Osteotomy control method, osteotomy device, and computer program product

Abstract

The embodiment of the invention is suitable for the technical field of orthopedic surgery, and provides an osteotomy control method, osteotomy equipment and a computer program product, the method is applied to the osteotomy equipment, and the osteotomy equipment is provided with an osteotomy tool; the method comprises the steps that in the osteotomy process, the tool position and the tool speed of an osteotomy tool are determined; determining a target osteotomy boundary in a plurality of preset osteotomy boundaries based on the tool position and the tool speed; decomposing the tool speed into a first normal speed perpendicular to the target osteotomy boundary and a first tangential speed perpendicular to the first normal speed; under the condition that the osteotomy tool and the target osteotomy boundary meet the collision condition, the first normal speed is adjusted, it can be guaranteed that the trajectory of the osteotomy tool changes smoothly while the osteotomy tool does not collide with the target osteotomy boundary, and the accuracy, safety and smoothness of an osteotomy operation are guaranteed.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202610195332.2 (22) Application Date 2026.02.11 (71) Applicant: Gushengyuan Robotics (Shenzhen) Co., Ltd. Address: Room 2101, Building D1, Nanshan Zhiyuan, No. 1001 Xueyuan Avenue, Changyuan Community, Taoyuan Street, Nanshan District, Shenzhen, Guangdong Province, 518000 (72) Inventors: Wang Menglong, Liu Tingting (74) Patent Agency: Shenzhen Zhongyi United Intellectual Property Agency Co., Ltd. 44414 Patent Attorney: Du Kaijian (51) Int.Cl. A61B 17 / 16 (2006.01) A61B 34 / 30 (2016.01) (54) Invention Title: A Method for Controlling Osteotomy, Osteotomy Device, and Computer Program Product (57) Abstract: This application applies to the field of orthopedic surgery technology and provides a method for controlling osteotomy, an osteotomy device, and a computer program product. The method is applied to an osteotomy device, which is equipped with an osteotomy tool. The method includes: determining the tool position and tool speed of the osteotomy tool during osteotomy; determining a target osteotomy boundary among multiple preset osteotomy boundaries based on the tool position and tool speed; decomposing the tool speed into a first normal speed perpendicular to the target osteotomy boundary and a first tangential speed perpendicular to the first normal speed; adjusting the first normal speed when the osteotomy tool and the target osteotomy boundary meet the collision conditions. This application embodiment can ensure that the osteotomy tool does not collide with the target osteotomy boundary while ensuring a smooth change in the trajectory of the osteotomy tool, thus ensuring the accuracy, safety, and smoothness of the osteotomy surgery. Claims (2 pages), Description (10 pages), Drawings (3 pages), CN 121714334 A, 2026.03.24, CN 1 21 71 43 34 A. 1. A method for controlling osteotomy, characterized in that it is applied to an osteotomy device, the osteotomy device being equipped with an osteotomy tool; the method includes: during osteotomy, determining the tool position and tool speed of the osteotomy tool; based on the tool position and the tool speed, determining a target osteotomy boundary among multiple preset osteotomy boundaries; decomposing the tool speed into a first normal speed perpendicular to the target osteotomy boundary and a first tangential speed perpendicular to the first normal speed; adjusting the first normal speed when the osteotomy tool and the target osteotomy boundary meet a collision condition. 2. The method according to claim 1, characterized in that the method further comprises: determining the stopping distance of the osteotomy tool in the direction of the first normal velocity; determining a first distance between the osteotomy tool and the target osteotomy boundary; and determining that the osteotomy tool and the target osteotomy boundary meet a collision condition if the stopping distance is greater than the first distance.3. The method according to claim 2, wherein adjusting the first normal velocity includes: determining a first collision rate based on the maximum deceleration of the osteotomy tool, the first distance, and the target osteotomy boundary; adjusting the rate of the first normal velocity to be no greater than the first collision rate. 4. The method according to claim 3, wherein twice the product of the maximum deceleration and the first distance is equal to the square of the first collision rate. 5. The method according to claim 1, wherein determining the target osteotomy boundary among multiple preset osteotomy boundaries based on the tool position and the tool velocity includes: determining the velocity projection vector of the osteotomy tool on the osteotomy plane based on the tool velocity; taking the tool position as the starting point, determining the one among multiple preset osteotomy boundaries that intersects with the velocity projection vector as the target osteotomy boundary in the direction of the velocity projection vector. 6. The method according to claim 1, wherein the osteotomy boundary is a line segment; the method further comprises: determining the endpoint position of the nearest osteotomy boundary endpoint based on the tool position; determining a second normal velocity toward the endpoint position and a second tangential velocity perpendicular to the second normal velocity when the second distance between the tool position and the endpoint position is less than a preset distance value; controlling the second normal velocity based on the second distance. 7. The method according to claim 6, wherein controlling the second normal velocity based on the second distance comprises: determining a current second collision rate based on the maximum deceleration and the second distance; adjusting the rate of the second normal velocity to be no greater than the second collision rate when the rate of the second normal velocity is greater than the second collision rate. 8. The method according to claim 7, wherein determining the second normal velocity toward the endpoint position comprises: determining a circular region on the osteotomy plane centered on the endpoint position; determining the radial direction passing through the tool position and toward the endpoint position as the second normal; and determining the component in the second normal direction as the second normal velocity based on the tool velocity. 9. An osteotomy device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the osteotomy device performs the method according to any one of claims 1-8. 10. A computer program product, comprising a computer program, wherein when the computer program is executed, it causes...The method as described in any one of claims 1-8 shall be performed. Claims 2 / 2 Page 3 CN 121714334 A A method for controlling osteotomy, osteotomy equipment and computer program product Technical Field

