Mechanical arm control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a mechanical arm control method and device, electronic equipment and a storage medium, and is applied to the technical field of medical instruments, a pre-planned surgical scheme can be obtained, the surgical scheme comprises hip joint prosthesis mounting position information, and hip joint prostheses comprise a femoral prosthesis and an acetabular cup; thighbone registration points of the thighbone of the patient are recognized, and a plurality of first registration points are obtained; osteotomy of the femur is carried out according to the first registration point; performing acetabulum registration point identification on the hip bone of the patient to obtain a plurality of second registration points; and grinding the acetabulum according to the second registration point, so that the configuration of the registration points, the osteotomy of the thighbone and the grinding of the acetabulum can be realized through the mechanical arm according to a pre-planned surgical scheme, and the mounting precision of the hip joint prosthesis is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a robotic arm control method, device, electronic device, and storage medium. Background Art

[0002] Currently, with the continuous development of medical technology, medical staff can provide more treatment options for patients. For example, hip joint replacement can be used to treat femoral head necrosis, femoral neck fractures, hip arthritis caused by various reasons, malignant tumors, etc. By replacing the diseased hip joint with an artificial prosthesis, the purpose of removing the lesion, relieving pain, and restoring the normal function of the patient's hip joint can be achieved.

[0003] See Figure 1 , the current artificial hip joint mainly includes four components: the acetabulum (cup), the liner (pad), the femoral head (ball head), and the femoral stem. Among them, the cup is installed on the pelvis, and the ball head is installed on the leg bone. During hip joint replacement surgery, it often relies on the doctor's experience, resulting in a low precision in the installation of hip joint prostheses. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a robotic arm control method, device, electronic device, and storage medium to improve the precision of hip joint prosthesis installation. The specific technical solutions are as follows:

[0005] In the first aspect of the embodiments of the present application, a robotic arm control method is first provided. The method includes:

[0006] Obtain a pre-planned surgical plan, where the surgical plan includes hip joint prosthesis installation position information, and the hip joint prosthesis includes a femoral prosthesis and a cup;

[0007] Identify femoral registration points on the patient's femur to obtain a plurality of first registration points; perform osteotomy on the femur according to the first registration points;

[0008] Identify acetabular registration points on the patient's hip bone to obtain a plurality of second registration points; perform grinding on the acetabulum according to the second registration points.

[0009] In a possible implementation manner, the identifying femoral registration points on the patient's femur to obtain a plurality of first registration points includes:

[0010] Identify femoral feature points on the patient's femur to obtain a plurality of femoral feature points;

[0011] In response to the first confirmation information input by the user, identify femoral registration points on the patient's femur to obtain the plurality of first registration points, where the plurality of first registration points include a femoral head registration point, a femoral neck registration point, and an intertrochanteric crest registration point.

[0012] In a possible implementation, identifying acetabular registration points on the patient's hip bone to obtain a plurality of second registration points includes:

[0013] Identifying acetabular feature points on the patient's hip bone to obtain a plurality of acetabular feature points;

[0014] In response to second confirmation information input by the user, identifying acetabular registration points on the patient's hip bone to obtain the plurality of second registration points, where the plurality of second registration points include an acetabular articular surface registration point, an acetabular posterior angle registration point, an acetabular anterior notch registration point, and an acetabular lateral surface registration point.

[0015] In a possible implementation, after identifying acetabular registration points on the patient's hip bone to obtain a plurality of second registration points and grinding the acetabulum according to the second registration points, the method further includes:

[0016] Identifying the position information of the installed acetabular cup edge feature points; identifying the position information of the tracer of the installed femur;

[0017] Identifying the surgical result according to the position information of the acetabular cup edge feature points and the position information of the tracer.

[0018] In a possible implementation, obtaining the pre-planned surgical plan includes:

[0019] Obtaining the CT data of the patient;

[0020] Creating the surgical plan according to the CT data.

