Medical device control method, medical device control system, and surgical system

Abstract

The present invention relates to a medical device control method, a medical device control system, and a surgical system. Medical device control includes: obtaining positional information of the medical device; calculating the relative positional relationship between the medical device's positional information and a pre-marked virtual area; obtaining force data applied to a robotic arm controlling the medical device; and generating target control information for controlling the robotic arm based on the relative positional relationship and the force data, thereby controlling the medical device via the robotic arm. This medical device control method improves the degree of automation and control accuracy during robotic arm control, enabling easier and more accurate movement of medical devices.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a medical device control method, a medical device control system and a surgical system. Background Art

[0002] During dental implant surgery, doctors need to adjust the position of their oral surgical instruments before drilling to ensure accuracy. Experienced doctors can perform manual adjustments based on their experience without the aid of auxiliary equipment. However, this method has the disadvantage of being highly random and not widely used.

[0003] To reduce the impact of experience on surgical outcomes, intraoperative navigation systems can be used to adjust the posture of implant surgery instruments. However, while intraoperative navigation can combine preoperative CT images with intraoperative information, the navigation device only provides visual cues and cannot assist in adjusting the posture of surgical instruments. Summary of the Invention

[0004] Based on this, it is necessary to provide a medical device control method, a medical device control system and a surgical system to address the above problems.

[0005] In a first aspect, the present application provides a medical device control method, the method comprising:

[0006] Obtain location information of medical devices;

[0007] Calculating the relative position relationship between the position information of the medical device and the pre-marked virtual area;

[0008] Acquiring force data applied to a robotic arm that controls the medical device;

[0009] Target control information for controlling the robotic arm is generated according to the relative position relationship and the force data, so as to control the medical machine through the robotic arm.

[0010] In one embodiment, obtaining the force data applied to a robotic arm controlling the medical device includes:

[0011] Determining a virtual force of the potential energy field exerted on the robotic arm of the medical device according to the relative position relationship;

[0012] obtaining an initial force applied by an operator to a robotic arm of the medical device;

[0013] The resultant force acting on the mechanical arm of the medical device is calculated based on the virtual force and the initial force as force data.

[0014] In one embodiment, the potential energy field includes a gravitational field located in the safe area and corresponding to a preset target path, and a repulsive field located in the risk area; and determining the virtual force of the potential energy field on the robotic arm of the medical device based on the relative position relationship includes:

[0015] When the relative position relationship indicates that the distance between the medical device and the risk area is less than a distance threshold, calculating a virtual force exerted on the manipulator arm of the medical device in the repulsive field;

[0016] When the relative position relationship indicates that the medical device is located in the safety area, a virtual force exerted on the manipulator arm of the medical device in the gravitational field is calculated.

[0017] In one embodiment, the virtual area includes a safe area and a risk area; and generating target control information for controlling the robotic arm based on the relative position relationship and the force data includes at least one of the following:

[0018] When the medical device is located in the risk area or is about to be located in the risk area, generating target control information for controlling the robotic arm to stop moving or slow down its movement toward a target risk area in the risk area according to the force data;

[0019] When the medical device is located in the safety area and not in the hole preparation area, the current control information of the robotic arm is not adjusted, and the hole preparation area is determined by preoperative planning;

[0020] When the medical device is located in the hole preparation area, target control information for controlling the robotic arm is generated according to the force data and target hole preparation parameters.

[0021] In one embodiment, when the medical device is located in the risk area or is about to be located in the risk area, generating target control information for controlling the robotic arm to stop moving or slow down its movement toward the risk area based on the force data includes at least one of the following:

[0022] When the medical machine starts to contact the elastic boundary of the risk area and reaches the rigid boundary of the risk area, generating target control information for reducing the virtual stiffness value of the robot arm according to the force data;

[0023] When the medical device is located between the elastic boundary and the rigid boundary of the risk area, and it is determined based on the force data that the medical device continues to move in a direction approaching the risk area, generating target control information for increasing the virtual damping applied to the robotic arm based on the force data;

[0024] When the medical machine begins to contact the rigid boundary of the risk area, generating target control information according to the force data, in which the force in the direction of entering the rigid boundary is invalid;

[0025] When the medical device has entered the target risk area, target control information is generated to prohibit the movement of the medical device.

[0026] In one embodiment, generating target control information for controlling the robotic arm according to the force data and target hole preparation parameters includes:

[0027] When the force data is less than or equal to the maximum force threshold in the target hole preparation parameter, the current control information of the robotic arm is not adjusted;

[0028] When the force data is greater than a maximum force threshold in the target hole preparation parameter, target control information for reducing the force applied by the robot arm to the hole preparation area is generated.

[0029] In one embodiment, after generating target control information for controlling the robotic arm based on the relative position relationship and the force data so as to control the medical machine through the robotic arm, the method further includes:

[0030] When the hole preparation is completed, storing the force data of the robotic arm and the position information of the medical device during the hole preparation process;

[0031] According to the stored force data of the robotic arm during the hole preparation process and the position information of the medical device, the robotic arm is controlled to drive the medical device to perform the hole expansion operation.

[0032] In one embodiment, before calculating the relative position relationship between the position information of the medical device and the pre-marked virtual area, the method further includes:

[0033] Acquiring a preoperative medical image and identifying a target object in the preoperative medical image;

[0034] The area where the target object is located is marked as a risk area, and the area outside the risk area in the preoperative medical image is marked as a safe area; the risk area and the safe area are the virtual areas.

[0035] In one embodiment, the calculating the relative position relationship between the position information of the medical device and the pre-marked virtual area further includes:

[0036] Acquiring an intraoperative medical image, and registering the intraoperative medical image with the preoperative medical image to obtain a first registration relationship;

[0037] mapping the position information of the medical device to the preoperative medical image according to the first registration relationship;

[0038] The relative position relationship between the position information of the medical instrument and the pre-marked virtual area in the pre-operative medical image is calculated.

[0039] In one embodiment,

[0040] In one embodiment, the medical machine is a hole preparation tool for dental implants.

[0041] In a second aspect, the present application further provides a medical device control system, the system comprising:

[0042] robotic arm;

[0043] a medical device mounted at a target location of the robotic arm;

[0044] A positioning device used to obtain the location information of the medical device and send it to the controller;

[0045] a force measuring device for calculating the relative positional relationship between the position information of the medical device and the pre-marked virtual area, and sending the calculated information to the controller;

[0046] A controller is used to execute the steps of the medical device control method in any one of the above embodiments.

