Control method and device of grinding and filing tool, electronic equipment and storage medium

A control method and tool technology, applied in the field of control methods, devices, electronic equipment and storage media of grinding tools, capable of solving problems such as lack of grinding tools

Active Publication Date: 2021-09-17
LONGWOOD VALLEY MEDICAL TECH CO LTD +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, there is currently no automa

Method used

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  • Control method and device of grinding and filing tool, electronic equipment and storage medium
  • Control method and device of grinding and filing tool, electronic equipment and storage medium
  • Control method and device of grinding and filing tool, electronic equipment and storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0028] Embodiment 1 of the present invention provides a control method for a grinding tool, figure 1 It is a schematic flow chart of the grinding tool control method in Embodiment 1 of the present invention. figure 2 is a schematic diagram of the initial attitude during the motion of the frustrating tool, image 3 It is a schematic diagram of the movement posture during the movement of the frustrating tool, such as figure 1 As shown, the grinding tool control method of Embodiment 1 of the present invention includes the following steps:

[0029] S101: Obtain the initial posture of the frustrating tool in the base coordinate system and the position coordinates of the key points, wherein the position coordinates of the key points include the position coordinates of the tip of the frustrating tool.

[0030] In Embodiment 1 of the present invention, a ball-shaped grinding tool is installed at the top position N of the grinding tool, and the center of the ball is located at point...

Embodiment 2

[0050] Corresponding to Embodiment 1 of the present invention, Embodiment 2 of the present invention provides a control device for a grinding tool. Figure 5 It is a schematic structural diagram of a grinding tool control device in Embodiment 2 of the present invention, as figure 2 As shown, the frustrating tool control device according to Embodiment 2 of the present invention includes an acquisition module 20 , an attitude transformation module 22 and a frustrating module 24 .

[0051] Specifically, the acquisition module 20 is configured to acquire the initial posture of the frustrating tool in the base coordinate system and the position coordinates of the key points, wherein the position coordinates of the key points include the position coordinates of the top of the frustrating tool;

[0052] The posture transformation module 22 is used to transform the frustrating tool from an initial posture to a motion posture based on a transformation matrix;

[0053] The frustrating...

Embodiment 3

[0055] An embodiment of the present invention also provides an electronic device, which may include a processor and a memory, where the processor and the memory may be connected through a bus or in other ways.

[0056] The processor may be a central processing unit (Central Processing Unit, CPU). The processor can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate array (Field-Programmable Gate Array, FPGA) or other Chips such as programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above-mentioned types of chips.

[0057] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as program instructions / modules corresponding ...

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PUM

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Abstract

The invention discloses a control method and device of a grinding and filing tool, electronic equipment and a storage medium. The control method of the grinding and filing tool comprises the steps that the initial posture of the grinding and filing tool under a base coordinate system and position coordinates of key points are obtained; based on the transformation matrix, the grinding and filing tool is transformed into a moving posture from the initial posture; the position coordinates of the top end of the grinding and filing tool are fixed, a mechanical arm controls the grinding and filing tool to grind and file in the motion posture, and the posture of the grinding and filing tool is adjusted according to the motion trail of a flange original point of the mechanical arm; and when a coordinate difference value between a current position coordinate of the sphere center of the inner spherical surface of an acetabular cup and the grinding and filing depth limiting point is smaller than or equal to a preset threshold value, the grinding and filing tool is controlled to stop moving through the mechanical arm. In this way, the movement angle and depth of the grinding and filing tool can be controlled in the acetabulum grinding and filing process of an operator, the acetabulum is prevented from being abraded, and therefore the use safety of the grinding and filing tool and the operation effect of patients are improved.

Description

technical field [0001] The invention relates to the technical field of medical equipment, in particular to a control method, device, electronic equipment and storage medium of a grinding tool. Background technique [0002] In automatic hip replacement using robots, the grinding tool needs to be limited to prevent it from going too deep and damaging the acetabulum. Secondly, the angle of the grinding tool also needs to be limited to prevent the grinding tool from misaligning the acetabulum. grind. But do not have the automatic control method of frustrating tool at present. Contents of the invention [0003] In view of this, the embodiments of the present invention provide a grinding tool control method, device, electronic equipment and storage medium, so as to automatically control the grinding process of the grinding tool. [0004] According to the first aspect, an embodiment of the present invention provides a method for controlling a frustrating tool, including: acquir...

Claims

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Application Information

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IPC IPC(8): B25J9/16A61F2/46A61F2/34A61B34/30
CPCB25J9/1664B25J9/161A61F2/4644A61F2/34A61B34/70A61F2002/4645
Inventor 张逸凌刘星宇
Owner LONGWOOD VALLEY MEDICAL TECH CO LTD
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