Autonomous operating system for hip surgery robots

Abstract

The application provides a hip joint surgery robot autonomous operation system, comprising: a skin cutting module, used for generating skin cutting instructions for hip joint surgery to instruct a surgery robot to perform skin cutting operation according to the skin cutting instructions; a grinding and filing module, used for generating grinding and filing instructions for hip joint surgery to instruct the surgery robot to perform grinding and filing operation according to the grinding and filing instructions; and a suturing module, used for generating suturing instructions for hip joint surgery to instruct the surgery robot to perform suturing operation according to the suturing instructions. The skin cutting instructions, the grinding and filing instructions and the suturing instructions can be generated to instruct the surgery robot to perform corresponding autonomous operation in hip joint surgery, thereby improving the surgery efficiency.

Description

Technical Field

[0001] This application belongs to the field of orthopedic surgical robots, and in particular relates to an autonomous operating system for a hip joint surgical robot. Background Technology

[0002] With the rapid development of orthopedic surgical robot technology, more and more surgical robots are entering the operating room to assist doctors in performing orthopedic surgeries.

[0003] In related technologies, orthopedic surgical robots are often used to assist surgeons in key operations during orthopedic surgeries, such as osteotomy. However, with the increasing demand for orthopedic surgery and the rapid development of embodied intelligence technology, orthopedic surgical robots that can only assist surgeons in performing some surgical procedures are insufficient to meet the needs of doctors and patients in future medical scenarios. Therefore, how to develop a more intelligent and efficient orthopedic surgical robot system has become an urgent technical problem to be solved in this field. Summary of the Invention

[0004] This application provides an autonomous operating system for a hip joint surgery robot, which can generate skin cutting instructions, grinding instructions, and suturing instructions to instruct the surgical robot to perform corresponding autonomous operations during hip joint surgery, thereby improving surgical efficiency.

[0005] In a first aspect, embodiments of this application provide an autonomous operating system for a hip joint surgery robot, comprising: The skin cutting module is used to generate skin cutting instructions for hip surgery, so that the surgical robot can perform skin cutting operations according to the skin cutting instructions; The grinding module is used to generate grinding instructions for hip surgery, so that the surgical robot can perform grinding operations according to the grinding instructions; The suturing module generates suturing instructions for hip surgery, directing the surgical robot to perform suturing operations according to these instructions.

[0006] Optionally, the skin cutting module is specifically used for: Based on intraoperative sensory data, real-time skin cutting instructions for hip joint surgery are generated. These instructions include insertion, cutting, and retrieval commands. The insertion command is used to instruct the dermatology tool to be inserted to a set depth at the insertion position according to the set first control force; The cutting command is used to instruct that a set length be cut along a set cutting direction according to a set second control force; The recycling command is used to instruct the peeling tool to be recycled according to the set recycling method after the cutting is completed.

[0007] Optionally, the filing module is specifically used for: In response to the need for reaming during hip surgery, a reaming instruction for the acetabulum is generated; wherein, the reaming instruction includes the pose information and reaming parameter information corresponding to the end effector of the surgical robot. The grinding and refining command is sent to the surgical robot control layer to perform the grinding and refining operation, and the command parameters of the grinding and refining command are updated in real time based on the intraoperative execution feedback.

[0008] Optionally, the filing module is specifically used for: If the intraoperative sensory data meets the conditions for acetabular cartilage reshaping, a real-time acetabular cartilage reshaping command is generated to reshape the acetabular cartilage; and, If the intraoperative sensory data meets the conditions for acetabular cortical bone reshaping, an acetabular cortical bone reshaping command is generated in real time to reshape the acetabular cortical bone.

[0009] Optionally, the filing module is specifically used for: Based on intraoperative perception data and a pre-trained surgical robot decision-making and execution model, grinding and refining instructions are generated in real time; among them... The surgical robot decision and execution model includes a surgical decision branch and a robot execution branch. The surgical decision branch is used to generate surgical robot operation decisions in real time based on intraoperative perception data and preoperative surgical plans. The operation decisions include rubbing operations. The robot execution branch is used to generate rubbing instructions containing rubbing parameters based on the surgical robot operation decisions.

