Position Control Method and System of Surgical Navigation Robot

Abstract

The present invention relates to a position control method and system for a surgical navigation robot. A plurality of lifting columns are provided on the console of the surgical navigation robot, and the lifting columns are used to lift the console to fix the position of the surgical navigation robot. The position control method includes: receiving a first control instruction, controlling the lifting columns in the initial position to descend, and collecting the working current values of the lifting columns at a preset acquisition frequency; calculating a current change rate based on the currently collected working current value and the previously collected working current value; judging the working state according to the current change rate, and controlling the position of the lifting columns according to the working state. The beneficial effect of the technical solution of the present invention is that the process of lowering the lifting columns is divided into two segments. Only when all the lifting columns touch the ground, the lifting columns are further controlled to descend, realizing the stability and balance of the surgical navigation robot and ensuring the safety of the surgical process.

Description

Technical Field

[0001] The present invention relates to the technical field of floor brake control, and in particular, to a position control method and system for a surgical navigation robot. Background Art

[0002] Surgical navigation robots are auxiliary surgical instruments that have entered the market in the past two years. Currently, the focus of their development mainly lies in aspects such as how to improve the positioning accuracy and how to standardize the registration process. However, little attention has been paid to the influence of the stability of the self-fixation of surgical navigation robots and the safety of the surgical process.

[0003] In the prior art, a floor brake device is usually used to lift a surgical navigation robot to achieve position control of the surgical navigation robot. However, there are mainly two disadvantages of the floor brake device in the prior art: when the center of gravity of the surgical navigation robot is not at the center position, the situation where several fulcrums of the floor brake device do not reach the target height simultaneously will occur, and there is a risk of jitter; moreover, the existing floor brake device does not support remote communication and feedback functions, and the staff cannot perform up and down operations on the floor brake device remotely, and at the same time, they cannot know the current state of the floor brake device.

[0004] In summary, the floor brake device in the prior art has problems such as being unable to be remotely controlled and unable to ensure the same height of the fulcrums. Summary of the Invention

[0005] According to the problems existing in the prior art, a position control method, system, device, and storage medium for a surgical navigation robot are provided, aiming to solve the problems that the floor brake device in the prior art cannot be remotely controlled and cannot ensure the same height of the fulcrums.

[0006] The above technical solution specifically includes:

[0007] A position control method for a surgical navigation robot, wherein a plurality of lifting columns are arranged on the console of the surgical navigation robot, and the lifting columns are used to lift the console to achieve position fixation of the surgical navigation robot. The position control method includes:

[0008] Receiving a first control instruction, and controlling the lifting columns to descend according to the first control instruction, and respectively collecting the working current values of the lifting columns at a preset acquisition frequency; wherein, the lifting columns are in an initial position;

[0009] For each lifting column, calculating a current change rate according to the currently collected working current value and the previously collected working current value;

[0010] Judging the working state of the lifting column according to the current change rate;

[0011] Control the position of the lifting columns according to the working state:

[0012] When the working states of all the lifting columns remain unchanged, continuously control all the lifting columns to descend;

[0013] When the working state of any one of the lifting columns changes from non-full-load operation to full-load operation, control the lifting column to stop descending;

[0014] When the working states of all the lifting columns change from non-full-load operation to full-load operation, control all the lifting columns to descend simultaneously until the current change rate of all the lifting columns becomes 0.

[0015] Preferably, the current change rate is obtained by using the following formula:

[0016]

[0017] wherein, T represents the current change rate; V t represents the working current value collected in real time; V t-1 represents the working current value collected in the previous time; f represents the preset collection frequency.

[0018] Preferably, in step S100, when receiving the first control instruction, the initial working state of the lifting column is also obtained according to the collection frequency and the working current value of the lifting column collected for the first time.

[0019] Preferably, in step S100, the initial working state of the lifting column is obtained by processing according to the following formula:

[0020]

[0021] wherein,

[0022] T0 represents the initial current change rate;

[0023] V t0 represents the working current value collected for the first time;

[0024] Subsequently, when the initial current change rate is greater than zero, confirm that the initial working state of the lifting column is non-full-load operation.

