Drilling tool tip positioning method and apparatus

Abstract

The application relates to a drilling tool tip positioning method and device, wherein the method comprises the following steps: constructing a double-laser displacement sensor drilling tool positioning structure; calibrating the zero point position of the double-laser displacement sensor in the double-laser displacement sensor drilling tool positioning structure and the proportional coefficient from the laser measurement point to the deflection point based on a preset calibration strategy; installing the drilling tool at a preset position in the double-laser displacement sensor drilling tool positioning structure and calculating the plane coordinates and axial position of the drilling tool based on the calibration result to obtain the position of the rotation center of the drilling tool. Thus, the problems that the cutting tool tip is difficult to be positioned in real time with high precision and tool shaking state monitoring cannot be realized are solved.

Description

Technical Field

[0001] This application relates to the field of drilling tool technology, and in particular to a method and apparatus for positioning the tip of a drilling tool. Background Technology

[0002] Robot-assisted drilling and milling are widely used in various bone-related surgical procedures such as hip replacement, spinal lumbar opening, foraminotomy, and cochlear implantation. In these procedures, various tools such as drills and milling cutters can be used to drill holes or remove tissue from the bone to create surgical access, assist in implant placement, and carry out surgical operations. Therefore, the rotational stability of the drilling tool during the operation is extremely important for the robot to perform the surgery safely and accurately.

[0003] However, due to certain deviations in the shape and assembly process of drilling tools, the complex shape of the target surface, and the uneven bone texture leading to uneven tool loading, the tool may vibrate during drilling. At the same time, the vibration amplitude at the end of the drilling tool is related to various drilling process parameters such as tool length, rotation speed, drilling depth, and tool shape. In some surgeries, the drilling process requires the use of long drill bits, and the drill bit end is prone to significant vibration, posing a potential risk of blood vessel and nerve damage. Furthermore, tool vibration during drilling increases cutting force, affects the surface finish of the cut, and increases the heat generated during drilling.

[0004] However, there is currently little research on direct and accurate spatial positioning methods for the end of medical drilling tools. Related technologies are unable to achieve real-time high-precision positioning of the cutting tool tip and cannot monitor tool vibration status, which urgently needs to be addressed. Summary of the Invention

[0005] This application provides a method and apparatus for positioning the tip of a drilling tool to solve the problems of difficulty in real-time high-precision positioning of the tip of a cutting tool and inability to monitor tool vibration.

[0006] The first aspect of this application provides a method for positioning the tip of a drilling tool, comprising the following steps: constructing a dual-laser displacement sensor drilling tool positioning structure; calibrating the zero-point position of the dual laser displacement sensors in the dual-laser displacement sensor drilling tool positioning structure and the proportional coefficient from the laser measurement point to the deflection point based on a preset calibration strategy; installing the drilling tool at a preset position in the dual-laser displacement sensor drilling tool positioning structure; and calculating the planar coordinates and axial position of the drilling tool based on the calibration results to obtain the position of the rotation center of the drilling tool.

[0007] Optionally, in one embodiment of this application, the two laser displacement sensors in the dual laser displacement sensor drilling tool positioning structure are kept orthogonal and located at the same height.

[0008] Optionally, in one embodiment of this application, the calibration of the zero-point position of the dual laser displacement sensors in the dual laser displacement sensor drilling tool positioning structure and the proportional coefficient from the laser measurement point to the deflection point based on a preset calibration strategy includes: using a multi-axis micro-motion device to carry a cylindrical needle gauge that meets preset requirements to move along the horizontal axis, and controlling the multi-axis micro-motion device to stop moving when the laser displacement sensor value in the vertical axis direction reaches the minimum value, thereby obtaining a first sensor distance measurement value; using the multi-axis micro-motion device carrying the cylindrical needle gauge that meets preset requirements to move along the vertical axis, and controlling the multi-axis micro-motion device to stop moving when the laser displacement sensor value in the horizontal axis direction reaches the minimum value, thereby obtaining a second sensor distance measurement value; obtaining the zero-point offset value of the corresponding sensor based on the first sensor distance measurement value and the second sensor distance measurement value; obtaining the relative position change value and the laser measurement position change value based on the relative position change value and the laser measurement position change value, and calculating the distance from the laser measurement point and the distance from the drilling tool tip to the deflection point based on the relative position change value and the laser measurement position change value.

