WO2022233146A1 - Procédé et appareil de meulage et de remplissage d'acétabulum pour robot chirurgical orthopédique, et outil de meulage et de remplissage - Google Patents

Procédé et appareil de meulage et de remplissage d'acétabulum pour robot chirurgical orthopédique, et outil de meulage et de remplissage Download PDF

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Publication number
WO2022233146A1
WO2022233146A1 PCT/CN2021/142811 CN2021142811W WO2022233146A1 WO 2022233146 A1 WO2022233146 A1 WO 2022233146A1 CN 2021142811 W CN2021142811 W CN 2021142811W WO 2022233146 A1 WO2022233146 A1 WO 2022233146A1
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WIPO (PCT)
Prior art keywords
acetabular
grinding
current
edge point
tool
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PCT/CN2021/142811
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English (en)
Chinese (zh)
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张逸凌
刘星宇
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北京长木谷医疗科技有限公司
张逸凌
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Publication of WO2022233146A1 publication Critical patent/WO2022233146A1/fr

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    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1659—Surgical rasps, files, planes, or scrapers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
    • A61B17/1664—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip
    • A61B17/1666—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip for the acetabulum
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B2017/1602—Mills

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • embodiments of the present disclosure provide an acetabular grinding method for an orthopaedic surgical robot, comprising:
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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;
  • 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 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.
  • 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.
  • 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.
  • 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.
  • FIG. 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.
  • 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.
  • the grinding tool is a spherical tool
  • the acetabulum is also similar to a spherical shape.
  • the position of the grinding tool does not change, and it can be considered that the center of the sphere does not change. .
  • the method 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.
  • 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.
  • 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 .
  • the acetabular fossa is approximately a hemispherical sphere
  • the grinding tool is also a hemispherical sphere
  • the grinding tool is placed at the center of the acetabular fossa.
  • the method 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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;
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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;
  • 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.
  • 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.
  • 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.
  • 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 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.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Dentistry (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Urology & Nephrology (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Prostheses (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Surgical Instruments (AREA)

Abstract

Procédé et appareil de meulage et de remplissage d'acétabulum pour un robot chirurgical orthopédique, et outil de meulage et de remplissage. Le procédé de meulage et de remplissage d'acétabulum consiste : à calculer la distance entre le point de bord acétabulaire actuel d'une cavité cotyloïde et un outil de meulage et de remplissage (S101) ; lorsque la distance est inférieure au rayon de l'outil de meulage et de remplissage, à déterminer une relation de position entre le point de bord acétabulaire actuel et l'outil de meulage et de remplissage (S102) ; et en fonction de la relation de position entre le point de bord acétabulaire actuel et l'outil de meulage et de remplissage, à déterminer un mode de réglage correspondant, et à régler les coordonnées du point de bord acétabulaire actuel à l'aide du mode de réglage déterminé (S103). De cette manière, le meulage et le remplissage automatiques et en temps réel d'un acétabulum peuvent être réalisés par réglage d'une position d'opération de meulage et de remplissage pendant un processus de meulage et de remplissage.
PCT/CN2021/142811 2021-05-07 2021-12-30 Procédé et appareil de meulage et de remplissage d'acétabulum pour robot chirurgical orthopédique, et outil de meulage et de remplissage WO2022233146A1 (fr)

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CN113270166B (zh) * 2021-05-07 2022-02-22 北京长木谷医疗科技有限公司 一种髋臼窝的磨挫计算方法、装置、磨挫工具及存储介质

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