Surgical robot system and control method for surgical robot

Abstract

The invention provides a surgical robot system and a control method for a surgical robot, the system comprises a robot body, a mechanical arm, a first inertia module, a second inertia module, a control module and a tooth reducing sleeve, and the tail end of the mechanical arm is fixedly provided with a surgical tool; the second inertia module is fixed on the robot body, and the first inertia module is fixed on teeth through a tooth reducing sleeve; the first inertial module acquires first angular velocity information of the surgical tool and second angular velocity information of the to-be-processed tooth in a non-time period, and the second inertial module acquires third angular velocity information of the robot body; and the control module performs registration based on the first angular velocity information, the second angular velocity information and the third angular velocity information and a pre-acquired digital model reconstructed based on a preoperative image, and adjusts the pose of the surgical tool in real time based on a preoperative plan. Therefore, the types of consumables are reduced, the cost is reduced, the placing position of the camera and the problem of visual shielding do not need to be considered, and the application range is wider.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a surgical robot system and a control method for a surgical robot. Background Art

[0002] With the continuous development of science and technology, more and more robots are used in the medical field.

[0003] In the related technology, oral robots are commonly used, usually using high-precision cameras with infrared lasers for real-time navigation of oral positions. The use of high-precision cameras requires the production of matching reference frames with mutually exclusive structural parameters, and each reference frame needs to be fixed on the teeth, surgical tools and probes respectively.

[0004] The reference frames fixed at different positions have different sizes, resulting in a wide variety of reference frames and high processing accuracy requirements. In addition, the reference frames are disposable consumables, which increases the cost of use. Summary of the invention

[0005] In order to solve the above technical problems, the present application provides a surgical robot system and a control method for the surgical robot, which uses an inertial module to navigate the teeth in the oral cavity, does not use a high-precision camera with infrared laser and a reference frame that matches the high-precision camera with infrared laser, reduces the types of consumables, reduces costs, and does not need to consider the placement of the camera and visual occlusion issues, and has a wider range of applications.

[0006] In the first aspect, the present application provides a surgical robot system, which includes a robot body, a robotic arm, a first inertial module, a second inertial module, a control module and a tooth adapter sleeve, wherein a surgical tool is fixedly installed at the end of the robotic arm; the control module is connected to the first inertial module and the second inertial module respectively, the second inertial module is fixed on the robot body, and the first inertial module is fixed on the tooth through the tooth adapter sleeve; the first inertial module is used to obtain first angular velocity information of the surgical tool and second angular velocity information of the tooth to be processed in non-simultaneous periods; the second inertial module is used to obtain third angular velocity information of the robot body; the control module is used to perform alignment based on the first angular velocity information, the second angular velocity information and the third angular velocity information and a pre-acquired digital model reconstructed based on preoperative images, and adjust the posture information of the surgical tool in real time based on the preoperative plan.

[0007] In the second aspect, the present application provides a control method for a surgical robot, which is applied to a surgical robot system, wherein the surgical robot system includes: a robot body, a robotic arm, a first inertial module, a second inertial module, a tooth adapter sleeve and a control module; a surgical tool is fixedly installed at the end of the robotic arm; the control module is connected to the first inertial module and the second inertial module, respectively, the second inertial module is fixed on the robot body, and the first inertial module is fixed on the tooth through the tooth adapter sleeve; the method includes: using the first inertial module to obtain the first angular velocity information of the surgical tool and the second angular velocity information of the tooth to be processed at non-simultaneous periods, and using the second inertial module to obtain the third angular velocity information of the robot body; using the control module to perform alignment based on the first angular velocity information, the second angular velocity information and the third angular velocity information and a pre-acquired digital model reconstructed based on the preoperative image, and adjust the posture information of the surgical tool in real time based on the preoperative plan.

[0008] In a third aspect, the present application provides a control device for a surgical robot, the device comprising: one or more processors; a storage device for storing one or more programs; when the one or more programs are executed by one or more processors, the one or more processors implement the control method for a surgical robot as described in the second aspect above.

[0009] In a fourth aspect, the present application provides a storage medium, which may be a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for a surgical robot as described in the second aspect above.

[0010] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the control method for a surgical robot as described in the second aspect above is implemented.

[0011] Compared with the prior art, the technical solution provided by the embodiments of the present application has the following advantages:

[0012] The embodiment of the present application provides a surgical robot system and a control method for the surgical robot. The surgical robot system includes a robot body, a robotic arm, a first inertial module, a second inertial module and a control module, a tooth adapter sleeve, and a surgical tool is fixedly installed at the end of the robotic arm; the control module is connected to the first inertial module and the second inertial module respectively, the second inertial module is fixed on the robot body, and the first inertial module is fixed on the tooth through the tooth adapter sleeve; the first inertial module is used to obtain the first angular velocity information of the surgical tool and the second angular velocity information of the tooth to be processed in non-simultaneous periods, and the second inertial module is used to obtain the third angular velocity information of the robot body; the control module is used to obtain the real-time posture of the surgical tool based on the integral operation of the first angular velocity information, and calibrate the motion parameters of the robotic arm through the posture closed-loop comparison; the second angular velocity information and the third angular velocity information and the pre-acquired digital model reconstructed based on the preoperative image are used for alignment, and the posture information of the surgical tool is adjusted in real time based on the preoperative plan. The technical solution of the present application uses an inertial module to navigate the teeth in the oral cavity, and does not use a high-precision camera with infrared laser and a reference frame that matches the high-precision camera with infrared laser. This reduces the types of consumables, reduces costs, and does not need to consider the placement of the camera and visual occlusion issues, so it has a wider range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0015] Figure 1 A schematic diagram of the structure of a surgical robot system provided in an embodiment of the present application;

[0016] Figure 2 A schematic diagram of a process for using a surgical robot system provided in an embodiment of the present application;

[0017] Figure 3 A schematic flow chart of a control method for a surgical robot provided in an embodiment of the present application;

[0018] Figure 4 A schematic flow chart of another control method for a surgical robot provided in an embodiment of the present application;

[0019] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the scheme of the present application will be further described below. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0021] In the following description, many specific details are set forth to facilitate a full understanding of the present application, but the present application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only part of the embodiments of the present application, rather than all of the embodiments.