[0010] Optionally, the autonomous operating system of the hip joint surgery robot further includes an osteotomy module, which is specifically used for: Based on intraoperative perception data and the osteotomy method matched with the current surgical procedure, osteotomy instructions for the area to be osteotomized are generated in real time to perform osteotomy operations in the area to be osteotomized. The osteotomy command includes the planned target osteotomy path.

[0011] Optionally, the autonomous operating system of the hip joint surgery robot further includes a fixation module, which is specifically used for: Based on intraoperative sensory data and the fixation method matched with the current surgical procedure, fixation instructions for the area to be fixed are generated in real time so that fixation operations can be performed in the area to be fixed. The fixed instruction includes the planned target fixed path.

[0012] Optionally, the suturing module is specifically used for: Based on intraoperative perception data and the target suturing method matched with the current surgical procedure, suturing instructions for the area to be sutured are generated in real time to perform suturing operations on the area to be sutured. The target suturing method is used to define how each key point in the suturing path is generated.

[0013] Optionally, the autonomous operating system of the hip joint surgery robot further includes a safety monitoring module, which is specifically used for: Anomalies are identified based on intraoperative sensing data, and a hard interrupt command is sent to the surgical robot control layer to stop the current operation of the surgical robot if an anomaly is detected.

[0014] Optionally, the autonomous operating system of the hip joint surgery robot further includes an intelligent mode control module, which is specifically used for: In response to meeting the conditions for updating the control mode of the surgical robot, the control mode of the surgical robot is updated in real time. The control modes of surgical robots include local control, remote control, and autonomous control.

[0015] Secondly, embodiments of this application provide a control method for an autonomous operating system of a hip joint surgery robot, the control method being used to implement the functions in the autonomous operating system of the hip joint surgery robot as described in any embodiment of the first aspect.

[0016] Thirdly, embodiments of this application provide an electronic device, which includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the functions in the autonomous operating system of the hip joint surgery robot.

[0017] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer program instructions, which, when executed by a processor, implement the functions of the autonomous operating system of the hip joint surgical robot.

[0018] The autonomous operating system, control method, device, and computer-readable storage medium for hip joint surgery robots in this application provide an autonomous operating system for hip joint surgery robots that includes a skin cutting module, a grinding module, and a suturing module. It can instruct the surgical robot to perform corresponding autonomous operations in hip joint surgery by generating skin cutting instructions, grinding instructions, and suturing instructions, thereby improving surgical efficiency. Attached Figure Description

[0019] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the architecture of an autonomous operating system for a hip joint surgery robot provided in one embodiment of this application; Figure 2 This is a schematic diagram of the skin cutting tool in the autonomous operating system of the hip joint surgery robot provided in one embodiment of this application; Figure 3 This is a schematic diagram of the instruction interaction logic in the autonomous operating system of a hip joint surgery robot provided in one embodiment of this application; Figure 4 This is a schematic diagram of autonomous grinding in the autonomous operating system of a hip joint surgery robot provided in one embodiment of this application; Figure 5 This is a schematic diagram of the architecture of the decision-making and execution model of the surgical robot in the autonomous operating system of the hip joint surgical robot provided in one embodiment of this application; Figure 6 This is a schematic diagram of the intelligent mode control architecture in the autonomous operating system of a hip joint surgery robot provided in one embodiment of this application; Figure 7 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0021] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0022] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0023] To address the problems of existing technologies, this application provides an autonomous operating system for a hip joint surgery robot. The autonomous operating system can be a packaged hardware system, where each module can be a hardware module with independent computing capabilities to generate and interact with corresponding instructions, thereby controlling the surgical robot to perform corresponding operations. Alternatively, the autonomous operating system can also be a software system deployed in the surgical robot's control hardware (e.g., an industrial computer, dedicated hardware devices for controlling the surgical robot), generating instructions by calling relevant hardware resources and achieving autonomous operation of the surgical robot through instruction interaction with the surgical robot.

