Surgical Robotic Nail Placement System

Abstract

The embodiment of the present application provides a surgical robot nail placement system, the system includes a robotic arm, a first instrument, a prompt device and a controller, the controller is used to perform the following steps: obtain a preset feed path for the first instrument to enter a target object, the target object includes a first part and a second part; when the head end of the first instrument enters the first part, the prompt device is controlled to output a first prompt message; obtain target information, the target information includes displacement information of the head end, position information of the head end and / or mechanical information on the first instrument; determine whether the head end enters the second part according to the target information, and when it is determined to enter the second part, the prompt device is controlled to output a second prompt message; determine whether the head end reaches the end of the feed path according to the displacement information and / or position information of the head end, and when it is determined to reach the end of the feed path, the prompt device is controlled to output a third prompt message. The embodiment of the present application can prompt the user to the depth of the first instrument entering the target object.

Description

Technical Field

[0001] The present application belongs to the technical field of medical equipment, and in particular, relates to a surgical robot nail placement system. Background Art

[0002] In order to reduce the burden on users, semi-automatic robots and fully automatic robots have emerged. For example, in order to reduce the burden on doctors, surgical robots can be used to assist doctors in completing operations. The surgical robot used in the embodiments of the present application may include a robotic arm and medical instruments mounted on the robotic arm. During the operation, the doctor only needs to push the robotic arm to drive the medical instruments to move, thereby completing the operation.

[0003] However, the inventors of the present application have discovered that the user cannot accurately know the current position of the medical device when pushing the robotic arm, which may cause the medical device to enter the target object too deeply or too shallowly, affecting the surgical effect. Summary of the invention

[0004] An embodiment of the present application provides a surgical robot nail placement system, which can at least solve the technical problem that a user cannot accurately know the current position of a first instrument (such as a medical instrument), resulting in the first instrument entering the target object too deeply or too shallowly.

[0005] The surgical robot nail placement system provided in the embodiment of the present application includes a robotic arm, a first instrument located on the robotic arm, a prompt device and a controller, wherein the controller is communicatively connected to the prompt device and is used to perform the following steps: obtaining a preset feed path for the first instrument to enter a target object, wherein the target object includes a first part and a second part with different hardnesses, and the first section in the feed path is located in the first part, and the second section is located in the second part; when it is detected that the head end of the first instrument begins to enter the first part, controlling the prompt device to output a first prompt message; obtaining target information, wherein the target information includes at least one of the displacement information of the head end, the position information of the head end and mechanical information on the first instrument; determining whether the head end enters the second part according to the target information, and when it is determined that the head end enters the second part, controlling the prompt device to output a second prompt message; determining whether the head end reaches the end point of the feed path according to at least one of the displacement information of the head end and the position information of the head end, and when it is determined that the head end reaches the end point of the feed path, controlling the prompt device to output a third prompt message.

[0006] According to an embodiment of the present application, the surgical robot nail placement system may further include a speed sensor, which is used to obtain the feed speed of the first instrument at multiple time nodes in a first time period, the first time period being the time period from the first moment when the head end begins to enter the first part to the current moment; the controller is specifically used to perform the following steps: determine the displacement of the head end in the target object based on the feed speeds of multiple time nodes; when the displacement of the head end in the target object is equal to the distance of the first section in the feed path, determine that the head end has entered the second part.

[0007] According to any of the aforementioned embodiments of the present application, the controller is specifically used to perform the following steps: calculating the integral of the feed speed at multiple time nodes relative to time to obtain the displacement of the head end in the target object.

[0008] According to any of the aforementioned embodiments of the present application, the controller is specifically used to perform the following steps: when the displacement of the head end in the target object is equal to the sum of the distance of the first section and the distance of the second section in the feed path, determine that the head end reaches the end point of the feed path.

[0009] According to any of the aforementioned embodiments of the present application, the controller is specifically used to perform the following steps: after the head end enters the second part, determine the displacement of the head end in the second part based on the feed speeds of multiple time nodes in the second time period; the second time period is the time period from the second moment when the head end enters the second part to the current moment; when the displacement of the head end in the second part is equal to the distance of the second section in the feed path, determine that the head end has reached the end point of the feed path.

[0010] According to any of the aforementioned implementations of the present application, there are prompt differences between the first prompt information, the second prompt information, and the third prompt information.

[0011] According to any of the aforementioned embodiments of the present application, the first instrument may include a medical instrument, the target object may include a bone, the first part may include cortical bone, and the second part may include cancellous bone.

[0012] According to any of the foregoing embodiments of the present application, the controller is also used to perform the following steps: when the prompt device outputs the first prompt information, the second prompt information and the third prompt information, the robotic arm is controlled to generate a damping force with damping values ​​corresponding to the first prompt information, the second prompt information and the third prompt information respectively; the damping values ​​corresponding to the first prompt information, the second prompt information and the third prompt information are different.

[0013] According to any of the aforementioned embodiments of the present application, the controller is specifically used to perform the following steps: before the prompt device outputs the first prompt information, the control robot arm generates a damping force of a first damping value; when the prompt device outputs the first prompt information, the control robot arm switches the damping value of the damping force from the first damping value to the second damping value; when the prompt device outputs the second prompt information, the control robot arm switches the damping value of the damping force from the second damping value to the third damping value; when the prompt device outputs the third prompt information, the control robot arm switches the damping value of the damping force from the third damping value to the fourth damping value.

[0014] According to any of the aforementioned embodiments of the present application, the system also includes a mechanical sensor, which is connected to the first device and is used to obtain mechanical information on the first device, and the mechanical information includes at least one of the axial force of the first device and the torque generated by the first device; the controller is also used to perform the following steps: according to at least one of the force and the torque, determine the magnitude of the first damping value, the second damping value and the third damping value, the damping values ​​of the first damping value, the second damping value and the third damping value are positively correlated with the force, and the damping values ​​of the first damping value, the second damping value and the third damping value are positively correlated with the torque.

[0015] According to any of the aforementioned embodiments of the present application, when the hardness of the first portion is greater than the hardness of the second portion, the fourth damping value>the second damping value>the third damping value>the first damping value.

