Filing depth control method, device and hip replacement robot

Abstract

The embodiment of the present invention discloses a method and device for controlling the grinding depth, and a hip replacement robot, including: obtaining a real-time handheld speed matrix of a handheld device of a hip replacement robot in a handheld coordinate system; determining a virtual motion range matrix of the grinding device of the hip replacement robot in the tool coordinate system using the real-time handheld speed matrix; updating the virtual displacement of the virtual motion range matrix in the grinding depth direction according to a comparison result between the virtual displacement of the virtual motion range matrix in the grinding depth direction and a preset depth value; and controlling the grinding device to grind within a range corresponding to the updated virtual motion range matrix according to the updated virtual motion range matrix. The present application can effectively avoid penetrating the bottom of the acetabulum during grinding while ensuring grinding accuracy.

Description

Technical Field

[0001] The invention relates to the field of medical machinery, and in particular to a grinding depth control method and device and a hip replacement robot. Background Art

[0002] The aging of society has led to an increasing number of osteoarthritis patients. Severe osteoarthritis patients need to use prostheses to replace worn hip joints. Acetabular grinding is an important part of total hip replacement surgery, which is directly related to the matching of the acetabular cup and the stability of the prosthesis, and then affects the success or failure of joint replacement. The current acetabular grinder usually grinds the acetabulum by adding a grinding head to a hand drill. However, since the hand drill is manually operated for grinding, the control of the hand drill depends on experience, which is prone to mistakes during grinding and causes medical accidents. Summary of the invention

[0003] In view of the above problems, the present invention provides a grinding depth control method, device and hip replacement robot.

[0004] The present application proposes a grinding depth control method, the method comprising:

[0005] Obtaining a real-time handheld velocity matrix of a handheld device of a hip replacement robot in a handheld coordinate system;

[0006] Determine a virtual motion range matrix of a grinding device of the hip replacement robot in the tool coordinate system using the real-time handheld velocity matrix;

[0007] updating the virtual displacement of the virtual motion range matrix in the grinding depth direction according to a comparison result of the virtual displacement of the virtual motion range matrix in the grinding depth direction and a preset depth value;

[0008] According to the updated virtual motion range matrix, the grinding device is controlled to grind within a range corresponding to the updated virtual motion range matrix.

[0009] The method for controlling the grinding depth described in the present application, wherein the virtual displacement of the virtual motion range matrix in the grinding depth direction is updated according to the comparison result between the virtual displacement of the virtual motion range matrix in the grinding depth direction and the preset depth value, comprises:

[0010] Determining whether the virtual displacement of the virtual motion range matrix in the grinding depth direction is to deepen the grinding depth;

[0011] If the grinding depth is increased, determining whether the virtual displacement is greater than or equal to a preset displacement threshold;

[0012] If it is greater than or equal to a preset displacement threshold, the virtual displacement is set to zero to update the virtual motion range matrix;

[0013] If the displacement is less than the preset threshold or the grinding depth is not increased, the virtual motion range matrix is ​​kept unchanged.

[0014] The grinding depth control method described in the present application, wherein the virtual motion range matrix of the grinding device of the hip replacement robot in the tool coordinate system is determined by using the real-time handheld velocity matrix, comprises:

[0015] When the grinding device at the end of the robot arm touches the human skeleton, the transformation matrix from the handheld coordinate system to the tool coordinate system is determined in real time;

[0016] A virtual motion range matrix of the grinding device in the tool coordinate system is determined according to the real-time handheld speed matrix, the transformation matrix and a predetermined speed adjustment coefficient.

[0017] The grinding depth control method described in this application uses the following formula to determine the transformation matrix:

[0018] T BasicToTool =T Basic -1 ·T Tool

[0019] T BasicToTool represents the transformation matrix, T Basic -1 Indicates T Basic The inverse matrix, T Basic and T Tool They respectively represent a hand-held related parameter matrix acquired by the sensor in the hand-held coordinate system and a tool related parameter matrix acquired by the sensor in the tool coordinate system at the same time.