[0001] The embodiments of this application belong to the field of orthopedic surgery technology, and particularly relate to a method for controlling osteotomy, osteotomy equipment and computer program product. Background Art

[0002] In orthopedic robot-assisted osteotomy surgery, the osteotomy operation must strictly limit the range of motion of the osteotomy tool in the robot to the pre-planned bone surface range. Once the osteotomy tool exceeds this range, it will lead to irreversible soft tissue damage or failure of prosthesis installation.

[0003] However, the prior art mostly adopts distance-based virtual wall or potential field method, setting a boundary in the near area of ​​the bone surface and applying repulsive force or attenuation rate near the boundary. However, such methods rely on empirical thresholds, and the osteotomy tool is prone to overshooting, which is difficult to meet the "zero penetration" requirement of high-risk scenarios such as medical treatment.

[0004] In view of the above, embodiments of this application provide an osteotomy control method, an osteotomy device, and a computer program product to prevent the osteotomy tool from crossing the osteotomy boundary during the osteotomy process, thereby improving the accuracy of the osteotomy and ensuring the safety of the osteotomy surgery.

[0005] A first aspect of this application provides an osteotomy control method, applied to an osteotomy device, the osteotomy device being provided with an osteotomy tool; the method includes:

[0006] During the osteotomy process, determining the tool position and tool speed of the osteotomy tool; Based on the tool position and the tool speed, determining a target osteotomy boundary among a plurality of preset osteotomy boundaries; Decomposing the tool speed into a first normal speed perpendicular to the target osteotomy boundary and a first tangential speed perpendicular to the first normal speed; Adjusting the first normal speed when the osteotomy tool and the target osteotomy boundary meet the collision conditions.

[0007] In some implementations of the first aspect, the method further includes: determining a braking distance of the osteotomy tool in the direction of the first normal velocity; determining a first separation distance between the osteotomy tool and the target osteotomy boundary; if the braking distance is greater than the first separation distance, determining that the osteotomy tool and the target osteotomy boundary meet a collision condition; if the braking distance is not greater than the first separation distance, determining that the osteotomy tool and the target osteotomy boundary do not meet a collision condition.

[0008] In some implementations of the first aspect, adjusting the first normal velocity includes: determining a first collision rate based on the maximum deceleration of the osteotomy tool, the first separation distance, and the target osteotomy boundary; adjusting the rate of the first normal velocity to be not greater than the first collision rate. Specification 1 / 10 pages 4 CN 121714334 A

[0009] In some implementations of the first aspect, twice the product of the maximum deceleration and the first distance is equal to the square of the first collision rate.

[0010] In some implementations of the first aspect, determining the target osteotomy boundary among multiple preset osteotomy boundaries based on the tool position and the tool velocity includes: determining the velocity projection vector of the osteotomy tool on the osteotomy plane based on the tool velocity; taking the tool position as the starting point, determining one of the multiple preset osteotomy boundaries intersecting the velocity projection vector as the target osteotomy boundary in the direction of the velocity projection vector.

[0011] In some implementations of the first aspect, the osteotomy boundary is a line segment; the method further includes: determining the endpoint position of the nearest osteotomy boundary endpoint based on the tool position; if the second distance between the tool position and the endpoint position is less than a preset distance value, determining a second normal velocity toward the endpoint position and a second tangential velocity perpendicular to the second normal velocity; controlling the second normal velocity based on the second distance.

[0012] In some implementations of the first aspect, controlling the second normal velocity based on the second phase distance includes: determining the current second collision rate based on the maximum deceleration and the second phase distance; adjusting the rate of the second normal velocity to be no greater than the second collision rate when the rate of the second normal velocity is greater than the second collision rate.

[0013] In some implementations of the first aspect, determining the second normal velocity toward the endpoint position includes: determining a circular region on the osteotomy plane centered on the endpoint position; determining the radial direction passing through the tool position and toward the endpoint position as the second normal; determining the component in the second normal direction as the second normal velocity based on the tool velocity.

[0014] A second aspect of the present application provides an osteotomy control device located in an osteotomy apparatus. The osteotomy apparatus is equipped with an osteotomy tool. The device includes: a tool motion determination module, used to determine the tool position and tool speed of the osteotomy tool during the osteotomy process; a target osteotomy boundary determination module, used to determine a target osteotomy boundary among a plurality of preset osteotomy boundaries based on the tool position and the tool speed; a velocity decomposition module, used to decompose the tool speed into a first normal velocity perpendicular to the target osteotomy boundary and a first tangential velocity perpendicular to the first normal velocity; and a first normal velocity adjustment module, used to adjust the first normal velocity when the osteotomy tool and the target osteotomy boundary meet a collision condition.