[0016] According to any of the foregoing embodiments of the present application, the system also includes a driving component, which is located on the robotic arm and is used to drive the first device to move and / or rotate under the control of the controller; the controller is also used to perform the following steps: when a preset condition is met, the driving component that drives the first device to move and / or rotate is controlled to suspend operation; the preset condition includes at least one of the following items: the head end is in the first part, and the axial force of the first device or the torque generated by the first device is less than a preset first threshold; the head end is in the second part, and the axial force of the first device or the torque generated by the first device is greater than a preset second threshold; when the second prompt information is output; when the third prompt information is output; receiving an operation instruction input by the user; in response to the operation instruction, controlling the driving component to resume the working state to drive the first device to move and / or rotate.

[0017] According to any of the aforementioned embodiments of the present application, the driving component includes: a first driving component, a movable component and a second driving component; the first device is located on the movable component, the first driving component is connected to the movable component, and under the drive of the first driving component, the movable component drives the first device to move along the axial direction of the first device; the second driving component is connected to the first device, and is used to drive the first device to rotate around its own axial direction.

[0018] The surgical robot nail placement system of the embodiment of the present application includes a robotic arm, a first instrument located on the robotic arm, a prompt device and a controller, the controller is communicatively connected to the prompt device, and the controller is used to perform the following steps: obtaining a preset feed path for the first instrument to enter a target object, the target object includes a first part and a second part with different hardnesses, the first section in the feed path is located in the first part, and the second section is located in the second part; when it is detected that the head end of the first instrument begins to enter the first part, controlling the prompt device to output a first prompt message; obtaining target information, the target information including at least one of the displacement information of the head end, the position information of the head end and mechanical information on the first instrument; determining whether the head end enters the second part according to the target information, and when it is determined that the head end enters the second part, controlling the prompt device to output a second prompt message; determining whether the head end reaches the end of the feed path according to at least one of the displacement information of the head end and the position information of the head end, and when it is determined that the head end reaches the end of the feed path, controlling the prompt device to output a third prompt message. Since the embodiment of the present application can output corresponding prompt information when the head end of the first instrument enters the target object at different depths, the user can timely and accurately know the depth of the first instrument entering the target object according to the prompt information, ensuring that the depth of the first instrument entering the target object is consistent with the expected target depth, and avoiding the situation where the first instrument enters the target object too deeply or too shallowly. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 This is a schematic diagram of the operation of spinal surgery;

[0021] Figure 2 A schematic diagram of the structure of a surgical robot nail placement system provided in an embodiment of the present application;

[0022] Figure 3 A schematic diagram of a process flow executed by a controller in a surgical robot nail placement system provided in an embodiment of the present application;

[0023] Figure 4 A schematic diagram of an operation of a surgical robot nail placement system provided in an embodiment of the present application;

[0024] Figure 5 A schematic diagram of another flow chart executed by a controller in a surgical robot nail placement system provided in an embodiment of the present application;

[0025] Figure 6 for Figure 5An operation schematic diagram corresponding to the flowchart schematic diagram shown;

[0026] Figure 7 A schematic diagram of another process flow executed by a controller in a surgical robot nail placement system provided in an embodiment of the present application;

[0027] Figure 8 for Figure 7 An operation schematic diagram corresponding to the flowchart schematic diagram shown;

[0028] Fig. 9 A schematic diagram of another process flow executed by a controller in a surgical robot nail placement system provided in an embodiment of the present application;

[0029] Fig.10 A schematic diagram of another process flow executed by a controller in a surgical robot nail placement system provided in an embodiment of the present application;

[0030] Fig.11 A schematic diagram of another flow chart executed by a controller in a surgical robot nail placement system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0032] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0033] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0034] Before describing the technical solutions provided by the embodiments of the present application, in order to facilitate the understanding of the embodiments of the present application, the present application first specifically describes the problems existing in the prior art:

[0035] As mentioned in the background technology, the inventors of this application have discovered that the user cannot accurately know the current position of the medical device when pushing the robotic arm, which may cause the medical device to enter the target object too deeply or too shallowly, affecting the surgical effect.

[0036] In order to solve the problem that the user cannot accurately know the current position of the medical device, resulting in the medical device entering the target object too deep or too shallow, the inventor of the present application first studied and analyzed the root causes of the above technical problems. The technical problems found by the inventor of the present application and the root causes of the technical problems are explained below in combination with the spinal surgery scenario:

[0037] like Figure 1 As shown, the cross section of the spine 10 in a vertical state is composed of the outer cortical bone 101, the cancellous bone 102, the inner cortical bone 103 and the spinal cord 104 in the direction from outside to inside. In spinal surgery, at least the head end of the medical instrument 20 (such as a bone drill) needs to pass through the outer cortical bone 101 from outside to inside and enter the cancellous bone 102. Since the hardness of the outer cortical bone 101 is greater than that of the cancellous bone 102, the doctor relies entirely on manual operation to make the resistance of the medical instrument 20 pass through the outer cortical bone 101 and the cancellous bone 102 change from large to small. Once the doctor senses that the resistance changes from small to large again, it means that the head end of the medical instrument 20 is about to pass through the inner cortical bone 103 and enter the spinal cord 104 or is about to pass through the outer cortical bone 101 and penetrate the spine 10. Based on this, the doctor can judge the position (or drilling depth) of the medical instrument 20 according to the feedback of the resistance in the case of full manual operation.

[0038] However, in spinal surgery assisted by surgical robots, the medical instrument 20 is held by a robotic arm (not shown in the figure). The specific process is as follows: the force used by the doctor to push the robotic arm to perform the surgical operation is detected by the force sensor in the robotic arm, and then the surgical robot performs motion trend analysis and motion control based on the force detected by the force sensor, and converts the doctor's smaller force into a working force for controlling the movement of the end of the robotic arm. In this case, although the burden of the doctor moving the robotic arm is reduced, since the main force application object of the medical instrument 20 is changed from the doctor himself to the robotic arm, the doctor cannot feel the resistance and resistance change of the medical instrument 20 in contact with various parts of the spine 10 during feeding. Therefore, the doctor cannot judge when the medical instrument 20 passes through the outer cortical bone 101 and enters the cancellous bone 102 or when it passes through the cancellous bone 102 and enters the outer cortical bone 101 or the inner cortical bone 103 based on the resistance, which can easily cause the drilling process to be too shallow, the drilling deviates from the predetermined path, or the drilling is too deep.

