19 results about "Acetabular fossa" patented technology

The invention discloses a hip joint surgical robot grinding and rubbing detection system and a detection tool thereof, and relates to the technical field of medical instruments. The device comprises a bottom plate and a grinding and rubbing assembly, a hip model assembly is fixedly connected to one side of the top of the bottom plate, an acetabular fossa model assembly is fixedly connected to the other side of the top of the bottom plate, and a tracer support is fixedly connected to the position, located at the rear end of the acetabular fossa model assembly, of the top of the bottom plate. The grinding and rubbing precision can be monitored in real time in the operation process, immediate feedback is provided, an operation team can find and correct errors in the grinding and rubbing process in time, the success rate of the operation is increased, tiny grinding and rubbing errors can be detected by accurately measuring the ball center position of the grinding and rubbing contour, it is ensured that the surgical robot achieves high-precision grinding and rubbing operation, and the working efficiency is improved. Multiple times of X-ray or CT scanning needed by traditional postoperative imaging evaluation are avoided, the radiation risk of a patient is reduced, the grinding and rubbing precision detection process is simplified, the operation time is shortened, and the operation complexity is reduced.

The invention relates to a method and device for displaying the position of an acetabular cup in total hip replacement, computer equipment, a storage medium and a computer program product, relates to the technical field of medical equipment, and can improve the efficiency of determining the implantation state of the acetabular cup by an operator. The method comprises the steps that an acetabulum virtual image is constructed according to user image data, concave point marking points of an acetabular fossa in the acetabulum virtual image are determined, and the concave point marking points are used for marking concave point features of the acetabular fossa; real-time pose data of the acetabular cup implanted into the acetabular fossa is received, a salient point mark point of the acetabular cup is determined according to the real-time pose data, and the salient point mark point is used for identifying salient point features of the acetabular cup; and calculating the distance between the concave point marking point and the convex point marking point in real time, and carrying out visual display on the acetabular cup pose in the acetabular virtual image according to the distance.

The application discloses a kind of hip joint grinding control method, comprising the following steps: according to acetabular fossa model generates cup cavity;Real-time acquisition of acetabular fossa pose, the pose of grinding tool, and the relative pose of acetabular fossa and grinding tool;In response to the action of user, grinding tool executes movement, executes grinding in acetabular fossa and forms cup cavity, wherein grinding tool moves to set position, triggers to execute virtual boundary control.When.The application also discloses a kind of hip joint grinding control system.In the manual operation control of the grinding operation of mechanical arm, grinding tool and hip joint, further cooperate to generate virtual boundary control, through the interaction of grinding equipment and virtual boundary in the way such as mechanical arm admittance control, ensure that grinding tool is executed within the range of safe virtual boundary, greatly reduce the situation such as grinding too much, grinding too little, grinding wrong position caused by low precision of manual operation, ensure the finished product quality of technical model.

The application relates to a hip joint prosthesis, which comprises an interposition acetabulum prosthesis and a femoral head reconstruction device. The interposition acetabulum prosthesis is connected with the acetabular fossa of the pelvis stably through an interposition acetabulum cup, a fixing screw and an interposition acetabulum liner, and the adaptability and stability are enhanced through multiple designs such as petal opening and damping parts; the femoral head reconstruction device comprises a joint friction surface prosthesis and a bone ingrowth support cage, and the reconstruction and stable support of the femoral head are realized. The application achieves the technical effects of improving the stability and durability of the hip joint prosthesis, reducing the postoperative discomfort of patients and promoting the growth of bone tissue.

The embodiment of the present application provides an acetabular grinding system and method, which relates to the field of medical device technology. The system includes: a grinding module, a robotic arm module and a control module. The grinding module includes a bone drill, a grinding rod and an acetabular rasp. The robotic arm module includes a robotic arm and a tracer. The tracer is used to obtain the current posture of the robotic arm and send it to the control module. The robotic arm is used to drive the grinding rod to place the acetabular rasp in the patient's acetabulum. The bone drill is used to provide power to the grinding rod so that the acetabular rasp can grind the acetabular socket. The control module is used to determine the current angle of the grinding rod according to the current posture of the robotic arm when the difference between the specifications of the acetabular rasp and the planned acetabular cup specifications does not exceed a preset difference threshold. When the current grinding mode is intelligent grinding, when the current angle exceeds a first angle range, the bone drill is controlled to be powered off. The embodiment of the present application reduces the occurrence of excessive acetabular grinding.

The utility model discloses an acetabular fossa positioning tool for hip joint surgery, and relates to the technical field of total hip joint replacement. The damping device comprises a mounting frame, a mounting hole is formed in one side of the mounting frame, a damping ball joint is mounted on one side of the mounting frame, a ball body is mounted in the damping ball joint, a connecting rod is fixedly connected to one side of the ball body, a supporting rod is arranged on one side of the connecting rod, and the supporting rod is fixedly connected to the other side of the mounting frame. An extension rod is arranged on one side of the supporting rod, and a fixing shell is arranged on one side of the extension rod. According to the utility model, the pressing block is pressed downwards, the spring is compressed under stress, then the pressing block descends into the positioning groove, and then the extension rod is dragged to enable the movable rod to move in the supporting rod in a limited manner; and the pressing block is moved to the interior of the next clamping groove and then is reset to the interior of the clamping groove by virtue of the elasticity of the spring, so that the current extending distance is positioned, and the effect of conveniently adjusting the use length is achieved.

