Acetabular cup prosthesis calibration device and acetabular cup prosthesis calibration method

Abstract

The invention relates to an acetabular cup prosthesis calibration device and an acetabular cup prosthesis calibration method. The pose of a calibration block at an initial position and the distance between the initial position and a calibration position are obtained. By acquiring the pose of the axis of the calibration block and the pose of the first sleeve, the pose of the calibration block at the calibration position, namely the vertex position of the prosthesis, can be calculated. The radius of the acetabular cup prosthesis can be calculated as long as the inner diameter of the first sleeve is known. The sphere center of the acetabular cup prosthesis is collinear with the axis of the calibration block, so that the sphere center of the acetabular cup prosthesis can be obtained according to the vertex pose and the radius. The position of the acetabular fossa and the position of the acetabular fossa are known, so that the robot-assisted navigation system can design the motion trail of the prosthesis, and then the acetabular cup prosthesis is driven by the prosthesis mounting actuator on the mechanical arm to move along the preset trail, so that the acetabular cup prosthesis can be accurately assembled to the acetabular fossa with proper press-fit force, and the operation efficiency and the operation success rate are improved.

Description

Technical Field

[0001] This application relates to the field of medical technology, and in particular to a device and method for calibrating an acetabular cup prosthesis. Background Technology

[0002] In robot-assisted hip replacement surgery, the acetabular cup is fixed in the acetabular fossa by the pressure of the acetabular fossa. If the pressure is too small, the fixation will be unreliable, and if the pressure is too large, it will easily lead to bone fracture. Therefore, it is very important to achieve a suitable pressure, which requires obtaining the precise position and size of the acetabular cup.

[0003] In related technologies, a prosthesis library is typically established using different types of acetabular cup prostheses in various sizes provided by the manufacturer, and the corresponding model is selected during surgery. However, due to manufacturing errors in the acetabular cup prosthesis itself and assembly errors between the acetabular cup prosthesis and the connecting rod, the installation accuracy of the acetabular cup prosthesis cannot be guaranteed, affecting surgical efficiency and success rate. Summary of the Invention

[0004] Therefore, it is necessary to provide an acetabular cup prosthesis calibration device to address the problem of large errors in the navigation of existing acetabular cup prostheses to the acetabular fossa.

[0005] An acetabular cup prosthesis calibration device, the acetabular cup prosthesis calibration device comprising:

[0006] A first sleeve has an axis, and a first end and a second end along the axis;

[0007] A calibration block fitted inside the first sleeve, the calibration block being able to be pushed against by the acetabular cup prosthesis during calibration and move from the initial position to the calibration position along the axis;

[0008] The first end of the first sleeve is provided with a first calibration edge for abutting against the spherical surface of the acetabular cup prosthesis during calibration;

[0009] The first end of the calibration block is provided with a calibration end face for abutting against the apex of the acetabular cup prosthesis during calibration;

[0010] The marking component includes a second marking component disposed on the first sleeve and a first marking component disposed on the calibration block. The marking component is used to be monitored by the pose monitoring system to determine the pose information of the first sleeve and the calibration block.

[0011] In one embodiment, the first marking component includes at least one tracer element, and the first marking component is disposed on the mounting end face of the calibration block opposite to the calibration end face.

[0012] In one embodiment, the second marking component includes at least three non-collinear tracer elements, and the second marking component is disposed on the side of the first sleeve.

[0013] In one embodiment, the acetabular cup prosthesis calibration device further includes a first elastic element connected between the first sleeve and the calibration block, the first elastic element being used to provide an elastic force to drive the calibration block from a calibration position to an initial position.

[0014] In one embodiment, a guide portion is provided axially inside the first sleeve, and the calibration block is slidably connected to the guide portion.

[0015] In one embodiment, the acetabular cup prosthesis calibration device further includes a second sleeve sleeved between the calibration block and the first sleeve; the second sleeve can be pushed against by the acetabular cup prosthesis during calibration and moved from an initial position to a calibration position along the axis, and a first end of the second sleeve is provided with a second calibration edge for abutting against the spherical surface of the acetabular cup prosthesis during calibration; the marking assembly further includes a third marking assembly disposed on the second sleeve.

[0016] In one embodiment, the third marking component includes at least one tracer element disposed on the second end of the second sleeve.

