Bone grinding safety monitoring system, method, storage medium and program product

Abstract

The present application relates to a system, method, storage medium and program product for safely monitoring the amount of bone grinding. The system includes an upper computer and a lower computer electrically connected to each other, and a motor connected to the lower computer; the motor is used to drive the motor bone grinding instrument to rotate; during the process of using the bone grinding instrument to grind the bone area to be ground in the hip bone of the test object, the upper computer performs a first monitoring of the amount of bone grinding corresponding to the area to be ground based on the first bone grinding related data sent by the lower computer; the lower computer performs a second monitoring of the amount of bone grinding corresponding to the area to be ground based on the second bone grinding related data sent by the upper computer; if the amount of bone grinding monitored by at least one of the first monitoring and the second monitoring exceeds a set threshold, the lower computer controls the motor to power off. The use of this system can improve the accuracy of the results of monitoring the amount of bone grinding.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a bone grinding amount safety monitoring system, method, storage medium and program product. Background Art

[0002] The hip joint is primarily composed of the femoral head and the acetabulum, a ball-and-socket joint that includes the acetabulum. When a patient's acetabulum requires replacement, the acetabulum is typically measured and filed down to the desired size using an acetabular rasp for subsequent treatment by a doctor or technician.

[0003] In the related art, during the bone grinding process of the patient's acetabulum, the doctor or technician usually observes the bone quality of the grinding area based on his or her experience, and manually releases the motor button when the acetabulum is ground to a certain position to ensure that the acetabulum is not ground too much.

[0004] However, the above-mentioned monitoring scheme for acetabular bone grinding has the problem that the monitoring results obtained are not accurate enough. Summary of the Invention

[0005] Based on this, it is necessary to provide a bone grinding amount safety monitoring system, method, storage medium and program product that can improve the accuracy of the results of monitoring the bone grinding amount in order to address the above technical problems.

[0006] In a first aspect, the present application provides a bone grinding amount safety monitoring system, the system comprising an upper computer and a lower computer electrically connected to each other, and a motor connected to the lower computer; the motor is used to drive a motor bone grinding instrument to rotate;

[0007] During the bone grinding process of the to-be-grinded bone area in the hip bone of the subject being tested using the bone grinding instrument, the upper computer performs a first monitoring of the bone grinding amount corresponding to the to-be-grinded bone area based on the first bone grinding related data sent by the lower computer;

[0008] The lower computer performs a second monitoring on the bone grinding amount corresponding to the bone grinding area according to the second bone grinding related data sent by the upper computer;

[0009] If the bone grinding amount monitored by at least one of the first monitoring and the second monitoring exceeds a set threshold, the lower computer controls the motor to be powered off.

[0010] In one embodiment, the host computer includes a display interface.

[0011] The host computer acquires a pelvic medical image containing the bone area to be ground, obtains position information of the bone area to be ground, and performs tissue segmentation processing on the pelvic medical image to obtain position information of the hip bone;

[0012] The host computer performs image fitting processing on the hip bone and the bone area to be ground based on the position information of the bone area to be ground and the position information of the hip bone, obtains a three-dimensional simulated image of the hip bone and the bone area to be ground and displays it on the display interface.

[0013] In one embodiment, during the bone grinding process, the relative position relationship between the bone grinding area and the preset target contour area is displayed in real time on the display interface;

[0014] After the motor is powered off, the upper computer or the lower computer determines the bone grinding direction of the motor after it is powered on next time according to the relative position relationship.

[0015] In one embodiment, the host computer performs a first monitoring of the bone grinding amount corresponding to the bone grinding area according to the first bone grinding related data sent by the slave computer, including:

[0016] The upper computer determines a first bone grinding amount corresponding to the area to be ground based on the first posture of the pelvis and the second posture of the bone grinding instrument sent by the lower computer; the pelvis includes the hip bone;

[0017] The host computer determines whether there is over-grinding in the bone-grinding area according to the first bone grinding amount and the set threshold.

[0018] In one embodiment, the upper computer determines the first bone grinding amount corresponding to the area to be ground based on the first posture of the pelvis and the second posture of the bone grinding instrument sent by the lower computer, including:

[0019] The host computer performs coordinate system conversion on the first posture of the pelvis and the second posture of the bone grinding instrument to obtain the converted first posture of the pelvis and the converted second posture of the bone grinding instrument;

[0020] The host computer obtains the first posture of the hip bone of the subject to be measured and the first posture of the area to be ground according to the converted first posture of the pelvis;

[0021] The above-mentioned host computer uses a preset collision detection method to perform collision detection on the first posture of the above-mentioned hip bone, the first posture of the area to be ground, and the second posture of the converted bone grinding instrument to determine the first bone grinding amount corresponding to the above-mentioned area to be ground; the above-mentioned preset collision detection method includes at least one of a first model calculation method, a second model calculation method, and a numerical calculation method based on surface data.

[0022] In one embodiment, the lower computer controls the motor to power off, including:

[0023] If the upper computer determines that over-grinding occurs in the bone area to be ground, the upper computer sends a control instruction to the lower computer; the control instruction is used to instruct the lower computer to control the motor to power off.