[0039] In view of the above research findings of the inventors, an embodiment of the present application provides a surgical robot nail placement system, which can at least solve the technical problem in the prior art that the user cannot accurately know the current position of the first instrument (such as a medical instrument), resulting in the first instrument entering the target object too deep or too shallow.

[0040] The technical concept of the embodiment of the present application is that the controller in the surgical robot nail placement system is used to perform the following steps: for a target object including a first part and a second part, first obtain a preset feed path for the first instrument to enter the target object, the first section in the feed path is located in the first part, and the second section is located in the second part; next, when it is detected that the head end of the first instrument begins to enter the first part, the control prompt device outputs a first prompt message; next, obtain target information, the target information includes at least one of the displacement information of the head end, the position information of the head end and the mechanical information on the first instrument; next, determine whether the head end enters the second part according to the target information, and when it is determined that the head end enters the second part, control the prompt device to output a second prompt message; next, determine whether the head end reaches the end of the feed path according to at least one of the displacement information of the head end and the position information of the head end, and when it is determined that the head end reaches the end of the feed path, control the prompt device to output a third prompt message.

[0041] In this way, since corresponding prompt information is output when the head end of the first instrument enters the target object at different depths, the user can timely and accurately know the depth of the first instrument entering the target object according to the prompt information, ensuring that the depth of the first instrument entering the target object is consistent with the expected target depth, avoiding the situation where the first instrument enters the target object too deeply or too shallowly.

[0042] The following is an introduction to the surgical robot nail placement system provided in the embodiments of the present application.

[0043] like Figure 2 As shown, the surgical robot nail placement system 200 provided in the embodiment of the present application includes a robotic arm 201, a first instrument 202, a prompting device 203 and a controller 204. The first instrument 202 is located on the robotic arm 201. The first instrument 202 includes but is not limited to medical instruments, which may include instruments such as drills, nails, and needles that can enter a target object. The prompting device 203 includes but is not limited to an indicator light, a display screen, a motor or a speaker or a combination thereof. The controller 204 is in communication with the prompting device 203, such as Figure 3 As shown, the controller 204 is used to execute the following steps S101, S102, S103, S104 and S105.

[0044] S101, obtaining a preset feeding path for a first instrument to enter a target object, the target object comprising a first portion and a second portion having different hardnesses, a first section of the feeding path being located in the first portion, and a second section being located in the second portion.

[0045] S102: When it is detected that the head end of the first device begins to enter the first part, the prompt device is controlled to output a first prompt message.

[0046] S103, acquiring target information, where the target information includes at least one of displacement information of the head end, position information of the head end, and mechanical information on the first device.

[0047] S104, determining whether the head end enters the second part according to the target information, and when it is determined that the head end enters the second part, controlling the prompt device to output second prompt information.

[0048] S105, determining whether the head end reaches the end point of the feeding path according to at least one of the displacement information of the head end and the position information of the head end, and when it is determined that the head end reaches the end point of the feeding path, controlling the prompt device to output third prompt information.

[0049] The specific implementation of the above steps will be described in detail below.

[0050] The surgical robot nail placement system provided in the embodiment of the present application outputs corresponding prompt information when the head end of the first instrument enters the target object at different depths, such as outputting the first prompt information when the head end of the first instrument begins to enter the first part, outputting the second prompt information when the head end of the first instrument enters the second part, and outputting the third prompt information when the head end of the first instrument reaches the end of the feed path. Therefore, the user can timely and accurately know the depth of the first instrument entering the target object according to the prompt information, ensure that the depth of the first instrument entering the target object is consistent with the expected target depth, and avoid the situation where the first instrument enters the target object too deeply or too shallowly.

[0051] The specific implementation methods of the above steps are introduced below.

[0052] Combination Figure 4 As shown, before the controller 204 executes step S101, the feeding path S for the first instrument 202 to enter the target object 40 may be preset. The feeding path S may include a first section s1 and a second section s2, the first section s1 may be located at a first portion 401 of the target object 40, and the second section s2 may be located at a second portion 402 of the target object 40. The first portion 401 and the second portion 402 have different hardnesses. For example, the hardness of the first portion 401 is greater than that of the second portion 402, or the hardness of the first portion 401 is less than that of the second portion 402.

[0053] It should be noted that, in the embodiment of the present application, the first instrument 202 includes but is not limited to medical instruments, and the target object 40 includes but is not limited to bones. For example, the first instrument 202 may be a tool used in a construction project or a processing workshop, such as a drill, and the target object 40 may be a wall or a processed part. In the case where the first instrument 202 is a medical instrument and the target object 40 is a bone, the medical instrument may include instruments such as a drill, a nail, and a needle that can enter the target object 40, the first part 401 may include cortical bone, and the second part 402 may include cancellous bone.

[0054] In practical applications, for example, a two-dimensional model or a three-dimensional model of the target object 40 may be first established, and then a feeding path S for the first device 202 to enter the target object 40 may be set on the two-dimensional model or the three-dimensional model of the target object 40. After the feeding path S is determined, the starting point of the first segment s1, the end point of the first segment s1, the starting point of the second segment s2, the end point of the second segment s2, the distance (length) of the first segment s1, and the distance of the second segment s2 are determined accordingly.

[0055] In S101 , a preset feeding path S for the first tool 202 to enter the target object 40 may be acquired.

[0056] In S102, when it is detected that the head end 30a of the first instrument 202 begins to enter the first part 401, the prompt device 203 is controlled to output the first prompt information.

