A control method for cutting robot

Abstract

The present invention discloses a control method for a cutting robot, which relates to the field of surgical equipment control methods, comprising: a control unit performing calculations according to an angle instruction to obtain a target coordinate value for movement of a scalpel; controlling the movement of the scalpel according to the target coordinate value, and feeding back the current coordinate value of the scalpel to the control unit in real time; controlling the control unit to determine whether a steering mechanism enters a damping state according to the current coordinate value; and until the real-time position information is identical to the target coordinate value, the steering mechanism enters a locked state; after the control method receives a doctor's instruction, the control unit can control the steering mechanism of the scalpel according to the positional relationship between the current coordinate value and the target coordinate value of the scalpel, and perform a damping effect on the steering mechanism to ensure the movement accuracy and cutting effect of the scalpel, solve the problem that it is difficult for doctors to control the cutting plane, and make up for the shortcomings of doctors in surgical experience.

Description

Technical Field

[0001] The present invention belongs to the field of surgical equipment control methods, and more specifically, relates to a control method for a cutting robot. Background Art

[0002] During total knee replacement surgery, doctors use a special oscillating saw to cut and shape the bone in order to remove the diseased bone tissue and match the remaining bone tissue to the size and shape of the artificial joint. However, the effect of the cutting and shaping is easily affected by the doctor's surgical experience. Therefore, it is necessary to design a surgical robot and use a simple method to control it to ensure the effect of the surgery. This is the current development direction of surgical supporting equipment. Summary of the Invention

[0003] The purpose of the present invention is to address the shortcomings of the existing technology and provide a control method for a cutting robot. After receiving the doctor's instructions, the control unit can control the servo mechanism of the scalpel according to the positional relationship between the current coordinate value and the target coordinate value of the scalpel, and damp the servo mechanism to ensure the movement accuracy and cutting effect of the scalpel, solve the problem that the doctor has difficulty in controlling the cutting plane, and make up for the doctor's shortcomings in surgical experience.

[0004] In order to achieve the above object, the present invention provides a control method for a cutting robot, comprising:

[0005] The control unit calculates according to the angle instruction and obtains the target coordinate value of the scalpel movement;

[0006] The scalpel is controlled to move according to the target coordinate value, and the current coordinate value of the scalpel is fed back to the control unit in real time;

[0007] The control unit determines whether the steering mechanism enters a damping state according to the current coordinate value;

[0008] Until the real-time position information is identical to the target coordinate value, the steering mechanism enters a locked state.

[0009] Optionally, a moving distance value is obtained based on the current coordinate value and the target coordinate value, and whether the servo mechanism enters a damping state is determined based on the numerical value of the moving distance value and a preset value, and whether the damping value of the servo mechanism increases is determined based on the numerical value of the moving distance value and a limit value.

[0010] Optionally, a preset boundary is further included, and when the distance between the current coordinate value and the preset boundary is less than a first threshold, the servo mechanism enters the damping state.

[0011] Optionally, when the current coordinate value exceeds the preset boundary, the servo mechanism enters a locked state.

[0012] Optionally, the servo mechanism includes a first rotating motor, a second rotating motor, a first uniaxial servo and a second uniaxial servo, the first uniaxial servo is arranged between the first connecting member and the second connecting member, the second uniaxial servo is arranged between the third connecting member and the scalpel, and the first rotating motor and the second rotating motor are arranged between the second connecting member and the third connecting member.

[0013] Optionally, the control unit includes an Arduino control board, and the Arduino control board is connected to the servo mechanism via a servo adapter board.

[0014] Optionally, the steering gear mechanism further includes a potentiometer, and the potentiometer is respectively connected to the first rotating motor, the second rotating motor, the first single-axis steering gear, and the second single-axis steering gear through a steering gear adapter plate.

[0015] Optionally, the Arduino control board is further connected to a display module, and the display module uses a Python graphics window for display.

[0016] Optionally, the Arduino control board sends movement instructions to the first single-axis servo, the first rotating motor, the second rotating motor and the second single-axis servo in sequence.

[0017] Optionally, the damping state includes a zero resistance mode and a maximum resistance mode.