[0024] In one embodiment, the lower computer performs a second monitoring of the bone grinding amount corresponding to the bone grinding area according to the second bone grinding related data sent by the upper computer, including:

[0025] The lower computer determines a second bone grinding amount corresponding to the bone grinding area according to the size information of the bone grinding instrument, the position information of the bone grinding area, and the position information of the preset target contour area sent by the upper computer;

[0026] The lower computer determines whether there is over-grinding in the bone area to be ground according to the second bone grinding amount and the set threshold.

[0027] In one embodiment, the lower computer determines the second bone grinding amount corresponding to the bone grinding area according to the size information of the bone grinding instrument, the position information of the bone grinding area, and the position information of the preset target contour area sent by the upper computer, including:

[0028] The lower computer obtains the second posture of the bone grinding instrument;

[0029] The lower computer performs coordinate system conversion on the position information of the bone grinding area to obtain the converted position information of the bone grinding area;

[0030] The above-mentioned lower computer adopts a preset collision detection method to perform collision detection on the size information of the above-mentioned bone grinding instrument, the position information of the above-mentioned converted bone grinding area, the position information of the preset target contour area and the second posture of the above-mentioned bone grinding instrument to determine the second bone grinding amount corresponding to the above-mentioned bone grinding area; the above-mentioned preset collision detection method includes at least one of the first model calculation method, the second model calculation method and the numerical calculation method based on surface data.

[0031] In one embodiment, if the lower computer determines that over-grinding occurs in the bone area to be ground, the lower computer controls the motor to be powered off and sends a message to the upper computer indicating that the motor is powered off.

[0032] In a second aspect, the present application further provides a method for safely monitoring the amount of bone grinding, which is applied to the bone grinding amount safety monitoring system of the first aspect, and the method comprises:

[0033] During the bone grinding process of the to-be-grinded bone area in the hip bone of the subject being tested using the bone grinding instrument, the upper computer performs a first monitoring of the bone grinding amount corresponding to the to-be-grinded bone area based on the first bone grinding related data sent by the lower computer;

[0034] The lower computer performs a second monitoring on the bone grinding amount corresponding to the bone grinding area according to the second bone grinding related data sent by the upper computer;

[0035] If the bone grinding amount monitored by at least one of the first monitoring and the second monitoring exceeds a set threshold, the lower computer controls the motor to be powered off.

[0036] In a third aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method in the second aspect.

[0037] In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, implements the steps of the method in the second aspect.

[0038] The above-mentioned bone grinding amount safety monitoring system, method, storage medium and program product include a host computer and a slave computer electrically connected to each other, and a motor connected to the slave computer, the motor being used to drive the motor bone grinding instrument to rotate; during the process of using the bone grinding instrument to grind the bone area to be ground in the hip bone of the test subject, the host computer performs a first monitoring of the bone grinding amount corresponding to the bone grinding area based on the first bone grinding-related data sent by the slave computer, and the slave computer performs a second monitoring of the bone grinding amount corresponding to the bone grinding area based on the second bone grinding-related data sent by the host computer. If the bone grinding amount monitored by at least one of the two monitorings exceeds a set threshold, the slave computer controls the motor to power off. In this method, since the bone grinding amount of the bone grinding area to be ground can be monitored simultaneously by the upper and lower computers, the motor can be controlled to power off when either exceeds the threshold. In this way, the two-way monitoring can effectively ensure that the monitored bone grinding amount does not exceed the threshold, that is, the accuracy of bone grinding amount monitoring can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic structural diagram of a bone grinding safety monitoring system according to an embodiment;

[0040] Figure 2 A schematic diagram of a flow chart of safety monitoring of bone grinding amount in another embodiment;

[0041] Figure 3 is a schematic flow chart showing bone grinding in another embodiment;

[0042] Figure 4 is a flowchart of the next power-on operation in another embodiment;

[0043] Figure 5 is a schematic flow chart of a first monitoring process in another embodiment;

[0044] Figure 6 is a schematic flow chart of a second monitoring process in another embodiment;

[0045] Figure 7 Schematic diagram of the flow of a method for safely monitoring bone grinding amount in another embodiment. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0047] Before introducing the specific embodiments of the present application, the present application's bone grinding safety monitoring system is first introduced. Figure 1 As shown, the system includes an upper computer 102 and a lower computer 104 electrically connected to each other, and a motor 106 connected to the lower computer, and the motor 106 is used to drive the motor bone grinding instrument to rotate.

[0048] The host computer 102 may be, but is not limited to, various personal computers, laptops, industrial computers, smartphones, and tablet computers. The slave computer 104 may be, but is not limited to, various circuit boards, chips, and processors with data processing capabilities, such as an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processing), a PLC (Programmable Logic Controller), and the like. The host computer and the slave computer may be electrically connected using a communication bus, such as RS232 or RS485 for serial communication. The motor 106 may be an asynchronous motor or a synchronous motor. A motor-assisted bone grinding instrument may also be referred to as a bone grinding instrument. For example, in the acetabulum, the bone grinding instrument may be an acetabular rasp, although other types of grinding instruments are also possible. Furthermore, the system may include a robotic arm, which may be used to hold the motor-assisted bone grinding instrument or for the user to hold the motor. The robotic arm may be connected to the slave computer, and its movements may be controlled by the slave computer.

