CN115300038B

CN115300038B - Control device, hip joint replacement system, readable storage medium, and electronic device

Info

Publication number: CN115300038B
Application number: CN202210833931.4A
Authority: CN
Inventors: 江标; 杜可斌; 刘鹏春
Original assignee: Beijing And Huaruibo Medical Technology Co ltd
Current assignee: Beijing And Huaruibo Medical Technology Co ltd
Priority date: 2022-07-15
Filing date: 2022-07-15
Publication date: 2023-06-09
Anticipated expiration: 2042-07-15
Also published as: CN115300038A

Abstract

The embodiment of the application provides a control device, a hip joint replacement system, a readable storage medium and an electronic device, wherein the control device comprises: the target boundary determining module is used for determining a target boundary on the first digital model corresponding to the acetabular bone; the grinding boundary determining module is used for determining the grinding boundary on the second digital model corresponding to the acetabular grinding file according to the grinding file size parameter corresponding to the acetabular grinding file; the operation control module is used for determining the position relation between the grinding boundary and the target boundary according to the position relation between the acetabular grinding file and the acetabular bone in real space, so that the grinding state is controlled and/or the prompt information is changed according to the position relation between the grinding boundary and the target boundary. According to the method and the device for grinding the acetabulum, the grinding of the acetabulum grinding file is accurately controlled to be continued or ended by determining the position relation between the grinding boundary and the target boundary, so that the accuracy of grinding the acetabulum is ensured, and the operation effect is improved.

Description

Control device, hip joint replacement system, readable storage medium, and electronic device

Technical Field

The application belongs to the technical field of medical equipment, and particularly relates to a control device, a hip joint replacement system, a readable storage medium and electronic equipment.

Background

In hip replacement surgery, there is generally a high requirement for the placement of acetabular prostheses. If the acetabular prosthesis is not placed accurately enough, dislocation after replacement, prosthesis impact, reduced hip mobility, increased prosthesis wear, etc. may occur.

Acetabular grinding is the most important part in hip replacement surgery, and the quality of acetabular grinding directly determines the placement effect of an acetabular prosthesis. The standard of grinding the acetabulum is that the part to be ground of the acetabular fossa can be completely ground. The parts other than the parts to be ground can be completely reserved, and the state is the optimal placement position of the acetabular prosthesis.

However, the inventor researches of the application find that the current acetabular grinding has the problem of low grinding accuracy, so that the acetabular prosthesis is not placed accurately enough, and the situations of dislocation after replacement, prosthesis impact, reduced hip joint mobility, increased prosthesis abrasion and the like are caused.

Disclosure of Invention

The embodiment of the application provides a control device, a hip joint replacement system, a readable storage medium and electronic equipment, which can improve the accuracy of acetabular grinding and the operation effect of hip joint replacement operation.

In a first aspect, an embodiment of the present application provides a control device, where the control device includes: the target boundary determining module is used for determining a target boundary on the first digital model corresponding to the acetabular bone; the grinding boundary determining module is used for determining the grinding boundary on the second digital model corresponding to the acetabular grinding file according to the grinding file size parameter corresponding to the acetabular grinding file; the operation control module is used for determining the position relation between the grinding boundary and the target boundary according to the position relation between the acetabular grinding file and the acetabular bone in real space, so that the grinding state is controlled and/or the prompt information is changed according to the position relation between the grinding boundary and the target boundary.

According to an embodiment of the first aspect of the present application, the object boundary determining module is further configured to: and acquiring and intersecting a third digital model corresponding to the acetabular prosthesis with the first digital model, and determining a target boundary.

According to any of the foregoing embodiments of the first aspect of the present application, the target boundary determining module is further configured to: aligning a third digital model corresponding to the acetabular prosthesis with the first digital model; calculating a first intersection between the aligned third digital model and the first digital model; determining a target grinding portion from the first intersection; the peripheral boundary of the target grinding portion is set as the target boundary.

According to any of the foregoing embodiments of the first aspect of the present application, the surgical control module is further configured to: and taking the second digital model corresponding to the acetabular milling file and the part to be ground on the first digital model, and determining the rest part which is not ground on the part to be ground.

According to any of the foregoing embodiments of the first aspect of the present application, the grinding boundary determination module is further configured to: and determining a grinding boundary on the second digital model corresponding to the acetabular grinding file according to the grinding file size parameter corresponding to the acetabular grinding file and the allowable multiple grinding depths.

In this way, the embodiment of the application can ensure that all the target grinding parts to be ground are ground when the grinding is finished by setting the allowable multiple grinding depths and determining the grinding boundary on the second digital model according to the allowable multiple grinding depths, so that the grinding is not in place, and the successful installation of the prosthesis is ensured.

According to any of the foregoing embodiments of the first aspect of the present application, the grinding boundary determination module is further configured to: and determining a boundary of the second digital model corresponding to the acetabular grinding file, which is retreated to the center side of the second digital model by the allowable multiple grinding depth, as a grinding boundary according to the grinding file size parameter corresponding to the acetabular grinding file and the allowable multiple grinding depth.

According to any of the foregoing embodiments of the first aspect of the present application, the surgical control module is further configured to: calculating a second intersection of the first portion on the second digital model and the first digital model, wherein the first portion is a portion of the grinding boundary toward the center of the second digital model; and determining the position relation between the grinding boundary and the target boundary according to the second intersection.

According to any of the foregoing embodiments of the first aspect of the present application, the surgical control module is further configured to: calculating a third intersection of the first portion on the second digital model and the target grinding portion on the first digital model, wherein the first portion is the portion of the grinding boundary toward the center of the second digital model; and determining the position relation between the grinding boundary and the target boundary according to the third intersection.

Therefore, the position relation between the grinding boundary and the target boundary is determined only according to the third intersection of the first part on the second digital model and the target grinding part on the first digital model, and the method has the advantages of small data calculation amount and high calculation efficiency.

According to any of the foregoing embodiments of the first aspect of the present application, the grinding boundary determination module is further configured to: according to the size parameters of the grinding file corresponding to the acetabular grinding file and the allowable multiple grinding depths, determining a boundary of the second digital model corresponding to the acetabular grinding file, which is retracted to the center side of the second digital model and is allowable with the allowable multiple grinding depths, as a grinding boundary; wherein, the operation control module is further used for: calculating a third intersection of the first portion on the second digital model and the target grinding portion on the first digital model, wherein the first portion is the portion of the grinding boundary toward the center of the second digital model; and determining the position relation between the grinding boundary and the target boundary according to the third intersection.

In this way, in the embodiment of the present application, the peripheral boundary of the target grinding portion on the first digital model is used as the target boundary, the grinding boundary is determined on the second digital model according to the allowable multiple grinding depths, and the grinding state is controlled according to the positional relationship between the grinding boundary and the target boundary, which has the advantages of small data calculation amount and high calculation efficiency.

According to any of the foregoing embodiments of the first aspect of the present application, the surgical control module is further configured to: calculating a second non-set of the second digital model and the part to be ground on the first digital model, wherein the second non-set is on the part to be ground; from the second non-set, the remaining portions of the portion to be ground that have not been ground are determined.

According to any of the foregoing embodiments of the first aspect of the present application, the control device is electrically connected to the display, and the control device is configured to provide the display with an image of the first digital model in which a color of the portion to be ground is different from a color of the non-ground portion.

