the target prosthesis may include prostheses such as an acetabular cup or a patch. The target nail hole can be each nail hole on the target prosthesis for passing through the target implant nail. The target implant nail can be each implant nail for fixing the target prosthesis. Taking total hip arthroplasty (such as acetabular cup implantation) as an example, the target prosthesis can be an acetabular cup.

[0085] The starting pose of the target implantable nail can be determined by the pose of the target nail hole, and then the nail path of the target implantable nail can be determined. In this way, based on the preliminary nail path planning for the poses of the target prosthesis and the target nail hole, the initial pose of the target implantable nail can be determined, so as to maximize the adaptation to the individual differences of different implantation objects and reduce the implantation complexity and risks. Taking total hip arthroplasty (such as acetabular cup implantation) as an example, the preliminary nail path planning may include: Medical image data acquisition and import: Acquire hip joint CT image data, perform three-dimensional reconstruction through software, and generate a 3D model of the hip joint; Prosthesis selection and virtual implantation: According to the shape of the acetabular fossa, select the most suitable acetabular cup model from the preset prosthesis database; Virtually adjust the position and orientation of the acetabular cup on the 3D model to ensure that the anteversion angle, abduction angle, and acetabular cup coverage meet the usage requirements; Planning and design: On the virtually implanted acetabular cup, accurately position and adjust the position and direction of each nail hole through software; Select the optimal screw length for each nail hole to ensure sufficient fixation strength and prevent penetration of the installation site of the acetabular cup; Through 3D views and multi-planar CT views, comprehensively evaluate the safety and effectiveness of implanting the implantable nail; Scheme generation: Based on the above planning, generate detailed operation parameters, including acetabular cup pose parameters, the precise pose (i.e., the pose of the target nail hole) and length of each implantable nail.

[0086] The planned pose of the target prosthesis may include at least one of the following: the planned prosthesis pose of the target prosthesis; the planned nail hole poses of each target nail hole on the target prosthesis.

[0087] Since there may be a fixed spacing between the end of the installation rod and the end of the grinding rod, there is a corresponding relationship between the preset pose that the end of the tracing rod needs to reach and the planned pose that the target prosthesis needs to reach. That is, when the end of the tracing rod reaches the preset pose, correspondingly, the target prosthesis connected to the end of the installation rod can reach the planned pose; and at this time, the motion parameters of the robotic arm can be recorded, and then after the connecting rod connects the installation rod, the target prosthesis can reach the planned pose according to the motion parameters.

[0088] In some possible implementation manners, the current poses of the target prosthesis and the target nail hole can also be displayed through a display device. The display device can be a device included in the robotic arm device. For example, a display device such as a display screen is provided on the robotic arm device. The display device can also be a device included in an electronic device. For example, a display device such as a display screen is provided on the electronic device.

[0089] In an alternative embodiment, the tracing rod 105 includes a grinding rod;

[0090] The end of the grinding rod is used to install the second tracing module 103 to position the end, or is used to install a grinding device to grind the installation site of the target prosthesis.

[0091] In this way, the grinding rod can grind the obstacles that prevent the end of the grinding rod from accurately reaching the preset pose, which can improve the accuracy of the end of the grinding rod reaching the preset pose, thereby realizing the precise implantation of the nail.

[0092] In an alternative embodiment, the connecting rod 101 includes a first connection port;

[0093] The working rod includes a second connection port;

[0094] The first connection port and the second connection port are used for detachably connecting to enable the connecting rod 101 to be replaceably connected to different working rods.

[0095] In this way, through the detachable connection of the first connection port and the second connection port, the flexible usability of the prosthesis positioning system can be improved, and the applicable range is expanded.

[0096] In some possible implementation manners, the detachable connection between the first connection port and the second connection port may include at least one of the following: threaded connection, snap connection, hinge connection, key connection, pin connection.

[0097] Figure 2 The structural schematic diagram of a specific example of the tracking probe in the embodiment of the present application is shown. As shown in the figure, in an alternative embodiment, the prosthesis positioning system further includes:

[0098] A tracking probe 109, configured to contact a target nail hole and detect the pose of the target nail hole; the robotic arm device is further configured to control the movement and / or rotation of the mounting rod 106 according to the pose of the target nail hole to calibrate the pose of the target nail hole so that the target nail hole reaches the planned nail hole pose;

[0099] A third tracking module 110, mounted on the tracking probe 109, configured to indicate the pose of the tracking probe 109.

