CN113893035A - Joint replacement surgery navigation system and computer readable storage medium - Google Patents
Joint replacement surgery navigation system and computer readable storage medium Download PDFInfo
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- CN113893035A CN113893035A CN202111256988.4A CN202111256988A CN113893035A CN 113893035 A CN113893035 A CN 113893035A CN 202111256988 A CN202111256988 A CN 202111256988A CN 113893035 A CN113893035 A CN 113893035A
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- 238000001356 surgical procedure Methods 0.000 title claims abstract description 48
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 88
- 238000005498 polishing Methods 0.000 claims abstract description 73
- 238000000227 grinding Methods 0.000 claims abstract description 57
- 230000003287 optical effect Effects 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 16
- 239000003550 marker Substances 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 5
- 238000004512 die casting Methods 0.000 claims description 3
- 238000003801 milling Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 210000000588 acetabulum Anatomy 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 3
- 208000012659 Joint disease Diseases 0.000 description 2
- 238000009877 rendering Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 239000007943 implant Substances 0.000 description 1
- 230000008407 joint function Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The embodiment of the invention provides a joint replacement surgery navigation system and a computer readable storage medium, wherein the joint replacement surgery navigation system comprises a main control module, a binocular vision tracking module and a handheld bone drill, wherein the binocular vision tracking module and the handheld bone drill are respectively in communication connection with the main control module; the handheld bone drill comprises a grinding rod, a grinding head, a bone drill motor and a bone drill shell, wherein an optical marker is fixed on the surface of the bone drill shell; the binocular vision tracking module comprises a binocular vision tracker and is used for acquiring first position information of the optical marker and calculating second position information of the grinding head; the main control module comprises a host and is used for receiving the second position and posture information and generating a three-dimensional image; the host computer is also used for analyzing the joint CT image of prestoring in order to confirm the region of polishing to according to three-dimensional image and the regional polishing instruction that generates of polishing, hand-held type bone drill is still used for receiving the polishing instruction that the host computer sent and polishes. The invention reduces the operation complexity of the joint replacement surgery and improves the efficiency of the joint replacement surgery.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a joint replacement surgery navigation system and a computer readable storage medium.
Background
The aging rate of the population is increasing, and more patients are suffering from joint diseases. In the face of various joint diseases, the joint replacement surgery can have good curative effect, and in recent years, along with the development of artificial joint technology and medical treatment level, the quality of the joint replacement surgery is also rapidly improved, so that the pain can be effectively relieved, and the joint function can be rebuilt.
Current joint replacement surgery is complex, requires high expertise on the operator, and is inefficient to complete. Therefore, there is a need for a joint replacement surgery system that is simple in operability and can effectively ensure the efficiency of joint replacement surgery.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a joint replacement surgery navigation system and a computer readable storage medium, which reduce the operation complexity of the joint replacement surgery and effectively ensure the efficiency of the joint replacement surgery.
In a first aspect, an embodiment of the present application provides a joint replacement surgery navigation system, which includes a main control module, and a binocular vision tracking module and a handheld bone drill, which are in communication connection with the main control module, respectively;
the handheld bone drill comprises a grinding rod, a grinding head, a bone drill motor and a bone drill shell, wherein two ends of the bone drill motor are respectively in threaded connection with the bone drill shell and the grinding rod, and an optical marker is fixed on the surface of the bone drill shell;
the binocular vision tracking module comprises a binocular vision tracker used for acquiring first attitude information of the optical marker and calculating second attitude information of the grinding head based on the first attitude information, and the binocular vision tracker is also used for sending the second attitude information to the main control module;
the main control module comprises a host computer and is used for receiving the second position and posture information and generating a three-dimensional image according to the second position and posture information;
the handheld bone drill is further used for receiving the polishing instruction sent by the host computer and polishing.
In a possible implementation, the main control module further includes a first display communicatively connected to the host, and the binocular vision tracking module further includes a second display communicatively connected to the host, wherein the first display and the second display are both configured to display the three-dimensional image.
In a possible embodiment, the hand-held bone drill further comprises a drill handle provided with a button, wherein the drill handle is connected with the bone drill motor through a buckle, and the button is used for switching on and off the bone drill motor.