[0025] Preferably, step S300 includes:

[0026] Step S310, judge whether the current change rate reaches a preset change rate threshold:

[0027] If so, turn to step S320;

[0028] If not, use the previous working state of the lifting column as the current working state, and determine that the working state of the lifting column has not changed;

[0029] Step S320: Determine the change in the working state of the lifting column according to the current change rate:

[0030] If the previous working state of the lifting column is non-full-load operation, determine that the working state of the lifting column has changed to full-load operation;

[0031] If the previous working state of the lifting column is full-load operation, determine that the working state of the lifting column has changed to non-full-load operation.

[0032] Preferably, it further includes: receiving the first control instruction through a CAN bus and / or a WiFi connection method.

[0033] Preferably, it further includes:

[0034] Receiving a second control instruction, and controlling all the lifting columns to rise according to the received second control instruction until the current change rate of the lifting column becomes 0.

[0035] Preferably, the second control instruction is received through a CAN bus and / or a WiFi connection method.

[0036] This embodiment also discloses a position control system for a surgical navigation robot. Applying the above position control method, a plurality of lifting columns are arranged on the console of the surgical navigation robot. The lifting columns are used to lift the console to fix the position of the surgical navigation robot. The position control system includes:

[0037] A first control module, configured to receive a first control instruction and control the lifting column to descend according to the first control signal;

[0038] An acquisition module, configured to respectively acquire the working current values of the lifting columns at a preset acquisition frequency when receiving the first control instruction;

[0039] A calculation module, configured to calculate the current change rate for each lifting column respectively according to the currently acquired working current value and the previously acquired working current value;

[0040] A judgment module, configured to judge the change in the working state of the lifting column according to the current change rate and output a judgment result;

[0041] A second control module, configured to control the position of the lifting column according to the judgment result:

[0042] When the working states of all the lifting columns remain unchanged, continuously control all the lifting columns to descend;

[0043] When the working state of any one of the lifting columns changes from non-full-load operation to full-load operation, control the lifting column to stop descending;

[0044] When the working states of all the lifting columns change from non-full-load operation to full-load operation, control all the lifting columns to descend simultaneously until the current change rate of all the lifting columns becomes 0.

[0045] The beneficial effects of the technical solution of the present invention are as follows: The process of descending the lifting columns is divided into two segments. Only when all the lifting columns touch the ground, further control the lifting columns to descend. As long as the models of the equipment of all the lifting columns are the same, the lifting heights of each lifting column can be ensured to be the same, making the process of lifting the surgical navigation robot more stable. While achieving the stability of the surgical navigation robot, the balance of the surgical navigation robot during use is further ensured, and the safety of the surgical process is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Refer to the accompanying drawings to more fully describe the embodiments of the present invention. However, the accompanying drawings are only for illustration and explanation and do not constitute a limitation on the scope of the present invention.

[0047] Figure 1 It shows a schematic flowchart of a position control method for a surgical navigation robot according to the present invention.

[0048] Figure 2 It shows a specific flowchart of step S300 of the present invention.

[0049] Figure 3 It shows a schematic structural diagram of a position control system for a surgical navigation robot according to the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0051] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0052] The following further illustrates the present invention with reference to the accompanying drawings and specific embodiments, but does not limit the present invention.

[0053] On the console of the surgical navigation robot, there are multiple lifting columns. The lifting columns are used to lift the console of the surgical navigation robot to fix the position of the surgical navigation robot. One end of the lifting column is fixedly connected to the surgical navigation robot, and the other end can expand and contract according to a preset trajectory. When the lifting column is in the initial position, the lifting column is in a contracted state. At this time, the surgical navigation robot contacts the ground through the console. When the lifting column is in the lifted position, the lifting column is in a fully extended state. The lifting column lifts the surgical navigation robot to the position farthest from the ground. At this time, the surgical navigation robot contacts the ground through the lifting column.

[0054] Among them, most of the existing lifting columns are composed of a DC brushless motor, a linear guide rail, and a typical transmission structure. Since the lifting column is an existing device, the composition structure thereof will not be described in detail in this embodiment, and the mechanical structure of the lifting column is not limited, as long as it can meet the requirement of lifting or restoring the hand speed navigation robot to its original position according to an external control instruction.

