Device for automatically cutting skin in operation, control method thereof and electronic equipment

Abstract

The invention provides a device for automatically cutting skin in an operation and a control method and electronic equipment thereof, the device comprises a mechanical arm tail end, the mechanical arm tail end comprises a six-dimensional force sensor and a machine head tracker, a flange plate is installed at the mechanical arm tail end, the six-dimensional force sensor is installed on the flange plate, and the machine head tracker is installed on the mechanical arm tail end. The machine head tracker is arranged at the tail end of the six-dimensional force sensor, and the skin cutting tool is installed at the tail end of the machine head tracker and used for cutting the skin open. The mechanical arm controller is used for controlling the skin cutting tool to cut the skin, and a tool bit of the skin cutting tool at the tail end of the mechanical arm is controlled to penetrate into the skin by a first preset depth at a preset position according to a first expected control force; the tool bit is controlled to cut a first preset length in the preset direction according to second expected control force; after cutting is completed, the cutter head is controlled to leave the skin incision upwards, the function of automatically cutting the skin is achieved, skin cutting errors caused by human factors are greatly reduced, and the success degree of operation completion is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic skin incision during surgery, and in particular to a device for automatic skin incision during surgery, a control method thereof, and an electronic device. Background Art

[0002] With the rapid development of robot-assisted surgery technology, the automated operations that robots can participate in during surgery are becoming more and more complex. Skin incision is an essential step in the surgical process, but in fact this step is a relatively standardized operation and is not complicated, but it still requires the doctor's energy. If robots can be used for automatic skin incision, it can reduce the doctor's workload during the operation, reduce the doctor's fatigue, and increase the doctor's concentration on the joint steps of the operation, which will improve the success rate of the operation and provide better therapeutic effects for patients.

[0003] In surgical operations, skin incision is an important step in the early stages of the operation. The control of the position, length, depth, and neatness of the skin incision will affect the smoothness of the operation and the degree of wound healing of the patient after the operation. However, compared with the subsequent surgical steps, skin incision is not difficult. Therefore, in actual operations, the skin incision step is sometimes completed by an assistant. A huge advantage of robot-assisted surgery is its accuracy. Using robots for automatic skin incision will reduce errors caused by human factors, and at the same time will reduce the workload of the surgeon on the operating table, which will achieve new breakthroughs in the surgical process. In the prior art, the robot is usually controlled by sending instructions to execute to a specified waypoint, but this control method does not reflect the control of contact force, which may cause human injury. Therefore, the prior art needs to be further developed. Summary of the invention

[0004] The purpose of the present invention is to overcome the above technical deficiencies and provide a device for automatically cutting the skin during surgery and a control method and electronic equipment thereof to solve the problems existing in the prior art.

[0005] To achieve the above technical objectives, according to a first aspect of the present invention, the present invention provides a device for automatically cutting skin during surgery, comprising a robotic arm end, the robotic arm end comprising a six-dimensional force sensor and a handpiece tracker, the robotic arm end being equipped with a flange, the six-dimensional force sensor being mounted on the flange, the handpiece tracker being arranged at the end of the six-dimensional force sensor, and the device for automatically cutting skin during surgery further comprising: A skin cutting tool, which is mounted on the end of the handpiece tracker and is used to cut the skin; The robot arm controller is used to control the skin cutting tool to cut the skin.

[0006] Specifically, the skin cutting tool includes a guide wheel, a cutter head, a guide wheel connecting rod, a spring, and a cutter head connecting rod; The guide wheel is fixedly mounted on the guide wheel connecting rod, the guide wheel connecting rod is slidably connected to the cutter head connecting rod through a spring, the cutter head is fixed on the guide wheel connecting rod, the guide wheel connecting rod drives the cutter head to slide along the direction of the cutter head connecting rod, and the cutter head connecting rod is fixedly mounted on the end of the machine head tracker.

[0007] According to a second aspect of the present invention, there is provided a method for controlling a device for automatically cutting skin during surgery, comprising: S100, controlling the blade of the skin cutting tool at the end of the robotic arm to penetrate the skin to a first preset depth at a preset position according to a first desired control force; S200, controlling the cutter head to cut a first preset length along a preset direction according to a second desired control force; S300, after the cutting is completed, the knife head is controlled to move upward away from the skin incision.

[0008] Specifically, the S100 includes: The robot arm controller is used to control the blade of the skin cutting tool to align with the skin incision at a preset position and penetrate the skin to a first preset depth. The first expected control force is calculated according to the distance between the end of the guide wheel of the skin cutting tool and the end of the blade, and the stiffness of the spring of the skin cutting tool. The specific calculation method is as follows: ; in, represents the first expected control force, represents the stiffness coefficient of the spring, Indicates the first preset depth, Indicates the distance between the end of the guide wheel of the skin cutting tool and the end of the cutting head.