[0022] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0023] It should be noted that the concepts such as "first" and "second" mentioned in this application are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0024] It should be noted that the modifications of "one" and "plurality" mentioned in the present application are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0025] The key point detection method provided by the present application is described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0026] Figure 1 FIG. 1 is a schematic diagram of the structure of a surgical robot system in an embodiment of the present application. This embodiment can be applied to navigation of oral dental surgery. Figure 1As shown, the surgical robot system 10 provided in the embodiment of the present application includes a robot body 11, a robotic arm 12, a first inertial module 13, a second inertial module 14, a control module (not shown in the figure) and a tooth adapter sleeve 15, and a surgical tool 16 is fixedly installed at the end of the robotic arm 12; the control module is connected to the first inertial module 13 and the second inertial module 14 respectively, the second inertial module 14 is fixed on the robot body, and the first inertial module 13 is fixed on the tooth through the tooth adapter sleeve 15; the first inertial module 13 is used to obtain the first angular velocity information of the surgical tool 16 (such as a dental power mobile phone) and the second angular velocity information of the tooth to be processed (not shown in the figure) in non-simultaneous periods, and the second inertial module 14 is used to obtain the third angular velocity information of the robot body 11; the control module is used to obtain the real-time posture information of the surgical tool based on the integral operation of the first angular velocity information, and calibrate the motion parameters of the robotic arm through the closed-loop comparison of the posture information; the second angular velocity information and the third angular velocity information and the pre-acquired digital model reconstructed based on the preoperative image are used for alignment, and the posture information of the surgical tool is adjusted in real time based on the preoperative planning.

[0027] Among them, the robot body 11 can also be called a surgical robot trolley, and a robotic arm is installed on the surgical robot trolley. The surgical robot trolley is a specially designed medical device for supporting and operating a surgical robot system. The surgical robot trolley is generally used for minimally invasive surgery (such as laparoscopic surgery), cardiac surgery, neurosurgery, and other surgical scenarios that require high-precision operations. In the embodiment of the present application, the surgical robot trolley is an oral robot trolley, which is used for navigating diseases or teeth in the oral cavity.

[0028] In the embodiment of the present application, an inertial module is used to realize the positioning and navigation of the oral space. Among them, the inertial module is also called an inertial navigation module. An inertial navigation module (INM) is a device for measuring and setting the position, speed and posture of an object. Among them, the set object may include a robot body 11, a surgical tool 16, a tooth to be processed, and a robotic arm end.

[0029] All the inertial modules provided in the embodiments of the present application have the same physical hardware structure, and are numbered and named because of their different installation positions and the different objects of position information collection. Among them, the first inertial module 13 is fixed to the target tooth through a tooth adapter sleeve, and is mainly used to collect the posture information of the teeth to be treated in the oral cavity and the posture information of the surgical tool 16 installed at the end of the robotic arm. The second inertial module 14 is installed on the robot body. The surgical robot system also includes: a third inertial module 17, which is fixed at the end of the robotic arm and is used to obtain the fourth angular velocity information of the end of the robotic arm.

[0030] In a possible implementation, the first inertial module, the second inertial module and the third inertial module have the same structure; the first inertial module, the second inertial module and the third inertial module all include: a circuit board, a power supply unit and a communication unit, the circuit board includes a gyroscope and an acceleration sensor; the communication unit is used to transmit data with the control unit; the power supply unit is used to supply power to the circuit board and the communication unit; the gyroscope and the acceleration sensor are used for positioning.

[0031] Specifically, the gyroscope may be an electronic gyroscope, and further, the gyroscope may be a 6-axis electronic gyroscope or a 9-axis electronic gyroscope. The acceleration sensor may be a 1-axis acceleration sensor or a 3-axis acceleration sensor.

[0032] Gyroscopes are mainly used to measure angular velocity, that is, the speed at which an object rotates around each axis. By integrating the angular velocity, the object's attitude change, that is, the angles of pitch, roll, and yaw, can be obtained. Acceleration sensors (usually three-axis accelerometers) are used to measure linear acceleration, including the acceleration caused by gravity and the acceleration caused by the movement of the object.

[0033] Gyroscopes and accelerometers can be used together to build an inertial measurement unit (IMU), a device used to estimate the motion, direction, and attitude of an object. The combination of the two can improve the accuracy and reliability of the inertial module, thereby improving the accuracy of surgical navigation.

[0034] The inertial measurement unit constructed by the gyroscope and the acceleration sensor is the main component of the inertial module. In addition, the inertial module also includes auxiliary components such as the power supply unit and the communication unit.

[0035] The power supply unit in the inertial module is mainly used to supply power to the inertial module. In one possible implementation, the power supply unit may include a power cord with a plug, and during the use of the surgical robot, the inertial module is powered by the power cord with a plug. In another possible implementation, the power supply unit may include a wireless charging module and a built-in battery. During the use of the surgical robot, the inertial module is powered by the built-in battery. When the surgical robot is not in use, the built-in battery is charged by the wireless charging module.