[0057] Specifically, in some embodiments, the surgical robot nail placement system 200 may further include a mechanical sensor, which is connected to the first instrument 202, and is used to collect mechanical information on the first instrument 202. For example, the mechanical information may include the axial force of the first instrument 202 and / or the torque generated by the first instrument 202. Since the first instrument 202 has no axial force and no torque when the head end 30a does not contact the first part 401, or the axial force of the first instrument 202 and the torque generated by the first instrument 202 are small, the controller is specifically used for the following steps: when the axial force of the first instrument 202 and / or the torque generated by the first instrument 202 are greater than a preset threshold, it is determined that the head end 30a of the first instrument 202 begins to enter the first part 401; when it is determined that the head end 30a of the first instrument 202 begins to enter the first part 401, the prompt device is controlled to output the first prompt information. It should be noted that the preset threshold can be flexibly set according to actual conditions, and the embodiment of the present application does not limit this.

[0058] In other embodiments, the surgical robot nail placement system 200 may further include a first tracer, a second tracer and a locator, the first tracer may be located on the first instrument 202 or the end of the robotic arm carrying the first instrument 202, and the second tracer may be located on the target object 40. The locator may collect the spatial coordinates of the first tracer and the spatial coordinates of the second tracer. The controller 204 may be used to perform the following steps: determine the spatial coordinates of the head end 30a of the first instrument 202 according to the spatial coordinates of the first tracer and the predetermined positional relationship between the first tracer and the head end of the first instrument 202; determine the spatial coordinates of the target object 40 according to the spatial coordinates of the second tracer and the predetermined positional relationship between the second tracer and the target object 40; determine the relative positional relationship between the head end 30a of the first instrument 202 and the first part 401 according to the spatial coordinates of the head end 30a of the first instrument 202 and the spatial coordinates of the target object 40. Furthermore, the controller 204 can also be used to perform the following steps: determine whether the head end 30a of the first device 202 begins to enter the first part 401 based on the relative position relationship between the head end 30a of the first device 202 and the first part 401; and when it is determined that the head end 30a of the first device 202 begins to enter the first part 401, control the prompt device to output the first prompt information.

[0059] It should be noted that the first tracer and the second tracer can be optical, electromagnetic, or inertial devices, and the corresponding locator can be an optical, electromagnetic, or inertial locator. The tracing element of the first tracer and the tracing element of the second tracer can be a light-emitting diode, a reflective ball, a reflective sheet, an electromagnetic coil, etc., which is not limited in the embodiments of the present application.

[0060] In S103 , target information is acquired, and the target information may include at least one of displacement information of the head end 30 a of the first instrument 202 , position information of the head end 30 a of the first instrument 202 , and mechanical information on the first instrument 202 .

[0061] In S104, it is determined whether the head end 30a of the first instrument 202 enters the second portion 402 according to the target information, and when it is determined that the head end 30a of the first instrument 202 enters the second portion 402, second prompt information is output.

[0062] S103 and S104 are described below in conjunction with some specific embodiments.

[0063] According to some embodiments of the present application, the surgical robot nail placement system 200 may optionally further include a speed sensor, which is used to collect the feed speed of the first instrument. The target information may include the displacement information of the head end 30a of the first instrument 202. Figure 5 As shown, the controller 204 may specifically perform the following steps S401 and S402.

[0064] S401, obtaining the feeding speed of the first device at multiple time nodes in a first time period, where the first time period is a time period from the first moment when the head end begins to enter the first part to the current moment.

[0065] Specifically, Figure 6 As shown, the first time t0 when the head end 30a of the first instrument 202 begins to enter the first part 401 is different from the current time t 当前 The time period between is recorded as the first time period T1. A plurality of time nodes t1 to t2 of the first device 202 in the first time period T1 are obtained. n Feed speed v1~v n , n is a positive integer, and the feeding speed is the speed at which the first device 202 moves along the axial direction.

[0066] S402: Determine the displacement of the head end in the target object according to the feeding speeds at multiple time nodes.

[0067] Specifically, according to a plurality of time nodes t1 to t n Feed speed v1~v n, determine the displacement of the head end 30a of the first instrument 202 in the target object 40. In some examples, for example, the feed speeds v1 to v n The average, median or mode of the feed speed v1~v n The displacement of the head end 30a of the first instrument 202 in the target object 40 is obtained by multiplying the average value, median or mode of the first time period T1 by the length of the first time period T1. In other examples, multiple time nodes t1-t n Feed speed v1~v n The displacement of the head end 30a of the first instrument 202 in the target object 40 is obtained by integrating the time. In this way, since the displacement of the head end 30a of the first instrument 202 in the target object 40 is determined by the feed speed v1 to v n The displacement result is obtained by integral calculation relative to time, so the displacement result is closer to the actual displacement of the head end 30a of the first instrument 202, thereby ensuring the accuracy of the displacement of the head end 30a of the first instrument 202 in the target object 40.

[0068] Accordingly, the controller 204 may specifically perform the following steps: when the displacement of the head end 30a of the first device 202 in the target object 40 is equal to the distance of the first segment s1 in the feed path S, determine that the head end 30a of the first device 202 enters the second portion 402 .

[0069] like Figure 4 As shown, when the displacement of the head end 30a of the first instrument 202 in the target object 40 is equal to the distance of the first segment s1 in the feeding path S, it means that the head end 30a of the first instrument 202 has just entered or is about to enter the second portion 402. At this time, the controller 204 can control the prompt device 203 to output the second prompt information to prompt the user that the head end 30a of the first instrument 202 has just entered or is about to enter the second portion 402.

