Bone grinding system, bone grinding control device and computer program product

Abstract

The embodiment of the present application is applicable to the fields of orthopedic technology and computer-assisted medical technology, and provides a bone grinding system, a bone grinding control device, and a computer program product. The system includes a data processing unit and a bone grinding control unit. The data processing unit is used to determine a plurality of target grinding files of different models according to the prosthesis to be implanted, and respectively determine the alignment angle and alignment position of each model of the target grinding file during the actual bone grinding process, and the number of models of any target grinding file is less than or equal to the number of models of the prosthesis to be implanted; the bone grinding control unit is used to control the plurality of target grinding files of different models to move to the alignment position according to the corresponding alignment angle in the order of increasing model numbers of the target grinding files, and perform bone grinding at the target angle. Using the above-mentioned bone grinding system for bone grinding can improve the efficiency and accuracy of bone grinding, thereby improving the success rate of the operation.

Description

Technical Field

[0001] The embodiments of the present application belong to the fields of orthopedic technology and computer-assisted medical technology, and in particular, relate to a bone grinding system, a bone grinding control device, and a computer program product. Background Art

[0002] Bone grinding is a common procedure in orthopedic surgery. Traditional bone grinding methods rely heavily on the surgeon's experience and skill, performed by the surgeon using a grinding file. These methods are difficult to perform, have low precision, and are often time-consuming.

[0003] With the development of computer-assisted medical technology, robotic technology is applied to bone grinding surgery, and bone grinding can be performed in an automated or semi-automated manner, which reduces the workload of surgeons to a certain extent and improves surgical efficiency. In the prior art, the automated or semi-automated bone grinding method based on computer assistance mainly uses a grinding file that matches the model of the prosthesis to be implanted. For example, if the prosthesis to be implanted is a 54-model prosthesis, a 54-model grinding file is used for bone grinding. This method of selecting a grinding file model according to the prosthesis model for bone grinding ignores the differences in different bone structures, and is prone to the situation where the grinding file used is not compatible with the bone structure of the bone grinding area, which interferes with the final bone grinding accuracy and affects the surgical effect. Summary of the Invention

[0004] In view of this, embodiments of the present application provide a bone grinding system, a bone grinding control device, and a computer program product to improve bone grinding efficiency and accuracy.

[0005] A first aspect of an embodiment of the present application provides a bone grinding system, comprising:

[0006] a data processing unit, configured to determine a plurality of target rasps of different models according to the prosthesis to be implanted, and respectively determine an alignment angle and an alignment position of each model of the target rasps during the actual bone grinding process, wherein the number of models of any target rasps is less than or equal to the number of models of the prosthesis to be implanted;

[0007] The bone grinding control unit is used to control a plurality of target grinding files of different models to move to alignment positions according to corresponding alignment angles in the order of increasing model numbers of the target grinding files, and grind bone at the target angle; wherein any model of the target grinding file has a corresponding stop position, and when the target grinding file grinds bone to the stop position, the next model of the target grinding file is replaced to grind bone or stop grinding bone.

[0008] A second aspect of the embodiments of the present application provides a bone grinding method, comprising:

[0009] Determining a plurality of target rasps of different models according to the prosthesis to be implanted, and respectively determining the alignment angle and alignment position of each model of the target rasps during the actual bone grinding process, wherein the number of models of any target rasps is less than or equal to the number of models of the prosthesis to be implanted;

[0010] In the order of increasing model numbers of the target grinding files, the target grinding files of different models are controlled to move to the alignment positions according to the corresponding alignment angles, and grind the bone at the target angles;

[0011] Wherein, any model of the target grinding file has a corresponding stop position. When the target grinding file grinds the bone to the stop position, the target grinding file of the next model is replaced to grind the bone or stop grinding the bone.

[0012] A third aspect of an embodiment of the present application provides a bone grinding control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the bone grinding control device implements the bone grinding method described in the second aspect above.

[0013] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a computer, the bone grinding method as described in the second aspect above is implemented.

[0014] A fifth aspect of the embodiments of the present application provides a computer program product, comprising a computer program, which, when executed, enables the bone grinding method described in the second aspect to be executed.

[0015] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0016] In an embodiment of the present application, a bone grinding system includes a data processing unit and a bone grinding control unit. The data processing unit can determine multiple target file sizes based on the prosthesis to be implanted, and separately determine the alignment angle and alignment position for each target file size during the actual bone grinding process. The number of target files should be less than or equal to the number of prostheses to be implanted. Thus, the bone grinding control unit can sequentially control the multiple target files of different sizes to move to their corresponding alignment positions according to the order of increasing target file size, prioritizing smaller files over larger files, and then grinding bone at the target angles until they reach a corresponding stop position. If the currently used target file size is not the largest file size, the bone grinding control unit can switch to the next target file size and continue grinding, repeating the aforementioned bone grinding process. If the currently used target file size is the largest file size, the bone grinding control unit can stop grinding. In this way, bone grinding of the entire bone grinding area is completed. By using a variety of different sizes of rasps, the present invention first uses a small size rasp for opening and deepening, and then gradually increases the size to the largest size for bone grinding. This allows the use of small rasps to fully adapt to the bone structure of the grinding area, thereby improving the adaptability of automated or semi-automated bone grinding. On this basis, by gradually increasing the size of the rasps during bone grinding, the accuracy of bone grinding can be further guaranteed, thereby improving the success rate of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0018] Figure 1 is a schematic diagram of a bone grinding system provided in an embodiment of the present application;