According to any of the foregoing embodiments of the first aspect of the present application, the surgical control module is further configured to: and controlling a grinding state when the grinding boundary reaches or exceeds the target boundary along the feeding direction of the acetabular grinding file, wherein the grinding state comprises that the acetabular grinding file finishes grinding.

According to any of the foregoing embodiments of the first aspect of the present application, the grinding state further includes outputting a power-off signal that controls the acetabular grinding file to finish grinding, and/or controlling a mechanical arm that carries the acetabular grinding file to stop feeding.

According to any one of the foregoing embodiments of the first aspect of the present application, the control device further includes an obtaining module, where the obtaining module is configured to determine, according to a model of the acetabular rasp and a correspondence between the model and the rasp size parameter, the rasp size parameter corresponding to the acetabular rasp.

In a second aspect, embodiments of the present application provide a hip replacement system, comprising: an acetabular milling file for milling acetabular bone; the power device is used for holding the acetabulum grinding file and providing power for grinding the acetabulum grinding file; the positioning device is used for providing position information of the acetabular milling file and the acetabular bone; control means comprising the control means as provided in the first aspect; and the display is electrically connected with the control device and used for displaying the image of the first digital model transmitted by the control device.

According to an embodiment of the second aspect of the present application, the positioning device comprises a tracer and a positioner, the tracer is mounted on the acetabular milling file and the acetabular bone, and the positioner is used for obtaining position information of the tracer.

In a third aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program for executing a control method, the method comprising: determining a target boundary on a first digital model corresponding to the acetabular bone; determining a grinding boundary on a second digital model corresponding to the acetabular grinding file according to the grinding file size parameter corresponding to the acetabular grinding file; and determining the position relation between the grinding boundary and the target boundary according to the position relation between the acetabular grinding file and the acetabular bone in real space, so that the grinding state is controlled and/or the prompt information is changed according to the position relation between the grinding boundary and the target boundary.

In a fourth aspect, an embodiment of the present application provides an electronic device, including: a processor; a memory, wherein the memory is for storing instructions executable by the processor; when the processor executes the instructions, a control method is realized, and the method comprises the following steps: determining a target boundary on a first digital model corresponding to the acetabular bone; determining a grinding boundary on a second digital model corresponding to the acetabular grinding file according to the grinding file size parameter corresponding to the acetabular grinding file; and determining the position relation between the grinding boundary and the target boundary according to the position relation between the acetabular grinding file and the acetabular bone in real space, so that the grinding state is controlled and/or the prompt information is changed according to the position relation between the grinding boundary and the target boundary.

According to the control device, the hip joint replacement system, the readable storage medium and the electronic equipment, the target boundary is arranged on the first digital model corresponding to the acetabular bone, the grinding boundary is arranged on the second digital model corresponding to the acetabular bone grinding file, the position relation between the grinding boundary and the target boundary on the acetabular bone is determined according to the position relation between the acetabular bone grinding file and the acetabular bone in real space, the grinding state is accurately controlled, the grinding quantity of the acetabular bone is accurately controlled, the actual acetabular grinding effect is ensured to be consistent with the operation planning, the accuracy of acetabular grinding is ensured, the accuracy of the installation position of the acetabular prosthesis is ensured, and the operation effect is improved. Meanwhile, the complicated step of grinding boundary editing is omitted, and the software operation flow is simplified. According to the embodiment of the application, the control device is used for assisting a doctor in operation planning and operation, the doctor does not need to memorize by himself or herself to perform the operation, errors caused by the memory of the doctor are reduced, and the operation is more accurately completed.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.

FIG. 1 is a schematic view of the placement of an acetabular prosthesis;

fig. 2 is a schematic structural diagram of a control device according to an embodiment of the present application;

FIG. 3 is a schematic view of a partial structure of a first digital model of an acetabular bone according to an embodiment of the application;

FIG. 4 is a schematic partial cross-sectional view of a second digital model of an acetabular milling file according to embodiments of the application;

FIG. 5 is a schematic partial cross-sectional view of a second digital model of an acetabular milling file according to embodiments of the application;

FIG. 6 is a schematic workflow diagram of a target boundary determining module in a control device according to an embodiment of the present disclosure;

fig. 7 is an operation schematic diagram of a target boundary determining module in the control device according to the embodiment of the present application;

FIG. 8 is a schematic workflow diagram of a surgical control module in a control device according to an embodiment of the present disclosure;

FIG. 9 is a schematic diagram of another workflow of a surgical control module in a control device according to an embodiment of the present disclosure;

FIG. 10 is a schematic diagram of a further workflow of a surgical control module in a control device according to an embodiment of the present disclosure;

fig. 11 is a schematic structural diagram of another control device according to an embodiment of the present disclosure;

FIG. 12 is another partial schematic view of a first digital model of an acetabular bone according to an embodiment of the application;

FIG. 13 is a schematic view of a configuration of a hip replacement system according to an embodiment of the present application;

fig. 14 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

Features and exemplary embodiments of various aspects of the present application are described in detail below to make the objects, technical solutions and advantages of the present application more apparent, and to further describe the present application in conjunction with the accompanying drawings and the detailed embodiments. It should be understood that the specific embodiments described herein are intended to be illustrative of the application and are not intended to be limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present application by showing examples of the present application.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Accordingly, this application is intended to cover such modifications and variations of this application as fall within the scope of the appended claims (the claims) and their equivalents. The embodiments provided in the examples of the present application may be combined with each other without contradiction.

Before describing the technical solution provided by the embodiments of the present application, in order to facilitate understanding of the embodiments of the present application, the present application first specifically describes a problem existing in the prior art:

although traditional hip replacement surgery has been in the past for over half a century, all hip replacement surgery has been manually performed by a physician, which may result in a less than ideal placement of the prosthesis due to different doctors or different conditions of the same doctor, and other factors. The non-ideal installation of the prosthesis position can directly influence the operation effect, and the situations of dislocation after replacement, prosthesis impact, reduced hip joint mobility, increased prosthesis abrasion and the like can be caused.

At present, in hip replacement surgery, a doctor performs surgery planning through computer software before surgery, for example, after selecting a proper prosthesis model in the software, the position of the prosthesis model is adjusted, at the moment, the prosthesis model is aligned with a bone model, the boundary on the model is obtained, namely, the position to be ground during surgery is recorded into the brain sea before surgery, when the doctor starts to face the bone during surgery, the boundary position in the memory is sketched on the bone through the position memorized in the brain sea, and then the sketched place is ground step by using a grinding file for installing the prosthesis.

Fig. 1 is a schematic view of the placement of an acetabular prosthesis. As shown in fig. 1, there is generally a high requirement for the placement of acetabular prostheses in hip replacement surgery. For example, the acetabular prosthesis should be placed at a typical anteversion angle of 5-25 degrees and a abduction angle of between 30-50 degrees. Wherein the abduction angle β is shown in fig. 1, the anteversion angle may be understood as the angle of inclination of the acetabular cup towards the screen (outwards).

A clinician with a high clinical experience may place the prosthesis as ideally as possible, but may not be sure to be so ideal each time, may be affected by personal conditions and other factors, and not every physician is a top level surgeon. A new doctor just entering the door needs a great deal of clinical exercises to gradually become a unique high hand when he just starts to perform the operation, which means that he needs a long learning growth period to become a top level surgeon, and during the period, some operations are unavoidable, and the probability of complications being caused may be increased.

