Reset robot and control method thereof

Abstract

The embodiment of the invention provides a reset robot and a control method thereof. The reset robot comprises a first reset ring, a second reset ring, a first tracer, a second tracer, a reset planning assembly and a reset driving assembly. Wherein the first reduction ring is used for being connected with a first bone and driving the first bone to move; the second reduction ring is used for being connected with a second bone; the first tracer is used for acquiring first pose information of the first reset ring; the second tracer is used for acquiring second pose information of the second reset ring; the reset planning assembly is connected with the first tracer and the second tracer and is used for obtaining a reset path according to the first pose information and the second pose information; the reduction path guides the first bone to move to a target pose relative to the second bone; the reduction driving assembly is connected to the first reduction ring and the second reduction ring, the first reduction ring is driven to move to the target pose relative to the second reduction ring according to the reduction path, the surgical operation difficulty is reduced, and the surgical safety is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, and particularly relates to a reduction robot and a control method thereof. BACKGROUND

[0002] In the technical field of medical devices, fracture reduction surgery is a key link in the treatment of fractures, and the reduction accuracy directly affects the rehabilitation effect of patients. In recent years, reduction robots have been gradually applied to fracture reduction surgery, and most of them use metal link platforms to achieve reduction adjustment.

[0003] However, although the metal link can provide stable mechanical support, it will affect the intraoperative fluoroscopy, resulting in the need for the doctor to adjust and repeatedly fluoroscopy multiple times to ensure the reduction accuracy, which not only increases the operation time, but also increases the operation complexity. SUMMARY

[0004] The present application provides a reduction robot and a control method thereof, which is beneficial to reduce the difficulty of surgical operation and improve the safety of surgical operation.

[0005] The reduction robot provided in the first aspect of the present application comprises: a first reduction ring configured to be connected with a first fractured member to drive the first fractured member to move; a second reduction ring configured to be connected with a second fractured member; a first tracker configured to acquire first pose information of the first reduction ring; a second tracker configured to acquire second pose information of the second reduction ring; a reduction planning component connected with the first tracker and the second tracker, configured to obtain a reduction path according to the first pose information and the second pose information; the reduction path is configured to guide the first fractured member to move to a target pose relative to the second fractured member; and a reduction driving component connected with the first reduction ring and the second reduction ring, configured to drive the first reduction ring to move to the target pose relative to the second reduction ring according to the reduction path.

[0006] In a feasible implementation manner, the first tracker is connected with the first reduction ring, so that the first tracker, the first reduction ring and the first fractured member move synchronously.

[0007] In an implementation, the reset driving assembly comprises a sub-reset driving assembly connected between the first reset ring and the second reset ring, the sub-reset driving assembly comprising: a moving push rod movably connected with the first reset ring, and a moving driving member configured to drive the moving push rod to move in the second direction to drive the first reset ring to move in the second direction; a first transmission assembly rotatably connected with the second reset ring about the third direction axis; a second transmission assembly and a rotating driving assembly, the second transmission assembly being in transmission connection with the rotating driving assembly and the first transmission assembly, the second transmission assembly being connected with the first reset ring through the moving driving member and the moving push rod, and the rotating driving assembly being configured to drive the second transmission assembly and the first transmission assembly to rotate about the first direction axis, so that the second transmission assembly drives the first reset ring to rotate about the first direction axis.

[0008] In an implementation, the reset driving assembly comprises three sub-reset driving assemblies, which are uniformly spaced along the circumference of the first reset ring.

[0009] In an implementation, the first transmission assembly comprises a first rotating member, and the sub-reset driving assembly further comprises a first hinged member and a second hinged member, the second hinged member being sleeved on the first hinged member, one of the first rotating member and the second reset ring being partially sleeved on the second hinged member, and the other being partially sleeved on the first hinged member, the first hinged member and the second hinged member being rotatably connected about the third direction axis, so that the first rotating member and the second reset ring relatively rotate about the third direction axis with the first hinged member and the second hinged member.

[0010] In an implementation, the sub-reset driving assembly further comprises a damping member, the damping member being sleeved on the first hinged member and axially abutting against the second hinged member, an outer wall of the damping member being configured with a first inclined surface having an included angle with the axial direction of the damping member, the first inclined surface abutting against one of the second reset ring and the first rotating member, and the degree of the damping member pressing the one of the second reset ring and the first rotating member being adjusted by rotating the first hinged member.

[0011] In an implementation, the first transmission assembly further comprises a first shaft and a first transmission member, the first transmission member being rotatably connected with the first rotating member about the first direction axis through the first shaft; the second transmission assembly comprises a second transmission member and a connecting member, the second transmission member and the connecting member being sleeved on an output shaft of the rotating driving assembly, the second transmission member being in transmission connection with the first transmission member, and the connecting member being connected with the moving driving member; under the driving of the rotating driving assembly, the first transmission member and the second transmission member are in meshing transmission, so that the second transmission assembly drives the moving driving member, the moving push rod and the first reset ring to rotate about the first direction axis relative to the first rotating member.

[0012] In an implementation, the second transmission assembly further comprises a limiting member and a guide member, the guide member and the first rotating member are provided with arc surfaces that match each other, and the matching track of the arc surfaces matches the transmission track of the first transmission member and the second transmission member; the limiting member is rotatably connected to the first rotating member and the guide member at two ends thereof in the first direction; and the second transmission assembly is guided to rotate relative to the first transmission assembly along the arc surfaces.

[0013] In an implementation, the rotating drive assembly is fixedly connected to the moving drive member, so that the rotating drive assembly and the moving drive member rotate synchronously around the first direction axis.

[0014] In an implementation, the sub-reset drive assembly further comprises a universal connecting member, and the moving push rod is movably connected to the first reset ring through the universal connecting member.

[0015] In the reset robot provided by the embodiments, the pose information of the first reset ring and the second reset ring is acquired by the first tracer and the second tracer respectively. Since the first reset ring is connected to the first breaking member and the second reset ring is connected to the second breaking member, the pose information of the first reset ring and the second reset ring can represent the poses of the first breaking member and the second breaking member respectively. Accordingly, the reset planning assembly calculates the motion path required for resetting the first breaking member to the target pose according to the pose information, and then the first reset ring drives the first breaking member to move to the target pose relative to the second reset ring under the drive of the reset drive assembly. It can be seen that the mechanical configuration of the reset drive assembly is mainly designed according to the relative motion requirement between the first reset ring and the second reset ring, and is basically not limited by the shape of the first breaking member. In this way, the structure of the reset drive assembly can be flexibly configured according to the rotation freedom and the movement freedom required for the reset operation, avoiding the problem of complex structure caused by the difficulty in structural adaptation due to directly driving the first breaking member, and reducing the blockage of the reset drive assembly to the first breaking member and the second breaking member, which is beneficial to improving the quality of the intraoperative fluoroscopy. In addition, the first tracer and the second tracer can feed back the pose information of the first reset ring and the second reset ring, which can reduce the number of intraoperative confirmations relying on fluoroscopy, not only shortening the operation time, but also reducing the risk of patients and operations.

[0016] The control method of the reset robot provided in the second aspect of the application comprises the following steps: S1: determining an intermediate pose of the first broken part according to a current pose of the first broken part and a target pose of the first broken part; in the intermediate pose, the central axis of the first broken part coincides with the central axis of the second broken part; S2: controlling the reset driving assembly to move in a first reset path based on the intermediate pose; the first reset path comprises a plurality of first reset points; S3: determining a target angle of the first broken part according to the intermediate pose of the first broken part and the target pose of the first broken part; S4: determining a real-time pose of the first broken part according to a preset step length and a minimum distance; the preset step length is a step length generated after the first broken part rotates a preset angle around the central axis of the second broken part within a preset time; the minimum distance is the minimum value of the distance between the first broken part and the second broken part; S5: controlling the reset driving assembly to move in a second reset path based on the real-time pose; the second reset path comprises a plurality of second reset points; S6: in response to the angle of the cumulative rotation of the first broken part around the central axis of the second broken part being less than or equal to the target angle, performing S4 and S5 again; and S7: in response to the angle of the cumulative rotation of the first broken part around the central axis of the second broken part being greater than the target angle, ending the control of the reset robot.

[0017] In some possible implementation manners, S1 comprises: establishing a first coordinate system and a second coordinate system; the first coordinate system is a coordinate system established with the center of the first broken part as the origin, and the second coordinate system is a coordinate system established with the center of the second broken part as the origin; determining the target pose of the first broken part in the second coordinate system according to the pose of the second broken part in the image system and the target pose of the first broken part in the image system; determining the current pose of the first broken part in the second coordinate system according to the pose of the second broken part in the image system and the pose of the first broken part in the image system; and converting the target pose of the first broken part in the second coordinate system and the current pose of the first broken part in the second coordinate system into a position and Euler form to obtain the intermediate pose of the first broken part.

[0018] In some possible implementation manners, S2 comprises: determining a first extension amount of the movement driving part and a first rotation angle of the rotation driving assembly based on the intermediate pose; the reset driving assembly comprises the movement driving part and the rotation driving assembly; determining the first reset path based on the first extension amount and the first rotation angle; and controlling the reset driving assembly to move in the first reset path.

[0019] In some possible implementation manners, the first extension amount of the movement driving member and the first rotation angle of the rotation driving assembly are determined based on the intermediate pose, including: discretizing the intermediate pose and the current pose of the first broken piece in the second coordinate system to obtain a first discrete pose of the first broken piece in the second coordinate system; converting the first discrete pose of the first broken piece in the second coordinate system into a second discrete pose of the first platform in the second platform, the first platform being a platform where the first reset ring is located, and the second platform being a platform where the second reset ring is located; and determining the first extension amount of the movement driving member and the first rotation angle of the rotation driving assembly based on the second discrete pose of the first platform in the second platform.

[0020] In some possible implementation manners, the discretizing the intermediate pose and the current pose to obtain the first discrete pose includes: discretizing a straight line path between the current position and the intermediate position of the first broken piece in the second coordinate system to obtain a discrete position point; the current pose and the intermediate pose of the first broken piece include the current position and the intermediate position of the first broken piece; performing quaternion difference processing on a start attitude and a target attitude in the target pose of the first broken piece in the second coordinate system and the current pose of the first broken piece in the second coordinate system to obtain a discrete intermediate rotation matrix; and determining the first discrete pose by combining the discrete position point and the discrete intermediate rotation matrix.

[0021] In some possible implementation manners, S4 includes: converting a discrete point set of a surface of a broken part of the first broken piece in the first coordinate system to the second coordinate system to obtain a first discrete point set; and determining the minimum distance between the first broken piece and the second broken piece by combining the first discrete point set and a second discrete point set, the second discrete point set being a discrete point set of a surface of a broken part of the second broken piece in the second coordinate system.

[0022] In some possible implementation manners, S4 further includes: determining a translation amount of the first broken piece based on the minimum distance; and determining a real-time pose of the first broken piece by combining a preset step length and the translation amount.

[0023] In some possible implementation manners, the determining the translation amount of the first broken piece based on the minimum distance includes: the translation amount of the first broken piece being a difference between the minimum distance and a safe movement distance of the first broken piece; and the safe movement distance being a safe distance of the first broken piece in a single movement process.

[0024] In some possible implementation manners, S5 includes: determining a second extension amount of the movement driving member and a second rotation angle of the rotation driving assembly based on the real-time pose of the first platform in the second platform; determining a second reset path based on the second extension amount and the second rotation angle; and controlling the reset driving assembly to move in the second reset path.