[0100] In this way, by setting the prosthesis positioning system to include a tracking probe and a third tracking module, the pose of the target nail hole can be calibrated, the positioning accuracy of the target nail hole can be improved, and the implantation accuracy of the nail can be further improved.

[0101] In some possible implementation manners, the tracking probe 109 may be of a fixed structure, that is, the distance between the end of the tracking probe 109 and the third tracking module 110 is fixed. Therefore, by obtaining the pose of the third tracking module in the coordinate system of the optical navigation device, the pose of the end of the tracking probe relative to the third tracking module can be calculated by using pose transformation. When the end of the tracking probe contacts the target nail hole, the pose of the target nail hole relative to the third tracking module can be obtained.

[0102] The embodiment of the present application also provides a prosthesis positioning method. Figure 3 The flowchart shows a specific example of the prosthesis positioning method in the embodiment of the present application. As shown in the figure, the prosthesis positioning method includes:

[0103] S101: Obtain the planned pose of the target prosthesis; wherein, the planned pose includes at least one of the following: the planned prosthesis pose of the target prosthesis; the planned pin hole poses of each target pin hole on the target prosthesis.

[0104] S102: Obtain the first real-time pose of the first tracing module relative to the optical navigation device and the second real-time pose of the second tracing module relative to the optical navigation device, and control the movement of the robotic arm based on the first real-time pose and the second real-time pose to control the movement and / or rotation of the connecting rod, so that the end of the tracing rod reaches a preset pose; wherein, the end of the robotic arm is connected to the connecting rod; the tracing rod is connected to the connecting rod and rotates around the axis of the tracing rod as the connecting rod rotates around the axis of the connecting rod; the first tracing module is installed on the connecting rod and is used to indicate the pose of the connecting rod; the second tracing module is installed at the end of the tracing rod and is used to indicate the pose of the end of the tracing rod to indicate the planned pose.

[0105] S103: When the end of the tracing rod reaches the preset pose and the installation rod replaces the tracing rod and is installed on the connecting rod, control the movement of the robotic arm to control the movement and / or rotation of the installation rod, so that the target prosthesis reaches the planned pose; wherein, the installation rod is connected to the connecting rod and rotates around the axis of the installation rod as the connecting rod rotates around the axis of the connecting rod; the target prosthesis is installed at the end of the installation rod.

[0106] In this way, in the embodiment of the present application, by controlling the movement and / or rotation of the connecting rod based on the first real-time pose and the second real-time pose, the movement and / or rotation of the tracing rod are realized, so that the end of the tracing rod reaches the preset pose; and when the connecting rod is connected to the installation rod, the movement and / or rotation of the installation rod can be controlled to move the target prosthesis to the planned pose corresponding to the preset pose reached by the end of the tracing rod, improving the positioning accuracy, shortening the operation time, improving the work efficiency, reducing the penetration risk, and enabling the precise implantation of the implant. And through the planned pose of the target prosthesis, personalized customization can be realized, improving the scope of application.

[0107] In an optional implementation manner, the tracing rod includes a grinding rod; the end of the grinding rod is used to install the second tracing module and grind the installation part of the target prosthesis.

[0108] Controlling the movement of the robotic arm based on the first real-time pose and the second real-time pose to control the movement and / or rotation of the connecting rod, so that the end of the tracing rod reaches a preset pose, includes:

[0109] S1021: Register the medical image coordinate system and the optical navigation device coordinate system to obtain the conversion relationship between the medical image coordinate system and the optical navigation device coordinate system;

[0110] S1022: Obtain the grinding pose in the medical image coordinate system planned based on the medical image data, and convert it to the preset pose in the optical navigation device coordinate system according to the conversion relationship and the grinding pose;

[0111] S1023: Control the movement of the robotic arm based on the first real-time pose and the second real-time pose 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 pose.

[0112] In this way, through the accurate registration of 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 pose, the positioning accuracy is improved, and the accurate implantation of the nail can be realized.