In a possible embodiment, the drill shank is of a hexahedral structure, and each side of the drill shank comprises a grain subjected to die-casting.
In a possible implementation mode, one side face of the drill shank is provided with a groove, and a battery and a wireless module which is in communication connection with the host computer are arranged in the groove.
In a possible embodiment, the wireless communication mode of the wireless module includes at least one of bluetooth, WiFi and Zigbee.
In one possible embodiment, the generating of the polishing instructions from the three-dimensional image and the polishing area comprises:
the host is also used for generating a polishing planning path based on the polishing area;
the host is further used for generating a polishing instruction based on the polishing planned path and the three-dimensional image and sending the polishing instruction to the wireless module;
the wireless module is used for receiving the polishing instruction, and the handheld bone drill is used for polishing according to the polishing instruction.
In a possible implementation manner, the binocular vision tracking module is further used for transmitting the acquired second posture information to the host in real time after the handheld bone drill starts to be polished;
if the handheld bone drill finishes polishing according to the polishing planned path, the host is used for sending a polishing finishing instruction to the wireless module;
and if the grinding head is separated from the grinding planned path in the grinding process according to the grinding planned path, the host is used for sending a grinding termination instruction to the wireless module.
In one possible embodiment, the determining of the polishing area includes:
the host computer is used for generating a prosthesis model according to the joint CT image and determining the region included by the prosthesis model as a grinding region.
In a fourth aspect, the present embodiments provide a computer-readable storage medium, on which a computer program is stored, which, when executed by one or more processors, implements the joint replacement surgery navigation system provided in the first aspect.
The joint replacement surgery navigation system that this application embodiment provided, through host system, and respectively with host system communication connection's hand-held type bone drill and binocular vision tracking module alright navigation accomplish joint replacement surgery, have reduced the operation complexity of joint replacement surgery, have promoted the efficiency of joint replacement surgery.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic block diagram illustrating a joint replacement surgery navigation system according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating optical markers included in a joint replacement surgery navigation system according to an embodiment of the present application;
FIG. 3 is a physical schematic diagram of a joint replacement surgery navigation system provided by an embodiment of the present application;
fig. 4 shows a schematic view of a hand-held bone drill component included in a joint replacement surgery navigation system provided in an embodiment of the present application.
Icon: the binocular vision tracking module 110, the main control module 120, the handheld bone drill 130, the first display 310, the second display 320, the grinding head 410, the grinding rod 420, the bone drill motor 450, the bone drill housing 430, the drill handle 440, and the optical identifier 200.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Referring to fig. 1, the joint replacement surgery navigation system includes a main control module 120, and a binocular vision tracking module 110 and a handheld bone drill 130 which are respectively connected to the main control module 120 in a communication manner.
In the embodiment, the joint surgery navigation system is mainly used for assisting the performance of minimally invasive surgery, such as surgery of joints including hip joints and knee joints, and can help an operating physician to accurately navigate and implant the joint prosthesis to a planned position established before or after surgery.
The main control module 120 is mainly used for receiving and processing images and information data before or during surgery, and generating control instructions. For example, the main control module 120 may send a polishing command to the handheld bone drill 130, and the handheld bone drill 130 may polish the joint prosthesis after receiving the polishing command. Binocular vision tracking module 110 is used for realizing the real-time location to hand-held bone drill 130 to guarantee to carry out accurate polishing through hand-held bone drill 130.
The components and specific functions of the hand-held bone drill 130, the binocular vision tracking module 110, and the main control module 120 will be described in detail below:
referring to fig. 2, 3 and 4, fig. 2 mainly describes the optical identifier 200, fig. 3 mainly describes the entities and communication connections of the handheld bone drill 130, the main control module 120 and the binocular vision tracking module 110, and fig. 4 mainly describes the specific structure of the handheld bone drill 130. The hand-held bone drill 130 comprises a grinding rod 420, a grinding head 410, a bone drill motor 450 and a bone drill housing 430, wherein two ends of the bone drill motor 450 are respectively in threaded connection with the bone drill housing 430 and the grinding rod 420, and the optical marker 200 is fixed on the surface of the bone drill housing 430.