[0021] In a second aspect of the embodiments of the present application, a robotic arm control device is provided, and the device includes:

[0022] A plan acquisition module, configured to obtain a pre-planned surgical plan, where the surgical plan includes hip joint prosthesis installation position information, and the hip joint prosthesis includes a femoral prosthesis and an acetabular cup;

[0023] A femur identification module, configured to identify femoral registration points on the patient's femur to obtain a plurality of first registration points; and perform osteotomy on the femur according to the first registration points;

[0024] An acetabulum identification module, configured to identify acetabular registration points on the patient's hip bone to obtain a plurality of second registration points; and grind the acetabulum according to the second registration points.

[0025] In a possible implementation, the femur recognition module is specifically configured to recognize femur feature points of a patient's femur to obtain a plurality of femur feature points; in response to first confirmation information input by a user, recognize femur registration points of the patient's femur to obtain the plurality of first registration points, where the plurality of first registration points include a femoral head registration point, a femoral neck registration point, and an intertrochanteric crest registration point.

[0026] In a possible implementation, the femur recognition module is specifically configured to recognize acetabular feature points of a patient's hip bone to obtain a plurality of acetabular feature points; in response to second confirmation information input by a user, recognize acetabular registration points of the patient's hip bone to obtain the plurality of second registration points, where the plurality of second registration points include an acetabular articular surface registration point, an acetabular posterior angle registration point, an acetabular anterior notch registration point, and an acetabular lateral surface registration point.

[0027] In a possible implementation, the device further includes:

[0028] A position recognition module, configured to recognize position information of the edge feature points of the implanted acetabular cup; recognize position information of the tracer of the implanted femur;

[0029] A result analysis module, configured to recognize the surgical result according to the position information of the edge feature points of the acetabular cup and the position information of the tracer.

[0030] In a possible implementation, the solution acquisition module is specifically configured to acquire CT data of a patient; create the surgical plan according to the CT data.

[0031] An embodiment of the present invention further provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor, the communication interface, and the memory complete mutual communication through the communication bus;

[0032] The memory is used to store a computer program;

[0033] The processor, when executing the program stored on the memory, implements the robotic arm control method described in any one of the above.

[0034] An embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the robotic arm control method described in any one of the above is implemented.

[0035] An embodiment of the present invention further provides a computer program product including instructions, which when running on a computer, causes the computer to execute the robotic arm control method described in any one of the above.

[0036] Advantageous effects of the embodiments of the present invention:

[0037] A robotic arm control method, device, electronic device and storage medium provided by an embodiment of the present invention can obtain a pre-planned surgical plan, where the surgical plan includes hip prosthesis installation position information, and the hip prosthesis includes a femoral prosthesis and an acetabular cup; identify femoral registration points on the patient's femur to obtain a plurality of first registration points; perform osteotomy of the femur according to the first registration points; identify acetabular registration points on the patient's hip bone to obtain a plurality of second registration points; perform grinding of the acetabulum according to the second registration points, so that it is possible to realize the configuration of registration points, osteotomy of the femur and grinding of the acetabulum by the robotic arm according to the pre-planned surgical plan, thereby improving the accuracy of hip prosthesis installation.

[0038] Of course, it is not necessary for any product or method implementing the present invention to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other embodiments based on these drawings.

[0040] Figure 1 It is a schematic structural diagram of a hip joint in the prior art;

[0041] Figure 2 It is a schematic flowchart of a robotic arm control method provided by an embodiment of the present application;

[0042] Figure 3 It is a schematic flowchart of obtaining the first registration point provided by an embodiment of the present application;

[0043] Figure 4 It is a schematic flowchart of obtaining the second registration point provided by an embodiment of the present application;

[0044] Figure 5 It is a schematic structural diagram of a robotic arm control device provided by an embodiment of the present application;

[0045] Figure 6 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art based on this application belong to the scope of protection of the present invention.