[0017] In one embodiment, the acetabular cup prosthesis calibration device further includes a first elastic element connected between the second sleeve and the calibration block, the first elastic element being used to provide an elastic force to drive the calibration block from the calibration position to the initial position;

[0018] The acetabular cup prosthesis calibration device further includes a second elastic element connected between the first sleeve and the second sleeve, the second elastic element being used to provide an elastic force to drive the second sleeve from the calibration position to the initial position.

[0019] A method for calibrating an acetabular cup prosthesis, based on the acetabular cup prosthesis calibration device described above, the method comprising:

[0020] Obtain the first relative pose between the calibration end face of the calibration block in its initial position and the first calibration edge of the first sleeve;

[0021] Obtain the second relative pose between the calibration end face of the calibration block at the calibration position and the first calibration edge of the first sleeve;

[0022] The radius of the acetabular cup prosthesis is determined based on the radius of the first calibrated edge, the first relative pose, and the second relative pose.

[0023] A method for calibrating an acetabular cup prosthesis, based on the acetabular cup prosthesis calibration device described above, the method comprising:

[0024] Obtain the first relative pose between the calibration end face of the calibration block in its initial position and the first calibration edge of the first sleeve;

[0025] Obtain the second relative pose between the calibration end face of the calibration block at the calibration position and the first calibration edge of the first sleeve;

[0026] Obtain the third relative pose between the second calibration edge of the second sleeve and the first calibration edge of the first sleeve, which are in the initial position;

[0027] Obtain the fourth relative pose between the second calibration edge of the second sleeve at the calibration position and the first calibration edge of the first sleeve;

[0028] The radius of the acetabular cup prosthesis is determined based on the radius of the first calibration edge, the radius of the second calibration edge, the first relative pose, the second relative pose, the third relative pose, and the fourth relative pose.

[0029] The aforementioned acetabular cup prosthesis calibration device, through its contact with the acetabular cup prosthesis, allows the calibration block and the first sleeve to abut against the outer surface of the acetabular cup prosthesis. Taking a spherical surface as an example, the calibration end face of the calibration block contacts the vertex of the acetabular cup prosthesis, and the first calibration edge of the first sleeve contacts two points on the acetabular cup prosthesis. The first relative pose between the calibration end face of the calibration block in its initial position and the first calibration edge of the first sleeve can be pre-recorded in a pose monitoring system, or it can be obtained by tracking the first marker component connected to the calibration block and the second marker component connected to the first sleeve through the pose monitoring system. When the calibration block is moved from its initial position to the calibration position by the acetabular cup prosthesis, the pose monitoring system tracks the first and second marker components again to obtain the pose of the first sleeve axis. Since the calibration block and the first sleeve are coaxial, the pose of the calibration block axis is obtained, and the pose of the first calibration edge of the first sleeve can also be obtained. Therefore, the second relative pose between the calibration end face of the calibration block at the calibration position and the first calibration edge can be calculated, which is the vertex position of the acetabular cup prosthesis. Since the inner diameter of the first sleeve is known, the radius of the acetabular cup prosthesis can be calculated using the Pythagorean theorem. Because the center of the acetabular cup prosthesis is collinear with the axis of the calibration block (or the angle between them is within the allowable threshold range), the center pose of the acetabular cup prosthesis can be obtained based on the vertex pose and the radius of the acetabular cup prosthesis. Based on the apex pose, center pose, and radius of the acetabular cup prosthesis, and knowing the location of the acetabular fossa, the robot-assisted navigation system can design the motion trajectory of the prosthesis. Then, the prosthesis installation actuator on the robotic arm drives the acetabular cup prosthesis to move along the preset trajectory, so that the acetabular cup prosthesis can be accurately assembled into the acetabular fossa with appropriate pressing force, thereby improving surgical efficiency and success rate. Attached Figure Description

[0030] Figure 1 This is a schematic diagram showing the calibration block in the initial position of the acetabular cup prosthesis calibration device provided in the first embodiment of this application.

[0031] Figure 2 for Figure 1 The diagram shows the alignment of the acetabular cup prosthesis with the acetabular cup prosthesis.

[0032] Figure 3 for Figure 2 The diagram shows the calibration block in the calibration position of the acetabular cup prosthesis calibration device.

[0033] Figure 4 for Figure 3 A simplified diagram of the calibration end face and the first calibration edge in the acetabular cup prosthesis calibration device shown.