[0036] The communication unit is mainly used for data transmission. That is, the position information collected by the inertial sensor is transmitted to the control module through the communication unit. The communication unit may include a transmission line with a tap or a wireless communication module, and the wireless communication module includes a Bluetooth communication module, a cellular communication module, etc.

[0037] In one possible implementation, the first inertial module, the second inertial module and the third inertial module all include a first connecting mechanism; the first connecting mechanism of the first inertial module is fixedly connected to the second connecting mechanism on the tooth adapter sleeve, and the tooth adapter sleeve is fixed to the target tooth by bonding, and the target tooth is located on the opposite side of the tooth to be processed, so that the first inertial module and the target tooth are rigidly connected; the first connecting mechanism of the third inertial module is fixedly connected to the second connecting mechanism at the end of the robotic arm; the first connecting structure of the second inertial module is fixedly connected to the second connecting mechanism on the robot body.

[0038] The first connection mechanism on the inertial module can also be called a mounting interface, which is mainly used to fix the inertial module to the carrier. The first connection mechanism installed on the inertial module and the second connection mechanism on the carrier are used in conjunction with each other. The above-mentioned mounting mechanism can include a threaded interface, a quick release clamp, a snap-on installation, etc. The above-mentioned carrier includes a tooth adapter sleeve, a robotic arm end, and a robot body.

[0039] In one possible implementation, the surgical robot system includes two inertial modules, namely a first inertial module and a second inertial module. Two slots are provided on the robot body, and the slots are used to accommodate the first inertial module and the second inertial module. Furthermore, the two slots are the first slot and the second slot, respectively. When the surgical robot is not performing surgery, the first slot accommodates the first inertial module, and the second slot accommodates the second inertial module. When the surgical robot is required to perform oral surgery, the first inertial module is taken out of the first slot, and fixedly connected with the second connecting mechanism on the tooth adapter sleeve through the first connecting structure of the first inertial module, and then, the tooth adapter sleeve is fixed to the target tooth by gluing, so as to fix the first inertial module in the oral cavity and realize the alignment and positioning of the space in the oral cavity. The second inertial module is placed in the second slot to realize the alignment and positioning of the robot body.

[0040] Furthermore, the first inertial module is used to obtain first angular velocity information of the surgical tool, second angular velocity information of the tooth to be treated, and fourth angular velocity information of the end of the robotic arm. The control module is used to obtain real-time posture information of the surgical tool based on the integral operation of the first angular velocity information. The motion parameters of the robotic arm are calibrated through closed-loop comparison of the posture information. The second angular velocity information, the third angular velocity information and the first angular velocity information are used as well as the pre-acquired digital model reconstructed based on the preoperative image for alignment, and the posture information of the surgical tool is adjusted in real time based on the preoperative plan.

[0041] In the embodiment of the present application, the alignment and positioning of the intra-oral space are achieved through two inertial modules. A high-precision camera with infrared laser and a reference frame matching the high-precision camera with infrared laser are not used, which reduces the types of consumables, reduces costs, and does not need to consider the placement of the camera and visual occlusion issues, so the scope of application is wider.

[0042] In one possible implementation, the first inertial module, the second inertial module and the third inertial module all include a first connecting mechanism; the first connecting mechanism of the first inertial module is fixedly connected to the second connecting mechanism on the tooth adapter sleeve, and the tooth adapter sleeve is fixed to the target tooth by bonding, and the target tooth is located on the opposite side of the tooth to be processed, so that the first inertial module and the target tooth are rigidly connected; the first connecting mechanism of the third inertial module is fixedly connected to the second connecting mechanism at the end of the robotic arm; the first connecting structure of the second inertial module is fixedly connected to the second connecting mechanism on the robot body.

[0043] The second angular velocity information is obtained by using the first module; the third angular velocity information is obtained by using the second module; the fourth angular velocity information and the fifth angular velocity information are obtained by using the third module before obtaining the first angular velocity information. The first angular velocity information is used to obtain the real-time posture information of the surgical tool through integral operation, and the motion parameters of the robotic arm are calibrated through the closed-loop comparison of the posture information; the fifth angular velocity information is used to establish the relationship between the target tooth, the reconstructed digital model and the second angular velocity information, and the fourth angular velocity information is used to obtain the real-time posture information of the end of the robotic arm; the first angle information, the second angular velocity information, the third angular velocity information and the fourth angular velocity information are used to perform registration with the pre-acquired digital model reconstructed based on the preoperative image, and the posture information of the surgical tool is adjusted in real time based on the preoperative plan.

[0044] In this way, there is no need to bond the dental retainer in advance when obtaining preoperative images. During the operation, alignment can be achieved through the fifth angular velocity information, which improves the product experience and reduces patient waiting.

[0045] In a possible implementation, a first card slot 18, a second card slot 19 and a third card slot 20 are provided on the robot body; the first card slot 18, the second card slot 19 and the third card slot 20 are used to carry the inertial module; the control module is used to mark the inertial module carried in the first card slot as the first inertial module, mark the inertial module carried in the second card slot as the second inertial module, and mark the inertial module carried in the third card slot as the third inertial module when detecting that the first card slot, the second card slot and the third card slot all carry the inertial module; and establish a common coordinate system based on the position parameters of the first inertial module, the position parameters of the second inertial module and the position parameters of the third inertial module.