[0015] A third aspect of the present application provides an osteotomy apparatus, including a processor, a memory, and a computer program stored in the memory and executable on the processor. The processor executes the computer program.When the osteotomy device is executed, the osteotomy control method described in the first aspect above is implemented.

[0016] A fourth aspect of the present application provides a computer program product, including a computer program, which, when run, causes the osteotomy control method described in the first aspect above to be executed.

[0017] A fifth aspect of the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the osteotomy control method described in the first aspect above.

[0018] Compared with the prior art, the embodiments of this application have the following beneficial effects: In the embodiments of this application, the tool position and tool speed of the osteotomy tool are determined during the osteotomy process; based on the tool position and the tool speed, a target osteotomy boundary is determined among multiple preset osteotomy boundaries; the tool speed is decomposed into a first normal speed perpendicular to the target osteotomy boundary and a first tangential speed perpendicular to the first normal speed; when the osteotomy tool and the target osteotomy boundary meet the collision conditions, the first normal speed is adjusted, thereby determining the target osteotomy boundary in the movement direction of the osteotomy tool; when the osteotomy tool and the target osteotomy boundary meet the collision conditions, it is determined that the osteotomy tool and the target osteotomy boundary are about to collide, and the first normal speed is adjusted and the first tangential speed is maintained, so that the osteotomy tool does not collide with the target osteotomy boundary while ensuring a smooth change in the trajectory of the osteotomy tool, thus ensuring the accuracy, safety and smoothness of the osteotomy surgery. Brief Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 is a schematic diagram of an osteotomy control method provided by an embodiment of this application; Figure 2 is a schematic diagram of an osteotomy boundary provided by an embodiment of this application; Figure 3 is an exploded schematic diagram of a tool speed provided by an embodiment of this application; Figure 4 is an exploded schematic diagram of another tool speed provided by an embodiment of this application; Figure 5 is an exploded schematic diagram of yet another tool speed provided by an embodiment of this application; Figure 6 is a schematic diagram of an osteotomy control device provided by an embodiment of this application; Figure 7 is a schematic diagram of an osteotomy device provided by an embodiment of this application. Detailed Description

[0021] In the following description, specific details such as particular system structures and technologies are set forth for illustration rather than limitation in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art should understand that without these specific details,This application may also be implemented in other detailed embodiments. In other cases, detailed descriptions of well-known systems, apparatuses, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary details.

[0022] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof.

[0023] It should also be understood that, as used in this application specification and the appended claims, the term "and / or" refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0024] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrases “if determined” or “if [the described condition or event] is detected” can be interpreted, depending on the context, as meaning “once determined” or “in response to determined” or “once [the described condition or event] is detected” or “in response to the detection of [the described condition or event]”.

[0025] Additionally, in the description of this application and the appended claims, the terms “first,” “second,” “third,” etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] References such as “one embodiment” or “some embodiments” described in this application mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Thus, the phrases “in one embodiment,” “in some embodiments,” “in other embodiments,” “in still other embodiments,” etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean “one or more, but not all, embodiments,” unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0027] One of the inventive concepts of this application is to perform preoperative planning before osteotomy, determine the osteotomy plane and osteotomy boundary, analyze the relationship between the movement direction of the osteotomy tool and the osteotomy boundary, decompose the speed of the osteotomy tool, and control the specified speed component, thereby reducing the lateral oscillation of the osteotomy tool on both sides of the osteotomy boundary and preventing the osteotomy tool from rushing out of the osteotomy boundary, thus preventing overcutting or bone fracture during osteotomy, and improving the accuracy and safety of osteotomy. This application embodiment can be applied to osteotomy equipment to achieve automated high precision.High-precision and high-safety automatic / semi-automatic osteotomy operation.

[0028] The technical solution of this application will be described below through specific embodiments.

[0029] Referring to FIG1, a schematic diagram of an osteotomy control method provided by an embodiment of this application is shown. This embodiment of the application can be applied to an osteotomy device, which can be equipped with an osteotomy tool.

[0030] As an example, the osteotomy device can be a device with computing resources. The osteotomy device is equipped with a robotic arm, and an osteotomy tool (e.g., a oscillating saw) is provided at the end of the robotic arm. The osteotomy device controls the movement of the osteotomy tool to perform osteotomy on the surgical object (including but not limited to the tibia, anterior condyle, and posterior condyle).

[0031] This embodiment of the application may specifically include the following steps: Step 101, during the osteotomy process, determine the tool position and tool speed of the osteotomy tool.

[0032] The position, speed, and external contact force of the osteotomy tool can be obtained in each control cycle for the osteotomy tool.

[0033] Medical personnel can operate the osteotomy equipment to perform osteotomy surgery. During the osteotomy process, the osteotomy tool needs to be moved. A force sensor can be set in the osteotomy equipment to acquire external contact force, and the movement of the osteotomy tool can be controlled in combination with the external contact force. For example, a six-dimensional force / torque sensor can be set to output the external contact force for the osteotomy tool. This sensor can collect three-dimensional force and three-dimensional torque. The three-dimensional force and three-dimensional torque can fully reflect the action of the human hand on the oscillating saw, including complex operations such as pushing, pulling, and twisting. The movement and posture control of the oscillating saw can be achieved through three-dimensional force and three-dimensional torque to perform osteotomy operation.