[0025] The control method of the reset robot provided in the application realizes the reset of the first broken part and the second broken part through twice reset. In the preliminary reset, the center axes of the first broken part and the second broken part are controlled to coincide, and on this basis, the secondary reset is performed, and in the secondary reset, the first broken part is synchronously controlled through rotation and translation, the method is simple and easy to operate, can effectively shorten the reset time, and ensure the reset accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained from these drawings without any creative labor.

[0027] Figure 1 is the overall structure schematic diagram of the reset robot provided in the embodiment of the application;

[0028] Figure 2a is the structure schematic diagram of the connection between the second tracer and the second reset ring in the reset robot provided in the embodiment of the application;

[0029] Figure 2b is the structure schematic diagram of the reset robot in the radial direction of the second reset ring provided in the embodiment of the application;

[0030] Figure 3 is the structure schematic diagram of the sub-reset driving assembly in the reset robot provided in the embodiment of the application;

[0031] Figure 4 is the structure schematic diagram of the sub-reset driving assembly provided in the embodiment of the application; Figure 3

[0032] Figure 5 is the structure schematic diagram of the connection between the sub-reset driving assembly and the first reset ring in the reset robot provided in the embodiment of the application;

[0033] Figure 6 is the enlarged schematic diagram of the connection structure A of the sub-reset driving assembly and the first reset ring provided in the embodiment of the application; Figure 5

[0034] is the structure schematic diagram of the connection between the sub-reset driving assembly and the second reset ring in the reset robot provided in the embodiment of the application; Figure 7

[0035] is the structure schematic diagram of the damping part in the reset robot provided in the embodiment of the application; Figure 8

[0036] Figure 9 ​​is a structural schematic view of a rotating driving assembly and a second transmission assembly in a reset robot provided by an embodiment of the present application;

[0037] Figure 10 is a sectional structural schematic view of a first rotating member in a reset robot provided by an embodiment of the present application;

[0038] Figure 11 is an exploded structural schematic view of a second transmission assembly in a reset robot provided by an embodiment of the present application;

[0039] Figure 12 is a structural schematic view of a guide member and a first rotating member in a reset robot provided by an embodiment of the present application;

[0040] Figure 13 is a structural schematic view of a limiting member in a reset robot provided by an embodiment of the present application;

[0041] Figure 14 is a schematic view of position relationship of each coordinate system in a reset robot provided by an embodiment of the present application;

[0042] Figure 15 is a motion diagram of a reset driving assembly provided by an embodiment of the present application.

[0043] Figure 16 is a flowchart of a control method of a reset robot provided by an embodiment of the present application;

[0044] Figure 17 is a process schematic view of reset of a first breaking member and a second breaking member provided by an embodiment of the present application.

[0045] Legend of reference signs:

[0046] 1000 - reset robot; 100 - first reset ring; 101 - first opening; 102 - first connecting hole; 200 - second reset ring; 300 - first tracer; 310 - first adapter; 311 - fixed part; 3111 - fixed hole; 312 - elongated part; 400 - second tracer; 600 - reset driving assembly; 610 - sub reset driving assembly; 610a - shell; 611 - first fixing member; 612 - second fixing member; 12 - moving push rod; 11 - moving driving member; 13 - universal connecting member; 110 - connector; 111 - first connecting part; 112 - second connecting part; 132 - ball head; 131 - ball seat; 30 - first transmission assembly; 301 - protective shell; 31 - first rotating member; 313 - first mounting part; 315 - hinged part; 316 - connecting hole; 318 - arc surface; 314 - first matching part; 32 - second rotating member; 21 - first hinged member; 22 - second hinged member; 24 - intermediate member; 23 - damping member; 23a - first inclined surface; 40 - second transmission assembly; 41 - second transmission member; 42 - connecting member; 421 - first section; 422 - second section; 423 - sleeving part; 424 - fixed connecting part; 411 - limiting sleeve; 412 - end cover; 43 - fixing member; 431 - containing part; 44 - guide member; 441 - arc surface; 442 - second matching part; 45 - limiting member; 451 - first bent part; 452 - second bent part; 46 - second bearing; 47 - connector; 471 - first part; 472 - second part; 48 - third bearing; 50 - rotary driving assembly; 51 - output shaft; 53 - rotary motor; 54 - harmonic reducer; 55 - worm gear reducer; 56 - absolute value encoder; 33 - first shaft; 34 - first transmission member. DETAILED DESCRIPTION

[0047] In order to enable persons skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described in the description of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should be within the scope of protection of the present application.

[0048] In the description of the embodiments of the present application, it should be noted that the positions or location relationships indicated by the terms "inner", "outer" and the like are based on the positions or location relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0049] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0050] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0051] In the field of medical instruments, fracture reduction surgery is a key link in the treatment of fractures, and the reduction accuracy directly affects the rehabilitation effect of the patient. The traditional operation mainly relies on the personal experience and operation skills of the doctor, and the in-situ reduction position of the bone needs to be confirmed by fluoroscopy multiple times to determine whether the accuracy requirements are met, which not only prolongs the operation time, but also increases the risk of patients and operations.

[0052] In recent years, reduction robots have been gradually applied to fracture reduction surgery. Such robots are similar in structure to traditional manual reduction instruments, but mostly use metal link platforms to achieve reduction adjustment. Although the metal link can provide stable mechanical support, it will interfere with the in-situ fluoroscopy imaging, resulting in the need for the doctor to make multiple adjustments and repeated fluoroscopy to ensure the reduction accuracy of the bone, which prolongs the reduction operation time and increases the risk of patients and operations.

[0053] In view of the above problems, the embodiments of the present application provide a reduction robot for reducing the bone.

[0054] Here, the normal anatomical position of the bone has abnormally deviated beyond the physiological self-recovery range, affecting the function of the bone, and the bone can be reduced.

[0055] In some embodiments, joint dislocation, fracture, congenital deformity, and old injury leading to deformity healing may require bone reduction.

[0056] It should be noted that the joint dislocation, fracture, and congenital malformation mentioned above are only examples of bone repositioning. This application does not limit the bone repositioning scenarios in which the repositioning robot is applied.

[0057] The structure of the reset robot in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0058] Figure 1 This is a schematic diagram of the overall structure of the reset robot provided in the embodiments of this application.

[0059] Reference Figure 1 As shown in this embodiment, the reset robot 1000 includes a first reset ring 100, a second reset ring 200, a first tracer 300, a second tracer 400, a reset planning component, and a reset driving component 600. The first reset ring 100 is connected to a first fractured component (not shown) and drives the first fractured component to move; the second reset ring 200 is connected to a second fractured component (not shown). Both the first tracer 300 and the second tracer 400 are connected to the reset planning component. The first tracer 300 is used to acquire the first pose information of the first reset ring 100; the second tracer 400 is used to acquire the second pose information of the second reset ring 200. The reset planning component is used to obtain a reset path based on the first pose information and the second pose information; the reset path is used to guide the first fractured component to move relative to the second fractured component to a target pose. The reset driving component 600 is connected to the first reset ring 100 and the second reset ring 200 and is used to drive the first reset ring 100 to move relative to the second reset ring 200 to the target pose according to the reset path. Therefore, the first reset ring 100 is connected to the first fractured component. When the first reset ring 100 moves to the target pose, the first fractured component is in the target pose accordingly.

[0060] It is important to emphasize that when using a repositioning robot to reposition a broken bone, the first fractured component can be the first bone, and the second fractured component can be the second bone. Of course, when applying the repositioning robot to reposition other fractured components, the first and second fractured components can also be fractured components of other structures. The following explanation uses the first fractured component as the first bone and the second fractured component as the second bone. Here, the first bone can be understood as the bone segment that needs to be moved or adjusted; the second bone serves as the reference point for the repositioning operation. In other words, using the spatial position and orientation of the second bone as a reference, the position and orientation of the first bone are adjusted to achieve a predetermined target pose relative to the second bone. When the first bone is in this target pose relative to the second bone, it indicates that the first bone has also recovered to the correct pose in the global coordinate system. The correct pose can be understood as the original normal anatomical alignment of the bone segment, which can be specifically defined as the standard for functional or anatomical repositioning according to clinical surgical needs. This embodiment does not limit the correct pose.

[0061] According to the reset robot 1000 provided by the embodiment of the present application, the pose information of the first reset ring 100 and the second reset ring 200 is respectively acquired by the first tracker 300 and the second tracker 400. Since the first reset ring 100 is connected with the first bone and the second reset ring 200 is connected with the second bone, the pose information of the first reset ring 100 and the second reset ring 200 can be used to represent the pose of the first bone and the second bone respectively. Accordingly, the motion path required for resetting the first bone to the target pose is calculated by the reset planning component according to the above-mentioned pose information, and then the first reset ring 100 drives the first bone to move to the target pose relative to the second reset ring 200 under the driving of the reset driving component 600. It can be seen that in the process of driving the first reset ring 100 to move to the target pose relative to the second reset ring 200, the mechanical configuration of the reset driving component 600 is mainly designed according to the relative motion requirement between the first reset ring 100 and the second reset ring 200, and is basically not limited by the shape of the first bone. In this way, the structure of the reset driving component 600 can be flexibly configured according to the rotation freedom and the movement freedom required by the reset operation, thereby avoiding the problem of complex structure caused by the difficulty in structural adaptation due to directly driving the first bone, and reducing the obstruction of the reset driving component to the first bone and the second bone, which is conducive to improving the quality of the intraoperative perspective. In addition, the first tracker 300 and the second tracker 400 can feed back the pose information of the first reset ring 100 and the second reset ring 200, which can reduce the number of intraoperative confirmations relying on perspective, not only shortening the operation time, but also reducing the risk of patients and operations.

[0062] In some embodiments, the first reset ring 100 is provided with a first opening 101, and the first opening 101 is used for placing the first bone into the first reset ring 100 so that the first reset ring 100 clamps the first bone.

[0063] The opening size of the first opening 101 matches the size of the first bone, so that the first bone can be smoothly placed into the first reset ring 100.

[0064] In some examples, the opening size of the first opening 101 is greater than or equal to the size of the first bone.

[0065] In some examples, the opening size of the first opening 101 is greater than or equal to the size of the first bone.

[0066] In some examples, the opening size of the first opening 101 is greater than or equal to the size of the first bone.

[0067] For example, the first reset ring 100 can include a first part and two second parts, according to the radial size of the first bone, the first part can be connected with one second part or two second parts, so as to form a first opening 101 with different opening sizes to adapt to different radial sizes of the first bone.

[0068] In some embodiments, the first reset ring 100 and the first bone can be fixedly connected in the following manner: the first bone can be connected with the first reset ring 100 through a first adapter (not shown in the figure).

[0069] In some examples, the first reset ring 100 includes a first connecting hole 102 passing therethrough, and the first adapter is arranged in the first connecting hole 102 and extends into the first bone to realize the connection between the first reset ring 100 and the first bone.

[0070] The first connecting hole 102 can extend along the radial direction of the first reset ring 100, or the first connecting hole 102 can extend along the normal direction of the first reset ring 100, and the extension direction of the first connecting hole 102 is not limited in the embodiments of the application.

[0071] In some examples, the first adapter can include, but is not limited to, a threaded needle holder, a Kirschner wire, and other surgical fixation structures.

[0072] In some embodiments, the technical solutions for connecting the second reset ring 200 with the second bone can refer to the aforementioned embodiments of connecting the first reset ring 100 with the first bone, which will not be described herein.