[0047] In the first aspect of the embodiments of this application, first, a robotic arm control method is provided. Refer to Figure 2 , Figure 2 which is a schematic flowchart of the robotic arm control method provided by the embodiments of this application. The method includes:

[0048] Step S21, obtain a pre-planned surgical plan, where the surgical plan includes hip prosthesis installation position information, and the hip prosthesis includes a femoral prosthesis and an acetabular cup;

[0049] Step S22, identify femoral registration points on the patient's femur to obtain a plurality of first registration points; perform osteotomy on the femur according to the first registration points;

[0050] Step S23, identify acetabular registration points on the patient's hip bone to obtain a plurality of second registration points; perform grinding on the acetabulum according to the second registration points.

[0051] It can be seen that through the method of the embodiments of this application, it is possible to realize the configuration of registration points, osteotomy of the femur, and grinding of the acetabulum by the robotic arm according to a pre-planned surgical plan, thereby improving the installation accuracy of the hip prosthesis.

[0052] Corresponding to the above step S21, a surgical plan created in advance by obtaining the patient's CT data can be received. In actual use, the surgical plan can be a surgical plan created by a doctor through cached CT (Computed Tomography) data, or a surgical plan created by a third party. In a possible implementation manner, the obtaining of the pre-planned surgical plan includes: obtaining the patient's CT data; creating the surgical plan according to the CT data. For example, by obtaining and receiving case information input by the user, where the case information includes CT data; then creating a first bone model according to the CT data; further receiving prosthesis selection information input by the user based on the displayed first femoral model; thereby creating a second bone model with a prosthesis installed according to the first bone model and the prosthesis selection information; finally, performing simulation for a preset behavior cycle according to the second bone model; when the simulation result meets the preset requirements, the plan corresponding to the second bone model is determined as the surgical plan.

[0053] Corresponding to the above step S22, the femur of the patient is identified with femoral registration points to obtain a plurality of first registration points, and then osteotomy of the femur is performed according to the first registration points, which may include: rough femoral registration, feature point capture can be performed, and feature points can be modified, saved, captured, and reset. The user can be guided to perform rough registration through operation prompts; fine femoral registration, feature point capture can be performed, feature points can be selected, captured, and revoked, and operation prompts can guide the user to perform fine registration; femoral osteotomy, a feature point capture area can be performed, feature points can be captured and reset, operation prompts can be performed to guide the user to perform registration verification, and position prompts can prompt the distance between the tip of the needle and the bone cortex to guide the user to mark the osteotomy line; calculation of the inclination angle of the femoral reamer, operation prompts can be performed to guide the user to measure the inclination angle of the femoral reamer and display the real-time measurement result value, and capture the measurement tool; combined anteversion angle evaluation, the sum of the planned acetabular cup inclination angle and the inclination angle of the femoral reamer can be calculated through information prompts. In one example, osteotomy of the femur is performed according to the first registration points by the method of the embodiment of the present application, which may include: entering the osteotomy interface, and according to the screen prompt, using a probe to mark the planned osteotomy line; entering the interface for calculating the inclination angle of the femoral reamer, reinstalling the femoral tracer, connecting the femoral reamer adapter to the conical part of the femoral reamer, and ensuring that the front of the tracer faces the optical tracking system, and clicking [Capture]. The value of the current inclination angle of the femoral reamer will be displayed in the upper right corner of the screen; entering the interface for evaluating the combined anteversion angle, evaluating the current value of the combined anteversion angle, and returning to the "surgical planning" interface to adjust the anteversion angle of the acetabular cup as appropriate. In one example, osteotomy of the femur is performed according to the first registration points by the method of the embodiment of the present application, which may include: entering the osteotomy interface, and according to the screen prompt, using a probe to mark the planned osteotomy line; entering the interface for calculating the inclination angle of the femoral reamer, reinstalling the femoral tracer, connecting the femoral reamer adapter to the conical part of the femoral reamer, and ensuring that the front of the tracer faces the optical tracking system, and clicking [Capture]. The value of the current inclination angle of the femoral reamer will be displayed in the upper right corner of the screen; entering the interface for evaluating the combined anteversion angle, evaluating the current value of the combined anteversion angle, and returning to the "surgical planning" interface to adjust the anteversion angle of the acetabular cup as appropriate.