[0009] Specifically, the S200 includes: Using a robotic arm controller to control the blade of the skin cutting tool to cut a first preset length along a preset direction while maintaining a first preset depth; At the same time, the cutter head rotates with the tip of the cutter head as the origin to form a rotation inclination angle, and the angle of the rotation inclination angle is expressed as a first preset angle. The second expected control force of the cutter head is calculated according to the first preset angle. The specific calculation method is as follows: ; in, represents the second expected control force, represents the first preset angle, represents the stiffness coefficient of the spring, Indicates the first preset depth, Indicates the distance between the end of the guide wheel of the skin cutting tool and the end of the cutting head.

[0010] Specifically, the method of controlling the blade of the skin cutting tool 4 to cut a first preset length along a preset direction while maintaining a first preset depth by using the robot arm controller includes: During the process of the cutter head automatically rotating by the first preset angle, a lateral displacement is generated in the preset direction, and the actual distance moved by the cutter head along the preset direction is calculated according to the lateral displacement. The specific calculation process is as follows: ; ; in, Indicates the actual distance the cutter head moves along the preset direction. Indicates the first preset length, Indicates the lateral displacement of the cutter head during rotation. Indicates the first preset depth, Indicates the first preset angle.

[0011] Specifically, the method of using the robotic arm controller to control the blade of the skin cutting tool to cut a first preset length along a preset direction while maintaining a first preset depth also includes: The cutter head moves along the cutting direction After the distance is reached, the robot arm controller is used to control the cutter head to rotate straight, that is, the first preset angle of the rotation angle is 0°. During the rotation of the cutter head, the cutter head is controlled to continue to move along the preset direction. distance, compensating for the lateral displacement of the cutter head during rotation.

[0012] Specifically, the S300 includes: After the cutting is completed, the first preset angle of the rotation inclination of the blade is 0°, and the robot arm controller is used to control the blade to move upward away from the skin incision until the six-dimensional force sensor receives a control force of 0 as feedback from the blade and stops.

[0013] Specifically, the method further includes: A feedback-based force-position hybrid control method is used to realize the control of the motion posture of the cutter head of the skin cutting tool for automatic skin cutting in Cartesian space. By adjusting the dimensional constant, the multi-dimensional control of the cutter head of the skin cutting tool in Cartesian space is completed. Among them, the feedback-based force-position hybrid control method includes position control and force control. The position control is controlled by a PID controller, and the force control is controlled by an admittance-like controller.

[0014] Specifically, the dimensional constant and is a mutually exclusive vector represented by 0 and 1; In the six-dimensional control under Cartesian space, when a dimension adopts force control, the dimension constant Set the value of this dimension to 1 and the other dimensions to 0. The value of this dimension is set to 0, and the other dimensions are set to 1; In the controller calculation, the admittance-like controller only calculates The dimension set to 1 in the output is the first speed control quantity, and the PID controller only calculates The dimension is set to 1 in the middle, and the second speed control amount is output. The first speed control amount and the second speed control amount are combined to obtain the third speed control amount, and the control posture instruction is obtained through integral transformation, and the control posture instruction is sent to the skin cutting tool 4 at the end of the robot arm for movement.

[0015] According to a third aspect of the present invention, there is provided an electronic device, comprising: a memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the control method of the device for automatically cutting the skin during surgery is implemented.

[0016] Beneficial effects: The present invention provides a device for automatically cutting the skin during surgery and a control method thereof. A skin cutting tool is installed at the end of a robotic arm. The knife head on the skin cutting tool at the end of the robotic arm is controlled to penetrate the skin to a first preset depth at a preset position according to a first expected control force; then the knife head is controlled to cut a first preset length along a preset direction according to a second expected control force; after the cutting is completed, the knife head is controlled to move upward away from the skin incision, thereby realizing the function of automatically cutting the skin during surgery, greatly reducing the skin cutting error caused by human factors, and at the same time reducing the work tasks of the surgeon on the operating table, further improving the success rate of the surgery. The force-position mixed control method in this scheme enables the robot to dynamically adjust the control posture and control speed according to the hardness and elasticity of the skin, thereby achieving a more refined and smoother cutting effect, which greatly improves the intelligence, usability and reliability of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of a control method for an apparatus for automatically cutting skin during surgery provided in a specific embodiment of the present invention; Figure 2 It is a schematic diagram of the structural composition of the end of the robotic arm provided in a specific embodiment of the present invention; Figure 3 is a schematic structural diagram of a skin cutting tool provided in a specific embodiment of the present invention; Figure 4is a schematic diagram of the operation process of automatic skin incision provided in a specific embodiment of the present invention; Figure 5 is a schematic diagram of the position of the blade during the automatic skin cutting process provided in a specific embodiment of the present invention; Figure 6 is a schematic diagram of the position and desired control pressure of the cutter head after rotation provided in a specific embodiment of the present invention; Figure 7 is a schematic diagram of a force-position hybrid control process during skin incision provided in a specific embodiment of the present invention; Wherein, the reference numerals of the above-mentioned drawings are as follows: 1. Six-dimensional force sensor; 2. Machine head tracker; 3. Flange; 4. Leather cutting tool; 5. Guide wheel; 6. Cutter head; 7. Guide wheel connecting rod; 8. Spring; 9. Cutter head connecting rod. DETAILED DESCRIPTION In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0018] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0019] Embodiment 1 See also Figure 2-Figure 3 The present embodiment provides a device for automatically cutting the skin during surgery, comprising a robotic arm end, the robotic arm end comprising a six-dimensional force sensor 1 and a head tracker 2, a flange 3 is installed at the robotic arm end, the six-dimensional force sensor 1 is installed on the flange 3, the head tracker 2 is arranged at the end of the six-dimensional force sensor 1, and the device for automatically cutting the skin during surgery also includes: A skin cutting tool 4, which is installed at the end of the handpiece tracker 2 and is used for cutting the skin; The robot arm controller is used to control the skin cutting tool 4 to cut the skin.