[0073] In some embodiments, the reset planning assembly (not shown in the figure) serves as the control center of the reset robot, receives the first pose information acquired by the first tracer 300 and the second pose information acquired by the second tracer 400. Then, the reset planning assembly obtains the relative pose of the first bone and the second bone in the misaligned state. Correspondingly, the reset planning assembly plans a reset path based on the model reconstructed from the preoperative scanning data and the perspective image.

[0074] In some examples, the reset planning assembly generates a reset path of the first reset ring 100 from the current pose to the target pose by calculating the difference between the current pose and the target pose in the misaligned state. The reset path includes not only the target pose, but also the operation data of the translation and rotation actions that the first reset ring 100 needs to undergo.

[0075] In some embodiments, the first tracker 300 obtains the first pose information of the first reset ring 100 by the following manner: the first tracker 300 comprises a tracking body and an optical device matched with the tracking body. The tracking body can be provided with a plurality of reflective markers, and the optical device is used to continuously capture the three-dimensional space information of the reflective markers and calculate the first pose information of the first reset ring 100. The first pose information can be six-degree-of-freedom position information, including the movement freedom along the three-dimensional coordinate axes and the rotation angle around the three-dimensional coordinate axes.

[0076] It should be noted that the above method of obtaining the first pose information by the reflective markers and the optical device is only an example of obtaining the first pose information by the first tracker 300, and the embodiments of the present application do not limit the implementation of the first tracker 300.

[0077] In some embodiments, the technical solution of the second tracker 400 obtaining the second pose information of the second reset ring 200 can refer to the implementation of the first tracker 300 obtaining the first pose information of the first reset ring 100, which will not be described here.

[0078] In some embodiments, the first tracker 300 is connected with the first reset ring 100, so that the first tracker 300, the first reset ring 100 and the first bone move synchronously. Since the relative positional relationship between the first tracker 300 and the first reset ring 100 is always kept unchanged, when obtaining the first pose information of the first reset ring 100 by the first tracker 300, it is not necessary to repeatedly consider the coordinate transformation of the relative pose between the two. This not only avoids the error that may be introduced due to the coordinate transformation calculation, effectively improves the measurement accuracy of the first pose information, but also simplifies the data processing amount.

[0079] In some embodiments, the first tracker 300 can be connected with the first reset ring 100 by a fastener.

[0080] In other embodiments, the first tracker 300 can be connected to the periphery of the first reset ring 100 by a first adapter 310. Thus, the first adapter 310 can fix the first tracker 300 to the periphery of the first reset ring 100, thereby increasing the distance between the first tracker 300 and the first bone. Accordingly, when performing intraoperative fluoroscopy, the first tracker 300 can reduce the occlusion of the first bone.

[0081] In some examples, the first adapter 310 comprises a fixing portion 311 and an elongated portion 312, the fixing portion 311 is connected with the first reset ring 100, and the elongated portion 312 is used to place the first tracker 300 at the periphery of the first reset ring 100.

[0082] The elongated portion 312 can be along the radial direction of the first reset ring 100 (see FIG. 2B), and the fixing portion 311 can be along the circumferential direction of the first reset ring 100 (see FIG. 2B). Figure 1The elongated portion 312 can extend outward from the first reduction ring 100 along a normal direction of the first reduction ring 100 (see the direction T1 shown in the figure); or, the elongated portion 312 can extend outward from the first reduction ring 100 along a second direction T2 (see the direction T2 shown in the figure). Figure 1 The extending direction of the elongated portion 312 can be determined according to the intraoperative perspective and the relative position relationship between the first bone and the second bone, and the embodiments of the present application do not limit the extending direction of the elongated portion 312.

[0083] In some examples, the fixed portion 311 includes a fixed hole 3111 formed therein. A fastener is arranged in the fixed hole 3111 and extends at least into the first reduction ring 100, so as to connect the first adapter 310 with the first reduction ring 100.

[0084] In some examples, an end of the elongated portion 312 away from the fixed portion 311 is connected with the first tracer 300. The elongated portion 312 and the first tracer 300 can be connected by screw connection, one-piece forming or other connection manners, and the present application does not limit the connection manner of the elongated portion 312 and the first tracer 300.

[0085] Figure 2a FIG. 4 is a structural schematic diagram of a connection between a second tracer and a second reduction ring in a reduction robot according to an embodiment of the present application. As shown in the figure, in some embodiments, the second tracer 400 is connected with the second reduction ring 200, so that the position of the second tracer 400 is relatively fixed with the second reduction ring 200. Figure 2a

[0086] The technical solution of the connection between the second tracer 400 and the second reduction ring 200 can refer to the foregoing embodiments of the connection between the first tracer 300 and the first reduction ring 100, and will not be described herein.

[0087] In order to realize the movement of the first reduction ring 100 along the reduction path to the target pose, in some embodiments, the reduction driving assembly 600 includes a sub-reduction driving assembly 610 connected between the first reduction ring 100 and the second reduction ring 200.

[0088] The sub-reduction driving assembly 610 acts on the first position of the first reduction ring 100 and the corresponding second position of the second reduction ring 200, respectively. The sub-reduction driving assembly 610 drives the corresponding connection points on the first reduction ring 100 to displace or rotate relative to the second reduction ring 200, so as to adjust the pose of the first reduction ring 100. Since the first bone is fixedly connected with the first reduction ring 100, the first bone will be synchronously moved under the driving of the first reduction ring 100.

[0089] ​In some embodiments, the number of sub-reset driving assemblies 610 can be configured according to the rotational degrees of freedom and the movement degrees of freedom required by the reset operation, and the first position of the first reset ring 100 to which the sub-reset driving assembly 610 is connected and the second position of the first reset ring 100 corresponding to the first position.

[0090] In some examples, if the rotational degrees of freedom and the movement degrees of freedom required by the reset operation are less, the number of sub-reset driving assemblies 610 can be configured to be one or two, and the two sub-reset driving assemblies 610 are arranged at intervals along the circumference of the first reset ring 100 to adjust the multiple degrees of freedom of the first reset ring 100.

[0091] In other examples, if the rotational degrees of freedom and the movement degrees of freedom required by the reset operation are more, the number of sub-reset driving assemblies 610 can be configured to be three or more.

[0092] Figure 2b FIG. 6 is a structural schematic diagram of a reset robot in the radial direction of the second reset ring according to an embodiment of the present application.

[0093] In combination with Figure 2b As shown in FIG. 6, in some embodiments, the reset driving assembly 600 includes three sub-reset driving assemblies 610, and the three sub-reset driving assemblies 610 are arranged at intervals along the circumference of the first reset ring 100. In this way, the three sub-reset driving assemblies 610 are uniformly distributed along the circumference of the first reset ring 100, ensuring that the movement of the first reset ring 100 in any direction (including the movement degrees of freedom along the three axes of the three-dimensional coordinate system and the rotational degrees of angle around the three axes of the three-dimensional coordinate system) is supported by the sub-reset driving assembly 610. Accordingly, the degrees of freedom of the three sub-reset driving assemblies 610 driving the movement of the first reset ring 100 can be combined to realize omnidirectional adjustment of the pose of the first reset ring 100.

[0094] It can be understood that the degrees of freedom of the three sub-reset driving assemblies 610 driving the movement of the first reset ring 100 can be combined to obtain the movement of the first reset ring 100 in the translation (movement along the three axes of the three-dimensional coordinate system), rotation (around the three axes of the three-dimensional coordinate system), and pitch direction (swing of the line connecting the first reset ring 100 and the second reset ring 200).

[0095] In some examples, the three sub-reset driving assemblies 610 arranged at intervals along the circumference of the first reset ring 100 can be understood as: the included angle between adjacent sub-reset driving assemblies 610 is 120 degrees along the circumference of the first reset ring 100. As Figure 2b As shown in FIG. 6, in the three sub-reset driving assemblies 610, the included angles between adjacent sub-reset driving assemblies 610 are angle a, angle b, and angle c, respectively. Therefore, angle a, angle b, and angle c are all 120 degrees.

[0096] In other embodiments, if the reset drive assembly 600 includes four sub-reset drive assemblies 610, and the four sub-reset drive assemblies 610 are evenly spaced along the circumference of the first reset ring 100, then the included angle between adjacent sub-reset drive assemblies 610 in the circumference of the first reset ring 100 is 90 degrees.

[0097] Figure 3 This is a schematic diagram of the structure of a neutron reset drive assembly in a reset robot provided in an embodiment of this application; Figure 4 yes Figure 3 The diagram shows the structure of the sub-reset drive assembly without its outer casing.

[0098] Reference Figure 3 As shown, in some embodiments, the sub-reset drive assembly 610 may be equipped with a housing 610a, which covers the outside of the sub-reset drive assembly 610 to protect the internal drive structure from damage or interference from the external environment.

[0099] The shape and size of the outer shell 610a can be determined based on the outline dimensions of the sub-reset drive assembly 610. In this embodiment, the shape and size of the outer shell 610a are not limited.

[0100] Reference Figure 4 As shown, in some embodiments, the sub-reset drive assembly 610 includes a movable push rod 12 and a movable drive member 11. The movable push rod 12 is movably connected to the first reset ring 100, and the movable drive member 11 is used to drive the movable push rod 12 to move along the second direction T2 to drive the first reset ring 100 to move along the second direction T2; correspondingly, the first reset ring 100 drives the first bone to move along the second direction T2 to adjust the position of the first bone in the second direction T2.

[0101] In some embodiments, the movable push rod 12 is drive-connected to the output shaft of the movable drive member 11 so that the movable push rod 12 and the output shaft of the movable drive member 11 move synchronously along the second direction T2.

[0102] In some embodiments, the output shaft of the movable push rod 12 and the movable drive component 11 can be fixedly connected by means of a key, interference fit, clutch, etc. In this application embodiment, the connection method between the movable push rod 12 and the output shaft of the movable drive component 11 is not limited.

[0103] In some examples, the motion drive 11 can be configured as a linear motor, linear cylinder or other drive structure that outputs linear motion. The embodiments of this application do not limit the type of motion drive 11.

[0104] In some embodiments, the reset drive assembly 600 includes at least two sub-reset drive assemblies 610. By controlling the moving drive members 11 of the at least two sub-reset drive assemblies 610, the corresponding moving push rods 12 are driven to move along the second direction T2. ​​Then, based on the principle of motion synthesis, after the at least two moving push rods 12 move along the second direction T2, the pose of the first reset ring 100 in a certain degree of freedom can be adjusted.

[0105] Figure 5 This is a schematic diagram illustrating the connection between a sub-reset drive assembly and a first reset ring in a reset robot, as provided in an embodiment of this application. (Refer to...) Figure 5 As shown, in some embodiments, the sub-reset drive assembly 610 further includes a universal connector 13, and the movable push rod 12 is movably connected to the first reset ring 100 through the universal connector 13, so that the first reset ring 100 can swing relative to the sub-reset drive assembly 610, thereby assisting the first reset ring 100 to move flexibly.

[0106] The universal connector 13 can be configured as a ball joint assembly, a flexible universal joint, a fisheye bearing, or other structures that can provide universal connection. This application embodiment does not limit the type of universal connector 13.

[0107] Figure 6 yes Figure 5 The enlarged schematic diagram at point A in the connection structure between the sub-reset drive assembly and the first reset ring shows the exploded structure of the universal connector 13. (Refer to...) Figure 6 As shown, in some embodiments, the universal connector 13 is a fisheye bearing, which is movably connected to the first reset ring 100 via a connector 110. The fisheye bearing includes a ball head 132 and a ball seat 131. The connector 110 includes a first connecting portion 111 and a second connecting portion 112. The second connecting portion 112 is connected to the first reset ring 100; the ball head 132 is sleeved on the first connecting portion 111, and the ball seat 131 is sleeved on the ball head 132 to achieve a universal connection between the ball seat 131 and the ball head 132. The ball seat 131 is also connected to the movable push rod 12 so that the ball seat 131 moves with the movable push rod 12, thereby driving the first reset ring 100 to move.

