Orthopedic surgical robot, host computer, interaction method thereof, and storage medium

Abstract

The present application provides an orthopedic surgical robot, a host computer, an interaction method thereof, and a non-transitory computer-readable storage medium. The interaction method between the orthopedic surgical robot and the host computer includes: the robot detecting and identifying an externally input control signal, where the control signal is used to control the position and / or angular deviation of a guide installed on the front end of the robotic arm; the robot sending the identified control signal to the host computer; the robot receiving a first movement instruction sent by the host computer, where the first movement instruction is generated by the host computer according to the current pose information of the robot and the control signal; and the main control system of the robot controlling the movement of the robotic arm of the robot according to the first movement instruction. The technical solution of the present application can initiate a control signal on the surgical robot side to realize the movement of the robotic arm of the robot, enriching the interaction function between the surgical robot and the host computer and being convenient to use.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an orthopedic surgical robot, a host computer, an interaction method thereof, and a non-transitory computer-readable storage medium. Background Art

[0002] With the development of medical device technology, more and more advanced medical device equipment uses robots for assistance, which greatly facilitates the operation of doctors.

[0003] For example, the emergence of robots in the orthopedic field can assist doctors in accurately implanting implants such as screws at the diseased part of a patient, effectively improving the accuracy and convenience of implant implantation. In specific use, the robot, the host computer, and the optical positioning and tracking system cooperate to operate to achieve the positioning of the implantation position of the implant. The optical positioning and tracking system includes a first optical sensor installed at the front end of the robotic arm of the robot, a second optical sensor installed near the implant implantation site on the patient, and an optical tracker. The optical tracker can collect the signals of the first optical sensor and the second optical sensor in real time, and upload the collected signals of the first optical sensor and the second optical sensor to the host computer. The host computer realizes coordinate registration according to the signals of the first optical sensor and the second optical sensor, and in combination with the patient image and the information of the scale, so as to be able to unify the robot and the patient image in the same coordinate system. A guide is installed at the end of the front end of the robotic arm of the robot. The guide is in the shape of a hollow cylinder. When the guide moves to the implantation position of the implant, the axes where the front end and the end of the guide are located coincide with the axis where the preset implantation position of the implant is located, and the front end of the guide is close to the nail insertion position on the patient. In this way, the doctor can implant the implant from the end of the guide with the help of the guide. With the positioning of the guide, the implant can be driven from the front end of the guide to the preset implantation position. During specific operation, the display screen on the host computer side can display the information of the affected part of the patient. Then the doctor can determine the number of implants to be implanted, as well as the implantation position and implantation direction of each implant according to the information of the affected part. When the host computer determines each implant to be implanted, the target position and target direction of the corresponding guide to move are determined. Finally, the doctor clicks the movement button on the host computer side to send a movement instruction carrying movement information to the robot, and then the movement of the robotic arm of the robot can be controlled, so that the guide at the front end of the robotic arm can move to the nail insertion position.

[0004] Existing robots are only used to receive and execute the movement instructions of the host computer, and there is no any operation interaction with the host computer, resulting in no adjustment operation on the robot side and being inconvenient to control the surgical process. Summary of the Invention

[0005] To solve the above technical problems, the present application provides an orthopedic surgical robot, a host computer, an interaction method thereof, and a non-transitory computer-readable storage medium, so as to make up for the deficiencies of the prior art, provide an interaction solution between the surgical robot and the host computer, and increase the operation convenience of surgical process control.

[0006] The present application provides an interaction method between an orthopedic surgical robot and a host computer. The robot includes a main control system and robotic arms. The method includes:

[0007] The robot detects and identifies an externally input control signal, where the control signal is used to control the position and / or angular offset of a guide installed at the end of the front end of the robotic arm;

[0008] The robot sends the identified control signal to the host computer;

[0009] The robot receives a first movement instruction sent by the host computer, where the first movement instruction is generated by the host computer according to the current posture information of the robot and the control signal;

[0010] The main control system of the robot controls the movement of the robotic arms of the robot according to the first movement instruction.

[0011] The present application also provides an interaction method between a host computer and an orthopedic surgical robot. The method includes:

[0012] The host computer receives the control signal sent by the robot, where the control signal is a signal detected and identified by the robot from an external input, and is used to control the position and / or angular offset of a guide installed at the end of the front end of the robotic arm of the robot;

[0013] The host computer generates a movement instruction according to the detected current posture information of the robot and the control signal;

[0014] The host computer sends the first movement instruction to the robot for the robot to control the movement of the robotic arms of the robot according to the first movement instruction.

[0015] The present application also provides an orthopedic surgical robot. The robot includes a base, a main control system, and robotic arms. The main control system is disposed inside the base, the robotic arms are disposed on the base, a guide for positioning an implant nail is installed at the end of the front end of the robotic arms, and a front-end control device is further disposed at the end of the front end of the robotic arms;

[0016] The front-end control device is used to detect and identify an externally input control signal, where the control signal is used to control the position and / or angular offset of the guide;

[0017] The master control system is used to send the control signal recognized by the front-end control device to the host computer, receive the first movement instruction sent by the host computer, and control the movement of the robotic arm according to the first movement instruction. The first movement instruction is generated by the host computer according to the current pose information of the robot and the control signal.

[0018] This application also provides a host computer for orthopedic surgery, which includes:

[0019] a processor; and

[0020] a memory storing executable code thereon, which when executed by the processor causes the processor to execute the method as described above.

[0021] This application also provides a non-transitory machine-readable storage medium storing executable code thereon, which when executed by a processor of a computing device causes the processor to execute the method as described above.

[0022] The orthopedic surgery robot, host computer, and their interaction method, as well as the readable storage medium of this application, by adopting the above technical solutions, can initiate a control signal on the robot side to realize the movement of the robotic arm of the robot, making up for the defect in the prior art that the robot only receives instructions and has no other interaction with the host computer, enriching the interaction function between the robot and the host computer, effectively increasing the operation convenience of the surgical process control, and being very convenient to use. Moreover, in the prior art, during the surgical process, the doctor works on the robot side and cannot move the robotic arm of the robot during the work. By adopting the technical solution of this application, it is possible to realize the movement control of the robotic arm on the robot side according to the interaction between the robot and the host computer, greatly facilitating the doctor's operation and being very convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] By describing the exemplary embodiments of the present disclosure in more detail in conjunction with the accompanying drawings, the above and other objects, features, and advantages of the present disclosure will become more apparent. Among them, in the exemplary embodiments of the present disclosure, the same reference numerals generally represent the same components.

[0024] Figure 1 It is a flowchart of the first embodiment of the interaction method between the robot and the host computer of this application.

[0025] Figure 2 It is a structural diagram of the front-end control device for implementing information input installed on the robot of this application.

[0026] Figure 3 is Figure 2 a schematic diagram of the front-end control device shown installed at the front end of the robotic arm of the robot.

[0027] Figure 4 For Figure 3 The enlarged schematic diagram of the front-end control device and the guide in

[0028] Figure 5 This is the flowchart of the second embodiment of the interaction method between the robot and the host computer of the present application.

[0029] Figure 6 This is the flowchart of the third embodiment of the interaction method between the robot and the host computer of the present application.

[0030] Figure 7 This is the flowchart of the fourth embodiment of the interaction method between the robot and the host computer of the present application.

[0031] Figure 8 This is the flowchart of the fifth embodiment of the interaction method between the robot and the host computer of the present application.

[0032] Figure 9 This is the flowchart of the sixth embodiment of the interaction method between the robot and the host computer of the present application.

[0033] Figure 10 This is the flowchart of the seventh embodiment of the interaction method between the robot and the host computer of the present application.

[0034] Figure 11 This is the flowchart of the eighth embodiment of the interaction method between the robot and the host computer of the present application.

[0035] Figure 12 This is the flowchart of the ninth embodiment of the interaction method between the robot and the host computer of the present application.

[0036] Figure 13 This is the flowchart of the tenth embodiment of the interaction method between the robot and the host computer of the present application.

[0037] Figure 14 This is the structural schematic diagram of the robot embodiment of the present application.

[0038] Figure 15 This is the structural schematic diagram of the host computer embodiment of the present application.

[0039] Figure 16 The structural schematic diagram of the computing device that can be used to implement the above interaction method between the robot and the host computer according to an embodiment of the present application is shown. Detailed implementation manners

[0040] The preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure will be more thorough and complete, and the scope of the present disclosure can be fully conveyed to those skilled in the art.

[0041] The robot applied in orthopedic surgery is a device to assist orthopedic surgeons in performing minimally invasive surgery. The doctor conducts surgical path planning on preoperative or intraoperative images. Through image registration, the coordinates of the robotic arm and the affected area image are unified. After the doctor completes the path planning on the registered image, the planned path is registered in the intraoperative coordinate system. The host computer controls the execution end of the robot to reach the predetermined position of the patient's affected area according to the surgical path. The robot may include a robotic arm with multiple degrees of freedom. A guide is fixed at the end of the robotic arm. The guide is a hollow cylindrical structure, and an implant to be implanted can be placed in the hollow cylindrical structure to fix the position and direction of the implant during the implanting process. The purpose of surgical path planning is to determine the implanting point, direction, depth, etc. of the implant (such as a guide pin, etc.). After the path planning is completed, the path data will be transmitted to the robot. The main control system of the robot controls the robotic arm to move to the affected area, making the axis of the guide coaxial with the planned path, so that the surgeon can implant the implant through the guide. For example, the implant in this embodiment can be a guide pin, which is used to fix the implanting direction and position of the subsequent implanted hollow screw. During the surgical process, for the same implanting point, the guide pin can be implanted at the implanting point in the above manner first, and then the hollow screw is implanted through the guide pin, so that the hollow screw is coaxial with the guide pin and just sleeved outside the guide pin. Finally, the guide pin can be withdrawn, and the affected area to be fixed can be fixed with the hollow screw.

[0042] The original control method of the robot is as follows: The operator needs to perform motion simulation on the selected implant such as a guide pin on the software interface of the host computer. During the motion simulation, a simulation motion interface will pop up, and an optimal angle offset will be automatically calculated according to the guide installed at the front end and the selected position offset (the standard is that the change between the target pose and the current pose of the robot is the smallest). The pose of the robot when finally reaching the screw placement position is calculated based on the position offset and the angle offset. After the simulation is completed, the user needs to click the motion button on the software interface. During the process of pressing the button, the robot will move to the target position. If the button is released during this process, the motion will stop immediately. When the robot reaches the position, there will be a position arrival prompt on the software interface.

[0043] The above-mentioned robot is only used to simply receive and execute the movement instructions from the host computer, without any operation interaction with the host computer, resulting in the inability to perform any adjustment operations on the robot side. The operation process requires the cooperation of multiple people and is very inconvenient. Based on the above, the present application adopts the following technical solutions to solve the above problems.

[0044] Figure 1 It is a flowchart of the first embodiment of the interaction method between the robot and the host computer of the present application. As Figure 1 shown, the interaction method between the robot and the host computer in this embodiment may specifically include the following steps:

[0045] S100. The robot detects and identifies an externally input control signal.

[0046] S101. The robot sends the identified control signal to the host computer; where the control signal can be used to control the position and / or angular offset of a guide installed at the front end of the robotic arm.

[0047] S102. The robot receives a first movement instruction sent by the host computer; where the first movement instruction is generated by the host computer based on the current pose information and control signal of the robot.

[0048] S103. The main control system of the robot controls the movement of the robotic arm of the robot according to the first movement instruction.

[0049] In this embodiment, the interaction method between the robot and the host computer is described from the robot side. Specifically, the robot can detect and identify an externally input control signal. For example, a front-end control device can be provided at the front end of the robotic arm of the robot, and an information input module is provided on the front-end control device to detect and identify the externally input control signal. The control signal can be used to control the position and / or angular offset of a guide installed at the front end of the robotic arm. The control signal will be described in more detail below. Of course, the above method is one implementation of the robot detecting and identifying an externally input control signal. In practical applications, an information input module can also be provided at other positions of the robot to achieve the detection and identification of the externally input control signal, and no further examples will be given here.

[0050] After the robot recognizes the externally input control signal, the robot sends the recognized control signal to the host computer. On the host computer side, the host computer can generate a movement instruction based on the currently detected pose information of the robot and the control signal. The currently detected pose information of the robot in this embodiment is specifically obtained by the optical positioning and tracking system by collecting the signals of the first optical sensor installed at the front end of the robot's robotic arm. Specifically, the host computer can perform coordinate registration based on the signals obtained by the optical positioning and tracking system and the patient's affected area image including scale information, so as to be able to represent the robot and the patient's image in a unified coordinate system. By tracking the signals of the first optical sensor, the currently detected pose information of the robot can be obtained in real time. For example, in this embodiment, when the first optical sensor and the scale are installed on the front-end control device of the robot, the pose information of the robot at this time can specifically be the Tool Centre Position (TCP) information of the front-end control device on the robot side, such as the position and direction of the TCP of the front-end control device, etc.; the position of the TCP is represented by the coordinates x, y, z of a three-dimensional space point, and the direction of the TCP is represented by the rotation vector rx, ry, rz representing the rotation of a three-dimensional space rigid body. The specific implementation principle can be referred to the relevant existing technologies in detail and will not be elaborated here. Then, the host computer can determine the target pose information to be moved according to the control signal; and determine the movement amount that the robot needs to move according to the currently detected pose information and the target pose information of the robot. In practical applications, there can be multiple paths and various movement amounts for the robot to move from the currently detected pose information to the target pose information. In this embodiment, the minimum displacement movement amount and the minimum angle movement amount can be taken to generate the movement instruction to minimize the movement operation of the robot's robotic arm. And send this movement instruction to the robot.

[0051] Correspondingly, on the robot side, the robot receives this movement instruction and controls the movement of the robot's robotic arm according to the movement instruction.

[0052] The interaction method between the robot and the host computer in this embodiment, by adopting the above technical solution, can initiate a control signal on the robot side to realize the movement of the robot's robotic arm, making up for the defect in the prior art that the robot has no other interaction with the host computer except receiving instructions, enriching the interaction function between the robot and the host computer, and effectively increasing the operation convenience of the surgical procedure control. Moreover, since both the doctor and the robot are working in the surgical area during the operation, by adopting the technical solution of this embodiment, the movement control of the robotic arm can be realized on the robot side according to the interaction between the robot and the host computer, simplifying the operation process, greatly facilitating the doctor's operation, and being very convenient to use.

[0053] For example, Figure 2 is the structural diagram of the front-end control device for realizing information input installed on the robot of this application.Figure 3 The Figure 2 schematic diagram of the front-end control device shown is installed at the front end of the robotic arm of the robot. Figure 4 The Figure 3 amplified schematic diagram of the front-end control device and the guide in Figure 3 and Figure 4 shown. As Figure 3 shown, the front-end control device of this embodiment is installed at the front end of the robotic arm of the robot during use, so it is called the front-end control device. As Figure 3 shown, the robotic arm of the robot in this embodiment may include at least six degrees of freedom to facilitate the flexible movement of the robotic arm. As Figures 2 - 4 shown, in this embodiment, by setting the Figure 1 front-end control device shown at the front end of the robotic arm of the robot, the interaction between the robot and the host computer can be realized.

[0054] Next, in combination with the above Figures 2 - 4 , taking two types of control signals as examples, the technical solution of this embodiment will be described.

[0055] The first type of control signal is a control signal for increasing or decreasing the displacement offset of the guide installed at the front end of the robotic arm of the robot.

[0056] Correspondingly, step S100 may specifically be: The robot detects and identifies an external input control signal for increasing or decreasing the displacement offset of the guide.

[0057] Correspondingly, step S103 may specifically be: The robot controls the movement of the robotic arm of the robot according to the movement instruction to drive the guide to move in the axial direction, away from the implantation point or towards the implantation point.

[0058] As Figure 3 and Figure 4 shown, taking the implant as a guide needle as an example, the displacement offset of the guide is the distance between the front end A point of the guide and the implantation point in the axial direction where the front end A point and the end B point of the guide are located. For example, as Figure 4 shown, if the control signal detected by the front-end control device is a control signal for decreasing the displacement offset of the guide, when the robot controls the movement of the robotic arm of the robot according to the movement instruction, the guide can be made to move forward along the axis direction of the guide while keeping the direction unchanged, and the guide gradually approaches the implantation point. If the control signal detected by the front-end control device is a control signal for increasing the displacement offset of the guide, when the robot controls the movement of the robotic arm of the robot according to the movement instruction, the guide can be made to move backward along the axis direction of the guide while keeping the direction unchanged, and the guide gradually moves away from the implantation point.

[0059] In practical applications, according to relevant solutions, after the guide is moved to the implantation point, if the doctor still wants to disinfect the implantation point or perform other operations that require the guide to move away from the implantation point, at this time, the doctor can control the movement of the robotic arm through the front-end control device, so that the guide moves away from the implantation point along the axis of the guide. Then, after the implantation point is processed, when preparing to implant the implant, at this time, the doctor can again control the movement of the robotic arm through the front-end control device, so that the guide moves closer to the implantation point along the axis of the guide, thereby enabling the doctor to adjust the movement of the robotic arm on the robot side, which is very convenient to operate and use.

[0060] The second type of control signal is a control signal for increasing or decreasing the angular offset of the guide.

[0061] Correspondingly, step S100 can specifically be: The robot detects and identifies an externally input control signal for increasing or decreasing the angular offset of the guide.

[0062] As Figure 3 shown, the angular offset of the guide is the angle by which the second plane of the guide deviates from the first plane of the guide. The first plane of the guide is the plane where the axis passing through point A at the front end and point B at the end of the guide intersects with the center point M of the robot's base. The second plane of the guide is the plane where the axis passing through point A at the front end and point B at the end of the guide intersects with the TCP of the front-end control device, i.e., point N.

[0063] Correspondingly, step S103 can specifically be: The robot controls the movement of the robotic arm of the robot according to the movement instruction, so as to drive the angular offset of the guide to increase or decrease while keeping the direction and position of the guide unchanged. That is to say, during the process of increasing or decreasing the angular offset of the guide, the cylindrical structure of the guide can rotate, but the axis direction remains unchanged.

[0064] For example, as Figure 3 and Figure 4 shown, if the control signal detected by the front-end control device is a control signal for decreasing the angular offset of the guide, since the robotic arm of the robot in this embodiment has at least six degrees of freedom, at this time, when the robot controls the movement of the robotic arm according to the movement instruction, it can move the robotic arm so that the guide rotates along the axis of the guide, while the position and direction of the guide remain unchanged. However, after the robotic arm moves, it is necessary to make Figure 3 shown the angular offset decrease. Correspondingly, if the control signal detected by the front-end control device is a control signal for increasing the angular offset of the guide, at this time, the robot controls the movement of the robotic arm according to the movement instruction, so that the guide rotates along the axis of the guide, while the position and direction of the guide remain unchanged. However, after the robotic arm moves, it is necessary to make Figure 3The shown angular offset increases.

[0065] In practical applications, according to the solutions of related prior arts, after the guide is moved to the implantation point, if the position of the robotic arm is inappropriate and affects the doctor's implantation operation of the implant in space, the doctor can adopt the above solutions to move and adjust the moving wall by increasing or decreasing the angular offset, so as to change the position of the robotic arm in space and provide more operating space for the doctor. The operation is very convenient and easy to use.

[0066] Among them, the angular offset of the guide can also have a direction. For example, when the angular offset of the guide is decreased, when the angular offset is decreased to 0 and continues to rotate according to the offset direction, at this time the angular offset continues to increase in the direction opposite to the original offset direction.

[0067] The robot detects and identifies the above two types of control signals input externally, and realizes interaction with the host computer based on the control signals, which can make up for the deficiencies of the prior art, enrich the interaction function between the robot and the host computer, and the operation is very convenient. In practical applications, other types of control signals input externally can also be set for the robot to detect and identify to realize interaction with the host computer, which will not be elaborated one by one here.

[0068] Figure 5 This is the flowchart of the second embodiment of the interaction method between the robot and the host computer of the present application. As Figure 5 shown, the interaction method between the robot and the host computer in this embodiment may specifically include the following steps:

[0069] S200. The robot receives the implant selection information input externally.

[0070] S201. The robot sends the implant selection information to the host computer for the host computer to obtain the target implant information to be implanted this time according to the currently selected implant information and the received implant selection information. Further, the target implant information to be implanted this time can also be displayed on the display screen of the host computer.

[0071] In practical applications, multiple implants such as guide pins may need to be placed at the affected part of the patient. After the doctor plans the surgical path on the host computer side, the number of implants to be implanted at the affected part, as well as the implantation point, direction, depth, etc. of each implant can be determined.

[0072] During specific operations, the user can operate on one implant at a time. For example, on the host computer side, a current implant can be default selected. Then, the doctor on the robot side can input implant selection information through the front-end control tool. For example, the next implant or the previous implant can be selected through buttons. Based on the current implant information and the received implant selection information, the host computer can obtain the target implant information to be implanted this time. The information of the target implant in this embodiment can include information such as the implantation point, implantation direction, and depth of the target implant. Finally, the target implant information to be implanted this time is displayed on the display screen of the host computer for the doctor to view.

[0073] In the prior art, the selection of implants must be performed by the doctor on the host computer side. After implanting one implant, the doctor must return to the host computer side for operation, which is very inconvenient to use. Compared with the prior art, the interaction solution between the robot and the host computer in this embodiment can greatly improve the operation convenience of the doctor.

[0074] For example, if nails need to be driven at multiple implantation points on a patient. During specific operations, implants such as guide pins can be implanted at each implantation point respectively, and then based on the implanted guide pins, hollow screws can be implanted respectively. In this way, after the current implantation point is implanted, the robotic arm needs to be controlled to move to drive the guide to move to the next target implantation point to be implanted, and the direction of the guide at this implantation point should be on the same axis as the implant at this implantation point. However, after the current implantation point is implanted, if the guide is still very close to the patient's body and the guide pin cannot be operated out, and if a motion command is directly generated at this time, due to the obstacle of the patient's body, the guide may not be able to move, or because the guide pin in the guide has not been withdrawn, it will also hinder the next movement of the guide. Therefore, in this embodiment, after the current implantation point is implanted, the guide can be retracted first, so that the guide retracts a preset height in the axial direction away from the completed implantation point, leaving space for removing the guide pin and sufficient space for the movement of the robotic arm. After the retraction is completed, the robotic arm is started to move to drive the guide to the spatial axial direction corresponding to the next target implant to be implanted. Specifically, when this solution in this embodiment is implemented on the robot side, it can specifically include the following implementation methods:

[0075] The first implementation method can specifically include the following steps:

[0076] (a1) After the current implant is implanted, the robot detects and identifies the externally input implant update information;

[0077] The implant update information in this embodiment represents the information of the implant reselected by the user. After the current implant is implanted, the user can, through the front-end control device installed at the front end of the robotic arm of the robot, select the next implant to be implanted from multiple implants displayed on the host computer side, thereby initiating the implant update information. Correspondingly, on the robot side, for example, the front-end control device can detect and identify the externally input implant update information. For example, the implant update information may include the identification information of the next implant to be implanted, and / or the position information and orientation information, or other information that can uniquely identify the next implant to be implanted.

[0078] (b1) The robot sends the implant update information to the host computer;

[0079] For example, the front-end control device of the robot can first send the implant update information to the main control system of the robot, and then the main control system of the robot sends the implant update information to the host computer. After receiving the implant update information on the host computer side, it can be known that the medical staff has initiated the implantation task of the next implant.

[0080] (c1) The robot receives the backward instruction and the motion instruction with a sequential relationship sent by the host computer;

[0081] In this embodiment, when the host computer receives the implant update information initiated by the robot side, it knows that the robot side has triggered the implanting task of the next implant to be implanted. At this time, the host computer needs to control the guide on the robotic arm to retract a certain height first, leaving enough movement space for moving to the next implanting point. In this embodiment, the tasks of retraction and movement are achieved through retraction instructions and movement instructions. The retraction instructions and movement instructions are sent to the robot together. And these two instructions have a sequential relationship. The retraction instruction is executed first, and then the movement instruction. The retraction instruction can be generated based on the current pose information of the robot, a preset height, and a preset time length. According to the current pose information of the robot, the axial direction where the guide is currently located can be known. This retraction instruction is used to instruct the robot to control the movement of the robotic arm to drive the guide to retract a preset height in the axial direction away from the implanting point where the implanted implant is located. The position reached at this time is the starting position for implanting the next implant, which is called the designated position here, and control the guide to stay at the designated position for a preset time length. Therefore, the retraction instruction carries information such as the preset height of retraction and the preset time length of staying after retraction. The preset height can be selected according to experience. For example, when the implant is a guide pin, the preset height can be set to be greater than the length of some models of guide pins. In this way, when using these models of guide pins, after retracting the preset height, the guide pin can be detached from the guide. Or the preset height can also be less than the length of most models of guide pins. At this time, when using these corresponding models of guide pins, even after retracting the preset height, although there is a certain movement space, the guide pin still fails to be detached from the guide. Since the guide is of a non-closed cylindrical structure and there is an opening perpendicular to the axis on the side wall, when the guide stays at the designated position for a preset time length, medical staff can manually pull out the guide pin from the opening of the guide, facilitating the subsequent movement of the robotic arm.

[0082] Optionally, after this step (c1) and before step (d1), it may further include: the robot detects whether the guide pin is detached from the guide; if not detached, continuous prompt warnings are given. For example, specifically, on the robot side, a sensor can be set at the front end of the robotic arm to detect whether the guide pin is detached from the guide. If not, the sensor sends "not detached" to the main control system of the robot. At this time, the robot can control the status prompt module to give prompt warnings until the guide pin is detached from the guide, and then the robot executes the subsequent step (d1).

[0083] The motion instruction is generated by the host computer based on the attitude information of the guide at the specified position and the attitude information of the target implant to be implanted next corresponding to the implant update information. Specifically, during the process of the guide retracting to the specified position, the axis direction remains unchanged and is still in the axis direction where the currently implanted implant is located. Therefore, the direction information of the guide at the specified position is consistent with the axis direction where the currently implanted implant is located. Then, the host computer refers to the attitude information of the target implant to be implanted next and generates a motion instruction. For example, the motion instruction may include the minimum angular offset and the minimum displacement offset from the specified position to the position of the target implant to be implanted next. In this embodiment, since the preset height of retraction in the retraction instruction is known, the attitude information of the guide when it retracts to the specified position, that is, the position and direction of the guide at this specified position, can be obtained according to the retraction instruction before retraction. Furthermore, based on the attitude information of the guide at the specified position and the attitude information of the target implant to be implanted next, a motion instruction can be generated to drive the guide to move to the spatial axis corresponding to the target implant to be implanted next. The generation method of this motion instruction can also refer to the generation method of the movement instruction in the embodiment shown in Figure 6 The implementation principle is the same, and for details, reference can be made to the description in the following embodiments, which will not be elaborated here.

[0084] (d1) The main control system of the robot controls the movement of the robotic arm according to the retraction instruction to drive the guide to retract a preset height in the axis direction where the implanted implant is located, away from the implant point, and reach the specified position, and controls the guide to stay at the specified position for a preset time length;

[0085] In this embodiment, after the robot side receives the retraction instruction and the motion instruction with a sequential relationship, the retraction instruction is executed first. And the robot controls the movement of the robotic arm according to the retraction instruction to drive the guide to retract a preset height in the axis direction away from the implanted point that has been completed and reach the specified position. It is also necessary to control the guide to stay at this specified position for a preset time length. For example, the preset time length can be 5s, 10s, or any other arbitrary time length selected according to experience. In this embodiment, staying at the specified position for a preset time length is used to leave time for medical staff to manually remove the implant from the guide when the implant has not detached from the guide after retraction.

[0086] (e1) The main control system of the robot controls the movement of the robotic arm according to the motion instruction to drive the guide to move from the specified position to the axis direction where the target implant to be implanted next corresponding to the implant update information is located.

[0087] Further optionally, in the above step (c1), while the robot receives the backward instruction and the motion instruction with sequential relationship sent by the host computer, it can also receive a height adjustment instruction, and the sequential relationship of the height adjustment instruction is between the backward instruction and the motion instruction; the height adjustment instruction is generated when the host computer detects and determines that the spatial height difference between the specified position and the implantation point of the next target implant to be implanted is not within the preset height difference range;

[0088] Correspondingly, after step (d1) and before step (e1), it may further include:

[0089] The main control system of the robot adjusts the height of the specified position according to the height adjustment instruction, so that the spatial height difference between the adjusted specified position and the implantation point of the next target implant to be implanted is within the preset height difference range, facilitating subsequent movement.

[0090] The second implementation method may specifically include the following steps:

[0091] (a2) After the current implant is implanted, the robot detects and identifies the externally input backward signal;

[0092] (b2) The robot sends the backward signal to the host computer for the host computer to generate a backward instruction based on the current posture information of the robot and the preset height according to the backward signal and return it to the robot;

[0093] (c2) The main control system of the robot controls the movement of the robotic arm according to the backward instruction to drive the guide to retreat a preset height in the axial direction of the implanted implant away from the implantation point and reach the specified position;

[0094] (d2) The robot detects and identifies the externally input implant update information;

[0095] (e2) The robot sends the implant update information to the host computer;

[0096] (f2) The main control system of the robot receives the motion instruction sent by the host computer and controls the movement of the robotic arm to drive the guide to move from the specified position to the axial direction of the next target implant corresponding to the implant update information; the motion instruction is sent when the host computer detects that the height difference between the specified position and the position of the next implant point to be implanted is within the preset height difference range, and the motion instruction is generated by the host computer according to the posture information of the guide at the specified position and the posture information of the next target implant.

[0097] In the first implementation method described above, the fallback and movement are triggered by the robot side initiating implant update information. In the second implementation method, the fallback and movement are triggered separately. For example, on the front-end control device, there are buttons for increasing or decreasing the displacement offset. Each time the button for increasing the displacement offset is clicked, the displacement offset of the guide increases by a certain step. In this embodiment, it can be set that when the button for increasing the displacement offset is long-pressed for a preset duration, it is considered that a fallback signal is initiated; at this time, the displacement offset can be controlled to increase by a preset height. This preset height should be much larger than the above-mentioned step. Therefore, it is possible to avoid repeatedly clicking the button for increasing the displacement offset to implement the fallback operation, and the operation is more concise. Of course, in actual applications, the fallback can also be achieved by repeatedly clicking the button for increasing the displacement offset. After the fallback, in this embodiment, the movement is triggered by the robot side initiating implant update information. The remaining implementation principles are the same as those of the first implementation method described above, and for details, reference can be made to the description of the first implementation method above, which will not be elaborated here.

[0098] It should be noted that in the implementation methods of the above two fallback schemes on the robot side, the preset heights of the fallback can be the same or different.

[0099] In actual applications, in addition to the above two implementation methods, there can also be other methods, which will not be elaborated one by one here.

[0100] Figure 6 This is the flowchart of the third embodiment of the interaction method between the robot and the host computer of the present application. As Figure 6 shown, the interaction method between the robot and the host computer in this embodiment can specifically include the following steps:

[0101] S300. The robot receives the second movement instruction sent by the host computer and carrying the minimum angle offset and the minimum displacement offset.

[0102] The minimum angle offset and the minimum displacement offset are the minimum displacement offset and the minimum angle offset that the host computer calculates for moving the guide installed at the front end of the robotic arm from the current position to the space axis corresponding to the target implant according to the detected current attitude information and target implant information of the robot.

[0103] Specifically, when the host computer moves the guide from the current position to the space axis corresponding to the target implant, there can be many moving methods, and each moving method can include a displacement offset and an angle offset. No matter which moving method is adopted, it can move from the current position to the space axis corresponding to the target implant. Among all the moving methods, there is a moving method with the minimum displacement offset and the minimum angle offset. Compared with other moving operations, the moving operation with the minimum displacement offset and the minimum angle offset is the simplest, time-saving and space-saving operation.

[0104] S301. The main control system of the robot controls the movement of the robotic arm according to the minimum angular offset and the minimum displacement offset, so as to drive the guide installed at the front end of the robotic arm to move to the axial direction of the target implant to be implanted.

[0105] Optionally, two foot pedals, a teaching foot pedal and a control foot pedal, can also be set on the robot in this embodiment; the teaching foot pedal can be set on the left foot pedal, so the teaching foot pedal can also be called the left foot pedal, and the control foot pedal can be set on the right foot pedal, so the control foot pedal can also be called the right foot pedal. When the teaching foot pedal is not stepped on, the robotic arm is locked. If the teaching foot pedal is stepped on, the robotic arm can be triggered to move by an external force to realize the teaching function. The control foot pedal is set on the path connecting the robot and the host computer. If the control foot pedal is stepped on, that is, when the robot is in the startup state, the robot can be directly controlled to move by the host computer; if the control foot pedal is released, the control between the robot and the host computer is interrupted. For example, if the robot is moving according to the movement instruction of the host computer and the doctor releases the control foot pedal, the movement of the robot will stop immediately. In this way, the safety of the robot movement can be effectively guaranteed.

[0106] In this embodiment, when the doctor steps on the control foot pedal, the technical solution of the above Figure 5 shown embodiment can be adopted. The robot receives the target implant information input from the outside and sends it to the host computer through the robot. The host computer calculates the minimum angular offset and the minimum displacement offset required to move the robotic arm to the position corresponding to the target implant information according to the target implant information and the current posture information of the robot, and then simulates the movement process on the display interface of the display screen. If the doctor keeps stepping on the foot pedal, after the host computer finishes the simulation, the simulation interface will be automatically closed, and a movement instruction carrying the minimum angular offset and the minimum displacement offset will be automatically sent to the robot, instructing the robot to control the robotic arm to move according to the movement instruction.

[0107] Correspondingly, on the robot side, the robot receives the movement instruction carrying the minimum angular offset and the minimum displacement offset sent by the host computer; and controls the movement of the robotic arm according to the minimum angular offset and the minimum displacement offset, so as to drive the guide installed at the front end of the robotic arm to move to the axial direction of the target implant to be implanted. For example, the minimum angular offset in this embodiment can be understood as the minimum angle for rotating the guide to be parallel to the implantation direction of the target implant and the front end of the guide facing the implantation point direction, that is, the sum of the joint movement angles of the robot's robotic arm is the smallest. The minimum displacement offset can be understood as the distance from the position where the guide is located projected onto the axial direction of the target implant.

[0108] For example, the process of obtaining the minimum displacement offset can be as follows: project each point on the guide at the current position onto the corresponding spatial axis of the target implant, and then take the shortest distance from each point on the guide to the corresponding projection point on the corresponding spatial axis of the target implant as the minimum displacement offset. In this way, the guide can be translated along the minimum displacement offset to intersect with the corresponding spatial axis of the target implant; then the guide is rotated to be parallel to the corresponding spatial axis of the target implant. At this time, the guide can be rotated by different angles from two directions respectively until it is parallel to the corresponding spatial axis of the target implant. In this embodiment, a relatively small rotation angle can be taken as the minimum angle offset. In this way, according to the minimum displacement offset and the minimum angle offset, the guide can be moved from the current position to the corresponding spatial axis of the target implant.

[0109] Through the solution of this embodiment, after moving the guide to the axial direction of the target implant, further, the above-mentioned Figure 1 solution of the embodiment can be adopted. Through the interaction between the robot and the host computer, the movement adjustment of the robotic arm can be realized on the robot side, effectively increasing the operation convenience of the surgical procedure control. In the prior art, after determining the information of the target implant, the guide needs to be directly moved to the implantation point, and the robotic arm cannot be moved and adjusted on the robot side, which is very inconvenient to use. Therefore, the interaction solution between the robot and the host computer in this embodiment can greatly improve the operation convenience and is very convenient to use.

[0110] Figure 7 This is a flowchart of the fourth embodiment of the interaction method between the robot and the host computer of the present application. As Figure 7 shown, the interaction method between the robot and the host computer in this embodiment may specifically include the following steps:

[0111] S400. The robot detects and receives an externally input reset signal.

[0112] S401. The robot sends the reset signal to the host computer, so that when the host computer simulates the movement of the robotic arm on the simulation interface, it can close the stuck simulation interface and send a movement instruction to the robot.

[0113] The interaction method between the robot and the host computer in this embodiment is as described above Figure 6Execute on the technical solution of the illustrated embodiment. For example, in the event of a program logic error or the optical tracking system being blocked, if the simulation interface freezes before the host computer closes the simulation interface, and at this time the host computer does not send a movement instruction to the robot, then the doctor can input a reset signal through the front-end control device on the robot. Correspondingly, the robot detects and receives the externally input reset signal; then sends the reset signal to the host computer for the host computer to close the frozen simulation interface when simulating the movement of the robotic arm on the simulation interface and issue a movement instruction to the robot.

[0114] In the prior art, when the simulation interface freezes, the operator needs to go to the host computer side to operate to close the frozen interface, which is very inconvenient. The interaction method between the robot and the host computer in this embodiment can perform a reset process on the host computer on the robot side, enrich the interaction function between the robot and the host computer, effectively increase the operation convenience of the surgical process control, and is very convenient to use.

[0115] Figure 8 This is a flowchart of the fifth embodiment of the interaction method between the robot and the host computer of the present application. As Figure 8 shown, the interaction method between the robot and the host computer in this embodiment may specifically include the following steps:

[0116] S500. The robot receives the status prompt information sent by the host computer.

[0117] S501. The robot performs a status prompt according to the status prompt information.

[0118] In this embodiment, the robot side can also receive the status prompt information sent by the host computer in real time and perform a status prompt based on the status prompt information. The technical solution of this embodiment can be combined with any of the above Figure 1 、 Figures 5 - 8 technical solutions of the embodiments to form alternative embodiments of the present application, which will not be elaborated one by one here. The status prompt information in this embodiment can be obtained by the host computer according to the signal tracked by the optical positioning and tracking system. The detailed process of the host computer tracking the signal of the optical positioning and tracking system can refer to the relevant prior art and will not be elaborated here.

[0119] For example, this step S501 may specifically include the following methods:

[0120] (A) The robot performs a status prompt in a flashing, constantly lit, or color-alternating manner according to the status prompt information;

[0121] (B) The robot performs a status prompt with different voice messages according to the status prompt information.

[0122] Specifically, the status prompt of this embodiment includes the light prompt in the above manner (A), and may also include the voice prompt in manner (B).

[0123] Among them, the light status prompt in manner (A) may specifically include the following situations:

[0124] In the first situation, when the optical tracker does not detect the optical sensors on the robot side and / or the patient side, the robot uses light of the first color for status prompting according to the corresponding status prompt information;

[0125] During the specific working process, optical sensors are provided on both the robot side and the patient side. The optical tracker can collect the signals of the optical sensors on the robot side and the signals of the optical sensors on the patient side in real time. When the optical tracker does not detect the optical sensors on the robot side and / or the patient side, it sends a message to the host computer indicating that it has not detected the optical sensor on one side. At this time, the host computer can determine that the current status is that the optical tracker does not detect the optical sensors on the robot side and / or the patient side, and generate corresponding status indication information based on this status, which is used to indicate the status display method on the robot side in this state. And send this status indication information to the robot, so that the robot can perform status prompting according to the corresponding status prompt information, such as using light of the first color for status prompting.

[0126] In the second situation, when the robotic arm of the robot is in the process of moving, the robot uses light of the second color for status prompting according to the corresponding status prompt information;

[0127] The optical tracker can collect any dynamic information on the robot side in real time and upload it to the host computer. For example, when the robotic arm of the robot is in the process of moving, the optical tracker can collect relevant information and upload it to the host computer. The host computer can determine that the current status of the robot is that the robotic arm of the robot is in the process of moving; and generate corresponding status indication information based on this status, which is used to indicate the status display method on the robot side in this state. And send this status indication information to the robot, so that the robot can perform status prompting according to the corresponding status prompt information, such as using light of the second color for status prompting.

[0128] In the third situation, when the robotic arm of the robot moves to the target position, the robot uses light of the third color for status prompting.

[0129] Similarly, the optical tracker can collect any dynamic information on the robot side in real time and upload it to the host computer. For example, when the robotic arm of the robot moves to the target position, the optical tracker can collect relevant information and upload it to the host computer. The host computer can determine the current state of the robot as: the robotic arm of the robot moves to the target position; and generate corresponding status indication information based on this state, which is used to indicate the status display method on the robot side in this state. And send this status indication information to the robot, so that the robot can perform status prompts according to the corresponding status prompt information, such as using light of the third color for status prompts.

[0130] In the fourth case, when the robotic arm of the robot drives the guide to retract, the robot uses light of the fourth color for status prompts according to the corresponding status prompt information.

[0131] Among them, the first color, the second color, the third color, and the fourth color all use a flashing method or a constant-on method for status prompts; at this time, the first color, the second color, the third color, and the fourth color are all different. Or some of the first color, the second color, the third color, and the fourth color use a flashing method and some use a constant-on method for status prompts. At this time, different colors using the same method must be different. The first color, the second color, the third color, and the fourth color in this embodiment can be any color among various colors such as red, yellow, blue, green, purple, etc.

[0132] When the voice status prompt in method (B) is specifically implemented, the robot can directly announce the current status by voice according to the status prompt information. Such as directly announcing "The host computer does not detect the optical sensors on the robot side and / or the patient side", "The robotic arm of the robot is in the process of moving" or "The robotic arm of the robot moves to the target position" or "The robotic arm is driving the guide to retract". Or different music can also be used to identify different statuses. Different voice alarm prompts can also be used to identify different statuses, such as "beep - beep - beep", "beep beep - beep beep - beep beep" and "beep beep beep - beep beep beep - beep beep beep" can respectively identify different statuses.

[0133] The interaction method between the robot and the host computer in this embodiment can perform status prompts on the robot side, so as to be able to display various statuses in real time, so that when problems occur, the problems can be solved in time, reducing the time for troubleshooting, and it is very convenient to use.

[0134] Figure 9 It is a flowchart of the sixth embodiment of the interaction method between the robot and the host computer of the present application. As Figure 9 shown, the interaction method between the robot and the host computer in this embodiment may specifically include the following steps:

[0135] S600. The host computer receives the control signal sent by the robot; the control signal is a signal detected and recognized by the robot from external input, and is used to control the position and / or angular offset of the guide installed at the front end of the robot's robotic arm.

[0136] S601. The host computer generates a movement instruction based on the detected current posture information of the robot and the control signal.

[0137] S602. The host computer sends a first movement instruction to the robot, so that the robot controls the movement of its robotic arm according to the first movement instruction.

[0138] The interaction method between the robot and the host computer in this embodiment is different from the above Figure 1 shown embodiment in that: the above Figure 1 shown embodiment describes the interaction method between the robot and the host computer of the present application on the robot side, while this embodiment describes the interaction method between the robot and the host computer of the present application on the host computer side. The specific implementation principle and implementation effect are the same as those of the above Figure 1 shown embodiment, and details can be referred to the description of the above Figure 1 shown embodiment, which will not be elaborated here.

[0139] In different embodiments, the host computer can further identify and judge the control signal sent by the robot. For example, when the front-end tool on the robot side receives an external input signal through the installation of a multi-directional button, the robot makes a preliminary identification of the received signal, such as identifying a signal range. After receiving this signal, the host computer further performs logical identification and judgment.

[0140] Further optionally, similar to the embodiment on the robot side above, the control signal in this embodiment can also include the following two types:

[0141] The first type of control signal is a control signal for increasing or decreasing the displacement offset of the guide installed at the front end of the robot's robotic arm; the displacement offset of the guide is the distance between the front end of the guide and the implantation point in the axial direction of the axis where the front end and the end of the guide are located.

[0142] The second type of control signal is a control signal for increasing or decreasing the angular offset of the guide at the front end of the robotic arm; the angular offset of the guide is the angle by which the second plane of the guide deviates from the first plane of the guide. The first plane of the guide is the plane where the axis passing through the front end and the end of the guide and the center point of the robot's base is located, and the second plane of the guide is the plane where the axis passing through the front end and the end of the guide and the center point of the end face of the front end of the robotic arm is located.

[0143] For the explanations of the above two types of control signals, please refer to the descriptions of the relevant embodiments of the above-mentioned robot for details, which will not be elaborated here.

[0144] Figure 10 This is the flowchart of the seventh embodiment of the interaction method between the robot and the host computer of the present application. As Figure 10 , the interaction method between the robot and the host computer in this embodiment may specifically include the following steps:

[0145] S700. The host computer receives the implant selection information sent by the robot, and the implant selection information is input externally received by the robot.

[0146] S701. The host computer obtains the target implant information to be implanted this time according to the currently selected implant information and the received implant selection information.

[0147] S702. After obtaining the target implant information to be implanted this time, the host computer can display the target implant information on the display screen.

[0148] The interaction method between the robot and the host computer in this embodiment is different from the above Figure 5 shown embodiment in that: the above Figure 5 shown embodiment describes the interaction method between the robot and the host computer of the present application on the robot side, while this embodiment describes the interaction method between the robot and the host computer of the present application on the host computer side. Its specific implementation principle and implementation effect are the same as those of the above Figure 5 shown embodiment. For details, please refer to the descriptions of the above Figure 5 shown embodiment, which will not be elaborated here.

[0149] Similarly, when it is necessary to implant an implant such as a guide pin at each implant point among multiple implant points on the patient, after the implantation at the current implant point is completed, the guide can be retracted first, so that the guide retracts a preset height in the axial direction away from the completed implant point, leaving sufficient space for the movement of the robotic arm. When implemented on the host computer side, it may specifically include the following implementation methods:

[0150] The first implementation method may specifically include the following steps:

[0151] (a3) After the current implant is implanted, the host computer receives the implant update information sent by the robot.

[0152] (b3) The host computer generates a retraction command based on the current pose information of the robot, the preset height, and the preset time length; and generates a motion command based on the pose information at the specified position reached after the robot retracts according to the retraction command and the pose information of the next target implant corresponding to the implant update information. The robot retracts according to the preset height and reaches the specified position. The pose information at the specified position includes the position and direction at that place. When the guide retracts, the direction remains unchanged, and based on the preset height, its position information at the specified position is also known. On this basis, the host computer generates a motion command according to the pose information after retraction and the pose information of the implant to be implanted next.

[0153] (c3) The host computer sends a retraction command and a motion command with a sequential relationship to the robot. The retraction command is used to instruct the movement of the robotic arm to drive the guide to retract a preset height in the axial direction of the implanted implant away from the implant point and reach the specified position, and control the guide to stay at the specified position for a preset time length; the motion command is used to control the movement of the robotic arm to drive the guide to move from the specified position to the spatial axis corresponding to the next target implant corresponding to the implant update information.

[0154] Further optionally, before step (c3) of the above embodiment, the following steps may also be included: The host computer detects whether the height difference between the specified position and the implant point of the next target implant to be implanted is within the preset height difference range, and executes step (c3) when it is determined that the height difference is within the preset height difference range.

[0155] If the host computer detects and determines that the height difference between the specified position and the implant point of the next target implant to be implanted is not within the preset height difference range, it further includes: The host computer generates a height adjustment command according to the specified position, the position of the implant point of the next target implant to be implanted, and the preset height difference range. At this time, in step (c3), specifically, the host computer sends a retraction command, a height adjustment command, and a motion command with a sequential relationship to the robot, and the sequential relationship of the height adjustment command is between the retraction command and the motion command. The height adjustment command is used to adjust the height of the specified position so that the height difference between the adjusted specified position and the implant point of the next target implant to be implanted is within the preset height difference range.

[0156] The implementation principles of steps (a3)-(c3) included in the first implementation method on the host computer side are the same as those of steps (a1)-(e1) included in the first implementation method on the robot side. For details, reference can be made to the description of steps (a1)-(e1) above, and no further elaboration will be provided here.

[0157] The second implementation method may specifically include the following steps:

[0158] (a4) After the current implant is implanted, the host computer receives the retraction signal sent by the robot;

[0159] On the robot side, the retraction signal can be received through the front-end tool, or the operator can control the manipulator to move along the axis of the implant and away from the implant point by operating the front-end tool;

[0160] (b4) The host computer generates a retraction command according to the retraction signal, the current pose information of the robot, and the preset height;

[0161] (c4) The host computer sends a retraction command to the robot to control the movement of the manipulator, so as to drive the guide to retract a preset height in the axial direction of the implanted implant and away from the implant point and reach the specified position;

[0162] (d4) The host computer receives the implant update information sent by the robot;

[0163] (e4) The host computer detects whether the height difference between the specified position and the position of the next implant point corresponding to the implant update information is within the preset height difference range; if so, execute step (f4); otherwise, if the height difference is not within the preset height difference range, execute step (h4);

[0164] (f4) The host computer generates a motion command according to the pose information of the guide at the specified position and the pose information of the next target implant to be implanted; execute step (g4);

[0165] (g4) The host computer sends a motion command to the robot to control the movement of the manipulator to drive the guide to move from the specified position to the axis direction of the next target implant to be implanted, and end.

[0166] (h4) The host computer generates a height adjustment command according to the specified position, the position of the implant point of the next target implant to be implanted, and the preset height difference range; execute step (i4);

[0167] (i4) The host computer sends a height adjustment command to the robot to control the manipulator to drive the guide to move to adjust the specified position so that the height difference between the adjusted specified position and the position of the implant point of the next target implant to be implanted is within the preset height difference range, and return to step (f4).

[0168] Similarly, it should be noted that in the implementation methods of the above two retraction schemes on the host computer side, the preset retraction heights can be the same or different.

[0169] The implementation principles of steps (a4)-(i4) included in the second implementation method on the host computer side are the same as those of steps (a2)-(f2) included in the second implementation method on the robot side. For details, reference can be made to the descriptions of the above steps (a2)-(f2), which will not be elaborated here.

[0170] Figure 11 This is the flowchart of the eighth embodiment of the interaction method between the robot and the host computer of the present application. As Figure 11 , the interaction method between the robot and the host computer in this embodiment may specifically include the following steps:

[0171] S800. The host computer detects whether it receives a start signal triggered by a control foot pedal; if the host computer receives the start signal, execute step S801; otherwise, return and continue to detect.

[0172] There are two foot pedals provided on the robot: a teaching foot pedal and a control foot pedal. For details, reference can be made to the relevant descriptions on the robot side above, which will not be elaborated here.

[0173] S801. The host computer pops up a simulation interface on the display screen.

[0174] Referring to the working modes of common robots, in order to facilitate the vivid display of the working path of the robot on the host computer side, before the robotic arm of the robot moves, the planned path of the movement of the robotic arm can be simulated and displayed on the host computer side. Therefore, after the host computer and the robot are connected and the host computer receives the start signal, it first pops up a simulation interface to prepare for displaying the planned path on the simulation interface.

[0175] S802. The host computer calculates the minimum displacement offset and the minimum angle offset that need to be moved in order to move the guide installed at the front end of the robotic arm from the current position to the axis direction of the target implant according to the currently detected pose information of the robot and the target implant information.

[0176] Specifically, during the process of the host computer moving the guide to the spatial axis corresponding to the target implant from the current position, there can be many moving methods, and each moving method can include a displacement offset and an angular offset. No matter which moving method is adopted, it can move from the current position to the spatial axis corresponding to the target implant. Among all the moving methods, there is a movement with the minimum displacement offset and the minimum angular offset. Compared with other moving operations, the movement with the minimum displacement offset and the minimum angular offset is the simplest operation. For example, the process of obtaining the minimum displacement offset can be as follows: project the guide at the current position onto the spatial axis corresponding to the target implant, and then take the shortest distance from the guide to the corresponding projection point on the spatial axis corresponding to the target implant as the minimum displacement offset. In this way, rotate the guide to be parallel to the spatial axis corresponding to the target implant. At this time, the guide can be rotated by different angles from two directions respectively until it is parallel to the spatial axis corresponding to the target implant. In this embodiment, the smaller rotation angle can be taken as the minimum angular offset. In this way, according to the minimum displacement offset and the minimum angular offset, the guide can be moved from the current position to the spatial axis corresponding to the target implant.

[0177] S803. The host computer simulates the movement of the robot's robotic arm from the current position to drive the guide to the axis direction of the target implant on the simulation interface according to the minimum displacement offset and the minimum angular offset.

[0178] S804. The host computer detects whether it can still receive the start signal triggered by the control foot pedal; if so, execute step S805; otherwise, disconnect the connection, the host computer does not send any information to the robot, and end.

[0179] S805. The host computer closes the simulation interface; execute step S806.

[0180] In this embodiment, the host computer closing the simulation interface means that the host computer detects and determines that the control foot pedal is still in the start state and automatically closes the simulation interface.

[0181] Optionally, in practical applications, the simulation interface can also be manually closed on the host computer side. For example, a button for closing the simulation interface can be displayed on the display screen on the host computer side. The doctor can click the button for closing the simulation interface through a human-machine interface module such as a mouse or a touch screen, so as to input a closing control signal. In this way, the host computer can receive the externally input closing control signal and close the simulation interface according to the closing control signal.

[0182] S806. The host computer sends a movement instruction carrying the minimum displacement offset and the minimum angular offset to the robot, so that the robot moves the robotic arm according to the minimum angular offset and the minimum displacement offset, so as to drive the guide installed at the front end of the robotic arm to move to the spatial axis direction of the target implant to be implanted. Although not shown in the drawings, the premise for the operation of step S806 is that the control foot pedal is always triggered. During the process, once the control foot pedal is released, the control of the host computer over the robot is aborted.

[0183] The interaction method between the robot and the host computer in this embodiment is different from the above Figure 6 shown embodiment in that: the above Figure 6 shown embodiment describes the interaction method between the robot and the host computer of the present application on the robot side, while this embodiment describes the interaction method between the robot and the host computer of the present application on the host computer side. Its specific implementation principle and implementation effect are the same as the above Figure 6 shown embodiment. For details, reference can be made to the description of the above Figure 6 shown embodiment, and details will not be repeated here.

[0184] Figure 12 This is a flowchart of the ninth embodiment of the interaction method between the robot and the host computer of the present application. As Figure 12 , the interaction method between the robot and the host computer in this embodiment may specifically include the following steps:

[0185] S900. The host computer receives the reset signal sent by the robot, and the reset signal is detected and received by the robot from the external input.

[0186] S901. If the simulation interface freezes and cannot be closed, the host computer closes the frozen simulation interface according to the reset signal.

[0187] When the simulation interface pops up and is about to perform a simulation or is in the process of performing a simulation, when the host computer detects that the optical tracker cannot see the patient and the optical sensor at the front end of the robotic arm, the simulation interface freezes at this time and subsequent operations cannot be performed. In practical applications, there may also be other reasons for the simulation interface to freeze. In this case, the method of this embodiment can also be used to close the frozen simulation interface.

[0188] S902. The host computer sends a movement instruction to the robot.

[0189] The interaction method between the robot and the host computer in this embodiment is executed in combination with the technical solution of the above Figure 11 shown embodiment. If in Figure 11In the illustrated embodiment, after the simulation is completed by the host computer and the simulation interface freezes and cannot be closed, when the doctor sees this situation on the robot side, the doctor can initiate a reset signal from the robot side. Specifically, the doctor can trigger the reset signal through the front-end control tool. Correspondingly, the robot receives the service signal input from the outside and sends it to the host computer. Correspondingly, the host computer receives the reset signal sent by the robot and closes the frozen simulation interface according to the reset signal; then sends a movement instruction to the robot, so that the robot moves the robotic arm according to the minimum angular offset and the minimum displacement offset in the movement instruction, so as to drive the guide installed at the front end of the robotic arm to move to the axis direction of the target implant to be implanted.

[0190] The interaction method between the robot and the host computer in this embodiment is the same as the above Figure 7 The difference from the illustrated embodiment is that: the above Figure 7 In the illustrated embodiment, the interaction method between the robot and the host computer of the present application is described on the robot side, while in this embodiment, the interaction method between the robot and the host computer of the present application is described on the host computer side. The specific implementation principle and the implementation effect are the same as the above Figure 7 In the illustrated embodiment, for details, reference can be made to the description of the above Figure 7 In the illustrated embodiment, and will not be elaborated here.

[0191] Figure 13 This is the flowchart of the tenth embodiment of the interaction method between the robot and the host computer of the present application. As Figure 13 shown, the interaction method between the robot and the host computer in this embodiment may specifically include the following steps:

[0192] S1000. The host computer obtains status prompt information according to the signal tracked by the optical tracker.

[0193] S1001. The host computer sends the status prompt information to the robot for the robot to perform status prompting according to the status prompt information.

[0194] Further optionally, the status prompt information in this embodiment may include status prompt information for not detecting the optical sensor on the robot side and / or the patient side, status prompt information for detecting that the robotic arm of the robot is moving, and status prompt information for the robotic arm of the robot moving to the target position.

[0195] Further optionally, in this embodiment, the host computer may also directly perform status prompting according to the status prompt information. For example, the host computer can use voice to perform status prompting at this time.

[0196] The interaction method between the robot and the host computer in this embodiment is the same as the above Figure 8 The difference from the illustrated embodiment is that: the above Figure 8The embodiments described above describe the interaction method between the robot and the host computer on the robot side, while this embodiment describes the interaction method between the robot and the host computer on the host computer side. The specific implementation principle and the achieved effects are the same as those of the Figure 8 above-mentioned embodiments, and the details can be referred to the description of the Figure 8 above-mentioned embodiments, which will not be elaborated here.

[0197] Figure 14 This is a schematic structural diagram of a robot embodiment of the present application. As Figure 14 shown, the robot of this embodiment may include a base 10, a main control system 11, and a robotic arm 12. The main control system 11 may be disposed within the base 10, so it is not shown in the figure. The robotic arm 12 is disposed on the base 10; a guide 13 for positioning the implanting nail is installed at the end of the front end of the robotic arm 12, and a front-end control device 14 is further disposed at the end of the front end of the robotic arm. As Figure 3 shown, this may be an example schematic diagram of a partial structure of the robot of the present application.

[0198] For example, the front-end control device 14 of this embodiment is used to detect and identify an externally input control signal;

[0199] The main control system 11 is used to send the control signal identified by the front-end control device to the host computer; the main control system 11 is further used to receive a movement instruction sent by the host computer; and control the movement of the robotic arm according to the movement instruction; the movement instruction is generated by the host computer based on the currently detected attitude information and control signal of the robot.

[0200] Further optionally, as Figure 3 shown, the front-end control device of this embodiment includes an information input module 14a and an information transmission module 14b (not shown in the figure);

[0201] The information input module 14a is used to detect and identify an externally input control signal;

[0202] The information transmission module 14b is used to send the control signal received by the information input module 14a to the main control system 11.

[0203] Among them, the information input module 14a can be implemented by any one of a button, a multi-directional key, a two-axis rocker, a touchpad, and a touch screen. As Figures 2 - 4As shown in the figure, taking the multi-directional button of the information input module 14a as an example, each direction can represent the input of different control signals. When the information input module 14a is implemented by a two-axis rocker, the principle is similar, and each direction can represent the input of different control signals. If the information input module 14a is a single button, different consecutive pressing times can be set to represent the input of different control signals. When the information input module 14a is implemented by a touchpad, different click times can also be used to implement the input of different control signals. When the information input module 14a is implemented by a touch screen, different information input buttons can be set on the touch screen to implement the input of different control signals. In practical applications, the information input module 14a can also be implemented in other forms, which will not be elaborated here one by one. Since there may be many types of control signals, the information input module 14a of this embodiment is used to detect and identify the externally input control signals.

[0204] In this embodiment, the robot side, such as the information input module 14a, will initially identify the externally input control signals, such as identifying analog signals, 1101, 1011, 0111, etc., and then send them to the host computer by the main control system 11 of the robot. The host computer performs logical identification according to the logic to further determine what kind of signal it belongs to, so as to perform corresponding control based on the control signal subsequently. In addition, when the information input module 14a is a multi-directional button, each time a button is pressed, the corresponding control signal is a signal range. After the robot sends it to the host computer, it will be identified to see which control signal it corresponds to.

[0205] In addition, the information transmission module 14b of this embodiment is mainly used to implement information transmission. In Figures 2 - 4 the illustrated example diagram, it can be set inside the front-end control device to achieve signal connection with the main control system of the robot. Therefore, in Figures 2 - 4The external front-end control device is not shown. For example, a communication port for communication connection between the main control system 11 of the robot and the front-end control device 14 is provided at the end of the robotic arm of the robot. The information transmission module 14b in the front-end control device 14 is connected to this communication port, and thus communication connection can be achieved between the end of the robotic arm and the main control system 11 of the robot. The information transmission module 14b is used to transmit the control signal received by the information input module 14a to the main control system 11 of the robot, and then the main control system 11 of the robot sends the control signal to the upper computer. The upper computer generates a movement instruction according to the detected current posture information and control signal of the robot, and sends the movement instruction to the main control system of the robot to control the movement of the robotic arm of the robot. The current posture information of the robot in this embodiment is specifically obtained by the optical positioning and tracking system through collecting the first optical sensor installed at the front end of the robotic arm of the robot. Specifically, the upper computer can achieve coordinate registration according to the signal obtained by the optical positioning and tracking system and the patient image including scale information, so that the robot and the patient image can be represented in a unified coordinate system. By tracking the signal of the first optical sensor, the current posture information of the robot can be obtained in real time. For example, in this embodiment, when the first optical sensor and the scale are installed on the front-end control device, the posture information of the robot can specifically be the TCP information of the front-end control device on the robot side, such as the position and direction of the TCP of the front-end control device. The specific implementation principle can be detailedly referred to relevant existing technologies and will not be elaborated here.

[0206] Further optionally, the information input module 14a is used to detect and identify an externally input control signal for increasing or decreasing the displacement offset of the guide 13; wherein the displacement offset of the guide 13 is the distance between the front end (such as Figure 3 point A in Figure 3 it) and the end (such as

[0207] point B in

[0208] it) of the guide 13 in the axial direction of the axis where they are located, and is the distance between the front end of the guide 13, i.e., point A, and the implantation point.

[0209] The main control system 11 is used to control the movement of the robotic arm of the robot according to the movement instruction, so as to drive the angular offset of the guide to increase or decrease, while keeping the direction and position of the guide unchanged.

[0210] Further optionally, the information input module 14a is also used to receive the implant selection information input externally;

[0211] The main control system 11 is also used to send the implant selection information received by the information input module 14a to the host computer, so that the host computer can obtain the target implant information to be implanted this time according to the currently selected implant information and the received implant selection information; and display the target implant information on the display screen of the host computer.

[0212] Further optionally, as Figure 14 shown, two foot pedals are provided on the robot in this embodiment: a teaching foot pedal 15 and a control foot pedal 16. When the main control system 11 detects that the teaching foot pedal 15 is not depressed, the robotic arm 12 is locked. If the main control system 11 detects that the teaching foot pedal 15 is depressed, the main control system 11 can unlock the robotic arm. At this time, the robotic arm 12 can be triggered to move by an external force and move freely to realize the teaching function. The control foot pedal 16 is arranged on the control path connecting the robot and the host computer. If the main control system 11 detects that the control foot pedal 16 is depressed, the control path between the robot and the host computer is connected. At this time, if the main control system 11 of the robot receives the movement instruction sent by the host computer, it continues to control the movement of the robotic arm 12 according to the movement instruction; if the main control system 11 detects that the control foot pedal 16 is released, the control between the robot and the host computer is interrupted. At this time, the main control system 11 of the robot stops controlling the movement of the robotic arm 12. Figure 14 The dotted line in

[0213] Further optionally, the main control system 11 is also used to receive the movement instruction carrying the minimum angular offset and the minimum displacement offset sent by the host computer; the minimum angular offset and the minimum displacement offset are the minimum displacement offset and the minimum angular offset that the host computer needs to move according to the currently detected current attitude information and target implant information of the robot to move the guide installed at the front end of the robotic arm from the current position to the axis direction of the target implant; according to the minimum angular offset and the minimum displacement offset, control the movement of the robotic arm to drive the guide installed at the front end of the robotic arm to move to the projection position of the current position on the spatial axis of the target implant to be implanted.

[0214] Further optionally, as Figure 14 and Figures 2 - 4 shown, the front-end control device 14 in this embodiment further includes a reset module 14c;

[0215] Specifically, when simulating movement on the host computer side, if a communication failure occurs and the simulation interface of the host computer freezes, the reset module 14c of the robot is used to detect and receive an externally input reset signal;

[0216] The information transmission module 14b is further used to send the reset signal received by the reset module 14c to the main control system;

[0217] The main control system 11 is further used to send a reset signal to the host computer, so that when the host computer simulates the movement of the robotic arm on the simulation interface, it closes the frozen simulation interface and sends a movement instruction to the robot.

[0218] Further optionally, as Figure 14 and Figures 2 - 4 shown, the front-end control device of the robot in this embodiment further includes a status prompt module 14d;

[0219] The information transmission module 14b is further used to receive the status prompt information transmitted by the host computer through the robot;

[0220] The status prompt module 14d is connected to the information transmission module 14b, and is used to receive the status prompt information sent by the host computer and perform status prompting according to the status prompt information.

[0221] Further optionally, the status prompt module 14d is used to perform status prompting in a flashing, constant-on or color-alternating manner according to the status prompt information; and / or

[0222] The status prompt module 14d is used to perform status prompting with different voice messages according to the status prompt information.

[0223] Further optionally, when the status prompt information is that the host computer does not detect the optical sensor on the robot side and / or the patient side, the status prompt module 14d uses light of the first color for status prompting;

[0224] The status prompt module 14d is further used to use light of the second color for status prompting when the status prompt information is that the robotic arm of the robot is in the process of moving;

[0225] The status prompt module 16 is further used to use light of the third color for status prompting when the status prompt information is that the robotic arm of the robot has moved to the target position;

[0226] The status prompt module 16 is further used to use light of the fourth color for status prompting when the status prompt information is that the robotic arm of the robot is driving the guide to retract;

[0227] Further optionally, the first color, the second color, the third color and the fourth color all use a flashing method or all use a constant-on method for status prompting;

[0228] Alternatively, part of the first color, the second color, the third color, and the fourth color uses a flashing method, and part uses a constant-on method for status indication.

[0229] Further optionally, the status indication module 14d is implemented by using a light strip formed by a plurality of LED lights.

[0230] Further optionally, in the front-end control device 14 of the robot in this embodiment, the information input module 14a, the information transmission module 14b, the status indication module 14d, and the reset module 14c are arranged on the same base, and the base is installed at the front end of the robotic arm of the robot;

[0231] Further optionally, the base in this embodiment can be a columnar body, and the information input module 14a and the reset module 14c are respectively arranged on the surface of the columnar base.

[0232] Further optionally, in this embodiment, if the status indication module 14d includes a voice prompt unit, the voice prompt unit is implemented by using a speaker;

[0233] When the status indication module 14d is implemented by using a light strip formed by a plurality of LED lights, it is arranged around the surface of the columnar body in a direction parallel to the cross-section of the columnar body of the base.

[0234] Further optionally, in this embodiment, the information input module 14a is further configured to detect and identify the implant update information input externally after the current implant is implanted;

[0235] The main control system 11 is further configured to receive the implant update information through the information transmission module 14b and send it to the host computer; receive the rollback instruction and the motion instruction with a sequential relationship sent by the host computer; control the movement of the robotic arm according to the rollback instruction to drive the guide to roll back a preset height in the axial direction of the implanted implant away from the implant point and reach a specified position, and control the guide to stay at the specified position for a preset time length; control the movement of the robotic arm according to the motion instruction to drive the guide to move from the specified position to the axial direction of the next target implant corresponding to the implant update information; the motion instruction is generated by the host computer according to the attitude information of the guide at the specified position and the attitude information of the next target implant corresponding to the implant update information.

[0236] Further optionally, when the main control system 11 is further configured to receive the fallback instruction and the motion instruction with a sequential relationship sent by the host computer, it also receives a height adjustment instruction, and the sequential relationship of the height adjustment instruction is between the fallback instruction and the motion instruction; the height adjustment instruction is generated when the host computer detects and determines that the height difference between the specified position and the implantation point of the next target implant to be implanted is not within the preset height difference range; according to the height adjustment instruction, the height of the specified position is adjusted so that the height difference between the adjusted specified position and the implantation point of the next target implant to be implanted is within the preset height difference range.

[0237] Further optionally, in this embodiment, the information input module 14a is further configured to detect and identify an externally input fallback signal after the current implant is implanted;

[0238] The main control system 11 is further configured to receive the fallback signal through the information transmission module 14b and send it to the host computer for the host computer to generate a fallback instruction based on the fallback signal, the current pose information of the robot, and the preset height, and return it to the robot; according to the fallback instruction, control the movement of the robotic arm to drive the guide to retreat a preset height in the axial direction of the implanted implant away from the implantation point and reach a specified position;

[0239] The information input module 14a is further configured to detect and identify externally input implant update information;

[0240] The main control system 11 is further configured to receive the implant update information through the information transmission module 14b and send it to the host computer; receive the motion instruction sent by the host computer, and control the movement of the robotic arm to drive the guide to move from the specified position to the axial direction of the next target implant corresponding to the implant update information; the motion instruction is sent when the host computer detects that the height difference between the specified position and the position of the next implant point to be implanted is within the preset height difference range, and the motion instruction is generated by the host computer according to the pose information of the guide at the specified position and the pose information of the next target implant.

[0241] Further, the main control system 11 is further configured to receive a height adjustment instruction sent by the host computer; the height adjustment instruction is generated when the host computer detects that the height difference between the specified position and the implantation point of the next target implant to be implanted is not within the preset height difference range; and according to the height adjustment instruction, adjust the height of the specified position so that the height difference between the adjusted specified position and the implantation point of the next target implant to be implanted is within the preset height difference range.

[0242] For the robot in the above embodiment, the implementation principle and technical effect of realizing the interaction between the robot and the host computer by adopting the above modules are the same as those in the above Figures 5 - 8 illustrated embodiment, and details can be referred to the aboveFigures 5 - 8 The description of the illustrated embodiments will not be repeated here.

[0243] Figure 15 It is a schematic structural diagram of the host computer embodiment of this application. As Figure 15 shown, the host computer of this embodiment may include:

[0244] The receiving module 20 receives the control signal sent by the robot; the control signal is the signal detected and recognized by the robot for the external input;

[0245] The instruction generation module 21 generates a movement instruction according to the currently detected pose information of the robot and the control signal received by the receiving module 20;

[0246] The sending module 22 sends the movement instruction generated by the instruction generation module 21 to the robot, so that the robot can control the movement of the robot's robotic arm according to the movement instruction.

[0247] For the host computer of this embodiment, the implementation principle and technical effect of realizing the interaction between the robot and the host computer by adopting the above modules are the same as those of the above Figure 9 illustrated embodiments, and for details, reference can be made to the description of the above Figure 9 illustrated embodiments, which will not be repeated here.

[0248] Further optionally, the control signal of this embodiment is a control signal for increasing or decreasing the displacement offset of the guide;

[0249] wherein the displacement offset of the guide is the distance between the front end of the guide and the implantation point in the axial direction of the axis where the front end and the end of the guide are located.

[0250] Further optionally, the control signal of this embodiment is a control signal for increasing or decreasing the angular offset of the guide at the front end of the robotic arm;

[0251] wherein the angular offset of the guide is the angle by which the second plane of the guide deviates from the first plane of the guide. The first plane of the guide is the plane where the axis passing through the front end and the end of the guide and the center point of the robot's base is located, and the second plane of the guide is the plane where the axis passing through the front end and the end of the guide and the center point of the end face of the front end of the robotic arm is located.

[0252] Further optionally, as Figure 15 shown, the host computer of this embodiment further includes a nail selection module 23 and a display module 24.

[0253] The receiving module 20 is further configured to receive the implant selection information sent by the robot, and the implant selection information is received by the robot for external input;

[0254] The nail selection module 23 is used to obtain the target implant information to be implanted this time according to the currently selected implant information and the implant selection information received by the receiving module 20;

[0255] The display module 24 is used to display the target implant information obtained by the nail selection module 23 on the display screen.

[0256] Further optionally, as Figure 15 shown, the host computer of this embodiment further includes:

[0257] The detection module 25 is used to detect whether a start signal triggered by a control foot pedal is received;

[0258] The pop-up module 26 is used to pop up a simulation interface on the display screen if it is detected by the detection module 25 that the start signal is received;

[0259] The calculation module 27 is triggered by the pop-up module 26, and calculates the minimum displacement offset and the minimum angle offset that need to be moved to move the guide installed at the front end of the robotic arm from the current position to the axis direction of the target implant according to the currently detected pose information of the robot and the target implant information;

[0260] The simulation module 28 is used to simulate the movement of the robotic arm of the robot from the current position to drive the guide to the axis direction of the target implant on the simulation interface popped up by the pop-up module 26 according to the minimum displacement offset and the minimum angle offset calculated by the calculation module 27.

[0261] Further optionally, in the host computer of this embodiment:

[0262] The receiving module 20 is further used to receive the implant update information sent by the robot after the current implant is completed; correspondingly, the nail selection module 23 can be used to obtain the target implant information to be implanted next time according to the implant update information received by the receiving module 20, including the position information and direction information of the target implant, etc.

[0263] The instruction generation module 21 is further used to generate a retraction instruction based on the current pose information of the robot, the preset height, and the preset time length; and generate a motion instruction according to the pose information at the specified position where the robot reaches after retracting based on the retraction instruction and the pose information of the target implant to be implanted next time corresponding to the implant update information;

[0264] The sending module 22 is further configured to send a backward instruction and a motion instruction with a sequential relationship to the robot. The backward instruction is used to indicate the movement of the robotic arm to drive the guide to retreat a preset height in the axial direction of the implanted implant away from the implantation point and reach a specified position, and to control the guide to stay at the specified position for a preset time length. The motion instruction is used to control the movement of the robotic arm to drive the guide to move from the specified position to the axial direction of the next target implant corresponding to the implant update information.

[0265] Further optionally, the detection module 25 is further configured to detect and determine that the height difference between the specified position and the implantation point of the next target implant to be implanted is within a preset height difference range.

[0266] The instruction generation module 21 is further configured to, when the detection module 25 detects and determines that the height difference between the specified position and the implantation point of the next target implant to be implanted is not within the preset height difference range, generate a height adjustment instruction according to the specified position, the implantation point position of the next target implant to be implanted, and the preset height difference range.

[0267] The sending module 22 is further configured to send a height adjustment instruction while sending a backward instruction and a motion instruction with a sequential relationship to the robot. The sequential relationship of the height adjustment instruction is between the backward instruction and the motion instruction. The height adjustment instruction is used to adjust the height of the specified position so that the height difference between the adjusted specified position and the implantation point of the next target implant to be implanted is within the preset height difference range.

[0268] Further optionally, in the host computer of this embodiment:

[0269] The receiving module 20 is further configured to receive a backward signal sent by the robot after the current implant is implanted.

[0270] The instruction generation module 21 is further configured to generate a backward instruction according to the backward signal based on the current pose information of the robot and the preset height.

[0271] The sending module 22 is further configured to send a backward instruction to the robot, which is used to control the movement of the robotic arm to drive the guide to retreat a preset height in the axial direction of the implanted implant away from the implantation point and reach a specified position.

[0272] The receiving module 20 is further configured to receive the implant update information sent by the robot.

[0273] The detection module 25 is further configured to determine whether the height difference between the specified position and the implantation point of the next implant to be implanted corresponding to the implant update information is within the preset height difference range.

[0274] The instruction generation module 21 is further configured to generate a motion instruction according to the attitude information of the guide at a specified position and the attitude information of the target implant to be implanted next time if the height difference is within a preset height difference range;

[0275] The sending module 22 is further configured to send the motion instruction to the robot, for controlling the movement of the robotic arm to drive the guide to move from the specified position to the axial direction of the target implant to be implanted next time.

[0276] Further optionally, the instruction generation module 21 is further configured to generate a height adjustment instruction according to the specified position, the position of the implantation point of the target implant to be implanted next time, and the preset height difference range if the height difference is not within the preset height difference range;

[0277] The sending module 22 is further configured to send the height adjustment instruction to the robot, for controlling the robotic arm to drive the guide to move to adjust the height of the specified position, so that the height difference between the adjusted specified position and the position of the implantation point of the target implant to be implanted next time is within the preset height difference range.

[0278] Further optionally, as Figure 15 shown, the host computer in this embodiment further includes a closing module 29;

[0279] The closing module 29 is used to close the simulation interface popped up by the popping module 26;

[0280] Correspondingly, the instruction generation module 21 is configured to generate a movement instruction carrying the minimum displacement offset and the minimum angle offset according to the minimum displacement offset and the minimum angle offset calculated by the calculation module 27;

[0281] The sending module 22 is further configured to send the movement instruction carrying the minimum displacement offset and the minimum angle offset generated by the instruction generation module 21 to the robot, for the robot to move the robotic arm according to the minimum angle offset and the minimum displacement offset to drive the guide installed at the front end of the robotic arm to move to the axial direction of the target implant to be implanted.

[0282] Further, the closing module 29 in this embodiment is configured to detect and determine that the control foot pedal is still in the activated state and automatically close the simulation interface;

[0283] Or the closing module 29 is configured to receive an externally input closing control signal and close the simulation interface according to the closing control signal.

[0284] Further optionally, as Figure 15 shown, the receiving module 20 in the host computer of this embodiment is further configured to receive a reset signal sent by the robot, and the reset signal is detected and received by the robot from an external input;

[0285] The closing module 29 is also used to close the stuck simulation interface popped up by the popping module 26 according to the reset signal when the simulation interface is stuck and cannot be closed;

[0286] The sending module 22 is also used to send the movement instructions generated by the instruction generation module 21 to the robot, such as movement instructions with the minimum displacement offset and the minimum angle offset.

[0287] Further optionally, as Figure 15 shown, the host computer of this embodiment further includes a status acquisition module 30.

[0288] The status acquisition module 30 is used to acquire status prompt information according to the signals tracked by the optical tracker;

[0289] The sending module 22 is also used to send the status prompt information acquired by the status acquisition module 30 to the robot, so that the robot can perform status prompts according to the status prompt information.

[0290] Further optionally, the status acquisition module 30 can also directly perform status prompts according to the status prompt information. For example, voice can be used for status prompts.

[0291] The host computer of the above embodiment realizes the interaction principle and technical effects between the robot and the host computer by using the above modules, which are the same as those of the Figures 9 - 13 shown embodiment. For details, reference can be made to the description of the Figure 13 shown embodiment, which will not be elaborated here.

[0292] The embodiment of the present application also provides an interaction system between a robot and a host computer. The system includes the robot as described above Figure 14 and the host computer as described above Figure 15 . The robot and the host computer are communicatively connected. In the interaction system between the robot and the host computer of this embodiment, the robot and the host computer can use the interaction method between the robot and the host computer as described above Figures 5 - 13 to realize interaction. For details, reference can be made to the description of the above related embodiments, which will not be elaborated here.

[0293] Figure 16 shows a schematic structural diagram of a computing device that can be used to implement the interaction method between the robot and the host computer according to an embodiment of the present application. The computing device can be used to implement the functions of the host computer in the above embodiment.

[0294] See Figure 16 , the computing device 1000 includes a memory 1010 and a processor 1020.

[0295] The processor 1020 can be a multi-core processor or include multiple processors. In some embodiments, the processor 1020 can include a general-purpose main processor and one or more special co-processors, such as a graphics processing unit (GPU), a digital signal processor (DSP), and so on. In some embodiments, the processor 1020 can be implemented using custom circuits, such as an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA).

[0296] The memory 1010 can include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, the ROM can store static data or instructions required by the processor 1020 or other modules of the computer. The permanent storage device can be a readable and writable storage device. The permanent storage device can be a non-volatile storage device that does not lose the stored instructions and data even when the computer is powered off. In some embodiments, the permanent storage device uses a mass storage device (such as a magnetic or optical disk, flash memory) as the permanent storage device. In some other embodiments, the permanent storage device can be a removable storage device (such as a floppy disk, optical drive). The system memory can be a readable and writable storage device or a volatile readable and writable storage device, such as dynamic random access memory. The system memory can store some or all of the instructions and data required by the processor during operation. In addition, the memory 1010 can include any combination of computer-readable storage media, including various types of semiconductor storage chips (DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and magnetic disks and / or optical disks can also be used. In some embodiments, the memory 1010 can include a removable storage device that is readable and / or writable, such as a compact disc (CD), a read-only digital versatile disc (such as DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, a super density disc, a flash memory card (such as SD card, min SD card, Micro-SD card, etc.), a magnetic floppy disk, and so on. The computer-readable storage medium does not include carrier waves and instantaneous electronic signals transmitted wirelessly or wired.

[0297] An executable code is stored on the memory 1010. When the executable code is processed by the processor 1020, it can cause the processor 1020 to execute the interaction method between the robot and the host computer described above on the host computer side.

[0298] The interaction between the robot and the host computer on the host computer side according to the present application has been described in detail with reference to the accompanying drawings above.

[0299] In addition, the method according to the present application can also be implemented as a computer program or a computer program product, which includes computer program code instructions for performing the above steps defined in the above method of the present application.

[0300] Alternatively, the present application can also be implemented as a non-transitory machine-readable storage medium (or computer-readable storage medium, or machine-readable storage medium) on which executable code (or computer program, or computer instruction code) is stored. When the executable code (or computer program, or computer instruction code) is executed by a processor of an electronic device (or computing device, server, etc.), the processor is caused to execute each step of the above method according to the present application.

[0301] Those skilled in the art will also understand that the various exemplary logical blocks, modules, circuits, and algorithm steps described in connection with the disclosure herein can be implemented as electronic hardware, computer software, or a combination of both.

[0302] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems and methods according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that, in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or by a combination of dedicated hardware and computer instructions.

[0303] The above has described the embodiments of the present application. The above description is exemplary and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations are obvious to those of ordinary skill in the art in the technical field without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles of the embodiments, the practical application, or the improvement of the technology in the market, or to enable other ordinary skilled persons in the technical field to understand the embodiments disclosed herein.

Claims

1. An interaction method between an orthopedic surgical robot and a host computer, characterized in that, the robot includes a main control system and a robotic arm, and a front-end control device is provided at the end of the front end of the robotic arm. The method includes: After surgical path planning is performed on the host computer side and the current implant is implanted, the front-end control device receives implant selection information input externally; The main control system of the robot sends the implant selection information to the host computer for the host computer to obtain the target implant information to be implanted currently according to the currently selected implant and the received implant selection information; The main control system of the robot receives a second movement instruction carrying a minimum angle offset and a minimum displacement offset sent by the host computer, where the minimum angle offset and the minimum displacement offset are the minimum displacement offset and the minimum angle offset that the host computer calculates according to the detected current pose information of the robot and the target implant information and are required to move the guide from the current position to the spatial axis corresponding to the implant to be implanted currently; The main control system of the robot controls the movement of the robotic arm according to the minimum angle offset and the minimum displacement offset to drive the guide to move to the spatial axis corresponding to the implant to be implanted currently; The robot detects and identifies an externally input control signal, where the control signal is used to control the position and / or angle offset of a guide installed at the end of the front end of the robotic arm; The robot sends the identified control signal to the host computer; The robot receives a first movement instruction sent by the host computer, where the first movement instruction is generated by the host computer according to the current pose information of the robot and the control signal; The main control system of the robot controls the movement of the robotic arm of the robot according to the first movement instruction.

2. The method according to claim 1, characterized in that, the robot detecting and identifying an externally input control signal includes: The robot detects and identifies an externally input control signal for increasing or decreasing the displacement offset of the guide, where the displacement offset of the guide is the distance between the front end of the guide and the implant point in the axial direction where the front end and the end of the guide are located.

3. The method according to claim 1, characterized in that, the robot detecting and identifying an externally input control signal includes: The robot detects and identifies an externally input control signal for increasing or decreasing the angle offset of the guide, where the angle offset of the guide is the angle by which the second plane of the guide deviates from the first plane of the guide. The first plane of the guide is the plane where the axis passing through the front end and the end of the guide and the center point of the base of the robot is located, and the second plane of the guide is the plane where the axis passing through the front end and the end of the guide and the center point of the end face of the front end of the robotic arm is located.

4. The method according to claim 1, characterized in that, Before the robot receives the second movement instruction carrying the minimum angular offset and the minimum displacement offset sent by the host computer, the method further includes: The robot detects and receives a reset signal input externally. The robot sends the reset signal to the host computer for the host computer to close the stuck simulation interface when simulating the movement of the robotic arm on the simulation interface.

5. The method according to any one of claims 1-4, characterized in that the method further includes: The robot receives the status prompt information sent by the host computer; The robot performs status prompting according to the status prompt information.

6. The method according to claim 5, characterized in that the robot performing status prompting according to the status prompt information includes: The robot performs status prompting in a visual display mode of flashing, constant lighting or color alternation according to the status prompt information; and / or The robot performs status prompting with different voice messages according to the status prompt information.

7. The method according to claim 6, characterized in that the robot performing status prompting in a visual display mode of flashing, constant lighting or color alternation according to the status prompt information includes: When the optical tracker does not detect the optical sensors on the robot side and / or the patient side, the robot performs status prompting with light of a first color according to the corresponding status prompt information; When the robotic arm of the robot is in the process of moving, the robot performs status prompting with light of a second color according to the corresponding status prompt information; When the robotic arm of the robot moves to the target position, the robot performs status prompting with light of a third color according to the corresponding status prompt information; When the robotic arm of the robot is driving the guide to retract, the robot performs status prompting with light of a fourth color according to the corresponding status prompt information.

8. The method according to claim 7, characterized in that the first color, the second color, the third color and the fourth color all perform status prompting in a flashing manner or all in a constant lighting manner; or Among the first color, the second color, the third color and the fourth color, some perform status prompting in a flashing manner and some in a constant lighting manner.

9. The method according to claim 1, characterized in that after the main control system of the robot controls the robotic arm of the robot to move according to the first movement instruction, the method further includes: After the current implant is implanted, the robot detects and identifies the implant update information input externally; The robot sends the implant update information to the host computer; The robot receives the retraction instruction and the movement instruction with a sequential relationship sent by the host computer; The main control system of the robot controls the movement of the robotic arm according to the retraction instruction, so as to drive the guide to retract a preset height in the axial direction of the implanted implant away from the implantation point and reach a specified position, and controls the guide to stay at the specified position for a preset time length; The main control system of the robot controls the movement of the robotic arm according to the movement instruction, so as to drive the guide to move from the specified position to the spatial axis corresponding to the next target implant corresponding to the implant update information, where the movement instruction is generated by the host computer according to the attitude information of the guide at the specified position and the attitude information of the next target implant corresponding to the implant update information.

10. The method according to claim 9, wherein, while the robot receives the retraction instruction and the movement instruction with a sequential relationship sent by the host computer, it also receives a height adjustment instruction, and the sequential relationship of the height adjustment instruction is between the retraction instruction and the movement instruction, and the height adjustment instruction is generated when the host computer detects and determines that the height difference between the specified position and the implantation point of the next target implant to be implanted is not within the preset height difference range; Correspondingly, after the main control system of the robot controls the movement of the robotic arm according to the retraction instruction and controls the guide to stay at the specified position for the preset time length, and before the main control system of the robot controls the movement of the robotic arm according to the movement instruction, the method further includes: The main control system of the robot adjusts the height of the specified position according to the height adjustment instruction, so that the height difference between the adjusted specified position and the implantation point of the next target implant to be implanted is within the preset height difference range.

11. The method according to claim 1, wherein, after the main control system of the robot controls the movement of the robotic arm of the robot according to the first movement instruction, the method further includes: After the current implant is implanted, the robot detects and identifies an externally input retraction signal; The robot sends the retraction signal to the host computer for the host computer to generate a retraction instruction based on the retraction signal according to the current attitude information of the robot and a preset height and return it to the robot; The main control system of the robot controls the movement of the robotic arm according to the retraction instruction, so as to drive the guide to retract the preset height in the axial direction of the implanted implant away from the implantation point and reach a specified position; The robot detects and identifies externally input implant update information; The robot sends the implant update information to the host computer; The main control system of the robot controls the movement of the robotic arm according to the movement instruction sent by the host computer, so as to drive the guide from the specified position to the spatial axis corresponding to the next target implant corresponding to the implant update information, where the movement instruction is generated by the host computer according to the attitude information of the guide at the specified position and the attitude information of the next target implant to be implanted.

12. An interaction method between a host computer and an orthopedic surgical robot, characterized in that, the method includes: After surgical path planning is performed on the host computer side and the current implant is implanted, the host computer receives the implant selection information sent by the robot, where the implant selection information is the information input externally received by the front-end control device provided at the end of the front end of the robotic arm of the robot; The host computer obtains the information of the target implant to be implanted currently according to the currently selected implant information and the received implant selection information; The host computer calculates the minimum displacement offset and the minimum angle offset required to move the guide installed at the front end of the robotic arm from the current position to the spatial axis direction corresponding to the target implant to be implanted according to the currently detected current attitude information of the robot and the information of the target implant to be implanted; The host computer simulates the movement of the robotic arm from the current position to driving the guide to the spatial axis direction corresponding to the target implant to be implanted on the simulation interface according to the minimum displacement offset and the minimum angle offset; The host computer receives the control signal sent by the robot, where the control signal is a signal detected and recognized externally by the robot and is used to control the position and / or angle offset of the guide installed at the end of the front end of the robotic arm of the robot; The host computer generates a first movement instruction according to the currently detected current attitude information of the robot and the control signal; The host computer sends the first movement instruction to the robot for the robot to control the movement of the robotic arm of the robot according to the first movement instruction.

13. The method according to claim 12, characterized in that, the control signal includes a signal for increasing or decreasing the displacement offset of the guide at the front end of the robotic arm; where the displacement offset of the guide is the distance between the front end of the guide and the implant point in the axial direction where the front end and the end of the guide are located.

14. The method according to claim 12, characterized in that, the control signal includes a signal for increasing or decreasing the angle offset of the guide at the front end of the robotic arm; where the angle offset of the guide is the angle by which the second plane of the guide deviates from the first plane of the guide. The first plane of the guide is the plane where the axis passing through the front end and the end of the guide and the center point of the base of the robot is located, and the second plane of the guide is the plane where the axis passing through the front end and the end of the guide and the center point of the end face of the front end of the robotic arm is located.

15. The method according to claim 12, wherein, the method further includes: the host computer detects whether it has received a start signal triggered by stepping on the foot pedal of the orthopedic surgical robot; if the host computer receives the start signal, a simulation interface is popped up on the display screen of the host computer.

16. The method according to claim 15, wherein, after the host computer simulates the movement of the robotic arm of the robot from the current position to the axis direction of driving the guide to the target implant on the simulation interface according to the minimum displacement offset and the minimum angle offset, the method further includes: the host computer sends a second movement instruction carrying the minimum displacement offset and the minimum angle offset to the robot, so that the robot moves the guide to the space axis direction corresponding to the target implant to be implanted according to the minimum angle offset and the minimum displacement offset; and / or, the method further includes: the host computer detects and determines that the foot pedal is still in the start state, and automatically closes the simulation interface; or the host computer receives an externally input closing control signal and closes the simulation interface according to the closing control signal.

17. The method according to claim 16, wherein, before the host computer sends a second movement instruction carrying the minimum displacement offset and the minimum angle offset to the robot, the method further includes: the host computer receives a reset signal sent by the robot, and the reset signal is detected and received by the robot from an external input; if the simulation interface freezes and cannot be closed, the host computer closes the frozen simulation interface according to the reset signal.

18. The method according to any one of claims 12-17, wherein, the method further includes: the host computer obtains status prompt information according to the signal tracked by the optical tracker; and the host computer sends the status prompt information to the robot for the robot to perform status prompting according to the status prompt information; and / or, the method further includes: the host computer performs status prompting according to the status prompt information.

19. The method according to claim 18, wherein, the status prompt information includes status prompt information of not detecting the optical sensor on the robot side and / or the patient side, status prompt information of detecting that the robotic arm of the robot is moving, status prompt information of the robotic arm of the robot moving to the target position, or status prompt information of the robotic arm of the robot driving the guide to retract.

20. The method according to claim 12, wherein, after the host computer sends the first movement instruction to the robot, the method further includes: after the current implant is implanted, the host computer receives the implant update information sent by the robot; The host computer generates a retraction instruction based on the current pose information of the robot, a preset height, and a preset time length, and generates a motion instruction based on the pose information at the specified position reached after the robot retracts according to the retraction instruction and the pose information of the next target implant corresponding to the implant update information; The host computer sends the retraction instruction and the motion instruction with a sequential relationship to the robot. The retraction instruction is used to indicate the movement of the robotic arm to drive the guide to retract a preset height in the axial direction of the implanted implant away from the implant point to reach the specified position, and control the guide to stay at the specified position for the preset time length. The motion instruction is used to control the movement of the robotic arm to drive the guide to move from the specified position to the spatial axis corresponding to the next target implant corresponding to the implant update information.

21. The method according to claim 20, wherein, before the host computer sends the retraction instruction and the motion instruction with a sequential relationship to the robot, the method further includes: The host computer also detects and determines that the height difference between the specified position and the position of the implant point of the next target implant to be implanted is within a preset height difference range; If the host computer detects and determines that the height difference between the specified position and the position of the implant point of the next target implant to be implanted is not within the preset height difference range, the method further includes: The host computer generates a height adjustment instruction according to the specified position, the position of the implant point of the next target implant to be implanted, and the preset height difference range; When the host computer sends the retraction instruction and the motion instruction with a sequential relationship to the robot, it also sends the height adjustment instruction. The sequential relationship of the height adjustment instruction is between the retraction instruction and the motion instruction. The height adjustment instruction is used to adjust the height of the specified position so that the height difference between the adjusted specified position and the position of the implant point of the next target implant to be implanted is within the preset height difference range.

22. The method according to claim 12, wherein, further includes: After the current implant is completed, the host computer receives a retraction signal sent by the robot; The host computer generates a retraction instruction based on the current pose information of the robot and a preset height according to the retraction signal; The host computer sends the retraction instruction to the robot, which is used to control the movement of the robotic arm to drive the guide to retract the preset height in the axial direction of the implanted implant away from the implant point to reach the specified position.

23. The method according to claim 22, wherein, if the host computer detects that the height difference is not within the preset height difference range, the method further includes: The host computer generates a height adjustment instruction according to the specified position, the position of the implant point of the next target implant to be implanted, and the preset height difference range; The host computer sends a height adjustment instruction to the robot, which is used to control the robotic arm to drive the guide to move so as to adjust the height of the specified position, such that the height difference between the adjusted specified position and the position of the implantation point of the next target implant to be implanted is within the preset height difference range.

24. An orthopedic surgical robot, characterized in that the robot includes a base, a main control system and a robotic arm, the main control system is arranged inside the base, the robotic arm is arranged on the base, a guide for positioning an implant nail is installed at the end of the front end of the robotic arm, and a front-end control device is further arranged at the end of the front end of the robotic arm; the front-end control device is used to detect and identify an externally input control signal, wherein the control signal is used to control the position and / or angular deviation of the guide; the main control system is used to send the control signal identified by the front-end control device to the host computer, receive a first movement instruction sent by the host computer, and control the robotic arm to move according to the first movement instruction, and the first movement instruction is generated by the host computer according to the current pose information of the robot and the control signal; wherein, the front-end control device includes an information input module, and the information input module is used to receive externally input implant selection information on the host computer side after surgical path planning and after the current implant is implanted; the main control system is further used to send the implant selection information to the host computer for the host computer to obtain the information of the current target implant to be implanted according to the currently selected implant information and the received implant selection information; the main control system is further used to receive a second movement instruction carried with a minimum angular deviation and a minimum displacement deviation sent by the host computer; the minimum angular deviation and the minimum displacement deviation are the minimum displacement deviation and the minimum angular deviation that need to be moved calculated by the host computer according to the detected current pose information of the robot and the information of the target implant to be implanted to move the guide from the current position to the spatial axis direction corresponding to the target implant to be implanted; the main control system controls the robotic arm to move according to the minimum angular deviation and the minimum displacement deviation so as to drive the guide to move to the spatial axis direction corresponding to the target implant to be implanted.

25. The robot according to claim 24, characterized in that the front-end control device includes an information input module, and the information input module is used to detect and identify an externally input control signal for increasing or decreasing the displacement deviation of the guide, wherein the displacement deviation of the guide is the distance between the front end of the guide and the implantation point in the axial direction where the front end and the end of the guide are located; the main control system is further used to control the robotic arm of the robot to move according to the first movement instruction so as to drive the guide to move away from or close to the implantation point in the axial direction.

26. The robot according to claim 24, It is characterized in that the front-end control device includes an information input module, and the information input module is used to detect and identify an externally input control signal for controlling an increase or decrease in the angular offset of the deflector, where the angular offset of the deflector is the angle by which the second plane of the deflector deviates from the first plane of the deflector. The first plane of the deflector is the plane where the axis of the front end and the end of the deflector intersects with the center point of the robot's base, and the second plane of the deflector is the plane where the axis of the front end and the end of the deflector intersects with the center point of the front-end control device; the main control system is further configured to control the movement of the robot's robotic arm according to the first movement instruction, so as to drive an increase or decrease in the angular offset of the deflector while keeping the direction and position of the deflector unchanged.

27. The robot according to claim 24, It is characterized in that further comprising: a teaching foot pedal. When the teaching foot pedal is not depressed, the robotic arm is locked. If the teaching foot pedal is depressed, the robotic arm can be triggered to move by an external force to achieve the teaching function; and / or a control foot pedal. The control foot pedal is arranged on the path where the main control system of the robot is connected to the upper computer. If the control foot pedal is depressed, the control path between the main control system and the upper computer is connected; if the control foot pedal is released, the control between the main control system and the upper computer is interrupted.

28. The robot according to claim 24, It is characterized in that the front-end control device further includes an information transmission module and a reset module, and the reset module is used to detect and receive an externally input reset signal; the information transmission module is used to send the reset signal to the main control system; the main control system is further configured to send the reset signal to the upper computer, so that when the upper computer simulates the movement of the robotic arm on the simulation interface, the stuck simulation interface can be closed.

29. The robot according to any one of claims 25-28, It is characterized in that the information input module is implemented by any one or more of a button, a multi-directional key, a two-axis rocker, a touchpad, and a touch screen.

30. The robot according to any one of claims 24-28, It is characterized in that the front-end control device further includes a status prompt module for performing status prompts according to the status prompt information sent by the upper computer; the status prompt module performs status prompts in a visual display mode of flashing, constant lighting, or color alternation according to the status prompt information; and / or performs status prompts using different voice messages according to the status prompt information.

31. The robot according to claim 30, It is characterized in that the status prompt module is used for: when the upper computer does not detect the optical sensors on the robot side and / or the patient side, performing status prompts using light of a first color and / or a first prompt sound according to the corresponding status prompt information; When the robotic arm of the robot is in the process of moving, according to the corresponding status prompt information, use the light of the second color and / or the second prompt sound for status prompt; When the robotic arm of the robot moves to the target position, according to the corresponding status prompt information, use the light of the third color and / or the third prompt sound for status prompt; When the robotic arm of the robot is driving the guide to retract, according to the corresponding status prompt information, use the light of the fourth color and / or the fourth prompt sound for status prompt.

32. The robot according to claim 31, wherein, The first color, the second color, the third color, and the fourth color all use a flashing method or a constant-on method for status prompt; Or among the first color, the second color, the third color, and the fourth color, some use a flashing method and some use a constant-on method for status prompt.

33. The robot according to claim 31 or 32, wherein, The information input module, the information transmission module, the status prompt module, and the reset module of the front-end control device are arranged on the same front-end base, and the front-end base is installed at the front end of the robotic arm of the robot; The front-end base is in the shape of a column, and the information input module and the reset module are respectively arranged on the surface of the column-shaped front-end base; When the status prompt module uses voice prompt, a speaker is used to implement it; When the status prompt module is implemented by using a light strip formed by a plurality of LED lights, it is arranged around the surface of the column in a direction parallel to the cross-section of the column-shaped front-end base.

34. The robot according to claim 25 or 26, wherein, The information input module is further used to detect and identify the implant update information input externally after the current implant is implanted; The main control system is further used to receive the implant update information through the information transmission module of the front-end control device and send it to the host computer; receive the retraction instruction and the movement instruction with a sequential relationship sent by the host computer; control the movement of the robotic arm according to the retraction instruction to drive the guide to retract a preset height in the axial direction of the implanted implant away from the implant point and reach a specified position, and control the guide to stay at the specified position for a preset time length; control the movement of the robotic arm according to the movement instruction to drive the guide to move from the specified position to the spatial axis corresponding to the next target implant corresponding to the implant update information, where the movement instruction is generated by the host computer according to the attitude information of the guide at the specified position and the attitude information of the next target implant corresponding to the implant update information.

35. The robot according to claim 24, wherein, The master control system is further configured to receive a height adjustment instruction while receiving the backward instruction and the movement instruction with sequential relationship sent by the host computer, and the sequential relationship of the height adjustment instruction is between the backward instruction and the movement instruction; the height adjustment instruction is generated when the host computer detects and determines that the height difference between the specified position and the implantation point of the next target implant to be implanted is not within the preset height difference range; according to the height adjustment instruction, the height of the specified position is adjusted so that the height difference between the adjusted specified position and the implantation point of the next target implant to be implanted is within the preset height difference range.

36. The robot according to claim 25 or 26, wherein, the information input module is further configured to detect and identify an externally input backward signal after the current implant is implanted; the master control system is further configured to receive the backward signal through the information transmission module and send it to the host computer for the host computer to generate a backward instruction according to the backward signal, the current pose information of the robot and the preset height, and return it to the robot; according to the backward instruction, control the movement of the robotic arm to drive the guide to retreat the preset height in the axial direction of the implanted implant away from the implantation point to reach a specified position; the information input module is further configured to detect and identify externally input implant update information; the master control system is further configured to receive the implant update information through the information transmission module and send it to the host computer; receive the movement instruction sent by the host computer and control the movement of the robotic arm to drive the guide to move from the specified position to the spatial axis corresponding to the next target implant corresponding to the implant update information, wherein the movement instruction is generated by the host computer according to the pose information of the guide at the specified position and the pose information of the next target implant to be implanted.

37. A host computer for orthopedic surgery, wherein, the host computer includes: a processor; and a memory storing executable code thereon, which when executed by the processor causes the processor to execute the method according to any one of claims 12-23.

38. A non-transitory machine-readable storage medium storing executable code thereon, which when executed by a processor of a computing device causes the processor to execute the method according to any one of claims 1-23.

Images