[0049] Based on the above-mentioned bone grinding amount safety monitoring system, the following describes the bone grinding amount safety monitoring process of this application, see Figure 2 As shown, the process may include the following steps:

[0050] S202 , during the process of grinding the bone area to be ground in the hip bone of the subject using the bone grinding instrument, the upper computer performs a first monitoring on the bone grinding amount corresponding to the bone area to be ground according to the first bone grinding related data sent by the lower computer.

[0051] The bone grinding safety monitoring system includes multiple coordinate systems: the patient coordinate system, the array coordinate system, the world coordinate system, and the optical tracking system (OTS) coordinate system. The patient coordinate system is the coordinate system where the object to be measured is located, and the array coordinate system is the coordinate system where the bone grinding instrument, motor, etc. are located.

[0052] The first bone grinding-related data may include the position of the pelvis of the subject to be measured and the position of the bone grinding instrument sent in real time by the lower computer, wherein the pelvis of the subject to be measured includes the hip bone of the subject to be measured, and the hip bone of the subject to be measured includes the acetabulum and the bone area to be ground in the acetabulum. Of course, the first bone grinding-related data may also include a conversion matrix, for example, a conversion matrix from the array coordinate system to the OTS coordinate system, a conversion matrix from the OTS coordinate system to the patient coordinate system, a conversion matrix from the patient coordinate system to the world coordinate system, etc.

[0053] The upper computer can receive the first bone grinding related data sent by the lower computer in real time, and can also calculate the bone grinding amount of the area to be ground in combination with the relevant bone grinding data collected by the upper computer, that is, the bone grinding amount of the area to be ground is monitored by the upper computer, which is recorded as the first monitoring.

[0054] S204: The lower computer performs a second monitoring on the bone grinding amount corresponding to the area to be bone ground according to the second bone grinding related data sent by the upper computer.

[0055] The second bone grinding-related data includes the size information of the bone grinding instrument, the position information of the bone grinding area, and the target contour information corresponding to the bone grinding area, which are pre-planned by the host computer. Of course, the second bone grinding-related data may also include a conversion matrix, such as a conversion matrix from the patient coordinate system to the array coordinate system, a conversion matrix from the array coordinate system to the world coordinate system, etc.

[0056] Specifically, the lower computer can receive the second bone grinding related data sent by the upper computer in real time, and can also calculate the bone grinding amount of the area to be ground in combination with some bone grinding related data collected by the lower computer in real time, that is, the bone grinding amount of the area to be ground is monitored by the lower computer, which is recorded as the second monitoring.

[0057] S206: If the bone grinding amount monitored by at least one of the first monitoring and the second monitoring exceeds a set threshold, the lower computer controls the motor to power off.

[0058] In this step, it should be noted that the first monitoring performed by the upper computer and the second monitoring performed by the lower computer can be performed simultaneously, so that the bone grinding amount of the area to be ground can be monitored simultaneously.

[0059] The size of the threshold can be determined according to the radius or diameter of the target contour corresponding to the bone grinding area, and the specific size is not specifically limited here.

[0060] If the bone grinding amount exceeds the set threshold in either the first monitoring by the upper computer or the second monitoring by the lower computer, or if both monitorings show bone grinding amounts exceeding the set threshold, it can be considered that over-grinding may have occurred and the motor needs to be powered off. Since the lower computer is generally connected to the motor, it can be controlled by the lower computer to power off the motor in this case. This prevents the motor bone grinding instrument from over-grinding the bone area to be ground, causing irreparable damage.

[0061] In the above-mentioned bone grinding amount safety monitoring system, the system includes an upper computer and a lower computer electrically connected to each other, and a motor connected to the lower computer, the motor being used to drive the motor bone grinding instrument to rotate; during the process of using the bone grinding instrument to grind the bone area to be ground in the hip bone of the test subject, the upper computer performs a first monitoring of the bone grinding amount corresponding to the bone grinding area based on the first bone grinding-related data sent by the lower computer, and the lower computer performs a second monitoring of the bone grinding amount corresponding to the bone grinding area based on the second bone grinding-related data sent by the upper computer. If the bone grinding amount monitored by at least one of the two monitorings exceeds a set threshold, the lower computer controls the motor to power off. In this method, since the bone grinding amount of the bone grinding area to be ground can be monitored simultaneously by the upper and lower computers, the motor can be controlled to power off when either exceeds the threshold. In this way, the two-way monitoring can effectively ensure that the monitored bone grinding amount does not exceed the threshold, that is, the accuracy of bone grinding amount monitoring can be improved.

[0062] In the above embodiment, it is mentioned that the bone grinding amount can be safely monitored by the upper and lower computers at the same time. In order to further facilitate the observation of the bone grinding situation during the monitoring process, it is proposed that the upper computer can also include a display interface, and the bone grinding situation can be displayed on the display interface. The following is a detailed description of this process. Based on the above embodiment, see Figure 3 As shown, the above process of displaying bone grinding conditions may include the following steps:

[0063] S302: The host computer obtains a pelvic medical image containing the bone area to be ground, obtains position information of the bone area to be ground, and performs segmentation processing on the tissue in the pelvic medical image to obtain position information of the hip bone.

