The ceramic hip ball is one of the important parts in artificial hip replacement surgery. In order to realize the high-efficiency and high-quality processing of the ceramic hip ball, a rotating ultrasonic-assisted spherical grinding device was built in this study. First, the basic principle of rotary ultrasonic-assisted spherical grinding was introduced. Then, according to the motion characteristics of the device, the equation of the trajectory of the abrasive particle was established. Combined with the kinematic equation, the kinematic trajectory analysis of the abrasive grains in the processing state was carried out, the forming law of the spherical microtexture was studied in detail. Finally, an ultrasonic-assisted grinding of ceramic artificial hip joint ball experiment was performed. The results show that, at tool speed of 3000 r/min and workpiece rotation speed of 2011 r/min, the average surface roughness is 96 nm, and the line roughness average is 56 nm. When the rotational speed of the ceramic ball and grinding wheel are mutually prime, the texture distribution of the spherical surface is more uniform, which provides an important theoretical basis for the optimization of processing parameters.