[0113] In some possible implementation manners, the registration between the medical image coordinate system and the optical navigation device coordinate system can be implemented based on a marking module provided at the installation part of the target prosthesis. The marking module can be simultaneously recognized and measured by the medical imaging device and the optical navigation device. By collecting multiple feature points at the installation part of the target prosthesis, the accurate registration of the medical image coordinate system and the optical navigation device coordinate system can be realized. The specific method of registration is not the inventive point of the present invention and is all prior art, and the present invention will not be introduced in detail.

[0114] The medical imaging device can include at least one of the following: a CT device (computed tomography instrument), an MRI device (magnetic resonance imaging instrument). The medical image data can include at least one of the following: CT data, MRI data. The medical image data obtained by the CT device is CT data, and the medical image data obtained by the MRI device is MRI data.

[0115] Taking total hip arthroplasty (such as acetabular cup implantation) as an example, the planning based on the medical image data can be the above-mentioned previous nail track planning, which will not be elaborated here. The grinding rod can include an acetabular reamer (grinding device), which can drive the acetabular reamer to grind the installation part (such as the acetabular fossa) of the target prosthesis. The system will automatically monitor the grinding progress and stop automatically when the planned grinding pose is reached.

[0116] The automatic positioning of the target prosthesis can be performed after finishing the grinding, and may include the following steps: removing the straight grinding rod and loading the straight installation rod from the sleeve; installing the target prosthesis (such as an acetabular cup) at the end of the installation rod; controlling the robotic arm to guide the target prosthesis to the planned pose according to the planned pose of the target prosthesis; ensuring that the anteversion angle and abduction angle of the target prosthesis are consistent with the plan.

[0117] As Figure 1 and Figure 2 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 tracer module coordinate system (sleeve, such as a sleeve tracer coordinate system), a second tracer module coordinate system (grind, such as a grinding rod end coordinate system), a central target pin hole coordinate system (install), and a third tracer module coordinate system (probe, such as a tracer probe coordinate system).

[0118] The central target pin hole may be the target pin hole at the center position among all the target pin holes of the target prosthesis. The Z-axis direction of the central target pin hole coordinate system (install) may be the axis direction of the installation rod, and the X-axis direction and Y-axis direction are respectively perpendicular to the Z-axis direction, so that there is only an axial deviation between the central target pin 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 thereto. The X-axis, Y-axis, and Z-axis directions of the central target pin hole coordinate system (install) may also be set according to actual requirements.

[0119] The embodiment of the present application also provides a prosthesis pose calibration method. Figure 4 shows a schematic flow chart of a specific example of the prosthesis pose calibration method in the embodiment of the present application. As shown, the prosthesis pose calibration method includes:

[0120] S201: Using the prosthesis adjustment method of the above embodiment to make the target prosthesis reach the planned pose;

[0121] S202: Obtaining the first pose of the second tracer module relative to the first tracer module, and when the end of the tracer probe contacts the central target pin hole of the target prosthesis, determining the current pose of the central target pin hole relative to the third tracer module according to the first pose; wherein, the third tracer module is installed on the tracer probe and is used to indicate the pose of the tracer probe.

[0122] S203: Determining the deviation amount of the central target pin hole according to the current pose and the planned pose, and controlling the robotic arm to move and / or rotate the installation rod so that the deviation amount is within the calibration threshold range.

[0123] Thus, in the embodiment of the present application, by using the tracing probe, the current pose of the central target nail hole relative to the third tracing module can be measured in real time, and combined with the planned pose, the deviation amount of the central target nail hole can be determined; by controlling the movement and / or rotation of the mounting rod to make the deviation amount within the calibration threshold range, the deviation amount can be reduced or eliminated, the positioning accuracy of the target nail hole can be improved, and thus the implantation accuracy of the nail can be improved. Moreover, the positions of the target nail holes on the target prosthesis are relatively fixed. By calibrating the deviation amount of the central target nail hole, the full pose calibration of all target nail holes can be achieved, and thus the pose calibration of the target prosthesis can be achieved; and using the central target nail hole can also simplify the calculation and improve the work efficiency.

[0124] In some possible implementation manners, 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, making the deviation angle 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, making the deviation displacement 0, or within the deviation displacement threshold range. Therefore, calibration can be achieved in terms of both angle and displacement, improving the calibration accuracy.