[0055] Please refer to Figure 1 , which shows a schematic flow chart of a position control method for a surgical navigation robot in this embodiment. The position control method includes:

[0056] Step S100: Receive a first control instruction, and control the lifting column at an initial position to descend according to the first control instruction, and collect the working current values of the lifting column respectively at a preset sampling frequency.

[0057] The first control instruction in this embodiment is issued by a staff member, which is used to control the lifting column to descend to support the console of the surgical navigation robot, and high-frequency sample the real-time working current value of the lifting column while receiving the first control instruction.

[0058] For example, if there are four lifting columns installed on the surgical navigation robot, then after receiving the first control instruction, control the four lifting columns to descend simultaneously, and collect the working current values of the four lifting columns respectively at a preset sampling frequency.

[0059] Specifically, all devices that need to be powered in this embodiment are powered by an external AC / DC switching power supply, and its power supply voltage is DC24V.

[0060] Step S200: For each lifting column, calculate the current change rate according to the real-time collected working current value and the previously collected working current value.

[0061] Among them, the current change rate is calculated by using the following formula:

[0062]

[0063] Among them, T represents the current change rate; V t represents the working current value collected in real time; V t-1 represents the working current value collected in the previous time; f represents the preset collection frequency.

[0064] For example, the four lifting columns on the surgical navigation robot can respectively obtain V t1 , V t2 , V t3 , V t4 four real-time working current values, and these four working current values are updated according to the collection frequency, and further calculate four current change rates T1, T2, T3, and T4 respectively based on these four real-time working current values.

[0065] Step S300: Judge the change situation of the working state of the lifting column according to the current change rate, and output the judgment result.

[0066] Please refer to Figure 2 , step S300 further includes:

[0067] When receiving the first control instruction, obtain the initial working state of the lifting column according to the collection frequency and the working current value of the lifting column collected for the first time:

[0068] Obtain the initial working state of the lifting column through the following formula:

[0069]

[0070] Among them, T0 represents the initial current change rate; V t0 represents the working current value collected for the first time;

[0071] Subsequently, when the initial current change rate is greater than zero, confirm that the initial working state of the lifting column is non-full load operation.

[0072] In another preferred embodiment, when the duration of the initial current change rate not being greater than zero exceeds a preset duration, an alarm is issued to prompt the staff of the lifting column failure.

[0073] The initial working state of each lifting column is the basis for subsequent real-time working state judgment. When the lifting column is in the initial position, it means it has not been started, so its working current value must be 0. When receiving the first control instruction, the working current value of each lifting column will definitely change. At this time, T0 of each lifting column is greater than 0, so the initial working state of the corresponding lifting column is "non-full load operation", which means the lifting column is descending from the initial position and has not touched the ground.

[0074] Step S300 specifically includes:

[0075] Step S310: Determine whether the current change rate reaches a preset change rate threshold:

[0076] If yes, proceed to step S320:

[0077] If no, use the previous working state of the lifting column as the current working state, and determine that the working state of the lifting column has not changed;

[0078] Step S320: Determine the change situation of the working state of the lifting column according to the current change rate:

[0079] If the previous working state of the lifting column is non-full-load operation, determine that the working state of the lifting column changes to full-load operation;

[0080] If the previous working state of the lifting column is full-load operation, determine that the working state of the lifting column changes to non-full-load operation.

[0081] Specifically, the change rate threshold is, for example, 300.

[0082] For each lifting column, when the current change rate reaches the change rate threshold, determine its latest working state after the change according to its previous working state.

[0083] For example, if the previous working state of the first lifting column is non-full-load operation and its current change rate T1 reaches the change rate threshold of 300, then change the working state of the first lifting column to "full-load operation", which means the first lifting column descends from the initial position and just touches the ground; if the previous working state of the second lifting column is non-full-load operation and its current change rate T2 does not reach the change rate threshold of 300, then keep the working state of the second lifting column as non-full-load operation, which means the second lifting column descends from the initial position and does not touch the ground.

[0084] Another example, if the previous working state of the first lifting column is full-load operation and its current change rate T1 reaches the change rate threshold of 300, then change the working state of the first lifting column to non-full-load operation, which means the first lifting column changes from the state of touching the ground to retracting upward and away from the ground; if the previous working state of the second lifting column is full-load operation and its current change rate T2 does not reach the change rate threshold of 300, then keep the working state of the second lifting column as full-load operation, which means the second lifting column was originally in the state of touching the ground and is now rising and retracting but has not moved away from the ground.