The current revision rate of traditional hip replacement surgery is still high, and according to statistics of related literature, the number is even as high as 15% -20%. That is, after 15 years or 20 years, about 15% -20% of patients now implanted with the prosthesis have to return to the hospital again to undergo revision surgery. One of the important reasons for this is that the prosthesis is not installed precisely enough at the time of the initial surgery of the patient.

The acetabular grinding is the most fundamental and important part in the whole operation process, the quality of acetabular grinding directly determines the placement effect of an acetabular prosthesis, and the standard of acetabular grinding is that a target grinding part expected to be ground off of an acetabular fossa can be completely ground off. The portions other than the target ground portion (non-ground portions) can be fully preserved, in which case the state is the optimal placement position of the acetabular prosthesis. That is, the target ground portion may refer to the portion of the hip bone that is desired to be ground away.

How to ensure that the acetabular grinding effect can completely meet the preoperative planning is an important evaluation index for the accuracy of equipment operation. However, the inventor researches of the application find that the current acetabular grinding has the problem of low grinding accuracy, so that the acetabular prosthesis is not placed accurately enough, and the situations of dislocation after replacement, prosthesis impact, reduced hip joint mobility, increased prosthesis abrasion and the like are caused.

In view of the above-mentioned research of the inventor, the embodiment of the application provides a control device, a hip joint replacement system, a readable storage medium and an electronic device, which can solve the technical problem of low accuracy of acetabular grinding in the prior art.

The technical conception of the embodiment of the application is as follows: the doctor is assisted in operation by using the control device, the target boundary is arranged on a first digital model corresponding to the acetabular bone, the grinding boundary is arranged on a second digital model corresponding to the acetabular bone grinding file, the position relationship between the grinding boundary and the target boundary is determined according to the position relationship between the acetabular bone grinding file and the acetabular bone in real space, the grinding state is accurately controlled, the grinding quantity of the acetabular bone is accurately controlled, the actual acetabular grinding effect is ensured to be consistent with the operation planning, the accuracy of acetabular grinding is ensured, the accuracy of the installation position of the acetabular prosthesis is ensured, and the operation effect is improved. Meanwhile, the complicated step of grinding boundary editing is omitted, and the software operation flow is simplified. According to the embodiment of the application, the control device is used for assisting a doctor in operation planning and operation, the doctor does not need to memorize by himself or herself to perform the operation, errors caused by the memory of the doctor can be reduced, and the operation can be completed more accurately.

The control device provided in the embodiment of the present application will be described first.

Fig. 2 is a schematic structural diagram of a control device according to an embodiment of the present application. As shown in fig. 2, the control device 20 provided in the embodiment of the present application may include: a target boundary determination module 210, a grinding boundary determination module 220, and a surgical control module 230.

The target boundary determination module 210 may be used to determine a target boundary on a first digital model corresponding to an acetabular bone. It is understood that the target boundary is the boundary of the target grinding portion (portion desired to be ground off) and the non-grinding portion (portion not to be ground). Wherein the first digital model may be regarded as a digital three-dimensional model (virtual model) of the acetabular bone. The first digital model may comprise, for example, a digital three-dimensional model of the acetabular bone established by preoperative CT imaging or magnetic resonance imaging MRI. It will be appreciated that the volume of the first digital model is unchanged during the planning phase of the operation, i.e. before the operation has been performed, since no actual grinding operation has been performed.

The space registration (or hand-eye calibration) between the acetabular bone and the first digital model can be performed to determine the spatial position relationship between the acetabular bone and the first digital model. In some examples, a probe with a tracer may be used to click at a plurality of characteristic points of a real acetabular bone of a human body, generating a point cloud consisting of the plurality of characteristic points; then, the point cloud composed of the characteristic points is spatially registered with the first digital model, so that the spatial position relation between the acetabular bone and the first digital model is determined. In addition, the acetabular bone can be provided with a tracer, and the spatial position information of the tracer can be captured through a positioner (such as a binocular camera), so that the spatial position information of the acetabular bone can be obtained. The spatial position relationship between the acetabular bone and the first digital model is known, so that when the acetabular bone changes in real space (e.g., changes in position or changes in volume), the first digital model also changes accordingly (e.g., changes in position or changes in volume).

Fig. 3 is a schematic view of a partial structure of a first digital model of an acetabular bone according to an embodiment of the application. Where 310 represents the target ground portion of the first digital model and 320 represents the non-ground portion. As shown in connection with fig. 2 and 3, for example, in some embodiments, the target boundary determination module 210 may be used to determine a target boundary b1 on a first digital model of an acetabular bone. It will be appreciated that the target boundary b1 is now the boundary of the target ground portion 310 and the non-ground portion 320 on the first digital model.

The grinding boundary determining module 220 is configured to determine a grinding boundary on the second digital model of the acetabular rasp according to the rasp size parameter corresponding to the acetabular rasp. It will be appreciated that the grinding boundary is the boundary on the second digital model that is compared to the target boundary of the first digital model when grinding is performed. Wherein the second digital model may be regarded as a digital three-dimensional model (virtual model) of the acetabular milling file. In operation, the first digital model and the second digital model may be displayed simultaneously so that a physician can intuitively determine whether the acetabular rasp has reached a target orientation between patient bone tissue. Of course, only the first digital model may be displayed, and the grinding progress may be intuitively judged by a doctor by displaying the portion to be ground of the first digital model.

It will be appreciated that spatial registration between the acetabular milling file and the second digital model may also be used to determine the spatial relationship between the acetabular milling file and the second digital model. When the acetabular milling file changes in real space (e.g., changes in position), the second digital model also changes accordingly (e.g., changes in position).

In the embodiment of the present application, the size parameter of the file corresponding to the acetabular file (may also be referred to as a size parameter of the file) includes, but is not limited to, a radius of the acetabular file, and may also be a diameter of the acetabular file or other size parameters. It is readily understood that the end of the acetabular rasp is a sphere or hemisphere and that the radius of the acetabular rasp is understood to be the radius of the grinding sphere of the acetabular rasp. For example, the size parameters of the rasp may be obtained from actual measurements.

Fig. 4 is a schematic partial cross-sectional view of a second digital model of an acetabular milling file according to an embodiment of the application. As shown in fig. 4, the grinding boundary determination module 220 may determine, for example, from a file size parameter corresponding to the acetabular file, a second digital model having a size corresponding to the size parameter. Then, a grinding boundary b is determined on the second digital model. In addition, the grinding boundary may be the outer surface of the acetabular rasp, and thus the rasp in fig. 4 is hemispherical, and the grinding boundary may be a hemispherical surface represented by a semicircle in fig. 4.

The surgical control module 230 may be configured to determine a positional relationship of the milling boundary and the target boundary based on a positional relationship of the acetabular milling file and the acetabular bone in real space, to control a milling state based on the positional relationship of the milling boundary and the target boundary, and/or to change the hint information.

It should be noted that the target boundary may be considered to be located on the acetabular bone or on the first digital model; the grinding boundary can be considered to be located on the acetabular rasp or on the second digital model. It is easy to understand that in comparing the positional relationship of the target boundary and the grinding boundary, the positional relationship in real space of the target boundary on the acetabular bone and the grinding boundary on the acetabular grinding file is compared, or the positional relationship of the target boundary on the first digital model and the grinding boundary on the second digital model is compared. The prompt includes a visual, audible, or the like prompt. The change prompting information includes a change in visual prompting information, such as a change in a portion to be ground (a corresponding color area becomes smaller); the output voice prompt information, such as voice prompt information, includes "2 mm further from the target boundary, please operate carefully" and the like.