[0034] Figure 5 This is a schematic diagram showing the fit between the acetabular cup prosthesis calibration device and the acetabular cup prosthesis provided in the second embodiment of this application.

[0035] Figure 6 for Figure 5 A simplified diagram of the calibration end face, first calibration edge, and second calibration edge in the acetabular cup prosthesis calibration device shown.

[0036] Reference numerals in the attached figures: 10, acetabular cup prosthesis calibration device; 110, calibration block; 111, calibration end face; 112, mounting end face; 120, first sleeve; 123, first calibration edge; 130, first elastic element; 140, second sleeve; 144, second calibration edge; 150, second elastic element; 210, first marking assembly; 220, second marking assembly; 230, third marking assembly; 1000, acetabular cup prosthesis. Detailed Implementation

[0037] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0038] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0039] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0040] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0041] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0042] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0043] In robot-assisted hip replacement surgery, the acetabular cup prosthesis is fixed in the acetabular fossa by the pressure of the acetabular fossa. If the pressure is too small, the fixation will be unreliable, and if the pressure is too large, it will easily lead to bone fracture. Therefore, it is very important to achieve a suitable pressure, which requires precise knowledge of the position and size of the acetabular cup prosthesis.

[0044] In related technologies, most methods rely on establishing a prosthesis library based on the different types of acetabular cup prostheses provided by prosthesis manufacturers, and then selecting the corresponding model during surgery. This method has significant inherent errors. First, the prosthesis manufacturers only provide theoretical values ​​for the prosthesis dimensions. Second, there are errors in the installation of the acetabular cup prosthesis and its connecting rod. To accommodate different prostheses, the installation position is designed for quick release, which further increases the installation error of the acetabular cup prosthesis, leading to increased errors in navigating the acetabular cup prosthesis to the acetabular fossa, affecting surgical efficiency and success rate. Furthermore, prostheses not in the library cannot be used, which limits the scope of application of robot-assisted navigation systems.

[0045] Based on this, this application provides a acetabular cup prosthesis calibration device that eliminates the need for preoperative calibration of the acetabular cup prosthesis's dimensions. By attaching the device to the acetabular cup prosthesis, the position and dimensions of the prosthesis can be calibrated, thereby achieving precise navigation of the acetabular cup prosthesis. The acetabular cup prosthesis calibration device provided in one embodiment of this application will be described in detail below with reference to the accompanying drawings.

[0046] See Figures 1 to 4 As shown, an embodiment of this application provides a acetabular cup prosthesis calibration device 10 (which may be referred to as the calibration device), including a calibration block 110, a first sleeve 120 sleeved outside the calibration block 110, and a marking assembly; the first sleeve 120 has an axis, and a first end and a second end along the axis, as shown in the figure. Figure 1 As shown, the first end of the first sleeve 120 is the left end, and the second end of the first sleeve 120 is the right end. The first end of the first sleeve 120 is provided with a first calibration edge 123 for abutting against the spherical surface of the acetabular cup prosthesis 1000 during calibration. The first end of the calibration block 110 is provided with a calibration end face 111 for abutting against the vertex of the acetabular cup prosthesis 1000 during calibration. The calibration block 110 can be pushed against by the acetabular cup prosthesis 1000 during calibration and move from the initial position to the calibration position along the axis of the first sleeve 120, so that the calibration end face 111 of the calibration block 110 abuts against the acetabular cup prosthesis 1000, and the first calibration edge 123 of the first sleeve 120 abuts against the acetabular cup prosthesis 1000. The marking components include a first marking component 210 disposed on the calibration block 110 and a second marking component 220 disposed on the first sleeve 120; the marking components are used to be monitored by the pose monitoring system to determine the pose information of the first sleeve 120 and the calibration block 110. Understandably, in the initial position, the second marking component 220 and the first marking component 210 have an initial relative pose, and in the calibration position, the second marking component 220 and the first marking component 210 have a calibration relative pose.

[0047] The acetabular cup prosthesis calibration device 10 is fitted with the acetabular cup prosthesis 1000, so that the calibration block 110 and the first sleeve 120 respectively abut against different positions on the outer surface of the acetabular cup prosthesis 1000. Taking the surface of the acetabular cup prosthesis 1000 in contact with the calibration device as a spherical surface as an example, the calibration end face 111 of the calibration block 110 contacts the vertex of the acetabular cup prosthesis 1000, and the first calibration edge 123 of the first sleeve 120 contacts two points on the spherical surface of the acetabular cup prosthesis 1000.