[0054] Corresponding to the above step S23, identifying acetabular registration points on the patient's hip bone to obtain multiple second registration points, and then grinding the acetabulum according to the second registration points may include: acetabular rough registration, which can perform feature point capture, modify, save, capture, and reset feature points, and operation prompts to guide the user to perform rough registration; acetabular fine registration, which can perform feature point capture, select, capture, and revoke feature points, and operation prompts to guide the user to perform fine registration; acetabular registration verification, which can perform feature point capture, capture, and reset feature points, and operation prompts to guide the user to perform registration verification, as well as position prompts to prompt the distance of the needle tip relative to the bone cortex; preparation before rasping, which can guide the user to install the rasping rod and perform relevant inspections through operation prompts, and feature point capture, which can capture acetabular inspection points and rasping rod inspection points; acetabular preparation, which can perform acetabular rasp selection, select the currently used acetabular rasp specification, and execution mode selection, which can select different rasping modes, and guide the user to perform rasping through operation prompts and prompt surgical information; preparation before cup placement, which can guide the user to install the placement rod and perform relevant inspections through operation prompts, capture acetabular inspection points and placement rod inspection points through feature point capture, then perform cup specification selection, select the currently used cup specification, and then perform execution mode selection, which can turn on or off the intelligent positioning mode, and guide the user to perform cup placement through operation prompts and prompt surgical information.

[0055] In one example, grinding the acetabulum according to the second registration point by the method of the embodiments of the present application may include: entering the preparation interface before acetabular rasping, installing a rasp bar and an acetabular rasp at the end of the robotic arm, using a probe to collect the inspection points of the acetabular tracer, clicking [Capture], and if the error value is less than 0.5 mm, the next step can be clicked; using the probe to collect the marking points of the rasp bar, clicking [Capture], and if the error value is less than 0.5 mm, the next step can be clicked; entering the acetabular rasping interface, selecting the current acetabular rasp model through the drop-down menu, turning on the [Intelligent Rasping] mode by mouse, stepping on the left foot pedal, freely dragging the end of the robotic arm, placing the acetabular rasp into the acetabular fossa of the patient, and at the same time observing the real-time changing values of the anteversion angle and abduction angle on the screen, and trying to approach the planned values as much as possible. If the difference from the planned value is within 15°, the angle value turns green. When the rasp bar enters the virtual boundary defined by the system, the icon of the virtual boundary in the upper left corner of the evaluation will be highlighted. Before starting rasping, install the acetabular drill at the end of the rasp bar, and at the same time keep stepping on the right foot pedal, and the bone drill icon is highlighted in green. Among them, in the 3D model, green represents the planned rasping part, white represents the completed rasping part, and red represents exceeding the plan by 1.0 mm. If the acetabular drill exceeds the virtual boundary by 2.3 mm, it will automatically power off. During rasping, observe the remaining rasping distances (medial, posterior, proximal) in the upper right corner of the software interface in real time. When each item reaches 0, stop rasping. The [Free Rasping] mode can be selected by mouse. At this time, the virtual boundary icon is always grayed out, but when stepping on the right foot pedal, the bone drill icon is highlighted, and the doctor can rasp without boundary protection; enter the preparation interface before acetabular cup placement, and place the rod and acetabular cup at the end of the robotic arm. Use a probe to collect the inspection points of the acetabular tracer, click [Capture], and if the error value is less than 0.5 mm, the next step can be clicked; use the probe to collect the marking points of the placement rod, click [Capture], and if the error value is less than 0.5 mm, the next step can be clicked; enter the acetabular cup placement interface, select the current acetabular cup model through the drop-down menu, turn on the [Automatic Positioning] mode by mouse, step on the left foot pedal, freely drag the end of the robotic arm, place the acetabular cup into the acetabular fossa of the patient, and at the same time observe the real-time changing values of the anteversion angle and abduction angle on the screen, and try to approach the planned values as much as possible. After reaching the vicinity of the target area, step on the right foot pedal. When approaching the planned value, step on the right foot pedal, and the end of the robotic arm will automatically position to the planned angular position. After positioning is completed, the bone hammer icon in the upper left corner is lit, indicating that the doctor can tap the acetabular cup. During tapping, observe the remaining tapping distance in real time. When it reaches 0 mm, immediately stop tapping. When the remaining tapping distance is less than -1, the font color turns red.