[0020] See also Figure 2In the device of this embodiment, the end of the robot arm is the last joint of the robot arm. The subsequent hardware is connected to the robot arm through the flange 3 at the end of the robot arm. The six-dimensional force sensor 1 is installed on the flange 3 at the end of the robot arm. It can sense the external force information of the skin cutting tool 4 in real time, that is, it can receive the magnitude of the control force fed back by the cutter head in real time, so as to control the movement of the robot arm. The head tracker 2 is installed after the six-dimensional force sensor 1. The head tracker 2 can be tracked in real time by the optical camera set on the robot arm. According to the calibrated data, the posture information of the skin cutting tool 4 is displayed in real time. The skin cutting tool 4 is installed at the end of the head tracker 2 and is a tool for skin incision.

[0021] Specifically, the skin cutting tool 4 includes a guide wheel 5, a cutter head 6, a guide wheel connecting rod 7, a spring 8, and a cutter head connecting rod 9; The guide wheel 5 is fixedly mounted on the guide wheel connecting rod 7, and the guide wheel connecting rod 7 is slidably connected to the cutter head connecting rod 9 through a spring 8. The cutter head 6 is fixed on the guide wheel connecting rod 7, and the guide wheel connecting rod 7 drives the cutter head 6 to slide along the direction of the cutter head connecting rod 9. The cutter head connecting rod 9 is fixedly mounted at the end of the machine head tracker 2.

[0022] See also Figure 3 In the device of this embodiment, the skin cutting tool 4 is provided with a spring structure, which can transmit the feedback force of the skin on the guide wheel 5 and the blade head 6 to the six-dimensional force sensor 1. The guide wheels 5 on both sides of the blade head 6 can also play the role of flattening the skin, thereby facilitating the blade head to cut the skin.

[0023] In the device of this embodiment, the specific skin cutting process includes: when cutting the skin, the guide wheel 5 will continue to contact the skin, flatten the skin, and facilitate cutting by the blade head 6; at the same time, as the reaction force exerted by the skin on the guide wheel 5 gradually increases, the spring 8 will be compressed, the guide wheel 5 and the guide wheel connecting rod 7 will retreat in the direction of the blade head connecting rod 9, and the relative blade head 6 will exceed the plane where the guide wheel 5 contacts the skin and cut into the skin. The force between the guide wheel 5 and the skin will be transmitted to the six-dimensional force sensor 1 to control the movement of the robotic arm.

[0024] It should be noted here that the present invention provides a device for automatically cutting the skin during surgery. By installing a skin cutting tool 4 at the end of the robotic arm, the skin cutting tool 4 will continuously contact the skin through the guide wheel 5, so as to flatten the skin and facilitate cutting by the blade 6; at the same time, as the reaction force exerted by the skin on the guide wheel 5 gradually increases, the spring 8 will be compressed, the guide wheel 5 and the guide wheel connecting rod 7 will retreat in the direction of the blade connecting rod 9, and the relative blade head 6 will exceed the plane where the guide wheel 5 contacts the skin and cut into the skin. The force between the guide wheel 5 and the skin will be transmitted to the six-dimensional force sensor 1, thereby realizing the function of automatic skin cutting, greatly reducing the skin cutting error caused by human factors, and at the same time will reduce the workload of the surgeon on the operating table, further improve the success rate of the operation, and greatly improve the usability and reliability of the present invention.

[0025] Embodiment 2 See also Figure 1 This embodiment provides a control method for a device for automatically cutting skin during surgery, the method comprising: S100, controlling the blade 6 of the skin cutting tool 4 at the end of the robotic arm to penetrate the skin to a first preset depth at a preset position according to a first desired control force; Specifically, the S100 includes: The robot arm controller is used to control the blade head 6 of the skin cutting tool 4 to align with the skin incision at the preset position, penetrate the skin to a first preset depth, and calculate the first expected control force according to the distance between the end of the guide wheel 5 of the skin cutting tool 4 and the end of the blade head 6, and the stiffness of the spring 8 of the skin cutting tool 4. The specific calculation method is as follows: ; in, represents the first expected control force, represents the stiffness coefficient of spring 8, Indicates the first preset depth, It shows the distance between the end of the guide wheel 5 of the skin cutting tool 4 and the end of the cutting head 6 .