[0070] and Figure 5Different from the illustrated embodiment, according to other embodiments of the present application, the target information may optionally include the position information of the head end 30a of the first instrument 202. Specifically, a first tracer (such as a tracer) is provided on the first instrument 202 or the end of the mechanical arm carrying the first instrument 202, and a second tracer is provided on the target object 40. The locator can collect the spatial coordinates of the first tracer and the spatial coordinates of the second tracer. The controller 204 can be specifically used to perform the following steps: first, the target object 40 entity can be spatially registered (or hand-eye calibration) with the pre-established three-dimensional model of the target object 40, and specifically, a plurality of target position points on the target object 40 entity can be aligned with a plurality of corresponding target position points on the three-dimensional model of the target object 40, thereby establishing a relative position relationship between the target object 40 entity and the three-dimensional model of the target object 40. Thus, according to the actual coordinates of the target object 40 entity in the actual space (such as the world coordinate system or the camera coordinate system) and the relative positional relationship between the target object 40 entity and the three-dimensional model of the target object 40, the actual coordinates of the starting point of the first segment s1, the end point of the first segment s1, the starting point of the second segment s2, and the end point of the second segment s2 in the actual space (such as the world coordinate system or the camera coordinate system) can be determined. Then, the controller 204 can also be used to perform the following steps: according to the spatial coordinates of the first tracer and the predetermined positional relationship between the first tracer and the head end of the first instrument 202, the coordinates of the head end 30a of the first instrument 202 in the actual space are determined; when the deviation between the coordinates of the head end 30a of the first instrument 202 in the actual space and the actual coordinates of the end point of the first segment s1 (or the starting point of the second segment s2) in the actual space is within the preset error range, it is determined that the head end 30a of the first instrument 202 enters the second part 402. At this time, the controller 204 may control the prompting device 203 to output a second prompting message to prompt the user that the head end 30a of the first instrument 202 has just entered or is about to enter the second portion 402 .

[0071] and Figure 5Different from the embodiment shown, according to some other embodiments of the present application, the target information may optionally include mechanical information on the first instrument 202. For example, the mechanical information may include the axial force of the first instrument 202 and / or the torque generated by the first instrument 202. Since the magnitude of the axial force of the first instrument 202 and / or the magnitude of the torque generated by the first instrument 202 are different when the head end 30a of the first instrument 202 contacts the first part 401 and the second part 402, it is possible to determine whether the head end 30a of the first instrument 202 enters the second part 402 according to the magnitude of the axial force of the first instrument 202 and / or the magnitude of the torque generated by the first instrument 202. Specifically, taking the hardness of the first part 401 as greater than the hardness of the second part 402 as an example, the controller 204 may be specifically used to perform the following steps: after the control prompt device 203 outputs the first prompt information, if the axial force of the first instrument 202 and / or the torque generated by the first instrument 202 are less than the preset first threshold value, it is determined that the head end 30a of the first instrument 202 enters the second part 402. It is easy to understand that the first threshold value may include a first force threshold value and / or a first torque threshold value. If the axial force of the first instrument 202 and / or the torque generated by the first instrument 202 is less than the preset first threshold value, it is determined that the head end 30a of the first instrument 202 enters the second part 402, which may specifically include: if the axial force of the first instrument 202 is less than the first force threshold value, it is determined that the head end 30a of the first instrument 202 enters the second part 402; or, if the torque generated by the first instrument 202 is less than the first torque threshold value, it is determined that the head end 30a of the first instrument 202 enters the second part 402; or, if the axial force of the first instrument 202 is less than the first force threshold value and the torque generated by the first instrument 202 is less than the first torque threshold value, it is determined that the head end 30a of the first instrument 202 enters the second part 402. It should be noted that the first threshold value can be flexibly set according to actual conditions, and the embodiment of the present application does not limit this.

[0072] The controller 204 can be specifically used to perform the following steps: when it is determined that the head end 30a of the first device 202 enters the second part 402, the prompt device 203 can be controlled to output second prompt information to prompt the user that the head end 30a of the first device 202 enters the second part 402.

[0073] Continue as Figure 3 As shown, the controller 204 can be used to perform the following steps: in S105, determine whether the head end 30a of the first instrument 202 reaches the end point of the feed path S based on at least one of the displacement information of the head end 30a of the first instrument 202 and the position information of the head end 30a of the first instrument 202, and when it is determined that the head end 30a of the first instrument 202 reaches the end point of the feed path S, control the prompt device 203 to output a third prompt message.

[0074] According to some embodiments of the present application, the controller 204 may be configured to perform the following steps: according to a plurality of time nodes t1 to t2 in the first time period T1, n Feed speed v1~v n , determine the displacement of the head end 30a of the first device 202 in the target object 40; when the displacement of the head end 30a of the first device 202 in the target object 40 is equal to the sum of the distance of the first section s1 and the distance of the second section s2 in the feed path S, determine that the head end 30a of the first device 202 reaches the end point of the feed path S; when it is determined that the head end 30a of the first device 202 reaches the end point of the feed path S, control the prompt device 203 to output a third prompt information to prompt the user that the head end 30a of the first device 202 reaches the end point of the feed path S.

[0075] like Figure 7 As shown, according to some other embodiments of the present application, optionally, the controller 204 can be specifically used to perform the following steps S601 and S602.

[0076] S601. After the head end enters the second part, determine the displacement of the head end in the second part according to the feeding speeds of multiple time nodes in the second time period; the second time period is the time period from the second moment when the head end enters the second part to the current moment.

[0077] like Figure 8 As shown, the second time t0′ when the head end 30a of the first instrument 202 begins to enter the second part 402 is different from the current time t 当前 The time period between t1′ and t2 is recorded as the second time period T2. The mechanical sensor is used to obtain multiple time nodes t1′ to t3′ of the first instrument 202 in the second time period T2. n 'Feed speed v1'~v n ', n is a positive integer, and the feeding speed is the speed at which the first device 202 moves along the axial direction.

[0078] Specifically, according to a plurality of time nodes t1′ to t n 'Feed speed v1'~v n ', determine the displacement of the head end 30a of the first instrument 202 in the second part 402. In some examples, for example, the feed speed v1'~v n ', and calculate the feed speed v1'~v n The displacement of the head end 30a of the first instrument 202 in the second portion 402 is obtained by multiplying the average value, median or mode of ' by the duration of the second time period T2. In other examples, multiple time nodes t1' to t n'Feed speed v1'~v n ' is integrated with respect to time, and the displacement of the head end 30a of the first instrument 202 in the second part 402 is obtained. In this way, since the displacement of the head end 30a of the first instrument 202 in the second part 402 is determined by the feed speed v1'~v n 'It is calculated by integration relative to time, so the obtained displacement result is closer to the actual displacement of the head end 30a of the first instrument 202, thereby ensuring the accuracy of the displacement of the head end 30a of the first instrument 202 in the second part 402.