[0064] In this step, the subject's pelvis can be scanned and the scanned data can be reconstructed to obtain a medical image of the subject's pelvis. The medical image of the pelvis can include the bone area to be ground. The medical image of the pelvis can be a CT image, for example, a two-dimensional image, a three-dimensional image, or the like; the pelvis can include the hip bone.

[0065] The host computer can be connected to a scanning device to obtain pelvic scan data and perform image reconstruction to obtain a pelvic medical image. The host computer can then segment the pelvic medical image using image segmentation algorithms, neural network segmentation models, and other methods to segment the hip bone from the pelvic medical image and obtain hip bone position information. Other bone tissue can also be segmented and information about other bone tissue can be obtained. A pre-set delineating tool or software can then be used to delineate the bone area to be ground on the pelvic medical image to obtain its position information.

[0066] S304, the host computer performs image fitting processing on the hip bone and the bone area to be ground based on the position information of the bone area to be ground and the position information of the hip bone, obtains a three-dimensional simulated image of the hip bone and the bone area to be ground and displays it on the display interface.

[0067] In this step, the host computer can use image fitting algorithm or related image processing software to fit a three-dimensional simulation image based on the obtained position information of the bone area to be ground, the position information of the hip bone and the position information of the bone grinding instrument. The three-dimensional image may include the hip bone, the bone area to be ground and the bone grinding instrument, and may also include the position information of each of the three and the relative position relationship between the three.

[0068] Afterwards, the fitted three-dimensional image can be displayed on the display interface. Of course, the preset target contour area can also be displayed on the hip bone and the area to be ground, so that the user can view the bone grinding status in real time.

[0069] In this embodiment, by fitting a three-dimensional image of the bone grinding area and the hip bone and displaying it on the display interface, it is convenient for doctors or technicians to know the bone grinding situation in time, determine the next operation conveniently, and avoid misoperation problems.

[0070] In the above embodiment, it is mentioned that the host computer can include a display interface and can display the bone grinding status on the display interface. Then, after the motor loses power, how to combine the content displayed on the display interface to perform the operation after the next power-on? The following embodiment will illustrate the process. Figure 4 As shown, based on the above embodiment, the operation process after the next power-on may include the following steps:

[0071] S402: During the bone grinding process, the relative position relationship between the bone grinding area and the preset target contour area is displayed in real time on the display interface.

[0072] During this step, the hip bone, the area to be ground, and the bone grinding instrument are colored on the display screen, allowing the doctor or technician to distinguish different tissue structures and monitor the bone grinding progress in real time. A preset target contour can also be displayed on the display screen. This preset target contour corresponds to the pre-planned contour of the area to be ground, i.e., the contour that the area to be ground will form after the bone grinding.

[0073] The host computer can display in real time on the display interface the process of the bone grinding instrument grinding the bone area to be ground, and display the distance between each point in the bone grinding area and the preset target contour during the bone grinding process. The distance can indicate whether each point in the bone grinding area has been ground to the appropriate position, that is, it shows the relative position relationship between the bone grinding area to be ground and the preset target contour.

[0074] S404: After the motor is powered off, the upper computer or the lower computer determines the bone grinding direction of the motor after it is powered on next time based on the relative position relationship.

[0075] In this step, after the bone grinding amount at a certain point in the area to be ground exceeds a set threshold and the motor is powered off, the relative positional relationship between the area to be ground and the preset target contour displayed on the display interface can be used to determine whether each point in the area to be ground exceeds the set threshold. For example, if the bone grinding amount at another point does not exceed the set threshold, the bone grinding direction after the motor is next powered on can be the direction for grinding the other point. In short, the bone grinding direction after the motor is next powered on can be continuously determined through the relative positional relationship, completing bone grinding for all points in the area to be ground.

[0076] In this embodiment, the relative position relationship between the area to be ground and the preset target contour is displayed on the display interface to determine the direction of bone grinding after the motor is powered on next time. This allows doctors or technicians to quickly know the current and next bone grinding conditions, thereby improving the efficiency and accuracy of bone grinding in the area to be ground.

[0077] In the above embodiment, it is mentioned that the upper computer can perform a first monitoring of the amount of bone grinding in the area to be ground based on the data sent by the lower computer. The following is a detailed description of the process of the first monitoring based on the data specifically sent by the lower computer. On the basis of the above embodiment, Figure 5 As shown, the above-mentioned first monitoring process may include the following steps:

[0078] S502: The upper computer determines a first bone grinding amount corresponding to the area to be ground according to the first posture of the pelvis and the second posture of the bone grinding instrument sent by the lower computer; the pelvis includes the hip bone.

[0079] In this step, as can be seen from the first bone grinding data in S202 above, the data sent by the slave computer to the host computer includes the real-time position of the pelvis of the subject to be measured and the real-time position of the bone grinding instrument. For ease of explanation, the real-time position of the pelvis is recorded as the first position of the pelvis, and the real-time position of the bone grinding instrument is recorded as the second position of the bone grinding instrument. Of course, the slave computer can also send the host computer the conversion matrix from the array coordinate system to the OTS coordinate system, the conversion matrix from the OTS coordinate system to the patient coordinate system, the conversion matrix from the patient coordinate system to the world coordinate system, etc.