Wherein the bone drill motor 450 may provide a grinding power for the hand-held bone drill 130, the grinding head 410 is used for grinding the joint prosthesis, and the grinding head 410 is in direct contact with the joint prosthesis. Optionally, the grinding head 410 may be screwed or fastened to the grinding rod 420, so as to ensure the reliability of the connection between the grinding head 410 and the grinding rod 420, so as to prevent the grinding head 410 and the grinding rod 420 from falling off during the operation, and reduce the operation risk of the operation.
The binocular vision tracking module 110 includes a binocular vision tracker for acquiring the first pose information of the optical identifier 200 and calculating the second pose information based on the first pose information, and the binocular vision tracker is further configured to send the second pose information to the main control module 120.
The optical identifier 200 may be configured to identify first pose information of the binocular vision tracker, and the binocular vision tracker may directly obtain the first pose information and calculate second position information of the grinding head 410 according to the first pose information. The binocular vision tracker includes a binocular camera, and can ensure the recognition range of the optical marker 200 and realize accurate positioning.
It should be noted here that the grinding head 410 used in the joint replacement surgery has different models, the size is fixed, the grinding rod 420 connected to the grinding head 410 also has different models with different lengths and thicknesses, although the grinding head 410 and the grinding rod 420 have different models, the accuracy of the size is high, and as long as the first position information of the optical marker 200 on the handheld bone drill 130 is determined, the second position information of the grinding head 410 can be determined through the geometrical relationship of space.
The first position information and the second position information in this embodiment include spatial three-dimensional coordinates and spatial angle information such as a pitch angle. The spatial relative position between the grinding head 410 and the optical marker 200 can be more accurately determined through the three-dimensional coordinates and the spatial angle information, and the operation accuracy of the joint replacement operation is further ensured.
The main control module 120 includes a host for receiving the second pose information and generating a three-dimensional image according to the second pose information.
The main control module 120 processes the image and data mainly through the host. The host in this embodiment has functions commonly used in replacement surgery, such as image processing and data analysis.
In addition, the host computer is also used for analyzing the joint CT image that prestores in order to confirm the region of polishing to according to three-dimensional image and the regional polishing instruction that generates of polishing, wherein, hand-held bone drill 130 is still used for receiving the polishing instruction that the host computer sent and polishes.
Wherein, the joint CT image that prestores is the CT image of the sick part of patient, shoots well and transmits to the host computer before the art. The host computer can carry out image analysis through the installed image processing software to determine the polishing area.
As can be seen from the above analysis, the navigation system for joint replacement surgery in this embodiment can reduce the operation complexity of joint replacement surgery through the main control module 120, the handheld bone drill 130 and the binocular vision tracking module 110, and determine the spatial position of the grinding head 410 in the handheld bone drill 130 through the optical marker 200, thereby improving the accuracy of surgical operation and improving the surgical efficiency.
In one possible embodiment, the main control module 120 further comprises a first display 310 communicatively connected to the host as shown in fig. 2, and the binocular vision tracking module 110 further comprises a second display 320 communicatively connected to the host, wherein the first display 310 and the second display 320 are both used for displaying three-dimensional images.
In this embodiment, the host and the first display 310 may be fixed on a movable surgical cart, so as to facilitate mobile display, and the host and the first display 310 may be connected through wired communication or wireless communication, so as to further improve the convenience of the joint replacement surgery navigation system. Meanwhile, the trolley is small in size, and the trolley does not occupy too much operation space. Correspondingly, the second display 320 is installed below the binocular vision tracker, the connection between the second display 320 and the host also includes wired and wireless communication connections, and the specific connection may be selected according to actual requirements, which is not limited herein.
Optionally, the hand-held bone drill 130 further comprises a drill handle 440 provided with a button, wherein the drill handle 440 is connected with the bone drill motor 450 by a snap-in connection, and the button is used for switching on and off the bone drill motor 450.
In this embodiment, the drill handle 440 ensures that the hand-held bone drill 130 is held stably, and the button is a rotary depressible button. Illustratively, the button is rotated 90 degrees counterclockwise and pressed to turn off the bone drill motor 450, and the button is rotated 90 degrees clockwise and pressed to turn on the bone drill motor 450. The rotary type press button can ensure the operation safety of the hand-held bone drill 130, and avoid the phenomenon of pressing on/off caused by mistaken touch like a common button.