[0034] An optical positioning system can be set in the osteotomy equipment. During the osteotomy process, the optical positioning system can acquire three-dimensional images of the osteotomy tool and the surgical object, and analyze and process the three-dimensional images to determine the speed of the osteotomy tool (hereinafter referred to as tool position) and the speed of the osteotomy tool (hereinafter referred to as tool speed).

[0035] As an example, the tool position and / or tool speed output by the optical positioning system are input to a filter (e.g., Kalman filter, low-pass filter, mean filter) for processing to obtain a high-precision tool position and a high-precision tool speed output by the filter, thereby improving the control accuracy of the osteotomy tool and improving the accuracy and safety of the osteotomy surgery.

[0036] Since the osteotomy tool has a certain volume, the tool position can be characterized by a certain position on the osteotomy tool according to a preset rule. For example, the tool position can be the end of the osteotomy tool (the end used to cut the bone body), or a designated marker point on the osteotomy tool, or the position of the point closest to the osteotomy boundary on the osteotomy tool.

[0037] Step 102: Based on the tool position and tool speed, determine the target osteotomy boundary among multiple preset osteotomy boundaries.

[0038] Preset osteotomy boundaries can be predetermined based on the preoperative examination data of the surgical patient. For example, preoperative planning can be performed by acquiring the patient's CT images to determine multiple osteotomy boundaries for the osteotomy surgery. The osteotomy boundaries are used to characterize the boundaries that the osteotomy tool cannot cross during the osteotomy process. The osteotomy tool is restricted to one side of the osteotomy boundary and is located on the same side of the osteotomy boundary as the bone body to be osteotomized. During the osteotomy process, the osteotomy boundary closest to the osteotomy tool in the tool direction is determined as the target osteotomy boundary.

[0039] Multiple preset osteotomy boundaries can be represented as an array of three-dimensional line segments connected end to end. Each osteotomy boundary is a line segment. The osteotomy boundary has start coordinates and end coordinates, which is convenient for engineering implementation. This boundary structure is suitable for semi-closed osteotomy scenarios (such as only needing to constrain the bottom and side boundaries, with the top open). It is understood that the tool position and the osteotomy boundary are relative to the same coordinate system (e.g., the world coordinate system).

[0040] Referring to FIG2, a schematic diagram of an osteotomy boundary provided by an embodiment of this application is shown. FIG2 is used as an example. The green line is composed of multiple preset osteotomy boundaries. The bone body 201 and the osteotomy tool 202 are located on the same side of multiple preset osteotomy boundaries. V is the direction of the tool velocity, and the osteotomy boundary L where the point P is located is the target osteotomy boundary.

[0041] Step 103: Decompose the tool velocity into a first normal velocity perpendicular to the target osteotomy boundary and a first tangential velocity perpendicular to the first normal velocity.

[0042] To prevent the osteotomy tool from crossing the osteotomy boundary and to achieve smooth processing of the osteotomy tool's motion trajectory, the tool velocity can be decomposed into a first normal velocity and a first tangential velocity that are perpendicular to each other, wherein the first normal velocity is the direction toward the target osteotomy boundary.

[0043] Referring to FIG3, a schematic diagram of the decomposition of tool velocity provided in an embodiment of this application is shown. The tool velocity Vref can be decomposed into a first normal velocity V11 and a first tangential velocity V12.

[0044] Step 104: When the osteotomy tool and the target osteotomy boundary meet the collision conditions, adjust the first normal velocity.

[0045] When the osteotomy tool and the target osteotomy boundary meet the collision condition, it means that if the osteotomy tool continues to move while the current first normal velocity remains unchanged, the osteotomy tool will cross the target osteotomy boundary, which will lead to a safety risk in the osteotomy surgery. Therefore, it is necessary to adjust the first normal velocity and maintain the first tangential velocity until the osteotomy tool and the target osteotomy boundary no longer meet the collision condition. This ensures that the osteotomy tool will not cross the target osteotomy boundary during the osteotomy process. Furthermore, by maintaining the first tangential velocity unchanged, a smooth trajectory change can be achieved without the osteotomy tool crossing the target osteotomy boundary. This ensures the smoothness of the osteotomy surgery while guaranteeing the accuracy and safety of the osteotomy surgery.

[0046] In the embodiments of this application, the tool position and tool velocity of the osteotomy tool are determined during the osteotomy process.Based on the tool position and speed, the target osteotomy boundary is determined among multiple preset osteotomy boundaries. The tool speed is decomposed into a first normal speed perpendicular to the target osteotomy boundary and a first tangential speed perpendicular to the first normal speed. When the osteotomy tool and the target osteotomy boundary meet the collision conditions, the first normal speed is adjusted to determine the target osteotomy boundary in the direction of the osteotomy tool's movement. When the osteotomy tool and the target osteotomy boundary meet the collision conditions, it is determined that the osteotomy tool and the target osteotomy boundary are about to collide, and the first normal speed is adjusted and the first tangential speed is maintained. This ensures that the osteotomy tool does not collide with the target osteotomy boundary while ensuring a smooth trajectory change of the osteotomy tool, thus guaranteeing the accuracy, safety, and smoothness of the osteotomy surgery.

