WO2022233146A1

WO2022233146A1 - Acetabulum grinding and filing method and apparatus for orthopedic surgical robot, and grinding and filing tool

Info

Publication number: WO2022233146A1
Application number: PCT/CN2021/142811
Authority: WO
Inventors: 张逸凌; 刘星宇
Original assignee: 北京长木谷医疗科技有限公司; 张逸凌
Priority date: 2021-05-07
Filing date: 2021-12-30
Publication date: 2022-11-10
Also published as: CN113270166B; CN113270166A

Abstract

An acetabulum grinding and filing method and apparatus for an orthopedic surgical robot, and a grinding and filing tool. The acetabulum grinding and filing method comprises: calculating the distance between the current acetabular edge point of an acetabular fossa and a grinding and filing tool (S101); when the distance is less than the radius of the grinding and filing tool, determining a positional relationship between the current acetabular edge point and the grinding and filing tool (S102); and according to the positional relationship between the current acetabular edge point and the grinding and filing tool, determining a corresponding adjustment mode, and adjusting the coordinates of the current acetabular edge point by using the determined adjustment mode (S103). In this way, the automatic and real-time grinding and filing of an acetabulum can be realized by adjusting a grinding and filing operation position during a grinding and filing process.

Description

Acetabular grinding method, device and grinding tool for orthopaedic surgical robot

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority of the Chinese patent application filed on May 7, 2021, with the application number of 202110495882.3, and the invention titled "An acetabular fossa grinding method, device, grinding tool and storage medium" , the entire contents of which are incorporated herein by reference.

technical field

The present disclosure relates to the technical field of medical treatment, in particular to an acetabular grinding method, device and grinding tool for an orthopedic surgical robot.

Background technique

Acetabular friction is the most important part of total hip arthroplasty, which is directly related to the matching of the acetabular cup and the stability of the prosthesis, which in turn affects the success or failure of the arthroplasty. Every grind is as small as possible. In the grinding process of the acetabulum with normal shape, pay attention to the front and rear walls of the acetabulum and the bottom of the acetabulum, which cannot be worn through. The horseshoe fossa is ground first, and the inner side is basically the position of the teardrop. The top of the acetabulum should also be matched. Generally, Grind to cancellous bone and see uniform bleeding. If you are not sure, you can use Kirschner wire to test the remaining thickness of the bottom of the socket. Ideally, the rim of the acetabular cup should be flush with the rim of the acetabulum, and the lower edge of the acetabular cup should not exceed the transverse acetabular ligament, which is an important anatomical landmark. In the acetabulum with a large number of osteophytes, if the initial stability of the acetabular prosthesis cannot be formed after the grinding acetabular prosthesis is placed and fixed, it will not be able to form an initial stability, and it will not be possible to increase the size of the acetabulum. The upper edge is ground level, or the acetabular fossa is not deepened enough.

In the related art, acetabular grinding relies on manual experience, which leads to low grinding efficiency and low grinding precision.

SUMMARY OF THE INVENTION

In view of this, embodiments of the present disclosure provide an acetabular grinding method, device and grinding tool for an orthopedic surgical robot, so as to realize automatic real-time grinding of the acetabulum.

According to a first aspect, embodiments of the present disclosure provide an acetabular grinding method for an orthopaedic surgical robot, comprising:

Calculate the distance between the current acetabular edge point of the acetabular fossa and the grinding tool;

When the distance is less than the radius of the grinding tool, determining the positional relationship between the current acetabular edge point and the grinding tool;

A corresponding adjustment mode is determined according to the positional relationship between the current acetabular edge point and the grinding tool, and the coordinates of the current acetabular edge point are adjusted by using the determined adjustment mode.

The acetabular grinding method for an orthopaedic surgical robot provided by the embodiments of the present disclosure can realize automatic real-time grinding of the acetabulum by adjusting the grinding working position during the grinding process of the acetabular fossa.