[0079] S602: When the displacement of the head end in the second portion is equal to the distance of the second section in the feeding path, it is determined that the head end reaches the end point of the feeding path.

[0080] Specifically, when it is determined that the head end 30a of the first instrument 202 reaches the end of the feeding path S, the controller 204 controls the prompting device 203 to output third prompt information to prompt the user that the head end 30a of the first instrument 202 reaches the end of the feeding path S.

[0081] and Figure 7 Different from the illustrated embodiment, according to some other embodiments of the present application, optionally, the controller 204 can be specifically used to perform the following steps: in S105, determine whether the head end has reached the end point of the feeding path based on the position information of the head end, and when it is determined that the head end has reached the end point of the feeding path, control the prompt device 203 to output a third prompt information.

[0082] Specifically, as described above, the actual coordinates of the end point of the second segment s2 in the actual space (such as the world coordinate system or the camera coordinate system) can be determined, and the end point of the second segment s2 is the end point of the feeding path S. Then, according to the spatial coordinates of the first tracer, the coordinates of the head end 30a of the first instrument 202 in the actual space can be determined. When the deviation between the coordinates of the head end 30a of the first instrument 202 in the actual space and the actual coordinates of the end point of the feeding path S in the actual space is within a preset error range, it is determined that the head end 30a of the first instrument 202 has reached the end point of the feeding path S. When it is determined that the head end 30a of the first instrument 202 has reached the end point of the feeding path S, the control prompt device 203 outputs a third prompt message to prompt the user that the head end 30a of the first instrument 202 has reached the end point of the feeding path S.

[0083] According to some embodiments of the present application, the first prompt information, the second prompt information and the third prompt information may optionally include visual prompts, tactile prompts and / or auditory prompts. The visual prompt may include at least one of the changes in the image, color or brightness displayed by the display / light group, the tactile prompt may include a vibration prompt generated by a motor, and the auditory prompt may include a sound prompt.

[0084] According to some embodiments of the present application, optionally, there are prompt differences between the first prompt information, the second prompt information, and the third prompt information. For example, different prompt information emits different colors of light, for example, different prompt information emits different sounds, for example, different prompt information has different vibration levels of the motor. In this way, since there are prompt differences between different prompt information, it is convenient for the user to accurately distinguish different prompt information according to the prompt differences, and then accurately know the position of the head end 30a of the first instrument 202.

[0085] like Fig. 9 As shown, according to some embodiments of the present application, optionally, the controller 204 may also be used to perform the following steps:

[0086] S106. When the prompt device outputs the first prompt information, the second prompt information, and the third prompt information, the mechanical arm is controlled to generate a damping force of a damping value corresponding to the first prompt information, the second prompt information, and the third prompt information; the damping values ​​corresponding to the first prompt information, the second prompt information, and the third prompt information are different. The damping force can be understood as the resistance encountered by the user when pushing the mechanical arm.

[0087] It should be noted that step S106 can be executed simultaneously with any one or more of steps S101 to S105.

[0088] In this way, since the damping force on the robotic arm will change according to the generation of the first prompt information, the second prompt information and the third prompt information (i.e., the progress of the head end of the first instrument entering the target object), the user can accurately judge the depth or current progress of the head end of the first instrument according to the change of the damping force on the robotic arm.

[0089] like Fig.10 As shown, according to some embodiments of the present application, optionally, the controller 204 can be specifically used to perform the following steps S901 to S904.

[0090] S901. Before the prompt device outputs the first prompt information, control the mechanical arm to generate a damping force of a first damping value.

[0091] Specifically, before the prompt device outputs the first prompt information, the head end of the first instrument is not in contact with the target object, and the mechanical arm has a damping force of a first damping value. The damping force of the first damping value allows the user to easily drag the mechanical arm, thereby moving the first instrument axially from the predetermined alignment position to contact with the first part of the target object.

[0092] S902: When the prompt device outputs the first prompt information, the mechanical arm is controlled to switch the damping value of the damping force from the first damping value to the second damping value.

[0093] Specifically, when the prompt device outputs the first prompt information, the control robot arm switches the damping value of the damping force on itself from the first damping value to the second damping value. Exemplarily, the second damping value may be greater than the first damping value. In this way, the user obtains force feedback through the robot arm and then knows that the head end of the first instrument is in the first part under this feedback.

[0094] S903: When the prompt device outputs the second prompt information, the robot arm is controlled to switch the damping value of the damping force from the second damping value to the third damping value.

[0095] S904: When the prompt device outputs the third prompt information, the robot arm is controlled to switch the damping value of the damping force from the third damping value to the fourth damping value.

[0096] In some optional embodiments, the fourth damping value may be infinite in a relative sense, that is, the mechanical arm is locked in one direction so that the mechanical arm can no longer feed. In this case, it means that the head end of the first instrument has reached the end of the feeding path. Then, the user can pull the first instrument away from the target object in the opposite direction.

[0097] According to some embodiments of the present application, optionally, the controller 204 may also be configured to perform the following steps:

[0098] Acquiring mechanical information on the first instrument, the mechanical information comprising at least one of an axial force acting on the first instrument and a torque generated by the first instrument;

[0099] The first damping value, the second damping value and the third damping value are determined according to at least one of the axial force applied to the first device and the torque generated by the first device. The damping values ​​of the first damping value, the second damping value and the third damping value are positively correlated with the force, and the damping values ​​of the first damping value, the second damping value and the third damping value are positively correlated with the torque.

[0100] Specifically, in S901, that is, before the head end of the first instrument contacts the target object, at least one of the axial force of the first instrument and the torque generated by the first instrument can be obtained through the mechanical sensor. The controller 204 determines the magnitude of the first damping value according to at least one of the axial force of the first instrument and the torque generated by the first instrument, and then controls the mechanical arm to generate a damping force of the first damping value. Before the head end of the first instrument contacts the target object, the axial force of the first instrument and / or the torque generated by the first instrument are small, and the corresponding first damping value is also small.