[0019] Figure 2 This is a schematic diagram of a flow chart of an orthopedic surgery involving bone grinding provided by an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of a bone grinding process provided in an embodiment of the present application;

[0021] Figure 4 is a schematic diagram of another bone grinding process provided in an embodiment of the present application;

[0022] Figure 5 This is a schematic diagram of determining a target point provided by an embodiment of the present application;

[0023] Figure 6is a schematic diagram of a bone grinding method provided in an embodiment of the present application;

[0024] Figure 7 is a schematic diagram of a bone grinding device provided in an embodiment of the present application;

[0025] Figure 8 Schematic diagram of a bone grinding control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present application with unnecessary details.

[0027] The technical solution of this application is described below through specific embodiments.

[0028] Reference Figure 1 , shows a schematic diagram of a bone grinding system provided by an embodiment of the present application. The bone grinding system 100 includes a data processing unit 110 and a bone grinding control unit 120. The data processing unit 110 is primarily used to process various types of data and output corresponding processing results, including target file angle and position information. The bone grinding control unit 120 is primarily used to perform specific bone grinding operations. Specifically, the bone grinding control unit 120 is primarily used to control a corresponding model of file to grind the bone grinding area based on the target file angle and position information provided by the data processing unit 110.

[0029] In one possible implementation of the embodiment of the present application, the data processing unit 110 and the bone grinding control unit can exist in the form of internal units of a computer device. For example, a unit or module with a data processing function in a computer device can serve as a carrier of the data processing unit 110 to implement various data processing functions of the data processing unit 110, and a control unit or module of the computer device can be used to implement the relevant functions of the bone grinding control unit 120. For example, the computer device can be connected to a robotic arm, and the control unit can control the robotic arm so that the robotic arm can operate the target grinding file to grind the bone in the grinding area. The control unit can control the forward and backward movement of the robotic arm during the bone grinding process, thereby driving the forward or backward movement of the target grinding file, thereby achieving bone grinding in the bone grinding area.

[0030] In an embodiment of the present application, a specific bone grinding strategy can be determined through preoperative planning. In the preoperative planning stage, the prosthesis that needs to be implanted after bone grinding, that is, the prosthesis to be implanted, can be determined by scanning and three-dimensional reconstruction of the bone grinding area. The prosthesis to be implanted should be a prosthesis of a specific type that matches the bone grinding area and can provide the patient with corresponding bone function after implantation. For example, according to preoperative planning, it can be determined that the prosthesis to be used in a certain operation is a No. 54 prosthesis, and the above-mentioned number 54 is the model number of this type of prosthesis. In the prior art, when grinding bones, according to the selected prosthesis model, a grinding file that matches the prosthesis model is usually used for bone grinding. For example, in the above example, for the bone grinding area using the No. 54 prosthesis, a No. 54 grinding file is usually used for bone grinding. The number 54 is also the model number of the grinding file.

[0031] In the embodiment of the present application, multiple types of rasps can be used for bone grinding. Specifically, multiple target rasps of different types can be determined according to the prosthesis to be implanted, and the number of types of these target rasps should be less than or equal to the number of types of the prosthesis to be implanted.

[0032] For example, for a bone refining area using a No. 54 prosthesis, the target rasp model number that can be used should not be greater than the prosthesis model number. For example, the target rasp model numbers could be 54, 52, 50, and 48, etc. Therefore, during the actual bone refining process, No. 48, No. 50, No. 52, and No. 54 rasps can be selected to perform the bone refining operation.

[0033] After determining multiple target rasp models based on the implant to be implanted, the data processing unit 110 can further determine the alignment angle and alignment position of each target rasp model during the actual bone grinding process. The alignment angle and alignment position together constitute the position of the target rasp during the actual bone grinding process. Different target rasp models typically have different corresponding alignment angles and alignment positions.

[0034] In the embodiments of this application, Figure 1 The data processing unit 110 can determine the alignment angle and alignment position of the target grinding file for each model based on the planned acetabular cup center and the abduction angle, anteversion angle and other parameters. Specifically, the data processing unit 110 can obtain the angle size of the target abduction angle and the target anteversion angle determined through preoperative planning. The above-mentioned target abduction angle and target anteversion angle can refer to the actual abduction angle and anteversion angle of the patient after the operation is finally completed, which are determined in the preoperative planning stage. For example, the abduction angle can be planned to be 40 degrees and the anteversion angle can be planned to be 20 degrees. Then, the data processing unit can determine the alignment angle of the target grinding file for each model based on the angle size of the target abduction angle and the target anteversion angle and the model number of the prosthesis.

[0035] In the embodiment of the present application, the alignment angle corresponding to each target file can be an alignment abduction angle and an alignment anteversion angle. The data processing unit can determine the alignment abduction angle and the alignment anteversion angle by combining the target abduction angle and the target anteversion angle obtained by planning.