[0056] In the embodiments of the present application, the order corresponding to steps S22 and S23 may not be limited. During actual use, preoperative preparation steps may also be included before steps S22 and S23. Specifically, it may include: robotic arm inspection. Specifically, inspection items of the robotic arm can be selected and inspected, and the progress of the robotic arm inspection can be prompted; tool kit selection. Specifically, the current tool kit number can be selected; robotic arm trolley preparation. The user can be prompted to install a sterile cover, install end effector devices, etc.; calibration of surgical tools. The probe can be calibrated, and the user can be prompted for the probe calibration steps; installing an acetabular locator and implanting a check pin. The user can be prompted for the installation steps and precautions of the tracer and the check pin, and the initial position of the check pin can be captured.

[0057] In a possible implementation manner, identifying femoral registration points of the patient's femur to obtain a plurality of first registration points, refer to Figure 3 , includes:

[0058] Step S31, identifying femoral feature points of the patient's femur to obtain a plurality of femoral feature points;

[0059] Step S32, in response to the first confirmation information input by the user, identifying femoral registration points of the patient's femur to obtain the plurality of first registration points, where the plurality of first registration points include a femoral head registration point, a femoral neck registration point, and an intertrochanteric crest registration point.

[0060] Among them, the above-mentioned identifying femoral feature points of the patient's femur to obtain a plurality of femoral feature points can be rough registration of the femur, and then identifying femoral registration points of the patient's femur to obtain the plurality of first registration points can be fine registration.

[0061] In one example, the rough registration of the femur may include: entering the femur rough registration interface; selecting the column of Femur Feature Point 1, moving the probe tip to the corresponding position of this point on the 3D model, and clicking [Capture]. If you need to change this feature point, select the column of Femur Feature Point 1, click [Change], select the new position on the 3D model with the left mouse button, and click [Save]. Move the probe tip to the corresponding position of the new feature point on the 3D model and click [Capture]. When the feature point accuracy < 2 mm, it is displayed in green; when it is 2.0 - 5 mm, it is displayed in yellow; when it > 5 mm, it is displayed in red. The fine registration of the femur may include: entering the femur fine registration interface; clicking on a certain anatomical name column, such as [Femoral Head], and according to the blue area prompt on the 3D model, use the probe to collect the feature points in this area. Each time a feature point is collected, it needs to be confirmed by stepping on the right pedal or clicking the [Capture] button on the right; when the feature point accuracy < 1 mm, it is displayed in green; when it is 1.0 - 1.5 mm, it is displayed in yellow; when it > 1.5 mm, it is displayed in red. Then enter the femur registration confirmation interface; the probe can be used to slide across the cortical bone contour to observe the real-time distance between the probe tip and the cortical bone displayed in the upper right corner of the screen. The probe can also be used to collect the candidate feature points prompted in the model. Each time a feature point is collected, it needs to be confirmed by stepping on the right pedal or clicking the [Capture] button on the right; if you need to re-collect, you can click the [Reset] button to clear the recorded data. When the accuracy of feature point capture < 1 mm, it is displayed in green; when it is 1.0 - 1.5 mm, it is displayed in yellow; when it > 1.5 mm, it is displayed in red.