This application relates to the field of medical device technology, and in particular to a modular bio-ring reconstruction integrated device for the acetabulum, comprising a combined reconstruction ring and a bio-reconstruction support. The combined reconstruction ring is embedded in the acetabular fossa and forms a metal trabecular bone to reconstruct a complete acetabular fossa. The bio-reconstruction support is connected to the combined reconstruction ring and is used to connect the combined reconstruction ring to the acetabulum. This application has the effect of improving the inability to provide effective support and stable reconstruction for the acetabulum.

The application provides a hip CT image segmentation method based on deep learning. The method comprises the following steps: acquiring a hip CT image to be processed; performing coarse segmentation on the input image through a neural network segmentation positioning module to obtain coarse segmentation results of the hip bone and the femur and positioning results of the centers of left and right acetabular fossae; performing fine segmentation on the centers of the acetabular fossae through a Transformer-based fine segmentation module to obtain fine segmentation results of the acetabular fossae and the femoral head; replacing the voxel point categories under the corresponding coordinates in the coarse segmentation results with the categories of the fine segmentation results to realize the fusion of the two results and obtain the final segmentation results. Compared with the prior art, the method provided by the application simplifies the model, improves the processing capacity of interlayer information, avoids the influence of noise and artifacts, has better algorithm stability, and effectively improves the segmentation accuracy of the lesion.

The present invention discloses a hip joint surgical robot based on three-dimensional scanning and image processing and a fast and accurate alignment method thereof, comprising a three-dimensional scanner, which is integratedly installed at the end of the hip joint surgical robot and is used to perform three-dimensional contour scanning of the inside of the acetabulum to generate three-dimensional image data; a central processing unit, which is tightly coupled with the three-dimensional scanner and is used to receive and analyze and process the three-dimensional image data in real time; an image processing module, which is configured to pre-process the three-dimensional image data obtained by the scan, identify and extract the bone structure, separate the bone structure contour in the acetabulum, and obtain bone structure information; the present invention can accurately distinguish between orthopedic flesh and soft tissue through the image processing module, eliminate the influence of soft tissue deformation on alignment accuracy, and achieve more accurate surgical instrument positioning and implant placement. The technical means of the present invention can not only improve the accuracy of surgical operations, but also reduce operation time, reduce the workload of doctors, and improve surgical safety.

The utility model discloses a hip joint holding device for a hip joint replacement surgery navigation system, which is characterized in that a hip joint holder is fixed by a mechanical arm, and a flexible component is arranged between the hip joint holder and the mechanical arm, so that the depth and the force of a grinding file can be effectively controlled, the size of an acetabular fossa of the grinding file is greatly increased, and the grinding file is more stable. The flexible assembly is additionally provided with a lamp belt, different states are displayed for operation of the mechanical arm through the color of the lamp belt, the flexible ring is additionally provided with a binding belt groove, a binding belt can be fixed in the groove when a sterile cover is sleeved, the binding belt is prevented from falling off, and the sterile space is prevented from making contact with bacteria substances.

The invention provides a split type acetabulum filling cushion block driving-in tool, and belongs to the technical field of medical instruments. Performing main body mold testing; the tooth structure is fixedly connected to one side end of the main body test mold; the notch is formed in the lower end of the main body test mold; the acetabular cup prosthesis test mold is positioned in the notch; the striking head is positioned in the acetabular cup prosthesis test mold; the main body test mold adopts an L-shaped design and is preliminarily fixed through the sliding nail holes, so that fine adjustment can be performed in an operation to reach an optimal position, and accurate placement of the acetabulum filling cushion block is ensured. Due to the design that the tooth peak of the tooth structure is gradually thinned from the root to the head, the tooth structure can be embedded into the acetabular fossa of the host bone more smoothly, the operation difficulty is reduced, and the stability is improved.

The utility model belongs to the technical field of medical instruments, and particularly discloses an acetabular prosthesis which comprises an acetabular cup installed in an acetabular fossa. The acetabular cup and the filling block are connected in an embedded and clamped mode through the anti-rotation structure, and the acetabular cup and the filling block are fixed together through the first fixing nail. And the fixed wing is connected with the filling block and is fixed on the ilium wing. By means of the anti-rotation structure, when a patient implanted with the acetabular prosthesis moves and dislocation and slippage occur between the filling block and the acetabular cup, the first fixing nail cannot slightly move under the action of shearing force, the shearing force is borne by the anti-rotation structure, and the service life of the acetabular prosthesis is prolonged. According to the acetabular prosthesis, the first bone grafting groove and the supporting table are arranged on the filling block at intervals, the second bone grafting groove is formed in the acetabular cup, the weight of the acetabular prosthesis is reduced, autogenous bones or allogeneic bones of a patient can be implanted into the first bone grafting groove and the second bone grafting groove, the acetabular prosthesis is effectively prevented from loosening for a long time after being implanted, and the survival rate of the acetabular prosthesis is increased.