Optionally, the method further includes: placing the grinding tool in the acetabular fossa without changing the position of the grinding tool in the acetabular fossa, and enabling rotation during the grinding process.

Optionally, the method further includes: performing three-dimensional modeling on the acetabulum to obtain a three-dimensional acetabular image; during the grinding process, mapping the real-time position of the grinding tool to the three-dimensional acetabular image.

Optionally, the determining the positional relationship between the current acetabular edge point and the grinding tool includes: calculating the intersection of the radius of the grinding tool and the acetabular fossa; determining the number of the intersections; when When the number of the intersection points is an odd number, it is determined that the current acetabular edge point is inside the acetabular fossa; when the number of the intersection points is an even number, it is determined that the current acetabular edge point is in the acetabular fossa the exterior.

Optionally, the determining the corresponding adjustment method according to the positional relationship between the current edge point and the acetabular fossa includes: adopting a first adjustment method when the current acetabular edge point is inside the acetabular fossa. , the first adjustment method is: adjusting the coordinates of the current acetabular edge point, so that the distance between the adjusted coordinates of the current acetabular edge point and the grinding tool is equal to the radius of the grinding tool.

Optionally, the determining the corresponding adjustment method according to the positional relationship between the current edge point and the acetabular fossa includes: adopting a second adjustment method when the current acetabular edge point is outside the acetabular fossa. , the second adjustment method is: screening out the intersection point in the acetabular tool; adjusting the coordinates of the intersection point in the acetabular tool to be the distance from the acetabular edge point processed by the first adjustment method The coordinates of the closest point.

Optionally, the calculating the distance between the current edge point and the grinding tool includes: respectively acquiring the first coordinate of the current acetabular edge point and the second coordinate of the center position of the grinding tool; according to the The first coordinate and the second coordinate calculate the distance of the current acetabular rim point from the grinding tool.

Optionally, before calculating the distance between the current acetabular edge point of the acetabular fossa and the grinding tool, the method further includes: obtaining the current acetabular edge point set by using the intersection of the projection of the grinding tool and the acetabular fossa; obtaining the current acetabular edge point from the current acetabular edge point set;

After adjusting the coordinates of the edge points using the determined adjustment method, the method further includes:

The next edge point is acquired in the current acetabular edge point set until all acetabular edge points in the current acetabular edge point set are traversed.

Optionally, the method for grinding the acetabular fossa further includes: after all the acetabular edge points in the current set of acetabular edge points have been traversed, using the projection of the grinding tool and the projection of the acetabular fossa. The intersection point obtains the next set of acetabular edge points, and the next set of acetabular edge points is used as the current set of acetabular edge points.

According to a second aspect, embodiments of the present disclosure provide an acetabular grinding device for an orthopaedic surgical robot, comprising:

a calculation module configured to calculate the distance between the current acetabular edge point of the acetabular fossa and the grinding tool, wherein the grinding tool is a spherical tool;

a processing module configured to determine the positional relationship between the current acetabular rim point and the abrasive tool when the distance is less than the radius of the abrasive tool;

The adjustment module is configured to determine a corresponding adjustment mode according to the positional relationship between the current acetabular edge point and the grinding tool, and adjust the coordinates of the current acetabular edge point by using the determined adjustment mode.

According to a third aspect, an embodiment of the present disclosure further provides a grinding tool, comprising a memory and a processor, wherein the memory and the processor are connected in communication with each other, the memory stores computer instructions, and the processing By executing the computer instructions, the device executes the acetabular grinding method for an orthopaedic surgical robot described in the first aspect or any one of the embodiments of the first aspect.

According to a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, where the computer-readable storage medium stores computer instructions, and the computer instructions are used to cause the computer to execute the first aspect or the first aspect. An acetabular grinding method for an orthopaedic surgical robot as described in any one of the embodiments.