[0024] The autonomous operating system for the hip joint surgery robot provided in the embodiments of this application will be introduced first below. Figure 1 This is a schematic diagram of the architecture of an autonomous operating system for a hip joint surgery robot according to an embodiment of this application. The autonomous operating system for the hip joint surgery robot includes a skin cutting module, a grinding module, and a suturing module; wherein, The skin cutting module is used to generate skin cutting instructions for hip surgery, so that the surgical robot can perform skin cutting operations according to the skin cutting instructions; The grinding module is used to generate grinding instructions for hip surgery, so that the surgical robot can perform grinding operations according to the grinding instructions; The suturing module generates suturing instructions for hip surgery, directing the surgical robot to perform suturing operations according to these instructions.

[0025] In some embodiments, the skin cutting module is specifically used for: Based on intraoperative sensory data, real-time skin cutting instructions for hip joint surgery are generated. These instructions include insertion, cutting, and retrieval commands. The insertion command is used to instruct the dermatology tool to be inserted to a set depth at the insertion position according to the set first control force; The cutting command is used to instruct that a set length be cut along a set cutting direction according to a set second control force; The recycling command is used to instruct the peeling tool to be recycled according to the set recycling method after the cutting is completed.

[0026] In some embodiments, the cutting tool can be as follows: Figure 2 As shown, Figure 2 The incision tool includes a blade head, a blade head connecting rod, guide wheels, and guide wheel connecting rods. The blade head connecting rod connects the incision tool to a surgical robot, such as to the robotic arm of the surgical robot, so that the incision tool acts as the end effector of the surgical robot. The guide wheels are located on the left and right sides of the blade head's travel direction, and there can be two of them (e.g., ...). Figure 2 As shown in the diagram on the inner left, they are located on the exact left and right sides of the cutter head, respectively, and there are 4 (such as...). Figure 2 As shown in the schematic diagram on the inner right, the guide wheel is located at the left front, left rear, right front, and right rear of the blade head, respectively. The guide wheel link is used to connect the guide wheel to the blade head link. The guide wheel link is equipped with a spring so that, in the force control mode of the surgical robot, the distribution of the spring, the elastic parameters of the spring, and the cutting parameters of the skin surface to be cut (including the skin cutting path planned in the three-dimensional scene) are used to set a suitable first control force and a second control force for the surgical robot, so that the cutting tool can better fit the skin surface and cut out the appropriate surgical area after penetrating to the appropriate depth.

[0027] In this way, compared to setting only one spring on the blade connecting rod, setting multiple springs on the guide wheel connecting rod and placing the springs on both sides of the blade's travel direction allows the skin cutting tool to better cooperate with multi-degree-of-freedom surgical robots, enabling precise cutting of non-planar skin cutting areas, thereby improving surgical efficiency and patient recovery efficiency.

[0028] In some embodiments, the filing module is specifically used for: In response to the need for reaming during hip surgery, a reaming instruction for the acetabulum is generated; wherein, the reaming instruction includes the pose information and reaming parameter information corresponding to the end effector of the surgical robot. The grinding and refining command is sent to the surgical robot control layer to perform the grinding and refining operation, and the command parameters of the grinding and refining command are updated in real time based on the intraoperative execution feedback.

[0029] The grinding requirement in the hip joint surgery can be the acetabular grinding requirement in hip replacement surgery; the command parameters of the osteotomy command are updated in real time according to the intraoperative execution feedback. The position information and grinding parameter information of the actuator end in the osteotomy command can be updated according to real-time sensing data such as intraoperative audio and video data and force feedback data, so as to achieve autonomous grinding under precise force control.

