Robotic arm-based method and system for cutting acetabular cups

Abstract

The invention discloses a method and system for cutting an acetabular cup based on a mechanical arm. The method includes: performing calibration of the rotation center of the spherical pendulum saw relative to the position of the base of the mechanical arm used for installing the ball pendulum saw and relative positioning of the ball pendulum saw. Based on the attitude calibration of the base of the manipulator; determine the current position and attitude of the spherical pendulum saw on the manipulator and adjust the current position and attitude to the cutting position and attitude; rotate the ball pendulum saw according to the pre-planned cutting path to cut out the spherical hip acetabular cup. The invention uses the mechanical arm to automatically cut out the spherical acetabular cup, which effectively replaces the human hand and effectively eliminates the unstable factors of the pendulum saw displacement caused by oscillation and other reasons, thereby improving the cutting efficiency and stability, and through the special calibration tool The position and attitude of the pendulum saw surface relative to the end of the mechanical arm can be calibrated, thereby improving the cutting accuracy.

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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