Robot control method, robot control device and robot

Abstract

This application is applicable to the field of robot technology, and provides a robot control method, a robot control device, a robot and a computer-readable storage medium, including: acquiring a three-dimensional medical image, and performing three-dimensional reconstruction on the three-dimensional medical image to obtain a three-dimensional reconstruction image; Obtain the lamina area to be cut from the three-dimensional reconstruction image; obtain the position point of the upper surface of the lamina and the position point of the lower surface of the lamina; translate the position point of the lower surface of the lamina to the direction of the upper surface of the lamina for a specified distance; according to the The distance between the upper surface of the plate and the corresponding position point on the lower surface of the lamina after translation and the maximum cutting amount are used to obtain the position points inside the lamina; according to all the position points of the lamina, the movement path of the robot during the cutting process is obtained; the control The robot performs cutting operations according to the motion path. Through this application, the robot can be controlled to decompress the laminae, improve the cutting quality, and reduce the risk of spinal nerve injury caused by over-cutting.

Description

Technical field[0001]This application belongs to the field of robotics, and in particular relates to a robot control method, a robot control device, a robot, and a computer-readable storage medium.Background technique[0002]Spinal stenosis is a common orthopedic disease. It causes compression of the dural sac, spinal cord, or nerve roots due to the reduction of the central canal, lateral grooves, or intervertebral foramen, which can cause a series of nerve-related diseases and lamina reduction. Compression surgery is an important means to treat this disease. Laminar decompression includes complete decompression and limited decompression. It mainly involves laminectomy and fenestration. Taking unilateral fenestration as an example, doctors use ultrasonic bone knives or high-speed drills to treat one side of the spinous process of the vertebra. The lamina is excised, and the other lamina is cut to be thin enough, and then the spinal nerve is decompressed by further fixation. In this pr...

AI Technical Summary

Problems solved by technology

During this process, since the doctor needs to control the cutting allowance based on experience, there may be risks such as over-cutting causing spinal nerve damage, and the cutting quality is uneven in thickness

[0003] At present, the robots that can be applied to spinal surgery are mainly stereotaxic, such as Mazor X, Renaissance, ROSA, Tianji surgical robot, etc. These robots mainly play a guiding role in the process of pedicle screw placement. The direction of the screw path is a ray in the space, which can be determined directly by planning two points in the space in the standard two-dimensional and three-dimensional views; while the path of the decompression of the laminae is the irregular body data in the space, so the pedicle position The design of the nail is not suitable for decompression of the laminae

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