[0048] Specifically, the first relative pose P1 between the calibration end face 111 of the calibration block 110 at the initial position and the first calibration edge 123 can be pre-recorded in the pose monitoring system; of course, the pose monitoring system can also be used to track the first marker component 210 and the second marker component 220 to obtain the corresponding pose information. When the calibration block 110 is pushed from the initial position to the calibration position by the acetabular cup prosthesis 1000, the pose monitoring system can obtain the pose of the axis of the first sleeve 120 by tracking the first marker component 210 and the second marker component 220. Since the calibration block 110 and the first sleeve 120 are coaxial, the axial pose P0 of the calibration block 110 can be obtained; since the calibration block 110 moves along the axial direction, the distance L1 from the initial position to the calibration position can be obtained.

[0049] The second relative pose P2 between the calibration end face 111 and the first calibration edge 123 at the calibration position can be calculated using the distance formula between two points in space. The second relative pose P2 between the calibration end face 111 and the first calibration edge 123 at the calibration position satisfies the following equation: Therefore, the second relative pose P2, i.e., the apex position of the acetabular cup prosthesis 1000, can be calculated using this equation. (Reference) Figure 4 According to the Pythagorean theorem, the radius R1 of the acetabular cup prosthesis 1000 satisfies the following equation: Where r1 is the inner diameter of the first sleeve 120, which is also the radius of the first calibration edge 123. The inner diameter of the first sleeve 120 is obviously a known quantity. d is the distance between P2 and P3. P3 is the pose of the first calibration edge 123 of the first sleeve 120. P3 can be obtained by tracking the second marker component 220. The radius of the acetabular cup prosthesis 1000 can be calculated using this equation. Understandably, the above poses are all based on a three-dimensional coordinate system. For example, the center pose P1 of the calibration end face 111 in the initial position is (x1, y1, z1).

[0050] Since the center of the acetabular cup prosthesis 1000 is collinear with the axis of the calibration block 110 (or the angle between them is within the allowable threshold range), the center pose of the acetabular cup prosthesis 1000 can be obtained from the vertex pose and the radius of the acetabular cup prosthesis 1000. Based on the vertex pose, center pose, and radius of the acetabular cup prosthesis 1000, and knowing the location of the acetabular fossa, the robot-assisted navigation system can design the motion trajectory of the prosthesis. Then, the prosthesis installation actuator on the robotic arm drives the acetabular cup prosthesis 1000 to move along the preset trajectory, so that the acetabular cup prosthesis 1000 can be accurately assembled into the acetabular fossa with appropriate pressing force, thereby improving surgical efficiency and success rate.

[0051] Specifically, during the calibration process, when the acetabular cup prosthesis calibration device 10 is in contact with the acetabular cup prosthesis 1000, because the acetabular cup prosthesis 1000 is spherical, it is difficult to accurately place the acetabular cup prosthesis calibration device 10 in one go; that is, it is difficult to keep the axis of the acetabular cup prosthesis calibration device 10 aligned with the axis of the connecting rod of the acetabular cup prosthesis 1000. Therefore, the acetabular cup prosthesis calibration device 10 can move along the surface of the acetabular cup prosthesis 1000, while the pose monitoring system tracks the axis of the calibration device in real time. Since the pose of the connecting rod axis is known, when it is detected that the axis of the acetabular cup prosthesis calibration device 10 is collinear with the axis of the connecting rod or that the angle between the two is within the allowable threshold range, it can be considered that the acetabular cup prosthesis calibration device 10 is in place, and the above-described method can be used to calibrate the parameters such as the center of the sphere and the radius of the acetabular cup prosthesis 1000 online.

[0052] The pose monitoring system can be a binocular camera, etc., which can acquire the pose information of the marker components. The corresponding size information of the prosthesis can be calculated from the pose information. After calibration, the relevant size information is input into the system (or confirmed). Subsequently, during prosthesis implantation, a robot-assisted navigation system is used to achieve precise navigation based on the size information of the prosthesis.