[0047] In some implementations of the embodiments of this application, the steps of the embodiments of this application further include: determining the stopping distance of the osteotomy tool in the direction of the first normal velocity; determining the first separation distance between the osteotomy tool and the target osteotomy boundary; if the stopping distance is greater than the first separation distance, determining that the osteotomy tool and the target osteotomy boundary meet the collision condition; if the stopping distance is not greater than the first separation distance, determining that the osteotomy tool and the target osteotomy boundary do not meet the collision condition.

[0048] The maximum deceleration of the osteotomy tool can be determined, and the minimum distance required for the osteotomy to stop at the maximum deceleration can be calculated, i.e., the stopping distance. The stopping distance is the first normal velocity.

[0049] Since the target osteotomy boundary is a line segment, the distance between the osteotomy tool and the target osteotomy boundary can be calculated as the first separation distance based on the tool position and the starting coordinates and ending coordinates of the target osteotomy boundary. It is understood that a perpendicular line passing through the tool position and perpendicular to the line containing the target osteotomy boundary can be determined, and the distance between the tool position and the foot of the perpendicular is defined as the first distance.

[0050] If the stopping distance is greater than the first distance (i.e., if the first normal velocity is not reduced, the osteotomy tool will cross the target osteotomy boundary, thus determining that the osteotomy tool and the target osteotomy boundary meet the collision condition; if the stopping distance is not greater than the first distance (i.e., if the first normal velocity can be decelerated at a certain deceleration, the osteotomy tool will not cross the target osteotomy boundary, thus determining that the osteotomy tool and the target osteotomy boundary do not meet the collision condition.

[0051] In some implementations of the embodiments of this application, adjusting the first normal velocity includes: determining the first collision rate based on the maximum deceleration of the osteotomy tool, the first distance, and the target osteotomy boundary; adjusting the rate of the first normal velocity to be no greater than the first collision rate.

[0052] The first collision rate can be determined based on the maximum deceleration of the osteotomy tool, the first distance, and the target osteotomy boundary.The first collision rate is used to characterize the critical value at which the osteotomy tool does not cross the target osteotomy boundary in the direction of the current first normal velocity. By adjusting the rate of the first normal velocity to be no greater than the first collision rate, the osteotomy tool will not cross the target osteotomy boundary when the first normal velocity decelerates at a rate no greater than the maximum deceleration, thereby improving surgical safety.

[0053] In some implementations of this application, twice the product of the maximum deceleration and the first distance is equal to the square of the first collision rate.

[0054] Twice the product of the maximum deceleration and the first distance is equal to the square of the first collision rate, i.e., ... When the stopping distance is greater than the first distance, the rate of the first normal velocity can be adjusted to be no less than ... to prevent the osteotomy tool from crossing the target osteotomy boundary.

[0055] Referring to FIG4, another decomposition diagram of tool speed provided in this application embodiment is shown. Following the example shown in FIG3, the tool speed Vref can be decomposed into a first normal speed V11 and a first tangential speed V12, and the first normal speed is reduced to V`11 so that the tool speed direction is adjusted from Vref to V`ref.

[0056] Since the osteotomy operation is to cut the bone body according to the osteotomy plane planned before the operation, the osteotomy plane is the plane in which the structural tool needs to move back and forth and left and right. The osteotomy boundary is located in the osteotomy plane and is used to protect the osteotomy tool from exceeding the pre-planned area and avoid damage to other tissues.

[0057] In some implementations of this application embodiment, the osteotomy boundary is a line segment; the steps of this application embodiment further include: determining the endpoint position of the nearest osteotomy boundary endpoint based on the tool position; when the second distance between the tool position and the endpoint position is less than a preset distance value, determining a second normal speed toward the endpoint position and a second tangential speed perpendicular to the second normal speed; controlling the second normal speed based on the second distance. Instruction manual, page 6 / 10, CN 121714334 A

[0058] As can be seen from the above, the direction of the first normal velocity (first normal) is perpendicular to and points towards the target osteotomy boundary. Therefore, when the tool position is close to the endpoint position of the target osteotomy boundary, the osteotomy tool may slip out from the angle formed by the two osteotomy boundaries. Therefore, the endpoint position of the nearest osteotomy boundary endpoint can be determined based on the tool position. If the second distance between the tool position and the endpoint position is less than a preset distance value (e.g., 3 mm to 5 mm), the tool velocity is decomposed again into a second normal velocity towards the endpoint position and a second tangential velocity perpendicular to the second normal velocity. The second normal velocity is controlled based on the second distance to prevent the osteotomy tool from slipping out from the boundary endpoint.

[0059] In some implementations of the embodiments of this application, controlling the second normal velocity based on the second distance includes:The current second collision rate is determined based on the maximum deceleration and the second distance; if the rate of the second normal velocity is greater than the second collision rate, the rate of the second normal velocity is adjusted to be no greater than the second collision rate.