[0009] Optionally, in one embodiment of this application, the step of calculating the planar coordinates and axial position of the drilling tool based on the calibration results includes: calculating the position and radial deviation of the drilling tool's axis of rotation at the laser sensor's cross-section based on the zero-point offset value of the corresponding sensor and the relative position change value and laser measurement position change value; obtaining the radial jitter value of the drilling tool's tip based on the laser sensor's cross-section position and radial deviation, and collecting data from the dual laser displacement sensors while the drilling tool is unloaded; using the dual laser displacement sensor data, iteratively calculating the axis of rotation position of the drilling tool and fitting the rotation center position of the drilling tool until the rotation center positions of the drilling tool satisfy a preset calculation condition for two consecutive iterations, exiting the iteration, and obtaining the final rotation center position of the drilling tool.

[0010] Optionally, in one embodiment of this application, the mathematical expression for calculating the radial deviation between the position of the drilling tool axis at the laser sensor's axial section is as follows:

[0011]

[0012] Wherein, F1 and F2 are the foci of the elliptical cross-section of the drilling tool at the laser displacement sensor, respectively, and r t Let be the radius of the drilling tool, and SX and SY represent the measurement points of the two laser displacement sensors, respectively.

[0013] A second aspect of this application provides a drilling tool tip positioning device, comprising: a construction module for constructing a dual-laser displacement sensor drilling tool positioning structure; a calibration module for calibrating the zero-point position of the dual laser displacement sensors in the dual-laser displacement sensor drilling tool positioning structure and the proportional coefficient from the laser measurement point to the deflection point based on a preset calibration strategy; and a positioning module for installing the drilling tool at a preset position in the dual-laser displacement sensor drilling tool positioning structure, and calculating the planar coordinates and axial position of the drilling tool based on the calibration results to obtain the position of the rotation center of the drilling tool.

[0014] Optionally, in one embodiment of this application, the two laser displacement sensors in the dual laser displacement sensor drilling tool positioning structure are kept orthogonal and located at the same height.

[0015] Optionally, in one embodiment of this application, the calibration module includes: a first measurement unit, configured to use a multi-axis micro-motion device to carry a cylindrical needle gauge that meets preset requirements to move horizontally, and control the multi-axis micro-motion device to stop moving when the laser displacement sensor value in the vertical direction reaches the minimum value, thereby obtaining a first sensor distance measurement value; a second measurement unit, configured to use a multi-axis micro-motion device carrying the cylindrical needle gauge that meets preset requirements to move vertically, and control the multi-axis micro-motion device to stop moving when the laser displacement sensor value in the horizontal direction reaches the minimum value, thereby obtaining a second sensor distance measurement value; a first calculation unit, configured to obtain the zero-point offset value of the corresponding sensor based on the first sensor distance measurement value and the second sensor distance measurement value; and a second calculation unit, configured to obtain a relative position change value and a laser measurement position change value based on the relative displacement generated between a preset auxiliary device and the tip of the drilling tool, and calculate the distance between the laser measurement point and the distance from the tip of the drilling tool to the deflection point based on the relative position change value and the laser measurement position change value.

[0016] Optionally, in one embodiment of this application, the positioning module includes: a third calculation unit, used to calculate the position and radial deviation of the drill tool axis at the cross-section of the laser sensor based on the zero-point offset value of the corresponding sensor and the relative position change value and the laser measurement position change value; an acquisition unit, used to obtain the radial jitter value of the drill tool tip based on the position and radial deviation of the laser sensor cross-section, and to acquire the data of the dual laser displacement sensors in the unloaded state of the drill tool; and an iteration unit, used to iteratively calculate the axis position of the drill tool and fit the rotation center position of the drill tool using the data of the dual laser displacement sensors until the rotation center positions of the drill tool satisfy the preset solution conditions for two consecutive times, exit the iteration, and obtain the final rotation center position of the drill tool.