[0053] See Figure 3 As shown, in one embodiment, the second marking component 220 includes at least three non-collinear tracer elements, with at least one tracer element being non-collinear with two of the tracer elements. This arrangement allows the axial pose of the first sleeve 120 to be obtained, and since the calibration block 110 and the first sleeve 120 are collinear, the axial pose of the calibration block 110 can also be obtained. Correspondingly, the pose monitoring system is an optical tracking device, such as a binocular camera. The first marking component 210 may include one tracer element.

[0054] See Figure 3 As shown, in one embodiment, the first marking component 210 is disposed on the mounting end face 112 of the calibration block 110 opposite to the calibration end face 111; the second marking component 220 is disposed on the radial side of the first sleeve 120, i.e., the side surface. By connecting the two marking components to the radial side of the first sleeve 120 and the axial side of the calibration block 110 respectively, the distance between them is relatively large, thereby reducing the possibility of the second marking component 220 interfering with the pose monitoring system when tracking the first marking component 210, improving tracking accuracy, and thus improving the calibration accuracy of the calibration device.

[0055] See Figure 3As shown, in one embodiment, a first elastic element 130 is connected between the calibration block 110 and the first sleeve 120. The first elastic element 130 is used to provide a force to drive the calibration block 110 from the calibration position to the initial position. Specifically, when the acetabular cup prosthesis 1000 is not in contact with the calibration device, the calibration block 110 is not subjected to the pushing force of the acetabular cup prosthesis 1000, and the calibration block 110 is in the initial position, such as... Figure 1 As shown, the first elastic element 130 is in its natural state or a state with small deformation. When the acetabular cup prosthesis 1000 is in contact with the calibration device, the calibration block 110 is subjected to the pushing force of the acetabular cup prosthesis 1000, which compresses the first elastic element 130. The deformation of the first elastic element 130 increases, causing the calibration block 110 to move axially to the calibration position, such as... Figure 3 As shown.

[0056] When the acetabular cup prosthesis 1000 is removed from the calibration block 110, the calibration block 110 will automatically return to its initial position under the elastic force of the first elastic element 130. That is, when the acetabular cup prosthesis 1000 presses against the calibration block 110, the first elastic element 130 contracts, and the calibration block 110 moves to the right along the axial direction; when the acetabular cup prosthesis 1000 is released, the calibration block 110 moves to the left until it returns to its original position. The first elastic element 130 can specifically be a spring, one end of which is connected to the calibration block 110, and the other end is connected to the first sleeve 120.

[0057] The calibration block 110 and the first sleeve 120 can be cylindrical or square. When it is a square sleeve, it is necessary to ensure that the contact surface between the first sleeve and the acetabular cup prosthesis 1000 is circular to prevent the possibility that some points of the first sleeve may not make contact with the acetabular cup. Taking the calibration block 110 and the first sleeve 120 as cylindrical as an example, the calibration block 110 can be a stepped structure, and the diameter of the mounting end face 112 of the calibration block 110 is smaller than the diameter of the calibration end face 111. The first sleeve 120 can be a horizontal U-shaped structure, and through holes are constructed at both ends along the axial direction to allow the calibration block 110 to pass through and the acetabular cup to extend into. Space is reserved between the calibration block 110 and the first sleeve 120 for installing the first elastic element 130.

[0058] In one embodiment, the first sleeve 120 is provided with a guide portion (not shown in the figure), and the calibration block 110 is slidably connected to the guide portion. For example, the first sleeve 120 is provided with a groove, and the calibration block 110 is slidably connected to the groove wall, so that the axial movement of the calibration block 110 is guided by the groove.

[0059] See Figures 5 to 6As shown, in one embodiment, when the top of the acetabular cup prosthesis 1000 is a plane, i.e., the surface of the acetabular cup prosthesis 1000 facing the calibration device is a plane, the acetabular cup prosthesis calibration device 10 further includes a second sleeve 140 sleeved between the calibration block 110 and the first sleeve 120. The first end of the second sleeve 140 is provided with a second calibration edge 144 for abutting against the spherical surface of the acetabular cup prosthesis 1000 during calibration. The second sleeve 140 can be pushed by the acetabular cup prosthesis 1000 during calibration and move along the axis from the initial position to the calibration position, so that the second calibration edge 144 of the second sleeve 140 abuts against the acetabular cup prosthesis 1000. The acetabular cup prosthesis calibration device 10 further includes a third marking assembly 230 connected to the second sleeve 140.