Description of drawings

The features and advantages of the present disclosure will be more clearly understood by reference to the accompanying drawings, which are schematic and should not be construed as limiting the present disclosure in any way, in which:

1 is a schematic flowchart of an acetabular grinding method for an orthopedic surgical robot in Embodiment 1 of the disclosure;

FIG. 2 is a schematic structural diagram of an acetabular grinding device for an orthopaedic surgical robot in Embodiment 2 of the present disclosure.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments These are some, but not all, embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present disclosure.

Example 1

Embodiment 1 of the present disclosure provides an acetabular grinding method for an orthopedic surgical robot. FIG. 1 is a schematic flowchart of the acetabular grinding method for an orthopedic surgical robot in Embodiment 1 of the present disclosure, as shown in FIG. 1 . , the acetabular grinding method for an orthopedic surgical robot in Embodiment 1 of the present disclosure includes the following steps:

S101: Calculate the distance between the current acetabular edge point of the acetabular fossa and the grinding tool, wherein the grinding tool is a spherical tool.

In the embodiment of the present disclosure, the grinding tool is a spherical tool, and the acetabulum is also similar to a spherical shape. When the grinding tool is placed in the corresponding position of the acetabulum, the position of the grinding tool does not change, and it can be considered that the center of the sphere does not change. .

As an optional implementation manner of this embodiment, before calculating the distance between the current acetabular edge point of the acetabular fossa and the grinding tool, the method further includes: using the intersection of the projection of the grinding tool and the acetabular fossa Obtain the current acetabular edge point set; obtain the current acetabular edge point set in the current acetabular edge point set.

As an optional implementation manner of this embodiment, calculating the distance between the current acetabular edge point and the grinding tool may be as follows: respectively acquiring the first coordinates of the current acetabular edge point and the grinding tool The second coordinate of the center position; the distance L between the current acetabular edge point and the grinding tool is calculated according to the first coordinate and the second coordinate.

As an optional implementation manner of this embodiment, the grinding tool is placed in the acetabular fossa, and the position of the grinding tool in the acetabular fossa does not change, and the rotation during the grinding process can be realized .

In this optional implementation manner, the acetabular fossa is approximately a hemispherical sphere, the grinding tool is also a hemispherical sphere, and the grinding tool is placed at the center of the acetabular fossa. You can choose and place the grinding tool with the position of the ball center of the acetabular fossa unchanged as the goal. When the ball centers of the sockets coincide, it means that the grinding of the acetabular socket is completed; when the ball center of the grinding tool and the ball center of the acetabular socket are not coincident, continue to adjust the coordinates of the current acetabular edge point until the ball center of the grinding tool Coinciding with the ball center of the acetabular socket, the acetabular socket grinding is completed.

As an optional implementation manner of this embodiment, before performing the grinding of the acetabular fossa, the method further includes: performing a three-dimensional modeling of the acetabulum to obtain a three-dimensional acetabular image; The real-time position of the tool is mapped into the 3D acetabular image.

In this optional implementation, three-dimensional modeling is used to map the real-time positional relationship between the grinding tool and the acetabulum into a three-dimensional image, so that the grinding process can be adjusted in real time based on the real-time position points.

S102: When the distance is smaller than the radius of the grinding tool, determine the positional relationship between the current acetabular edge point and the grinding tool.

In this embodiment, among the current acetabular edge points of the acetabular fossa, there are some points that do not exist in the acetabulum, and we call these points singular points.

As an optional implementation manner of this embodiment, the following technical solutions may be adopted for determining whether the current acetabular edge point is a singular point: calculating the intersection of the radius r of the grinding tool and the acetabulum; determining The number of the intersection points; when the number of the intersection points is odd, it is determined that the current acetabular edge point is not the singular point (the current acetabular edge point is inside the acetabular fossa); when the intersection point When the number of is an even number, it is determined that the current acetabular edge point is the singular point (that is, the current acetabular edge point is outside the acetabular fossa). In three-dimensional space, there is a line segment AB and an object. If the intersection point of the line segment AB and the object is an even number, the line segment is outside the object. If the intersection point of the line segment AB and the object is an odd number, the line segment is in the object. Therefore, the above solution can be used to determine whether the current acetabular edge point is a singular point.