[0017] Optionally, in one embodiment of this application, the mathematical expression for calculating the radial deviation between the position of the drilling tool axis at the laser sensor's axial section is as follows:

[0018]

[0019] Wherein, F1 and F2 are the foci of the elliptical cross-section of the drilling tool at the laser displacement sensor, respectively, and r t Let be the radius of the drilling tool, and SX and SY represent the measurement points of the two laser displacement sensors, respectively.

[0020] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the drilling tool tip positioning method as described in the above embodiments.

[0021] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described drilling tool tip positioning method.

[0022] Therefore, the embodiments of this application have the following beneficial effects:

[0023] The embodiments of this application construct a dual-laser displacement sensor drilling tool positioning structure; calibrate the zero-point position of the dual laser displacement sensors in the dual-laser displacement sensor drilling tool positioning structure and the proportional coefficient from the laser measurement point to the deflection point based on a preset calibration strategy; install the drilling tool at a preset position in the dual-laser displacement sensor drilling tool positioning structure, and calculate the planar coordinates and axial position of the drilling tool based on the calibration results to obtain the position of the drilling tool's rotation center. This application achieves high-precision real-time positioning of the cutting tool tip, enabling monitoring of drill bit vibration during bone drilling. This allows for real-time analysis and evaluation of the drilling execution safety, which is then fed back to control parameters such as drilling speed and depth, significantly contributing to the safe execution of robot-assisted drilling surgery. Thus, it solves the problems of difficulty in real-time high-precision positioning of the cutting tool tip and the inability to monitor tool vibration.

[0024] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0025] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0026] Figure 1 This is a flowchart of a drilling tool tip positioning method provided according to an embodiment of this application;

[0027] Figure 2 A schematic diagram of a drill bit rotation model with axial offset is provided as an embodiment of this application;

[0028] Figure 3 (a) A schematic diagram of a dual-laser displacement sensor drilling tool positioning structure provided in an embodiment of this application;

[0029] Figure 3 (b) A schematic diagram of a laser displacement sensor zero-point calibration process provided in an embodiment of this application;

[0030] Figure 4 (a) A schematic diagram of the axial cross-sectional shape of a drilling tool when it is offset, according to an embodiment of this application;

[0031] Figure 4 (b) A schematic diagram of the center positioning of the axial section when the drilling tool is offset, provided for an embodiment of this application;

[0032] Figure 5 This is an example diagram of a drilling tool tip positioning device according to an embodiment of this application;

[0033] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0034] Among them, 10-drilling tool tip positioning device, 100-construction module, 200-calibration module, 300-positioning module, 601-memory, 602-processor, and 603-communication interface. Detailed Implementation

[0035] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0036] The following describes a drilling tool tip positioning method and apparatus according to embodiments of this application with reference to the accompanying drawings. Addressing the problem mentioned in the background art that drill bit vibration during drilling can significantly impact surgical accuracy and safety, this application provides a drilling tool tip positioning method. This method involves constructing a dual-laser displacement sensor drilling tool positioning structure; calibrating the zero-point position of the dual laser displacement sensors and the proportional coefficient from the laser measurement point to the deflection point in the dual-laser displacement sensor drilling tool positioning structure based on a preset calibration strategy; installing the drilling tool at a preset position in the dual-laser displacement sensor drilling tool positioning structure; and calculating the planar coordinates and axial position of the drilling tool based on the calibration results to obtain the position of the drilling tool's rotation center. This application achieves high-precision real-time positioning of the cutting tool tip, enabling monitoring of drill bit vibration during bone drilling. This allows for real-time analysis and evaluation of the safety of drilling execution, which is then fed back to control parameters such as drilling speed and depth, significantly contributing to the safe execution of robot-assisted drilling surgery. Thus, it solves the problems of difficulty in real-time high-precision positioning of the cutting tool tip and the inability to monitor tool vibration.

[0037] Specifically, Figure 1 This is a flowchart of a drilling tool tip positioning method provided in an embodiment of this application.

[0038] like Figure 1 As shown, the drilling tool tip positioning method includes the following steps:

[0039] In step S101, a dual-laser displacement sensor drilling tool positioning structure is constructed.