[0085] In this embodiment, a lifting column with a working state of full-load operation means it is in contact with the ground, and a lifting column with a working state of non-full-load operation means it is away from the ground and in a suspended state.

[0086] Step S400. Control the position of the lifting columns according to the judgment result:

[0087] When the working states of all the lifting columns remain unchanged, continuously control all the lifting columns to descend;

[0088] When the working state of any one of the lifting columns changes from non-full-load operation to full-load operation, control the current lifting column to stop descending;

[0089] When the working states of all the lifting columns change from non-full-load operation to full-load operation, control all the current lifting columns to descend simultaneously until the current change rate of all the lifting columns becomes 0.

[0090] As described above, when the working states of all the lifting columns change from non-full-load operation to full-load operation, it means that all the current lifting columns just touch the ground. At this time, control the lifting columns to stop descending, and then control all the lifting columns to descend simultaneously until the current change rate of all the lifting columns becomes 0. This means that each lifting column reaches the limit of descent. According to the settings of the staff, the lengths of each lifting column before and after stretching are the same. Through this setting, the lifting heights of all the lifting columns can be the same, realizing the stability and balance of the surgical navigation robot, and further ensuring the safety of the surgical process.

[0091] This embodiment further includes a process of controlling the lifting columns to return from the lifted position to the initial position, including:

[0092] Receive the second control instruction, and control the lifting columns to rise according to the received second control instruction until the current change rate of the lifting columns becomes 0.

[0093] At this time, the current change rate of the lifting columns becoming 0 means that the lifting columns rise and retract to the original position.

[0094] Specifically, this embodiment receives the first control instruction through the CAN bus and / or wifi connection method.

[0095] Furthermore, receive the first control instruction issued by the control switch on the surgical navigation robot through the CAN bus or receive the first control instruction issued by the remote controller through wifi.

[0096] Specifically, this embodiment receives the second control instruction through the CAN bus and / or WiFi connection method

[0097] Furthermore, receive the second control instruction issued by the control switch on the surgical navigation robot through the CAN bus or receive the second control instruction issued by the remote controller through the wifi connection method.

[0098] Specifically, in the method of receiving the first control instruction and the second control instruction output by the remote digital communication device through WIFI, the maximum transmission distance of the remote digital communication device can be 1.5 km; in the method of receiving the first control instruction and the second control instruction output by the switch connected to the surgical navigation robot or the lifting column through the CAN bus, the signal input distance of the switch is less than 5 meters.

[0099] This embodiment further includes a position control system for a surgical navigation robot. Applying the above position control method, a plurality of lifting columns are provided on the console of the surgical navigation robot. The lifting columns are used to lift the console to fix the position of the surgical navigation robot. The position control system includes:

[0100] The first control module 100 is configured to receive the first control instruction and control the lowering of the lifting column at an initial position according to the first control instruction;

[0101] The acquisition module 200 is configured to, when receiving the first control instruction, respectively acquire the working current values of the lifting columns according to a preset acquisition frequency;

[0102] The calculation module 300 is configured to, for each of the lifting columns, calculate the current change rate respectively according to the currently acquired working current value and the previously acquired working current value;

[0103] The judgment module 400 is configured to judge the change of the working state of the lifting column according to the current change rate and output a judgment result;

[0104] The second control module 500 is configured to control the position of the lifting column according to the judgment result:

[0105] When the working states of all the lifting columns have not changed, continuously control all the lifting columns to lower;

[0106] When the working state of any one of the lifting columns changes from non-full load operation to full load operation, control the current lifting column to stop lowering;

[0107] When the working states of all the lifting columns change from non-full load operation to full load operation, control all the current lifting columns to lower simultaneously until the current change rate of all the lifting columns becomes 0.

[0108] The beneficial effects of the technical solution of the present invention are as follows: The process of lowering the lifting columns is divided into two stages. Only when all the lifting columns come into contact with the ground can the lowering of the lifting columns be further controlled. As long as the models of the equipment of all the lifting columns are the same, the lifting heights of each lifting column can be guaranteed to be the same, making the process of lifting the surgical navigation robot more stable. While achieving the stability of the surgical navigation robot, the balance of the surgical navigation robot during use is further guaranteed, and the safety of the surgical process is ensured.