[0108] In some embodiments, the second connecting portion 112 can be connected to the first reset ring 100 by a fastener, that is, the fastener passes through the second connecting portion 112 and the first reset ring 100 to realize the connection between the second connecting portion 112 and the first reset ring 100.

[0109] In other embodiments, the connector 110 and the first reset ring 100 can be integrally formed to improve the stability of their connection.

[0110] In some embodiments, the first connecting portion 111 extends along the radial direction of the first reset ring 100 to the outside of the first reset ring 100, so that the sub-reset driving assembly 610 is located as far as possible on the periphery of the first reset ring 100 in the radial direction, avoiding interference of the sub-reset driving assembly 610 with the first bone or the second bone.

[0111] In some embodiments, the first connecting portion 111 and the ball head 132 can be connected through threads. Specifically, the outer wall of the first connecting portion 111 is provided with external threads, and the inner wall of the ball head 132 is provided with internal threads, which are matched with the external threads to realize the connection of the ball head 132 to the outside of the first connecting portion 111.

[0112] In some embodiments, the ball seat 131 and the moving push rod 12 can be connected through threads. Specifically, the end of the ball seat 131 for connecting with the moving push rod 12 is provided with internal threads on the inner wall, and the end of the moving push rod 12 for connecting with the ball seat 131 is provided with external threads on the outer wall, which are matched with the internal threads to realize the connection of the ball seat 131 to the moving push rod 12.

[0113] Continuing to refer to Figure 4 In some embodiments, the sub-reset driving assembly 610 further includes a first transmission assembly 30. The first transmission assembly 30 is rotationally connected with the second reset ring 200 around a third direction axis (see the axis parallel to the third direction T3 in FIG. 6). Figure 4 Thus, the rotational connection can provide a degree of freedom for the coupled movement of the plurality of moving push rods 12, avoid motionless, form a motion dead point, and affect the safety of the patient and the surgery.

[0114] In some embodiments, the first transmission assembly 30 can be rotationally connected with the second reset ring 200 through bearings, pins, or the like. The embodiments of the present application do not limit the way in which the first transmission assembly 30 is rotationally connected with the second reset ring 200.

[0115] In some embodiments, the first transmission assembly 30 includes a protective shell 301 covering the periphery of the first transmission assembly 30, which is used to prevent damage to the first transmission assembly 30.

[0116] In some examples, the number of protective shells 301 is two, and the two protective shells 301 are sleeved on the outside of the first transmission assembly 30 from both sides along the circumferential direction of the second reset ring 200, which improves the convenience of assembly.

[0117] In some embodiments, the shell 610a can be connected with the protective shell 301 through fasteners. The fasteners can be screws, bolts, or the like. The embodiments of the present application do not limit the way in which the shell 610a is connected with the protective shell 301.

[0118] Figure 7Figure 2 is a structural schematic diagram of a reset robot according to an embodiment of the present application.

[0119] Referring to Figure 7 Figure 2, in some embodiments, the first transmission assembly 30 includes a first rotating member 31, and the sub-reset driving assembly 610 further includes a first hinged member 21 and a second hinged member 22. The second hinged member 22 is sleeved on the first hinged member 21, one of the first rotating member 31 and the second reset ring 200 is partially sleeved on the second hinged member 22, and the other is partially sleeved on the first hinged member 21. The first hinged member 21 and the second hinged member 22 are rotationally connected around a third direction axis (referring to the direction parallel to the direction T3 shown in Figure 3) so that the first rotating member and the second reset ring relatively rotate around the third direction axis with the first hinged member and the second hinged member. In this way, without additional rotating driving structure, the first rotating member 31 and the second reset ring 200 are passively relatively rotated around the third direction axis under the action of the first hinged member 21 and the second hinged member 22 in the coupling motion of other parts of the sub-reset driving assembly 610. Figure 7

[0120] In some examples, the first hinged member 21 can be configured as a nut, and the second hinged member 22 can be configured as a screw. In this way, the first hinged member 21 and the second hinged member 22 are rotationally connected through threads.

[0121] In some examples, the first rotating member 31 is partially sleeved on the first hinged member 21, and the second reset ring 200 is partially sleeved on the second hinged member 22. When the first hinged member 21 and the second hinged member 22 relatively rotate around the third direction axis, the first rotating member 31 and the second reset ring 200 relatively rotate around the third direction axis; or,

[0122] In some examples, the first rotating member 31 is partially sleeved on the second hinged member 22, and the second reset ring 200 is partially sleeved on the first hinged member 21. When the first hinged member 21 and the second hinged member 22 relatively rotate around the third direction axis, the first rotating member 31 and the second reset ring 200 relatively rotate around the third direction axis.

[0123] In some examples, the first rotating member 31 is partially sleeved on the second hinged member 22, and the second reset ring 200 is partially sleeved on the first hinged member 21. When the first hinged member 21 and the second hinged member 22 relatively rotate around the third direction axis, the first rotating member 31 and the second reset ring 200 relatively rotate around the third direction axis.

[0124] ​In order to enhance the stability of the first rotating member 31 or the second reset ring 200 being sleeved on the second hinged member 22, in some embodiments, the sub-reset driving assembly 610 further comprises an intermediate member 24, which is sleeved on the first hinged member 21 and is arranged in a spaced manner with the second hinged member 22. At this time, when the first rotating member 31 is sleeved on the second hinged member 22, the inner wall of the sleeving position of the first rotating member 31 can be sleeved on the second hinged member 22 and the intermediate member 24 at the same time. Thus, the rotation stability of the first rotating member 31 or the second reset ring 200 being sleeved on the second hinged member 22 is enhanced.

[0125] In some embodiments, the second hinged member 22 and the intermediate member 24 respectively have a first shaft section and a second shaft section, and the outer diameter of the first shaft section is greater than that of the second shaft section. When the second hinged member 22 and the intermediate member 24 are sleeved on the first hinged member 21, the first rotating member 31 or the second reset ring 200 is partially sleeved on the first shaft section of the second hinged member 22 and the first shaft section of the intermediate member 24. Correspondingly, the other one of the first rotating member 31 or the second reset ring 200 can be sleeved on the first hinged member 21 by being partially sleeved on the second shaft section of the second hinged member 22 and the second shaft section of the intermediate member 24. Thus, by designing the second hinged member 22 and the intermediate member 24 to have the first shaft section and the second shaft section with different outer diameters, the stress of the first hinged member 21 is uniformed, and the structural stability is enhanced.

[0126] Figure 8 is a structural schematic view of a damping member in a reset robot provided by an embodiment of the present application.

[0127] In combination Figure 7 and Figure 8 As shown in FIGS. 1, 2 and 3, in order to change the rotation damping between the first rotating member 31 and the second reset ring 200, in some embodiments, the sub-reset driving assembly 610 further comprises a damping member 23, which is sleeved on the first hinged member 21 and axially abuts against the second hinged member 22. The outer wall of the damping member 23 is configured with a first inclined surface 23a which has an included angle with the axial direction of the damping member 23, and the first inclined surface 23a abuts against one of the second reset ring 200 and the first rotating member 31. By rotating the first hinged member 21, the degree to which the damping member 23 presses one of the second reset ring 200 and the first rotating member 31 is adjusted. Thus, the degree to which the damping member 23 presses one of the second reset ring 200 and the first rotating member 31 is strong or weak, and the size of the rotation damping between the first rotating member 31 and the second reset ring 200 is correspondingly changed, so that the difficulty of the rotation of the first transmission assembly 30 relative to the third direction shaft with respect to the second reset ring 200 can be adjusted.

[0128] In some embodiments, the second reset ring 200 comprises a second rotating member 32 arranged thereon, and the second rotating member 32 is arranged in rotational connection with the first rotating member 31 around the third direction axis, so as to realize relative rotation of the first transmission assembly 30 and the second reset ring 200 around the third direction axis.

[0129] In some examples, the second rotating member 32 is integrally formed with the second reset ring 200, or the second rotating member 32 is fixedly connected with the second reset ring 200 by fasteners. The embodiments of the present application do not limit the forming mode of the second rotating member 32 and the second reset ring 200.

[0130] Figure 9 FIG. 6 is a structural schematic diagram of a reset robot according to an embodiment of the present application. FIG. 7 is a structural schematic diagram of a reset robot according to an embodiment of the present application. FIG. 8 is a structural schematic diagram of a reset robot according to an embodiment of the present application. FIG. 9 is a structural schematic diagram of a reset robot according to an embodiment of the present application. Figure 7 Figure 9 As shown in FIGS. 6-9, in some embodiments, the sub-reset driving assembly 610 further comprises a second transmission assembly 40 and a rotating driving assembly 50. The second transmission assembly 40 is in transmission connection with the rotating driving assembly 50 and the first transmission assembly 30 respectively, and the second transmission assembly 40 is connected with the first reset ring 100 through the moving driving member 11 and the moving push rod 12. The rotating driving assembly 50 is used to drive the second transmission assembly 40 and the first transmission assembly 30 to rotate around the first direction axis (see FIG. 1) which is parallel to the second direction T1 in FIG. 1. The second transmission assembly 40 drives the first reset ring 100 to rotate around the first direction axis. Thus, the first reset ring 100 drives the first bone to rotate around the first direction axis, so as to adjust the angle position of the first bone around the first direction axis. Figure 7

[0131] In some embodiments, the reset driving assembly 600 comprises at least two sub-reset driving assemblies 610, and the corresponding second transmission assemblies 40 are driven by at least two rotating driving assemblies 50 to drive the first reset ring 100 to rotate around the first direction axis at different first positions. Then, based on the principle of motion composition, the rotations of the at least two first reset rings 100 around the first direction axis are composed, so as to adjust the pose of the first reset ring 100 in each rotation direction (around the three axes of the three-dimensional coordinate system).

[0132] In some embodiments, the first transmission assembly 30 further comprises a first shaft 33 and a first transmission member 34, and the first transmission member 34 is in rotational connection with the first rotating member 31 around the first direction axis through the first shaft 33.

[0133] ​​The second transmission assembly 40 comprises a second transmission member 41 and a connecting member 42. The second transmission member 41 and the connecting member 42 are both sleeved on the output shaft of the rotary driving assembly 50, and the second transmission member 41 is in transmission connection with the first transmission member 34. The connecting member 42 is connected with the moving driving member 11. Correspondingly, under the driving of the rotary driving assembly 50, the second transmission member 41 rotates with the output shaft of the rotary driving assembly 50 around the axis direction of the output shaft. The first transmission member 34 and the second transmission member 41 are in meshing transmission, so that the first transmission member 34 rotates around the first direction axis, and then the second transmission assembly 40 drives the moving driving member 11, the moving push rod 12 and the first reset ring 100 to rotate around the first direction axis relative to the first rotating member 31.

[0134] Figure 10 is a sectional view of a first rotating member in a reset robot provided by the embodiment of the present application. As shown in Figure 10 some embodiments, the first rotating member 31 comprises a first mounting portion 313, and the first shaft 33 is connected with the first rotating member 31 through the first mounting portion 313.

[0135] In some examples, the first shaft 33 is connected with the first mounting portion 313 through interference fit.