As described above, the spatial positional relationship between the acetabular bone and the first digital model may be determined, as may the spatial positional relationship between the acetabular milling file and the second digital model. Then, as shown in fig. 3 and 4, the surgical control module 230 may determine the positional relationship between the target boundary b1 on the first digital model and the grinding boundary b on the second digital model according to the positional relationship between the acetabular grinding file and the acetabular bone in real space. By determining the positional relationship of the grinding boundary and the target boundary, the grinding state can be controlled. For example, when the grinding boundary b on the second digital model has not reached the target boundary b1 on the first digital model, grinding is continued; when the grinding boundary b on the second digital model reaches the target boundary b1 on the first digital model, the grinding is ended.

According to the method and the device, a control device is used for assisting a doctor in performing an operation, a target boundary is arranged on a first digital model corresponding to an acetabular bone, a grinding boundary is arranged on a second digital model corresponding to an acetabular grinding file, the position relation between the grinding boundary and the target boundary is determined according to the position relation between the acetabular grinding file and the acetabular bone in real space, the grinding state is accurately controlled, the grinding quantity of the acetabular bone is accurately controlled, the actual acetabular grinding effect is ensured to be consistent with an operation planning, the accuracy of acetabular grinding is ensured, the accuracy of the installation position of an acetabular prosthesis is ensured, and the operation effect is improved. Meanwhile, the complicated step of grinding boundary editing is omitted, and the software operation flow is simplified. The control device is used for assisting a doctor in operation planning and operation, the doctor does not need to memorize the doctor to perform the operation, errors caused by the memory of the doctor can be reduced, and the operation can be more accurately finished.

The specific operation of the target boundary determination module 210, the grinding boundary determination module 220, and the surgical control module 230 of embodiments of the present application are described below in connection with some specific embodiments.

Optionally, according to some embodiments of the present application, the grinding boundary determination module 220 is further configured to: and determining a grinding boundary on the second digital model corresponding to the acetabular grinding file according to the grinding file size parameter corresponding to the acetabular grinding file and the allowable multiple grinding depths. Allowing multiple grinding depths is understood to mean, among other things, allowing depths at which grinding can still continue on the basis of the desired target grinding depth. That is, after the target ground portion and the non-ground portion of the acetabular bone are planned, further grinding depths at the non-ground portion are allowed. If the multiple grinding depth is allowed to be set to 0, it means that only the target grinding portion is allowed to be ground.

Fig. 5 is a schematic partial cross-sectional view of a second digital model of an acetabular milling file according to an embodiment of the application. As shown in fig. 5, the solid curve a in fig. 5 is an acetabular rasp outer surface, and since the acetabular rasp has a hemispherical structure, the acetabular rasp outer surface a is a hemispherical surface. r1 is the radius of the acetabular milling file. d is the allowable multiple grinding depth, which can be directly obtained or read in a configuration file or customized. In practical applications, the allowable multiple grinding depth d may be preset in the control device in two steps (e.g. 1 and 10), or may be multiple steps. When the doctor selects a first gear or a default first gear (such as 1) before performing grinding, the control device automatically determines that at most grinding can be performed for 1, and when the doctor considers that grinding can be further performed, or the acetabular prosthesis is not installed, the gear can be switched to 10. This allows grinding to a greater extent. It should be noted that the value of d is independent of r1 and is related to only the preset gear. In addition, the doctor can also make custom settings for allowing multiple grinding depths according to experience. But with caution.

The dashed curved surface b in fig. 5 is a grinding boundary. Alternatively, the grinding boundary b is concentric with the acetabular rasp outer surface a, and the grinding boundary b may be hemispherical. The grinding boundary b can be obtained by the radius r1 of the acetabular grinding file and the allowable multiple grinding depths d. Specifically, the grinding boundary determination module may be further configured to: and determining a boundary of the second digital model corresponding to the acetabular grinding file, which is retreated to the center side of the second digital model by the allowable multiple grinding depth, as a grinding boundary according to the grinding file size parameter corresponding to the acetabular grinding file and the allowable multiple grinding depth. Wherein a center is understood as a geometric center, a physical center, etc. As shown in fig. 5, r2 is the radius of the grinding boundary, which radius r2 is obtained by taking the difference between the radius r1 of the acetabular grinding file and the allowable multiple grinding depth d, i.e., r2=r1-d. It can be seen that when multiple grinding depths d=0 are allowed, the grinding boundary b coincides with the acetabular grind file outer surface a. When the multiple grinding depth d > 0 is allowed, the grinding boundary b is retracted relative to the acetabular grinding file outer surface a in a direction in which the acetabular grinding file outer surface a points toward the center of the acetabular grinding file. I.e. the outer surface a of the acetabular milling file is receded towards the inner side of the milling file to allow multiple milling depths d, and a milling boundary b is obtained.

As shown in fig. 3 and 5, when the grinding boundary b on the second digital model reaches the target boundary b1 of the first digital model, the outer surface a of the acetabular grinding file just reaches the target boundary b1 plus the position allowing multiple grinding depths d, at which time grinding can be ended, thereby realizing precise grinding. According to the method and the device for grinding the target grinding part, the allowable multiple grinding depths are set, and the grinding boundary on the second digital model is determined according to the allowable multiple grinding depths, so that the target grinding part to be ground can be completely ground when the grinding is finished, the situation that the grinding is not completed in place is avoided, and the prosthesis can be successfully installed is ensured.

Optionally, according to some embodiments of the present application, the target boundary determination module 210 may be further configured to: and acquiring and intersecting a third digital model corresponding to the acetabular prosthesis with the first digital model, and determining a target boundary.

Fig. 6 is a schematic workflow diagram of a target boundary determining module in a control device according to an embodiment of the present application. As shown in fig. 6, the target boundary determination module 210 may optionally be used to perform the following steps S601 to S604, according to some embodiments of the present application.

S601, aligning a third digital model corresponding to the acetabular prosthesis with the first digital model.

For example, an appropriately sized acetabular prosthesis may be selected based on information (e.g., size) of the patient's acetabular bone. A digital three-dimensional model of the acetabular prosthesis, i.e., a third digital model, may be established by CT imaging, MRI, or three-dimensional modeling. And then adjusting the information such as the anteversion angle, the abduction angle, the eccentric distances of all directions and the like of the third digital model of the acetabular prosthesis, namely adjusting the position relation between the third digital model and the first digital model, so that the third digital model of the acetabular prosthesis is placed at an ideal position and an ideal posture on the first digital model, thereby realizing the alignment.

S602, calculating a first intersection between the third digital model after alignment and the first digital model.

After the third digital model is aligned with the first digital model, the intersection of the third digital model and the first digital model is the target grinding part expected to be ground on the first digital model. For ease of distinction, the intersection of the third digital model with the first digital model is referred to herein as the first intersection. In practical applications, the first intersection may be calculated by means of an algorithm in which the digital model takes the intersection. It will be appreciated that during the planning phase of the operation, i.e. before the operation has been performed, the first digital model is divided into a target ground portion and a non-ground portion, since no actual grinding operation has been performed at this time.

S603, determining a target grinding part according to the first intersection.