[0125] Exemplarily, the deviation angle can be obtained by calculating the angle deviation between the projection point coordinates of the current pose of the central target nail hole relative to the third tracing module (i.e., the starting pose of the target nail or nail track) on the XY plane of the central target nail hole coordinate system (install) and the X axis, which is the deviation angle between the actual nail track and the planned nail track. 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 pose. Thus, after completing the pose calibration of the target prosthesis, the mounting rod can be locked to prevent axial rotation so as to accurately implant the pre-selected length of the nail into each nail hole.

[0126] In an alternative embodiment, when the end of the tracing probe contacts the central target nail hole of the target prosthesis, determining the current pose of the central target nail hole relative to the third tracing module according to the first pose includes:

[0127] S2031: Obtain the axial offset matrix of the central target nail hole relative to the end of the tracing rod, and determine the transformation matrix between the central target nail hole coordinate system and the first tracing module coordinate system according to the axial offset matrix and the second pose of the end of the tracing rod relative to the first tracing module; wherein, the Z-axis direction of the central target nail hole coordinate system is the axis direction of the mounting rod.

[0128] S2032: Determine the current pose of the central target nail hole relative to the third tracking module according to the transformation matrix and the transformation pose of the first tracking module relative to the third tracking module when the end of the tracking probe contacts the central target nail hole of the target prosthesis.

[0129] Exemplarily, since there is only an axial deviation between the position of the central target nail hole, the position of the end of the installation rod, and the position of the end of the grinding rod, the axial deviation matrix T_grind2offset of the central target nail hole relative to the end of the tracking rod can be measured and deduced. Then, through matrix operation: T_sleeve2install = T_sleeve2grind × T_grind2offset, the transformation matrix T_sleeve2install between the coordinate system of the central target nail hole and the coordinate system of the first tracking module can be obtained; where T_sleeve2grind represents the second pose of the end of the tracking rod relative to the first tracking module.

[0130] Thus, through the coordinate system transformation method:

[0131] T_install2probe = T_sleeve2install.inverse() × T_sleeve2probe,

[0132] the current pose T_install2probe of the central target nail hole relative to the third tracking module can be obtained; where T_sleeve2install.inverse() represents the inverse matrix of the transformation matrix between the coordinate system of the central target nail hole and the coordinate system of the first tracking module, and T_sleeve2probe represents the transformation pose of the first tracking module relative to the third tracking module when the end of the tracking probe contacts the central target nail hole of the target prosthesis.

[0133] In this way, the beneficial effects of the embodiments of the present application are as follows:

[0134] 1. Improve measurement accuracy: The present invention accurately determines the ideal position, angle, and length of each nail implant through high-precision three-dimensional imaging analysis and computer-aided planning. This method greatly improves the measurement accuracy and effectively solves the problem of inaccurate subjective measurement.

[0135] 2. Shorten the operation time and improve efficiency: Based on the accurate pre-operative planning, the nail implant can be directly implanted in one step during the operation without multiple measurements and adjustments. This significantly reduces the operation time and improves the operation efficiency.

[0136] 3. Reduce the penetration risk: Through precise pre - planning and real - time navigation during the operation process, the penetration risk of over - long implant nails is greatly reduced. The system provides real - time feedback during the operation process to ensure that the implantation of the implant nails strictly follows the preset safety parameters, effectively preventing damage to important surrounding structures.

[0137] 4. Achieve individualized customization: The present invention fully takes into account individual differences. By analyzing and planning each specific imaging data, the system can formulate the optimal implant nail implantation strategy.

[0138] In summary, by combining advanced imaging technologies, computer - aided planning, and real - time navigation systems, the present invention can provide a comprehensive, precise, efficient, and safe solution for the fixation of implant nails (such as acetabular cup implant nails in total hip arthroplasty), significantly improving the accuracy and safety of the operation.

[0139] The following describes the devices, electronic devices, storage media, etc. used to execute the prosthesis positioning method and prosthesis pose calibration method provided in the present application. For the specific implementation process and technical effects, refer to the above, and will not be elaborated below.