[0136] In some examples, the first shaft 33 is connected with the first mounting portion 313 through adhesion, welding, keying or the like.

[0137] In some embodiments, the first rotating member 31 further comprises a hinged portion 315, and the hinged portion 315 is used for sleeving the first hinged member 21 or the second hinged member 22.

[0138] In some embodiments, the first rotating member 31 further comprises a connecting hole 316, and a fastener is passed through the connecting hole 316 and the protective shell 301 to connect the first rotating member 31 with the protective shell 301, so as to cover the protective shell 301 on the first rotating member 31 to protect it.

[0139] In some embodiments, the first transmission member 34 on the first shaft 33 can be axially limited in the following manner: the first shaft 33 is provided with a shaft shoulder (not shown in the figure), and the first transmission member 34 abuts against the shaft shoulder. A positioning ring is sleeved on the first shaft 33, and the positioning ring abuts against the side of the first transmission member 34 away from the shaft shoulder, so as to prevent the first transmission member 34 from moving axially on the first shaft 33.

[0140] In some embodiments, the first transmission member 34 and the second transmission member 41 are configured as a first gear and a second gear in tooth matching. The first gear and the second gear are in meshing transmission to realize the rotation of the first gear relative to the second gear around the first direction axis.

[0141] Figure 11is an explosion structure schematic diagram of a second transmission assembly in a reset robot provided by an embodiment of the present application.

[0142] As shown in Figure 11 , the second transmission member 41 can be limited in the axial direction of the output shaft 51 of the rotary driving assembly 50 in the following manner:

[0143] In some embodiments, the second transmission assembly 40 further comprises a limiting sleeve 411 abutting the second transmission member 41 and the housing of the rotary driving assembly 50, so as to prevent the second transmission member 41 from moving in the axial direction of the output shaft of the rotary driving assembly 50 towards the housing of the rotary driving assembly 50.

[0144] In some embodiments, the second transmission assembly 40 further comprises an end cover 412 abutting between the connecting member 42 and the second transmission member 41, so that the second transmission member 41 moves in the axial direction of the output shaft of the rotary driving assembly 50 away from the housing of the rotary driving assembly 50. In addition, the end cover 412 can also be used to isolate the second transmission member 41 from the transmission member on the other side of the end cover 412, so as to prevent the lubricating oil of the second transmission member 41 from leaking to the side of the end cover 412 away from the second transmission member 41, thereby polluting the transmission structure.

[0145] Referring to Figure 4 , Figure 7 or Figure 11 , the connecting member 42 can be connected with the moving driving member 11 in the following manner: in some embodiments, the second transmission assembly 40 further comprises a fixing member 43, and the connecting member 42 is connected with the moving driving member 11 through the fixing member 43. Specifically, the fixing member 43 is connected with the connecting member 42, and the fixing member 43 is formed with an accommodating portion 431 accommodating the moving driving member 11.

[0146] In some examples, the connecting member 42 and the moving driving member 11 are arranged in the first direction T1, and the fixing member 43 is buckled to the connecting member 42 from the side of the moving driving member 11 away from the connecting member 42, and is connected with the connecting member 42.

[0147] In some embodiments, the connecting member 42 is configured to include a first section 421 and a second section 422 arranged at intervals, and the first section 421 and the second section 422 are connected to form a sleeving portion 423 for sleeving the output shaft of the rotary driving assembly 50 at the connection. The first section 421 and the second section 422 are located at the edge of the moving driving member 11, reducing the coverage of the connecting member 42 to the moving driving member 11, and ensuring the normal heat dissipation of the moving driving member 11.

[0148] In some embodiments, the connecting member 42 further comprises a fixed part 424 arranged on the side of the moving driving member 11 close to the second transmission member 41, to connect with the shell of the moving driving member 11, thereby reinforcing the connection stability between the connecting member 42 and the moving driving member 11.

[0149] In some examples, the fixed part 424 and the shell of the moving driving member 11 can be fixedly connected by a fastener.

[0150] Figure 12 FIG. 4 is a structural schematic diagram of a guide and a first rotating member in a reset robot according to an embodiment of the present application.

[0151] In combination with Figure 11 and Figure 12 As shown in FIGS. 4 and 5, in some embodiments, the second transmission assembly 40 further comprises a limiting member 45 and a guide 44. The guide 44 is provided with an arc surface 318 (441) matched with the first rotating member 31, and the matched track of the arc surface 318 (441) matches the transmission track of the first transmission member 34 and the second transmission member 41. The two ends of the limiting member 45 are rotatably connected to the first rotating member 31 and the guide 44 around the first direction axis, for guiding the second transmission assembly 40 to rotate relative to the first transmission assembly 30 along the arc surface. In this way, by matching the limiting member 45 and the guide 44 with the first rotating member 31, the engagement of the first transmission member 34 and the second transmission member 41 is limited, so as to avoid dislocation of the engagement of the first transmission member 34 and the second transmission member 41.

[0152] Here, the transmission track of the first transmission member 34 and the second transmission member 41 can be understood as the engagement line of the first transmission member 34 and the second transmission member 41. It should be noted that the transmission track of the first transmission member 34 and the second transmission member 41 is determined in the case that the first transmission member 34 and the second transmission member 41 are correctly engaged for the purpose of adjusting the pose of the first reset ring 100.

[0153] In some examples, the arc surface 318 (441) can be a circular arc segment.

[0154] In some embodiments, the size of the matched track of the arc surface 318 (441) is consistent with the size of the transmission track, so as to make the movement consistent between them and avoid interference.

[0155] Figure 13 FIG. 6 is a structural schematic diagram of a limiting member in a reset robot according to an embodiment of the present application.

[0156] In combination with Figure 12 and Figure 13As shown, in some embodiments, the limiting member 45 can be rotationally connected with the first rotating member 31 in the following manner: the limiting member 45 comprises a first bent portion 451, the first rotating member 31 comprises a first matching portion 314, and the first bent portion 451 is embedded in the first matching portion 314 to enable the first bent portion 451 to rotate around the first direction axis in the first matching portion 314.

[0157] In some embodiments, the second transmission assembly 40 further comprises a first bearing (not shown in the figure), which is sleeved on the first bent portion 451 and located in the first matching portion 314 to enable the limiting member 45 to be rotationally connected with the first rotating member 31.

[0158] In some embodiments, the limiting member 45 can be rotationally connected with the guiding member 44 in the following manner: the limiting member 45 comprises a second bent portion 452, the guiding member 44 comprises a second matching portion 442, and the second bent portion 452 is embedded in the second matching portion 442 to enable the second bent portion 452 to rotate around the first direction axis in the second matching portion 442.

[0159] In some embodiments, the second transmission assembly 40 further comprises a second bearing 46, which is sleeved on the second bent portion 452 and located in the second matching portion 442 to enable the limiting member 45 to be rotationally connected with the guiding member 44.

[0160] In some embodiments, the guiding member 44 is coaxially connected with the connecting member 42.

[0161] Referring to Figure 11 As shown, in some embodiments, the second transmission assembly 40 further comprises a connector 47, which is sleeved on the output shaft of the rotary driving assembly 50, and the guiding member 44 is connected with the connecting member 42 through the connector 47. Specifically, the connector 47 comprises a first portion 471 and a second portion 472, the second portion 472 is sleeved in the sleeving portion 423 of the connecting member 42, and the guiding member 44 is partially sleeved in the first portion 471. In this way, the connector 47 abuts between the connecting member 42 and the guiding member 44.

[0162] In some embodiments, the outer wall of the second portion 472 and the inner wall of the sleeving portion 423 are connected through threads.

[0163] In some embodiments, the inner wall of the first portion 471 and the part of the guiding member 44 that is sleeved in the first portion 471 are connected through threads.

[0164] In some embodiments, the second transmission assembly 40 further comprises a third bearing 48, which is sleeved on the rotary driving assembly 50 to be clamped between the output shaft and the inner wall of the second portion 472.

[0165] In some embodiments, the first bearing, the second bearing, and the third bearing can be deep groove ball bearings or other bearings, and the embodiments of the present application do not limit the types of bearings.

[0166] In some embodiments, the third bearing 48 and the connector 47 can collectively be a flange bearing to achieve the connection of the guide 44 and the connecting member 42.

[0167] In some embodiments, the rotating driving assembly 50 is fixedly connected with the moving driving member 11 to enable the rotating driving assembly 50 and the moving driving member 11 to rotate synchronously around the first direction axis. At this time, the rotating driving assembly 50 is used to drive the second transmission assembly 40, the moving driving member 11, the rotating driving assembly 50, and the first reset ring 100 to rotate relative to the first transmission assembly 30 around the first direction axis. In this way, the self-weight of the rotating driving assembly 50 and the self-weight of the moving driving member 11 can be evenly distributed, which is conducive to reducing the bearing pressure of the rotating driving assembly 50, thereby reducing the structural rigidity requirement and improving the structural stability.

[0168] In some embodiments, the sub-reset driving assembly 610 further includes a first fixing member 611 and a second fixing member 612. The first fixing member 611 is connected to the first section 421 of the connecting member 42 and the rotating driving assembly 50, and the second fixing member 612 is connected to the second section 422 of the connecting member 42 and the rotating driving assembly 50, so as to achieve the fixed connection of the rotating driving assembly 50 and the moving driving member 11.

[0169] In some embodiments, the rotating driving assembly 50 can include a rotating motor 53.

[0170] In some embodiments, the rotating driving assembly 50 further includes a harmonic reducer 54, which is in transmission connection with the rotating motor 53 and is used to reduce the output rotating speed of the rotating motor 53, so as to improve the rotating precision of the second transmission member 41 and improve the pose adjustment precision of the first reset ring 100.

[0171] In some embodiments, the rotating driving assembly 50 further includes a worm gear reducer 55, which is in transmission connection with the harmonic reducer 54 and is used to reduce the output rotating speed of the harmonic reducer 54, so as to further improve the rotating precision of the second transmission member 41 and improve the pose adjustment precision of the first reset ring 100.

[0172] In some embodiments, the rotating driving assembly 50 further includes an absolute value encoder 56, which is used to record the rotating position of the rotating motor 53, so as to facilitate the movement of the first reset ring 100 relative to the second reset ring 200 according to the reset path driven by the rotating driving assembly 50.

[0173] The control method of the reset robot will be described below with the reset process of the first breaking member.

[0174] Figure 14 is a reset robot position relationship between each coordinate system provided by an embodiment of the application.

[0175] Referring to Figure 14 , O1 is the center of the second platform, the second platform is the platform where the second reset ring is located, O2 is the center of the first platform, the first platform is the platform where the first reset ring is located, and by establishing the first platform and the second platform, the pose calculation during the movement of the first broken part is facilitated.

[0176] S1, S2, and S3 are hinge points on the first transmission assembly 30 at the second platform, and coordinate systems M1, M2, and M3 are established with S1, S2, and S3 as the origins, the establishment rules of the three coordinate systems are consistent, the z-axis is parallel to the normal vector of the second platform and points to the first platform, the y-axis points to the outside of the second platform, and the x-axis is obtained by the cross product of the y-axis and the z-axis, as shown in the following formula.

[0177]

[0178] are vectors along the x-axis, y-axis, and z-axis in the M1 coordinate, are vectors along the x-axis, y-axis, and z-axis in the M2 coordinate, are vectors along the x-axis, y-axis, and z-axis in the M3 coordinate.