[0060] Similar to the first collision rate, the second collision rate can be determined based on the maximum deceleration of the osteotomy tool and the second distance. The second collision rate is used to characterize the critical value of the rate at which the osteotomy tool does not cross the nearest osteotomy boundary endpoint in the direction of the current second normal velocity. By adjusting the rate of the second normal velocity to be no greater than the second collision rate, the osteotomy tool will not cross the nearest osteotomy boundary endpoint when the second normal velocity decelerates at a rate no greater than the maximum deceleration, thereby improving surgical safety.

[0061] As an example, the second collision rate.

[0062] In some implementations of the embodiments of this application, determining the second normal velocity toward the endpoint position includes: determining a circular region on the osteotomy plane with the endpoint position as the center; determining the radial direction passing through the tool position and toward the endpoint position as the second normal; and determining the component in the second normal direction as the second normal velocity based on the tool velocity.

[0063] Referring to FIG5, a schematic diagram of the decomposition of another tool speed provided in the embodiment of this application is shown. When the second distance between the tool position and the endpoint position is less than a preset distance value, a circular area on the osteotomy plane can be determined with the endpoint position O as the center (the blue dashed circle represents the boundary of the circular area). The radial direction passing through the tool position and toward the endpoint position is determined as the second normal direction. The component in the second normal direction is determined as the second normal speed V21 based on the tool speed, and the speed perpendicular to the radial direction is the second tangential speed V22. The black dashed line is the radius R, the radius R passes through the tool position, and the radius R coincides with the line where the second tangential speed V22 is located.

[0064] In a specific implementation, the osteotomy device is equipped with an admittance controller. The admittance controller controls the running speed of the osteotomy tool. During the osteotomy process, the adjusted first normal velocity or second normal velocity can be input to the admittance controller, thereby controlling the robotic arm to move along the direction of the externally applied force, while ensuring that the saw blade is always on the osteotomy plane. By inputting the adjusted first normal velocity or adjusted second normal velocity to the admittance controller, the osteotomy tool maintains the first tangential velocity or second tangential velocity, achieving a compliant response of the osteotomy tool. By accurately identifying the effective boundary constraints (osteotomy boundary) under the current movement direction, dynamic speed limiting is implemented only for the first normal velocity or second normal velocity, and seamlessly integrated with the admittance controller, ensuring that the osteotomy boundary is not exceeded and the movement trajectory of the osteotomy tool is naturally and compliantly interacted.

[0065] In practical applications, it is desirable to limit the movement of the osteotomy tool within the osteotomy plane, but limit the position of the osteotomy tool.The force on the osteotomy plane (provided by the osteotomy device) is always finite. In three-dimensional space, the osteotomy tool may fluctuate up and down in non-osteotomy planes. For ease of understanding, the tool speed can be regarded as the velocity component of the osteotomy tool on the osteotomy screen.

[0066] In some implementations of the embodiments of this application, step 102 may include: determining the velocity projection vector of the osteotomy tool on the osteotomy plane based on the tool speed; taking the tool position as the starting point, in the direction of the velocity projection vector, determining one of the multiple preset osteotomy boundaries that intersects with the velocity projection vector as the target osteotomy boundary. Instruction manual, pages 7 / 10, CN 121714334 A

[0067] To improve the accuracy of osteotomy tool control, the tool speed can be determined as the speed in three-dimensional space, and the projection of the tool speed onto the osteotomy plane can be determined as the speed projection vector. All preset osteotomy boundaries are traversed, and it is calculated whether the current speed projection vector intersects with each osteotomy boundary. When the intersection point falls on the osteotomy boundary body (rather than the extension line of the osteotomy boundary) (as shown in Figure 2, the intersection point P is located on the osteotomy boundary L), it is determined as a valid osteotomy boundary, and it is determined whether the valid osteotomy boundary is the target osteotomy boundary. Specifically, for each valid osteotomy boundary, a unit normal vector perpendicular to the effective edge from the tool position can be determined, and then the first normal velocity on the unit normal vector can be determined. If the velocity is not specified, it indicates that the osteotomy tool is moving away from or parallel to the osteotomy boundary, and the osteotomy boundary is not considered the target osteotomy boundary. If the velocity is not specified, it indicates that the osteotomy tool is approaching the osteotomy boundary, and therefore the osteotomy boundary is considered the target osteotomy boundary.

[0068] It is understood that the first normal velocity and the first tangential velocity are velocities located on the osteotomy plane.

[0069] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0070] Referring to FIG6, a schematic diagram of an osteotomy control device provided in an embodiment of this application is shown. Located in an osteotomy device, the osteotomy device is provided with an osteotomy tool. The osteotomy control device may specifically include: a tool motion determination module 601, used to determine the tool position and tool speed of the osteotomy tool during the osteotomy process; a target osteotomy boundary determination module 602, used to determine a target osteotomy boundary among multiple preset osteotomy boundaries based on the tool position and the tool speed; a speed decomposition module 603, used to decompose the tool speed into a first normal speed perpendicular to the target osteotomy boundary and a first tangential speed perpendicular to the first normal speed; and a first normal speed adjustment module 604, used to adjust the first normal speed when the osteotomy tool and the target osteotomy boundary meet the collision conditions.