[0047] In a third aspect, the present application also provides a surgical system, comprising the medical device control system in any one of the above-mentioned embodiments.

[0048] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method in any one of the above-mentioned embodiments when executed by a processor.

[0049] The above-mentioned medical device control method, medical device control system and surgical system generate target control information of the robotic arm by obtaining the relative position relationship between the medical device and the pre-marked virtual area, as well as the force data of the robotic arm. In this way, the control idea of human-machine collaboration is used to place the robotic arm under the operator's monitoring, thereby improving the safety and reliability of the operation. Compared with free-hand operation, the control is more precise and the degree of automation is higher. Compared with simple navigation or automatic surgery, it is safer, thereby achieving better dental implant surgery results. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic diagram of a medical device control system in one embodiment of the present application;

[0051] Figure 2is a schematic diagram of a medical image acquisition device in an embodiment of the present application;

[0052] Figure 3 This is a flow chart of a medical device control method in one embodiment of the present application;

[0053] Figure 4 A schematic diagram of a potential energy field in one embodiment of the present application;

[0054] Figure 5 This is a schematic diagram of a risk area in an embodiment of the present application;

[0055] Figure 6 Schematic diagram of the steps of generating target control information in one embodiment of the present application;

[0056] Figure 7 A schematic diagram of the relationship between the virtual stiffness value and the virtual damping and the distance in an embodiment of the present application;

[0057] Figure 8 This is a schematic diagram of virtual damping changes and virtual stiffness value changes in one embodiment of the present application;

[0058] Figure 9 Flowchart of the hole preparation steps in one embodiment of the present application

[0059] Figure 10 This is a flow chart of the hole enlarging step in one embodiment of the present application;

[0060] Figure 11 Schematic diagram of the structure of a dental implant medical device control system in one embodiment;

[0061] Figure 12 is a flow chart of a hole preparation process in one embodiment;

[0062] Figure 13 Schematic diagram of a computer device in one embodiment of the present application. DETAILED DESCRIPTION

[0063] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0065] When describing positional relationships, unless otherwise specified, when an element, such as a layer, film, or substrate, is referred to as being "on" another layer, it can be directly on the other layer or intervening layers may also be present. Furthermore, when a layer is referred to as being "under" another layer, it can be directly under or one or more intervening layers may also be present. It will also be understood that when a layer is referred to as being "between" two layers, it can be the only layer between the two layers or one or more intervening layers may also be present.

[0066] In the case of using “including,” “having,” and “comprising” described herein, another component may be added unless a clear limiting term such as “only,” “consisting of,” etc. is used. Unless mentioned otherwise, a term in the singular form may include a plural form and should not be understood as having one number.

[0067] Specifically, combined Figure 1 As shown, the present application provides a medical device control system, which includes a robotic arm 100, a medical device 300, a positioning device 200, a force measuring device 500, and a controller 600, wherein the medical device 300 is installed at a target position of the robotic arm 100, for example, at the end of the robotic arm 100, and is fixed relative to the robotic arm 100, so that the movement of the medical device 300 can be controlled by controlling the movement of the robotic arm 100. The medical device 100 can be an oral medical device, such as a hole preparation tool for performing a hole preparation operation for dental implants, wherein the tool can be selected by the operator before the operation based on the preoperative medical image of the patient, for example, a tool of corresponding caliber selected based on the environment of the patient's oral cavity in the medical image, such as the size of the gums.

[0068] The positioning device 200 can be an optical positioning device, which can include an optical positioning device, a patient-side tracking marker 400 and an instrument-side tracking marker. The patient-side tracking marker 400 can be installed at the part to be treated, such as the patient's oral cavity, and the instrument-side tracking marker can be installed at the end of the robotic arm to track the position of the robotic arm and the position of the medical device. The tracking marker can be a target, for example, the patient-side tracking marker 400 and the instrument-side tracking marker are targets of different shapes, and the optical positioning device tracks the target position and determines whether it represents the patient end or the mechanical end based on the shape of the target, and sends the target position to the optical positioning device. In one optional embodiment, the optical positioning device can obtain an image of the captured field of view, that is, an intraoperative medical image.

[0069] The force measuring device 500 is used to measure the force applied to the robotic arm 100 by the outside world. The force measuring device 500 is set on the robotic arm 100 and can use a joint torque sensor to send the collected force applied to the robotic arm 100 to the controller. In one optional embodiment, the force measured by the force measuring device 500 includes the force applied to the robotic arm 100 by the operator and the virtual force received in the potential energy field. In other embodiments, the force measured by the force measuring device 500 only includes the force applied to the robotic arm 100 by the operator, and the controller 600 calculates the virtual force received by the robotic arm 100 in the potential energy field according to the position of the robotic arm 100. In this way, the force data of the robotic arm 100 is determined based on the force applied to the robotic arm 100 by the operator and the virtual force received in the potential energy field. No specific limitation is made here.

[0070] The controller 600 is used to send motion instructions to the robotic arm 100 so that the robotic arm 100 can complete the operation under the joint adjustment of the controller 600 and the operator. For example, in oral surgery, the medical device 300 can complete the hole preparation work under the joint adjustment of the controller 600 and the operator.

[0071] In this way, the target control information of the robot arm 100 is obtained according to the positioning device 200 in combination with the force measuring device 500, thereby completing a safe and reliable human-machine collaborative hole preparation work.

[0072] In one of the optional embodiments, a surgical system is provided, which includes a medical device control system and may also include a medical image acquisition device, wherein the medical image acquisition device is used to acquire preoperative medical images before surgery, determine the medical device based on the preoperative medical images, and perform area division based on the preoperative medical images to facilitate the subsequent generation of target control information.

[0073] Combine Figure 2As shown, a schematic diagram of a medical image acquisition device is given, which acquires preoperative medical images before surgery and identifies target objects in the preoperative medical images, such as neural tubes and / or blood vessels, etc., and defines the area including the target objects as risk areas and other areas as safe areas. In addition, in order to automatically control the robotic arm later, the surgical plan can also be determined, such as determining the position, angle and depth of the hole prepared on the alveolar bone, and determining the hole preparation path. The medical image acquisition device can be a medical device that supports tomographic imaging technology, such as CT technology (Computed Tomography, electronic computer tomography) or CBCT technology (ConeBeam CT, cone beam CT).