Optionally, the drill shank 440 is a hexahedral structure, and each side of the drill shank 440 includes a grain after a die casting process.
Illustratively, the sides of the drill shank 440 are regularly or irregularly textured, increasing the roughness of the surface of the drill shank 440, which can provide a better grip for the handheld bone drill 130.
Further, a slot is formed in one side of the drill shank 440, and a battery and a wireless module in communication connection with the host computer are arranged in the slot.
In this embodiment, the battery acts as the power source of hand-held bone drill 130, and for guaranteeing the stability of hand-held bone drill 130 work, the battery can be dismantled, is convenient for change, provides sufficient power for hand-held bone drill 130 constantly. Optionally, the drill handle 440 of the hand-held bone drill 130 may be provided with a hole for charging the battery, so as to facilitate wired charging of the battery. In addition, the battery can be charged wirelessly. The charging mode of the battery can be selected according to actual requirements, and the embodiment is not limited herein.
Optionally, the wireless communication mode of the wireless module includes at least one of bluetooth, WiFi and Zigbee, which provides multiple options for the communication mode between the handheld bone drill 130 and the host.
In one possible embodiment, the manner of generating the buffing instruction from the three-dimensional image and the buffing region includes:
the host is also used for generating a polishing planning path based on the polishing area;
the host is also used for generating a polishing instruction based on the polishing planned path and the three-dimensional image and sending the polishing instruction to the wireless module;
the wireless module is used for receiving the instruction of polishing, and hand-held type bone drill 130 is used for polishing according to the instruction of polishing.
In this embodiment, the host computer can generate the planning route of polishing, and then controls through the instruction of polishing hand-held type bone drill 130 polishes according to the planning route, has reduced the degree of difficulty of the operation of polishing, simultaneously, has also guaranteed the precision of polishing.
Optionally, the binocular vision tracking module 110 is further configured to transmit the acquired second posture information to the host in real time after the handheld bone drill 130 starts to be polished;
if the handheld bone drill 130 finishes polishing according to the polishing planned path, the host is used for sending a polishing finishing instruction to the wireless module;
if the grinding head 410 is separated from the grinding planned path in the grinding process according to the grinding planned path, the host sends a grinding termination instruction to the wireless module.
In the present embodiment, the joint replacement surgery navigation system may have a polishing boundary protection function through the polishing control command of the host and the positioning of the polishing head 410 of the handheld bone drill 130 by the binocular vision tracking module 110.
In addition, the grinding area may be determined by the host application generating a prosthesis model from the joint CT image, and determining an area included in the prosthesis model as the grinding area.
Specifically, taking the acetabulum of the patient as an example, the host computer may render the CT image of the acetabulum of the patient, establish an image coordinate system in a rendering scene of the host computer, identify a set central point of the acetabulum, and determine the set central point as a target position such as point P0(X0，Y0，Z0) Using point P1(X1，Y1，Z1) Indicating the current position of the grinding head 410. Meanwhile, the host determines the plane of the acetabulum in a rendering scene and generates a point P which is vertical to the plane of the acetabulum and passes through0Taking any point P on the straight line2(X2，Y2，Z2)。
Wherein, in the image coordinate system, the point P0To point P2Form vector A from point P1 to point P0Forming a vector B. At this point, the host may multiply the vector by a point,
and the formula of the cosine of the sum of the above,
the projection length L of the vector B on the vector A is obtained.
And, according to the set center point P0And the current position of the grinding head 410, point P1The distance dis between the two points can be derived for determining whether the handheld bone drill 130 can perform a milling operation.
Wherein,
whether the handheld bone drill 130 can be polished or not can be judged together through the distance dis and the projection length L.