[0080] At the same time, the host computer can also obtain in real time the conversion matrix from the patient coordinate system to the array coordinate system, the pre-planned bone grinding range (i.e., the preset threshold), the size information of the bone grinding instrument, the center position of the acetabulum, and the position of the physiological feature points related to the object to be measured.

[0081] After the host computer obtains data related to calculating the bone grinding amount, the host computer can optionally calculate the bone grinding amount corresponding to the area to be ground through the following steps A1-A3:

[0082] In step A1, the host computer may perform coordinate system transformation on the first posture of the pelvis and the second posture of the bone grinding instrument to obtain the transformed first posture of the pelvis and the transformed second posture of the bone grinding instrument.

[0083] Among them, after the upper computer obtains the first posture of the pelvis and the second posture of the bone grinding instrument, the first posture and the second posture of the pelvis are the postures in the array coordinate system. The conversion matrix from the patient coordinate system to the array coordinate system obtained in real time in the upper computer can be used to convert the first posture of the pelvis and the second posture of the bone grinding instrument into the patient coordinate system; then the upper computer can convert the first posture of the pelvis and the second posture of the bone grinding instrument in the patient coordinate system into the world coordinate system, or the first posture of the pelvis and the second posture of the bone grinding instrument in the world coordinate system.

[0084] In step A2, the host computer obtains the first posture of the hip bone of the subject to be measured and the first posture of the area to be ground according to the converted first posture of the pelvis.

[0085] In this step, after obtaining the first pose of the pelvis in the world coordinate system, the host computer can segment the pelvis to obtain the hip bone and its pose, which is recorded as the first pose of the hip bone. At the same time, the pose of the bone area to be ground in the pelvis can be obtained by outlining the bone area to be ground, which is recorded as the first pose of the bone area to be ground. The first pose of the hip bone and the first pose of the bone area to be ground are both poses in the world coordinate system.

[0086] In step A3, the host computer uses a preset collision detection method to perform collision detection on the first posture of the hip bone, the first posture of the area to be ground, and the second posture of the converted bone grinding instrument to determine the first bone grinding amount corresponding to the area to be ground; the above-mentioned preset collision detection method includes at least one of a first model calculation method, a second model calculation method, and a numerical calculation method based on surface data.

[0087] Among them, the first model method can be a real-time calculation method based on the model, for example, it can be a calculation method such as AABB (Axis-Aligned Bounding Box), OBB (Oriented Bounding Box) and so on. Here, the AABB algorithm corresponds to the collision detection algorithm based on the axis-aligned bounding box, and the OBB algorithm corresponds to the collision detection algorithm based on the directed bounding box. Both algorithms are algorithms obtained by optimizing based on the bounding box. The second model calculation method is different from the first model calculation method, for example, it can be a calculation method such as SAT (Separating Axis Theorem), GJK (Gilbert-Johnson-Keerthi Distance Algorithm, an algorithm used to calculate collision detection between two convex polyhedrons and collision detection of the closest distance.

[0088] Specifically, after the upper computer obtains the first posture of the hip bone in the world coordinate system, the first posture of the area to be ground, and the second posture of the bone grinding instrument, it can combine the pre-planned bone grinding range (i.e., the preset threshold), the size information of the bone grinding instrument, the center position of the acetabulum, and the position of the physiological feature points related to the object to be measured obtained by the above-mentioned upper computer, and preferentially use the first model calculation method to perform collision detection on these relevant data to obtain the real-time bone grinding amount of the area to be ground, which is recorded as the first bone grinding amount.

[0089] S504: The host computer determines whether there is over-grinding in the bone-grinding area according to the first bone grinding amount and a set threshold.

[0090] In this step, the upper computer can calculate the first bone grinding amount corresponding to each point in the bone grinding area through the above-mentioned collision detection, and compare the first bone grinding amount of each point with the set threshold. If the first bone grinding amount of at least one point exceeds the set threshold, it is determined that the bone grinding area has over-grinded. If over-grinding occurs, the lower computer can control the motor to power off.

[0091] Optionally, the specific process of the lower computer controlling the motor power-off may include: if the upper computer determines that the bone area to be ground has over-grinding, the upper computer sends a control instruction to the lower computer; the control instruction is used to instruct the lower computer to control the motor power-off. In other words, if the upper computer detects that the bone area to be ground has over-grinding, the upper computer can send a control instruction to the lower computer via wired or wireless means to instruct the motor power-off, thereby achieving motor power-off control.

[0092] In this embodiment, the upper computer performs a first monitoring based on the specific bone grinding data sent by the lower computer, which can improve the accuracy of the upper computer's monitoring of the amount of bone grinding in the area to be ground. Furthermore, the upper computer can obtain the amount of bone grinding by performing a coordinate system conversion on the posture transmitted by the lower computer and performing collision detection on the converted relevant data, thereby further improving the accuracy of the calculated bone grinding amount.