[0074] In one optional embodiment, the surgical system may further include a display device for displaying intraoperative medical images, or a target medical image fused from preoperative and intraoperative medical images. Furthermore, the display device may output alarm information, etc., to facilitate patient guidance in adjusting the robotic arm.

[0075] In one embodiment, Figure 3 As shown, a medical device control method is provided, which is applied to Figure 1 The controller in the example is used to illustrate the following steps:

[0076] S302: Acquire location information of medical devices.

[0077] Specifically, the medical device is installed at the end of the robotic arm, and an instrument-end tracking marker is installed at the end of the robotic arm. The instrument-end tracking marker is tracked by a positioning device to obtain the location information of the medical device, and then the positioning device sends the location information of the medical device to the controller, so that the controller can obtain the location information of the medical device.

[0078] In one of the optional embodiments, the positioning device collects intraoperative medical images in real time and sends the intraoperative medical images to the controller. The controller obtains the position information of the medical device by tracking the tracking marker on the device end.

[0079] S304: Calculate the relative position relationship between the position information of the medical device and the pre-marked virtual area.

[0080] Specifically, the virtual area is obtained by marking the preoperative medical image, and the virtual area includes a safe area and a risk area. The risk area can be the target object identified in the preoperative medical image, such as the neural tube and / or blood vessel, etc., and the area including the target object is regarded as the risk area, and the other areas are regarded as the safe area. In some optional embodiments, the risk area includes a buffer area and a target risk area, wherein the outer side of the buffer area is the elastic boundary of the risk area, and the boundary between the buffer area and the target risk area is a rigid boundary. When the medical device contacts the elastic boundary, it is considered that the medical device is in contact with the risk area. When the medical device is located in the buffer area or the target risk area, it is considered that the medical device is located in the risk area.

[0081] In one embodiment, before calculating the relative position relationship between the position information of the medical device and the pre-marked virtual area, it also includes: obtaining a preoperative medical image and identifying the target object in the preoperative medical image; marking the area where the target object is located as a risk area, and marking the area outside the risk area in the preoperative medical image as a safe area; the risk area and the safe area are virtual areas.

[0082] The relative position relationship refers to the relationship between the location information of the medical device and the pre-marked virtual area, such as the medical device is in a safe area, the medical device is in a risk area, etc.

[0083] In one embodiment, calculating the relative positional relationship between the position information of a medical device and a pre-marked virtual area further includes: acquiring an intraoperative medical image, registering the intraoperative medical image with a preoperative medical image to obtain a registration relationship; mapping the positional information of the medical device to the preoperative medical image according to the registration relationship; and calculating the relative positional relationship between the positional information of the medical device in the preoperative medical image and the pre-marked virtual area.

[0084] Since the virtual area is marked in the coordinate system of the preoperative medical image, and the position information of the medical device is obtained from the intraoperative medical image, in order to obtain the relative position relationship, the controller first aligns the preoperative medical image and the intraoperative medical image at the beginning of the operation. For example, the positioning device completes the alignment of the intraoperative medical image coordinate system and the preoperative medical image coordinate system based on the capture of the tracking mark feature points. In other words, the alignment of the intraoperative medical image and the preoperative medical image is achieved based on the coordinates of the same mark in the intraoperative medical image and the preoperative medical image to obtain a registration relationship. In this way, the controller can convert the position information of the medical device into the preoperative medical image based on the registration relationship, thereby determining the relative position relationship between the position information of the medical device and the pre-marked virtual area in the preoperative medical image. In other embodiments, the controller can convert the relative position relationship of the pre-marked virtual area into the intraoperative medical image based on the registration relationship, thereby determining the relative position relationship between the position information of the medical device and the pre-marked virtual area in the intraoperative medical image. In other embodiments, a third-party coordinate system can also be introduced to convert the position information of the medical device and the pre-marked virtual area into the third-party coordinate system, thereby determining the relative position relationship between the position information of the medical device and the pre-marked virtual area. The above implementation methods are all optional.

[0085] In addition, it should be noted that after registering the intraoperative medical image with the preoperative medical image to obtain a registration relationship, the following steps are also included: determining the target area; moving the robotic arm to the target area, acquiring a reference image, and mapping the robotic arm in the reference image to the preoperative medical image based on the configuration relationship; and calibrating the registration relationship based on the position of the robotic arm in the preoperative medical image and the position of the target area. For example, the operator controls the robotic arm so that the end instrument contacts the patient's anatomical feature points, such as the corner of an adjacent tooth; and checks whether the instrument also contacts the adjacent tooth corner in the image display, thereby completing the verification of the coordinate system registration.

[0086] S306: Obtain force data applied to the robotic arm that controls the medical device.

[0087] Specifically, the force data of the robotic arm refers to the data of the external force applied to the robotic arm, wherein the external force includes the force applied to the robotic arm by the operator. In some optional embodiments, the medical device is also subjected to the virtual force of the potential energy field, so that the force data includes the force applied to the robotic arm by the operator and the virtual force applied to the robotic arm by the potential energy field. The potential energy field is a virtual potential energy field established based on the surgical path and risk area planned by the operator. A repulsive field is set for areas that need to be kept away, and an attractive field is set for areas that want to be approached. In this way, the virtual force of the potential energy field on the robotic arm can be calculated based on the positional relationship between the medical device and the potential energy field.

[0088] S308: Generate target control information for controlling the robotic arm according to the relative position relationship and the force data, so as to control the medical machine through the robotic arm.

[0089] Specifically, target control information is generated based on relative position and force data. For example, when the medical device is in a safe area, the control information of the robotic arm is not adjusted. When the medical device is in a risk area, target control information for controlling the robotic arm is generated based on the force data, thereby controlling the medical device through the robotic arm. The target control information generated based on the force data can be control information that causes the medical device to move along a pre-planned surgical path, or control information that causes the medical device to move toward a pre-planned hole preparation area, or control information that slows the medical device's movement toward a risk area.

[0090] One point that needs to be explained is that the target control information can be regarded as information for controlling the joints of the robotic arm, such as correcting the forces acting on the joints of the robotic arm. In some optional embodiments, since the controller cannot adjust the initial force applied to the robotic arm by the operator, the corresponding target control information can be generated by adjusting the virtual force of the potential energy field on the robotic arm. The control of the robotic arm is achieved by adjusting the virtual force, such as adjusting the virtual damping and / or virtual stiffness value to adjust the magnitude of the virtual force, and adjusting the direction of the virtual force by adjusting the motion mapping matrix, thereby achieving adjustment of the force data applied to the robotic arm. Since the force data is ultimately mapped to the motion, the adjustment of the force data can make the robotic arm move toward the prepared hole area rather than the risk area.

