Method and system for cutting acetabular cup based on mechanical arm

Abstract

The invention discloses a method and system for cutting an acetabular cup based on a mechanical arm. The method comprises the steps that position calibration of the rotating center of a spherical swing saw relative to a mechanical arm base used for installing the spherical swing saw and posture calibration of the spherical swing saw relative to the mechanical arm base are executed; the current position and posture of the spherical swing saw on the mechanical arm are determined, and the current position and posture are adjusted to be the cutting position and posture; and the spherical swing saw is rotated according to a pre-planned cutting path to cut the spherical acetabular cup. The mechanical arm is used for automatically cutting the spherical acetabular cup, human hands are effectively replaced, unstable factors of swing saw displacement caused by oscillation and the like are effectively eliminated, and therefore the cutting efficiency and stability are improved; the position and posture of the swing saw face relative to the end of the mechanical arm can be calibrated through a special calibration tool, so that the cutting precision is improved.

Description

technical field [0001] The invention relates to the field of robot control, in particular to a method and system for cutting an acetabular cup based on a mechanical arm. Background technique [0002] Congenital hip dysplasia can cause pain, difficulty walking, severe deformity, and even disability in children, adolescents, and adults. More and more doctors are preferring hip-sparing surgery over artificial joint replacement because The rest of his life must face the outcome of multiple artificial joint revisions. Two types of hip-preserving surgery are commonly used in clinical practice: periacetabular osteotomy (PAO) and periacetabular rotational osteotomy (Periacetabular rotational osteotomy, RAO). [0003] Periacetabular Osteotomy (PAO), a polygonal osteotomy around the acetabulum to separate the acetabulum from the surrounding pelvis, the acetabular section can be moved substantially to allow greater correction of the coverage of the femoral head . However, the risk of...

AI Technical Summary

Problems solved by technology

[0010] The technical problem to be solved by the present invention is to provide a method and system for cutting acetabular cups based on a mechanical arm in order to overcome the defects of low cutting accuracy and efficiency caused by manual cutting of the acetabular cup in the prior art

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