[0060] The pose monitoring system, by tracking the second marker component 220 and the third marker component 230, can acquire the third relative pose P4 (P4 not shown in the figure) between the second calibration edge 144 of the second sleeve 140 and the first calibration edge 123 of the first sleeve 120, which are in their initial positions. It can also acquire the pose of the axis of the first sleeve 120. Since the second sleeve 140 and the first sleeve 120 are coaxial, the axial pose P0 of the second sleeve 140 can be acquired. Because the second sleeve 140 moves along the axial direction, the distance L2 from the initial position to the calibration position can be acquired. The fourth relative pose P5 between the second calibration edge 144 and the first calibration edge 123 of the first sleeve 120, which is in the calibration position, can be calculated using the formula for the distance between two points in space. The fourth relative pose P5 satisfies the following equation: ;refer to Figure 6 According to the Pythagorean theorem, the radius R2 of the acetabular cup prosthesis 1000 satisfies the following equation: Where r1 is the inner diameter of the first sleeve 120, which is also the radius of the first calibration edge 123, r2 is the inner diameter of the second sleeve 140, which is also the radius of the second calibration edge 144, and h is the distance between P3 and P5.

[0061] Although the top of the acetabular cup prosthesis 1000 is flat, its overall shape is still approximately spherical, and P5 is collinear with the center of the sphere O2. Therefore, after calculating the radius of the sphere using the above method, the distance from P5 to the center of the sphere can be calculated using the Pythagorean theorem. Then, based on the pose of P5, the pose of the center of the acetabular cup prosthesis 1000 can be obtained. Given the pose and radius of the center of the acetabular cup prosthesis 1000, and the known location of the acetabular fossa, the robot-assisted navigation system can design the movement trajectory of the prosthesis. The prosthesis installation actuator on the robotic arm then moves the acetabular cup prosthesis 1000 along the preset trajectory, allowing it to be accurately assembled into the acetabular fossa with appropriate pressing force, thus improving surgical efficiency and success rate.

[0062] See Figure 5As shown, in one embodiment, the third marker assembly 230 includes at least one tracer element disposed at the second end of the second sleeve 140. By connecting the second marker assembly 220 and the third marker assembly 230 to the radial side of the first sleeve 120 and the axial side of the second sleeve 140 respectively, the distance between them is relatively large, thereby reducing the possibility of interference from other marker assemblies when the pose monitoring system tracks the corresponding marker assembly, improving tracking accuracy, and thus improving the calibration accuracy of the calibration device.

[0063] See Figure 5 As shown, in one embodiment, a first elastic element 130 is connected between the calibration block 110 and the second sleeve 140. The first elastic element 130 provides an elastic force to drive the calibration block 110 from the calibration position to the initial position. A second elastic element 150 is connected between the second sleeve 140 and the first sleeve 120. The second elastic element 150 provides an elastic force to drive the second sleeve 140 from the calibration position to the initial position. When the acetabular cup prosthesis 1000 is not in contact with the calibration device, the second sleeve 140 is not subjected to the pushing force of the acetabular cup prosthesis 1000, and the second sleeve 140 is in the initial position. Therefore, the second elastic element 150 is in a natural state or a state with a small amount of deformation. When the acetabular cup prosthesis 1000 is in contact with the calibration device 10, the second sleeve 140 is subjected to the pushing force of the acetabular cup prosthesis 1000, which compresses the second elastic element 150. The deformation of the second elastic element 150 increases, causing the second sleeve 140 to move axially to the calibration position, such as... Figure 5 As shown.

[0064] When the acetabular cup prosthesis 1000 is removed from the calibration block 110, the second sleeve 140 will automatically return to its initial position under the elastic force of the second elastic element 150. That is, when the acetabular cup prosthesis 1000 presses against the second sleeve 140, the second elastic element 150 contracts, and the second sleeve 140 moves to the right along the axial direction; when the acetabular cup prosthesis 1000 is released, the second sleeve 140 moves to the left until it returns to its original position. The second elastic element 150 can specifically be a spring, with one end connected to the second sleeve 140 and the other end connected to the first sleeve 120.

[0065] Furthermore, one embodiment of this application also provides a method for calibrating an acetabular cup prosthesis. Based on the aforementioned acetabular cup prosthesis calibration device 10, when the surface of the acetabular cup prosthesis 1000 in contact with the calibration device is spherical, the acetabular cup prosthesis calibration method includes:

[0066] S100, obtain the first relative pose P1 of the calibration end face 111 of the calibration block 110 in the initial position and the first calibration edge 123 of the first sleeve 120; obtain the distance L1 between the initial position and the calibration position.