[0040] Those skilled in the art should understand that the main source of drilling tool vibration can be idealized as an axis deflection error of magnitude θ with the origin at the drill-tool connection, such as... Figure 2 As shown, this error causes the drilling tool to rotate radially eccentrically during its rotation around the drill bit shaft, and the error radius increases with the increase of the drill bit length.

[0041] In order to accurately position the drilling tool during the drilling process, embodiments of this application are designed as follows: Figure 3 The dual laser displacement sensor drilling tool positioning structure shown in (a) provides reliable hardware support for accurate positioning and monitoring of drill bit vibration during subsequent drilling processes.

[0042] Optionally, in one embodiment of this application, the two laser displacement sensors in the dual laser displacement sensor drilling tool positioning structure are kept orthogonal and located at the same height.

[0043] It should be noted that the dual-laser displacement sensor drilling tool positioning structure in the embodiments of this application consists of two laser displacement sensors and an assembly structure. Through the special design of the assembly structure, the two laser displacement sensors are kept orthogonal and located at the same height, and the laser is roughly aligned with the central axis of the drilling tool, thereby monitoring the position of the near end of the tool to achieve accurate end-point positioning.

[0044] In step S102, the zero position of the dual laser displacement sensor in the positioning structure of the dual laser displacement sensor drilling tool and the proportional coefficient from the laser measurement point to the deflection point are calibrated based on a preset calibration strategy.

[0045] After constructing the dual-laser displacement sensor drilling tool positioning structure, the embodiments of this application can further calibrate the dual-laser displacement sensor to determine the zero-point position of the two sensors and establish a unified detection coordinate system.

[0046] Optionally, in one embodiment of this application, the zero-point position of the dual laser displacement sensors in the dual laser displacement sensor drilling tool positioning structure and the proportional coefficient from the laser measurement point to the deflection point are calibrated based on a preset calibration strategy. This includes: using a multi-axis micro-motion device to carry a cylindrical needle gauge that meets preset requirements along the horizontal axis, and controlling the multi-axis micro-motion device to stop moving when the laser displacement sensor value in the vertical axis direction reaches its minimum value, thereby obtaining a first sensor distance measurement value; using a multi-axis micro-motion device carrying a cylindrical needle gauge that meets preset requirements to move along the vertical axis, and controlling the multi-axis micro-motion device to stop moving when the laser displacement sensor value in the horizontal axis direction reaches its minimum value, thereby obtaining a second sensor distance measurement value; obtaining the zero-point offset value of the corresponding sensor based on the first sensor distance measurement value and the second sensor distance measurement value; obtaining the relative position change value and the laser measurement position change value based on the relative position change value and the laser measurement position change value, and calculating the distance from the laser measurement point and the distance from the drilling tool tip to the deflection point based on the relative position change value and the laser measurement position change value.

[0047] It should be noted that, as Figure 3 As shown in (b), during the calibration process, embodiments of this application can use a three-axis micro-motion platform to carry a cylindrical needle gauge with radius r to move horizontally near the center of the dual laser displacement sensor drilling tool positioning structure, and ensure the parallel relationship between the micro-motion platform's movement direction and the laser displacement sensor through the assembly structure.

[0048] Specifically, firstly, in the embodiments of this application, a three-axis micro-motion platform can be used to carry the target along the x-axis, and when the y-axis sensor value reaches its minimum value, the three-axis micro-motion platform is controlled to stop moving; secondly, the three-axis micro-motion platform moves along the y-axis, and when the x-axis sensor value reaches its minimum value, the three-axis micro-motion platform is controlled to stop moving, at which point the sensor distance measurement value is s′. x ,s′ y Then the zero-point offset values ​​of the two sensors in the detection coordinate system are δ x =s′ x -r,δ y =s′ y -r, therefore, the two-axis translation of the target point detected by the sensor in this coordinate system can be expressed as s, respectively. x =s x,0 -δ x s y =s y,0 -δ y In this process, two laser displacement sensors measure the closest distance between the sensor and the tool, with the zero point position of each sensor as a reference.