[0036] In the embodiment of the present application, the actual bone grinding process can be performed by using a small file with a large abduction angle and a small anteversion angle to perform the opening and deep grinding, and then gradually increasing the file size to perform the bone grinding. Therefore, when determining the alignment angle of each target file, the alignment abduction angle and alignment anteversion angle can be determined by increasing the abduction angle and decreasing the anteversion angle accordingly after the target file size decreases.

[0037] In one possible implementation of the present embodiment, for any target file model, the data processing unit 110 may use the difference between the prosthesis model number and the target file model number as a basis, and incrementally increase the target abduction angle determined in the preoperative planning by a first multiple of this difference, thereby obtaining the aligned abduction angle of the target file. For the aligned anteversion angle, the data processing unit may similarly use the difference between the prosthesis model number and the target file model number as a basis, and incrementally decrease the target anteversion angle determined in the preoperative planning by a second multiple of this difference, thereby obtaining the aligned anteversion angle of the target file. The first multiple may be greater than the second multiple. For example, the first multiple may be 5, and the second multiple may be 2. For example, for each target file model number that decreases by 2, the aligned abduction angle may increase by 5 degrees, and the aligned anteversion angle may decrease by 2 degrees accordingly.

[0038] The process of determining the target alignment abduction angle and alignment anteversion angle for each file model can also be expressed using a formula. For example, the alignment abduction angle can be expressed as: alignment abduction angle = target abduction angle + (first file model number - second file model number) * first multiple; the alignment anteversion angle can be expressed as: alignment anteversion angle = target anteversion angle - (first file model number - second file model number) * second multiple. The first file model number can be the largest usable file that matches the prosthesis model. For example, for a size 54 prosthesis, the largest usable file is a size 54 file. Therefore, in the above formula, the first file model number is 54. The second file model number can be the file for which the alignment abduction angle or alignment anteversion angle is to be calculated. The alignment abduction angle and alignment anteversion angle calculated according to the above formula are the alignment abduction angle and alignment anteversion angle of the second model.

[0039] For example, assuming the prosthesis model number is 54, meaning a size 54 prosthesis is placed in the area after bone resurfacing, the largest target rasp that can be used is the size 54. Accordingly, the planned target abduction angle and target anteversion angle are the abduction angle and anteversion angle corresponding to the size 54 rasp, that is, the aligned abduction angle and aligned anteversion angle of the size 54 rasp. Assuming the target abduction angle for the size 54 rasp is 40 degrees and the target anteversion angle is 20 degrees, then for the size 48 rasp, the aligned abduction angle calculated according to the above expression is 40 + (54 - 48) * 5 = 70 degrees, and the aligned anteversion angle is 20 - (54 - 48) * 2 = 8 degrees.

[0040] Therefore, the alignment abduction angle and alignment anteversion angle of each file model mentioned in the above example are:

[0041] No. 54 file: align the abduction angle 40 degrees and align the anteversion angle 20 degrees;

[0042] No. 52 file: align the abduction angle of 50 degrees and the anteversion angle of 16 degrees;

[0043] No. 50 file: align the abduction angle of 60 degrees and the anteversion angle of 12 degrees;

[0044] No. 48 file: Align the abduction angle of 70 degrees and the anteversion angle of 8 degrees.

[0045] Of course, in actual applications, odd-numbered grinding files may also be used. The method for determining the alignment abduction angle and the alignment anteversion angle is similar to the above description and will not be repeated here.

[0046] The data processing unit 110 can determine the alignment position based on the central axis corresponding to the target placement position of the prosthesis. Specifically, the data processing unit 110 can determine the extension line of the normal vector of the target placement position based on the target placement position of the prosthesis, and use this extension line as the target central axis. Then, for any target file model, the data processing unit can calculate a target point on the target central axis that is free of collision risk based on the alignment angle of the file, and use this target point as the alignment position for the target file. Free of collision risk can mean that when the target file is moved to the target point according to the corresponding alignment angle, the target file will not contact the bone grinding limit boundary.

[0047] In one possible implementation of the present invention, the target implant position of the prosthesis can be used as a reference point to determine whether each point on the first axis presents a collision risk at the target file alignment angle. The distance between any two adjacent points on the first axis is equal. The first axis can be the target central axis, that is, the axis that coincides with the extension of the normal vector of the target implant position. In this way, the point closest to the reference point among the points on the first axis that do not present a collision risk can be determined as the target point.

[0048] Specifically, the first axis is the target centerline. The data processing unit 110 can use the target placement position as a reference point, which is located on the target centerline. Then, using this reference point as a reference, multiple locations can be set outward along the target centerline. For example, multiple locations can be obtained by moving backward along the target centerline in steps of 1 millimeter (mm). The data processing unit 110 can calculate whether the target file will encounter a collision risk if moved to each location point at the corresponding alignment angle. Thus, the location point with no collision risk and closest to the reference point can be used as the target point.

[0049] In one example, the data processing unit 110 can start from a reference point and sequentially move backwards in a predetermined step size, calculating at each subsequent step whether the target file will collide with the bone grinding limit boundary. If there is no risk of collision, the data processing unit 110 can record the location as the target point. Subsequently, under the control of the bone grinding control unit 120, the target file can be moved to the target point for bone grinding.