[0026] See also Figure 3 and Figure 5 In some specific embodiments, the preset position is usually set by the doctor according to the actual surgical situation. The doctor can drag the end of the robotic arm so that the skin cutting tool 4 is vertically aligned with the starting point of the incision, that is, Figure 5 After the process ① to process ② in the above, and the blade direction of the cutter head 6 is aligned with the cutting direction of the incision, the robot arm will perform a downward skin incision, so that the blade penetrates the skin to a specified depth, that is, a first preset depth. This depth is usually set by the doctor according to the actual situation. The robot arm controller will adjust the depth according to the distance between the lower end of the guide wheel 5 of the skin cutting tool 4 and the lower end of the blade 6. The first desired control force for cutting the skin downward is calculated based on the stiffness of the spring 8 of the skin cutting tool 4. In the actual control process, the first desired control force will be input into the robot arm controller for calculation, thereby controlling the skin cutting tool 4 to move along the Figure 5 When the tool axis in the middle penetrates the skin downward to reach the control force, that is, the penetration depth of the cutter head 6 into the skin reaches the first preset depth set by the doctor. Then perform a transverse incision.

[0027] S200, controlling the cutter head 6 to cut a first preset length along a preset direction according to a second desired control force; Specifically, the S200 includes: Using the robot arm controller to control the blade 6 of the skin cutting tool 4 to cut a first preset length along a preset direction while maintaining a first preset depth; At the same time, the cutter head 6 rotates with the tip of the cutter head 6 as the origin to form a rotation inclination angle, and the angle of the rotation inclination angle is expressed as a first preset angle. The second expected control force of the cutter head 6 is calculated according to the first preset angle. The specific calculation method is as follows: ; in, represents the second expected control force, represents the first preset angle, represents the stiffness coefficient of spring 8, Indicates the first preset depth, It shows the distance between the end of the guide wheel 5 of the skin cutting tool 4 and the end of the cutting head 6 .

[0028] See also Figure 5 and Figure 6 In the method of this embodiment, when the cutting head 6 penetrates the skin to a first preset depth set by the doctor, the cutting head 6 rotates to a first preset angle. ,Right now Figure 5 From process ② to process ③; Figure 6 The left side is a schematic diagram of the rotation process of the cutter head 6: is the lateral displacement caused by the rotation of the cutter head 6, is the incision depth, i.e. the first preset depth, is the rotation angle of the cutter head 6, i.e. the first preset angle, Figure 6 The right side shows the control force applied vertically along the skin, which is the first desired control force. , and the control force applied after the actual rotation, i.e., the second desired control force Schematic diagram of the relationship between Figure 6 First Expected Control Second Expected Control The functional relationship in the triangle gives the above calculation formula, and the second expected control force is calculated size.

[0029] Specifically, the method of controlling the blade 6 of the skin cutting tool 4 to cut a first preset length along a preset direction while maintaining a first preset depth by using the robot arm controller includes: During the process of the cutter head 6 automatically rotating by the first preset angle, a lateral displacement is generated in the preset direction. The actual distance moved by the cutter head 6 along the preset direction is calculated according to the lateral displacement. The specific calculation process is as follows: ; ; in, Indicates the actual distance the cutter head 6 moves along the preset direction, Indicates the first preset length, Indicates the lateral displacement of the cutter head 6 during the rotation process, Indicates the first preset depth, Indicates the first preset angle.

[0030] See also Figure 5 and Figure 6 In the method of this embodiment, the first preset length The preset cutting direction can be preset by the doctor according to the actual surgical needs. The robot arm controls the skin cutting tool 4 to move along the preset direction while maintaining the blade penetrating the skin to the first preset depth, thereby achieving a transverse incision effect. Figure 5 From process ③ to process ④, during the transverse incision process, the robot arm controls the skin cutting tool 4 to cut the skin at a constant speed, and at the same time, the skin cutting tool 4 controls the cutter head 6 to automatically adjust to a rotation angle, that is, the first preset angle, when receiving the transverse resistance torque. To achieve greater cutting efficiency, due to the rotation of the skin cutting tool 4, compared with the posture of the cutter head 6 when the skin is cut downward, the blade of the cutter head 6 will produce a displacement in the preset direction, such as Figure 6 shown Therefore, during the transverse skin cutting process, the actual distance that the blade 6 moves along the preset direction is , and the blade head 6 of the actual control robot arm will compensate for this displacement when cutting along the preset direction, thereby ensuring that the final cut skin length reaches the preset first preset length .

[0031] Specifically, the method of using the robot arm controller to control the blade 6 of the skin cutting tool 4 to cut a first preset length along a preset direction while maintaining a first preset depth also includes: The cutter head 6 moves along the cutting direction After the distance is reached, the robot arm controller is used to control the cutter head 6 to rotate straight, that is, the first preset angle of the rotation angle is 0°. During the rotation of the cutter head 6, the cutter head 6 is controlled to continue to move along the preset direction. distance, compensating for the lateral displacement of the cutter head 6 during the rotation process.

[0032] It should be noted that the maximum rotation angle of the cutting head 6 of the skin cutting tool 4 can be preset to a fixed value. By limiting the rotation angle of the cutter head 6, accidental rotation of the cutter head 6 during use can be avoided, thereby further reducing the risk of injury to the user.