[0109] The above are only the preferred embodiments of the present invention, and do not limit the implementation manners and protection scope of the present invention. For those skilled in the art, it should be realized that all the equivalent replacements and obvious changes made by using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A position control method for a surgical navigation robot, characterized in that, At least one lifting column is provided on the console of the surgical navigation robot, and the lifting column is used to lift the console to fix the position of the surgical navigation robot. The position control method includes: Step S100: Receive a first control instruction, and according to the first control instruction, control the lifting column at the initial position to descend, and collect the working current values of the lifting column respectively at a preset acquisition frequency; Step S200: For each lifting column, calculate the current change rate respectively according to the currently collected working current value and the previously collected working current value; Step S300: According to the current change rate, judge the change situation of the working state of the lifting column, and output a judgment result; Step S400: According to the judgment result, control the position of the lifting column: When the working states of all the lifting columns have not changed, continuously control all the lifting columns to descend; When the working state of any one of the lifting columns changes from non-full-load operation to full-load operation, control the lifting column to stop descending; When the working states of all the lifting columns change from non-full-load operation to full-load operation, control all the lifting columns to descend simultaneously until the current change rate of all the lifting columns becomes 0; The current change rate is calculated by using the following formula: Wherein, T represents the current change rate; V t represents the working current value collected in real time; V t-1 represents the working current value collected in the previous time; f represents the preset acquisition frequency; A lifting column with a full-load operation working state means that it is in contact with the ground; A lifting column with a non-full-load operation working state means that it is away from the ground and in a suspended state; The step S300 includes: Step S310: Judge whether the current change rate reaches a preset change rate threshold: If so, turn to step S320; If not, use the previous working state of the lifting column as the current working state, and judge that the working state of the lifting column has not changed; Step S320: Judge the change situation of the working state of the lifting column according to the current change rate: If the previous working state of the lifting column is non-full-load operation, judge that the working state of the lifting column changes to full-load operation; If the previous working state of the lifting column is full-load operation, judge that the working state of the lifting column changes to non-full-load operation.

2. The position control method according to claim 1, characterized in that In the step S100, when receiving the first control instruction, the initial working state of the lifting column is also obtained according to the acquisition frequency and the first collected working current value of the lifting column.

3. The position control method according to claim 2, characterized in that, In the step S100, the initial working state of the lifting column is obtained by processing according to the following formula: Wherein, T0 represents the initial current change rate; V t0 represents the first collected working current value; Subsequently, when the initial current change rate is greater than zero, confirm that the initial working state of the lifting column is non-full-load operation.

4. The position control method according to claim 1, wherein The first control instruction is received through a CAN bus and / or a WiFi connection method.

5. The position control method according to claim 1, characterized in that, It further includes: Receive a second control instruction, and according to the received second control instruction, control all the lifting columns to rise until the current change rate of the lifting columns becomes 0.

6. The position control method according to claim 5, characterized in that Receive the second control instruction via the CAN bus and / or WiFi connection method.

7. A position control system for a surgical navigation robot, characterized in that, Apply the position control method of the surgical navigation robot according to any one of claims 1-6; A plurality of lifting columns are arranged on the console of the surgical navigation robot, and the lifting columns are used to lift the console to fix the position of the surgical navigation robot. The position control system includes: A first control module, configured to receive a first control instruction and control the lifting column at an initial position to descend according to the first control instruction; An acquisition module, configured to respectively acquire the working current values of the lifting columns at a preset acquisition frequency when receiving the first control instruction; A calculation module, configured to calculate the current change rate for each lifting column respectively according to the currently acquired working current value and the previously acquired working current value; A judgment module, configured to judge the change of the working state of the lifting column according to the current change rate and output a judgment result; A second control module, configured to control the position of the lifting column according to the judgment result: When the working states of all the lifting columns do not change, continuously control all the lifting columns to descend; When the working state of any one of the lifting columns changes from non-full-load operation to full-load operation, control the lifting column to stop descending; When the working states of all the lifting columns change from non-full-load operation to full-load operation, control all the lifting columns to descend simultaneously until the current change rate of all the lifting columns becomes 0.

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