[0049] Furthermore, embodiments of this application can fix the tool tip with a rigid object, use an external structure to control the power device and the tool end to generate two different relative displacements, and obtain the relative position change σ obtained by the external structure. t Change in laser measurement position σ a Finally, the distance l from the laser measurement point to the end of the tool is obtained by measurement. t -l a and utilize Calculation yields l a and l t The lengths of each are used to determine the distance from the laser measurement point to the deflection point and the distance from the tool tip to the deflection point, providing reliable data support for obtaining the position of the rotation center of the drilling tool.

[0050] In step S103, the drilling tool is installed at a preset position in the dual laser displacement sensor drilling tool positioning structure, and the planar coordinates and axial position of the drilling tool are calculated based on the calibration results to obtain the position of the rotation center of the drilling tool.

[0051] After calibrating the dual laser displacement sensors and determining the zero-point positions of the two sensors, the embodiments of this application can further install the two sensors at the end of the drilling tool to be tested, and calculate the planar coordinates and axial position of the drilling tool according to the calibration results, thereby obtaining the position of the rotation center of the drilling tool, and performing high-precision real-time positioning of the tip of the drilling tool to realize real-time monitoring of the drilling tool's vibration state.

[0052] Optionally, in one embodiment of this application, the planar coordinates and axial position of the drilling tool are calculated based on the calibration results, including: calculating the position and radial deviation of the drilling tool axis at the laser sensor cross-section based on the zero-point offset value and relative position change value of the corresponding sensor and the laser measurement position change value; obtaining the radial jitter value of the drilling tool tip based on the position and radial deviation of the laser sensor cross-section, and collecting data from dual laser displacement sensors under no-load conditions; using the dual laser displacement sensor data, iteratively calculating the axis position of the drilling tool and fitting the rotation center position of the drilling tool until the rotation center positions of the drilling tool satisfy the preset calculation conditions for two consecutive times, exiting the iteration, and obtaining the final rotation center position of the drilling tool.

[0053] Specifically, in the embodiments of this application, when the drilling tool shifts, the axial cross-section of the tool at the laser displacement sensor is elliptical, such as... Figure 4 As shown in (a), the deflection angle can be obtained using the center position X0 when there is no deflection and the center position X after deflection. c This can be expressed as tanθ=||X0-X c ||2 / l a The focal length of an ellipse can be expressed as Where, r t Given the radius of the drilling tool, the positions of the two focal points are... Where k = r t ·||X0-X c ||2 / l a Furthermore, the position X of the tool axis at the laser sensor's axial section can be obtained. c radial deviation Thus, the radial vibration of the drill tool tip can be calculated.

[0054] Furthermore, embodiments of this application can also acquire laser displacement sensor data while the drill bit is unloaded. First, idealize the axial section at the drill bit deflection as a circle, and calculate the position of the axis center. And fit the center of rotation Then each time, the center is the same as the previous one. Based on this, and considering that the axial section is an ellipse, the position of the axis center is obtained. And fit the new rotation center position Continuously iterate the above process, such as Figure 4 As shown in (b), until At this point, the final position of the center of rotation is obtained.

[0055] Therefore, the embodiments of this application, by determining the center position of the drilling tool when there is no deflection, can accurately locate the tip position of the drilling tool in scenarios such as surgery in real time, effectively improving the safety and reliability of robot-assisted drilling surgery.

[0056] Optionally, in one embodiment of this application, the mathematical expression for calculating the position and radial deviation of the drilling tool axis at the laser sensor axial section is as follows:

[0057]

[0058] Where F1 and F2 are the foci of the elliptical cross-section of the drilling tool at the laser displacement sensor, respectively, and r t Let SX be the radius of the drilling tool, and SY be the measurement points of the two laser displacement sensors.

[0059] It should be noted that after obtaining the focal positions F1 and F2 of the ellipse, due to the measurement points SX(s) of the two laser displacement sensors... x ,0), SY(0,s y Located on the boundary of an ellipse, embodiments of this application can utilize the properties of the ellipse's foci to obtain the position X of the axial section at the laser sensor by solving the following system of equations. c radial deviation

[0060]

[0061] Where F1 and F2 are the foci of the elliptical cross-section of the drilling tool at the laser displacement sensor, respectively, and r t Let SX be the radius of the drilling tool, and SY be the measurement points of the two laser displacement sensors.