[0179] D1, D2, and D3 are center points of the universal connecting piece 13 coaxial with the moving push rod 12 at the first platform, and coordinate systems M4, M5, and M6 are established with D1, D2, and D3 as the origins, the establishment rules are the same as M1, M2, and M3. P1, P2, and P3 are the intersection points of the output shaft of the moving drive 11 and the output shaft of the rotary drive assembly 50. Through the structural parameters, P1, P2, and P3 in the M1, M2, and M3 coordinate systems can be obtained as (p ix , p iy , p iz ).

[0180] In a specific implementation, during the movement of the first platform to the second platform with the first broken part to the second broken part, the first platform can be a moving platform, the moving platform is a platform that moves relatively during the reset process of the first broken part, and the second platform can be a static platform, the static platform is a platform that remains relatively static during the reset process of the first broken part. i may be the intersection point of the output shaft of the linear motor and the output shaft of the rotary motor, wherein i includes P1, P2, and P3.

[0181] Figure 15is a motion diagram of a reset driving assembly provided by an embodiment of the present application. Wherein, Figure 15 Fig. 4(a) shows a front view of the reset driving assembly, Figure 15 Fig. 4(b) shows a top view of the reset driving assembly.

[0182] Fig. 5 shows a schematic diagram of the reset driving assembly, Figure 14 Fig. 6 shows a schematic diagram of the reset driving assembly, Figure 15 Fig. 7 shows the motion positions of the first platform and the second platform at a certain moment, taking the coordinate system M1 and the coordinate system M4 as an example, and the principle of inverse kinematics is used for illustration. Figure 15 Fig. 8(a) shows a plane representing the second platform S1, P1 represents a rotation point, and D1 represents a target point.

[0183] The transformation matrix of the second platform to the first platform is known The transformation matrix of the second platform to M1, M2, M3 The transformation matrix of the first platform to M4, M5, M6 The transformation matrix of M1, M2, M3 to M4, M5, M6 can be calculated as shown in the formula:

[0184]

[0185] The representation of D1, D2, D3 in M1, M2, M3 can be obtained from the translation part of , that is, (D ix , D iy , D iz ).

[0186] In a specific implementation, D i represents the connection point of the reset driving assembly and the moving platform, D i includes D1, D2, and D3.

[0187] Fig. 5 shows a schematic diagram of the reset driving assembly, Figure 15 It can be obtained that L1=L3=D iz , L2=L7, L9=|D ix |, L4=|D iy |, L6=|p iz |, and the following can be calculated:

[0188]

[0189] The length of the moving driving part The extension amount of the moving driving part is l i =len i -l0, wherein l0 is the length of the moving driving part at the initial position (zero position).

[0190] The rotation angle of the rotating driving assembly

[0191] Thus, when the number of reset driving assemblies is three as shown in the figure, the three extension and retraction amounts and the three rotation angles of the three reset driving assemblies can be respectively solved through the inverse kinematics calculation.

[0192] Figure 16 is a flowchart of a control method of a reset robot provided by an embodiment of the present application.

[0193] Referring to Figure 16 The control method of the reset robot provided by the embodiment of the present application can be realized by the following steps S1 to S7.

[0194] Step S1: determining an intermediate pose of the first broken piece according to a current pose of the first broken piece and a target pose of the first broken piece; under the intermediate pose, the central axis of the first broken piece coincides with the central axis of the second broken piece.

[0195] In this step, the images of the first broken piece and the second broken piece need to be acquired first. The poses of the first broken piece and the second broken piece can be extracted from the images of the first broken piece and the second broken piece through a segmentation algorithm.

[0196] Figure 17 is a reset trajectory planning diagram of a first broken piece and a second broken piece provided by an embodiment of the present application. Wherein, Figure 17 (a) in FIG. 1 shows a schematic diagram of a broken state of the first broken piece and the second broken piece; Figure 17 (b) in FIG. 1 shows a schematic diagram of the first broken piece after preliminary reset; Figure 17 (c) in FIG. 1 shows a schematic diagram of the first broken piece after secondary reset.

[0197] Step S1 can be realized by the following steps S11 to S14.

[0198] Step S11: establishing a first coordinate system and a second coordinate system; the first coordinate system is a coordinate system established with the center of the first broken piece as the origin, and the second coordinate system is a coordinate system established with the center of the second broken piece as the origin.

[0199] Specifically, in the medical image, the voxel values of the first broken piece and the second broken piece in the image can be extracted, the centers of the first broken piece and the second broken piece are obtained by calculating the average value of the voxel values, and then the coordinate system is established. Wherein, the voxel value refers to the numerical value information carried by a voxel in a three-dimensional digital space. Voxel is the abbreviation of "volume element", which is the smallest unit in a three-dimensional digital space (such as CT, MRI scan data).

[0200] Referring to Figure 17In (a) to (b), the central axis of the first breaking member is L1, which extends along the z-axis direction of the first coordinate system; the central axis of the second breaking member is L2, which extends along the z-axis direction of the second coordinate system. It should be emphasized that in order to better show the relationship between the first breaking member and the second breaking member in the reset state, the first coordinate system and the second coordinate system are not shown, and the positional relationship between the first coordinate system and the second coordinate system can be represented by the central axis L1 of the first breaking member and the central axis L2 of the second breaking member. Among them, Figure 17 As shown in (a), the breaking member state of the first breaking member, in which state the first coordinate system and the second coordinate system are two different coordinate systems, and the relationship between the three coordinate axes of the first coordinate system and the three coordinate axes of the second coordinate system can be different. Figure 17 As shown in (b), the preliminary reset state of the first breaking member, in which state the z-axes of the first coordinate system and the second coordinate system are in the same direction, and in which state the x-axes and y-axes of the first coordinate system and the second coordinate system can also be respectively the same, which can be understood as two coordinate systems with different origins but the same three axes.

[0201] Step S12: determining the target pose of the first breaking member in the second coordinate system according to the current pose of the second breaking member in the image system and the target pose of the first breaking member in the image system.

[0202] In step S12, the current pose of the second breaking member in the image system is obtained The current pose of the first breaking member in the image system The target pose of the first breaking member in the image system is obtained by the method of cross section extraction and image registration The target pose of the first breaking member in the second coordinate system can be calculated

[0203] For the current pose of the first breaking member and the second breaking member in the image system, the image segmentation algorithm and feature extraction can be based on medical images. And the pose of the first breaking member and the second breaking member in the image system is represented by the first coordinate system and the second coordinate system.

[0204] The section extraction algorithm refers to a process of extracting point cloud information on a plane (section) defined by a user from a three-dimensional (3D) volume data, such as a computed tomography (CT), a magnetic resonance imaging (MRI scan), a 3D ultrasound, a geological model, or a 3D point cloud. In this embodiment, the image registration algorithm refers to a process of spatially aligning point cloud information on a section of a first fracture and a second fracture. The goal is to find a set of spatial transformation parameters so that the points on the section of the first fracture can be accurately matched with the corresponding points on the second fracture. Thus, by extracting and registering the section of the second fracture, the corresponding points can be obtained, and the target section of the first fracture can be determined from the set of corresponding points, and then the target pose of the first fracture can be obtained.

[0205] Thus, the target pose of the first fracture in the second coordinate system satisfies the following formula:

[0206]

[0207] wherein, is the inverse matrix of the current pose of the second fracture in the image system. The target pose is the pose of the first fracture after the repositioning of the first fracture and the second fracture. In this step, the reference coordinate system is the second coordinate system.

[0208] Thus, the target pose of the first fracture in the second coordinate system can be calculated.

[0209] Step S13: determining the current pose of the first fracture in the second coordinate system according to the current pose of the second fracture in the image system and the current pose of the first fracture in the image system.

[0210] In step S13, the current pose of the first fracture in the second coordinate system satisfies the following formula:

[0211]

[0212] Step S14: converting the target pose of the first fracture in the second coordinate system and the current pose of the first fracture in the second coordinate system into a position and Euler form to obtain an intermediate pose of the first fracture.

[0213] In the preliminary reset, the first broken piece moves from the current pose to the intermediate pose by only moving, and the purpose of the preliminary reset is to make the center axes of the first broken piece and the second broken piece coincide by translation. In the intermediate pose state, the center axes of the first broken piece and the second broken piece coincide, and there is still a rotation angle and a translation distance between the cross sections of the two that need to be reset. Subsequently, the first broken piece is moved to the target pose by secondary reset (synchronous translation and rotation) to realize the reset operation of the first broken piece and the second broken piece.

[0214] The intermediate pose of the preliminary reset is defined as:

[0215]

[0216] Wherein, the target pose of the first broken piece in the second coordinate system and the current pose of the first broken piece in the second coordinate system are converted into position and Euler form The sequence is X-Y-Z; t x is the translation amount in the x-axis, t y is the translation amount in the y-axis, t z is the translation amount in the z-axis; are the rotation angles around the x-axis, y-axis and z-axis respectively. It should be noted that the x-axis, y-axis and z-axis here refer to the three axes of the second coordinate system.

[0217] Converting the pose into position and Euler form is mainly to facilitate understanding of the radian of the first broken piece rotating around the x-axis, y-axis and z-axis of the second coordinate system respectively, and the rotation sequence is first rotating around the x-axis angle, then rotating around the y-axis angle, and finally rotating around the z-axis angle. is represented as rotating around the x-axis angle, is represented as rotating around the y-axis angle; the whole represents first rotating around the x-axis in the second coordinate system angle to generate a new coordinate system, then rotating around the y-axis of the new coordinate system angle, and then obtaining. The x-axis, y-axis and z-axis are the coordinate axes in the second coordinate system.

[0218] The intermediate position of the preliminary reset is defined as t tar1 ={0, 0, t z}, that is, the second coordinate system to the intermediate pose is as follows:

[0219]

[0220] Wherein, the target position t tar1 ={0, 0, tz The center axes of the first broken piece and the second broken piece coincide, that is, the z axes in the coordinate system coincide, and there is no offset in the x axis and the y axis, so 0.

[0221] In this way, the obtained intermediate pose is that the first broken piece moves to a position where the center axis of the second broken piece coincides, facilitating subsequent secondary resetting and further ensuring resetting accuracy.

[0222] In a specific implementation, the first broken piece can be a first bone, and the second broken piece can be a second bone. The first bone and the second bone are two broken bones generated after a whole bone is broken. The first bone can be located at a lower part, and the second bone can be located at an upper part. That is, in this implementation, the control method of the resetting robot can be applied in the resetting process of the broken bone. Of course, when the first broken piece and the second broken piece are other broken pieces, the control method of the resetting robot can also be applied in the resetting process of the other broken pieces.

[0223] Step S2: controlling the resetting driving assembly to move based on the intermediate pose of the first broken piece; the first resetting path includes a plurality of first resetting points.

[0224] Specifically, step S2 can include the following steps S21 to S23.

[0225] Step S21: determining a first extension amount of the movement driving member and a first rotation angle of the rotation driving assembly based on the intermediate pose of the first broken piece. The resetting driving assembly includes the movement driving member and the rotation driving assembly.

[0226] In a feasible implementation, step S21 can be implemented by the following steps S21a to S21c.

[0227] Step S21a: performing discretization processing on the intermediate pose and the current pose of the first broken piece in the second coordinate system to obtain a first discrete pose of the first broken piece in the second coordinate system. The first discrete position is used to represent the poses of a plurality of discrete position points between the current pose of the first broken piece and the intermediate pose of the first broken piece.

[0228] In this step, discretization can include discretization and quaternionization processing, and can specifically include:

[0229] Step a1: discretizing the straight line path between the current position and the intermediate position of the first broken piece in the second coordinate system to obtain a discrete position point.