[0062] In a possible implementation manner, the identification of acetabular registration points for the hip bone of the patient to obtain a plurality of second registration points, see Figure 4 , includes:

[0063] Step S41, identifying acetabular feature points of the hip bone of the patient to obtain a plurality of acetabular feature points;

[0064] Step S42, in response to the second confirmation information input by the user, identifying acetabular registration points of the hip bone of the patient to obtain the plurality of second registration points, where the plurality of second registration points include acetabular articular surface registration points, acetabular posterior angle registration points, acetabular anterior notch registration points, and acetabular lateral surface registration points.

[0065] Among them, the above-mentioned identification of acetabular feature points of the hip bone of the patient to obtain a plurality of acetabular feature points can be the rough registration of the acetabulum, and then the identification of acetabular registration points of the hip bone of the patient to obtain the plurality of second registration points can be the fine registration.

[0066] In one example, the rough registration of the femur may include: entering the rough acetabular registration interface; selecting the column of acetabular feature point 1, moving the probe tip to the corresponding position of this point on the 3D model, and clicking [Capture]. If you need to change this feature point, select the column of acetabular feature point 1, click [Change], select the new position on the 3D model with the left mouse button, and click [Save]. Move the probe tip to the corresponding position of the new feature point on the 3D model and click [Capture]. When the accuracy of the feature point < 2 mm, it is displayed in green; when it is 2.0 - 5 mm, it is displayed in yellow; when it > 5 mm, it is displayed in red. The fine registration may include: entering the fine acetabular registration interface; clicking on a certain anatomical name column, and according to the prompt of the blue area on the 3D model, using the probe to collect the feature points in this area. Each time a feature point is collected, it needs to be confirmed by stepping on the right pedal or clicking the [Capture] button on the right; when the accuracy of the feature point < 1 mm, it is displayed in green; when it is 1.0 - 1.5 mm, it is displayed in yellow; when it > 1.5 mm, it is displayed in red. Then enter the acetabular registration confirmation interface; the probe can be used to slide across the cortical bone contour to observe the real-time distance between the probe tip and the cortical bone displayed in the upper right corner of the screen. The probe can also be used to collect the candidate feature points prompted in the model. Each time a feature point is collected, it needs to be confirmed by stepping on the right pedal or clicking the [Capture] button on the right; if you need to collect again, you can click the [Reset] button to clear the recorded data. When the accuracy of the feature point capture < 1 mm, it is displayed in green; when it is 1.0 - 1.5 mm, it is displayed in yellow; when it > 1.5 mm, it is displayed in red.

[0067] In a possible implementation manner, when identifying the acetabular registration points of the patient's hip bone to obtain a plurality of second registration points; after grinding the acetabulum according to the second registration points, the method further includes: identifying the position information of the edge feature points of the installed acetabular cup; identifying the position information of the tracer of the installed femur; identifying the surgical result according to the position information of the acetabular cup edge feature points and the position information of the tracer. In one example, it is possible to evaluate whether the surgery is successful according to the position information of the acetabular cup edge feature points and the position information of the tracer. For example, it is possible to perform a simulation according to the position information of the acetabular cup edge feature points and the position information of the tracer to judge whether the prosthesis installed in the surgery will have an impact on the patient. For example, perform simulations of multiple behavior cycles. For example, it may include: entering the acetabular cup angle verification interface, selecting the acetabular cup feature points, placing the probe at the edge position of the acetabular cup, and clicking the [Capture] button to complete the collection of 5 feature points on the acetabular cup edge. The current anteversion angle and abduction angle of the acetabular cup will be displayed in the upper right corner of the screen; enter the reduction verification interface, reinstall the femoral tracer, and click [Capture], the system will display the postoperative hip length difference and combined offset difference, and adjust the right prosthesis parameters as appropriate; enter the surgical report interface, and after clicking [Export Report], the surgical report can be downloaded.