[0091] For ease of understanding, the operations of moving to the hole preparation area before hole preparation and during hole preparation are used as examples for explanation. Before hole preparation, the medical device needs to be moved to the hole preparation area. At this time, the robotic arm moves to the hole preparation area under the operation of the controller and the operator. First, the operator pulls the robotic arm to the initial area, which is the area close to the oral cavity. Then the controller starts to automatically control the robotic arm to move the medical device to the hole preparation area. During the process of the controller controlling the robotic arm, the operator can adjust the posture of the robotic arm, so that the robotic arm is subjected to the external force applied by the operator. When the robotic arm controls the medical device to move to a certain area, the robotic arm is also subjected to the virtual force of the potential energy field, thereby adjusting the movement of the medical device at the end of the robotic arm so that the medical device at the end of the robotic arm moves to the hole preparation area. The controller generates target control information according to the relative position relationship and force data, and adjusts the movement of the robotic arm based on the target control information.

[0092] When preparing a hole, the operator can control the robotic arm so that the medical device at the end of the robotic arm prepares the hole. At this time, the controller obtains the force applied to the robotic arm by the operator and the target hole preparation parameters, and adjusts the target control information of the robotic arm according to the target hole preparation parameters and force data to complete the hole preparation operation.

[0093] The above-mentioned medical device control method generates target control information for the robotic arm by obtaining the relative position relationship between the medical device and a pre-marked virtual area, as well as the force data of the robotic arm. In this way, the control idea of human-machine collaboration is used to place the robotic arm under the operator's monitoring, thereby improving the safety and reliability of the operation. Compared with free-hand operation, the control is more precise and the degree of automation is higher. Compared with simple navigation or automatic surgery, it is safer, thereby achieving better dental implant surgery results.

[0094] In one embodiment, force data applied to a robotic arm that controls a medical device is obtained, including: determining a virtual force of a potential energy field applied to the robotic arm of the medical device based on a relative position relationship; obtaining an initial force applied by an operator to the robotic arm of the medical device; and calculating a resultant force applied to the robotic arm of the medical device based on the virtual force and the initial force as the force data.

[0095] In one embodiment, the potential energy field includes a gravitational field located in a safe area and corresponding to a preset target path, and a repulsive field located in a risk area; the virtual force of the potential energy field on the robotic arm of the medical device is determined based on the relative position relationship, including: when the relative position relationship indicates that the distance between the medical device and the risk area is less than a distance threshold, calculating the virtual force on the robotic arm of the medical device in the repulsive field; when the relative position relationship indicates that the medical device is located in the safe area, calculating the virtual force on the robotic arm of the medical device in the gravitational field.

[0096] Specifically, the force acting on the robotic arm includes the initial force applied by the operator to the robotic arm of the medical device and the virtual force of the potential energy field, wherein the initial force is the force applied to the robotic arm when the operator drags the robotic arm, and the virtual force is the force acting on the robotic arm in the potential energy field. By calculating the resultant force of the virtual force and the initial force, the force data of the robotic arm is obtained. Since the force data can reflect the movement of the robotic arm, the controller compares the movement of the robotic arm with the preoperatively planned path and / or preparation area to generate the target control information of the robotic arm, so that the robotic arm can reach the preparation area and perform the preparation operation more safely and reliably under the action of man and machine.

[0097] The potential energy field is a virtual potential energy field established based on a virtual area. For example, after a preoperative medical image is captured by a medical image acquisition device, a safe area and a risk area are planned in the preoperative medical image. This mapping to reality allows the corresponding safe and risk areas to be determined, and a virtual potential energy field is established using the point cloud data of the actual oral cavity. For example, the point cloud corresponding to the risk area of the preoperative medical image is first determined, and a virtual potential energy field is established near the point cloud. For example, a repulsive force field is formed with the point cloud as the center, i.e., the closer to the area, the greater the virtual repulsive force, the magnitude of which is proportional to the square of the distance, and the magnitude of which is adjusted by parameters. Secondly, the point cloud corresponding to the safe area of the preoperative medical image can be determined. To facilitate the point cloud on the surgical path planned in the safe area, a virtual potential energy field is established near the point cloud, for example, a gravitational field is formed with the point cloud as the center, i.e., the closer to the area, the greater the virtual gravitational force, the magnitude of which is proportional to the distance, and the magnitude of which is adjusted by parameters. In actual applications, the controller establishes a virtual working path based on the drilling route planned by the operator, and uses this path to establish an artificial potential energy field. The closer to the area, the greater the virtual gravity. The magnitude of the gravity is proportional to the distance and can be adjusted through parameters.

[0098] In order to understand the potential energy field, Figure 4 Take this as an example to illustrate, Figure 4 A in the figure is the point cloud of the risk area, such as the soft tissue in the mouth or other tooth areas as the risk area, then a repulsive field is established in the area, so that a virtual repulsive force is generated when approaching the area. Figure 4 Point B in the figure is a point cloud of a safe area, such as a target hole preparation area or a planned working path. A gravitational field is set up in this area, so that virtual gravity is generated when approaching this area.

[0099] Which continues to combine Figure 4 The controller establishes an artificial potential energy field based on the scanned preoperative medical image. For example, it is necessary to prevent the medical device from contacting the oral soft tissue and adjacent teeth. Therefore, a repulsive force field is set based on the boundary between the oral soft tissue and adjacent teeth. The repulsive force Fc is calculated as follows:

[0100]

[0101] Among them, Uc is the repulsive force ratio adjustment parameter, which can be regarded as adjusting the size of the virtual force on the robot arm by adjusting the size of the repulsive force, so as to prevent the robot arm from moving to the risk area as much as possible. real is the position of the marking point of the medical device, P Gc P real The position closest to the oral soft tissue and adjacent teeth, P0 is the set distance threshold parameter, when the medical device P real to P Gc If the distance is greater than this parameter, no repulsion will be generated.