[0067] Specifically, by tracking the first marker component 210 and the second marker component 220 through the pose monitoring system in the above-mentioned calibration device, the pose P1 of the calibration end face 111 in the initial position can be obtained and the distance L1 between the initial position and the calibration position can be obtained. The specific method is as described above and will not be repeated here.

[0068] S200, obtain the axial pose P0 of the calibration block 110; obtain the pose P3 of the first calibration edge 123 of the first sleeve 120.

[0069] Specifically, the pose monitoring system in the above-mentioned calibration device tracks the second marker component 220 to obtain the pose of the axis of the first sleeve 120. Since the calibration block 110 and the first sleeve 120 are coaxial, the pose P0 of the axis of the calibration block 110 is obtained, and the pose P3 of the first calibration edge 123 of the first sleeve 120 can be obtained.

[0070] S300, obtain the second relative pose P2 of the calibration end face 111 at the calibration position and the first calibration edge 123 of the first sleeve 120.

[0071] Specifically, the pose P2, i.e. the vertex position of the prosthesis, can be determined based on the relationship equation between P2 and P1 mentioned above.

[0072] Since the inner diameter of the first sleeve 120 is known, the radius R1 of the acetabular cup prosthesis 1000 can be calculated by calculating the distance between P2 and P3 and applying the Pythagorean theorem. Because the center of the acetabular cup prosthesis 1000 is collinear with the axis of the calibration block 110 (or the angle between them is within the allowable threshold range), the center pose O1 of the acetabular cup prosthesis 1000 can be obtained based on the vertex pose and the radius of the acetabular cup prosthesis 1000.

[0073] Based on the vertex pose, center pose, and radius of the acetabular cup prosthesis 1000, and knowing the location of the acetabular fossa, the robot-assisted navigation system can design the motion trajectory of the prosthesis. Then, the prosthesis installation actuator on the robotic arm drives the acetabular cup prosthesis 1000 to move along the preset trajectory, so that the acetabular cup prosthesis 1000 can be accurately assembled into the acetabular fossa with appropriate pressing force, thereby improving surgical efficiency and success rate.

[0074] In one embodiment, when the top of the acetabular cup prosthesis 1000 is a plane, i.e., the surface of the acetabular cup prosthesis 1000 facing the calibration device is a plane, the acetabular cup prosthesis calibration method includes not only the aforementioned S100 to S300, but also:

[0075] S400, obtain the third relative pose P4 between the second calibration edge 144 of the second sleeve 140 in the initial position and the first calibration edge of the first sleeve; obtain the distance L2 between the initial position and the calibration position.

[0076] Specifically, by tracking the second marker component 220 and the third marker component 230 through the pose monitoring system in the above-mentioned calibration device, the third relative pose P4 of the second calibration edge 144 at the initial position and the first calibration edge can be obtained, and the distance L2 between the initial position and the calibration position can be obtained.

[0077] S500, obtain the fourth relative pose P5 between the second calibration edge 144 at the calibration position and the first calibration edge of the first sleeve.

[0078] Specifically, the pose P5 can be determined based on the aforementioned equation relating P5 and P4.

[0079] Although the top of the acetabular cup prosthesis 1000 is flat, its overall shape is still approximately spherical, and P5 is collinear with the center of the sphere O2. Therefore, the radius R2 of the acetabular cup prosthesis 1000 can be calculated using the aforementioned formula. After calculating the radius R2, the distance from P5 to the center of the sphere can be calculated using the Pythagorean theorem. Then, based on the pose of P5, the pose of the center of the acetabular cup prosthesis 1000 can be obtained.

[0080] Based on the ball's center pose and radius, and knowing the location of the acetabular fossa, the robot-assisted navigation system can design the movement trajectory of the prosthesis. Then, the prosthesis installation actuator on the robotic arm drives the acetabular cup prosthesis 1000 to move along the preset trajectory, so that the acetabular cup prosthesis 1000 can be accurately assembled into the acetabular fossa with appropriate pressing force, thereby improving surgical efficiency and success rate.