[0093] The above embodiment also mentioned that the lower computer can perform a second monitoring of the amount of bone grinding in the area to be ground according to the data sent by the upper computer. The following is a detailed description of the process of the second monitoring based on the data specifically sent by the upper computer. On the basis of the above embodiment, Figure 6 As shown, the second monitoring process may include the following steps:

[0094] S602: The lower computer determines a second bone grinding amount corresponding to the bone grinding area according to the size information of the bone grinding instrument, the position information of the bone grinding area, and the position information of the preset target contour area sent by the upper computer.

[0095] In this step, it can be seen from the second bone grinding data in the above S204 that the data sent by the upper computer to the lower computer may include the size information of the bone grinding instrument pre-planned and simulated by the upper computer, the position information of the area to be ground, and the position information of the preset target contour area. Of course, it can also include the conversion matrix from the patient coordinate system to the array coordinate system, etc.

[0096] After the upper computer sends data to the lower computer, the lower computer may optionally calculate the amount of bone grinding based on the data, including the following steps B1-B3:

[0097] Step B1: The lower computer obtains the second posture of the bone grinding instrument.

[0098] In this step, the lower computer can obtain the posture of the bone grinding instrument and the posture of the pelvis in real time, which are recorded as the first posture of the pelvis and the second posture of the bone grinding instrument. The first posture of the pelvis and the second posture of the bone grinding instrument are both postures in the array coordinate system.

[0099] In step B2, the lower computer performs coordinate system conversion on the position information of the area to be ground bone, and obtains the converted position information of the area to be ground bone.

[0100] In this step, the position information of the above-mentioned bone grinding area and the position information of the preset target contour area are both position information in the patient coordinate system. The lower computer can use the conversion matrix from the patient coordinate system to the array coordinate system sent by the upper computer to convert these position information to obtain the position information of the bone grinding area in the array coordinate system and the position information of the preset target contour in the array coordinate system.

[0101] In step B3, the lower computer uses a preset collision detection method to perform collision detection on the size information of the above-mentioned bone grinding instrument, the converted position information of the area to be ground, the position information of the preset target contour area, and the second posture of the bone grinding instrument to determine the second bone grinding amount corresponding to the area to be ground; the above-mentioned preset collision detection method includes at least one of the first model calculation method, the second model calculation method, and the numerical calculation method based on surface data.

[0102] For explanations of the first model calculation method and the second model calculation method, please refer to the explanation in the above step A3, which will not be repeated here.

[0103] Specifically, after obtaining the position information of the bone grinding area to be ground in the array coordinate system and the position information of the preset target contour in the array coordinate system, the lower computer can combine the size information of the bone grinding instrument, the first pose of the pelvis, the second pose of the bone grinding instrument, and other relevant bone grinding data sent by the upper computer, and use the second model calculation method to perform collision detection on these relevant data to obtain the real-time bone grinding amount of the bone grinding area to be ground, which is recorded as the second bone grinding amount. At the same time, a numerical calculation method based on surface data can also be used to perform collision detection on these relevant data to obtain the real-time bone grinding amount of the bone grinding area to be ground, which is also recorded as the second bone grinding amount.

[0104] S604: The lower computer determines whether there is over-grinding in the bone-grinding area according to the second bone grinding amount and a set threshold.

[0105] In this step, the lower computer can calculate the second bone grinding amount corresponding to each point in the bone grinding area through the above-mentioned collision detection, and compare the second bone grinding amount of each point with the set threshold. If the second bone grinding amount of at least one point is greater than the set threshold, it is determined that over-grinding exists in the bone grinding area.

[0106] Of course, the lower computer uses two calculation methods to calculate the second bone grinding amount. Therefore, when comparing the second bone grinding amount with the preset threshold, there must be two comparison processes. When over-grinding occurs in any comparison process, it is determined that the lower computer has detected that over-grinding exists in the area to be ground.

[0107] Optionally, if the lower computer determines that there is over-grinding in the bone area to be ground, the lower computer can control the motor to power off and send a motor power-off message to the upper computer so that the upper computer can promptly know the current motor status and inform the doctor or technician.

[0108] In this embodiment, the lower computer performs a secondary monitoring based on the specific bone grinding data sent by the upper computer, which can improve the accuracy of the lower computer's monitoring of the amount of bone grinding in the area to be ground. Furthermore, the lower computer uses two calculation methods to calculate the amount of bone grinding, thereby further effectively ensuring the accuracy of the calculated amount of bone grinding and effectively avoiding over-grinding when grinding the area to be ground. Furthermore, the lower computer obtains the amount of bone grinding by performing coordinate system conversion on the data sent by the upper computer and performing collision detection on the converted data, which can further improve the accuracy of the calculated amount of bone grinding.

[0109] Based on the same inventive concept, the embodiment of the present application also provides a method for safely monitoring the amount of bone grinding, which is applied to the above-mentioned safety monitoring system for bone grinding, such as Figure 7 As shown, the method includes:

[0110] S702: During the process of grinding the bone area to be ground in the hip bone of the test subject using the bone grinding instrument, the upper computer performs a first monitoring on the bone grinding amount corresponding to the bone area to be ground according to the first bone grinding related data sent by the lower computer.