[0102] P Gc -P real is the shortest distance between the medical device and the oral soft tissue and adjacent teeth. Gc -P real If it is greater than P0, it means that the distance between the medical device and the oral soft tissue and adjacent teeth is greater than the distance threshold parameter. At this time, the repulsive force value generated is less than Uc. It can be considered that the repulsive force Fc has no effective effect on the movement of the medical device. Gc -P real is less than P0, indicating that the distance between the medical device and the oral soft tissue and adjacent teeth is less than the distance threshold parameter. At this time, the repulsive force value generated is greater than Uc. It can be considered that the repulsive force Fc begins to have an effective influence on the movement of the medical device, and P Gc -P real The smaller the value of , the greater the repulsive force Fc.

[0103] The controller also establishes a gravitational field based on the scanned preoperative medical image; for example, if the robotic arm is required to automatically adjust the medical device to the specified position, the gravitational field is set according to the planned hole preparation path, and the gravitational force F y The size calculation formula is as follows:

[0104]

[0105] Where Uy is the gravity ratio adjustment parameter, P real is the position of the marking point on the medical device, P Gy P real The position closest to the corresponding point, where the corresponding point can be the target point on the preparation path, so the P Gy It can be a target point on the preparation hole path. The marking point on the medical device can refer to the point marked by the target, that is, the position of the target.

[0106] In the above embodiment, by acquiring the force data of the robotic arm, the movement corresponding to the force data can be determined, and then the target control information can be obtained according to the determined movement and the preoperative plan.

[0107] In one embodiment, the virtual area includes a safe area and a risk area; target control information for controlling the robotic arm is generated based on the relative position relationship and force data, including at least one of the following: when the medical device is located in the risk area, target control information for controlling the robotic arm to stop moving or slow down its movement toward a target risk area in the risk area is generated based on the force data; when the medical device is located in the safe area and not in the hole preparation area, the current control information of the robotic arm is not adjusted, and the hole preparation area is determined by preoperative planning; when the medical device is located in the hole preparation area, target control information for controlling the robotic arm is generated based on the force data and target hole preparation parameters.

[0108] Specifically, to clearly define the virtual area, see Figure 5 As shown, the risk area includes a buffer area and a target risk area, wherein the two boundaries of the buffer area are an elastic boundary and a rigid boundary, and the rigid boundary is the dividing line between the buffer area and the target risk area.

[0109] In order to prevent the medical device from causing harm to the patient under the intervention of the operator, the controller needs to control the medical device not to be in the risk area, or when the medical device is in the risk area, control the robotic arm to stop moving or slow down its movement to the target risk area in the risk area. When the medical device is in the safe area and not in the hole preparation area, the current control information of the robotic arm may not be adjusted, so that the operator can adjust the movement of the robotic arm according to the surgical scenario to move the medical device to the hole preparation area. When the medical device is in the hole preparation area, the medical device needs to perform a hole preparation operation. In this way, target control information for controlling the robotic arm is generated based on the force data and the target hole preparation parameters, so that the patient will not be harmed during the hole preparation process, or accidents during hole preparation can be avoided.

[0110] Among them, when moving to the hole preparation area, the controller can calculate the motion offset and offset direction of the robotic arm within a single control cycle. For example, within a single control cycle, the controller can record the position information of the medical device and the historical change data of the force data, and calculate the motion offset and offset direction of the medical device in a single control cycle based on the historical change data, such as calculating mathematical statistical values, etc., and optionally calculating the average value.

[0111] After calculating the motion offset and direction, the controller generates target control information for the robotic arm based on the relative position relationship and force data. For example, the controller can predict the movement of the medical device based on the motion offset and direction within a single control cycle. Combined with the relative position information between the medical device and the surgical risk area, the controller can make adjustments in advance, such as adjusting the robotic arm control parameters, and generate target control information based on the adjusted robotic arm control parameters. For example, the algorithms applied by the controller may include, but are not limited to, fuzzy control algorithms, synovial control, and adaptive control algorithms.

[0112] In one of the optional embodiments, when the medical device is located in the risk area, target control information is generated based on the force data to control the robotic arm to stop moving or slow down its movement toward the risk area, including at least one of the following: when the medical device begins to contact the elastic boundary of the risk area and reaches the rigid boundary of the risk area, target control information is generated based on the force data to reduce the virtual stiffness value of the robotic arm; when the medical device is located between the elastic boundary and the rigid boundary of the risk area, and it is judged based on the force data that the medical device continues to move in the direction close to the risk area, target control information is generated based on the force data to increase the virtual damping of the robotic arm; when the medical device begins to contact the rigid boundary of the risk area, target control information is generated based on the force data to invalidate the force in the direction of entering the rigid boundary; when the medical device has entered the target risk area, target control information is generated to prohibit the movement of the medical device.

[0113] Specifically, combined Figure 6 As shown, Figure 6 A schematic diagram of target control information is given in , where the target control information includes parameter information of the robotic arm, and the parameter information of the robotic arm includes one or more of a virtual damping coefficient, an elastic boundary virtual stiffness value, and a motion mapping matrix. The virtual damping coefficient can represent the magnitude of the resistance encountered by the robotic arm when it moves. Under the same conditions, the larger the virtual damping coefficient, the greater the resistance encountered by the robotic arm when it moves. The elastic boundary virtual stiffness value can represent the stiffness of the elastic boundary of the surgical risk area. When the elastic boundary virtual stiffness value is larger, it is more difficult for the medical device to break through the elastic boundary. The motion mapping matrix refers to the mapping matrix between the detected external force data and the motion generated based on the external force data.

[0114] For example, when the medical device is within the safe zone, the robotic arm control parameters remain unchanged. At this time, because the medical device is not in contact with or near the surgical risk area, there are no restrictions on the movement of the robotic arm, and the robotic arm can move under the joint control of the controller and the operator.

[0115] For example, when a medical device is in the buffer zone, the virtual damping coefficient is increased to mitigate its tendency to approach the surgical risk zone. By increasing the virtual damping coefficient, the operator can clearly feel the increased resistance when moving the robotic arm, prompting the operator to reduce the force of the movement, thereby reducing the probability of the medical device entering the surgical risk zone.

[0116] For example, when a medical device contacts the elastic boundary of a surgical risk area, the virtual stiffness of the elastic boundary is increased. The operator may experience inertia when moving the robotic arm. Even if they notice increased resistance, they may continue to move the robotic arm in the original direction, causing the medical device to contact the elastic boundary. Increasing the virtual stiffness of the elastic boundary can further reduce the probability of the medical device passing through the elastic boundary and entering the target risk area.