[0030] For example, the instruction interaction logic diagram of the autonomous operating system of the hip joint surgery robot can be as follows: Figure 3 As shown, Figure 3 In this process, the AI ​​algorithm layer can send instructions to the communication middleware, which can then forward the instructions to the surgical robot control layer. The surgical robot control layer can then perform corresponding operations based on the instructions. The surgical robot control layer can also request instructions from the AI ​​algorithm layer through the communication middleware. Upon receiving the request forwarded by the communication middleware, the AI ​​algorithm layer can generate corresponding instructions based on real-time intraoperative perception data and perform subsequent control through the aforementioned transmission link, thereby realizing a closed-loop control logic that includes the AI ​​algorithm layer, the communication middleware, and the surgical robot control layer.

[0031] In some embodiments, the filing module is specifically used for: If the intraoperative sensory data meets the conditions for acetabular cartilage reshaping, a real-time acetabular cartilage reshaping command is generated to reshape the acetabular cartilage; and, If the intraoperative sensory data meets the conditions for acetabular cortical bone reshaping, an acetabular cortical bone reshaping command is generated in real time to reshape the acetabular cortical bone.

[0032] Because cartilage has a lower density than cortical bone, the grinding speed in the acetabular cartilage grinding command can be lower than that in the acetabular cortical bone grinding command, and the control force in the acetabular cartilage grinding command can be lower than that in the acetabular cortical bone grinding command. This allows for slow grinding during the cartilage grinding process, ensuring that the acetabular cartilage is completely ground clean. During the acetabular cortical bone grinding stage, the grinding speed and control force can be appropriately increased to ensure smooth grinding of the denser cortical bone. Under precise force control, autonomous grinding can continue until the cancellous bone is reached, facilitating subsequent prosthesis placement.

[0033] Figure 4 This is a schematic diagram of autonomous grinding in the autonomous operating system of a hip joint surgery robot provided in one embodiment of this application.

[0034] In some embodiments, grinding commands are generated in real time based on intraoperative sensing data and a pre-trained surgical robot decision and execution model; wherein... The surgical robot decision and execution model includes a surgical decision branch and a robot execution branch. The surgical decision branch is used to generate surgical robot operation decisions in real time based on intraoperative perception data and preoperative surgical plans. The operation decisions include rubbing operations. The robot execution branch is used to generate rubbing instructions containing rubbing parameters based on the surgical robot operation decisions.

[0035] For example, the architectural diagram of the surgical robot decision-making and execution model can be... Figure 5 As shown, Figure 5 The surgical robot decision-making and execution model includes a multimodal feature extraction module (not shown in the figure), a surgical plan semantic encoder (not shown in the figure), a feature fusion module (not shown in the figure), a surgical decision branch, and a robot execution branch. The inputs of the surgical robot decision-making and execution model include intraoperative perception data and surgical plans. The intraoperative perception data includes patient physiological data, real-time audio data, real-time video data, surgical instrument tracking data, etc. The surgical plans include operations, emergency plans, and alternative surgical plans for each surgical stage. The outputs of the surgical robot decision-making and execution model include surgical robot control commands, which include skin cutting commands, grinding commands, osteotomy commands, fixation commands, suturing commands, etc.

[0036] The multimodal feature extraction module is used to extract features from intraoperative perception data, which includes patient physiological data, real-time audio data, real-time video data, surgical instrument tracking data, force sensor data, surgical robot status data, etc. For intraoperative perception data of different modalities, a modality-matching feature extractor can be used for feature extraction. For example, video data can be extracted using feature extraction networks with visual feature extraction capabilities, such as MobileNetV3-Small. The surgical plan semantic encoder can be extracted using a feature extractor with structured data feature extraction capabilities, and its model architecture can be, for example, GNN.