S103: Determine a corresponding adjustment method according to the positional relationship between the current acetabular edge point and the grinding tool, and use the determined adjustment method to adjust the coordinates of the current acetabular edge point.

Optionally, when the current acetabular edge point is inside the acetabular fossa, a first adjustment method is adopted, and the first adjustment method is: adjusting the coordinates of the current acetabular edge point so that the adjusted The distance between the coordinates of the current acetabular rim point and the grinding tool is greater than or equal to the radius of the grinding tool.

When the current acetabular edge point is outside the acetabular fossa, a second adjustment method is adopted, and the second adjustment method is: screening out the intersection point in the acetabular tool; adjusting the acetabular tool The coordinates of the intersection points within are the coordinates of the closest point to the acetabular edge point processed by the first adjustment method.

The method for grinding the acetabular fossa provided in Embodiment 1 of the present disclosure determines the positional relationship between the current acetabular edge point and the acetabular fossa when the distance is smaller than the radius of the grinding tool; according to the The positional relationship between the current acetabular edge point and the acetabular fossa adjusts the coordinates of the current acetabular edge point, which can realize automatic real-time grinding of the acetabulum by adjusting the position of the grinding tool during the grinding process of the acetabular fossa. frustrated.

As a further embodiment, after adjusting the coordinates of the current acetabular edge point using the determined adjustment method, the method further includes: acquiring the next edge point in the current acetabular edge point set until the current acetabulum is traversed All acetabular edge points in the edge point set. That is to say, all the acetabular edge points in the current acetabular edge point set are processed using the steps S101-S103.

As a further embodiment, after all acetabular edge points in the current set of acetabular edge points are traversed, the next acetabular edge point is obtained by using the intersection of the projection of the grinding tool and the acetabular fossa Set and set the next acetabular edge point set as the current acetabular edge point set. That is to say, the current set of edge points may include all the edge points of the acetabular fossa that need to be worn down, or it may only include some edge points of the acetabular fossa that need to be worn down; For the ground edge points, the next set of acetabular edge points can be obtained, so that all the edge points that need to be ground can be processed by the steps S101-S103. That is to say, steps S101 to 103 in Embodiment 1 of the present disclosure are a cyclic processing process, and the time of the cyclic processing can be set in advance.

Example 2

Corresponding to the acetabular grinding method for an orthopedic surgical robot in Embodiment 1 of the present disclosure, FIG. 2 is a schematic structural diagram of an acetabular grinding device for an orthopedic surgical robot in Embodiment 2 of the present disclosure, as shown in FIG. 2 . , the acetabular fossa grinding device in Embodiment 2 of the present disclosure includes a calculation module 20 , a processing module 22 and an adjustment module 24 .

Optionally, the calculation module 20 is configured to calculate the distance between the current acetabular edge point of the acetabular fossa and the grinding tool, wherein the grinding tool is a spherical tool;

a processing module 22, configured to determine the positional relationship between the current acetabular edge point and the acetabular fossa when the distance is smaller than the radius of the grinding tool;

The adjustment module 24 is configured to determine a corresponding adjustment mode according to the positional relationship between the current acetabular edge point and the acetabular fossa, and adjust the coordinates of the current acetabular edge point by using the determined adjustment mode.

Optionally, the calculation module 20 is configured to obtain the first coordinates of the current acetabular edge point and the second coordinates of the center position of the grinding tool; according to the first coordinates and the second coordinates Calculate the distance from the current acetabular rim point to the grinding tool.

The judging module 22 is configured to calculate the intersection point of the radius of the grinding tool and the acetabulum; determine the number of the intersection points; when the number of the intersection points is an odd number, determine that the current acetabular edge point is in the acetabulum. The interior of the acetabular fossa; when the number of the intersection points is an even number, it is determined that the current acetabular edge point is outside the acetabular fossa.