[0117] Specifically, combined Figure 7 As shown in the figure, the controller calculates the virtual stiffness and virtual damping when the boundary is touched based on the planned risk area boundary. The stiffness is proportional to the distance beyond the boundary and can be adjusted by parameter k. The virtual damping is adjusted by parameter b. k and b are the virtual stiffness and virtual damping values, respectively. In this way, when the virtual damping needs to be adjusted, the target control information for adjusting parameter b is generated. When the stiffness value needs to be adjusted, the target control information for adjusting parameter k is generated. It should be noted that the force F here can be regarded as the repulsive force in the virtual force. In this way, the magnitude of the repulsive force can be adjusted by adjusting the magnitude of parameters k and b, thereby adjusting the force data of the robot arm and intervening in the movement of the robot arm.

[0118] Combine Figure 8 As shown, Figure 8 This is a schematic diagram of the changes in virtual damping and virtual stiffness values in one embodiment, wherein when the medical device is within the elastic boundary, parameter b remains unchanged. When the medical device exceeds the specified elastic boundary, parameter b smoothly increases to a preset maximum value to limit the speed of the medical device, thereby slowing down the movement of the medical device toward the target risk area.

[0119] Optionally, when the medical device enters the buffer area, the virtual stiffness value k will increase, and the virtual elastic force received by the medical device will also increase, thereby preventing it from exceeding the elastic boundary or the rigid boundary.

[0120] For example, when a medical device contacts the rigid boundary of a target risk area, the motion mapping matrix is adjusted so that the medical device moves along the rigid boundary. During surgical procedures, operational errors may occur. When the robotic arm, under the control of the operator and / or controller, moves the medical device through the buffer zone and elastic boundary directly to the rigid boundary of the target risk area, the controller can adjust the motion mapping matrix so that only forces parallel to the rigid boundary generate motion signals, thereby preventing the medical device from moving further into the surgical risk area.

[0121] For example, if a medical device is already in a targeted risk zone, the controller immediately shuts down the device to prevent harm to the patient. For example, during a dental hole preparation procedure, the controller automatically shuts down the device when it detects it is in a surgical risk zone. Alternatively, the controller can automatically move the device back to a safe area, or the operator can manually move the device back to a safe area by dragging the robotic arm.

[0122] In the above embodiment, the medical device is monitored in real time to see whether it exceeds the boundary of the safe area or contacts the boundary of the risk area.

[0123] The force data on the robotic arm can be collected and the movement of the medical device can be adjusted accordingly based on the measured force data, so that the medical device can quickly and safely reach the preset position under the joint control of the doctor and the robotic arm, and unexpected contact between the medical device and the patient can be predicted and prevented.

[0124] In one embodiment, target control information for controlling the robotic arm is generated based on force data and target hole preparation parameters, including: when the force data is less than or equal to the maximum force threshold in the target hole preparation parameters, the current control information of the robotic arm is not adjusted; when the force data is greater than the maximum force threshold in the target hole preparation parameters, target control information is generated to reduce the force applied by the robotic arm to the hole preparation area.

[0125] Specifically, combined Figure 9 As shown, Figure 9 This is a flowchart of the hole preparation steps in one embodiment. When preparing a hole, the hole preparation parameters must first be selected. The hole preparation parameters include the feed speed, rotation speed, maximum force threshold, etc. The positioning device obtains the position information of the medical device at the end of the robot arm and the information of the hole preparation area. The force measuring device obtains the external force applied to the robot arm during the hole preparation. The controller adjusts the parameters of the robot arm during the hole preparation based on the position information of the medical device at the end of the robot arm, the information of the hole preparation area, and the external force applied to the robot arm, and ultimately completes the hole preparation operation. For example, when the force data exceeds the maximum force threshold in the target hole preparation parameters, target control information is generated to reduce the force applied by the robot arm to the hole preparation area, thereby avoiding injury caused by excessive force.

[0126] In one embodiment, after generating target control information for controlling the robotic arm based on the relative position relationship and force data to control the medical device through the robotic arm, it also includes: after the hole preparation is completed, storing the force data of the robotic arm and the position information of the medical device during the hole preparation process; and controlling the robotic arm to drive the medical device to perform a hole expansion operation based on the stored force data of the robotic arm and the position information of the medical device during the hole preparation process.

[0127] Specifically, after the hole preparation is completed, the controller will also store the force data of the robotic arm during the hole preparation process and the position information of the medical device. In this way, when expanding the hole, after the medical device is replaced, the robotic arm is controlled to drive the medical device to perform the hole expansion operation based on the stored force data of the robotic arm during the hole preparation process and the position information of the medical device.

[0128] Specifically, combined Figure 10 As shown, Figure 10 The figure is a flow chart of the hole expansion steps in one embodiment. In this embodiment, after completing the initial manual dragging hole preparation work, in order to automatically complete this repetitive action, this embodiment records the image, force data and position information of the hole preparation process, and stores them after smoothing. When entering the automatic hole expansion mode, the controller sends the stored control information to the robot arm in sequence, so that the robot arm can complete the automatic hole expansion work on the existing basis.

[0129] In order to enable those skilled in the art to fully understand the present application, the hole preparation process in the dental implant process is used as an example to illustrate the present application. Figure 11 and Figure 12 As shown, Figure 11 FIG. 1 is a schematic structural diagram of a dental implant medical device control system in an embodiment. Figure 12 FIG. 4 is a flow chart of a hole preparation process in one embodiment.

[0130] In this embodiment, oral cavity detection modeling is first performed to carry out preoperative planning. Specifically, preoperative medical images of the oral cavity can be obtained before the operation, for example, the required preoperative medical images can be obtained based on tomographic imaging technologies such as CT / CBCT and optical scanning, and sent to the controller. Specifically, the controller automatically identifies the alveolar bone and oral soft tissue boundaries based on the preoperative medical images, and then segments and reconstructs the preoperative medical images to obtain a three-dimensional image; the operator performs relevant pathological analysis and diagnosis based on the oral modeling information to plan and obtain planning data information. The planning data information may include the preparation area, the angle and depth of the preparation hole on the alveolar bone, and the preparation tool, etc., without specific restrictions here. It should be noted that the planning data information also needs to include risk areas and safe areas. Optionally, potential energy fields can be set in the risk area and the safe area, for example, a repulsive field is set in the risk area and an attractive field is set in the preparation area of the safe area, so that the force data of the robotic arm at each position can be determined, and then the target control information of the robotic arm is generated based on the force data.