[0050] In another possible implementation of the present embodiment, the target implant position of the prosthesis can be used as a reference point to determine whether each point on the second axis presents a collision risk at the target file alignment angle. The distance between any two adjacent points on the second axis is equal. The second axis can be the axis corresponding to the target file alignment angle, i.e., the central axis of the target file. In this way, the point closest to the reference point among the points on the second axis that do not present a collision risk can be determined as the target point.

[0051] Specifically, the second axis is the central axis of the target file. The data processing unit 110 can use the target placement position as a reference point, located on the second axis. Then, using this reference point as a reference, multiple positions can be set outward along the second axis. For example, multiple positions can be obtained by moving backward along the second axis in steps of 1 millimeter (mm). The data processing unit 110 can calculate whether the target file would incur a collision risk if moved to each position point at the corresponding alignment angle. Therefore, the position point with no collision risk and closest to the reference point can be used as the target point.

[0052] In one example, the data processing unit 110 can begin by moving backward along the second axis at a predetermined step size from the reference point, calculating whether the target file will collide with the bone grinding limit at each subsequent step. If there is no risk of collision, the data processing unit 110 can record that location as the target point. Subsequently, under the control of the bone grinding control unit 120, the target file can be moved to that target point for bone grinding.

[0053] In the embodiment of the present application, after determining multiple target grinding files of different models and determining the alignment angle and alignment position of each target grinding file, the bone grinding control unit 120 can control the multiple target grinding files of different models to move to the corresponding alignment positions according to the corresponding alignment angles in the order of the increasing model numbers of the target grinding files, that is, first use the smaller grinding files and then use the larger grinding files, and grind the bone at the target angle.

[0054] For example, taking the aforementioned example, the bone grinding control unit 120 can first use a No. 48 grinding file to grind the bone, move the No. 48 grinding file to the corresponding alignment position according to the corresponding alignment angle (i.e., alignment abduction angle of 70 degrees, alignment anteversion angle of 8 degrees), and then grind the bone until the stop position.

[0055] In the embodiment of the present application, any model of target grinding file may have a corresponding stop position. When the target grinding file grinds the bone to the corresponding stop position, the target grinding file of the next model may be replaced to continue grinding the bone, or stop grinding the bone.

[0056] For example, when using a No. 48 file for bone grinding and reaching the stop position, you can continue grinding with a No. 50 file in ascending order of the file number until you reach the stop position corresponding to the No. 50 file. Then, switch to a No. 52 file for bone grinding, and when you reach the stop position corresponding to the No. 52 file, continue grinding with a No. 54 file. When the No. 54 file grinds the bone to the stop position, it can be considered that the bone grinding area has been completed. At this point, bone grinding can be stopped. The above-mentioned stop position can be the position where the bone grinding depth is zero, and this stop position can be determined based on preoperative planning. This embodiment of the present application is not limited to this.

[0057] In an embodiment of the present application, the bone grinding system can integrate an intraoperative navigation device to indicate the stop position. During bone grinding with a specific type of burr, the intraoperative navigation device can monitor the burr's position in real time. When the burr reaches the corresponding stop position, the bone grinding system notifies the surgeon. In one example, for fully automated bone grinding, the burr is controlled by a robotic arm and performs bone grinding automatically. When the burr reaches the stop position, the bone grinding system can power off the robotic arm and burr to indicate that the burr has reached the stop position and should not proceed. The bone grinding system can then control the robotic arm to exit the bone grinding area, prompting the surgeon to switch to the next type of burr, or the surgeon can determine the end of bone grinding. In another example, for semi-automated bone grinding, the surgeon can manually operate the burr or with the assistance of the robotic arm. When the burr reaches the stop position, the bone grinding system can vibrate or provide a voice prompt to inform the surgeon that the burr has reached the stop position and should not proceed. The surgeon can then switch to the next type of burr or terminate bone grinding.

[0058] In the embodiment of the present application, since the target point serving as the alignment position can be determined in two ways, namely the target point on the first axis and the target point on the second axis as described above, the bone grinding method of the target file is different for different target points.

[0059] In one possible implementation of the present embodiment, if the target point is located on the first axis, or the target central axis, the bone grinding control unit 120 may control the target file to grind bone at the grinding angle corresponding to its alignment angle. This grinding angle may refer to the angle corresponding to the central axis (second axis) of the target file. Alternatively, the bone grinding control unit 120 may control the target file to grind bone at the grinding angle corresponding to the target central axis (first axis), that is, at the angle corresponding to the target central axis. Therefore, after determining the target point on the target central axis using the first method, the bone grinding control unit 120 may control the target file to advance to a stop position at the grinding angle corresponding to the alignment angle; or control the target file to advance to a stop position at the grinding angle corresponding to the target central axis, thereby completing bone grinding of the bone grinding area. If the file currently in use is not the largest size, the next size file is replaced and the bone grinding operation is continued until the largest size file is used to grind bone to the stop position.