[0140] The embodiment of the present application also provides a prosthesis positioning device. Figure 5 The schematic 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:

[0141] The first acquisition module 1001 is used to acquire the planned pose of the target prosthesis; wherein, the planned pose includes at least one of the following: the planned prosthesis pose of the target prosthesis; the planned nail hole poses of each target nail hole on the target prosthesis;

[0142] The first control module 1002 is used to acquire the first real - time pose of the first tracing module relative to the optical navigation device and the second real - time pose of the second tracing module relative to the optical navigation device, and control the movement of the robotic arm based on the first real - time pose and the second real - time pose to control the movement and / or rotation of the connecting rod, so that the end of the tracing rod reaches the preset pose; wherein, the end of the robotic arm is connected to the connecting rod; the tracing rod is connected to the connecting rod and rotates around the axis of the tracing rod as the connecting rod rotates around the axis of the connecting rod; the first tracing module is installed on the connecting rod and is used to indicate the pose of the connecting rod; the second tracing module is installed at the end of the tracing rod and is used to indicate the pose of the end of the tracing rod to indicate the planned pose;

[0143] The second control module 1003 is configured to, when the installation rod replaces the tracing rod and is installed on the connecting rod in the case that the end of the tracing rod reaches the preset pose, control the movement of the robotic arm to control the movement and / or rotation of the installation rod, so that the target prosthesis reaches the planned pose; wherein, the installation rod is connected to the connecting rod and rotates around the axis of the installation rod as the connecting rod rotates around the axis of the connecting rod; the target prosthesis is installed at the end of the installation rod.

[0144] In an alternative embodiment, the tracing rod includes a grinding rod; the end of the grinding rod is used to install the second tracing module and grind the installation part of the target prosthesis.

[0145] The first control module includes:

[0146] A registration module, configured to register the medical image coordinate system and the optical navigation device coordinate system, and obtain the conversion relationship between the medical image coordinate system and the optical navigation device coordinate system.

[0147] A first determination module, configured to obtain the grinding pose in the medical image coordinate system planned based on the medical image data, and convert it to the preset pose in the optical navigation device coordinate system according to the conversion relationship and the grinding pose.

[0148] A third control module, configured to control the movement of the robotic arm based on the first real-time pose and the second real-time pose 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 pose.

[0149] The embodiment of the present application further provides a prosthesis pose calibration device. Figure 6 The schematic diagram of the principle block diagram of a specific example of the prosthesis pose calibration device in the embodiment of the present application is shown. As shown in the figure, the prosthesis pose calibration device includes:

[0150] A fourth control module 2001, configured to use the prosthesis position adjustment device in the above embodiment to make the target prosthesis reach the planned pose.

[0151] A second determination module 2002, configured to obtain the first pose of the second tracing module relative to the first tracing module, and determine the current pose of the central target pin hole relative to the third tracing module according to the first pose when the end of the tracing probe contacts the central target pin hole of the target prosthesis; wherein, the third tracing module is installed on the tracing probe and is used to indicate the pose of the tracing probe.

[0152] A calibration module 2003, configured to determine the deviation amount of the central target pin hole according to the current pose and the planned pose, and control the movement of the robotic arm to control the movement and / or rotation of the installation rod, so that the deviation amount is within the calibration threshold range.

[0153] In an optional embodiment, the second determination module includes:

[0154] A third determination module, configured to obtain an axial offset matrix of the central target pinhole relative to the end of the tracing rod, and determine a transformation matrix between the central target pinhole coordinate system and the first tracing module coordinate system according to the axial offset matrix and the second pose of the end of the tracing rod relative to the first tracing module; wherein, the Z-axis direction of the central target pinhole coordinate system is the axial direction of the mounting rod;

[0155] A fourth determination module, configured to determine the current pose of the central target pinhole relative to the third tracing module according to the transformation matrix and the converted pose of the first tracing module relative to the third tracing module when the tracing probe end contacts the central target pinhole of the target prosthesis.

[0156] It should be understood that the division of each unit or module in the above device is only a logical function division. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. In addition, the units or modules in the device can be implemented in the form of a processor invoking software: for example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory, and the processor invokes the instructions stored in the memory to implement any of the above methods or implement the functions of each unit or module of the above device.

[0157] The embodiment of the present application also provides an electronic device, Figure 7 which shows a schematic block diagram of a specific example of the electronic device in the embodiment of the present application. As shown in the figure, the electronic device includes:

[0158] A memory, which stores instructions; and

[0159] A processor, which is configured to execute the instructions to implement the prosthesis positioning method and / or the prosthesis pose calibration method as described in the above embodiment.