[0111] S704: The lower computer performs a second monitoring on the bone grinding amount corresponding to the area to be bone ground according to the second bone grinding related data sent by the upper computer.

[0112] S706: If the bone grinding amount monitored by at least one of the first monitoring and the second monitoring exceeds a set threshold, the lower computer controls the motor to power off.

[0113] The solution to the problem provided by this method is similar to the solution described in the above-mentioned bone grinding safety monitoring system. Therefore, the specific limitations of each method step in this embodiment can be found in the limitations of the bone grinding safety monitoring system in S202-S206 above, and will not be repeated here.

[0114] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0115] During the process of using a bone grinding instrument to grind the bone area to be ground in the hip bone of the test subject, the above-mentioned upper computer performs a first monitoring of the bone grinding amount corresponding to the above-mentioned bone grinding area based on the first bone grinding related data sent by the lower computer; the above-mentioned lower computer performs a second monitoring of the bone grinding amount corresponding to the above-mentioned bone grinding area based on the second bone grinding related data sent by the above-mentioned upper computer; if the bone grinding amount monitored by at least one of the above-mentioned first monitoring and the above-mentioned second monitoring exceeds the set threshold, the above-mentioned lower computer controls the above-mentioned motor to be powered off.

[0116] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0117] During the process of using a bone grinding instrument to grind the bone area to be ground in the hip bone of the test subject, the above-mentioned upper computer performs a first monitoring of the bone grinding amount corresponding to the above-mentioned bone grinding area based on the first bone grinding related data sent by the lower computer; the above-mentioned lower computer performs a second monitoring of the bone grinding amount corresponding to the above-mentioned bone grinding area based on the second bone grinding related data sent by the above-mentioned upper computer; if the bone grinding amount monitored by at least one of the above-mentioned first monitoring and the above-mentioned second monitoring exceeds the set threshold, the above-mentioned lower computer controls the above-mentioned motor to be powered off.

[0118] It should be noted that the data involved in this application (including but not limited to data used for analysis, stored data, displayed data, etc.) are all data authorized by the user or fully authorized by all parties.

[0119] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0120] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0121] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A bone grinding safety monitoring system, characterized in that: The system includes an upper computer and a lower computer electrically connected to each other, and a motor connected to the lower computer; the motor is used to drive the motor bone grinding instrument to rotate; During the process of grinding the bone to be ground in the hip bone of the object to be tested using a bone grinding instrument, the upper computer performs a first monitoring on the bone grinding amount corresponding to the bone grinding area to be ground based on the first bone grinding related data sent by the lower computer; the first monitoring includes: the upper computer performs a coordinate system conversion on the first posture of the pelvis and the second posture of the bone grinding instrument sent by the lower computer to obtain the converted first posture of the pelvis and the converted second posture of the bone grinding instrument; the upper computer obtains the first posture of the hip bone of the object to be tested and the first posture of the bone grinding area to be ground based on the converted first posture of the pelvis; the upper computer uses a preset collision detection method to perform collision detection on the first posture of the hip bone, the first posture of the bone grinding area to be ground and the second posture of the bone grinding instrument to determine the first bone grinding amount corresponding to the bone grinding area; the upper computer determines whether there is over-grinding in the bone grinding area based on the first bone grinding amount and a set threshold; The lower computer performs a second monitoring on the bone grinding amount corresponding to the area to be ground bone based on the second bone grinding related data sent by the upper computer; the second monitoring includes: the lower computer obtains the size information of the bone grinding instrument, the position information of the area to be ground bone and the position information of the preset target contour area sent by the upper computer; the lower computer obtains the second posture of the bone grinding instrument; the lower computer performs a coordinate system conversion on the position information of the area to be ground bone to obtain the converted position information of the area to be ground bone; the lower computer uses a preset collision detection method to perform collision detection on the size information of the bone grinding instrument, the converted position information of the area to be ground bone, the position information of the preset target contour area and the second posture of the bone grinding instrument to determine the second bone grinding amount corresponding to the area to be ground bone; the lower computer determines whether there is over-grinding in the area to be ground bone based on the second bone grinding amount and the set threshold; If the bone grinding amount monitored by at least one of the first monitoring and the second monitoring exceeds a set threshold, the lower computer controls the motor to power off.

2. The system according to claim 1, wherein: The host computer includes a display interface, The host computer acquires a pelvic medical image containing the bone area to be ground, obtains position information of the bone area to be ground, and performs tissue segmentation processing on the pelvic medical image to obtain position information of the hip bone; The host computer performs image fitting processing on the hip bone and the bone area to be ground based on the position information of the bone area to be ground and the position information of the hip bone, obtains a three-dimensional simulated image of the hip bone and the bone area to be ground and displays it on the display interface.

3. The system according to claim 2, characterized in that During the bone grinding process, the relative position relationship between the bone grinding area and the preset target contour area is displayed in real time on the display interface; After the motor is powered off, the upper computer or the lower computer determines the bone grinding direction of the motor after it is powered on next time according to the relative position relationship.

