Zirconia ceramic materials have been used as bearing surfaces in hip replacement prostheses, usually a zirconia ceramic ball against a ultra high molecular weight polyethylene (UHMWPE) cup, although alumina ceramics are more common.
Zirconium is currently used by Smith & Nephew to manufacure knees and femoral heads. Its surface properties are changed to a ceramic like state through a proprietary method it is marketed as Oxinium. Learn more at smithnephew.com. Look for Journey knees for example