[0046] In a possible implementation, the surgical robot system includes three inertial modules, namely, a first inertial module, a second inertial module and a third inertial module. Three slots are provided on the robot body, and the slots are used to accommodate the first inertial module, the second inertial module and the third inertial module. Further, the three slots are the first slot, the second slot and the third slot, respectively. When the surgical robot is not performing surgery, the first slot is used to accommodate the first inertial module, the second slot is used to accommodate the second inertial module, and the third slot is used to accommodate the third inertial module. When the surgical robot is required to perform oral surgery, the first inertial module is taken out of the first slot, and the first connection structure of the first inertial module is fixedly connected to the second connection mechanism on the tooth adapter sleeve through the first connection structure of the first inertial module, and then the tooth adapter sleeve is fixed to the target tooth by gluing, so as to fix the first inertial module in the oral cavity, and realize the alignment and real-time positioning of the surgical tool structure parameter information at the end of the robot arm and the intraoral space. The second inertial module is in the second slot, which is used to realize the real-time positioning of the robot body. The third inertial module is taken out from the third card slot, and fixedly connected through the first connecting structure on the third inertial module and the second connecting mechanism at the end of the robotic arm, so as to realize the positioning of the end of the robotic arm.

[0047] Furthermore, the first inertial module is used to obtain first angular velocity information of the surgical tool and second angular velocity information of the tooth to be treated, and the third inertial module is used to collect fourth angular velocity information of the end of the robotic arm; the control module is used to obtain real-time posture information of the surgical tool based on the integral operation of the first angular velocity information, and the motion parameters of the robotic arm with the surgical tool are calibrated through closed-loop comparison of the posture information; the first angular velocity information, the second angular velocity information, the third angular velocity information and the fourth angular velocity information and the pre-acquired digital model reconstructed based on the preoperative image are used for alignment, and the posture information of the surgical tool is adjusted in real time based on the preoperative plan.

[0048] In one possible implementation, the entire process of using a surgical robot system is introduced. Figure 2 As shown, the entire process of using the surgical robot system includes the following steps:

[0049] S201. Preoperative preparation process.

[0050] The dental sleeve is bonded to the opposite side of the tooth to be treated, and a CT scan is performed on the oral cavity with the dental sleeve bonded to obtain a CT scan image. The surgical plan is performed on the CT scan image based on the actual situation of the patient and the surgical procedure requirements.

[0051] The CT scan image includes the relative position of the second connection mechanism in the tooth connection sleeve in the oral cavity. The above-mentioned surgical planning includes the movement trajectory of the surgical tool at the end of the robotic arm in the oral cavity.

[0052] S202. Preoperative configuration planning.

[0053] After the patient lies down in the designated position, the three inertial modules are placed in the three slots of the robot body for mutual calibration and numbering; the inertial module placed in the first slot is marked as the first inertial module, the inertial module placed in the second slot is marked as the second inertial module, and the inertial module placed in the third slot is marked as the third inertial module. After calibration and numbering, the second inertial module is placed in the second slot and remains stationary, the third inertial module is taken out of the third slot, and the first connection mechanism of the third inertial module is used to fix the connection with the second connection structure at the end of the robot arm. The first inertial module is taken out of the first slot, and the first connection mechanism of the first inertial module is used to fix the connection with the second connection structure of the tooth connection sleeve, and then the tooth connection sleeve connected to the first inertial module is bonded to the opposite side of the tooth to be treated.

[0054] Then, the control module can obtain the second angular velocity information of the surgical tool and the first angular velocity information of the tooth to be treated through the first inertial module, obtain the third angular velocity information of the robot body through the second inertial module, and obtain the fourth angular velocity information of the end of the robotic arm through the third inertial module.

[0055] The CT scan images taken before the operation are imported into the surgical robot system, and the actual posture information of the patient is integrated with the CT scan images. The surgical robot system can obtain the real-time posture information of the oral cavity and complete the real-time registration of the oral teeth. When the teeth move in space, the surgical robot system can identify the real-time changes of the teeth and display the real-time changes on the display screen of the surgical robot system.

[0056] S203, intraoperative operation process.

[0057] According to the preoperative plan, the robotic arm of the surgical robot is moved automatically or manually so that the surgical tools at the end of the robotic arm are moved to the position where the tooth to be treated requires surgery, and the robot continues to drag to perform the surgery. During the operation, when the tooth to be treated moves, the auxiliary robotic arm feeds back the change in the spatial coordinates of the tooth to be treated to the surgical robotic arm, and the surgical robotic arm adjusts and changes in real time according to the feedback, so as to enable the surgical robotic arm to search for and follow the planned tooth path in real time.

[0058] S204. Complete the operation.

[0059] After the operation is completed, the surgical tools are pulled out of the oral cavity, the first inertial module is disconnected from the tooth connection sleeve, and then the tooth connection sleeve is removed to complete the operation.

[0060] Based on the above embodiments, an embodiment of the present application provides a control method for a surgical robot, which applies a surgical robot system.

[0061] The surgical robot system includes: a robot body, a robotic arm, a first inertial module, a second inertial module, a tooth adapter sleeve and a control module; a surgical tool is fixedly installed at the end of the robotic arm; the control module is connected to the first inertial module and the second inertial module respectively, the second inertial module is fixed on the robot body, and the first inertial module is fixed on the tooth through the tooth adapter sleeve.

[0062] The various components included in the surgical robot system and the connection relationships between the components can refer to the description in the above embodiments and will not be repeated in the embodiments of the present application.

[0063] like Figure 3 As shown, the control method for a surgical robot provided in an embodiment of the present application mainly includes steps S301-S303.