[0230] In this step, the current position and the intermediate position of the first broken piece can be extracted from the current pose and the intermediate pose, and the straight line path is discretized in the Cartesian space. In the Cartesian space, the current position P start= {t x , 0, 0} y , t z , 0, 0} end , 0, t z , 0, 0} i , t start , 0, t end , 0, t start , 0, 0}

[0231]

[0232] where N is the number of path points and i is the i-th path point.

[0233] Step a2: performing quaternion difference processing on the initial pose and the target pose in the target pose of the first broken piece in the second coordinate system and the current pose of the first broken piece in the second coordinate system, to obtain discrete intermediate rotation matrices.

[0234] In this step, the initial pose can be obtained from the current pose of the first broken piece in the second coordinate system, and the target pose can be obtained from the target pose of the first broken piece in the second coordinate system. The initial pose and the target pose are processed by quaternion difference to ensure smooth transition of the pose. The initial pose can be and the target pose can be

[0235] Convert R start and R end to quaternion form respectively, and obtain q start = (w1, x1, y1, z1) and q end = (w2, x2, y2, z2) respectively. Wherein w1 and w2 are real parts, which are closely related to the angle of rotation, and x1, y1, z1 and x2, y2, z2 are respectively the direction of the virtual part vector, which represents the direction of the rotation axis.

[0236] Perform difference processing on the quaternion forms of q start and q end to generate a quaternion sequence of intermediate poses

[0237]

[0238] where θ = arccos (q start · q end ) is the angle between the two quaternions, and the interpolation step is Δt = 1 / N; t is the difference parameter, which represents the progress of q start to q end .

[0239] Extract the quaternion q(t i ) = (w i , xi , y i , z i ), the quaternion is converted into a discrete intermediate rotation matrix R(t i ), and the conversion formula is:

[0240]

[0241] Step a3: determining the first discrete pose of the first broken part in the second coordinate system according to the discrete position points and the discrete intermediate rotation matrix.

[0242] In this step, the first discrete pose of the first broken part in the second coordinate system is determined according to the discrete position points and the discrete intermediate rotation matrix. The following formula is satisfied:

[0243]

[0244] In this way, the first discrete pose of the first broken part in the second coordinate system is determined. The first discrete pose is used to represent the position of each discrete position point, t i is the position point.

[0245] Step S21b: converting the first discrete pose of the first broken part in the second coordinate system into the second discrete pose of the first platform in the second platform. The second discrete pose refers to the pose of each discrete position point of the first platform in the process of moving the first broken part to the intermediate pose of the first platform in the preliminary reset of the first broken part after the first discrete pose is converted.

[0246] In this step, first, the current pose of the second platform in the image system is obtained The current pose of the first platform in the image system is obtained

[0247] For the current pose of the first platform and the second platform in the image system, first, the optical poses of the first tracer and the second tracer are obtained through the optical tracking system (the optical device in the reset robot provided in the above embodiment). Since the first tracer and the second tracer are respectively rigidly connected with the first platform and the second platform, the optical poses of the first platform and the second platform can be obtained, including the optical poses of the coordinate systems M1-M6. According to the correspondence between the optical poses and the image poses of the first tracer and the second tracer at the same time, the registration relationship between the optical coordinate system and the image coordinate system is obtained. Combined with the optical poses of the first platform and the second platform, the current poses of the first platform and the second platform in the image can be obtained, i.e., the current poses of the coordinate systems M1-M6 in the image system. The current pose of the first platform in the image includes the current poses of the coordinate systems M4-M6 in the image system, and the current pose of the second platform in the image system includes the current poses of the coordinate systems M1-M3 in the image system.

[0248] Then, the second discrete pose of the first platform under the second platform satisfies the following formula:

[0249]

[0250] Step S21c: determining the first extension amount of the moving driving member and the first rotation angle of the rotating driving assembly based on the second discrete pose of the first platform under the second platform respectively.

[0251] After obtaining the second discrete pose, the first extension amount of the moving driving member and the first rotation angle of the rotating driving assembly can be obtained according to the aforementioned inverse dynamics processing. Wherein, the transformation matrix of the second platform to the first platform contains the second discrete pose of the first platform under the second platform the transformation matrix is a general term and does not represent a specific position point.

[0252] In this way, by solving the inverse kinematics, the first extension amount of the three moving driving members in the three reset driving members the first rotation angle of the three rotating driving members in the three rotating driving assemblies

[0253] Step S22: determining the first reset path based on the first extension amount and the first rotation angle.

[0254] After calculating the three first extension amounts and the three first rotation angles, the first path point of the parallel manipulator composed of The path composed of the first path point is the first reset path.

[0255] Step S23: controlling the reset driving assembly to move in the first reset path.

[0256] After obtaining the first reset path, driving the reset driving assembly according to the first reset path, the first broken member can be moved to a position coinciding with the center axis of the second broken member, realizing the preliminary reset. After the preliminary reset, the first broken member realizes the state shown in Figure 17 (b).

[0257] S3: determining the target angle of the first broken member according to the intermediate pose of the first broken member and the target pose of the first broken member.

[0258] This step can be understood as a secondary reset process of the first broken member and the second broken member, that is, after moving the first broken member to the intermediate pose to realize the preliminary reset, the secondary reset is performed by calculation adjustment to realize the fit of the broken parts of the first broken member and the second broken member. Wherein, the target angle is the rotation angle required for the first broken member to rotate to the target pose around the center axis of the second broken member in the secondary reset process.

[0259] The current pose in the b0 coordinate system in the quadratic programming is That is, the pose of the first broken piece at the current time (at the intermediate pose of the first broken piece) in the second coordinate system, and the target pose in the b0 coordinate system is At this time, the z axes of the b0 and b1 coordinate systems are collinear and consistent in direction. The b0 coordinate system is the coordinate system in which the second broken piece is located, that is, the second coordinate system, and the b1 coordinate system is the coordinate system in which the first broken piece is located, that is, the first coordinate system. At this time, the central axis of the first broken piece coincides with the central axis of the second broken piece, and the positional relationship is reflected in the coordinate system, that is, the z axes of the b0 and b1 coordinate systems are collinear.

[0260] Through the above planning, the angle of rotation of the second broken piece along the z axis is That is,

[0261]

[0262] Where, θ tar represents the target angle, represents the angle of rotation around the z axis, represents the target rotation matrix of the first broken piece around the second coordinate system, represents the current rotation matrix of the first broken piece in the second coordinate system,

[0263] R z (θ tar ) represents the rotation matrix of the first broken piece rotating θ tar around the z axis.

[0264] S4: determining the real-time pose of the first broken piece according to the preset step length and the minimum distance.

[0265] The preset step length is the step length generated after the first broken piece rotates a preset angle around the central axis of the second broken piece in a preset time. The minimum distance is the minimum value of the distance between the first broken piece and the second broken piece.

[0266] At this time, the resetting action of the first broken piece and the second broken piece is completed through synchronous rotation and translation. First, the step length of rotation is defined as Δθ, and each time Δθ is rotated around the z axis in Δt time. The new pose after rotating with the preset step length is That is, Where, R z (θ R ) represents the rotation matrix of the first broken piece rotating θ R around the z axis.

[0267] Thus, we can get:

[0268]

[0269] wherein, R (t) represents the rotation matrix of the first broken part at t i R (t) represents the rotation matrix of the first broken part at t R (t) represents the rotation matrix of the first broken part at t i-1 R (t) represents the rotation matrix of the first broken part at t z (Δθ) represents the rotation matrix of the first broken part rotating Δθ around the z axis.

[0270] The translation part calculates the minimum distance d by calculating the surface S1 of the first broken part and the surface S0 of the second broken part. The calculation process of the minimum distance d can include the following steps S41 and S42:

[0271] Step S41: convert the scattered point set of the surface of the broken part of the first broken part in the first coordinate system to the second coordinate system to obtain the first scattered point set.

[0272] It is known that the second scattered point set of the surface of the broken part of the second broken part in the second coordinate system is:

[0273]

[0274] wherein, the second scattered point set is the scattered point set of the surface of the broken part of the second broken part in the second coordinate system; the second scattered point set includes a plurality of second scattered points. k represents the sampling number of each sampling circle, Δθ represents the sampling circle step, i.e. the preset step, (k-1)Δθ=2π; m is the number of sampling circles, Δr is the step, and mΔr is the distance of the farthest point from the center axis in the surface scattered point. R (0) represents the point of the first broken part when the number of sampling circles is 0 and the step is Δr in the preliminary reset state.

[0275] The scattered point set of the surface of the broken part of the first broken part in the first coordinate system is:

[0276]

[0277] Convert it to the second coordinate system, i.e. the following first scattered point set:

[0278]

[0279] wherein, the first scattered point set includes a plurality of first scattered points. R (0) represents the point of the first broken part when the number of sampling circles is 0 and the step is Δr in the second coordinate system.

[0280] Step S42: determine the minimum distance between the first broken part and the second broken part in combination with the first scattered point set and the second scattered point set.

[0281] The minimum distance d can be obtained according to the following formula:

[0282]

[0283] After obtaining the minimum distance, the translation amount of the first breaking piece in a single time is calculated in combination with the preset step length.

[0284] Step S4 can further include step S43 and step S44.

[0285] Step S43: determining the translation amount of the first breaking piece based on the minimum distance.

[0286] wherein the translation amount of the first breaking piece is the difference between the minimum distance and the safe moving distance of the first breaking piece; and the safe moving distance is the safe distance d s of the first breaking piece in a single moving process. Δθ That is, at each preset step length Δθ, the translation amount of the first breaking piece along the z-axis is d Δθ , i.e., d s = {0, 0, d-d.

[0287] Step S44: determining the real-time pose of the first breaking piece in combination with the preset step length and the translation amount.

[0288] In this step, the translation amount is d Δθ In combination with the rotation part , the pose of the first breaking piece in the second coordinate system can be obtained as

[0289] The real-time pose of the first platform in the second platform is converted as wherein the real-time pose refers to the pose of each discrete position point of the first platform in the process of moving the first breaking piece from the intermediate pose to the target pose driven by the first platform after the pose of the first breaking piece in the second coordinate system is converted.

[0290] S5: controlling the reset driving assembly to move along a second reset path based on the real-time pose; the second reset path includes a plurality of second reset points.

[0291] In some possible implementation manners, step S5 can include steps S51 to S53.

[0292] Step S51: determining the second extension amount of the moving driving piece and the second rotation angle of the rotation driving assembly based on the real-time pose of the first platform in the second platform.

[0293] In this step, after obtaining the real-time pose of the first platform in the second platform, the inverse kinematics can also be solved, and the specific determination process can refer to the foregoing inverse kinematics part.

[0294] Thus, by solving the inverse kinematics, the second extension / retraction amount of the three moving actuators among the three reset actuators can be obtained. and the second rotation angle of the three rotary drive components in the three reset drive units

[0295] Step S52: Determine the second reset path based on the second extension amount and the second rotation angle.

[0296] In this step, after calculating the three second extension amounts and three second rotation angles, the second path point of the parallel robotic arm is determined. The path formed by the second path points is the second reset path.

[0297] Step S53: Control the reset drive component to move along the second reset path.

[0298] After obtaining the second reset path, the reset drive component is driven according to the second reset path.

[0299] S6: In response to the cumulative rotation angle of the first fractured element about the central axis of the second fractured element being less than or equal to the target angle, execute S4 and S5 again.