[0071] In some implementations of the embodiments of this application, the steps of the embodiments of this application further include: a braking distance determination module, used to determine the braking distance of the osteotomy tool in the direction of the first normal velocity; a first phase distance determination module, used to determine the first phase distance between the osteotomy tool and the target osteotomy boundary; a collision condition determination module, used to determine that the osteotomy tool and the target osteotomy boundary meet the collision condition when the braking distance is greater than the first phase distance; and to determine that the osteotomy tool and the target osteotomy boundary do not meet the collision condition when the braking distance is not greater than the first phase distance.

[0072] In some implementations of the embodiments of this application, the first normal velocity adjustment module 604 includes: a first collision rate determination submodule, used to determine the first collision rate based on the maximum deceleration of the osteotomy tool, the first phase distance and the target osteotomy boundary; and a first normal velocity adjustment submodule, used to adjust the rate of the first normal velocity to be no greater than the first collision rate.

[0073] In some implementations of the embodiments of this application, twice the product of the maximum deceleration and the first distance is equal to the square of the first collision rate.

[0074] In some implementations of the embodiments of this application, the target osteotomy boundary determination module 602 includes: a velocity projection vector determination submodule, used to determine the velocity projection vector of the osteotomy tool on the osteotomy plane based on the tool velocity; and a target osteotomy boundary determination submodule, used to determine, starting from the tool position, one of the multiple preset osteotomy boundaries that intersects with the velocity projection vector as the target osteotomy boundary in the direction of the velocity projection vector.

[0075] In some implementations of the embodiments of this application, the osteotomy boundary is a line segment; the device further includes: an endpoint position determination module, used to determine the endpoint position of the nearest osteotomy boundary endpoint based on the tool position; a second tangential velocity determination module, used to determine a second normal velocity toward the endpoint position and a second tangential velocity perpendicular to the second normal velocity when the second distance between the tool position and the endpoint position is less than a preset distance value; and a second tangential velocity adjustment module, used to control the second normal velocity based on the second distance.

[0076] In some implementations of the embodiments of this application, the second tangential velocity adjustment module includes: a second collision rate determination submodule, used to determine the current second collision rate based on the maximum deceleration and the second distance; and a second tangential velocity adjustment module submodule, used to adjust the rate of the second normal velocity to be no greater than the second collision rate when the rate of the second normal velocity is greater than the second collision rate.

[0077] In some implementations of the embodiments of this application, the second tangential velocity determination module includes: a circular region division submodule, used to determine a circular region located on the osteotomy plane with the endpoint position as the center; a second normal direction determination submodule, used to determine the radial direction passing through the tool position and toward the endpoint position as the second normal direction; and a second normal velocity determination submodule, used to determine the component in the second normal direction as the second normal velocity based on the tool velocity.

[0078] An osteotomy control device provided in the embodiments of this application can be used to implement the various steps in the aforementioned method embodiments.

[0079] As for the device embodiments, since they are basically similar to the method embodiments, they are described in a relatively simple way. For relevant parts, please refer to the description in the method embodiment section.

[0080] Referring to FIG7, a schematic diagram of an osteotomy device provided in the embodiments of this application is shown. As shown in FIG7, the osteotomy device 700 in the embodiments of this application includes: a processor 710, a memory 720, and a computer program 721 stored in the memory 720 and executable on the processor 710. When the processor 710 executes the computer program 721, it implements the steps in the various embodiments of the osteotomy control method described above, such as steps 101 to 104 shown in FIG1. ​​Alternatively, when the processor 710 executes the computer program 721, it implements the functions of each module / unit in the various device embodiments described above, such as the functions of modules 601 to 604 shown in FIG6.

[0081] Exemplarily, the computer program 721 can be divided into one or more modules / units, which are stored in the memory 720 and executed by the processor 710 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which can be used to describe the execution process of the computer program 721 in the osteotomy device 700. For example, the computer program 721 can be divided into a tool motion determination module, a target osteotomy boundary determination module, a velocity decomposition module, and a first normal velocity adjustment module. The specific functions of each module are as follows: The tool motion determination module is used to determine the tool position and velocity of the osteotomy tool during the osteotomy process; The target osteotomy boundary determination module is used to determine the target osteotomy boundary among multiple preset osteotomy boundaries based on the tool position and the tool velocity; The velocity decomposition module is used to decompose the tool velocity into a first normal velocity perpendicular to the target osteotomy boundary and a first tangential velocity perpendicular to the first normal velocity; The first normal velocity adjustment module is used to adjust the first normal velocity when the osteotomy tool and the target osteotomy boundary meet the collision conditions.

[0082] The osteotomy device 700 may include a desktop computer, a cloud server, or other computing device, a robotic arm, and an osteotomy tool mounted on the robotic arm. The osteotomy device 700 may include, but is not limited to, a processor 710 and a memory 720. Those skilled in the art will understand that Figure 7 is merely an example of the osteotomy device 700 and does not constitute a limitation on the osteotomy device 700. It may include more or fewer components than shown, or combine certain components, or different components. For example, the osteotomy device 700 may also include input / output devices, network access devices, buses, etc.