[0018] The present invention provides a control method for a cutting robot, which has the following beneficial effects: the control method for the cutting robot applies active constraints to the scalpel, and performs two stages: damping feedback and torque constraint. When the scalpel approaches a preset boundary, the servo mechanism enters a damping state, and the rotating shaft in the servo mechanism generates a rotational damping torque, thereby providing the doctor with mechanical feedback during the surgical operation; when the scalpel is about to exceed the preset boundary, the servo mechanism enters a torque mode, the rotating shaft in the servo mechanism is locked, and the movement of the scalpel is restricted, thereby avoiding surgical errors caused by the chip plane exceeding the range.

[0019] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0021] Figure 1A control flow chart of a cutting robot control method according to an embodiment of the present invention is shown.

[0022] Figure 2 A logical relationship diagram of a control method for a cutting robot according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0023] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. Instead, these embodiments are provided to make the present invention more thorough and complete and to fully convey the scope of the present invention to those skilled in the art.

[0024] The present invention provides a control method for a cutting robot, comprising:

[0025] The control unit calculates according to the angle instruction and obtains the target coordinate value of the scalpel movement;

[0026] The scalpel is controlled to move according to the target coordinate value, and the current coordinate value of the scalpel is fed back to the control unit in real time;

[0027] The control unit determines whether the servo mechanism enters the damping state according to the current coordinate value;

[0028] Until the real-time position information is the same as the target coordinate value, the servo mechanism enters the locked state.

[0029] Specifically, after receiving the angle instruction from the doctor, the control unit calculates the target coordinate value, and then controls the servo mechanism to move the scalpel toward the target coordinate value. During the movement of the scalpel, the servo mechanism is in zero-resistance mode and moves quickly to the target position; when the scalpel reaches the target coordinate value, the servo mechanism is in a locked state, ready to start cutting the bone tissue.

[0030] Optionally, a moving distance value is obtained based on the current coordinate value and the target coordinate value, and whether the servo mechanism enters a damping state is determined based on the numerical value of the moving distance value and the preset value, and whether the damping value of the servo mechanism increases is determined based on the numerical value of the moving distance value and the limit value.

[0031] Specifically, the preset value is the distance that the scalpel needs to move. When the moving distance value is greater than the preset value, the servo mechanism will not encounter resistance during the movement of the scalpel, and the servo mechanism is in zero-resistance mode. When the moving distance value is less than the preset value, the resistance encountered by the servo mechanism during the movement of the scalpel begins to slowly increase, and the movement speed of the scalpel begins to slow down, ensuring that the scalpel can accurately move to the target coordinate value; when the scalpel reaches the target coordinate value, the limit value is the distance the scalpel moves when performing a plane cutting. When the scalpel moving distance is less than the limit value, the resistance is increased accordingly according to the length of the moving distance, ensuring that the scalpel has a stable speed when cutting bone tissue, so that the size and shape of the cut meet the requirements. When the scalpel moving distance is greater than the limit value, the servo mechanism is in a locked state to prevent the scalpel from accidentally touching other parts of the bone tissue.

[0032] Optionally, a preset boundary is further included, and when the distance between the current coordinate value and the preset boundary is less than a first threshold, the servo mechanism enters a damping state.

[0033] Optionally, when the current coordinate value exceeds a preset limit, the servo mechanism enters a locked state.

[0034] Specifically, when the control unit is controlled by an active constraint algorithm, the active constraint algorithm can be divided into two stages: damping feedback and torque constraint. When the scalpel approaches the preset boundary, the servo mechanism enters a damping state, generating a rotational damping torque to provide mechanical feedback to the doctor during operation. When the scalpel position is about to exceed the preset boundary, the servo mechanism enters a torque mode, locking the servo mechanism and constraining its movement to prevent injury. In addition, the cutting robot also has a zero-resistance switch. When the doctor presses the switch, the servo always remains in low-resistance mode.

[0035] Optionally, the servo mechanism includes a first rotating motor, a second rotating motor, a first uniaxial servo and a second uniaxial servo, the first uniaxial servo is arranged between the first connecting member and the second connecting member, the second uniaxial servo is arranged between the third connecting member and the scalpel, and the first rotating motor and the second rotating motor are arranged between the second connecting member and the third connecting member.