[0060] In another possible implementation of the present embodiment, if the target point is located on the second axis, i.e., the axis of the target burr, the bone grinding control unit 120 may first perform bone grinding at the grinding angle corresponding to the alignment angle of the target burr. This grinding angle corresponds to the angle corresponding to the axis of the target burr (the second axis). Therefore, the bone grinding control unit 120 may control the target burr to advance along its own axis (the second axis) to the target central axis. After detection, the bone grinding control unit 120 may adjust the target grinding angle to the same value as the grinding angle corresponding to the target central axis, and then continue to advance to the stop position to complete bone grinding of the grinding area. Specifically, when using this bone grinding method, the bone grinding control unit will first advance along the burr's own axis and grind the bone until it approaches the target central axis. It will then adjust the target angle so that the burr can continue grinding along the target central axis to the stop position. If the burr currently in use is not the largest size, the next size burr is replaced and the bone grinding operation is continued until the largest size burr has been used to grind the bone to the stop position.

[0061] In an embodiment of the present application, a bone grinding system includes a data processing unit and a bone grinding control unit. The data processing unit can determine multiple target file sizes based on the prosthesis to be implanted, and separately determine the alignment angle and alignment position for each target file size during the actual bone grinding process. The number of target files should be less than or equal to the number of prostheses to be implanted. Thus, the bone grinding control unit can sequentially control the multiple target files of different sizes to move to their corresponding alignment positions according to the order of increasing target file size, prioritizing smaller files over larger files, and then grinding bone at the target angles until they reach a corresponding stop position. If the currently used target file size is not the largest file size, the bone grinding control unit can switch to the next target file size and continue grinding, repeating the aforementioned bone grinding process. If the currently used target file size is the largest file size, the bone grinding control unit can stop grinding. In this way, bone grinding of the entire bone grinding area is completed. By using a variety of different sizes of rasps, the present invention first uses a small size rasp for opening and deepening, and then gradually increases the size to the largest size for bone grinding. This allows the use of small rasps to fully adapt to the bone structure of the grinding area, thereby improving the adaptability of automated or semi-automated bone grinding. On this basis, by gradually increasing the size of the rasps during bone grinding, the accuracy of bone grinding can be further guaranteed, thereby improving the success rate of the surgery.

[0062] For ease of understanding, the bone grinding operation performed by the bone grinding system provided in the embodiment of the present application is introduced below with reference to a complete example.

[0063] like Figure 2 The figure is a flow chart of an orthopedic surgery involving bone grinding provided by an embodiment of the present application. Figure 2 As shown in the figure, a complete orthopedic surgery consists of four main parts: 3D reconstruction, preoperative planning, intraoperative navigation, and bone grinding and cup placement. The following describes the procedures for each part in detail.

[0064] 1. 3D reconstruction.

[0065] 3D reconstruction involves using medical imaging technologies, such as CT and MRI, to reconstruct a patient's skeletal structure and generate an accurate 3D model. The image data required for 3D reconstruction can be obtained using imaging equipment, and the resulting 3D model serves as the foundation for subsequent bone reshaping procedures.

[0066] 2. Preoperative planning.

[0067] Preoperative planning can refer to planning the placement of the prosthesis in the three-dimensional model based on the three-dimensional reconstruction, combined with the surgical goals and the corresponding parameters input by the doctor, and generating the corresponding bone grinding area, bone grinding path and specific surgical operation plan.

[0068] During the preoperative planning stage, the desired prosthesis size can be determined. For example, in the example above, the prosthesis size is determined to be size 54. Once the prosthesis size is determined, the target maximum rasp size is also determined accordingly. For example, the maximum target rasp size that can be used for bone reshaping surgery using a size 54 prosthesis is a size 54 rasp.

[0069] In this embodiment of the present application, after determining the prosthesis size to be used, multiple rasps with a smaller size than the prosthesis size can be selected as target rasps for use in the subsequent bone reshaping process. For example, in the above example, for a bone reshaping procedure using a size 54 prosthesis, rasps #48, #50, #52, and #54 can be selected as target rasps and used together to perform the bone reshaping operation.

[0070] On the other hand, after determining the target file sizes for multiple types, the alignment angles and corresponding positions for each file size can be further determined in conjunction with the 3D model during the preoperative planning phase. The alignment angles include the alignment abduction angle and alignment anteversion angle. For example, the alignment angles for the aforementioned file sizes 48, 50, 52, and 54 are:

[0071] No. 54 file: align the abduction angle 40 degrees and align the anteversion angle 20 degrees;

[0072] No. 52 file: align the abduction angle of 50 degrees and the anteversion angle of 16 degrees;

[0073] No. 50 file: align the abduction angle of 60 degrees and the anteversion angle of 12 degrees;

[0074] No. 48 file: Align the abduction angle of 70 degrees and the anteversion angle of 8 degrees.

[0075] The alignment position for each model can be determined using the two methods described in the previous embodiments. One method is to determine the alignment position based on a target point on the axis corresponding to the normal vector of the target placement position (the first axis, also known as the target central axis). Alternatively, the alignment position can be determined based on a target point on the axis of the target file itself (the second axis). The relevant processing procedures can be found in the description of the previous embodiments and will not be repeated here.

[0076] 3. Intraoperative navigation.

[0077] Intraoperative navigation refers to navigation during the actual surgical procedure, including the relevant registration process and real-time monitoring of the file position and posture. Intraoperative navigation runs through the entire surgical process from the beginning to the end.