[0068] In the second aspect of the embodiments of the present application, a robotic arm control device is provided. Refer to Figure 5 , Figure 5 FIG. Figure 5 is a schematic structural diagram of the robotic arm control device provided by the embodiments of the present application. The device includes:

[0069] A scheme acquisition module 501, configured to acquire a pre-planned surgical scheme, where the surgical scheme includes hip prosthesis installation position information, and the hip prosthesis includes a femoral prosthesis and an acetabular cup;

[0070] A femur recognition module 502, configured to recognize femoral registration points on the patient's femur to obtain a plurality of first registration points; and perform osteotomy on the femur according to the first registration points;

[0071] An acetabulum recognition module 503, configured to recognize acetabular registration points on the patient's hip bone to obtain a plurality of second registration points; and perform grinding on the acetabulum according to the second registration points.

[0072] In a possible implementation manner, the femur recognition module is specifically configured to recognize femoral feature points on the patient's femur to obtain a plurality of femoral feature points; and in response to the first confirmation information input by the user, recognize femoral registration points on the patient's femur to obtain the plurality of first registration points, where the plurality of first registration points include a femoral head registration point, a femoral neck registration point, and an intertrochanteric crest registration point.

[0073] In a possible implementation manner, the femur recognition module is specifically configured to recognize acetabular feature points on the patient's hip bone to obtain a plurality of acetabular feature points; and in response to the second confirmation information input by the user, recognize acetabular registration points on the patient's hip bone to obtain the plurality of second registration points, where the plurality of second registration points include an acetabular joint surface registration point, an acetabular posterior angle registration point, an acetabular anterior notch registration point, and an acetabular outer side surface registration point.

[0074] In a possible implementation manner, the device further includes:

[0075] A position recognition module, configured to recognize the position information of the edge feature points of the installed acetabular cup; and recognize the position information of the tracer of the installed femur;

[0076] A result analysis module, configured to recognize the surgical result according to the position information of the edge feature points of the acetabular cup and the position information of the tracer.

[0077] In a possible implementation manner, the scheme acquisition module is specifically configured to acquire the CT data of the patient; and create the surgical scheme according to the CT data.

[0078] It can be seen that through the device of the embodiments of the present application, the robotic arm can be used to configure the registration points, osteotomize the femur, and grind the acetabulum according to the pre-planned surgical plan, thereby improving the accuracy of hip prosthesis installation.

[0079] An embodiment of the present invention also provides an electronic device, as Figure 6 shown, including a processor 601, a communication interface 602, a memory 603, and a communication bus 604. Among them, the processor 601, the communication interface 602, and the memory 603 complete mutual communication through the communication bus 604.

[0080] The memory 603 is used to store computer programs;

[0081] When the processor 601 is used to execute the program stored on the memory 603, the following steps are implemented:

[0082] Obtain a pre-planned surgical plan, where the surgical plan includes hip prosthesis installation position information, and the hip prosthesis includes a femoral prosthesis and an acetabular cup;

[0083] Identify femoral registration points on the patient's femur to obtain a plurality of first registration points; osteotomize the femur according to the first registration points;

[0084] Identify acetabular registration points on the patient's hip bone to obtain a plurality of second registration points; grind the acetabulum according to the second registration points.

[0085] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0086] The communication interface is used for communication between the above electronic device and other devices.

[0087] The memory may include a Random Access Memory (RAM), and may also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located far from the aforementioned processor.

[0088] The above-mentioned processor may be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0089] In another embodiment provided by the present invention, there is also provided a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the steps of any of the above-mentioned robotic arm control methods are implemented.

[0090] In another embodiment provided by the present invention, there is also provided a computer program product containing instructions, which when run on a computer, causes the computer to execute any of the robotic arm control methods in the above embodiments.

[0091] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer may be a general-purpose computer, a dedicated computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer, or a data storage device such as a server, data center, etc. that includes one or more integrated available media. The available medium may be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a Solid State Disk (SSD)).

[0092] It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0093] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device, electronic device, storage medium and computer program product, since they are basically similar to the method embodiments, the description is relatively simple, and reference can be made to the corresponding parts of the method embodiments for the relevant content.