The present application relates to the technical field of medical devices, and specifically provides a method, device, equipment and storage medium for automatically positioning and calculating the size of a hip socket. The method comprises: obtaining CT image volume data; segmenting to obtain a hip bone model and image data, and performing 2D projection under different projection directions; using a Hough circle detection method to detect circles in the 2D projections in different directions, to locate the position of the hip socket; calculating the center and radius of the hip socket to obtain the size of the hip socket. The present application automatically detects the position of the hip socket using the Hough circle detection method, and can automatically select points in the hip socket, thereby calculating the size of the hip socket. Compared with the manual point selection method of the prior art, the method provided by the present application saves manpower and time, improves the accuracy and consistency of the calculation results, and greatly facilitates the operation of doctors.

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.

The utility model relates to the technical field of medical instruments, in particular to a fixing structure for repairing acetabulum, which comprises a fixing plate and a cushion block, and the fixing plate is fixed on the rear upper part of the acetabulum; the cushion block is mounted at the acetabular fossa; the fixed plate and the cushion block are fixed through a bolt; a positioning plate is arranged on one side of the cushion block installation opening. During use, the fixing plate is arranged on the upper rear portion of the acetabulum, a stable structure on the upper rear portion of the acetabulum is rebuilt through the fixing plate, then the cushion block is installed at the position of the acetabular fossa, and therefore the bone defect range of the acetabulum is reduced to the size of a common acetabular cup; the mounting angle of the acetabular cup is adjusted through the positioning plate, the whole operation is simple, the operation time is shortened, and the position of the artificial prosthesis is accurately mounted; the fixing plate, the cushion block and the positioning plate are matched to solve the problems of repairing of huge acetabulum defects and installation of prosthesis positions, the prosthesis does not need to be specially printed before an operation, a large amount of pressing bone grafting is not needed, and the operation cost of a patient is saved.

Disclosed in the present application are a method and apparatus for mirroring processing-based determination of acetabular cup prosthesis information. The present application relates to the field of information processing. The method comprises: acquiring a three-dimensional bone model of a patient, and establishing a coordinate system in the three-dimensional bone model according to target feature points in the three-dimensional bone model, wherein the three-dimensional bone model at least comprises a three-dimensional model of the pelvis of the patient; when the affected-side acetabular fossa is incomplete, performing mirroring processing on a healthy-side pelvis model in the three-dimensional bone model according to the coordinate system, and determining information of the affected-side acetabular fossa according to the mirrored healthy-side pelvis model; and determining prosthesis information of an acetabular cup prosthesis according to the information of the affected-side acetabular fossa, wherein the prosthesis information comprises at least one of the following: a prosthesis model and a prosthesis implantation position. The present application solves the technical problem in the related art where the accuracy of prosthesis information is low when determining prosthesis information of an acetabular cup prosthesis according to the affected-side acetabular fossa of a patient.

The invention relates to an end effector and a surgical system. The end actuating mechanism comprises a first rotary joint and a linear joint, and the linear joint is provided with a coupling part used for being coupled with the surgical instrument, so that the axis of the surgical instrument and the first axis intersect at the telecentric point position. Taking a surgical instrument as an acetabulum file as an example, the acetabulum file is driven by the linear joint to move to a limit position, so that the sphere center of the acetabulum file is just coincided with a telecentric point. Therefore, under the action of the first rotating joint, the acetabulum file can rotate around a telecentric point, namely, the acetabulum file moves in a conical space with the acetabulum as the center, so that the acetabulum file can file an acetabular fossa from all directions, the file grinding efficiency is higher, and the file grinding quality is better; and moreover, the acetabulum file rotates around the telecentric point, so that the acetabulum file does not need to worry about grinding off areas outside the target acetabulum fossa, the over-grinding condition is avoided, and the acetabulum fossa contour and size precision of the grinding file are ensured.

The application relates to a hip joint anatomical landmark point recognition method and system, which comprises the following steps: loading three-dimensional mask data containing femur and hip bone segmentation labels, extracting a bone surface point cloud and converting the same to a physical coordinate system; automatically screening a complete data side by comparing the number of bilateral point clouds; based on the complete femur point cloud, sequentially recognizing the femoral head center, lesser trochanter, femoral neck isthmus center and femoral shaft center point through geometric fitting and extreme value search; based on the same side hip bone point cloud, recognizing the acetabular fossa center, ischial tuberosity, pubic symphysis and anterior superior iliac spine point; finally, converting the landmark points to a three-dimensional model standard coordinate system and generating a visual model. The application realizes automatic and high-precision recognition of key anatomical landmark points of the hip joint, does not require manual intervention and a large amount of training data, has strong robustness, can be directly compatible with a three-dimensional surgical planning system, and significantly improves preoperative planning efficiency and accuracy.