Exemplarily, when L >2mm, can be ground; when the diameter is 0mm < L <2mm, the diameter is 1mm < dis <2mm, the polishing can be carried out, and when the diameter is dis >2mm, the polishing cannot be carried out; when L <0mm, 0mm < dis <1mm can be polished, and when dis >1 can not be polished. Wherein, if can polish, the host computer just can send the instruction that allows to polish to wireless module, and gesture formula bone drill begins or continues to polish, if can not polish, the host computer just can send the instruction of stopping polishing to wireless module, and hand-held type bone drill 130 just stops polishing. In addition, if the handheld bone drill 130 finishes polishing according to the polishing planned path, the host computer also sends a polishing termination instruction to the wireless module, and the handheld bone drill 130 also stops polishing. The CT image of the patient is identified and processed through the host, so that the replacement surgery navigation system has the function of protecting the polishing boundary.
Known by the above analysis, this embodiment is through hand-held type bone drill 130, host system 120 and binocular vision tracking module 110, the complexity of joint replacement operation has been reduced jointly, the operating efficiency of operation has been improved simultaneously, and at the in-process that hand-held type bone drill 130 polished, through the position of real-time recording hand-held type bone drill 130, further analysis confirms the planning route of polishing regional and polishing by the host computer, when having reduced the complexity of polishing, the protect function on polishing the boundary has still been realized, the risk of polishing that appears in the operation has been avoided to a great extent.
The embodiment of the application also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the joint replacement surgery navigation system in the embodiment is realized.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A joint replacement surgery navigation system is characterized by comprising a main control module, a binocular vision tracking module and a handheld bone drill, wherein the binocular vision tracking module and the handheld bone drill are respectively in communication connection with the main control module;
the handheld bone drill comprises a grinding rod, a grinding head, a bone drill motor and a bone drill shell, wherein two ends of the bone drill motor are respectively in threaded connection with the bone drill shell and the grinding rod, and an optical marker is fixed on the surface of the bone drill shell;
the binocular vision tracking module comprises a binocular vision tracker used for acquiring first attitude information of the optical marker and calculating second attitude information of the grinding head based on the first attitude information, and the binocular vision tracker is also used for sending the second attitude information to the main control module;
the main control module comprises a host computer and is used for receiving the second position and posture information and generating a three-dimensional image according to the second position and posture information;
the handheld bone drill is further used for receiving the polishing instruction sent by the host computer and polishing.
2. The joint replacement surgery navigation system of claim 1, wherein the master control module further comprises a first display communicatively coupled to the host, the binocular vision tracking module further comprises a second display communicatively coupled to the host, wherein the first display and the second display are both configured to display the three-dimensional image.
3. The joint replacement surgery navigation system of claim 1, wherein the hand-held bone drill further comprises a drill handle provided with a button, wherein the drill handle is connected with the bone drill motor through a snap, and the button is used for switching on and off the bone drill motor.
4. The joint replacement surgery navigation system of claim 3, wherein the drill handle is of a hexahedral structure, and each side surface of the drill handle includes a grain subjected to die casting.
5. The joint replacement surgery navigation system of claim 4, wherein one side of the drill handle is provided with a slot, and a battery and a wireless module in communication connection with the host computer are arranged in the slot.
6. The joint replacement surgery navigation system of claim 5, wherein the wireless communication means of the wireless module comprises at least one of Bluetooth, WiFi and Zigbee.
7. The joint replacement surgery navigation system of claim 5, wherein the manner of generating a milling command from the three-dimensional image and the milling region comprises:
the host is also used for generating a polishing planning path based on the polishing area;
the host is further used for generating a polishing instruction based on the polishing planned path and the three-dimensional image and sending the polishing instruction to the wireless module;
the wireless module is used for receiving the polishing instruction, and the handheld bone drill is used for polishing according to the polishing instruction.
8. The joint replacement surgery navigation system of claim 7, wherein the binocular vision tracking module is further configured to transmit the acquired second posture information to the host in real time after the handheld bone drill starts to be ground;
if the handheld bone drill finishes polishing according to the polishing planned path, the host is used for sending a polishing finishing instruction to the wireless module;
and if the grinding head is separated from the grinding planned path in the grinding process according to the grinding planned path, the host is used for sending a grinding termination instruction to the wireless module.
9. The joint replacement surgery navigation system of claim 7, wherein the grinding area is determined in a manner comprising:
the host computer is used for generating a prosthesis model according to the joint CT image and determining the region included by the prosthesis model as a grinding region.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by one or more processors, implements a joint replacement surgery navigation system according to any one of claims 1-9.
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