[0037] The feature fusion module can employ a network model with contextual semantic fusion capabilities. Its input consists of the output features of the surgical plan semantic encoder and the multimodal feature extraction module, which fuse the surgical plan and intraoperative perception data to output a 512-dimensional context vector. The surgical decision branch can be structured as a 2-layer BiLSTM + classification head + regression head, with the fused context vector as its input. It is used to output the action category and its confidence level, and can simultaneously output an attention heatmap and decision basis text to enhance the interpretability and safety of the surgical robot operation. The robot execution branch receives the robot's current state (including pose and other state data), an environmental obstacle map (the current operating room environment), and the target pose (i.e., the next motion target) corresponding to the action category output by the surgical decision branch. It outputs control commands, which may include 10 frames of look-ahead trajectory points (each point containing joint angles and end-effector operation parameters such as tool opening and closing) plus real-time velocity commands. The robot execution branch may include an obstacle perception module, a trajectory planner, a neural IK solver, and an adaptive controller. The obstacle perception module can be based on a lightweight PointNet architecture to detect obstacles in the surgical field of interest. For perception, the trajectory planner can adopt ConditionalVAE, with both its encoding structure and decoding results using LSTM. Its input is the current pose + moving target + obstacle, and the output is the planned look-ahead trajectory points. The neural IK solver architecture can adopt MLP, which converts the Cartesian pose in Cartesian coordinates into joint angles to obtain joint angle parameters for controlling the movement of the robotic arm. The adaptive controller can adopt LSTM-PID, which is used to perform adaptive control based on the current joint angle, target angle, error integral, and force feedback data, and outputs joint velocity correction to achieve adaptive adjustment based on real-time intraoperative situational awareness.

[0038] In some embodiments, the autonomous operating system of the hip joint surgical robot further includes an osteotomy module, which is specifically used for: Based on intraoperative perception data and the osteotomy method matched with the current surgical procedure, osteotomy instructions for the area to be osteotomized are generated in real time to perform osteotomy operations in the area to be osteotomized. The osteotomy command includes the planned target osteotomy path.

[0039] In practical applications, osteotomy is required in various procedures such as periacetabular osteotomy, pelvic osteotomy, and femoral rotation osteotomy during hip joint surgery. Different osteotomy requirements require different osteotomy methods (including osteotomy tools). The osteotomy tools involved include bone scalpels, wire saws, bone shears, bone forceps, periosteal elevators, etc. Therefore, for different osteotomy requirements in different procedures, osteotomy instructions for the area to be osteotomized can be generated in real time based on intraoperative perception data and the osteotomy method matched to the current procedure, so as to perform osteotomy operations in the area to be osteotomized.

[0040] In some embodiments, the autonomous operating system of the hip joint surgical robot further includes a fixation module, which is specifically used for: Based on intraoperative sensory data and the fixation method matched with the current surgical procedure, fixation instructions for the area to be fixed are generated in real time so that fixation operations can be performed in the area to be fixed. The fixed instruction includes the planned target fixed path.

[0041] In practical applications, there is a need for fixation in fracture types such as acetabular labrum fractures during hip surgery. Therefore, for the fixation needs in different surgical procedures, fixation instructions for the area to be fixed can be generated in real time based on intraoperative perception data and the matching method of the current surgical procedure, so as to perform fixation operations in the area to be fixed.

[0042] The fixing methods include fixing with steel plates, fixing with screws, etc.

[0043] In some embodiments, the suturing module is specifically used for: Based on intraoperative perception data and the target suturing method matched with the current surgical procedure, suturing instructions for the area to be sutured are generated in real time to perform suturing operations on the area to be sutured. The target suturing method is used to define how each key point in the suturing path is generated.

[0044] In some embodiments, after hip surgery, suturing instructions for the area to be sutured can be generated in real time according to the target suturing method that matches the surgical procedure of the hip joint, and automatic suturing can be performed according to the suturing path and suturing method indicated by the suturing instructions.

[0045] In some embodiments, the autonomous operating system of the hip joint surgical robot further includes a safety monitoring module, which is specifically used for: Anomalies are identified based on intraoperative sensing data, and a hard interrupt command is sent to the surgical robot control layer to stop the current operation of the surgical robot if an anomaly is detected.