As described above, the intersection of the third digital model and the first digital model is the target grinding portion of the first digital model that is desired to be ground. The portion of the first digital model other than the target grinding portion may be a non-grinding portion.

S604, taking the peripheral boundary of the target grinding part as a target boundary.

As shown in fig. 3, after the target grinding section 310 on the first digital model is obtained, for example, the peripheral boundary of the target grinding section may be set as the target boundary b1. Specifically, for example, the boundary b1 of the target grinding portion 310 and the non-grinding portion 320 may be determined as the target boundary.

According to the control device, the first intersection is calculated, and the target grinding part, the non-grinding part and the target boundary during operation are accurately determined in the operation planning stage.

According to further embodiments of the present application, the non-ground portions on the first digital model may alternatively be obtained by calculating a non-set of the third digital model and the first digital model. For ease of distinction, the non-set of the third digital model with the first digital model (the non-set on the first digital model) is referred to herein as the first non-set, i.e., the portion of the first digital model that does not intersect the third digital model. Specifically, the target boundary determination module 210 may be further configured to: calculating a first non-set between the aligned third digital model and the first digital model; from the first non-set, a non-ground portion on the first digital model is determined. In practical applications, the first non-set may be calculated specifically by an algorithm in which the digital model takes the non-set.

Fig. 7 is an operation schematic diagram of a target boundary determining module in a control device according to an embodiment of the present application. As shown in fig. 7, a in fig. 7 represents a first digital model, and B represents a third digital model. Other embodiments of the present application obtain the non-ground portion 320 by calculating the first non-set, rather than directly taking the remaining portion of the first digital model other than the first intersection as the non-ground portion, mainly because: assuming that the first digital model a and the third digital model B are known data, the algorithm by which the first digital model a and the third digital model B intersect results in a hatched portion shown in fig. 7, i.e., the target grinding portion 310. The remainder of the first digital model a may not be known (it may be understood that the first digital model a and the third digital model B intersect and the control device produces only the data of the shaded portion). While the remainder of the first digital model a may be obtained by taking the non-sets of the first digital model a and the third digital model B and thus may be calculated by additional algorithms and steps. Meanwhile, the method for directly obtaining the non-grinding part through the two known data of the first digital model A and the third digital model B is more accurate. The method of taking the remainder of the first intersection by the first digital model is relatively inaccurate by the intermediate variable of the first intersection (the first digital model a minus the first intersection).

Fig. 8 is a schematic workflow diagram of a surgical control module in a control device according to an embodiment of the present disclosure. As shown in fig. 8, optionally, the surgical control module 230 may be configured to perform the following steps S801 to S802 to determine the positional relationship of the grinding boundary and the target boundary, according to some embodiments of the present application.

S801, calculating a second intersection of a first part on the second digital model and the first digital model, wherein the first part is a part of a grinding boundary facing the center of the second digital model.

The first portion D1 on the second digital model can be understood as a portion within the grinding boundary on the second digital model as shown in connection with fig. 5. If the outer surface of the acetabular rasp is defined as the grinding boundary, the first portion on the second digital model is the portion of the outer surface of the acetabular rasp facing the center of the acetabular rasp or can be understood as the volume defined by the entire outer surface of the acetabular rasp. If the boundary of the second digital model corresponding to the acetabular milling file, which is moved inwards to allow multiple milling depths, is determined as a milling boundary, the first part of the second digital model is the part of the boundary of the second digital model, which is moved inwards to allow multiple milling depths, towards the center of the acetabular milling file, or the first part can be understood as the volume determined by the part. In S801, an intersection of the first portion D1 on the second digital model and the first digital model may be calculated. For ease of distinction, the intersection of the first portion D1 on the second digital model with the first digital model is referred to herein as the second intersection. It will be readily appreciated that the amount of data in the second intersection will gradually increase as the acetabular milling file continues to grind.

S802, determining the position relation between the grinding boundary and the target boundary according to the second intersection.

For example, when the data amount in the second intersection is less than the preset threshold, determining that the grinding boundary does not reach the target boundary; and when the data amount in the second intersection is equal to or greater than a preset threshold value, determining that the grinding boundary reaches the target boundary or exceeds the target boundary. The preset threshold value can be flexibly adjusted according to actual conditions, and the embodiment of the application is not limited to this.

Further research by the inventor of the application finds that when the first part on the second digital model is intersected with the whole first digital model, the calculation amount is huge, and the calculation time is long. Mainly because: the whole first digital model participates in calculation, comprises a non-grinding part, and the non-grinding part belongs to a redundant part, and comprises a large amount of characteristic and voxel data, namely, the data is huge, so that the calculation amount for taking intersections is large, and the calculation period is long.

In view of this, the inventors of the present application considered to calculate only the intersection of the first portion on the second digital model and the target grinding portion on the first digital model to reduce the amount of calculation and improve the calculation efficiency.

Fig. 9 is a schematic diagram of another workflow of a surgical control module in a control device according to an embodiment of the present disclosure. As shown in fig. 9, according to other embodiments of the present application, optionally, the surgical control module 230 may be configured to perform the following steps S901 to S902 to determine the positional relationship of the grinding boundary and the target boundary.

S901, calculating a third intersection of a first part on the second digital model and a target grinding part on the first digital model, wherein the first part is a part of a grinding boundary towards the center of the second digital model. As shown in connection with fig. 3 and 5, the first portion D1 on the second digital model can be understood as a portion within the grinding boundary on the second digital model. In S901, an intersection of the first portion D1 on the second digital model and the target grinding portion 310 on the first digital model may be calculated. For ease of distinction, the intersection of the first portion D1 on the second digital model with the target grinding portion 310 on the first digital model is referred to herein as the third intersection. It will be readily appreciated that as the acetabular milling file continues to grind, the amount of data in the third intersection will gradually increase.

S902, according to the third intersection, determining the position relation between the grinding boundary and the target boundary.

For example, when the data amount in the third intersection is smaller than the preset threshold value, determining that the grinding boundary does not reach the target boundary; and when the data amount in the third intersection is equal to or greater than a preset threshold value, determining that the grinding boundary reaches the target boundary or exceeds the target boundary.

In this way, in the process of calculating the intersection between the first portion D1 on the second digital model and the target grinding portion 310 on the first digital model, the data of the non-grinding portion on the first digital model, particularly the non-grinding portion, is not involved, and the non-grinding portion includes a large amount of feature and voxel data, so that in the process of taking the intersection, the data calculation amount is greatly reduced, and the calculation efficiency is significantly improved.

In addition, the target grinding part in the embodiment can be replaced by the part to be ground for calculation so as to adapt to the dynamic data of the part to be ground and meet different requirements in the continuous grinding process.

According to some embodiments of the present application, optionally, the surgical control module is further configured to: calculating a fourth intersection of the first portion on the second digital model and the non-ground portion on the first digital model, wherein the first portion is the portion of the grinding boundary toward the center of the second digital model; and determining the position relation between the grinding boundary and the target boundary according to the fourth intersection.

That is, when the grinding boundary (corresponding to the first portion on the second digital model) of the acetabular grinding file touches the non-grinding portion, the control device of the embodiment of the application controls the acetabular grinding file to finish grinding after receiving the signal, such as controlling the acetabular grinding file to finish grinding to stop the feeding of the mechanical arm carrying the acetabular grinding file. For ease of distinction, the intersection of the first portion on the second digital model with the non-ground portion on the first digital model is referred to herein as the fourth intersection.