[0101] In S902, when the prompt device outputs the first prompt information, that is, when the head end of the first instrument contacts the first part of the target object, at least one of the axial force of the first instrument and the torque generated by the first instrument can be obtained through the mechanical sensor. The controller 204 determines the size of the second damping value based on at least one of the axial force of the first instrument and the torque generated by the first instrument, and then controls the mechanical arm to switch the damping value of its damping force from the first damping value to the second damping value. It is easy to understand that the second damping value can be greater than the first damping value. In this way, the user obtains force feedback through the mechanical arm and then knows that the head end of the first instrument is in the first part under this feedback.

[0102] In S903, when the prompt device outputs the second prompt information, that is, when the head end of the first instrument enters the second part of the target object, at least one of the axial force of the first instrument and the torque generated by the first instrument can be obtained through the mechanical sensor. The controller 204 determines the size of the third damping value based on at least one of the axial force of the first instrument and the torque generated by the first instrument, and then controls the damping value of the damping force on the mechanical arm to switch from the second damping value to the third damping value. It is easy to understand that when the hardness of the first part of the target object is greater than the hardness of the second part of the target object, the third damping value is less than the second damping value. The sudden change of the damping value can also make the user feel a "breakthrough feeling" similar to that of a hand drill, so that it can be known that the head end of the first instrument has entered the second part of the target object.

[0103] In this way, by adjusting the damping force on the robotic arm according to the detected axial force of the first instrument and / or the torque generated by the first instrument, the user can obtain the same "feel" as a hand drill through the robotic arm, thereby facilitating the user to timely and accurately know the depth of the head end of the first instrument or the current progress.

[0104] According to some embodiments of the present application, optionally, when the hardness of the first part is greater than the hardness of the second part, the fourth damping value>the second damping value>the third damping value>the first damping value.

[0105] According to some embodiments of the present application, the movement and / or rotation of the first instrument can be driven independently by a driving component located on the robotic arm. Specifically, the surgical robot nail placement system can also include a driving component, which is located on the robotic arm and is used to drive the first instrument to move and / or rotate under the control of the controller. Fig.11 As shown, the controller 204 can also be used to execute the following steps S1001 to S1003.

[0106] S1001: When a preset condition is met, a driving component that drives a first device to move and / or rotate is controlled to stop working. That is, the driving component is controlled to stop driving the first device to move and / or rotate.

[0107] Among them, the preset conditions may include at least one of the following items: the head end is in the first part, and the axial force of the first instrument or the torque generated by the first instrument is less than a preset first threshold; the head end is in the second part, and the axial force of the first instrument or the torque generated by the first instrument is greater than a preset second threshold; when the prompt device outputs a second prompt message; when the prompt device outputs a third prompt message.

[0108] S1002: Receive an operation instruction input by a user.

[0109] S1003. In response to the operation instruction, control the driving component to resume the working state to drive the first device to move and / or rotate.

[0110] Specifically, when the head end of the first device is in the first part of the target object, and the axial force of the first device or the torque generated by the first device is less than the preset first threshold value, it means that the head end of the first device passes through the first part of the target object and reaches the second part of the target object. At this time, the controller 204 controls the driving component to suspend driving the first device to move and / or rotate, waiting for the user to input an operation instruction. When receiving the operation instruction input by the user to resume work, in response to the operation instruction, the controller 204 controls the driving component to resume the working state to drive the first device to move and / or rotate.

[0111] Similarly, when the first end of the first instrument is in the second part of the target object, and the axial force of the first instrument or the torque generated by the first instrument is greater than a preset second threshold, it means that the first end of the first instrument passes through the second part of the target object to reach the first part of the target object, for example, through Figure 1 The cancellous bone 102 shown enters the outer cortical bone 101 or the inner cortical bone 103. At this time, the controller 204 controls the driving component to suspend driving the first instrument to move and / or rotate, waiting for the user to input an operation instruction. When receiving the operation instruction input by the user to resume work, in response to the operation instruction, the controller 204 controls the driving component to resume the working state to drive the first instrument to move and / or rotate. When receiving the operation instruction input by the user to axially withdraw, in response to the operation instruction, the controller 204 controls the driving component to rotate in the opposite direction to drive the first instrument to axially withdraw.

[0112] Similarly, when the prompt device outputs the second prompt information, it indicates that the head end of the first device passes through the first part of the target object and reaches the second part of the target object. At this time, the controller 204 controls the driving component to stop driving the first device to move and / or rotate, waiting for the user to input an operation instruction. When receiving the operation instruction input by the user to resume work, in response to the operation instruction, the controller 204 controls the driving component to resume the working state to drive the first device to move and / or rotate.

[0113] Similarly, when the prompt device outputs the third prompt information, it indicates that the head end of the first device has reached the end of the feeding path. At this time, the controller 204 controls the driving component to suspend driving the first device to move and / or rotate, waiting for the user to input an operation instruction. When receiving an operation instruction input by the user to resume work, in response to the operation instruction, the controller 204 controls the driving component to resume the working state to drive the first device to move and / or rotate. When receiving an operation instruction input by the user to axially withdraw, in response to the operation instruction, the controller 204 controls the driving component to rotate in the opposite direction to drive the first device to axially withdraw.

[0114] In some specific embodiments, optionally, the driving component may include a first driving component, a movable component, and a second driving component. The first instrument is located on the movable component, and the first driving component is connected to the movable component. Under the drive of the first driving component, the movable component drives the first instrument to move along the axial direction of the first instrument. The second driving component may be connected to the first instrument to drive the first instrument to rotate around its own axial direction. For example, the first driving component may include a first motor, and the first motor may include a linear motor or a rotary motor. In the case where the first motor is a linear motor, the movable component may include a slide rail and slider mechanism; in the case where the first motor is a rotary motor, the movable component may include a nut and screw pair. The second driving component may include a second motor, and the second motor may be a rotary motor.