[0062] Therefore, the embodiments of this application, by utilizing the properties of ellipses and the above-mentioned set of equations, can reliably obtain the axial section position and radial deviation of the drilling tool axis at the laser sensor, thereby improving the accuracy and reliability of drilling tool positioning.

[0063] According to the drilling tool tip positioning method proposed in this application, a dual-laser displacement sensor drilling tool positioning structure is constructed. Based on a preset calibration strategy, the zero-point position of the dual laser displacement sensors in the dual-laser displacement sensor drilling tool positioning structure and the proportional coefficient from the laser measurement point to the deflection point are calibrated. The drilling tool is installed at a preset position in the dual-laser displacement sensor drilling tool positioning structure, and the planar coordinates and axial position of the drilling tool are calculated based on the calibration results to obtain the position of the drilling tool's rotation center. This application achieves high-precision real-time positioning of the cutting tool tip, enabling monitoring of drill bit vibration during bone drilling. This allows for real-time analysis and evaluation of the drilling execution safety, which is then fed back to control parameters such as drilling speed and depth. This is of great significance for the safe execution of robot-assisted drilling surgery.

[0064] Next, the drilling tool tip positioning device according to the embodiments of this application is described with reference to the accompanying drawings.

[0065] Figure 5 This is a block diagram of a drilling tool tip positioning device according to an embodiment of this application.

[0066] like Figure 5 As shown, the drilling tool tip positioning device 10 includes: a construction module 100, a calibration module 200, and a positioning module 300.

[0067] Among them, the construction module 100 is used to construct the positioning structure of the drilling tool with dual laser displacement sensor.

[0068] The calibration module 200 is used to calibrate the zero position of the dual laser displacement sensor in the positioning structure of the dual laser displacement sensor drilling tool and the proportional coefficient from the laser measurement point to the deflection point based on a preset calibration strategy.

[0069] The positioning module 300 is used to install the drilling tool at a preset position in the dual laser displacement sensor drilling tool positioning structure, and to calculate the planar coordinates and axial position of the drilling tool based on the calibration results to obtain the position of the rotation center of the drilling tool.

[0070] Optionally, in one embodiment of this application, the two laser displacement sensors in the dual laser displacement sensor drilling tool positioning structure are kept orthogonal and located at the same height.

[0071] Optionally, in one embodiment of this application, the calibration module 200 includes: a first measurement unit, a second measurement unit, a first calculation unit, and a second calculation unit.

[0072] The first measuring unit is used to carry a cylindrical needle gauge that meets preset requirements along the horizontal axis using a multi-axis micro-motion device, and to control the multi-axis micro-motion device to stop moving when the value of the laser displacement sensor in the vertical axis reaches the minimum value, thereby obtaining the first sensor distance measurement value.

[0073] The second measuring unit is used to move a multi-axis micro-motion device carrying a cylindrical needle gauge that meets preset requirements along the longitudinal axis. When the value of the laser displacement sensor in the transverse axis reaches the minimum value, the multi-axis micro-motion device is controlled to stop moving, and the distance measurement value of the second sensor is obtained.

[0074] The first calculation unit is used to obtain the zero-point offset value of the corresponding sensor based on the distance measurement value of the first sensor and the distance measurement value of the second sensor, respectively.

[0075] The second calculation unit is used to obtain the relative position change value and the laser measurement position change value based on the relative displacement generated by the preset auxiliary device and the tip of the drilling tool, and to calculate the distance from the laser measurement point and the distance from the tip of the drilling tool to the deflection point based on the relative position change value and the laser measurement position change value.

[0076] Optionally, in one embodiment of this application, the positioning module 300 includes: a third calculation unit, a data acquisition unit, and an iteration unit.

[0077] The third calculation unit is used to calculate the position and radial deviation of the drilling tool axis at the laser sensor cross section based on the zero-point offset value and relative position change value of the corresponding sensor and the laser measurement position change value.

[0078] The acquisition unit is used to obtain the radial jitter value of the drill tool tip based on the position of the laser sensor axial section and the radial deviation, and to acquire data from the dual laser displacement sensors when the drill tool is unloaded.