[0064] Before using the surgical robot for surgical navigation, it is necessary to first calibrate the position of each inertial module. The robot body is provided with a first slot and a second slot; the first slot and the second slot are used to carry the inertial module; when the control module detects that both the first slot and the second slot carry the inertial module, the inertial module carried in the first slot is marked as the first inertial module, and the inertial module carried in the second slot is marked as the second inertial module; a common coordinate system is established based on the position parameters of the first inertial module and the position parameters of the second inertial module.

[0065] Specifically, two inertial modules are placed in the card slots set in the robot body, and the two inertial modules are activated, and the basic information of the two inertial modules is read by the control module. If the basic information can be read, it is determined that the two inertial modules can work normally. The above basic information includes the inertial module ID, the inertial module model, etc.

[0066] When it is determined that the two inertial modules can work normally, the inertial modules are numbered based on the slots in which the inertial modules are placed. Specifically, the inertial module carried in the first slot is marked as the first inertial module, and the inertial module carried in the second slot is marked as the second inertial module.

[0067] After the modules are numbered, the inertial modules are calibrated to eliminate the effects of sensor bias and other error sources. Calibration can be performed through static calibration (keeping the device still for a period of time) or dynamic calibration (moving the device in a specific pattern).

[0068] The position parameters of the first inertial module are obtained, and the position parameters are used to calculate the position information of the first inertial module, and the position parameters of the second inertial module are obtained, and the position parameters of the second inertial module are used to calculate the position information of the second inertial module. The position parameters include acceleration, angular velocity, magnetic field strength, etc. The position information includes pitch angle, roll angle, yaw angle, etc.

[0069] Select one of the inertial modules as a reference point, or define a global reference frame based on specific application requirements. Based on this reference point or reference frame, determine the position relationship of other modules relative to it. Using the above information, a common coordinate system can be established so that the data of the two inertial modules can be compared and processed in the same coordinate system. The attitude and position of all modules are converted to the same reference system.

[0070] S301, using a first inertial module to obtain first angular velocity information of a surgical tool and second angular velocity information of a tooth to be treated at non-simultaneous time periods.

[0071] The angular velocity information includes the acceleration of each axis detected by the acceleration sensor and the angular velocity of each axis detected by the gyroscope. The acceleration sensor can measure the acceleration of an object on three axes, while the gyroscope can measure the angular velocity of an object around three axes.

[0072] The first angular velocity information refers to the real-time angular velocity change of each axis of the surgical tool detected by the first inertial module; the second angular velocity information refers to the real-time angular velocity change of each axis of the tooth to be treated detected by the first inertial module.

[0073] In one possible implementation, the first inertial module is used to obtain first angular velocity information of the surgical tool and second angular velocity information of the tooth to be treated, including: using the first inertial module to obtain first angular velocity information of the surgical tool, second angular velocity information of the tooth to be treated, and fourth angular velocity information of the end of the robotic arm.

[0074] The fourth angular velocity information refers to the acceleration of each axis and the angular velocity of each axis of the end of the robotic arm detected by the first inertial module.

[0075] The first angular velocity information, the second angular velocity information and the fourth angular velocity information detected by the first inertial module are transmitted to the control module.

[0076] S302, using the second inertial module to obtain the third triangle velocity information of the robot body.

[0077] The third angular velocity information refers to the acceleration of each axis of the robot body and the angular velocity of each axis detected by the second inertial module. The third angular velocity information detected by the second inertial module is transmitted to the control module.

[0078] S303, using the control module to perform registration based on the first angular velocity information, the second angular velocity information, and the third angular velocity information and a pre-acquired digital model reconstructed based on preoperative images, and adjusting the posture information of the surgical tool in real time based on the preoperative plan.

[0079] Specifically, the control module is used to perform alignment based on the first angular velocity information, the second angular velocity information, the third angular velocity information, the fourth angular velocity information and a pre-acquired digital model reconstructed based on preoperative images, and the posture information of the surgical tool is adjusted in real time based on the preoperative plan.

[0080] Among them, pose information is usually used to describe the position and attitude of an object in three-dimensional space. Specifically, pose information includes the following two main aspects: position and attitude. Among them, position is usually represented by three coordinate values, and rectangular coordinates (X, Y, Z) are often used to represent position. Attitude describes the direction or orientation of an object. Attitude can be represented in many ways, the most common ones are: Euler Angles: usually expressed as pitch, roll and yaw, which correspond to the angles of rotation around the three orthogonal axes of the object. Quaternions: a mathematical representation method that can effectively avoid the gimbal lock problem and is easy to process by computer. A quaternion consists of four real numbers, usually written as q = [w, x, y, z], where w is the scalar part and x, y, z are the vector parts. Rotation Matrix: a 3x3 matrix used to describe the rotation of one coordinate system relative to another. Axis-Angle: describes the angle at which an object rotates around an axis.

[0081] Specifically, the first angular velocity information is calculated to obtain the first posture information, the second angular velocity information is calculated to obtain the second posture information, the third angular velocity information is calculated to obtain the third posture information, and the fourth angular velocity information is calculated to obtain the fourth posture information.

[0082] Among them, the first posture information refers to the position information and posture information of the surgical tool installed at the end of the robotic arm. The second angular velocity information refers to the position information and posture information of the tooth to be processed. The fourth posture information refers to the position information and posture information of the end of the robotic arm. The third angular velocity information refers to the position information and posture information of the robot body.