[0033] S300, after the cutting is completed, the blade head 6 is controlled to move upward away from the skin incision.

[0034] Specifically, the S300 includes: After the cutting is completed, the first preset angle of the rotation inclination of the cutter head 6 is 0°, and the robot arm controller is used to control the cutter head 6 to move upward away from the skin incision until the six-dimensional force sensor 1 receives a control force of 0 as feedback from the cutter head 6 and stops.

[0035] See also Figure 5 It can be understood that the robot arm controller controls the skin cutting tool 4 to rotate with the tip of the blade 6 as the vertex, so that the first preset angle of the final rotation angle is 0°, that is, the same angle as the downward skin incision is restored, such as Figure 5 At the same time, in order to ensure that the cutting length of the tip of the blade 6 also reaches the first preset length planned by the doctor, , the robot arm controller will control the tip of the cutter head 6 to continue to move forward along the cutting direction , when the first preset angle of the rotation inclination of the blade head 6 is 0°, and the distance between the end point of the blade head 6 and the initial point of the skin cutting along the preset direction is When the blade 6 moves upward, it will leave the skin incision. During this process, the robot arm controller controls the skin cutting tool 4 to retreat upward at a uniform speed along the tool axis until the feedback force felt by the six-dimensional force sensor 1 is 0, and the skin cutting tool 4 spring 8 returns to the length when it is not stressed, and the blade has left the skin. The skin incision process is completed, and the doctor is then manually instructed to remove the skin incision tool 4 and perform subsequent operations.

[0036] Specifically, the method further includes: A feedback-based force-position hybrid control method is used to realize the control of the motion posture of the cutter head 6 of the skin cutting tool 4 for automatic skin cutting in Cartesian space, and the multi-dimensional control of the cutter head 6 of the skin cutting tool 4 in Cartesian space is completed by adjusting the dimensional constant; Among them, the feedback-based force-position hybrid control method includes position control and force control. The position control is controlled by a PID controller, and the force control is controlled by an admittance-like controller.

[0037] Specifically, the dimensional constant and is a mutually exclusive vector represented by 0 and 1; In the six-dimensional control under Cartesian space, when a dimension adopts force control, the dimension constant Set the value of this dimension to 1 and the other dimensions to 0. The value of this dimension is set to 0, and the other dimensions are set to 1; In the controller calculation, the admittance-like controller only calculates The dimension set to 1 in the output is the first speed control quantity, and the PID controller only calculates The dimension is set to 1 in the middle, and the second speed control amount is output. The first speed control amount and the second speed control amount are combined to obtain the third speed control amount, and the control posture instruction is obtained through integral transformation, and the control posture instruction is sent to the skin cutting tool 4 at the end of the robot arm for movement.

[0038] See also Figure 7 In some specific embodiments, a force-position hybrid control method is adopted to complete multi-dimensional control in Cartesian space by adjusting the control dimension constant. The implementation process is as follows: (1) Position control adopts PID control method: ; in, is the control quantity, i.e., an intermediate quantity in this embodiment, , , are the proportional, integral and differential coefficients of the PID controller respectively. represents the error between the current feedback control posture and the desired control posture, The calculation method is as follows: ; ; in, represents the feedback control pose, Indicates the desired control posture, which is the control posture fed back from the previous moment during speed control. With the desired control speed Integrate to obtain; Indicates the desired control speed; the output control quantity is the first speed control quantity , the specific calculation method is as follows: ; (2) Force control adopts a method similar to admittance control: ; in, , , are the proportional, integral and differential coefficients of the admittance-like controller, is the expected control force error, represents the control acceleration, represents the error between the current feedback control posture and the desired control posture, is the expected speed error: ; ; ; ; in, In order to control the six-dimensional force, is the current control six-dimensional force fed back by the six-dimensional force sensor 1, is the desired control posture, in this embodiment, it is the control posture at the last moment , is the current feedback control posture, The current control speed is fed back through the current control posture The differential of gets, is the desired control speed, which is always 0 in this embodiment; the control quantity output by the force feedback type admittance controller is the second speed control quantity : ; (3) Dimensional constant and Adjustments: Dimension constant and For mutually exclusive vectors represented by 0 and 1, for six-dimensional control in Cartesian space and It is a vector with a dimension of 1*6, corresponding to the six dimensions of X, Y, Z, RX, RY, and RZ. When force control is desired for this dimension, The corresponding value in should be set to 1. The corresponding value in should be set to 0. In the calculation of the controller, the force feedback type admittance controller only considers The dimension is 1 in the position PID controller only considers The dimension of 1 in the middle is the third speed control quantity. , and is converted into the final control posture command through integration The signal is sent to the robot arm controller to control the skin cutting tool 4 to move.