4. The system according to claim 1, wherein: The upper computer performs coordinate system conversion on the first posture of the pelvis and the second posture of the bone grinding instrument sent by the lower computer to obtain the converted first posture of the pelvis and the converted second posture of the bone grinding instrument, including: The host computer obtains a conversion matrix from the patient coordinate system to the array coordinate system; The host computer uses the conversion matrix to convert the first posture of the pelvis and the second posture of the bone grinding instrument into the patient coordinate system; The host computer transforms the first posture of the pelvis in the patient coordinate system and the second posture of the bone grinding instrument in the patient coordinate system into the world coordinate system to obtain the transformed first posture of the pelvis and the transformed second posture of the bone grinding instrument.

5. The system according to claim 1, wherein: The preset collision detection method includes at least one of a first model calculation method, a second model calculation method, and a numerical calculation method based on surface data.

6. The system according to claim 1, wherein: The lower computer controls the motor to power off, including: If the upper computer determines that over-grinding occurs in the bone area to be ground, the upper computer sends a control instruction to the lower computer; the control instruction is used to instruct the lower computer to control the motor to power off.

7. The system according to claim 1, wherein: If the lower computer determines that over-grinding occurs in the bone area to be ground, the lower computer controls the motor to be powered off and sends a message indicating that the motor is powered off to the upper computer.

8. The system according to claim 1, wherein: The threshold value is determined according to the radius or diameter of the target contour corresponding to the bone grinding area.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the following steps are implemented: During the process of grinding the bone to be ground in the hip bone of the object to be tested using a bone grinding instrument, the upper computer performs a first monitoring on the bone grinding amount corresponding to the bone grinding area to be ground based on the first bone grinding related data sent by the lower computer; the first monitoring includes: the upper computer performs a coordinate system conversion on the first posture of the pelvis and the second posture of the bone grinding instrument sent by the lower computer to obtain the converted first posture of the pelvis and the converted second posture of the bone grinding instrument; the upper computer obtains the first posture of the hip bone of the object to be tested and the first posture of the bone grinding area to be ground based on the converted first posture of the pelvis; the upper computer uses a preset collision detection method to perform collision detection on the first posture of the hip bone, the first posture of the bone grinding area to be ground and the second posture of the bone grinding instrument after conversion to determine the first bone grinding amount corresponding to the bone grinding area; the upper computer determines whether there is over-grinding in the bone grinding area based on the first bone grinding amount and a set threshold; The lower computer performs a second monitoring on the bone grinding amount corresponding to the area to be ground bone based on the second bone grinding related data sent by the upper computer; the second monitoring includes: the lower computer obtains the size information of the bone grinding instrument, the position information of the area to be ground bone and the position information of the preset target contour area sent by the upper computer; the lower computer obtains the second posture of the bone grinding instrument; the lower computer performs a coordinate system conversion on the position information of the area to be ground bone to obtain the converted position information of the area to be ground bone; the lower computer uses a preset collision detection method to perform collision detection on the size information of the bone grinding instrument, the converted position information of the area to be ground bone, the position information of the preset target contour area and the second posture of the bone grinding instrument to determine the second bone grinding amount corresponding to the area to be ground bone; the lower computer determines whether there is over-grinding in the area to be ground bone based on the second bone grinding amount and the set threshold; If the bone grinding amount monitored by at least one of the first monitoring and the second monitoring exceeds a set threshold, the lower computer controls the motor to power off.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the following steps are implemented: During the process of grinding the bone to be ground in the hip bone of the object to be tested using a bone grinding instrument, the upper computer performs a first monitoring on the bone grinding amount corresponding to the bone grinding area to be ground based on the first bone grinding related data sent by the lower computer; the first monitoring includes: the upper computer performs a coordinate system conversion on the first posture of the pelvis and the second posture of the bone grinding instrument sent by the lower computer to obtain the converted first posture of the pelvis and the converted second posture of the bone grinding instrument; the upper computer obtains the first posture of the hip bone of the object to be tested and the first posture of the bone grinding area to be ground based on the converted first posture of the pelvis; the upper computer uses a preset collision detection method to perform collision detection on the first posture of the hip bone, the first posture of the bone grinding area to be ground and the second posture of the bone grinding instrument after conversion to determine the first bone grinding amount corresponding to the bone grinding area; the upper computer determines whether there is over-grinding in the bone grinding area based on the first bone grinding amount and a set threshold; The lower computer performs a second monitoring on the bone grinding amount corresponding to the area to be ground bone based on the second bone grinding related data sent by the upper computer; the second monitoring includes: the lower computer obtains the size information of the bone grinding instrument, the position information of the area to be ground bone and the position information of the preset target contour area sent by the upper computer; the lower computer obtains the second posture of the bone grinding instrument; the lower computer performs a coordinate system conversion on the position information of the area to be ground bone to obtain the converted position information of the area to be ground bone; the lower computer uses a preset collision detection method to perform collision detection on the size information of the bone grinding instrument, the converted position information of the area to be ground bone, the position information of the preset target contour area and the second posture of the bone grinding instrument to determine the second bone grinding amount corresponding to the area to be ground bone; the lower computer determines whether there is over-grinding in the area to be ground bone based on the second bone grinding amount and the set threshold; If the bone grinding amount monitored by at least one of the first monitoring and the second monitoring exceeds a set threshold, the lower computer controls the motor to power off.

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