[0131] Secondly, the intraoperative coordinate system is aligned with the preoperative coordinate system, and the intraoperative coordinate system is aligned with the robotic arm coordinate system. A patient-side tracking marker is attached to the patient end, such as a patient-side tracking marker is attached to the patient's mouth, and an instrument-side tracking marker is attached to the end of the robotic arm, so that the positioning device can determine the position information of the patient and the medical device at the end of the robotic arm. The positioning device completes the alignment of the intraoperative coordinate system and the robotic arm coordinate system based on the capture of the tracking marker feature points, and completes the alignment fusion of the preoperative coordinate system and the intraoperative coordinate system according to the position of the target on the patient end. Optionally, after the alignment, the alignment relationship can also be verified, such as verifying the second alignment relationship between the intraoperative coordinate system and the robotic arm coordinate system. The verification method can be that the operator controls the robotic arm so that the end instrument contacts the patient's anatomical feature points, such as the corner points of the adjacent teeth; and checks whether the instrument is also in contact with the corner points of the adjacent teeth in the image display, thereby completing the verification of the coordinate system alignment.

[0132] This begins the implant hole preparation process. Before the operation begins, the relevant parameters for the hole preparation process are selected, and the robotic arm is dragged to a preliminary position, such as the oral cavity. The auxiliary instrument adjustment phase then proceeds to move the medical device to the hole preparation area. The relevant parameters for the hole preparation process can be initialization parameters, such as the virtual stiffness and virtual damping of the robotic arm.

[0133] The controller controls the robotic arm to move toward the prepared hole area, and during the movement, the operator can also drag the robotic arm. In order to prevent the operator from dragging and causing the medical device at the end of the robotic arm to injure the patient, the force measuring device collects the force data of the robotic arm in real time, and the positioning device collects the position information of the medical device at the end of the robotic arm in real time, and sends both to the controller. After the controller receives the force data and position information, the controller determines the relative position relationship between the medical device and the virtual area based on the position information, and generates the target control information of the robotic arm based on the relative position relationship and the force data. For example, when the medical device is in the safe area, the movement of the robotic arm can be controlled according to the force data, that is, the current control information of the robotic arm is not adjusted. When the medical device is in the risk area or is about to enter the risk area, the robotic arm is controlled to stop, slide along the safety boundary, correct the deviation from the pre-specified posture, or return to the safe area. The specific control method can be found above.

[0134] One point that needs to be explained is that the controller can calculate the motion offset and offset direction of the robotic arm in each control cycle based on the relative position relationship and force data, and use the control algorithm to calculate the adjustment coefficient corresponding to the offset; the controller sends the adjustment coefficient to the robotic arm to achieve adjustment of the position and speed of the medical device; the control algorithm includes but is not limited to fuzzy control, synovial control, and adaptive control, etc., and no specific restrictions are made here.

[0135] In the above embodiment, the safety area is modeled using preoperative medical images through model construction methods such as point cloud. The safety area can be a line segment, polygon, cone or irregular shape; during the operation, the positioning equipment is used to monitor and record the posture of the patient and the medical device, and their posture is associated with the safety area. The medical device is monitored in real time to see whether it exceeds the boundary of the virtual safety area. At the same time, the control force applied by the doctor to the robotic arm is measured, and the posture of the medical device is adjusted accordingly based on the measured doctor's control force, so that the oral surgical instrument can quickly and safely reach the preset posture under the joint control of the doctor and the robotic arm, and predict and prevent unexpected contact between the oral surgical instrument and the patient.

[0136] It should be understood that, although the steps in the flowcharts of the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily to be performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0137] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 13 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a medical device control method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0138] Those skilled in the art will understand that Figure 13The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0139] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0140] 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 steps in the above-mentioned method embodiments are implemented.

[0141] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0142] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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.

[0143] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A medical device control system, characterized in that: The system comprises: robotic arm; a medical device mounted at a target location of the robotic arm; A positioning device used to obtain the location information of the medical device and send it to the controller; a force measuring device for calculating the relative positional relationship between the position information of the medical device and the pre-marked virtual area, and sending the calculated information to the controller; A controller that performs the following steps: Obtain location information of medical devices; Calculating the relative position relationship between the position information of the medical device and the pre-marked virtual area; Acquiring force data applied to a robotic arm that controls the medical device; generating target control information for controlling the robotic arm according to the relative position relationship and the force data, so as to control the medical device through the robotic arm; The virtual area includes a safe area and a risk area; the potential energy field includes a gravitational field located in the safe area and corresponding to a preset target path and a repulsive field located in the risk area; and obtaining force data applied to a robotic arm controlling the medical device includes: Determining the virtual force of the potential energy field exerted on the manipulator arm of the medical device according to the relative position relationship, including: when the relative position relationship indicates that the distance between the medical device and the risk area is less than a distance threshold, calculating the virtual force exerted on the manipulator arm of the medical device in the repulsive field; when the relative position relationship indicates that the medical device is located in the safe area, calculating the virtual force exerted on the manipulator arm of the medical device in the gravitational field; obtaining an initial force applied by an operator to a robotic arm of the medical device; The resultant force acting on the mechanical arm of the medical device is calculated based on the virtual force and the initial force, and is used as force data.

2. The system according to claim 1, wherein: Generating target control information for controlling the robotic arm according to the relative position relationship and the force data includes at least one of the following: When the medical device is located in the risk area or is about to be located in the risk area, generating target control information for controlling the robotic arm to stop moving or slow down its movement toward a target risk area in the risk area according to the force data; When the medical device is located in the safety area and not in the hole preparation area, the current control information of the robotic arm is not adjusted, and the hole preparation area is determined by preoperative planning; When the medical device is located in the hole preparation area, target control information for controlling the robotic arm is generated according to the force data and target hole preparation parameters.

3. The system according to claim 2, characterized in that When the medical device is located in the risk area or is about to be located in the risk area, generating target control information for controlling the robotic arm to stop moving or slow down its movement toward the risk area based on the force data includes at least one of the following: When the medical device starts to contact the elastic boundary of the risk area and reaches the rigid boundary of the risk area, generating target control information for reducing the virtual stiffness value of the robotic arm according to the force data; When the medical device is located between the elastic boundary and the rigid boundary of the risk area, and it is determined based on the force data that the medical device continues to move in a direction approaching the risk area, generating target control information for increasing the virtual damping applied to the robotic arm based on the force data; When the medical device begins to contact the rigid boundary of the risk area, generating target control information according to the force data, in which the force in the direction of entering the rigid boundary is invalid; When the medical device has entered the target risk area, target control information is generated to prohibit the movement of the medical device.