[0039] See also Figure 4 The working principle of the present invention is described below by using specific examples: In the skin incision implementation, this example simulates the skin incision process of the surgeon in the actual operation, such as Figure 5 and Figure 6 As shown, the doctor first teaches to drag the robotic arm, aligns the blade head 6 of the skin cutting tool 4 with the starting point of the incision planning at the preset position, and aligns the direction of the blade head 6 with the preset direction of the incision. Next, the robotic arm will automatically perform the skin cutting process such as downward skin incision, horizontal incision, and blade head rotation. After completing the skin cutting process, the skin cutting tool 4 leaves the incision, and the doctor performs subsequent surgical operations. The specific implementation steps are as follows: Step 1: Drag the skin cutting tool 4 at the end of the robot arm to the starting point of the planned incision position: The doctor drags the end of the robot arm so that the skin cutting tool 4 is vertically aligned with the incision starting point at the preset position and the direction of the blade is aligned with the preset direction.

[0040] Step 2: Downward skin incision: The robot arm controls the blade 6 to penetrate the skin to a first preset depth. Set by the doctor, such as Figure 5 As shown, the robot arm controller calculates the first desired control force for cutting the skin downward according to the distance between the lower end of the guide wheel 5 of the skin cutting tool 4 and the lower end of the blade 6 and the stiffness of the spring 8 of the skin cutting tool 4. size; In the actual control process, the first expected control force will be input into the robot arm controller for calculation, thereby controlling the skin cutting tool 4 to penetrate the skin downward along the tool axis to achieve the first desired control force When the blade penetrates the skin to the first preset depth set by the doctor , go to step 3.

[0041] Step 3: Cut horizontally: The robot arm controls the skin cutting tool 4 to move along a preset direction while maintaining the blade 6 penetrating the skin to a first preset depth, thereby achieving a transverse incision effect. The length of the cutting movement is the first preset length. It is also set by the doctor. During the transverse incision, the robot arm controls the skin cutting tool 4 to cut the skin at a constant speed; At the same time, the skin cutting tool 4 will control the blade 6 to automatically adjust to a rotation angle when receiving the lateral resistance torque to achieve greater cutting efficiency. Due to the rotation of the skin cutting tool 4, compared with the posture of the blade 6 when the skin is cut downward in step 2, the blade of the blade 6 will produce a displacement in the cutting direction, such as Figure 5 As shown, the actual moving distance is calculated during the actual skin cutting process. After that, it is necessary to control the cutter head 6 to continue cutting in the preset direction to compensate for this displacement, and set the maximum angle that the cutter head 6 can rotate. .

[0042] When the cutter head 6 rotates, in order to maintain the depth of the incision, the pressure applied along the axial direction of the skin cutting tool 4 should also be adjusted accordingly, such as Figure 5 As shown, the robot arm controls the skin cutting tool 4 to maintain the first preset incision depth while moving in a preset direction at a constant speed. When the tip of the blade 6 moves laterally to a distance When the cutter head 6 is rotated, step 4 will be entered.

[0043] Step 4: Turn the blade straight: The robot arm controller controls the skin cutting tool 4 to rotate with the tip of the blade 6 as the vertex, and the first preset angle of the selected inclination angle is 0, that is, the same angle as the downward skin incision in step 2 is restored. At the same time, in order to ensure that the cutting length of the tip of the blade 6 also reaches the first preset length planned by the doctor , the robot arm controller controls the tip of the cutter head 6 to continue moving forward in the cutting direction length.

[0044] In this step, the third desired control force applied along the axial direction of the skin cutting tool 4 will gradually decrease with the change of the rotation angle. The calculation formula is the same as the calculation method of the second desired control force applied in the transverse incision in step 3. When the rotation angle of the blade 6 is 0°, and the distance between the end point of the blade 6 and the initial point of the skin cutting along the preset direction is When the cut is completed, proceed to step 5 and move upwards away from the incision.

[0045] Step 5: Move upwards and away from the incision: The robot arm controller controls the skin cutting tool 4 to retreat upward at a uniform speed along the tool axis until the feedback force felt by the six-dimensional force sensor 1 is 0, and the skin cutting tool 4 spring 8 is restored to the length when it is not under force, and the blade has left the skin. The skin incision process ends here, and the doctor will manually teach to remove the skin incision tool 4 and perform subsequent operations.