[0036] Specifically, the control method is designed for a cutting robot, which includes a first rotating motor, a second rotating motor, a first single-axis servo and a second single-axis servo, which connect and drive the first connecting member, the second connecting member and the third connecting member to ensure that the scalpel always moves on the same plane and achieves high-precision rotation.

[0037] Optionally, the control unit includes an Arduino control board, and the Arduino control board is connected to the servo mechanism via a servo adapter board.

[0038] Optionally, the Arduino control board is further connected to a display module, and the display module uses a Python graphics window for display.

[0039] Specifically, this control method requires controlling the servo mechanism through an Arduino control board. One end is connected to a PC for data transmission, and the other end is connected to a UC01 driver board to control the servo mechanism. A switch is also connected to receive input from the doctor. The UC01 driver board is connected to an 8V power supply to power the servo mechanism. The servo mechanism's motors are connected in series via a bus, and Python is used to display real-time position. Master the control method of the servo mechanism using a serial bus.

[0040] Optionally, the servo mechanism further includes a potentiometer, which is respectively connected to the first rotating motor, the second rotating motor, the first single-axis servo, and the second single-axis servo through a servo adapter plate.

[0041] Specifically, the servo adapter board converts the single-wire UART servo into a two-wire TTL interface (Rx receiving end and Tx transmitting end), and communicates with the microcontroller via the two-wire TTL serial port. The adapter board is powered by an external power supply, which also powers the servo. Thus, the voltage range of the external power supply depends on the voltage range of the servo. In the servo mechanism, the rotary potentiometer is coaxial with the output shaft of each motor in the servo mechanism, and the angular rotational displacement of the output shaft is converted into a linear resistance value. The MCU on the circuit board performs ADC sampling on the potentiometer's resistance stabilization circuit. The sampled voltage value further derives the current angle of each motor output shaft and issues control instructions for the target position.

[0042] Optionally, the Arduino control board sends movement instructions to the first single-axis servo, the first rotating motor, the second rotating motor and the second single-axis servo in sequence.

[0043] Specifically, according to the rotation angle obtained by the potentiometer, a movement instruction is sent to the servo mechanism through the Arduino control board, so that the cutting robot drives the scalpel to move. First, the first connecting rod is controlled to rotate by the first single-axis servo, and then the second connecting rod is controlled to rotate by the first rotating motor and the second rotating motor. Finally, the third connecting rod is controlled to rotate by the second single-axis servo, so that the scalpel reaches the target coordinate value.

[0044] Optionally, the damping state includes a zero resistance mode and a maximum resistance mode.

[0045] Specifically, the damping state is based on the position of the scalpel relative to the preset boundary. The closer the scalpel is to the preset boundary, the greater the increase in damping. In this way, the damping can be switched between zero resistance mode and maximum resistance mode during the movement of the scalpel. Example

[0046] like Figures 1 to 2 As shown, the present invention provides a control method for a cutting robot, comprising:

[0047] The control unit calculates according to the angle instruction and obtains the target coordinate value of the scalpel movement;

[0048] The scalpel is controlled to move according to the target coordinate value, and the current coordinate value of the scalpel is fed back to the control unit in real time;

[0049] The control unit determines whether the servo mechanism enters the damping state according to the current coordinate value;

[0050] Until the real-time position information is the same as the target coordinate value, the servo mechanism enters the locked state.

[0051] In this embodiment, the moving distance value is obtained based on the current coordinate value and the target coordinate value. Based on the numerical value of the moving distance value and the preset value, it is determined whether the servo mechanism enters the damping state. Based on the numerical value of the moving distance value and the limit value, it is determined whether the damping value of the servo mechanism increases.

[0052] In this embodiment, a preset boundary is further included. When the distance between the current coordinate value and the preset boundary is less than a first threshold, the steering gear mechanism enters a damping state.

[0053] In this embodiment, when the current coordinate value exceeds the preset limit, the steering mechanism enters a locked state.

[0054] In this embodiment, the servo mechanism includes a first rotating motor, a second rotating motor, a first uniaxial servo and a second uniaxial servo. The first uniaxial servo is arranged between the first connecting member and the second connecting member, the second uniaxial servo is arranged between the third connecting member and the scalpel, and the first rotating motor and the second rotating motor are arranged between the second connecting member and the third connecting member.