[0083] During the entire operation of the surgical robot, the first inertial module is used to continuously monitor the state of the end of the robotic arm, obtain the real-time angular velocity change of each axis of the end of the robotic arm, and process the real-time angular velocity change data of each axis through a pre-set mathematical method or algorithm to obtain the third posture information of the end of the robotic arm. The first inertial module is used to continuously collect and process the motion data of the end of the robotic arm to correct and determine the position and posture of the end of the robotic arm, thereby obtaining accurate posture information to ensure the operating accuracy of the robotic arm.

[0084] During the entire operation of the surgical robot, the first inertial module is used to continuously monitor the status of the surgical tool installed at the end of the robotic arm, obtain the real-time angular velocity change of each axis of the surgical tool, and process the real-time angular velocity change data of each axis through a pre-set mathematical method or algorithm to obtain the second posture information of the surgical tool. The first inertial module is used to continuously collect and process the motion data of the end of the robotic arm to ensure that the surgical tool can accurately perform the required operation and ensure the accuracy and safety of the operation.

[0085] Registration is the precise alignment of the dental sockets with the locations of the dental sockets planned preoperatively.

[0086] The first inertial module is used to monitor the position of the dental sleeve to obtain the real-time angular velocity change of each axis of the dental sleeve, and the real-time angular velocity change data of each axis is processed by a preset mathematical method or algorithm to obtain the position information of the dental sleeve. The position information is used to accurately align with the position of the dental sleeve in the preoperative plan to achieve digital model registration verification.

[0087] During the entire operation of the surgical robot, the first inertial module is used to continuously monitor the state of the tooth to be treated, obtain the real-time angular velocity change of each axis of the tooth to be treated, and process the real-time angular velocity change data of each axis through a pre-set mathematical method or algorithm to obtain the second posture information of the tooth to be treated. The first inertial module is used to continuously collect and process the motion data of the tooth to be treated to ensure the precise position of the tooth to be treated and ensure the accuracy and safety of the operation.

[0088] The position and posture information of the robot body is continuously updated by integrating the real-time angular velocity change of the second inertial module to obtain the third posture information, so as to improve the accuracy and reliability of the surgical robot navigation system.

[0089] Specifically, the second inertial module is a module that uses an accelerometer and a gyroscope to measure and report the position, direction and speed of an object. It does not rely on external signals, but is calculated through data from internal sensors.

[0090] Import the CT scan image taken before the operation into the surgical robot system, fuse the first posture information, the second posture information, the third posture information, and the fourth posture information with the CT scan image, and the surgical robot system will obtain the real-time posture information of the oral cavity and complete the real-time navigation of the oral teeth. When the teeth move in space, the surgical robot system can identify the real-time changes of the teeth and display the real-time changes on the display screen of the surgical robot system. According to the preoperative plan, the robotic arm of the surgical robot is automatically or manually moved to the position where the tooth needs surgery, and the surgery is continued by dragging; during the operation, when the tooth moves, the auxiliary robotic arm feeds back the change in the spatial coordinates of the tooth to the surgical robotic arm, and the surgical robotic arm adjusts and changes in real time according to the feedback.

[0091] The embodiment of the present application provides a control method for a surgical robot, which is applied to a surgical robot system, the surgical robot system includes a robot body, a mechanical arm, a first inertial module, a second inertial module, a control module and a tooth adapter sleeve, and a surgical tool is fixedly installed at the end of the mechanical arm; the control module is connected to the first inertial module and the second inertial module respectively, the second inertial module is fixed on the robot body, and the first inertial module is fixed on the tooth through the tooth adapter sleeve; the method includes: using the first inertial module to obtain the first angular velocity information of the surgical tool and the second angular velocity information of the tooth to be processed, and using the second inertial module to obtain the third angular velocity information of the robot body; using the control module to align based on the first angular velocity information, the second angular velocity information and the third angular velocity information and the pre-acquired digital model reconstructed based on the preoperative image, and adjusting the position of the surgical tool in real time based on the preoperative plan. The technical solution of the present application uses an inertial module to navigate the teeth in the oral cavity, does not use a high-precision camera with infrared laser and a reference frame matched with the high-precision camera with infrared laser, reduces the use of consumables, reduces costs, and does not need to consider the placement of the camera and the problem of visual occlusion, and has a wider range of applications.

[0092] On the basis of the above-mentioned embodiments, the control method for a surgical robot provided in the embodiments of the present application mainly includes steps S401-S404.

[0093] In a possible implementation, a first card slot, a second card slot and a third card slot are provided on the robot body; the first card slot, the second card slot and the third card slot are used to carry an inertial module; when the control module detects that the first card slot, the second card slot and the third card slot all carry inertial modules, the inertial module carried in the first card slot is marked as a first inertial module, the inertial module carried in the second card slot is marked as a second inertial module, and the inertial module carried in the third card slot is marked as a third inertial module; and the control module is used to establish a common coordinate system based on position parameters of the first inertial module, position parameters of the second inertial module and position parameters of the third inertial module.

[0094] Before using the surgical robot for surgical navigation, it is necessary to first calibrate the position of each inertial module. The robot body is provided with a first slot, a second slot and a third slot; the first slot, the second slot and the third slot are used to carry the inertial module; when the control module detects that the first slot, the second slot and the third slot all carry inertial modules, the inertial module carried in the first slot is marked as the first inertial module, the inertial module carried in the second slot is marked as the second inertial module, and the inertial module carried in the third slot is marked as the third inertial module; a common coordinate system is established based on the position parameters of the first inertial module, the position parameters of the second inertial module and the position parameters of the third slot.