[0079] The iterative unit is used to iteratively calculate the axis position of the drilling tool and fit the rotation center position of the drilling tool using data from dual laser displacement sensors until the rotation center position of the drilling tool meets the preset solution conditions twice in a row, and then exits the iteration to obtain the final rotation center position of the drilling tool.

[0080] Optionally, in one embodiment of this application, the mathematical expression for calculating the position and radial deviation of the drilling tool axis at the laser sensor axial section is as follows:

[0081]

[0082] Where F1 and F2 are the foci of the elliptical cross-section of the drilling tool at the laser displacement sensor, respectively, and r t Let SX be the radius of the drilling tool, and SY be the measurement points of the two laser displacement sensors.

[0083] It should be noted that the foregoing explanation of the drilling tool tip positioning method embodiment also applies to the drilling tool tip positioning device of this embodiment, and will not be repeated here.

[0084] According to the drilling tool tip positioning device proposed in this application, a dual-laser displacement sensor drilling tool positioning structure is constructed. Based on a preset calibration strategy, the zero-point position of the dual laser displacement sensors in the dual-laser displacement sensor drilling tool positioning structure and the proportional coefficient from the laser measurement point to the deflection point are calibrated. The drilling tool is installed at a preset position in the dual-laser displacement sensor drilling tool positioning structure, and the planar coordinates and axial position of the drilling tool are calculated based on the calibration results to obtain the position of the drilling tool's rotation center. This application achieves high-precision real-time positioning of the cutting tool tip, enabling monitoring of drill bit vibration during bone drilling. This allows for real-time analysis and evaluation of the safety of drilling execution, which is then fed back to control parameters such as drilling speed and depth. This is of great significance for the safe execution of robot-assisted drilling surgery.

[0085] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include:

[0086] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0087] When the processor 602 executes the program, it implements the drilling tool tip positioning method provided in the above embodiments.

[0088] Furthermore, electronic devices also include:

[0089] Communication interface 603 is used for communication between memory 601 and processor 602.

[0090] The memory 601 is used to store computer programs that can run on the processor 602.

[0091] The memory 601 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0092] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0093] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.

[0094] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0095] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described drilling tool tip positioning method.

[0096] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0097] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0098] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0099] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0100] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0101] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0102] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0103] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for positioning the tip of a drilling tool, characterized in that, Includes the following steps: Construct a positioning structure for drilling tools using dual laser displacement sensors; The zero-point position of the dual laser displacement sensors in the dual laser displacement sensor drilling tool positioning structure and the proportional coefficient from the laser measurement point to the deflection point are calibrated based on a preset calibration strategy. The drilling tool is installed at a preset position in the dual laser displacement sensor drilling tool positioning structure, and the planar coordinates and axial position of the drilling tool are calculated based on the calibration results to obtain the position of the rotation center of the drilling tool. The calculation of the planar coordinates and axial position of the drilling tool based on the calibration results includes: The position and radial deviation of the drilling tool axis at the laser sensor's axial section are calculated based on the zero-point offset value and relative position change value of the corresponding sensor and the position change value measured by the laser. The radial jitter value of the drill tool tip is obtained based on the position of the laser sensor axial section and the radial deviation, and the data of the dual laser displacement sensor is collected when the drill tool is unloaded. Using the data from the dual laser displacement sensors, the axis position of the drilling tool is iteratively calculated and the rotation center position of the drilling tool is fitted until the rotation center position of the drilling tool satisfies the preset solution conditions for two consecutive times, and the iteration is exited, thus obtaining the final rotation center position of the drilling tool.

2. The method according to claim 1, characterized in that, The two laser displacement sensors in the dual laser displacement sensor drilling tool positioning structure are orthogonal and located at the same height.