[0094] The above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A robotic arm control method, characterized in that, The method includes: Obtaining a pre-planned surgical plan, where the surgical plan includes hip prosthesis installation position information, and the hip prosthesis includes a femoral prosthesis and an acetabular cup; Identifying femoral registration points on the patient's femur to obtain a plurality of first registration points; performing osteotomy of the femur according to the first registration points; Identifying acetabular registration points on the patient's hip bone to obtain a plurality of second registration points; performing grinding of the acetabulum according to the second registration points.

2. The method according to claim 1, wherein The identifying femoral registration points on the patient's femur to obtain a plurality of first registration points includes: Identifying femoral feature points on the patient's femur to obtain a plurality of femoral feature points; In response to the first confirmation information input by the user, identifying femoral registration points on the patient's femur to obtain the plurality of first registration points, where the plurality of first registration points include a femoral head registration point, a femoral neck registration point, and an intertrochanteric crest registration point.

3. The method according to claim 1, characterized in that The identifying acetabular registration points on the patient's hip bone to obtain a plurality of second registration points includes: Identifying acetabular feature points on the patient's hip bone to obtain a plurality of acetabular feature points; In response to the second confirmation information input by the user, identifying acetabular registration points on the patient's hip bone to obtain the plurality of second registration points, where the plurality of second registration points include an acetabular articular surface registration point, an acetabular posterior angle registration point, an acetabular anterior notch registration point, and an acetabular lateral surface registration point.

4. The method according to claim 1, wherein In the identifying acetabular registration points on the patient's hip bone to obtain a plurality of second registration points; After performing grinding of the acetabulum according to the second registration points, the method further includes: Identifying the position information of the edge feature points of the installed acetabular cup; identifying the position information of the tracer of the installed femur; Identifying the surgical result according to the position information of the acetabular cup edge feature points and the position information of the tracer.

5. The method according to claim 1, characterized in that The obtaining a pre-planned surgical plan includes: Obtaining the CT data of the patient; Creating the surgical plan according to the CT data.

6. A robotic arm control device, characterized in that, The device includes: A plan obtaining module, configured to obtain a pre-planned surgical plan, where the surgical plan includes hip prosthesis installation position information, and the hip prosthesis includes a femoral prosthesis and an acetabular cup; A femur identification module, configured to identify femoral registration points on the patient's femur to obtain a plurality of first registration points; performing osteotomy of the femur according to the first registration points; An acetabulum identification module, configured to identify acetabular registration points on the patient's hip bone to obtain a plurality of second registration points; performing grinding of the acetabulum according to the second registration points.

7. The device according to claim 6, wherein The femur identification module is specifically configured to identify femoral feature points on the patient's femur to obtain a plurality of femoral feature points; in response to the first confirmation information input by the user, identify femoral registration points on the patient's femur to obtain the plurality of first registration points, where the plurality of first registration points include a femoral head registration point, a femoral neck registration point, and an intertrochanteric crest registration point.

8. The device according to claim 6, wherein The femur recognition module is specifically configured to recognize acetabular feature points of the patient's hip bone to obtain a plurality of acetabular feature points; in response to the second confirmation information input by the user, recognize acetabular registration points of the patient's hip bone to obtain the plurality of second registration points, where the plurality of second registration points include an acetabular joint surface registration point, an acetabular posterior angle registration point, an acetabular anterior notch registration point, and an acetabular lateral surface registration point.

9. The device according to claim 6, characterized in that, The device further includes: A position recognition module, configured to recognize the position information of the edge feature points of the implanted acetabular cup; recognize the position information of the tracer of the implanted femur; A result analysis module, configured to recognize the surgical result according to the position information of the edge feature points of the acetabular cup and the position information of the tracer.

10. The device according to claim 6, wherein The scheme acquisition module is specifically configured to acquire the CT data of the patient; create the surgical scheme according to the CT data.

11. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete mutual communication through the communication bus; The memory is used for storing computer programs; The processor, when executing the programs stored on the memory, implements the method steps described in any one of claims 1-5.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, it implements the method steps described in any one of claims 1-5.

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