[0046] In some embodiments, the safety monitoring module can be embedded into the overall architecture through hard constraints. It can implement safety constraints for the surgical robot through real-time collision detection of trajectory points, joint velocity / acceleration limiting, force control mode (triggering impedance control when the force exceeds a threshold). The safety monitoring module can be implemented with independent hardware to ensure the operational safety of the surgical robot. For example, safety monitoring can be implemented through FPGA + independent MCU to physically isolate it from the surgical decision branch and the robot execution branch. The safety monitoring module can send hard interrupt signals to the surgical decision branch and the robot execution branch to achieve safety protection when an anomaly is detected. The robot execution branch can provide real-time feedback on the execution status to the surgical decision branch so that the surgical decision branch can perceive the robot's execution status in real time.

[0047] Figure 6 This is a schematic diagram of the intelligent mode control architecture in the autonomous operating system of the hip joint surgery robot provided in one embodiment of this application.

[0048] In some embodiments, the autonomous operating system of the hip joint surgical robot further includes an intelligent mode control module, which is specifically used for: In response to meeting the conditions for updating the control mode of the surgical robot, the control mode of the surgical robot is updated in real time. The control modes of surgical robots include local control, remote control, and autonomous control.

[0049] In some embodiments, the response to meeting the surgical robot control mode update conditions includes entering the target surgical stage, performing the target surgical operation, remote connection interruption, and receiving a control mode switching instruction.

[0050] Specifically, when entering the target surgical stage, the system can switch between local control and remote or autonomous control, between remote control and local or autonomous control, and between autonomous control and local or remote control; when performing the target surgical operation, the system can switch between local control and remote or autonomous control, between remote control and local or autonomous control, and between autonomous control and local or remote control; in the event of a remote connection interruption, the system can switch between remote control and local or autonomous control; and upon receiving a control mode switching command, the system can switch between local control and remote or autonomous control, between remote control and local or autonomous control, and between autonomous control and local or remote control.

[0051] In some embodiments, during the preoperative planning stage, control modes corresponding to each surgical stage can be planned according to the surgeon's proficiency and success rate in each surgical procedure, and the surgical robot can be controlled according to the corresponding control mode during the operation to the corresponding surgical stage.

[0052] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown.

[0053] The electronic device may include a processor 701 and a memory 702 storing computer program instructions.

[0054] Specifically, the processor 701 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0055] Memory 702 may include mass storage for data or instructions. For example, and not limitingly, memory 702 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 702 may include removable or non-removable (or fixed) media. Where appropriate, memory 702 may be internal or external to an electronic device. In a particular embodiment, memory 702 may be a non-volatile solid-state memory.

[0056] In one embodiment, memory 702 may be read-only memory (ROM). In one embodiment, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0057] The processor 701 reads and executes computer program instructions stored in the memory 702 to implement the functions in the autonomous operating system of the hip joint surgery robot described in any of the above embodiments.

[0058] In one example, the electronic device may also include a communication interface 703 and a bus 710. For example, Figure 7 As shown, the processor 701, memory 702, and communication interface 703 are connected through bus 710 and complete communication with each other.

[0059] The communication interface 703 is mainly used to realize communication between various modules, devices, units and / or equipment in the embodiments of this application.

[0060] Bus 710 includes hardware, software, or both, that couples components of an electronic device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 710 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, this application contemplates any suitable bus or interconnect.

[0061] Alternatively, embodiments of this application may be implemented using a computer-readable storage medium. This computer-readable storage medium stores computer program instructions; when executed by a processor, these computer program instructions implement the functions of the autonomous operating system for the hip joint surgical robot described in any of the above embodiments.

[0062] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0063] The functional modules shown in the above-described block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0064] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. However, this application is not limited to the order of the above steps; that is, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0065] The aspects of this application have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0066] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. An autonomous operating system for a hip joint surgical robot, characterized in that, include: The skin cutting module is used to generate skin cutting instructions for hip surgery, so that the surgical robot can perform skin cutting operations according to the skin cutting instructions; The grinding module is used to generate grinding instructions for hip surgery, so that the surgical robot can perform grinding operations according to the grinding instructions; The suturing module generates suturing instructions for hip surgery, directing the surgical robot to perform suturing operations according to these instructions.