[0115] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0116] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (Radio Frequency, RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0117] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0118] The above reference is according to the method of the embodiment of the present application, the flow chart of the device (system) and the computer program product and / or the block diagram described various aspects of the present application.It should be understood that each square box in the flow chart and / or the block diagram and the combination of each square box in the flow chart and / or the block diagram can be realized by computer program instructions.These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the realization of the function / action specified in one or more square boxes of the flow chart and / or the block diagram.Such a processor can be but is not limited to a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit.It can also be understood that each square box in the block diagram and / or the flow chart and the combination of the square boxes in the block diagram and / or the flow chart can also be realized by the dedicated hardware that performs the specified function or action, or can be realized by the combination of dedicated hardware and computer instructions.

[0119] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application.

Claims

1. A surgical robot nail placement system, characterized in that: The invention comprises a mechanical arm, a first instrument located on the mechanical arm, a prompting device and a controller, wherein: The controller is in communication with the prompting device, and the controller is used to perform the following steps: Acquire a preset feeding path of a first instrument entering a target object, wherein the target object comprises a first portion and a second portion having different hardnesses, a first section of the feeding path being located in the first portion, and a second section being located in the second portion; When it is detected that the head end of the first instrument begins to enter the first part, controlling the prompt device to output first prompt information; Acquiring target information, wherein the target information includes at least one of displacement information of the head end, position information of the head end, and mechanical information on the first device; determining whether the head end enters the second part according to the target information, and when it is determined that the head end enters the second part, controlling the prompt device to output second prompt information; determining whether the head end has reached the end point of the feeding path according to at least one of the displacement information of the head end and the position information of the head end, and controlling the prompt device to output third prompt information when it is determined that the head end has reached the end point of the feeding path; The controller is also used to perform the following steps: When the prompt device outputs the first prompt information, the second prompt information and the third prompt information, the robotic arm is controlled to generate a damping force with damping values ​​corresponding to the first prompt information, the second prompt information and the third prompt information respectively; the damping values ​​corresponding to the first prompt information, the second prompt information and the third prompt information are different.

2. The system according to claim 1, characterized in that The system further comprises a speed sensor, which is used to obtain the feeding speed of the first instrument at multiple time nodes in a first time period, wherein the first time period is a time period from the first moment when the head end begins to enter the first part to the current moment; The controller is specifically used to perform the following steps: determining the displacement of the head end in the target object according to the feeding speeds at the multiple time nodes; When the displacement of the head end in the target object is equal to the distance of the first section in the feeding path, it is determined that the head end enters the second portion.

3. The system according to claim 2, characterized in that The controller is specifically used to perform the following steps: calculating the integral of the feed speed of the multiple time nodes relative to time to obtain the displacement of the head end in the target object.

4. The system according to claim 2, characterized in that The controller is specifically used to perform the following steps: When the displacement of the head end in the target object is equal to the sum of the distance of the first section and the distance of the second section in the feeding path, it is determined that the head end reaches the end point of the feeding path.

5. The system according to claim 2, characterized in that The controller is specifically used to perform the following steps: After the head end enters the second part, the displacement of the head end in the second part is determined according to the feeding speeds at multiple time nodes in a second time period; the second time period is a time period from the second moment when the head end enters the second part to the current moment; When the displacement of the head end in the second portion is equal to the distance of the second section in the feed path, it is determined that the head end has reached the end point of the feed path.

6. The system according to claim 1, characterized in that There are prompt differences between the first prompt information, the second prompt information and the third prompt information.

7. The system according to claim 1, characterized in that The first instrument comprises a medical instrument, the target object comprises a bone, the first portion comprises cortical bone, and the second portion comprises cancellous bone.

8. The system according to claim 1, characterized in that The controller is specifically used to perform the following steps: Before the prompt device outputs the first prompt information, controlling the mechanical arm to generate a damping force of a first damping value; When the prompt device outputs the first prompt information, controlling the mechanical arm to switch the damping value of the damping force from the first damping value to the second damping value; When the prompt device outputs the second prompt information, controlling the mechanical arm to switch the damping value of the damping force from the second damping value to a third damping value; When the prompt device outputs the third prompt information, the mechanical arm is controlled to switch the damping value of the damping force from the third damping value to a fourth damping value.

9. The system according to claim 8, characterized in that The system further comprises a mechanical sensor, which is connected to the first instrument and is used to obtain mechanical information on the first instrument, wherein the mechanical information comprises at least one of an axial force acting on the first instrument and a torque generated by the first instrument; The controller is also used to perform the following steps: determine the sizes of the first damping value, the second damping value and the third damping value based on at least one of the applied force and the torque, the damping values ​​of the first damping value, the second damping value and the third damping value are positively correlated with the applied force, and the damping values ​​of the first damping value, the second damping value and the third damping value are positively correlated with the torque.

10. The system according to claim 8, characterized in that In a case where the hardness of the first portion is greater than the hardness of the second portion, the fourth damping value>the second damping value>the third damping value>the first damping value.

11. The system according to claim 1, characterized in that The system further comprises a driving component, which is located on the mechanical arm and is used to drive the first device to move and / or rotate under the control of the controller; The controller is also used to perform the following steps: When a preset condition is met, the driving component driving the first instrument to move and / or rotate is controlled to stop working; the preset condition includes at least one of the following items: the head end is in the first part, and the axial force of the first instrument or the torque generated by the first instrument is less than a preset first threshold value; the head end is in the second part, and the axial force of the first instrument or the torque generated by the first instrument is greater than a preset second threshold value; When the second prompt information is output; When the third prompt information is output; Receive operation instructions input by the user; In response to the operation instruction, the driving component is controlled to resume the working state to drive the first device to move and / or rotate.

12. The system according to claim 11, characterized in that The driving component comprises: a first driving component, a movable component and a second driving component; The first device is located on the movable component, the first driving component is connected to the movable component, and under the drive of the first driving component, the movable component drives the first device to move along the axial direction of the first device; The second driving component is connected to the first device and is used to drive the first device to rotate around its own axial direction.

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