[0046] In order to control the cutting force and incision depth while maintaining the accuracy of the incision, steps 2-5 adopt a feedback-based force-position hybrid control method, such as Figure 7As shown, the blade head 6 maintains a constant pressure on the skin during cutting, and the control dimension constant is adjusted according to the requirements of the movement posture of the blade head 6 in the skin cutting tool 4 in different steps. and , thus completing the multi-dimensional control in Cartesian space, Among them, the position control adopts the PID control method, and the force control adopts the admittance control method. The following explains the dimensional constants in steps 2-4 of the skin cutting process. and Adjustments: Dimension constant and For mutually exclusive vectors represented by 0 and 1, for six-dimensional control in Cartesian space and is a vector of 1*6 dimensions, corresponding to the six dimensions of X, Y, Z, RX, RY, and RZ. When force control is desired for this dimension, The corresponding value in should be set to 1. The corresponding value in should be set to 0. In the calculation of the controller, the force feedback type admittance controller only considers The dimension is 1 in the position PID controller only considers The dimension of 1 in the middle is the third speed control quantity. , and after integration, it is converted into the final control posture command and sent to the robot arm for movement; For step 2, downward skin incision and step 4, the blade is rotated, because only the force is controlled along the tool axis (Z axis in this example), and the other dimensions are position controlled, and They are: ; ; For the transverse cut in step 3, force control will be performed along the tool axis (Z) and rotation direction (RX), and position control will be performed in other dimensions, so and They are: ; ; For step 5, leaving the cut upward, there is only position control, so and They are: ; ; By adopting a force-position hybrid control method based on feedback, the cutting force can be controlled, which helps to maintain the stability of the incision depth, because the stable force can prevent the cutter head 6 from over-cutting or under-cutting, thereby accurately controlling the incision depth to a certain extent. Due to the force-position hybrid control, the cutter head 6 maintains a constant pressure on the skin, and in different steps, the control dimension constant can be adjusted according to the movement posture requirements of the cutter head 6, thereby accurately controlling the movement of the cutter head 6 in Cartesian space. The PID control and the quasi-admittance control are coordinated, the position control adopts the PID control method, and the force control adopts the quasi-admittance control method. This collaborative working mode enables the force control and position control to be effectively combined, thereby realizing the above-mentioned precise control of the movement posture in different cutting steps, further improving the availability and reliability of the present invention.

[0047] It should be noted here that the present embodiment provides a control method for a device for automatically cutting the skin during surgery, by controlling the blade on the skin cutting tool at the end of the robotic arm to penetrate the skin to a first preset depth at a preset position according to a first expected control force; then controlling the blade to cut a first preset length along a preset direction according to a second expected control force; after the cutting is completed, controlling the blade to move upward away from the skin incision, thereby realizing the function of automatically cutting the skin, greatly reducing the skin cutting error caused by human factors, and at the same time reducing the workload of the surgeon on the operating table, further improving the success rate of the surgery. The force-position mixed control method in this scheme enables the robot to dynamically adjust the control posture and control speed according to the hardness and elasticity of the skin, thereby achieving a more refined and smoother cutting effect, which greatly improves the intelligence, usability and reliability of the present invention.

[0048] In a preferred embodiment, the present application further provides an electronic device, the electronic device comprising: A memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the control method of the device for automatically cutting the skin during surgery is implemented. The computer device can be broadly a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of the computer device can be used to provide necessary computing, processing and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices through a network. When the computer program is executed by the processor, the steps of the method of the present invention are performed.

[0049] The present invention may be implemented as a computer-readable storage medium having a computer program stored thereon, which causes the steps of the method of an embodiment of the present invention to be executed when executed by a processor. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be performed by one or more computer devices or processors, and one or more other method steps / operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step / operation, or perform two or more method steps / operations.

[0050] It should be noted here that the present invention provides a device for automatically cutting the skin during surgery and a control method thereof, wherein a skin cutting tool is installed at the end of a robotic arm, and the knife head on the skin cutting tool 4 at the end of the robotic arm is controlled to penetrate the skin to a first preset depth at a preset position according to a first expected control force; then the knife head is controlled to cut a first preset length along a preset direction according to a second expected control force; after the cutting is completed, the knife head is controlled to move upward away from the skin incision, thereby realizing the function of automatically cutting the skin, greatly reducing the skin cutting error caused by human factors, and at the same time reducing the workload of the surgeon on the operating table, further improving the success rate of the operation. The force-position mixed control method in this scheme enables the robot to dynamically adjust the control posture and control speed according to the hardness and elasticity of the skin, thereby achieving a more refined and smoother cutting effect, which greatly improves the intelligence, usability and reliability of the present invention.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0052] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0053] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A device for automatically cutting skin during surgery, comprising: A robotic arm end, the robotic arm end comprising a six-dimensional force sensor (1) and a head tracker (2), the robotic arm end being mounted with a flange (3), the six-dimensional force sensor (1) being mounted on the flange (3), the head tracker (2) being arranged at the end of the six-dimensional force sensor (1), characterized in that the device for automatically cutting the skin during surgery further comprises: A skin cutting tool (4), the skin cutting tool (4) being mounted on the end of the handpiece tracker (2), the skin cutting tool (4) being used for cutting the skin; The robot arm controller is used to control the skin cutting tool (4) to cut the skin.

2. The device for automatically cutting the skin during surgery according to claim 1, characterized in that: The skin cutting tool (4) comprises a guide wheel (5), a cutter head (6), a guide wheel connecting rod (7), a spring (8), and a cutter head connecting rod (9); The guide wheel (5) is fixedly mounted on the guide wheel connecting rod (7), the guide wheel connecting rod (7) is slidably connected to the cutter head connecting rod (9) via a spring (8), the cutter head (6) is fixed on the guide wheel connecting rod (7), the guide wheel connecting rod (7) drives the cutter head (6) to slide along the direction of the cutter head connecting rod (9), and the cutter head connecting rod (9) is fixedly mounted on the end of the machine head tracker (2).