[0078] In an embodiment of the present application, the bone grinding system can also automatically adjust the position of the file based on parameters such as the position and posture of the file obtained through intraoperative navigation monitoring, so that the adjusted position is consistent with the position determined in the preoperative plan. Alternatively, the bone grinding system can interact with the doctor to provide feedback to the doctor whether the position of the file is consistent with the planned position, allowing the doctor to manually adjust the alignment angle and alignment position of the file to ensure that the bone grinding process proceeds as planned.

[0079] 4. Grind the bone and place the cup.

[0080] During the bone grinding and cup placement phase, the bone is ground according to the planned surgical plan under the guidance of intraoperative navigation. Once the bone is ground, intraoperative navigation guides the placement of the prosthesis into the corresponding ground position. For example, the No. 54 prosthesis in the aforementioned example is placed into the bone after the bone has been ground.

[0081] In the embodiment of the present application, a small-sized file with a large abduction angle and a small anteversion angle is used to perform opening and deep grinding, and then the file size is gradually increased to finally use the largest file size for bone grinding. For example, using the No. 48, No. 50, No. 52, and No. 54 files described in the above example, when grinding bone, the No. 48 file is first used to perform opening and deep grinding, then the No. 50 file is used to grind the bone to the stop position, then the No. 52 file is switched to grind the bone to the stop position, and finally the No. 54 file, the largest file size, is used to grind the bone until the stop position is reached, completing the entire bone grinding operation.

[0082] like Figure 3 , which is a schematic diagram of a bone grinding process provided in an embodiment of the present application. Figure 3 Part (a) shows a schematic diagram of the bone grinding area 301, which is also the area that needs to be ground bone later. Figure 3 Part (b) is a schematic diagram of the bone grinding effect of the largest target grinding file 3011 that matches the prosthesis to be placed and determined in the preoperative planning. Figure 3 Part (b) of FIG. 3 also shows a first axis 3012 representing the normal vector corresponding to the target implant position of the prosthesis. This first axis 3012 is also the target central axis. The entire bone refining process begins with refining using a smaller rasp, and ends with refining using the largest rasp, or target rasp 3011.

[0083] See also Figure 3 In part (c), when starting to grind the bone, a smaller size file is first used. For example, the target file 3021 is a size 48 file. The size 48 file is used to grind the bone at a large abduction angle and a small anteversion angle. The bone grinding system can move the target file 3021 to the alignment position according to the alignment abduction angle and alignment anteversion angle determined in the manner described above. Figure 3As can be seen from part (c), there is a large angle difference between the axis (second axis) of the target file 3021 and the target central axis 3021. After using the No. 48 file to grind the bone to the stop position, you can change to the next model, such as the No. 50 file to continue grinding the bone.

[0084] See also Figure 3 In part (d), it is assumed that the target grinding file 3021 has been replaced with grinding file No. 50. Figure 3 As shown in part (d), after the bone refining system moves the No. 50 rasp to the alignment position at the alignment angle, its abduction angle is smaller than that of the No. 48 rasp (from 70 degrees to 60 degrees), and its anteversion angle is larger than that of the No. 48 rasp (from 8 degrees to 12 degrees). The axis 3022 of the No. 50 rasp is closer to the target central axis 3012. The bone refining system can control the No. 50 rasp to continue refining until it stops. The next size rasp, No. 52, is then replaced for refining. After the No. 52 rasp reaches its stop position, the No. 54, the largest size, is replaced for refining.

[0085] See also Figure 3 In part (e), it is assumed that the target grinding file 3021 has been replaced with grinding file No. 54. Figure 3 As shown in part (e), after the bone grinding system moves the burr 54 to the alignment position at the alignment angle, its axis, i.e., the second axis 3022, coincides with the target central axis 3012. After the bone grinding system controls the burr 54 to grind the bone to the stop position, the entire bone grinding is completed.

[0086] like Figure 4 , which is a schematic diagram of another bone grinding process provided in an embodiment of the present application. Figure 4 The axis 4012 shown in FIG is the target center axis (first axis), and the entire bone grinding process will be performed by using multiple grinding files in the order of increasing model numbers. Figure 4 The target file 4021 shown in part (a) of FIG. 1 is moved to the alignment position along its own axis, that is, the second axis 4022, and then begins to grind the bone. Figure 4 As shown in part (b), the bone grinding system will move to the alignment position according to the axis of the newly replaced grinding file to grind the bone. Finally, by replacing the grinding file multiple times, the largest size grinding file, such as Figure 4 The axis 4022 of the file 4021 shown in part (e) coincides with the target center axis 4012 .

[0087] When determining the alignment position of the bone grinding system, a collision risk test is required. Figure 5 FIG. 1 is a schematic diagram of determining a target point provided by an embodiment of the present application. The target point is the position indicated by the alignment position corresponding to each type of grinding file.

[0088] like Figure 5 As shown in FIG, the bone grinding system can calculate the target point in two ways. One is to use the first axis in each of the above embodiments, i.e. Figure 5 The target center axis 501 in the figure is the progressive direction, and the file moves backward from the final target position, i.e., point A, in 1mm steps until the file does not contact the bone grinding limit. When the target point is determined in this way, the file can move forward in the direction of the target center axis 501 or the axis of the file itself during bone grinding, for example Figure 5 The direction of the axis 5021 of the middle grinding file 5022.