4. The system according to claim 2, wherein: Generating target control information for controlling the robotic arm according to the force data and target hole preparation parameters includes: When the force data is less than or equal to the maximum force threshold in the target hole preparation parameter, the current control information of the robotic arm is not adjusted; When the force data is greater than a maximum force threshold in the target hole preparation parameter, target control information for reducing the force applied by the robot arm to the hole preparation area is generated.

5. The system according to any one of claims 1 to 4, characterized in that: After generating target control information for controlling the robotic arm according to the relative position relationship and the force data so as to control the medical device through the robotic arm, the method further includes: When the hole preparation is completed, storing the force data of the robotic arm during the hole preparation process and the position information of the medical device; According to the stored force data of the robotic arm during the hole preparation process and the position information of the medical device, the robotic arm is controlled to drive the medical device to perform the hole expansion operation.

6. The system according to any one of claims 1 to 4, characterized in that: Before calculating the relative position relationship between the position information of the medical device and the pre-marked virtual area, the method further includes: Acquiring a preoperative medical image and identifying a target object in the preoperative medical image; The area where the target object is located is marked as a risk area, and the area outside the risk area in the preoperative medical image is marked as a safe area; the risk area and the safe area are the virtual areas.

7. The system according to claim 6, characterized in that The step of calculating the relative position relationship between the position information of the medical device and the pre-marked virtual area further includes: Acquiring an intraoperative medical image, and registering the intraoperative medical image with the preoperative medical image to obtain a first registration relationship; mapping the position information of the medical device to the preoperative medical image according to the first registration relationship; The relative position relationship between the position information of the medical instrument and the pre-marked virtual area in the pre-operative medical image is calculated.

8. The system according to claim 1, wherein: The medical device is a hole preparation tool for dental implants.

9. A surgical system, characterized in that: Including the medical device control system according to claim 8.

10. 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: Obtain location information of medical devices; Calculating the relative position relationship between the position information of the medical device and the pre-marked virtual area; Acquiring force data applied to a robotic arm that controls the medical device; generating target control information for controlling the robotic arm according to the relative position relationship and the force data, so as to control the medical device through the robotic arm; The obtaining of force data applied to a robotic arm for controlling the medical device includes: Determining a virtual force of the potential energy field exerted on the robotic arm of the medical device according to the relative position relationship; obtaining an initial force applied by an operator to a robotic arm of the medical device; Calculate the resultant force on the mechanical arm of the medical device according to the virtual force and the initial force as force data; The virtual area includes a safe area and a risk area; the potential energy field includes a gravitational field located in the safe area and corresponding to a preset target path, and a repulsive field located in the risk area; and determining the virtual force of the potential energy field on the robotic arm of the medical device based on the relative position relationship includes: When the relative position relationship indicates that the distance between the medical device and the risk area is less than a distance threshold, calculating a virtual force exerted on the manipulator arm of the medical device in the repulsive field; When the relative position relationship indicates that the medical device is located in the safety area, a virtual force exerted on the manipulator arm of the medical device in the gravitational field is calculated.

11. The computer-readable storage medium according to claim 10, wherein: The virtual area includes a safe area and a risk area; and the generating of target control information for controlling the robotic arm according to the relative position relationship and the force data includes at least one of the following: When the medical device is located in the risk area or is about to be located in the risk area, generating target control information for controlling the robotic arm to stop moving or slow down its movement toward a target risk area in the risk area according to the force data; When the medical device is located in the safety area and not in the hole preparation area, the current control information of the robotic arm is not adjusted, and the hole preparation area is determined by preoperative planning; When the medical device is located in the hole preparation area, target control information for controlling the robotic arm is generated according to the force data and target hole preparation parameters.

12. The computer-readable storage medium according to claim 11, wherein When the medical device is located in the risk area or is about to be located in the risk area, generating target control information for controlling the robotic arm to stop moving or slow down its movement toward the risk area based on the force data includes at least one of the following: When the medical device starts to contact the elastic boundary of the risk area and reaches the rigid boundary of the risk area, generating target control information for reducing the virtual stiffness value of the robotic arm according to the force data; When the medical device is located between the elastic boundary and the rigid boundary of the risk area, and it is determined based on the force data that the medical device continues to move in a direction approaching the risk area, generating target control information for increasing the virtual damping applied to the robotic arm based on the force data; When the medical device begins to contact the rigid boundary of the risk area, generating target control information according to the force data, in which the force in the direction of entering the rigid boundary is invalid; When the medical device has entered the target risk area, target control information is generated to prohibit the movement of the medical device.

13. The computer-readable storage medium according to claim 11, wherein Generating target control information for controlling the robotic arm according to the force data and target hole preparation parameters includes: When the force data is less than or equal to the maximum force threshold in the target hole preparation parameter, the current control information of the robotic arm is not adjusted; When the force data is greater than a maximum force threshold in the target hole preparation parameter, target control information for reducing the force applied by the robot arm to the hole preparation area is generated.

14. The computer-readable storage medium according to any one of claims 10 to 13, wherein: After generating target control information for controlling the robotic arm according to the relative position relationship and the force data so as to control the medical device through the robotic arm, the method further includes: When the hole preparation is completed, storing the force data of the robotic arm and the position information of the medical device during the hole preparation process; According to the stored force data of the robotic arm during the hole preparation process and the position information of the medical device, the robotic arm is controlled to drive the medical device to perform the hole expansion operation.

15. The computer-readable storage medium according to any one of claims 10 to 13, wherein: Before calculating the relative position relationship between the position information of the medical device and the pre-marked virtual area, the method further includes: Acquiring a preoperative medical image and identifying a target object in the preoperative medical image; The area where the target object is located is marked as a risk area, and the area outside the risk area in the preoperative medical image is marked as a safe area; the risk area and the safe area are the virtual areas.

16. The computer-readable storage medium according to claim 15, wherein: The step of calculating the relative position relationship between the position information of the medical device and the pre-marked virtual area further includes: Acquiring an intraoperative medical image, and registering the intraoperative medical image with the preoperative medical image to obtain a first registration relationship; mapping the position information of the medical device to the preoperative medical image according to the first registration relationship; The relative position relationship between the position information of the medical instrument and the pre-marked virtual area in the pre-operative medical image is calculated.

17. The computer-readable storage medium according to claim 10, wherein: The medical device is a hole preparation tool for dental implants.

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