[0160] As Figure 7 shown, the electronic device may include a processor, a memory, a network interface, a display, and an input device connected through a system bus. Among them, the processor can 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 can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface can be used to communicate with an external terminal through a network connection. The display can be a liquid crystal display or an electronic ink display. The input device can be a touch layer covering the display, or a button, a trackball or a touchpad provided on the housing of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0161] Those skilled in the art can understand that Figure 7 The structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the electronic device to which the solution of the present application is applied. The specific electronic device may include more or fewer components than those shown in the figure, or combine some components, or have a different component layout.

[0162] The electronic device according to 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 devices in the prosthesis positioning system (such as optical navigation devices, robotic arm devices, etc.). For example, the electronic device may include, but is not limited to, electronic devices such as smart phones, desktop computers, tablet computers, laptop computers, smart speakers, digital assistants, smart wearable devices, vehicle terminals, smart TVs, and cameras.

[0163] The embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed, it can implement the prosthesis positioning method and / or the prosthesis pose calibration method as described in the above embodiment.

[0164] This computer program can also run on an electronic device as shown in Figure 7 The memory of the electronic device includes each program module that constitutes the above-mentioned prosthesis positioning device and / or prosthesis pose calibration device. When the computer program constituted by each program module is executed, it can implement the functions corresponding to each step in the prosthesis positioning method and / or the prosthesis pose calibration method described in the above embodiment.

[0165] The embodiment of the present application also provides a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are 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 executes the prosthesis positioning method and / or the prosthesis pose calibration method provided in the above various implementation manners.

[0166] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program, and this computer program can be stored in a non-volatile computer-readable storage medium. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in this application may include non-volatile and / or volatile memories. 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. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0167] It should be understood that the above embodiments are all exemplary and do not cover all possible implementation manners included in this application. Without departing from the scope of the present disclosure, various deformations and changes can also be made on the basis of the above embodiments. Similarly, the various technical features of the above embodiments can also be combined arbitrarily to form additional embodiments of this application that may not be explicitly described. Therefore, the above embodiments only represent several implementation manners of this application and do not limit the protection scope of the patent of this application.

Claims

1. A prosthesis positioning system, characterized in that, The prosthesis positioning system includes: A connecting rod, which is 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 pose of the connecting rod; A second tracing module, for indicating the planned pose of the target prosthesis; An optical navigation device, for measuring the poses of the first tracing module and the second tracing module; A robotic arm device, including a robotic arm, the end of the robotic arm is connected to the connecting rod, and is used to control the movement and rotation of the connecting rod according to the poses of the first tracing module and the second tracing module, so that the target prosthesis reaches the planned pose and the target nail holes of the target prosthesis reach the planned nail hole poses; Wherein, the working rod includes a tracing rod and a mounting rod; The end of the tracing rod is used to mount the second tracing module, and the end of the mounting rod is used to mount the target prosthesis. When the robotic arm device controls the movement of the robotic arm according to the poses of the first tracing module and the second tracing module to control the end of the tracing rod to reach the preset pose, when the mounting rod replaces the tracing rod and is mounted on the connecting rod, control the movement of the robotic arm to control the target prosthesis to reach the planned pose and the target nail holes of the target prosthesis to reach the planned nail hole poses.

2. The prosthesis positioning system according to claim 1, characterized in that, The tracing rod includes a grinding rod; The end of the grinding rod is used to mount the second tracing module for positioning the end, or is used to mount a grinding device to grind the mounting part of the target prosthesis.

3. The prosthesis positioning system according to claim 1, wherein The connecting rod includes a first connection port; The working rod includes a second connection port; The first connection port and the second connection port are used for detachable connection to realize that the connecting rod can replaceably connect different working rods.

4. The prosthesis positioning system according to any one of claims 1-3, characterized in that, The prosthesis positioning system further includes: A tracing probe, for contacting the target nail hole and detecting the pose of the target nail hole; the robotic arm device is further used to control the movement and rotation of the mounting rod according to the pose of the target nail hole to calibrate the pose of the target nail hole so that the target nail hole reaches the planned nail hole pose; A third tracing module, mounted on the tracing probe, for indicating the pose of the tracing probe.