3. The method according to claim 1, characterized in that, The calibration of the zero-point position of the dual laser displacement sensors in the dual laser displacement sensor drilling tool positioning structure and the proportional coefficient from the laser measurement point to the deflection point based on the preset calibration strategy includes: A multi-axis micro-motion device is used to carry a cylindrical needle gauge that meets preset requirements and moves it along the horizontal axis. When the value of the laser displacement sensor in the vertical axis reaches the minimum value, the multi-axis micro-motion device is controlled to stop moving, and the first sensor distance measurement value is obtained. The multi-axis micro-motion device carrying the cylindrical needle gauge that meets the preset requirements moves along the longitudinal axis. When the value of the laser displacement sensor in the transverse axis reaches the minimum value, the multi-axis micro-motion device is controlled to stop moving, and the distance measurement value of the second sensor is obtained. The zero-point offset values ​​of the corresponding sensors are obtained based on the distance measurement values ​​of the first and second sensors, respectively. Based on the relative displacement between the preset auxiliary device and the tip of the drilling tool, the relative position change value and the laser measurement position change value are obtained, and the distance from the laser measurement point and the distance from the tip of the drilling tool to the deflection point are calculated according to the relative position change value and the laser measurement position change value.

4. The method according to claim 1, characterized in that, The mathematical expression for calculating the radial deviation of the drilling tool axis from the position of the laser sensor's axial section is as follows: Wherein, F1 and F2 are the foci of the elliptical cross-section of the drilling tool at the laser displacement sensor, respectively. The radius of the drilling tool is given. SX , SY These represent the measurement points of the two laser displacement sensors.

5. A drilling tool tip positioning device, characterized in that, include: Modules are used to build positioning structures for drilling tools with dual laser displacement sensors; The calibration module is used to calibrate the zero-point position of the dual laser displacement sensors in the dual laser displacement sensor drilling tool positioning structure and the proportional coefficient from the laser measurement point to the deflection point based on a preset calibration strategy. The positioning module is used to install the drilling tool at a preset position in the dual laser displacement sensor drilling tool positioning structure, and to calculate the planar coordinates and axial position of the drilling tool based on the calibration results, so as to obtain the position of the rotation center of the drilling tool. The positioning module includes: The third calculation unit is used to calculate the position and radial deviation of the drilling tool axis in the laser sensor axial section based on the zero offset value and relative position change value of the corresponding sensor and the position change value of the laser measurement. The acquisition unit is used to obtain the radial jitter value of the drill tool tip based on the position of the laser sensor axial section and the radial deviation, and to acquire the data of the dual laser displacement sensor in the unloaded state of the drill tool; The iterative unit is used to iteratively calculate the axis position of the drilling tool and fit the rotation center position of the drilling tool using the data from the dual laser displacement sensors until the rotation center positions of the drilling tool satisfy the preset solution conditions twice in a row, and then exit the iteration to obtain the final rotation center position of the drilling tool.

6. The apparatus according to claim 5, characterized in that, The two laser displacement sensors in the dual laser displacement sensor drilling tool positioning structure are orthogonal and located at the same height.

7. The apparatus according to claim 5, characterized in that, The calibration module includes: The first measurement unit is used to use a multi-axis micro-motion device to carry a cylindrical needle gauge that meets preset requirements to move along the horizontal axis, and when the value of the laser displacement sensor in the vertical axis direction reaches the minimum value, control the multi-axis micro-motion device to stop moving, and obtain the first sensor distance measurement value; The second measuring unit is used to move the multi-axis micro-motion device carrying the cylindrical needle gauge that meets the preset requirements along the longitudinal axis. When the value of the laser displacement sensor in the transverse axis reaches the minimum value, the multi-axis micro-motion device is controlled to stop moving, and the distance measurement value of the second sensor is obtained. The first calculation unit is used to obtain the zero-point offset value of the corresponding sensor based on the distance measurement value of the first sensor and the distance measurement value of the second sensor, respectively. The second calculation unit is used to obtain the relative position change value and the laser measurement position change value based on the relative displacement generated between the preset auxiliary device and the tip of the drilling tool, and to calculate the distance between the laser measurement point and the distance from the tip of the drilling tool to the deflection point based on the relative position change value and the laser measurement position change value.

8. The apparatus according to claim 5, characterized in that, The mathematical expression for calculating the radial deviation of the drilling tool axis from the position of the laser sensor's axial section is as follows: Wherein, F1 and F2 are the foci of the elliptical cross-section of the drilling tool at the laser displacement sensor, respectively. The radius of the drilling tool is given. SX , SY These represent the measurement points of the two laser displacement sensors.

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