2. The autonomous operating system for the hip joint surgical robot according to claim 1, characterized in that, The skin cutting module is specifically used for: Based on intraoperative sensory data, real-time skin cutting instructions for hip joint surgery are generated. These instructions include insertion, cutting, and retrieval commands. The insertion command is used to instruct the dermatology tool to be inserted to a set depth at the insertion position according to the set first control force; The cutting command is used to instruct that a set length be cut along a set cutting direction according to a set second control force; The recycling command is used to instruct the peeling tool to be recycled according to the set recycling method after the cutting is completed.

3. The autonomous operating system for the hip joint surgery robot according to claim 1, characterized in that, The grinding and filing module is specifically used for: In response to the need for reaming during hip surgery, a reaming instruction for the acetabulum is generated; wherein, the reaming instruction includes the pose information and reaming parameter information corresponding to the end effector of the surgical robot. The grinding and refining command is sent to the surgical robot control layer to perform the grinding and refining operation, and the command parameters of the grinding and refining command are updated in real time based on the intraoperative execution feedback.

4. The autonomous operating system for the hip joint surgery robot according to claim 3, characterized in that, The grinding and filing module is specifically used for: If the intraoperative sensory data meets the conditions for acetabular cartilage reshaping, a real-time acetabular cartilage reshaping command is generated to reshape the acetabular cartilage; and, If the intraoperative sensory data meets the conditions for acetabular cortical bone reshaping, an acetabular cortical bone reshaping command is generated in real time to reshape the acetabular cortical bone.

5. The autonomous operating system for the hip joint surgery robot according to claim 1, characterized in that, The grinding and filing module is specifically used for: Based on intraoperative perception data and a pre-trained surgical robot decision-making and execution model, grinding and refining instructions are generated in real time; among them... The surgical robot decision and execution model includes a surgical decision branch and a robot execution branch. The surgical decision branch is used to generate surgical robot operation decisions in real time based on intraoperative perception data and preoperative surgical plans. The operation decisions include rubbing operations. The robot execution branch is used to generate rubbing instructions containing rubbing parameters based on the surgical robot operation decisions.

6. The autonomous operating system for the hip joint surgery robot according to claim 5, characterized in that, The autonomous operating system of the hip joint surgery robot also includes an osteotomy module, which is specifically used for: Based on intraoperative perception data and the osteotomy method matched with the current surgical procedure, osteotomy instructions for the area to be osteotomized are generated in real time to perform osteotomy operations in the area to be osteotomized. The osteotomy command includes the planned target osteotomy path.

7. The autonomous operating system for the hip joint surgical robot according to any one of claims 1-5, characterized in that, The autonomous operating system of the hip joint surgery robot also includes a fixation module, which is specifically used for: Based on intraoperative sensory data and the fixation method matched with the current surgical procedure, fixation instructions for the area to be fixed are generated in real time so that fixation operations can be performed in the area to be fixed. The fixed instruction includes the planned target fixed path.

8. The autonomous operating system for the hip joint surgical robot according to any one of claims 1-5, characterized in that, The suturing module is specifically used for: Based on intraoperative perception data and the target suturing method matched with the current surgical procedure, suturing instructions for the area to be sutured are generated in real time to perform suturing operations on the area to be sutured. The target suturing method is used to define how each key point in the suturing path is generated.

9. The autonomous operating system for the hip joint surgical robot according to any one of claims 1-5, characterized in that, The autonomous operating system of the hip joint surgery robot also includes a safety monitoring module, which is specifically used for: Anomalies are identified based on intraoperative sensing data, and a hard interrupt command is sent to the surgical robot control layer to stop the current operation of the surgical robot if an anomaly is detected.

10. The autonomous operating system for the hip joint surgical robot according to any one of claims 1-5, characterized in that, The autonomous operating system of the hip joint surgery robot also includes an intelligent mode control module, which is specifically used for: In response to meeting the conditions for updating the control mode of the surgical robot, the control mode of the surgical robot is updated in real time. The control modes of surgical robots include local control, remote control, and autonomous control.

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