[0089] In another way of determining the target point, the axis of the target file itself can be used, for example Figure 5 The axis 5021 of each file 5022 is the progressive direction, and it moves backward from the final target position, i.e., point A, in 1mm steps until the file does not touch the bone grinding limit. When the target point is determined in this way, the forward direction of the file during bone grinding should first be along its own axis, i.e., Figure 5 The middle file 5022 moves in the direction of axis 5021 and approaches the target central axis 501. The file then adjusts its angle and continues moving in the direction of the target central axis 501 until it reaches a stop position. During bone grinding, if the current small file has no more bone to grind, the next larger file is replaced and the above process is repeated until the largest file has completed bone grinding.

[0090] In combination with the introduction of the above embodiments, the present application also provides a bone grinding method. Figure 6 FIG. 1 is a schematic diagram of a bone grinding method provided by the present application, which may specifically include the following steps:

[0091] S601. Determine a plurality of target files of different models according to the prosthesis to be implanted.

[0092] S602: Determine the alignment angle and alignment position of each model of the target rasp during the actual bone grinding process.

[0093] S603 , in the order of increasing the number of the target files, sequentially controlling a plurality of target files of different models to move to alignment positions according to corresponding alignment angles.

[0094] S604: Grind the bone at the target angle.

[0095] In the embodiment of the present application, the model number of any target rasp is less than or equal to the model number of the prosthesis to be implanted. Each model of the target rasp has a corresponding stop position. When the target rasp grinds the bone to the stop position, the next model of the target rasp can be replaced to grind the bone or stop grinding the bone.

[0096] The specific operation process of the above-mentioned bone grinding method can be found in the above-mentioned introduction to the bone grinding system, and will not be repeated here.

[0097] In addition, it should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0098] Reference Figure 7 , shows a schematic diagram of a bone grinding device provided in an embodiment of the present application, which may specifically include a 3D reconstruction module 701, a preoperative planning module 702, an intraoperative navigation module 703, and a bone grinding cup placement module 704. The 3D reconstruction module 701 may be used for 3D reconstruction, the preoperative planning module 702 may be used for preoperative planning, the intraoperative navigation module 703 may be used for intraoperative navigation, and the bone grinding cup placement module 704 may be used to perform the bone grinding functions implemented by the aforementioned bone grinding system. Figure 7 The relevant functions and operation process of the bone grinding device shown can be referred to Figure 2 The relevant steps of the orthopedic surgery process shown in will not be repeated here.

[0099] Reference Figure 8 , shows a schematic diagram of a bone grinding control device provided by an embodiment of the present application. Figure 8 As shown, the bone grinding control device 800 in the embodiment of the present application includes: a processor 810, a memory 820, and a computer program 821 stored in the memory 820 and executable on the processor 810. When the processor 810 executes the computer program 821, the steps in each embodiment of the above-mentioned bone grinding method are implemented, such as Figure 1 Alternatively, when the processor 810 executes the computer program 821, the functions of the modules / units in the above-mentioned device embodiments are realized, for example, Figure 7 Functions of modules 701 to 704 are shown.

[0100] For example, the computer program 821 can be divided into one or more modules / units, which are stored in the memory 820 and executed by the processor 810 to implement the present application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and the instruction segments can be used to describe the execution process of the computer program 821 in the bone grinding control device 800.

[0101] The bone grinding control device 800 may be a device including the data processing unit 110 and the bone grinding control unit 120 in the aforementioned embodiments. The bone grinding control device 800 may be a desktop computer, a cloud server, or other devices. The bone grinding control device 800 may include, but is not limited to, a processor 810 and a memory 820. It will be understood by those skilled in the art that Figure 8 This is merely an example of the bone grinding control device 800 and does not constitute a limitation of the bone grinding control device 800. The device may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the bone grinding control device 800 may also include input and output devices, network access devices, buses, etc.

[0102] The processor 810 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0103] The memory 820 can be an internal storage unit of the bone grinding control device 800, such as a hard drive or memory of the bone grinding control device 800. The memory 820 can also be an external storage device of the bone grinding control device 800, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped with the bone grinding control device 800. Furthermore, the memory 820 can include both the internal storage unit of the bone grinding control device 800 and an external storage device. The memory 820 is used to store the computer program 821 and other programs and data required by the bone grinding control device 800. The memory 820 can also be used to temporarily store data that has been output or is about to be output.

[0104] An embodiment of the present application further discloses a bone grinding control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the bone grinding method described in the aforementioned embodiments is implemented.

[0105] The embodiments of the present application further disclose a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium. When the computer program is executed by a computer, the bone grinding method described in the aforementioned embodiments is implemented.

[0106] The embodiments of the present application further disclose a computer program product, including a computer program. When the computer program is run on a computer, the computer is caused to execute the bone grinding method described in the aforementioned embodiments.

[0107] The above embodiments are intended only to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they may still modify the technical solutions described in the above embodiments or replace some of the technical features therein with equivalents; and such modifications or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application and should be included within the scope of protection of the present application.