5. A prosthesis positioning device, characterized in that, The prosthesis positioning device includes: A first acquisition module, for acquiring the planned pose of the target prosthesis; wherein, the planned pose includes: the planned prosthesis pose of the target prosthesis; the planned nail hole poses of each target nail hole on the target prosthesis; The first control module is configured to obtain the first real-time pose of the first tracing module relative to the optical navigation device and the second real-time pose of the second tracing module relative to the optical navigation device, and control the movement of the robotic arm based on the first real-time pose and the second real-time pose to control the movement and rotation of the connecting rod, so that the end of the tracing rod reaches a preset pose; wherein, the end of the robotic arm is connected to the connecting rod; the tracing rod is connected to the connecting rod and rotates around the axis of the tracing rod as the connecting rod rotates around the axis of the connecting rod; the first tracing module is installed on the connecting rod and is configured to indicate the pose of the connecting rod; the second tracing module is installed at the end of the tracing rod and is configured to indicate the pose of the end of the tracing rod to indicate the planned pose; The second control module is configured to, when the end of the tracing rod reaches the preset pose and the installation rod replaces the tracing rod and is installed on the connecting rod, control the movement of the robotic arm to control the movement and rotation of the installation rod, so that the target prosthesis reaches the planned pose; wherein, the installation rod is connected to the connecting rod and rotates around the axis of the installation rod as the connecting rod rotates around the axis of the connecting rod; the target prosthesis is installed at the end of the installation rod.

6. The prosthesis positioning device according to claim 5, wherein The tracing rod includes a grinding rod; the end of the grinding rod is configured to install the second tracing module and grind the installation part of the target prosthesis. The controlling the movement of the robotic arm based on the first real-time pose and the second real-time pose to control the movement and rotation of the connecting rod, so that the end of the tracing rod reaches a preset pose includes: Registering the medical image coordinate system and the optical navigation device coordinate system to obtain the conversion relationship between the medical image coordinate system and the optical navigation device coordinate system; Obtaining the grinding pose in the medical image coordinate system planned based on the medical image data, and converting to obtain the preset pose in the optical navigation device coordinate system according to the conversion relationship and the grinding pose; Controlling the movement of the robotic arm based on the first real-time pose and the second real-time pose to control the movement and 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 pose.

7. A prosthesis pose calibration device, characterized in that, The prosthesis pose calibration device includes: The prosthesis positioning device according to claim 5 or 6; The fourth control module is configured to use the prosthesis positioning device according to claim 5 or 6 to make the target prosthesis reach the planned pose; The second determination module is configured to obtain the first pose of the second tracing module relative to the first tracing module, and when the end of the tracing probe contacts the central target pin hole of the target prosthesis, determine the current pose of the central target pin hole relative to the third tracing module according to the first pose; wherein, the third tracing module is installed on the tracing probe and is configured to indicate the pose of the tracing probe; The calibration module is configured to determine the deviation amount of the central target pin hole according to the current pose and the planned pose, and control the movement of the robotic arm to control the movement and rotation of the installation rod, so that the deviation amount is within the calibration threshold range.

8. The prosthesis pose calibration device according to claim 7, characterized in that, The second determination module includes: A third determination module, configured to obtain an axial offset matrix of the central target pinhole relative to the end of the tracking rod, and determine a transformation matrix between the central target pinhole coordinate system and the first tracking module coordinate system according to the axial offset matrix and the second pose of the end of the tracking rod relative to the first tracking module; wherein, the Z-axis direction of the central target pinhole coordinate system is the axis direction of the mounting rod; A fourth determination module, configured to determine the current pose of the central target pinhole relative to the third tracking module according to the transformation matrix and the conversion pose of the first tracking module relative to the third tracking module when the end of the tracking probe contacts the central target pinhole of the target prosthesis.

9. An electronic device, characterized in that, The electronic device includes: a memory that stores instructions; and a processor configured to execute the instructions to implement the execution content of the prosthesis positioning device as claimed in claim 5 or 6 and / or the prosthesis pose calibration device as claimed in claim 7 or 8.

10. A storage medium, characterized in that, A computer program is stored in the storage medium, and when the computer program is executed, it can implement the execution content of the prosthesis positioning device as claimed in claim 5 or 6 and / or the prosthesis pose calibration device as claimed in claim 7 or 8.

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