[0081] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An acetabular cup prosthesis indexing device, characterized in that, The acetabular cup prosthesis calibration device comprises: a first sleeve (120) having an axis, and a first end and a second end along the axis; a calibration block (110) sleeved in the first sleeve (120), which can be pushed by the acetabular cup prosthesis during calibration and moved along the axis from an initial position to a calibration position; the first end of the first sleeve (120) is provided with a first calibration edge (123) for abutting with the spherical surface of the acetabular cup prosthesis during calibration; the first end of the calibration block (110) is provided with a calibration end face (111) for abutting with the vertex of the acetabular cup prosthesis during calibration; a marking assembly, comprising a second marking assembly (220) provided on the first sleeve (120) and a first marking assembly (210) provided on the calibration block (110), which is used for being monitored by a pose monitoring system and determining the pose information of the first sleeve (120) and the calibration block (110).

2. The acetabular cup prosthesis indexing device of claim 1, wherein, The first marking assembly (210) comprises at least one tracking element, and the first marking assembly (210) is provided on the mounting end face (112) of the calibration block (110) away from the calibration end face (111).

3. The acetabular cup prosthesis indexing device of claim 1, wherein, The second marking assembly (220) comprises at least three non-collinear tracking elements, and the second marking assembly (220) is provided on the side surface of the first sleeve (120).

4. The acetabular cup prosthesis calibration device according to claim 1, wherein The acetabular cup prosthesis calibration device further comprises a first elastic member (130) connected between the first sleeve (120) and the calibration block (110), which is used for providing an elastic force for driving the calibration block (110) to move from the calibration position to the initial position.

5. The acetabular cup prosthesis indexing device according to claim 1, wherein, A guide portion is provided in the first sleeve (120) in the axial direction, and the calibration block (110) is slidingly connected to the guide portion.

6. The acetabular cup prosthesis indexing device according to claim 1, wherein, The acetabular cup prosthesis calibration device further comprises a second sleeve (140) sleeved between the calibration block (110) and the first sleeve (120); the second sleeve (140) can be pushed by the acetabular cup prosthesis during calibration and moved along the axis from an initial position to a calibration position, and the first end of the second sleeve (140) is provided with a second calibration edge (144) for abutting with the spherical surface of the acetabular cup prosthesis during calibration; the marking assembly further comprises a third marking assembly (230) provided on the second sleeve (140).

7. The acetabular cup prosthesis indexing device of claim 6, wherein, The third marking assembly (230) comprises at least one tracking element provided on the second end of the second sleeve (140).

8. The acetabular cup prosthesis calibration device according to claim 6, wherein The acetabular cup prosthesis calibration device further comprises a first elastic member (130) connected between the second sleeve (140) and the calibration block (110), which is used for providing an elastic force for driving the calibration block (110) to move from the calibration position to the initial position. The acetabular cup prosthesis calibration device further comprises a second elastic member (150) connected between the first sleeve (120) and the second sleeve (140), the second elastic member (150) being configured to provide an elastic force to drive the second sleeve (140) to move from the calibration position to the initial position.

9. A method of calibrating an acetabular cup prosthesis, characterized in that, The acetabular cup prosthesis calibration device according to any one of claims 1 to 4, the acetabular cup prosthesis calibration method comprising: obtaining a first relative pose of the calibration end face of the calibration block in the initial position and the first calibration edge of the first sleeve; obtaining a second relative pose of the calibration end face of the calibration block in the calibration position and the first calibration edge of the first sleeve; determining the radius of the acetabular cup prosthesis according to the radius of the first calibration edge, the first relative pose and the second relative pose.

10. A method of calibrating an acetabular cup prosthesis, characterized in that, The acetabular cup prosthesis calibration device according to claim 5, the acetabular cup prosthesis calibration method comprising: obtaining a first relative pose of the calibration end face of the calibration block in the initial position and the first calibration edge of the first sleeve; obtaining a second relative pose of the calibration end face of the calibration block in the calibration position and the first calibration edge of the first sleeve; obtaining a third relative pose of the second calibration edge of the second sleeve in the initial position and the first calibration edge of the first sleeve; obtaining a fourth relative pose of the second calibration edge of the second sleeve in the calibration position and the first calibration edge of the first sleeve; determining the radius of the acetabular cup prosthesis according to the radius of the first calibration edge, the radius of the second calibration edge, the first relative pose, the second relative pose, the third relative pose and the fourth relative pose.

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