Claims

1. A bone grinding system, characterized in that: include: a data processing unit, configured to determine a plurality of target rasps of different models according to the prosthesis to be implanted, and respectively determine an alignment angle and an alignment position of each model of the target rasps during the actual bone grinding process, wherein the number of models of any target rasps is less than or equal to the number of models of the prosthesis to be implanted; a bone grinding control unit for controlling, in ascending order of the number of target rasps, a plurality of target rasps of different models to move to alignment positions according to corresponding alignment angles and to grind bone at the target angles; wherein each target rasp of different models has a corresponding stop position, and when the target rasp reaches the stop position, the target rasp of the next model is replaced to grind bone or stop grinding bone; The data processing unit is specifically configured to: determine, based on the target placement position of the prosthesis, an extension line of the normal vector of the target placement position as the target central axis; and, for any model of the target file, calculate, based on the alignment angle of the target file, a target point on the target central axis without collision risk, as the alignment position of the target file.

2. The system according to claim 1, wherein: The data processing unit is specifically used for: Obtain the target abduction angle and target anteversion angle determined through preoperative planning; The alignment angle of the target file of each model is determined according to the target abduction angle and the target anteversion angle and the number of models of the prosthesis.

3. The system according to claim 2, characterized in that The target grinding file alignment angle includes the alignment abduction angle and the alignment anteversion angle during the actual bone grinding process; the data processing unit is specifically used to: For any model of the target file, taking the difference between the model number of the prosthesis and the model number of the target file as a basis, the target abduction angle determined in the preoperative planning is incremented by a first multiple of the difference to obtain the aligned abduction angle of the target file; The target anteversion angle determined in preoperative planning is gradually reduced based on the difference according to a second multiple of the difference to obtain the target file alignment anteversion angle, wherein the first multiple is greater than the second multiple.

4. The system according to claim 1, wherein: The data processing unit is further specifically configured to: Taking the target implantation position of the prosthesis as a reference point, determining whether there is a collision risk at each position point on a first axis at the target file alignment angle, wherein the distance between any two adjacent positions on the first axis is equal, and the first axis is the target central axis; The position point closest to the reference point among the position points on the first axis without collision risk is determined as the target point.

5. The system according to claim 4, characterized in that The target angle includes a bone grinding angle corresponding to the alignment angle or a bone grinding angle corresponding to the target central axis. The bone grinding control unit is specifically configured to: Controlling the target grinding file to advance to the stop position according to the bone grinding angle corresponding to the alignment angle; or, The target grinding file is controlled to advance to the stop position according to the bone grinding angle corresponding to the target central axis, so as to grind the bone grinding area.

6. The system according to claim 1, wherein: The data processing unit is further specifically configured to: Taking the target placement position of the prosthesis as a reference point, determining whether there is a collision risk at each position point on a second axis at the target file alignment angle, wherein the distance between any two adjacent positions on the second axis is equal, and the second axis is the axis corresponding to the target file alignment angle; The position point closest to the reference point among the position points on the second axis without collision risk is determined as the target point.

7. The system according to claim 6, characterized in that The target angle includes a bone grinding angle corresponding to the alignment angle and a bone grinding angle corresponding to the target central axis. The data processing unit is further specifically configured to: Controlling the target grinding file to advance to the target central axis according to the bone grinding angle corresponding to the alignment angle; The target angle is adjusted to be the same as the bone grinding angle corresponding to the target central axis and the bone grinding area is continuously ground to the stop position.

8. A bone grinding control device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the bone grinding control device implements the following steps of the bone grinding method: Determining a plurality of target rasps of different models according to the prosthesis to be implanted, and respectively determining the alignment angle and alignment position of each model of the target rasps during the actual bone grinding process, wherein the number of models of any target rasps is less than or equal to the number of models of the prosthesis to be implanted; In the order of increasing model numbers of the target grinding files, the target grinding files of different models are controlled to move to the alignment positions according to the corresponding alignment angles, and grind the bone at the target angles; Wherein, any model of the target grinding file has a corresponding stop position, and when the target grinding file grinds the bone to the stop position, the target grinding file of the next model is replaced to grind the bone or stop grinding the bone; When the processor executes the computer program, the bone grinding control device further implements the following steps: determining, based on the target insertion position of the prosthesis, an extension line of the normal vector of the target insertion position as the target central axis; and for any model of the target grinding file, calculating, based on the alignment angle of the target grinding file, a target point on the target central axis without collision risk as the alignment position of the target grinding file.

9. A computer program product comprising a computer program, characterized in that When the computer program is run, the following bone grinding method is performed: Determining a plurality of target rasps of different models according to the prosthesis to be implanted, and respectively determining the alignment angle and alignment position of each model of the target rasps during the actual bone grinding process, wherein the number of models of any target rasps is less than or equal to the number of models of the prosthesis to be implanted; In the order of increasing model numbers of the target grinding files, the target grinding files of different models are controlled to move to the alignment positions according to the corresponding alignment angles, and grind the bone at the target angles; Wherein, any model of the target grinding file has a corresponding stop position, and when the target grinding file grinds the bone to the stop position, the target grinding file of the next model is replaced to grind the bone or stop grinding the bone; When the computer program is executed, the following method is also executed: determining, based on the target placement position of the prosthesis, an extension line of the normal vector of the target placement position as the target central axis; and calculating, for any model of the target file, a target point on the target central axis without collision risk based on the alignment angle of the target file, as the alignment position of the target file.

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