[0083] The processor 710 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0084] The memory 720 may be an internal storage unit of the osteotomy device 700, such as a hard disk or memory of the osteotomy device 700. The memory 720 may also be an external storage device of the osteotomy device 700, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the osteotomy device 700. Further, the memory 720 may include both internal storage units and external storage devices of the osteotomy device 700. The memory 720 is used to store the computer program 721 and other programs and data required by the osteotomy device 700. The memory 720 may also be used to temporarily store data that has been output or will be output.

[0085] Embodiments of this application also disclose a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the osteotomy control method as described in the foregoing embodiments.

[0086] This application also discloses a computer program product, including a computer program, which, when run, causes the osteotomy control method as described in the foregoing embodiments to be executed.

[0087] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although referring to the foregoing embodiments...The embodiments provide a detailed description of this application. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application. Instruction Manual 10 / 10 Page 13 CN 121714334 A Figure 1 Figure 2 Figure 3 Instruction Drawing 1 / 3 Page 14 CN 121714334 A Figure 4 Figure 5 Instruction Drawing 2 / 3 Page 15 CN 121714334 A Figure 6 Figure 7 Instruction Drawing 3 / 3 Page 16 CN 121714334 A OSTEOTOMY CONTROL METHOD, OSTEOTOMY DEVICE, AND COMPUTER PROGRAM PRODUCT ABSTRACT The embodiment of the application relates to the orthopedic surgery technical field, and provides an osteotomy control method, an osteotomy device, and a computer program product. The method is applied to the osteotomy device, and the osteotomy device is provided with an osteotomy tool. osteotomy boundary is determined from a plurality of preset osteotomy boundaries based on the tool position and the tool speed; the tool speed is decomposed into a first normal speed perpendicular to the targetosteotomy boundary and a first tangential speed perpendicular to the first normal speed; and in a case where the osteotomy tool and the target osteotomy boundary meet a collision condition, the first normal speed is adjusted. The embodiment of the application allows that the osteotomy tool does not collide with the target osteotomy boundary, guarantees smooth change of a trajectory of the osteotomy tool, and guarantees accuracy, safety and fluency of the osteotomy surgery.

Claims

1. A method for controlling osteotomy, characterized in that, The method is applied to an osteotomy apparatus, the osteotomy apparatus being equipped with osteotomy tools; the method includes: During osteotomy, the tool position and speed of the osteotomy tool are determined; Based on the tool position and the tool speed, the target osteotomy boundary is determined among multiple preset osteotomy boundaries; The tool velocity is decomposed into a first normal velocity perpendicular to the target osteotomy boundary and a first tangential velocity perpendicular to the first normal velocity. When the osteotomy tool and the target osteotomy boundary meet the collision conditions, the first normal velocity is adjusted.

2. The method according to claim 1, characterized in that, The method further includes: Determine the stopping distance of the osteotomy tool in the direction of the first normal velocity; Determine a first distance between the osteotomy tool and the target osteotomy boundary; If the braking distance is greater than the first distance, it is determined that the osteotomy tool and the target osteotomy boundary meet the collision condition; If the braking distance is not greater than the first distance, it is determined that the osteotomy tool and the target osteotomy boundary do not meet the collision condition.

3. The method according to claim 2, characterized in that, The adjustment of the first normal velocity includes: The first collision rate is determined based on the maximum deceleration of the osteotomy tool, the first distance between the two points, and the target osteotomy boundary. The rate of the first normal velocity is adjusted to be no greater than the first collision rate.

4. The method according to claim 3, characterized in that, The product of the maximum deceleration and the first distance is twice the value of the square of the first collision rate.

5. The method according to claim 1, characterized in that, The step of determining the target osteotomy boundary among multiple preset osteotomy boundaries based on the tool position and the tool speed includes: The velocity projection vector of the osteotomy tool on the osteotomy plane is determined based on the tool velocity. Starting from the tool position, in the direction of the velocity projection vector, determine the target osteotomy boundary as one of the multiple preset osteotomy boundaries that intersects with the velocity projection vector.

6. The method according to claim 1, characterized in that, The osteotomy boundary is a line segment; The method further includes: The endpoint position of the nearest osteotomy boundary endpoint is determined based on the tool position; If the second distance between the tool position and the endpoint position is less than a preset distance value, a second normal velocity toward the endpoint position and a second tangential velocity perpendicular to the second normal velocity are determined. The second normal velocity is controlled based on the second phase distance.

7. The method according to claim 6, characterized in that, The control of the second normal velocity based on the second phase distance includes: The current second collision rate is determined based on the maximum deceleration and the second distance. If the rate of the second normal velocity is greater than the second collision rate, the rate of the second normal velocity is adjusted to be no greater than the second collision rate.

8. The method according to claim 7, characterized in that, The determination of the second normal velocity toward the endpoint position includes: A circular region located on the osteotomy plane is defined with the endpoint position as the center; The radial direction passing through the tool position and toward the endpoint position is determined as the second normal. The component in the second normal direction is determined as the second normal velocity based on the tool velocity.

9. An osteotomy device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it causes the osteotomy device to perform the method as described in any one of claims 1-8.

10. A computer program product, characterized in that, Includes a computer program, which, when run, causes the method as described in any one of claims 1-8 to be performed.

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