The adjustment module 24 is configured to adjust the coordinates of the current acetabular edge point when the current acetabular edge point is inside the acetabular fossa, so that the adjusted coordinates of the current acetabular edge point are the same as the coordinates of the current acetabular edge point. The distance of the grinding tool is greater than or equal to the radius of the grinding tool; when the current acetabular edge point is outside the acetabular fossa, the intersection point in the acetabular tool is screened; Coordinates of intersections within the acetabular tool such that the number of intersections of the radius of the grinding tool and the acetabulum is adjusted to be an odd number.

Optionally, the acetabular fossa grinding device further includes a preprocessing module 26 configured to utilize the grinding tool before calculating the distance of the current acetabular rim point of the acetabular fossa from the grinding tool. The intersection of the projection of the file tool and the acetabular fossa obtains the current acetabular edge point set; obtains the current acetabular edge point from the current acetabular edge point set; After adjusting the position of the grinding tool by the distance of the filing tool, the method further includes: acquiring the next edge point in the current acetabular edge point set until all edge points in the current acetabular edge point set are traversed.

Optionally, after all the edge points in the current set of acetabular edge points have been traversed, the preprocessing module 26 is further configured to obtain the next point by using the intersection of the projection of the grinding tool and the acetabular fossa. A collection of acetabular edge points.

Example 3

Embodiments of the present disclosure also provide a filing tool, which may include a processor and a memory, wherein the processor and the memory may be connected by a bus or in other ways.

The processor may be a central processing unit (Central Processing Unit, CPU). The processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSPs), application specific integrated circuits (Application Specific Integrated Circuits, ASICs), Field-Programmable Gate Arrays (Field-Programmable Gate Arrays, FPGAs) or other Chips such as programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above types of chips.

As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/ modules (eg, the calculation module 20, the judgment module 22, the adjustment module 24, and the preprocessing module 26 shown in FIG. 2). The processor executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory, that is, to realize the acetabular friction for the orthopaedic surgical robot in the above method embodiments method.

The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system and an application program required by at least one function; the storage data area may store data created by the processor, and the like. Additionally, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory may optionally include memory located remotely from the processor, such remote memory being connectable to the processor via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The one or more modules are stored in the memory and, when executed by the processor, perform the acetabular grinding method for an orthopaedic surgical robot in the embodiment shown in FIG. 1 .

The specific details of the above grinding tool can be understood by referring to the corresponding descriptions and effects in the embodiments shown in FIG. 1 to FIG. 2 , and will not be repeated here.

Those skilled in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. During execution, the processes of the embodiments of the above-mentioned methods may be included. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard) Disk Drive, abbreviation: HDD) or solid-state drive (Solid-State Drive, SSD), etc.; the storage medium may also include a combination of the above-mentioned types of memories.

Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, various modifications and variations can be made by those skilled in the art without departing from the spirit and scope of the present disclosure, such modifications and variations falling within the scope of the appended claims within the limited range.

Claims

An acetabular grinding method for an orthopaedic surgical robot, comprising:

calculating the distance between the current acetabular edge point of the acetabular fossa and the grinding tool, wherein the grinding tool is a spherical tool;

When the distance is less than the radius of the grinding tool, determining the positional relationship between the current acetabular edge point and the grinding tool;

A corresponding adjustment mode is determined according to the positional relationship between the current acetabular edge point and the grinding tool, so as to adjust the coordinates of the current acetabular edge point by using the determined adjustment mode.
The acetabular grinding method for an orthopaedic surgical robot according to claim 1, wherein before performing the grinding of the acetabular fossa, the method further comprises:

The grinding tool is placed in the acetabular fossa, and the position of the grinding tool is not changed in the acetabular fossa, and rotation during the grinding process can be achieved.
The acetabular grinding method for an orthopaedic surgical robot according to claim 2, wherein, before performing the grinding of the acetabular fossa, the method further comprises:

3D modeling of the acetabulum to obtain a 3D image of the acetabulum;

During the grinding process, the real-time position of the grinding tool is mapped into the 3D acetabular image.
The acetabular grinding method for an orthopedic surgical robot according to claim 1, wherein the determining the positional relationship between the current acetabular edge point and the grinding tool comprises:

calculating the intersection of the radius of the grinding tool and the acetabular fossa;

determining the number of said intersections;

When the number of the intersection points is an odd number, it is determined that the current acetabular edge point is inside the acetabular fossa;

When the number of the intersection points is an even number, it is determined that the current acetabular edge point is outside the acetabular fossa.
The acetabular grinding method for an orthopedic surgical robot according to claim 3, wherein the determining the corresponding adjustment method according to the positional relationship between the current edge point and the acetabular fossa comprises:

When the current acetabular edge point is inside the acetabular fossa, a first adjustment method is adopted, and the first adjustment method is: adjusting the coordinates of the current acetabular edge point, so that the adjusted current acetabulum The coordinates of the edge point are at a distance from the filing tool equal to the radius of the filing tool.
The acetabular grinding method for an orthopedic surgical robot according to claim 5, wherein the determining the corresponding adjustment mode according to the positional relationship between the current edge point and the acetabular fossa comprises:

When the current acetabular edge point is outside the acetabular fossa, a second adjustment method is adopted, and the second adjustment method is: screening out the intersection point in the acetabular tool; adjusting the acetabular tool The coordinates of the intersection points within are the coordinates of the closest point to the acetabular edge point processed by the first adjustment method.
The acetabular grinding method for an orthopedic surgical robot according to claim 1, wherein the calculating the distance between the current edge point and the grinding tool comprises:

respectively acquiring the first coordinate of the current acetabular edge point and the second coordinate of the ball center position of the grinding tool;

The distance between the current acetabular edge point and the grinding tool is calculated according to the first coordinate and the second coordinate.
The acetabular grinding method for an orthopedic surgical robot according to claim 1, wherein before calculating the distance between the current acetabular edge point of the acetabular fossa and the grinding tool, further comprising:

Obtain the current set of acetabular edge points by using the intersection of the projection of the grinding tool and the acetabular fossa;

obtaining the current acetabular edge point from the current acetabular edge point set;

After adjusting the coordinates of the edge point using the determined adjustment method, the method further includes:

The next edge point is acquired in the current acetabular edge point set until all acetabular edge points in the current acetabular edge point set are traversed.
The acetabular grinding method for an orthopaedic surgical robot according to claim 8, further comprising: after all acetabular edge points in the current acetabular edge point set have been traversed, using the grinding tool to grind the acetabulum. The intersection of the projection and the acetabular fossa obtains the next set of acetabular edge points, and the next set of acetabular edge points is used as the current set of acetabular edge points.
An acetabular grinding device for an orthopedic surgery robot, comprising:

a calculation module configured to calculate the distance between the current acetabular edge point of the acetabular fossa and the grinding tool, wherein the grinding tool is a spherical tool;

a processing module configured to determine the positional relationship between the current acetabular rim point and the abrasive tool when the distance is less than the radius of the abrasive tool;

The adjustment module is configured to determine a corresponding adjustment mode according to the positional relationship between the current acetabular edge point and the grinding tool, and adjust the coordinates of the current acetabular edge point by using the determined adjustment mode.
A grinding tool comprising:

A memory and a processor, wherein the memory and the processor are connected in communication with each other, and computer instructions are stored in the memory, and the processor executes any one of claims 1 to 9 by executing the computer instructions The described acetabular grinding method for an orthopedic surgical robot.
A computer-readable storage medium storing computer instructions for causing the computer to execute the hip for an orthopaedic surgical robot according to any one of claims 1 to 9 Grinding method.