[0300] It is worth noting that in the control method of this application embodiment, the first fractured component moves from the intermediate pose to the target pose by continuous accumulation through synchronous rotation and translation. Therefore, when judging the relationship between the cumulative rotation angle and the target angle, if the cumulative rotation angle of the first fractured component around the central axis of the second fractured component is less than or equal to the target angle, the process returns to steps S4 and S5 to achieve continuous movement of the first fractured component toward the second fractured component.

[0301] S7: In response to the cumulative rotation angle of the first fractured component around the central axis of the second fractured component exceeding the target angle, the control of the reset robot ends, at which point the first and second fractured components are in contact. When the cumulative step size Δθ reaches θ... tar time (θ) R >θ tar This indicates that the first and second fractured components have been reset, and the entire reset process is complete. After the reset is finished, the first fractured component can be realized. Figure 17 The state shown in (c) is as follows.

[0302] Thus, the complete motion of the reset drive component is the combination of {η1} and {η2}.

[0303] The control method of the reset robot provided in the embodiments of the present application realizes the reset of the first broken part and the second broken part through twice reset. In the preliminary reset, the center axes of the first broken part and the second broken part are controlled to coincide, and on this basis, the secondary reset is performed, and in the secondary reset, the first broken part is synchronously controlled in a rotating and translating manner, the method is simple and easy to operate, the reset time can be effectively shortened, and the reset precision is ensured.

[0304] It is to be understood that other embodiments of the present application will become readily apparent to those skilled in the art from the disclosure herein. The embodiments disclosed herein are to be considered within the scope of the present application and are to be considered as merely illustrative and not restrictive of said scope.

[0305] It is to be understood that the application is not limited to the precise details of construction and the arrangement of components described herein and illustrated in the drawings but encompasses various modifications and changes within the scope of the application. The true scope of the application is set forth in the claims.

Claims

1. A reset robot (1000) characterized by, The reset robot (1000) comprises: a first reset ring (100) connected with a first breaking part to drive the first breaking part to move; a second reset ring (200) connected with a second breaking part; a first tracer (300) configured to acquire first pose information of the first reset ring (100); a second tracer (400) configured to acquire second pose information of the second reset ring (200); a reset planning component connected with the first tracer (300) and the second tracer (400) and configured to obtain a reset path according to the first pose information and the second pose information, wherein the reset path is used to guide the first breaking part to move to a target pose relative to the second breaking part; a reset driving component (600) connected with the first reset ring (100) and the second reset ring (200) and configured to drive the first reset ring (100) to move to the target pose relative to the second reset ring (200) according to the reset path.

2. The reset robot (1000) according to claim 1, wherein: the first tracer (300) is connected with the first reset ring (100) so that the first tracer (300), the first reset ring (100) and the first breaking part move synchronously.

3. The reset robot (1000) according to claim 1, characterized in that, the reset driving component (600) comprises a sub-reset driving component (610) connected between the first reset ring (100) and the second reset ring (200), the sub-reset driving component (610) comprises: a moving push rod (12) movably connected with the first reset ring (100) and a moving driving part (11) configured to drive the moving push rod (12) to move in a second direction to drive the first reset ring (100) to move in the second direction; a first transmission component (30) rotatably connected with the second reset ring (200) about a third direction axis; a second transmission component (40) and a rotating driving component (50), wherein the second transmission component (40) is in transmission connection with the rotating driving component (50) and the first transmission component (30) respectively, the second transmission component (40) is connected with the first reset ring (100) through the moving driving part (11) and the moving push rod (12), and the rotating driving component (50) is configured to drive the second transmission component (40) and the first transmission component (30) to rotate about a first direction axis, so that the second transmission component (40) drives the first reset ring (100) to rotate about the first direction axis.

4. The reset robot (1000) according to claim 3, characterized in that, The reset driving component (600) comprises three sub-reset driving components (610) which are uniformly and spacedly arranged along a circumferential direction of the first reset ring (100).

5. The reset robot (1000) according to claim 3, characterized in that, The first transmission assembly (30) comprises a first rotating member (31), and the sub-reset driving assembly (610) further comprises a first hinged member (21) and a second hinged member (22); the second hinged member (22) is sleeved on the first hinged member (21), one of the first rotating member (31) and the second reset ring (200) is partially sleeved on the second hinged member (22), and the other is partially sleeved on the first hinged member (21); The first hinged member (21) and the second hinged member (22) are rotationally connected around the third direction shaft, so that the first rotating member (31) and the second reset ring (200) relatively rotate around the third direction shaft with the first hinged member (21) and the second hinged member (22).

6. The reset robot (1000) according to claim 5, characterized in that The sub-reset driving assembly (610) further comprises a damping member (23), the damping member (23) is sleeved on the first hinged member (21) and axially abuts against the second hinged member (22); An outer wall of the damping member (23) is provided with a first inclined surface (23a) which has an included angle with the axial direction of the damping member (23), the first inclined surface (23a) abuts against one of the second reset ring (200) and the first rotating member (31), and the degree to which the damping member (23) extrudes one of the second reset ring (200) and the first rotating member (31) is adjusted by rotating the first hinged member (21).

7. The reset robot (1000) according to claim 5, wherein The first transmission assembly (30) further comprises a first shaft (33) and a first transmission member (34); the first transmission member (34) is rotationally connected to the first rotating member (31) around a first direction shaft through the first shaft (33); The second transmission assembly (40) comprises a second transmission member (41) and a connecting member (42); the second transmission member (41) and the connecting member (42) are both sleeved on an output shaft (51) of the rotary driving assembly (50), the second transmission member (41) is in transmission connection with the first transmission member (34), and the connecting member (42) is connected with the moving driving member (11); Under the driving of the rotary driving assembly (50), the first transmission member (34) and the second transmission member (41) are in meshing transmission, so that the second transmission assembly (40) drives the moving driving member (11), the moving push rod (12) and the first reset ring (100) to rotate around the first direction shaft relative to the first rotating member (31).

8. The reset robot (1000) according to claim 7, characterized in that, The second transmission assembly (40) further comprises a limiting member (45) and a guide member (44); the guide member (44) and the first rotating member (31) are provided with arc-shaped surfaces which are matched with each other, and the matched tracks of the arc-shaped surfaces are matched with the transmission tracks of the first transmission member (34) and the second transmission member (41). Two ends of the limiting piece (45) are respectively rotationally connected to the first rotating piece (31) and the guide piece (44) around the first direction axis; the second transmission assembly (40) is used for guiding rotation of the second transmission assembly (40) along the arc surface relative to the first transmission assembly (30).

9. The reset robot (1000) according to any one of claims 3 to 8, characterized in that, The rotating driving assembly (50) is fixedly connected with the moving driving piece (11), so that the rotating driving assembly (50) and the moving driving piece (11) rotate synchronously around the first direction axis.

10. The reset robot (1000) according to any one of claims 3 to 8, characterized in that, The sub-reset driving assembly (610) further comprises a universal connecting piece (13), and the moving push rod (12) and the first reset ring (100) are movably connected through the universal connecting piece (13).

11. A control method of a reset robot, characterized by, In the reset robot as claimed in any one of claims 1 to 10, the control method comprises: S1: determining an intermediate pose of the first broken piece according to a current pose of the first broken piece and a target pose of the first broken piece; under the intermediate pose, a central axis of the first broken piece coincides with a central axis of the second broken piece; S2: controlling a reset driving assembly to move along a first reset path based on the intermediate pose; the first reset path comprises a plurality of first reset points; S3: determining a target angle of the first broken piece according to the intermediate pose of the first broken piece and the target pose of the first broken piece; S4: determining a real-time pose of the first broken piece according to a preset step length and a minimum distance; the preset step length is a step length generated after the first broken piece rotates a preset angle around the central axis of the second broken piece within a preset time; the minimum distance is a minimum value of a distance between the first broken piece and the second broken piece; S5: controlling the reset driving assembly to move along a second reset path based on the real-time pose; the second reset path comprises a plurality of second reset points; S6: in response to an angle of cumulative rotation of the first broken piece around the central axis of the second broken piece being less than or equal to the target angle, performing S4 and S5 again; S7: in response to the angle of cumulative rotation of the first broken piece around the central axis of the second broken piece being greater than the target angle, ending control of the reset robot.

12. The control method of the reset robot according to claim 11, wherein S1 comprises: establishing a first coordinate system and a second coordinate system; the first coordinate system is a coordinate system established with a center of the first broken piece as an origin, and the second coordinate system is a coordinate system established with a center of the second broken piece as an origin; determining a target pose of the first broken piece in the second coordinate system according to a pose of the second broken piece in an image system and a target pose of the first broken piece in the image system; determining a current pose of the first broken piece in the second coordinate system according to a pose of the second broken piece in the image system and a pose of the first broken piece in the image system; converting the target pose of the first broken piece in the second coordinate system and the current pose of the first broken piece in the second coordinate system into a position and Euler form to obtain the intermediate pose of the first broken piece.

13. The control method of claim 12, wherein S2 comprises: determining a first extension amount of a moving drive and a first rotation angle of a rotating drive assembly based on the intermediate pose; the reset drive assembly comprises the moving drive and the rotating drive assembly; determining the first reset path based on the first extension amount and the first rotation angle; and controlling the reset drive assembly to move along the first reset path.

14. The control method of claim 13, wherein determining a first extension amount of a moving drive and a first rotation angle of a rotating drive assembly based on the intermediate pose comprises: discretizing the intermediate pose and the current pose of the first broken part in the second coordinate system to obtain a first discrete pose of the first broken part in the second coordinate system; converting the first discrete pose of the first broken part in the second coordinate system to a second discrete pose of the first platform in the second platform; the first platform is a platform where the first reset ring is located, and the second platform is a platform where the second reset ring is located; and determining the first extension amount of the moving drive and the first rotation angle of the rotating drive assembly based on the second discrete pose of the first platform in the second platform, respectively.

15. The control method of claim 14, wherein discretizing the intermediate pose and the current pose to obtain a first discrete pose comprises: discretizing a straight line path between the current position and the intermediate position of the first broken part in the second coordinate system to obtain discrete position points; the current pose and the intermediate pose of the first broken part include the current position and the intermediate position of the first broken part; performing quaternion difference processing on the target pose in the second coordinate system and the initial attitude and the target attitude in the current pose of the first broken part in the second coordinate system to obtain a discrete intermediate rotation matrix; and determining the first discrete pose in combination with the discrete position points and the discrete intermediate rotation matrix.

16. The control method of claim 15, wherein S4 comprises: converting the discrete point set of the surface of the broken part of the first broken part in the first coordinate system to the second coordinate system to obtain a first discrete point set; and determining the minimum distance between the first broken part and the second broken part in combination with the first discrete point set and a second discrete point set; the second discrete point set is a discrete point set of the surface of the broken part of the second broken part in the second coordinate system.

17. The control method of claim 16, wherein S4 further comprises: determining a translation amount of the first broken part based on the minimum distance; and determining the real-time pose of the first broken part in combination with the preset step length and the translation amount.

18. The control method of claim 17, wherein determining a translation amount of the first broken part based on the minimum distance comprises: determining a translation amount of the first broken part based on the minimum distance; and determining the real-time pose of the first broken part in combination with the preset step length and the translation amount. ​ ​ ​ ​ The translation amount of the first breaking member is a difference between the minimum distance and a safe moving distance of the first breaking member; and the safe moving distance is a safe distance of the first breaking member in a single moving process.

19. The control method of the reset robot according to claim 18, wherein S5 comprises: determining a second extension amount of the moving driving member and a second rotation angle of the rotating driving assembly based on the real-time pose of the first platform under the second platform; determining a second reset path based on the second extension amount and the second rotation angle; controlling the reset driving assembly to move in the second reset path.

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