[0055] In this embodiment, the control unit includes an Arduino control board, and the Arduino control board is connected to the servo mechanism via a servo adapter board.

[0056] In this embodiment, the steering gear mechanism further includes a potentiometer, which is connected to the first rotating motor, the second rotating motor, the first single-axis steering gear, and the second single-axis steering gear respectively through a steering gear adapter plate.

[0057] In this embodiment, the Arduino control board is also connected to a display module, and the display module uses a Python graphics window for display.

[0058] In this embodiment, the Arduino control board sends movement instructions to the first single-axis servo, the first rotating motor, the second rotating motor, and the second single-axis servo in sequence.

[0059] In this embodiment, the damping state includes a zero resistance mode and a maximum resistance mode.

[0060] In summary, the control method of the cutting robot sends a movement instruction to the servo mechanism after receiving the doctor's instruction. The first single-axis servo, the first rotating motor, the second rotating motor and the second single-axis servo in the servo mechanism rotate in sequence to drive the scalpel to move. During the movement of the servo mechanism, the damping state of the servo mechanism is switched according to the comparison between the moving distance value and the preset value. After the scalpel moves to the target coordinate value, when the scalpel cuts the bone tissue within the preset boundary, when the scalpel approaches the preset boundary, the servo mechanism enters the damping state, and the servo mechanism generates a rotational damping torque to give the doctor mechanical feedback during the operation; when the scalpel position is about to exceed the preset boundary, the servo mechanism enters the torque mode, the servo mechanism is locked, and the mechanism movement is constrained to prevent injury.

[0061] While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A cutting robot capable of performing a method, characterized in that: include: The control unit calculates according to the angle instruction and obtains the target coordinate value of the scalpel movement; The scalpel is controlled to move according to the target coordinate value, and the current coordinate value of the scalpel is fed back to the control unit in real time; The control unit determines whether the steering mechanism enters a damping state according to the current coordinate value; Until the real-time position information is identical to the target coordinate value, the steering mechanism enters a locked state; A moving distance value is obtained according to the current coordinate value and the target coordinate value, and whether the servo mechanism enters the damping state is judged according to the numerical value of the moving distance value and the preset value. When the moving distance value is greater than the preset value, the servo mechanism is in zero-resistance mode. When the moving distance value is less than the preset value, the resistance encountered by the servo mechanism during the movement of the scalpel begins to slowly increase. When the scalpel reaches the target coordinate value, the limit value is the distance moved by the scalpel when performing plane cutting. According to the numerical value of the moving distance value and the limit value, it is judged whether the damping value encountered by the servo mechanism increases. When the moving distance of the scalpel is less than the limit value, the resistance is increased accordingly according to the length of the moving distance.

2. The cutting robot according to claim 1, characterized in that: It also includes a preset boundary. When the distance between the current coordinate value and the preset boundary is less than a first threshold, the steering gear mechanism enters the damping state.

3. The cutting robot according to claim 2, characterized in that: When the current coordinate value exceeds the preset limit, the steering mechanism enters a locked state.

4. The cutting robot according to claim 1, characterized in that: The servo mechanism includes a first rotating motor, a second rotating motor, a first uniaxial servo and a second uniaxial servo. The first uniaxial servo is arranged between the first connecting member and the second connecting member, the second uniaxial servo is arranged between the third connecting member and the scalpel, and the first rotating motor and the second rotating motor are arranged between the second connecting member and the third connecting member.

5. The cutting robot according to claim 4, characterized in that: The control unit includes an Arduino control board, and the Arduino control board is connected to the servo mechanism via a servo adapter board.

6. The cutting robot according to claim 5, characterized in that: The steering gear mechanism further includes a potentiometer, which is respectively connected to the first rotating motor, the second rotating motor, the first single-axis steering gear, and the second single-axis steering gear through a steering gear adapter plate.

7. The cutting robot according to claim 5, characterized in that: The Arduino control board is also connected to a display module, and the display module uses a Python graphics window for display.

8. The cutting robot according to claim 5, characterized in that: The Arduino control board sends movement instructions to the first single-axis steering gear, the first rotating motor, the second rotating motor and the second single-axis steering gear in sequence.

9. The cutting robot according to claim 1, characterized in that: The damping state includes the zero resistance mode and the maximum resistance mode.

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