3. A control method for a device for automatically cutting skin during surgery, characterized in that: include: S100, controlling the blade (6) of the skin cutting tool (4) at the end of the robotic arm to penetrate the skin at a preset position and to a first preset depth according to a first desired control force; S200, controlling the cutter head (6) to cut a first preset length along a preset direction according to a second desired control force; S300: After the cutting is completed, the blade head (6) is controlled to move upward away from the skin incision.

4. The control method of the device for automatically cutting skin during surgery according to claim 3, characterized in that: The S100 includes: The robot arm controller is used to control the blade head (6) of the skin cutting tool (4) to align with the skin incision at a preset position and penetrate the skin to a first preset depth, and the first expected control force is calculated according to the distance between the end of the guide wheel (5) of the skin cutting tool (4) and the end of the blade head (6), as well as the stiffness of the spring (8) of the skin cutting tool (4). The specific calculation method is as follows: ； in, represents the first expected control force, represents the stiffness coefficient of spring (8), Indicates the first preset depth, Indicates the distance between the end of the guide wheel (5) of the skin cutting tool (4) and the end of the cutting head (6).

5. The control method of the device for automatically cutting skin during surgery according to claim 4, characterized in that: The S200 includes: Using a robotic arm controller to control a blade (6) of a skin cutting tool (4) to cut a first preset length along a preset direction while maintaining a first preset depth; At the same time, the cutter head (6) rotates with the tip of the cutter head (6) as the origin to form a rotation inclination angle, the angle of the rotation inclination angle is represented as a first preset angle, and the second expected control force of the cutter head (6) is calculated based on the first preset angle. The specific calculation method is as follows: ； in, represents the second expected control force, represents the first preset angle, represents the stiffness coefficient of spring (8), Indicates the first preset depth, Indicates the distance between the end of the guide wheel (5) of the skin cutting tool (4) and the end of the cutting head (6).

6. The control method of the device for automatically cutting skin during surgery according to claim 5, characterized in that: The method of using a robotic arm controller to control the blade (6) of the skin cutting tool (4) to cut a first preset length along a preset direction while maintaining a first preset depth comprises: During the process of the cutter head (6) automatically rotating by the first preset angle, a lateral displacement is generated in the preset direction, and the actual distance moved by the cutter head (6) along the preset direction is calculated based on the lateral displacement. The specific calculation process is as follows: ； ； in, Indicates the actual distance the cutter head (6) moves along the preset direction. Indicates the first preset length, represents the lateral displacement of the cutter head (6) during the rotation process, Indicates the first preset depth, Indicates the first preset angle.

7. The control method for the device for automatically cutting skin during surgery according to claim 6, characterized in that: The method of using a robotic arm controller to control the blade (6) of the skin cutting tool (4) to cut a first preset length along a preset direction while maintaining a first preset depth, further comprises: The cutter head (6) moves along the cutting direction After the distance is reached, the robot arm controller is used to control the cutter head (6) to rotate straight, that is, the first preset angle of the rotation inclination is 0°, and during the rotation of the cutter head (6), the cutter head (6) is controlled to continue to move along the preset direction. The distance is used to compensate for the lateral displacement of the cutter head (6) during the rotation process.

8. The control method for the device for automatically cutting skin during surgery according to claim 7, characterized in that: The S300 includes: After the cutting is completed, the first preset angle of the rotation inclination of the blade head (6) is 0°, and the blade head (6) is controlled by the robot arm controller to move upward away from the skin incision until the six-dimensional force sensor (1) receives a control force feedback of 0 from the blade head (6), and stops.

9. The control method for the device for automatically cutting skin during surgery according to claim 3, characterized in that: The method further comprises: A feedback-based force-position hybrid control method is used to realize the control of the motion posture of the cutter head (6) of the skin cutting tool (4) for automatic skin cutting in Cartesian space, and multi-dimensional control of the cutter head (6) of the skin cutting tool (4) in Cartesian space is completed by adjusting the dimensional constant; Among them, the feedback-based force-position hybrid control method includes position control and force control. The position control is controlled by a PID controller, and the force control is controlled by an admittance-like controller.

10. The control method for the device for automatically cutting skin during surgery according to claim 9, characterized in that: The dimensional constant and is a mutually exclusive vector represented by 0 and 1; In the six-dimensional control under Cartesian space, when a dimension adopts force control, the dimension constant Set the value of this dimension to 1 and the other dimensions to 0. The value of this dimension is set to 0, and the other dimensions are set to 1; In the controller calculation, the admittance-like controller only calculates The dimension set to 1 in the output is the first speed control quantity, and the PID controller only calculates The dimension is set to 1 in the middle, a second speed control quantity is output, the first speed control quantity and the second speed control quantity are combined to obtain a third speed control quantity, and a control posture instruction is obtained through integral transformation, and the control posture instruction is sent to the skin cutting tool (4) at the end of the robot arm for movement.

11. An electronic device, characterized in that: include: Memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, a control method for an apparatus for automatically cutting skin during surgery according to any one of claims 3 to 10 is implemented.

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