Optionally, according to some embodiments of the present application, the surgical control module 230 is further configured to: and taking the second digital model corresponding to the acetabular milling file and the part to be ground on the first digital model, and determining the rest part which is not ground on the part to be ground.

At the beginning of the operation, the part to be ground is the target grinding part, but as the grinding proceeds, the target grinding part is continuously reduced, and the part of the target grinding part which is not ground yet is called the part to be ground, namely the rest of the hip bone.

According to the control device, the operation control module determines the rest part which is not ground on the part to be ground on the basis of real time by taking the second digital model corresponding to the acetabular grinding file and the part to be ground on the first digital model out of the way, and the part to be ground in the quantitative grinding process can be updated in real time by taking the volume determined by the outer surface of the actual acetabular grinding file and the rest part of the hip bone out of the way. The rest part of the part to be ground which is not ground is the part to be ground after the current grinding is finished.

Fig. 10 is a schematic diagram of still another workflow of a surgical control module in a control device according to an embodiment of the present disclosure. As shown in fig. 10, optionally, the surgical control module 230 may be used to perform the following steps S1001 to S1002, according to some embodiments of the present application.

S1001, calculating a second non-set of the second digital model and the part to be ground on the first digital model.

Wherein the second non-set is on the portion of the first digital model to be ground, i.e. the second non-set is the portion of the portion to be ground that has no intersection with the second digital model. Since the portion to be ground is on the first digital model, the second non-set is on the first digital model.

A non-set of portions to be ground on the second digital model and the first digital model is calculated. For ease of distinction, the non-set of the second digital model and the portion to be ground on the first digital model (the non-set on the portion to be ground of the first digital model) is referred to herein as a second non-set. It will be readily appreciated that as the acetabular milling file continues to grind, the amount of data on the second non-set will gradually decrease until it is 0.

S1002, determining the rest part which is not ground on the part to be ground according to the second non-set.

Wherein the second non-set is the remaining portion not yet ground on the portion to be ground. The rest part which is not ground on the part to be ground can be displayed in a first target color, a doctor can visually check the position and the rest quantity of the part to be ground through interface display, and when the whole part to be ground on the interface is completely ground, the whole interface has no first target color display area, so that the current grinding is finished. The first target color may be flexibly adjusted according to practical situations, such as green, which is not limited in the embodiment of the present application.

In the control device of the embodiment of the present application, the surgical control module calculates the second non-set to determine the remaining portion that has not been ground in the grinding process in real time, which can be understood as that the portion to be ground is an amount that changes with the progress of grinding, and calculates the second non-set to update the portion to be ground in the quantized grinding process in real time.

Optionally, according to some embodiments of the present application, the surgical control module 230 may be configured to perform the following steps: and controlling a grinding state when the grinding boundary reaches or exceeds the target boundary along the feeding direction of the acetabular grinding file, wherein the grinding state comprises that the acetabular grinding file finishes grinding.

Therefore, when the grinding boundary reaches or exceeds the target boundary, the acetabular grinding file is controlled to finish grinding, so that the grinding quantity of acetabular bones is accurately controlled, the actual acetabular grinding effect is ensured to be consistent with the operation planning, the accuracy of the installation position of the acetabular prosthesis is ensured, and the operation effect is improved.

In some specific examples, optionally, controlling the grinding state may further include outputting a power down signal that controls the acetabular rasp to finish grinding, and/or controlling a robotic arm carrying the acetabular rasp to stop feeding.

Alternatively, according to some embodiments of the present application, the control device 20 may be electrically connected to the display, and the control device 20 may be configured to provide an image of the first digital model to the display. In the image, the color of the portion to be ground is different from the color of the non-ground portion. That is, the portion to be ground is displayed in the first target color, and the non-ground portion is displayed in the second target color. Illustratively, for example, the portion to be ground is shown in green and the non-ground portion is shown in skeletal color. Therefore, a doctor can visually observe the part to be ground and the non-grinding part of the acetabulum to be ground, and the doctor can know the grinding progress in time. In addition, the control device 20 may be further configured to provide all other images and prompt information related to the embodiments of the present application, such as images of other models related to the embodiments of the present application, to the display for the display to display all other images and prompt information related to the embodiments of the present application.

Fig. 11 is a schematic structural diagram of another control device according to an embodiment of the present application. As shown in fig. 11, according to some embodiments of the present application, optionally, the control apparatus 20 provided in the embodiments of the present application may further include an obtaining module 240, where the obtaining module 240 is configured to determine an abrasive file size parameter corresponding to the acetabular abrasive file according to a model of the acetabular abrasive file and a correspondence between the model and the abrasive file size parameter. Specifically, the obtaining module 240 may be configured to retrieve, from the pre-established rasp registration information, a size parameter corresponding to the currently used acetabular rasp. The rasp registration information may include rasp size parameters for acetabular rasps of various sizes. In some examples, the rasp registration information may also include a preset allowable multiple milling depth, and the acquisition module 240 may be configured to retrieve rasp size parameters and allowable multiple milling depths corresponding to the currently used acetabular rasp from the pre-established rasp registration information.

For example, the acquisition module 240 may select a rasp to be used from pre-established rasp registration information to determine corresponding rasp size parameters and allow multiple rasp depths. Specifically, the rasp registration information may include a correspondence between the model of the acetabular rasp and the size parameter of the acetabular rasp, i.e., the rasp registration information may include size parameters of the acetabular rasp of various models. The obtaining module 240 may be specifically configured to determine a size parameter corresponding to the currently used acetabular rasp according to a model of the currently used acetabular rasp and a corresponding relationship between the model and the rasp size parameter.

It should be noted that, the allowed multiple grinding depths can be in one-to-one correspondence with the model of the acetabular milling file. For example, the allowable multiple grinding depth of the acetabular grinding file of the model a is 1 mm, the allowable multiple grinding depth of the acetabular grinding file of the model B is 2 mm, and the allowable multiple grinding depth of the acetabular grinding file of the model C is 3 mm, so that the effect of accurate grinding is further achieved. Of course, acetabular milling files of different models may also correspond to the same allowable multiple milling depths, which are not limited in this embodiment.

Optionally, the acquisition module 240 may also be used to acquire custom set allowable multiple grinding depths, according to some embodiments of the present application.

A control device according to an embodiment of the present application will be fully described by way of a practical example. The control device includes:

the target boundary determining module is used for adjusting the acetabular prosthesis to a proper position in the operation planning stage, namely, after aligning a third digital model corresponding to the acetabular prosthesis with the first digital model, calculating a first intersection between the third digital model and the first digital model, and determining the first intersection as a target grinding part; the peripheral boundary of the target grinding portion is set as the target boundary.

And the grinding boundary determining module is used for determining the boundary of the second digital model corresponding to the acetabular grinding file, which is moved inwards of the grinding file and is allowed to have multiple grinding depths, as a grinding boundary.