[0095] The process of establishing a common coordinate system based on the position parameters of the first inertial module, the position parameters of the second inertial module and the position parameters of the third slot is the same as the process of establishing a common coordinate system based on the position parameters of the second inertial module based on the position parameters of the first inertial module. For details, please refer to the description in the above embodiment, and the embodiments of the present application will not be specifically limited.

[0096] S401, using a first inertial module to obtain first angular velocity information of a surgical tool and second angular velocity information of a tooth to be treated at non-simultaneous time periods.

[0097] S402, using the second inertial module to obtain the third triangle velocity information of the robot body.

[0098] S401-S402 provided in the embodiment of the present application is the same as the process of S301-S302 in the above embodiment. For details, please refer to the description in the above embodiment, and no detailed description will be given in the embodiment of the present application.

[0099] S403: Use the third inertial module to obtain fourth angular velocity information of the end of the robotic arm.

[0100] The surgical robot system also includes: a third inertia module, which is fixed at the end of the robotic arm.

[0101] During the entire operation of the surgical robot, the third inertial module is used to continuously monitor the state of the end of the robotic arm, obtain the real-time angular velocity change of each axis at the end of the robotic arm, and process the real-time angular velocity change data of each axis through a pre-set mathematical method or algorithm to obtain the fourth posture information of the end of the robotic arm. The third inertial module is used to continuously collect and process the motion data of the end of the robotic arm to ensure that the surgical tool can accurately perform the required operation and ensure the accuracy and safety of the surgery.

[0102] S404, using the control module to perform alignment based on the first angular velocity information, the second angular velocity information, the third angular velocity information and the fourth angular velocity information and a pre-acquired digital model reconstructed based on preoperative images, and adjust the posture information of the surgical tool in real time based on the preoperative plan.

[0103] S404 provided in the embodiment of the present application is the same as the process of S303 in the above embodiment. For details, please refer to the description in the above embodiment, and no detailed description will be given in the embodiment of the present application.

[0104] The embodiment of the present application provides a control method for a surgical robot, and the control method is applied to a surgical robot system, which includes a robot body, a robotic arm, a first inertial module, a second inertial module, a third inertial module, a control module and a tooth adapter sleeve, and a surgical tool is fixedly installed at the end of the robotic arm; the control module is connected to the first inertial module and the second inertial module respectively, the second inertial module is fixed on the robot body, the first inertial module is fixed on the tooth through the tooth adapter sleeve, and the third inertial module is fixed at the end of the robotic arm; the method includes: using the first inertial module to obtain first angular velocity information of the surgical tool and second angular velocity information of the tooth to be processed, using the second inertial module to obtain third angular velocity information of the robot body; using the third inertial module to obtain fourth angular velocity information of the end of the robotic arm, using the control module to perform alignment based on the first angular velocity information, the second angular velocity information and the third angular velocity information, the fourth angular velocity information and the digital model reconstructed from the pre-acquired preoperative image, and adjusting the position of the surgical tool in real time based on the preoperative plan. The technical solution of the present application uses an inertial module to navigate the teeth in the oral cavity, and does not use a high-precision camera with infrared laser and a reference frame that matches the high-precision camera with infrared laser. This reduces the use of consumables, reduces costs, and does not need to consider the placement of the camera and visual occlusion issues, so it has a wider range of applications.

[0105] Figure 5 is a schematic diagram of the structure of an electronic device provided in this embodiment. The electronic device may include a control device for a surgical robot, such as Figure 5As shown, the electronic device 500 includes a processor 510, a memory 520, an input device 530, and an output device 540; the number of the processor 510 in the electronic device can be one or more. Figure 5 A processor 510 is taken as an example; the processor 510, the memory 520, the input device 530 and the output device 540 in the electronic device can be connected via a bus or other means. Figure 5 The example of connecting through bus is taken in the following.

[0106] The memory 520 is a computer-readable storage medium that can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the control method for a surgical robot in the embodiment of the present invention. The processor 510 executes various functional applications and data processing of the electronic device by running the software programs, instructions and modules stored in the memory 520, that is, implements the control method for a surgical robot provided in the embodiment of the present invention.

[0107] The memory 520 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the memory 520 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 520 may further include a memory remotely arranged relative to the processor 510, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0108] The input device 530 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the electronic device, and may include a keyboard, a mouse, etc. The output device 540 may include a display device such as a display screen.

[0109] This embodiment also provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to implement the control method for a surgical robot provided in the embodiment of the present invention.

[0110] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present invention is not limited to the method operations described above, and can also execute related operations in the control method for a surgical robot provided in any embodiment of the present invention.

[0111] Through the above description of the implementation methods, the technicians in the relevant field can clearly understand that the present invention can be implemented by means of software and necessary general hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0112] It is worth noting that in the above-mentioned embodiment of the control system for a surgical robot, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0113] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0114] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A surgical robot system, characterized in that: The surgical robot system includes a robot body, a robotic arm, a first inertial module, a second inertial module, a control module and a tooth adapter sleeve, and a surgical tool is fixedly installed at the end of the robotic arm; The control module is connected to the first inertial module and the second inertial module respectively, the second inertial module is fixed to the robot body, and the first inertial module is fixed to the tooth through the tooth adapter sleeve; The first inertial module is used to obtain the first angular velocity information of the surgical tool and the second angular velocity information of the tooth to be treated at non-simultaneous time periods; The second inertial module is used to obtain the third angle velocity information of the robot body; The control module is used to perform alignment based on the first angular velocity information, the second angular velocity information, and the third angular velocity information and a pre-acquired digital model reconstructed based on preoperative images, and to adjust the posture information of the surgical tool in real time based on preoperative planning.