[0020] The grinding depth control method described in this application uses the following formula to determine the virtual motion range matrix:

[0021] T VirtualTool =D length ·T BasicToTool

[0022] T VirtualTool represents the virtual motion range matrix, T BasicToTool Denotes the transformation matrix, D length represents the handheld motion range matrix of the handheld device in the handheld coordinate system, D length = k*V, k represents the speed adjustment coefficient, V represents the real-time handheld speed matrix, V = (V x ,V y ,V z ,V rx ,V ry ,V rz), V x represents the first forward speed of the handheld device on the x-axis of the handheld coordinate system, V y represents the second forward speed of the handheld device on the y-axis of the handheld coordinate system, V z represents the third forward speed of the handheld device on the z-axis of the handheld coordinate system, V rx represents the first rotation speed of the handheld device on the x-axis of the handheld coordinate system, V ry represents the second rotation speed of the handheld device on the y-axis of the handheld coordinate system, V rz represents a third rotation speed of the handheld device on the z-axis of the handheld coordinate system.

[0023] The method for controlling the grinding depth described in the present application, wherein the grinding device is controlled to grind within a range corresponding to the updated virtual motion range matrix according to the updated virtual motion range matrix, comprises:

[0024] The torque matrix for controlling the grinding device is determined using the following formula:

[0025]

[0026] D d represents the preset damping matrix, K d represents the preset spring matrix, represents the real-time angular velocity of the grinding device, represents the updated virtual motion range matrix, τ ext represents the moment matrix.

[0027] The grinding depth control method described in the present application, the acquisition of the real-time handheld velocity matrix of the handheld device of the hip replacement robot in the handheld coordinate system, comprises:

[0028] The velocity sensor is used to obtain the initial handheld velocity matrix of the handheld device of the hip replacement robot in the handheld coordinate system;

[0029] The initial hand-held velocity matrix is ​​subjected to low-pass filtering to obtain the real-time hand-held velocity matrix.

[0030] The present application proposes a grinding depth control device, the device comprising:

[0031] An acquisition module, used for acquiring a real-time handheld velocity matrix of a handheld device of a hip replacement robot in a handheld coordinate system;

[0032] A virtual module, for determining a virtual motion range matrix of a grinding device of the hip replacement robot in the tool coordinate system using the real-time handheld velocity matrix;

[0033] An updating module, configured to update the virtual displacement of the virtual motion range matrix in the grinding depth direction according to a comparison result between the virtual displacement of the virtual motion range matrix in the grinding depth direction and a preset depth value;

[0034] The control module is used to control the grinding device to grind within the range corresponding to the updated virtual motion range matrix according to the updated virtual motion range matrix.

[0035] The present application provides a hip replacement robot, comprising a memory, a processor, a handheld device and a grinding device, wherein the memory stores a computer program, and when the computer program runs on the processor, the grinding depth control method described in the present application is executed.

[0036] The present application provides a readable storage medium storing a computer program. When the computer program is run on a processor, the grinding depth control method described in the present application is executed.

[0037] The technical solution of the present application pre-estimates the virtual motion range of the grinding device according to the real-time handheld speed matrix of the handheld device. When the virtual motion range does not meet the preset conditions, the virtual motion range is updated, and then the force of the grinding device is controlled by using the updated virtual motion range, so that the grinding device grinds within the range corresponding to the updated virtual motion range matrix. Under the premise of ensuring the grinding accuracy, it can effectively avoid the penetration of the bottom of the acetabulum during grinding. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. In each of the drawings, similar components are numbered similarly.

[0039] Figure 1 A schematic flow chart of a grinding depth control method proposed in an embodiment of the present application is shown;

[0040] Figure 2 A schematic diagram of a signal without low-pass filtering is shown in an embodiment of the present application;

[0041] Figure 3 A schematic diagram of a signal processed by low-pass filtering proposed in an embodiment of the present application is shown;

[0042] Figure 4 A flowchart of a virtual motion range matrix updating method proposed in an embodiment of the present application is shown;

[0043] Figure 5A schematic diagram of the structure of a grinding depth control device proposed in an embodiment of the present application is shown;

[0044] Figure 6 A schematic diagram of a hip replacement robot proposed in an embodiment of the present application is shown.

[0045] Description of main component symbols:

[0046] 10-grinding depth control device; 11-acquisition module; 12-virtual module; 13-update module; 14-control module; 110-handheld device; 120-grinding device. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0048] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0049] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0050] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0051] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present invention belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present invention.

[0052] The grinding depth control method disclosed in the present application can be used with the assistance of a hip replacement robot in hip replacement surgery. The doctor holds a handheld device installed at the end of the mechanical arm of the hip replacement robot and completes the grinding through an electric device and mechanical arm positioning technology. The present application can solve the problem of controlling the trajectory movement of the grinding mechanical arm and the contact force at the end. It can more accurately control the contact force at the end of the mechanical arm, control the grinding depth, improve real-time performance, meet the precision requirements of grinding, and avoid penetrating the bottom of the acetabulum during grinding.

[0053] Example 1

[0054] In one embodiment of the present application, a grinding depth control method is provided, such as Figure 1 As shown, the grinding depth control method includes the following steps:

[0055] S100: Acquire a real-time handheld velocity matrix of a handheld device of a hip replacement robot in a handheld coordinate system.

[0056] The speed sensor can be used to obtain the initial handheld speed matrix of the handheld device of the hip replacement robot in the handheld coordinate system; the initial handheld speed matrix is ​​low-pass filtered to obtain the real-time handheld speed matrix.

[0057] Exemplarily, the initial hand-held velocity matrix may be low-pass filtered using the following formula:

[0058] Y(n)=αX(n)+(1-α)Y(n-1)

[0059] Among them, α represents a preset filter coefficient, which can be determined in advance through experiments, X(n) represents the nth sampling value, Y(n-1) represents the output value after the n-1th low-pass filter, and Y(n) represents the output value after the nth low-pass filter.

[0060] Exemplary, Figure 2 The schematic diagram of the signal without low-pass filtering is shown in FIG. Figure 3 , which shows a schematic diagram of a signal processed by low-pass filtering, wherein the cycle period from 0 to 600 on the horizontal axis is the manual dragging of the handheld device, the cycle period from 600 to 1100 on the horizontal axis is the grinding device touching soft human tissue, and the cycle period after 1100 on the horizontal axis is the grinding device touching human bones. Figure 2 and Figure 3 It can be understood that the peak value of the signal processed by low-pass filtering becomes smaller. Using low-pass filtering to process the initial hand-held speed matrix obtained by the sensor can effectively improve the grinding accuracy and avoid the interference of abnormal values.

[0061] S200: Determine a virtual motion range matrix of a grinding device of the hip replacement robot in a tool coordinate system using the real-time handheld velocity matrix.

[0062] When the grinding device at the end of the robotic arm touches the human skeleton, the transformation matrix from the handheld coordinate system to the tool coordinate system can be determined in real time; and then the virtual motion range matrix of the grinding device in the tool coordinate system can be determined according to the real-time handheld speed matrix, the transformation matrix and the predetermined speed adjustment coefficient.

[0063] Exemplarily, the transformation matrix may be determined using the following formula:

[0064] T BasicToTool =T Basic -1 ·T Tool

[0065] T BasicToTool represents the transformation matrix, T Basic -1 Indicates T Basic The inverse matrix, T Basic and T Tool They respectively represent a hand-held related parameter matrix acquired by the sensor in the hand-held coordinate system and a tool related parameter matrix acquired by the sensor in the tool coordinate system at the same time.

[0066] It can be understood that the sensor on the handheld coordinate system and the sensor on the tool coordinate system can be a six-dimensional velocity sensor or a six-dimensional force sensor. When the sensor on the handheld coordinate system and the sensor on the tool coordinate system are six-dimensional velocity sensors, the handheld-related parameter matrix and the tool-related parameter matrix can be expressed by the speed obtained by the six-dimensional velocity sensor; when the sensor on the handheld coordinate system and the sensor on the tool coordinate system are six-dimensional force sensors, the handheld-related parameter matrix and the tool-related parameter matrix can be expressed by the force and torque obtained by the six-dimensional force sensor.

[0067] Furthermore, when determining the transformation matrix T BasicToTool After that, the virtual motion range matrix can be determined using the following formula:

[0068] T VirtualTool =D length ·T BasicToTool

[0069] T VirtualTool represents the virtual motion range matrix, T BasicToTool Denotes the transformation matrix, D length represents the handheld motion range matrix of the handheld device in the handheld coordinate system, D length= k*V, k represents the speed adjustment coefficient, V represents the real-time handheld speed matrix, V = (V x ,V y ,V z ,V rx ,V ry ,V rz ), V x represents the first forward speed of the handheld device on the x-axis of the handheld coordinate system, V y represents the second forward speed of the handheld device on the y-axis of the handheld coordinate system, V z represents the third forward speed of the handheld device on the z-axis of the handheld coordinate system, V rx represents the first rotation speed of the handheld device on the x-axis of the handheld coordinate system, V ry represents the second rotation speed of the handheld device on the y-axis of the handheld coordinate system, V rz represents a third rotation speed of the handheld device on the z-axis of the handheld coordinate system.

[0070] S300: updating the virtual displacement of the virtual motion range matrix in the grinding depth direction according to a comparison result between the virtual displacement of the virtual motion range matrix in the grinding depth direction and a preset depth value.

[0071] It should be understood that the virtual motion range matrix includes the first displacement of the grinding device on the x-axis of the tool coordinate system, the second displacement of the grinding device on the y-axis of the tool coordinate system, the third displacement of the grinding device on the z-axis of the tool coordinate system, the first rotational displacement of the grinding device on the x-axis of the tool coordinate system, the second rotational displacement of the grinding device on the y-axis of the tool coordinate system, and the third rotational displacement of the grinding device on the z-axis of the tool coordinate system. If the z-axis of the tool coordinate system is taken as the grinding depth direction, the third displacement of the grinding device on the z-axis of the tool coordinate system is the virtual displacement in the grinding depth direction, and the third displacement can be updated according to the comparison result between the third displacement and the preset depth value, and then the virtual displacement of the virtual motion range matrix in the grinding depth direction is updated.

[0072] S400: According to the updated virtual motion range matrix, the grinding device is controlled to grind within a range corresponding to the updated virtual motion range matrix.

[0073] The force of the grinding device is controlled according to the updated virtual motion range matrix so that the grinding device grinds within the range corresponding to the updated virtual motion range matrix, which can ensure that the grinding depth is maintained within a preset range and avoid penetrating the bottom of the acetabulum during grinding while meeting the grinding accuracy requirements.

[0074] This embodiment uses the acquired real-time handheld speed matrix of the handheld device of the hip replacement robot in the handheld coordinate system to determine the virtual motion range matrix of the grinding device of the hip replacement robot in the tool coordinate system; updates the virtual displacement of the virtual motion range matrix in the grinding depth direction according to the comparison result of the virtual displacement of the virtual motion range matrix in the grinding depth direction and the preset depth value; and controls the grinding device to grind within the range corresponding to the updated virtual motion range matrix according to the updated virtual motion range matrix. The technical solution of this embodiment pre-estimates the virtual motion range of the grinding device according to the real-time handheld speed matrix of the handheld device, updates the virtual motion range when the virtual motion range does not meet the preset conditions, and then uses the updated virtual motion range to control the force of the grinding device, so that the grinding device grinds within the range corresponding to the updated virtual motion range matrix, which can effectively avoid penetrating the bottom of the acetabulum during grinding while ensuring the grinding accuracy.

[0075] Example 2

[0076] An embodiment of the present application, see Figure 4 , showing that updating the virtual motion range matrix includes the following steps:

[0077] S310: Determine whether the virtual displacement of the virtual motion range matrix in the grinding depth direction is to increase the grinding depth.

[0078] If the grinding depth is to be increased, step S320 is executed; if the grinding depth is not to be increased, step S340 is executed.

[0079] S320: Determine whether the virtual displacement is greater than or equal to a preset displacement threshold.

[0080] If it is greater than or equal to the preset displacement threshold, step S330 is executed; if it is less than the preset displacement threshold, step S340 is executed.

[0081] S330: Setting the virtual displacement to zero to update the virtual motion range matrix.

[0082] S340: Keep the virtual motion range matrix unchanged.

[0083] It can be understood that if the z-axis of the tool coordinate system is used as the grinding depth direction, the third displacement of the grinding device on the z-axis of the tool coordinate system is a virtual displacement in the grinding depth direction, corresponding to the value on the z-axis in the virtual motion range matrix. If the value on the z-axis in the virtual motion range matrix is ​​greater than 0, it means that the handheld device has the force to deepen the grinding depth. At this time, it is necessary to determine whether the value on the z-axis in the virtual motion range matrix is ​​less than the preset displacement threshold, that is, to determine whether the virtual displacement on the z-axis in the virtual motion range matrix is ​​within the limit range. If it exceeds the limit range, it is necessary to set the virtual displacement on the z-axis in the virtual motion range matrix to zero to prevent the excessive force on the handheld device for deepening the grinding depth from penetrating the bottom of the acetabulum during acetabulum grinding. If the value on the z-axis in the virtual motion range matrix is ​​less than 0, it means that the handheld device has the force to withdraw, and the grinding device will be away from the bone being ground.

[0084] Example 3

[0085] Further, according to the updated virtual motion range matrix, the grinding device is controlled to grind within the range corresponding to the updated virtual motion range matrix, including:

[0086] The torque matrix for controlling the grinding device can be determined using the following formula:

[0087]

[0088] Among them, D d represents the preset damping matrix, K d represents the preset spring matrix, represents the real-time angular velocity of the grinding device, represents the updated virtual motion range matrix, τ ext represents the moment matrix.

[0089] Exemplary formula for determining the torque matrix for controlling the grinding device is: It can be determined through the following derivation process:

[0090] First, according to the Newton-Euler recursion method, the dynamic equation of the robot arm can be established:

[0091]

[0092] Wherein, M is the inertia matrix of the system itself, C is the Coriolis force effect matrix, g is the gravity effect matrix, τ is the torque matrix used to control the grinding device, q is the joint angle, represents the real-time angular velocity of the grinding device, It represents the real-time angular acceleration of the grinding device.

[0093] Furthermore, according to the second-order characteristic formula of spring-damper-mass composition:

[0094]

[0095] in, M d Denotes the quality of the designed inertial matrix control system, D d represents the designed damping matrix system, K d Designed spring matrix system, τ ext represents the moment matrix, represents the acceleration control error, represents the speed control error, represents the updated virtual motion range matrix, Indicates the set value of the joint angular acceleration, Indicates the set value of the joint angular velocity, q d Indicates the setting value of the joint angle, represents the actual measured value of the joint angular acceleration, represents the actual measured value of the joint angular velocity, and q represents the actual measured value of the joint angle.

[0096] Furthermore, the second-order characteristic formula of the spring-damper-mass composition is ext Substituting into the kinematics formula of the hip replacement robot, we get the ideal impedance control model formula:

[0097]

[0098] Where I represents the identity matrix, which can be simplified to Ignore M d , M(q), and then we can get

[0099] Will Substitute into the dynamic equation of the robotic arm: and in Under the premise of Further, using The torque matrix τ used to control the grinding device can be determined ext .

[0100] For example, by adjusting D d , K d , the updated virtual motion range matrix obtained by the input controller and the real-time angular velocity of the grinding device The corresponding moment matrix τ can be obtained ext . Then, using the moment matrix τ extThe grinding device is controlled to perform grinding within a range corresponding to the updated virtual motion range matrix.

[0101] Example 4

[0102] An embodiment of the present application, see Figure 5 , shows a grinding depth control device 10 including: an acquisition module 11, a virtual module 12, an update module 13 and a control module 14.

[0103] An acquisition module 11 is used to acquire a real-time handheld velocity matrix of a handheld device of a hip replacement robot in a handheld coordinate system; a virtual module 12 is used to determine a virtual motion range matrix of a grinding device of the hip replacement robot in a tool coordinate system using the real-time handheld velocity matrix; an update module 13 is used to update the virtual displacement of the virtual motion range matrix in the grinding depth direction according to a comparison result between the virtual displacement of the virtual motion range matrix in the grinding depth direction and a preset depth value; and a control module 14 is used to control the grinding device to grind within a range corresponding to the updated virtual motion range matrix according to the updated virtual motion range matrix.

[0104] Further, the updating of the virtual displacement of the virtual motion range matrix in the grinding depth direction according to the comparison result between the virtual displacement of the virtual motion range matrix in the grinding depth direction and the preset depth value comprises:

[0105] It is determined whether the virtual displacement of the virtual motion range matrix in the grinding depth direction is to deepen the grinding depth; if it is to deepen the grinding depth, it is determined whether the virtual displacement is greater than or equal to a preset displacement threshold; if it is greater than or equal to the preset displacement threshold, the virtual displacement is set to zero to update the virtual motion range matrix; if it is less than the preset displacement threshold, the virtual motion range matrix is ​​kept unchanged; if it is not to deepen the grinding depth, the virtual motion range matrix is ​​kept unchanged.

[0106] Furthermore, the method of using the real-time handheld velocity matrix to determine a virtual motion range matrix of the grinding device of the hip replacement robot in the tool coordinate system includes:

[0107] When the grinding device at the end of the robotic arm touches the human skeleton, the transformation matrix from the handheld coordinate system to the tool coordinate system is determined in real time; the virtual motion range matrix of the grinding device in the tool coordinate system is determined according to the real-time handheld speed matrix, the transformation matrix and the predetermined speed adjustment coefficient.

[0108] Furthermore, the transformation matrix is ​​determined using the following formula:

[0109] T BasicToTool =TBasic -1 ·T Tool

[0110] T BasicToTool represents the transformation matrix, T Basic -1 Indicates T Basic The inverse matrix, T Basic and T Tool They respectively represent a hand-held related parameter matrix acquired by the sensor in the hand-held coordinate system and a tool related parameter matrix acquired by the sensor in the tool coordinate system at the same time.

[0111] Furthermore, the virtual motion range matrix is ​​determined using the following formula:

[0112] T VirtualTool =D length ·T BasicToTool

[0113] T VirtualTool represents the virtual motion range matrix, T BasicToTool Denotes the transformation matrix, D length represents the handheld motion range matrix of the handheld device in the handheld coordinate system, D length = k*V, k represents the speed adjustment coefficient, V represents the real-time handheld speed matrix, V = (V x ,V y ,V z ,V rx ,V ry ,V rz ), V x represents the first forward speed of the handheld device on the x-axis of the handheld coordinate system, V y represents the second forward speed of the handheld device on the y-axis of the handheld coordinate system, V z represents the third forward speed of the handheld device on the z-axis of the handheld coordinate system, V rx represents the first rotation speed of the handheld device on the x-axis of the handheld coordinate system, V ry represents the second rotation speed of the handheld device on the y-axis of the handheld coordinate system, V rz represents a third rotation speed of the handheld device on the z-axis of the handheld coordinate system.

[0114] Further, the controlling the grinding device to grind within a range corresponding to the updated virtual motion range matrix according to the updated virtual motion range matrix includes:

[0115] The torque matrix for controlling the grinding device is determined using the following formula:

[0116]

[0117] D d represents the preset damping matrix, K d represents the preset spring matrix, represents the real-time angular velocity of the grinding device, represents the updated virtual motion range matrix, τ ext represents the moment matrix.

[0118] Furthermore, the step of obtaining a real-time handheld velocity matrix of a handheld device of a hip replacement robot in a handheld coordinate system includes:

[0119] The speed sensor is used to obtain the initial hand-held speed matrix of the hand-held device of the hip replacement robot in the hand-held coordinate system; the initial hand-held speed matrix is ​​low-pass filtered to obtain the real-time hand-held speed matrix.

[0120] The grinding depth control device 10 disclosed in this embodiment is used to execute the grinding depth control method described in the above embodiment through the coordinated use of the acquisition module 11, the virtual module 12, the update module 13 and the control module 14. The implementation scheme and beneficial effects involved in the above embodiment are also applicable to this embodiment and will not be repeated here.

[0121] The present application provides a hip replacement robot, comprising a memory, a processor, a handheld device and a grinding device, wherein the memory stores a computer program, and when the computer program runs on the processor, the grinding depth control method described in the present application is executed.

[0122] For example, see Figure 6 The handheld device 110 and the grinding device 120 of the hip replacement robot are as follows: Figure 6 As shown, the grinding device 120 includes a grinding rod and a grinding head. During grinding, the grinding rod can rotate and extend, thereby driving the grinding head to rotate and extend to grind the bone.

[0123] The present application provides a readable storage medium storing a computer program. When the computer program is run on a processor, the grinding depth control method described in the present application is executed.

[0124] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow chart, and the combination of boxes in the structure diagram and / or the flow chart, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0125] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0126] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0127] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A grinding depth control method, characterized in that: The method comprises: Obtaining a real-time handheld velocity matrix of a handheld device of a hip replacement robot in a handheld coordinate system; The real-time handheld velocity matrix is ​​used to determine the virtual motion range matrix of the grinding device of the hip replacement robot in the tool coordinate system, which includes: When the grinding device at the end of the robot arm touches the human skeleton, the transformation matrix from the handheld coordinate system to the tool coordinate system is determined in real time; the virtual motion range matrix of the grinding device in the tool coordinate system is determined according to the real-time handheld speed matrix, the transformation matrix and a predetermined speed adjustment coefficient; updating the virtual displacement of the virtual motion range matrix in the grinding depth direction according to a comparison result of the virtual displacement of the virtual motion range matrix in the grinding depth direction and a preset depth value; According to the updated virtual motion range matrix, the grinding device is controlled to grind within the range corresponding to the updated virtual motion range matrix; The transformation matrix is ​​determined using the following formula: T BasicToTool =T Basic -1 ·T Tool T BasicToTool represents the transformation matrix, T Basic -1 Indicates T Basic The inverse matrix, T Basic and T Tool They respectively represent a handheld-related parameter matrix acquired by the sensor in the handheld coordinate system and a tool-related parameter matrix acquired by the sensor in the tool coordinate system at the same time; The virtual range of motion matrix is ​​determined using the following formula: T VirtualTool =D length ·T BasicToTool T VirtualTool represents the virtual motion range matrix, T BasicToTool Denotes the transformation matrix, D length represents the handheld motion range matrix of the handheld device in the handheld coordinate system, D length = k*V, k represents the speed adjustment coefficient, V represents the real-time hand-held speed matrix; the real-time hand-held speed matrix V = (V x ,V y ,V z ,V rx ,V ry ,V rz ), V x represents the first forward speed of the handheld device on the x-axis of the handheld coordinate system, V y represents the second forward speed of the handheld device on the y-axis of the handheld coordinate system, V z represents the third forward speed of the handheld device on the z-axis of the handheld coordinate system, V rx represents the first rotation speed of the handheld device on the x-axis of the handheld coordinate system, V ry represents the second rotation speed of the handheld device on the y-axis of the handheld coordinate system, V rz represents a third rotation speed of the handheld device on the z-axis of the handheld coordinate system.

2. The grinding depth control method according to claim 1, characterized in that: The updating of the virtual displacement of the virtual motion range matrix in the grinding depth direction according to the comparison result of the virtual displacement of the virtual motion range matrix in the grinding depth direction and the preset depth value comprises: Determining whether the virtual displacement of the virtual motion range matrix in the grinding depth direction is to deepen the grinding depth; If the grinding depth is increased, determining whether the virtual displacement is greater than or equal to a preset displacement threshold; If it is greater than or equal to a preset displacement threshold, the virtual displacement is set to zero to update the virtual motion range matrix; If the displacement is less than the preset threshold or the grinding depth is not increased, the virtual motion range matrix is ​​kept unchanged.

3. The grinding depth control method according to any one of claims 1 to 2, characterized in that: The step of controlling the grinding device to grind within a range corresponding to the updated virtual motion range matrix according to the updated virtual motion range matrix comprises: The torque matrix for controlling the grinding device is determined using the following formula: D d represents the preset damping matrix, K d represents the preset spring matrix, represents the real-time angular velocity of the grinding device, represents the updated virtual motion range matrix, τ ext represents the moment matrix.

4. The grinding depth control method according to claim 1, characterized in that: The method of obtaining a real-time handheld velocity matrix of a handheld device of a hip replacement robot in a handheld coordinate system includes: The velocity sensor is used to obtain the initial handheld velocity matrix of the handheld device of the hip replacement robot in the handheld coordinate system; The initial hand-held velocity matrix is ​​subjected to low-pass filtering to obtain the real-time hand-held velocity matrix.

5. A grinding depth control device, characterized in that: The device comprises: An acquisition module, used for acquiring a real-time handheld velocity matrix of a handheld device of a hip replacement robot in a handheld coordinate system; A virtual module, for determining a virtual motion range matrix of a grinding device of the hip replacement robot in a tool coordinate system using the real-time handheld velocity matrix, comprising: When the grinding device at the end of the robot arm touches the human skeleton, the transformation matrix from the handheld coordinate system to the tool coordinate system is determined in real time; the virtual motion range matrix of the grinding device in the tool coordinate system is determined according to the real-time handheld speed matrix, the transformation matrix and a predetermined speed adjustment coefficient; An updating module, configured to update the virtual displacement of the virtual motion range matrix in the grinding depth direction according to a comparison result between the virtual displacement of the virtual motion range matrix in the grinding depth direction and a preset depth value; A control module, configured to control the grinding device to grind within a range corresponding to the updated virtual motion range matrix according to the updated virtual motion range matrix; The transformation matrix is ​​determined using the following formula: T BasicToTool =T Basic -1 ·T Tool T BasicToTool represents the transformation matrix, T Basic -1 Indicates T Basic The inverse matrix, T Basic and T Tool They respectively represent a handheld-related parameter matrix acquired by the sensor in the handheld coordinate system and a tool-related parameter matrix acquired by the sensor in the tool coordinate system at the same time; The virtual range of motion matrix is ​​determined using the following formula: T VirtualTool =D length ·T BasicToTool T VirtualTool represents the virtual motion range matrix, T BasicToTool Denotes the transformation matrix, D length represents the handheld motion range matrix of the handheld device in the handheld coordinate system, D length = k*V, k represents the speed adjustment coefficient, V represents the real-time hand-held speed matrix, the real-time hand-held speed matrix V = (V x ,V y ,V z ,V rx ,V ry ,V rz ), V x represents the first forward speed of the handheld device on the x-axis of the handheld coordinate system, V y represents the second forward speed of the handheld device on the y-axis of the handheld coordinate system, V z represents the third forward speed of the handheld device on the z-axis of the handheld coordinate system, V rx represents the first rotation speed of the handheld device on the x-axis of the handheld coordinate system, V ry represents the second rotation speed of the handheld device on the y-axis of the handheld coordinate system, V rz represents a third rotation speed of the handheld device on the z-axis of the handheld coordinate system.

6. A hip replacement robot, characterized in that: The invention comprises a memory, a processor, a handheld device and a grinding device, wherein the memory stores a computer program, and when the computer program is run on the processor, the grinding depth control method according to any one of claims 1 to 4 is executed.

7. A readable storage medium, characterized in that: The computer program is stored therein, and when the computer program is run on a processor, the grinding depth control method according to any one of claims 1 to 4 is executed.

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