The operation control module is used for calculating a third intersection of a first part on the second digital model and a target grinding part on the first digital model according to the position relation of the acetabular grinding file and the acetabular bone in the real space, wherein the first part is a part with a grinding boundary facing the center of the second digital model; determining the position relation between the grinding boundary and the target boundary according to the third intersection; and controlling the acetabular grinding file to finish grinding or continue grinding according to the position relation between the grinding boundary and the target boundary, such as controlling a power-off signal for the acetabular grinding file to finish grinding, and/or controlling a mechanical arm for bearing the acetabular grinding file to stop feeding. The method is also used for calculating a second non-set of the part to be ground on the second digital model and the first digital model according to the position relation between the acetabular milling file and the acetabular bone in real space, wherein the second non-set is on the part to be ground on the first digital model; the second non-set is determined as the remaining part of the part to be ground which has not been ground so as to update the part to be ground, and the part to be ground is highlighted with a special color.

According to the control device, a doctor is assisted in performing an operation by using the control device, a target boundary is arranged on a first digital model corresponding to an acetabular bone, a grinding boundary is arranged on a second digital model corresponding to an acetabular grinding file, the position relation between the grinding boundary and the target boundary is determined according to the position relation between the acetabular grinding file and the acetabular bone in real space, the acetabular grinding file is accurately controlled to continue grinding or finish grinding, the grinding quantity of the acetabular bone is accurately controlled, the actual acetabular grinding effect is ensured to be consistent with an operation plan, errors caused by memory are reduced, and the accuracy of acetabular grinding is ensured; the method comprises the steps that multiple grinding depths are allowed to be introduced and are arranged on the side of a grinding boundary corresponding to an acetabular grinding file, the acetabular grinding file is controlled to continue grinding or finish grinding according to the position relation between the grinding boundary and a target boundary, the inaccuracy of grinding precision caused by errors when the multiple grinding depths are actually corresponding to a model is solved, the practical requirement is met, the situation that grinding is not in place is avoided, and the prosthesis can be successfully installed is further guaranteed; when the position relation between the grinding boundary and the target boundary is determined, the first part on the second digital model is used for intersection with the target grinding part on the first digital model, the target grinding part is used for calculation, the calculated amount is greatly reduced, and the calculation efficiency is obviously improved.

Another control device provided in an embodiment of the present application is fully described below with reference to fig. 12. Fig. 12 is another partial schematic view of a first digital model of an acetabular bone according to an embodiment of the application. In the embodiment shown in fig. 12, the outer surface a of the acetabular rasp is set as a grinding boundary, and the target boundary is set as a boundary after the target grinding portion peripheral boundary (the broken line portion in fig. 12) allows a plurality of grinding depths d toward the bone side. When the acetabular bone grinding file is compared, the position relation of the boundary after allowing a plurality of grinding depths to the bone side by comparing the outer surface a of the acetabular bone grinding file and the peripheral boundary of a target grinding part on the acetabular bone is controlled to continuously grind or finish grinding.

The control device includes:

the target boundary determining module is used for adjusting the acetabular prosthesis to a proper position in the operation planning stage, namely, after aligning a third digital model corresponding to the acetabular prosthesis with the first digital model, calculating a first intersection between the third digital model and the first digital model, and determining the first intersection as a target grinding part; the peripheral boundary of the target grinding portion is allowed to be a boundary after a multiple grinding depth toward the bone side as a target boundary.

And the grinding boundary determining module is used for determining the outer surface of the acetabular grinding file as a grinding boundary.

However, the inventors herein have found that in determining whether the actual grinding exceeds the prescribed grinding zone (i.e., the target boundary, including the portion that allows multiple grinding), it is necessary to intersect the non-ground portion on the first digital model by the second digital model (and also intersect the non-ground portion when the remainder of the hip is not ground), and the non-ground portion includes a significant amount of feature and voxel data, which results in a significant amount of computation.

Further, to ameliorate the deficiencies of this approach, the data from the non-ground portion of the second digital model may be cut first as it intersects the non-ground portion of the first digital model, such as to preserve only the hip bone adjacent the portion to be ground, which is an improvement but has a computational disadvantage over the approach that would allow multiple grinding to be provided in an acetabular rasp.

Therefore, in the embodiments shown in fig. 2 to 11, the peripheral boundary of the target grinding portion on the first digital model is used as the target boundary, the grinding boundary is determined according to the allowable multiple grinding depths on the second digital model, and the grinding state is controlled according to the position relationship between the grinding boundary and the target boundary, so that the method has the advantages of small data calculation amount and high calculation efficiency.

Based on the control device 20 provided in the above embodiment, correspondingly, the embodiment of the application also provides a hip joint replacement system. Please refer to the following examples.

As shown in fig. 13, a hip replacement system 1300 provided by an embodiment of the present application includes the following components:

an acetabular milling file 1301 for milling acetabular bone;

a power device 1302 for holding the acetabular milling file and providing power for grinding the acetabular milling file;

the positioning device 1303 is used for providing position information of the acetabular milling file and the acetabular bone;

a control device 20 including the control device 20 provided in the above-described embodiment;

a display 1304, electrically connected to the control unit 20, is used for displaying the image of the first digital model transmitted by the control unit 20. In addition, the display 1304 may display all other images and presentation information, etc. related to the embodiment of the present application, such as images of other models related to the embodiment of the present application, transmitted by the control device 20.

According to the hip joint replacement system, according to the position relation between the grinding boundary and the target boundary on the acetabular bone, the acetabular grinding file is accurately controlled to continue grinding or finish grinding, the grinding quantity of the acetabular bone is accurately controlled, the actual acetabular grinding effect is ensured to be consistent with the operation planning, the accuracy of the installation position of the acetabular prosthesis is ensured, and the operation effect is improved. Meanwhile, the complicated step of grinding boundary editing is omitted, and the software operation flow is simplified.

According to some embodiments of the present application, optionally, the positioning device comprises a tracer and a locator, the tracer being mounted on the acetabular milling file and the acetabular bone, the locator being for obtaining positional information of the tracer. For example, the optical positioning is used as an example, the tracer is provided with positioning marks, the positioning marks comprise but are not limited to a reflective sheet, a reflective ball or a light emitting diode, and the positioning device comprises but is not limited to a binocular camera.

Based on the control device provided in the foregoing embodiment, the embodiment of the present application further provides a computer readable storage medium, where a computer program is stored, and the computer program is configured to execute a control method, where the method includes: the method steps performed by the control device as provided in the first aspect.

For example, the method may comprise at least the steps of:

determining a target boundary on a first digital model corresponding to the acetabular bone;

determining a grinding boundary on a second digital model corresponding to the acetabular grinding file according to the grinding file size parameter corresponding to the acetabular grinding file;

and determining the position relation between the grinding boundary and the target boundary according to the position relation between the acetabular grinding file and the acetabular bone in real space, so that the grinding state is controlled and/or the prompt information is changed according to the position relation between the grinding boundary and the target boundary.

Based on the control device provided in the foregoing embodiment, the embodiment of the present application further provides an electronic device, where the electronic device includes: a processor; a memory, wherein the memory is for storing instructions executable by the processor; when the processor executes the instructions, a control method is realized, and the method comprises the following steps: the method steps performed by the control device as provided in the first aspect.

For example, the method may comprise at least the steps of:

The specific implementation manner of each step is described in detail above, which can achieve the corresponding technical effect, and for brevity description, no further description is provided herein.

The electronic device may include a processor 1401 and a memory 1402 storing computer program instructions.

In particular, the processor 1401 described above may include a central processing unit (Central Processing Unit, CPU), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits of embodiments of the present application.