2. The system according to claim 1, characterized in that The surgical robot system further includes: a third inertia module, the third inertia module being fixed to the end of the robotic arm; The third inertial module is used to obtain fourth angular velocity information of the end of the robotic arm; The control module is used to perform alignment based on the first angular velocity information, the second angular velocity information, the third angular velocity information and the fourth angular velocity information and a pre-acquired digital model reconstructed based on preoperative images, and to adjust the posture information of the surgical tool in real time based on preoperative planning.

3. The system according to claim 1, characterized in that The first inertial module is used to obtain the first angular velocity information of the surgical tool, the second angular velocity information of the tooth to be processed, and the fourth angular velocity information of the end of the robotic arm in non-simultaneous periods; The control module is used to perform alignment based on the first angular velocity information, the second angular velocity information, the third angular velocity information and the fourth angular velocity information and a pre-acquired digital model reconstructed based on preoperative images, and to adjust the posture information of the surgical tool in real time based on preoperative planning.

4. The system according to claim 3, characterized in that The first inertial module, the second inertial module and the third inertial module have the same structure; The first inertial module, the second inertial module and the third inertial module each include: a circuit board, a power supply unit and a communication unit, the circuit board includes a gyroscope and an acceleration sensor; The communication unit is used to perform data transmission with the control module; The power supply unit is used to supply power to the circuit board and the communication unit; The gyroscope and the acceleration sensor are used for positioning.

5. The system according to claim 4, characterized in that The first inertial module, the second inertial module and the third inertial module each include: a first connecting mechanism; The first connection mechanism of the first inertial module is fixedly connected to the second connection mechanism on the tooth adapter sleeve, and the tooth adapter sleeve is fixed on the target tooth by gluing, and the target tooth is located on the opposite side of the tooth to be processed; The first connection mechanism of the third inertial module is fixedly connected to the second connection mechanism at the end of the robotic arm; The first connection structure of the second inertial module is fixedly connected to the second connection mechanism on the robot body.

6. The system according to claim 2, characterized in that A first card slot, a second card slot and a third card slot are provided on the robot body; the first card slot, the second card slot and the third card slot are used to carry an inertia module; The control module is configured to, when detecting that the first card slot, the second card slot and the third card slot all carry inertial modules, mark the inertial module carried in the first card slot as a first inertial module, mark the inertial module carried in the second card slot as a second inertial module, and mark the inertial module carried in the third card slot as a third inertial module; and establish a common coordinate system based on position parameters of the first inertial module, position parameters of the second inertial module and position parameters of the third inertial module.

7. A control method for a surgical robot, characterized in that: The method is applied to a surgical robot system, which comprises: a robot body, a robotic arm, a first inertial module, a second inertial module, a tooth adapter sleeve and a control module; A surgical tool is fixedly installed at the end of the robot arm, the control module is connected to the first inertial module and the second inertial module respectively, the second inertial module is fixed on the robot body, and the first inertial module is fixed on the tooth through the tooth adapter sleeve; The method comprises: Using the first inertial module to obtain first angular velocity information of the surgical tool and second angular velocity information of the tooth to be treated at non-simultaneous time periods; Using the second inertial module to obtain third triangular velocity information of the robot body; The control module is used to perform alignment based on the first angular velocity information, the second angular velocity information, the third angular velocity information and a pre-acquired digital model reconstructed based on preoperative images, and to adjust the posture information of the surgical tool in real time based on the preoperative plan.

8. The method according to claim 7, characterized in that The surgical robot system further includes: a third inertia module, the third inertia module being fixed to the end of the robotic arm; The method further comprises: acquiring fourth angular velocity information of the end of the robotic arm by using the third inertial module; Using the control module to perform registration based on the first angular velocity information, the second angular velocity information, and the third angular velocity information and a pre-acquired digital model reconstructed based on preoperative images, and adjusting the posture information of the surgical tool in real time based on preoperative planning, including: The control module is used to perform alignment based on the first angular velocity information, the second angular velocity information, the third angular velocity information and the fourth angular velocity information and a pre-acquired digital model reconstructed based on preoperative images, and the posture information of the surgical tool is adjusted in real time based on the preoperative plan.

9. The method according to claim 7, characterized in that: Acquiring first angular velocity information of the surgical tool and second angular velocity information of the tooth to be processed by using the first inertial module includes: Using the first inertial module to obtain first angular velocity information of the surgical tool, second angular velocity information of the tooth to be processed, and fourth angular velocity information of the end of the robotic arm; Using the control module to perform registration based on the first angular velocity information, the second angular velocity information, and the third angular velocity information and a pre-acquired digital model reconstructed based on preoperative images, and adjusting the posture information of the surgical tool in real time based on preoperative planning, including: The control module is used to perform alignment based on the first angular velocity information, the second angular velocity information, the third angular velocity information and the fourth angular velocity information and a pre-acquired digital model reconstructed based on preoperative images, and the posture information of the surgical tool is adjusted in real time based on the preoperative plan.

10. The method according to claim 7, characterized in that A first card slot, a second card slot and a third card slot are provided on the robot body; the first card slot, the second card slot and the third card slot are used to carry an inertia module; When the control module detects that the first card slot, the second card slot, and the third card slot all carry inertial modules, the inertial module carried in the first card slot is marked as a first inertial module, the inertial module carried in the second card slot is marked as a second inertial module, and the inertial module carried in the third card slot is marked as a third inertial module; A common coordinate system is established by using the control module based on the position parameters of the first inertial module, the position parameters of the second inertial module, and the position parameters of the third inertial module.

Images