Memory 1402 may include mass storage for data or instructions. By way of example, and not limitation, memory 1402 may comprise a Hard Disk Drive (HDD), floppy Disk Drive, flash memory, optical Disk, magneto-optical Disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) Drive, or a combination of two or more of the foregoing. In one example, memory 1402 may include removable or non-removable (or fixed) media, or memory 1402 is a non-volatile solid state memory. Memory 1402 may be internal or external to the integrated gateway disaster recovery device.

In one example, memory 1402 may be Read Only Memory (ROM). In one example, the ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically Erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

Memory 1402 may include read-only memory (ROM), random-access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical/tangible memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors) it is operable to perform the operations described with reference to a method according to an aspect of the present application.

The processor 1401 reads and executes the computer program instructions stored in the memory 1402 to implement the steps in the above embodiments, and achieve the corresponding technical effects achieved by performing the methods/steps in the above embodiments, which are not described herein for brevity.

In one example, the electronic device may also include a communication interface 1403 and a bus 1410. As shown in fig. 14, the processor 1401, the memory 1402, and the communication interface 1403 are connected to each other through a bus 1410, and perform communication with each other.

The communication interface 1403 is mainly used to implement communication between each module, apparatus, unit and/or device in the embodiments of the present application.

The bus 1410 includes hardware, software, or both that couple the components of the electronic device to one another. By way of example, and not limitation, the buses may include an accelerated graphics port (Accelerated Graphics Port, AGP) or other graphics Bus, an enhanced industry standard architecture (Extended Industry Standard Architecture, EISA) Bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an industry standard architecture (Industry Standard Architecture, ISA) Bus, an infiniband interconnect, a Low Pin Count (LPC) Bus, a memory Bus, a micro channel architecture (MCa) Bus, a Peripheral Component Interconnect (PCI) Bus, a PCI-Express (PCI-X) Bus, a Serial Advanced Technology Attachment (SATA) Bus, a video electronics standards association local (VLB) Bus, or other suitable Bus, or a combination of two or more of the above. Bus 1410 may include one or more buses, where appropriate. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

In the foregoing, only the specific embodiments of the present application are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing embodiments, which are not repeated herein. It should be understood that the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, which are intended to be included in the scope of the present application.

Claims

1. A control apparatus, characterized by comprising:

the target boundary determining module is used for determining a target boundary on the first digital model corresponding to the acetabular bone;

the grinding boundary determining module is used for determining the grinding boundary on the second digital model corresponding to the acetabular grinding file according to the grinding file size parameter corresponding to the acetabular grinding file;

the operation control module is used for determining the position relation between the grinding boundary and the target boundary according to the position relation between the acetabular grinding file and the acetabular bone in real space so as to control the grinding state and/or change the prompt information according to the position relation between the grinding boundary and the target boundary.

2. The control device of claim 1, wherein the target boundary determination module is further configured to: and acquiring and intersecting a third digital model corresponding to the acetabular prosthesis with the first digital model, and determining the target boundary.

3. The control device of claim 2, wherein the target boundary determination module is further configured to: aligning a third digital model corresponding to the acetabular prosthesis with the first digital model; calculating a first intersection between the third digital model and the first digital model after alignment; determining a target grinding portion from the first intersection; and taking the peripheral boundary of the target grinding part as the target boundary.

4. The control device of claim 1, wherein the surgical control module is further configured to: and taking the second digital model corresponding to the acetabular milling file and the part to be ground on the first digital model, and determining the rest part which is not ground on the part to be ground.

5. The control device of claim 1, wherein the grinding boundary determination module is further configured to: and determining a grinding boundary on the second digital model corresponding to the acetabular grinding file according to the grinding file size parameter corresponding to the acetabular grinding file and the allowable multiple grinding depths.

6. The control device of claim 5, wherein the grinding boundary determination module is further configured to: and according to the file size parameters corresponding to the acetabular file and the allowable multiple grinding depths, determining a boundary on the second digital model corresponding to the acetabular file, which is moved back to the center side of the second digital model, after the allowable multiple grinding depths as the grinding boundary.

7. The control device of claim 1, wherein the surgical control module is further configured to: calculating a second intersection of a first portion of the second digital model with the first digital model, wherein the first portion is a portion of the grinding boundary toward a center of the second digital model; and determining the position relation between the grinding boundary and the target boundary according to the second intersection.

8. The control device of claim 1, wherein the surgical control module is further configured to: calculating a third intersection of a first portion on the second digital model and a target grinding portion on the first digital model, wherein the first portion is a portion of the grinding boundary toward a center of the second digital model; and determining the position relation between the grinding boundary and the target boundary according to the third intersection.

9. A control device according to claim 3, wherein the grinding boundary determination module is further configured to: according to the size parameters of the grinding file corresponding to the acetabular grinding file and the allowable multiple grinding depths, determining a boundary on the second digital model corresponding to the acetabular grinding file, which is retracted to the center side of the second digital model and is subjected to the allowable multiple grinding depths, as the grinding boundary;

wherein, the surgical control module is further configured to: calculating a third intersection of a first portion on the second digital model and a target grinding portion on the first digital model, wherein the first portion is a portion of the grinding boundary toward a center of the second digital model; and determining the position relation between the grinding boundary and the target boundary according to the third intersection.

10. The control device of claim 4, wherein the surgical control module is further configured to: calculating a second non-set of the second digital model and the part to be ground on the first digital model, wherein the second non-set is on the part to be ground; and determining the rest part which is not ground on the part to be ground according to the second non-set.

11. A control device according to claim 10, characterized in that the control device is electrically connected to a display, the control device being adapted to provide an image of the first digital model to the display, in which image the color of the portion to be ground is different from the color of the non-ground portion.

12. The control device of claim 1, wherein the surgical control module is further configured to: and controlling a grinding state when the grinding boundary reaches or exceeds the target boundary along the feeding direction of the acetabular grinding file, wherein the grinding state comprises the ending grinding of the acetabular grinding file.

13. The control device of claim 12, wherein the grinding state further comprises outputting a power down signal that controls the acetabular grind file to finish grinding and/or controlling a robotic arm carrying the acetabular grind file to stop feeding.

14. The control device of claim 1, further comprising an acquisition module configured to determine an rasp size parameter corresponding to the acetabular rasp according to a model of the acetabular rasp and a correspondence between the model and the rasp size parameter.

15. A hip replacement system comprising:

an acetabular milling file for milling acetabular bone;

the power device is used for holding the acetabulum grinding file and providing power for grinding the acetabulum grinding file;

the positioning device is used for providing position information of the acetabular milling file and the acetabular bone;

control means comprising a control means as claimed in any one of claims 1 to 14;

and the display is electrically connected with the control device and used for displaying the image of the first digital model transmitted by the control device.

16. The hip replacement system according to claim 15 wherein the positioning device includes a tracer mounted on the acetabular rasp and the acetabular bone and a locator for acquiring positional information of the tracer.

17. A computer-readable storage medium storing a computer program for executing a control method, the method comprising:

determining a grinding boundary on a second digital model corresponding to the acetabular grinding file according to a grinding file size parameter corresponding to the acetabular grinding file;

and determining the position relation between the grinding boundary and the target boundary according to the position relation between the acetabular grinding file and the acetabular bone in real space, so as to control the grinding state and/or change prompt information according to the position relation between the grinding boundary and the target boundary.

18. An electronic device, comprising:

a processor;

a memory, wherein the memory is configured to store instructions executable by the processor;

when the processor executes the instructions, implementing a control method, the method comprising: