A smart control integrated surgical power system and a control method thereof

Abstract

The application belongs to the technical field of surgical power systems, and discloses a smart control integrated surgical power system and a control method thereof. A collision detection module is used for detecting pose information and collision information of a tool head. A geometric constraint module is used for device space position and attitude constraint. A force feedback perception recording module is used for collecting information of a force feedback data unit. A force feedback execution module is used for controlling the start and stop and stepless speed change of a motor through a force feedback calculation judgment unit, a force feedback execution control unit and a multi-axis stress feedback execution unit. The application is a new electric bone tissue surgical device using electric energy as a power source, and increases force feedback perception function. Through the collaborative work of the collision detection module, the geometric constraint module, the force feedback perception recording module and the force feedback execution module, different tissue hardness is identified and converted, the function of cutting hard but not soft is realized, and surgical misoperation is avoided. The application not only retains efficient surgical operation at high speed, but also enhances surgical safety.

Description

Technical Field

[0001] This invention belongs to the field of surgical power system technology, and particularly relates to an intelligent integrated surgical power system and its control method. Background Technology

[0002] Degenerative spinal disorders are the most common spinal diseases, mostly involving intervertebral disc degeneration, including disc herniation, spinal stenosis, spondylolisthesis, and vertebral instability, accompanied by neck and shoulder pain, sciatica, etc. According to incomplete statistics, the number of newly diagnosed cases reaches as high as 20 million annually, and 97% of middle-aged and elderly people in my country suffer from these types of spinal diseases. In recent years, spinal diseases have shown a trend of affecting younger people; among people under 40 years old, 40% suffer from various spinal diseases, and the incidence of scoliosis in children is as high as 25%. More than 60% of patients with spinal diseases require surgical treatment, ranking third among all types of surgeries. Currently, with the development of minimally invasive and precise surgical procedures, the clinical demand for innovative precision medical devices is increasing, and 90% of orthopedic surgeries require the assistance of powered devices. Traditional orthopedic surgery requires manual drilling and sawing tools for drilling and bone cutting, which is inefficient and physically demanding. Modern orthopedic surgery primarily uses electric bone surgery equipment to power the procedure, performing various grinding, shaving, cutting, milling, and sawing operations instead of manual tools, greatly improving efficiency. However, these devices operate at high speeds, typically between 20,000 and 70,000 rpm. This high speed poses a safety risk as it is easy to accidentally cut nearby nerves or other tissues. Furthermore, the cutting speed is fixed and the function is limited.

[0003] Based on the above analysis, the problems and shortcomings of the existing technology are as follows: The main disadvantages and problems of the existing technology include the following aspects:

[0004] 1) Safety Risks: Existing electrically powered bone surgery equipment lacks effective safety mechanisms. At high speeds, the surgical tip can easily cut into nerve tissue near the bone. Once a nerve is cut, the damage may be irreversible and the rate of disability is extremely high. This causes immense pain and risk to patients, and also places significant psychological pressure on doctors.

[0005] 2) Limited Functionality: Existing electric bone surgery equipment typically uses a fixed speed and gear, making it impossible to adjust in real time according to the actual needs during surgery. This limits the applicability of the equipment and leads to frequent speed adjustments during surgery, reducing surgical efficiency.

[0006] 3) Inefficiency: Due to the limited functionality of existing equipment, surgeons need to constantly adjust the speed during the operation, which not only increases the complexity of the procedure but also reduces its efficiency. For some complex surgeries, inefficiency may lead to excessively long operation times, increasing the risk to the patient.

[0007] 4) Complex operation: Existing equipment typically requires manual adjustment, demanding a high level of skill from the surgeon. The high-pressure surgical environment increases the likelihood of errors, thus raising the risk to the patient.

[0008] 5) High equipment cost: Existing electric bone tissue surgical equipment is usually expensive, which limits its adoption in some resource-constrained medical institutions and affects the surgical quality of more patients.

[0009] In response to the aforementioned problems and shortcomings of existing technologies, future research and development should focus on improving the safety, functionality, ease of operation, and efficiency of equipment to meet clinical needs, reduce patient risks, and improve surgical quality. Summary of the Invention

[0010] To address the problems existing in the prior art, this invention provides an intelligent integrated surgical power system and its control method.

[0011] This invention is implemented as follows: an intelligent integrated surgical power system includes:

[0012] The collision detection module is used to detect the pose information and collision information of the tool head, and sends the calculated tool head pose information to the geometric constraint module to provide trigger conditions for the geometric constraint module.

[0013] The geometric constraint module is used for the spatial position and attitude constraints of the device. It converts local coordinates to world coordinates, tracks the world coordinate position of the device, feeds back to the collision simulation unit, and sends the geometric constraint information to the dynamic force feedback unit as the trigger condition for the dynamic force feedback unit.

[0014] The force feedback sensing and recording module is used to collect information from the force feedback data unit through a multi-axis stress sensor, drive the counterweight block to generate displacement through a permanent magnet, generate an electrical signal through displacement, and convert the electrical signal into force feedback data information through a data processing unit and feed it back to the mobile phone.

[0015] The force feedback execution module is used to control the start-stop and stepless speed change of the motor in a coordinated manner through the force feedback calculation and judgment unit, the force feedback execution control unit, and the multi-axis stress feedback execution unit.

[0016] Furthermore, the collision detection module consists of a physical modeling unit, a dynamic force feedback unit, and a collision simulation unit, wherein:

[0017] The physical modeling unit distinguishes the hardness of each tissue by dividing the bones, nerves and soft tissues into partitioned meshes and performing three-dimensional physical modeling.

[0018] The dynamic force feedback unit consists of contact stress and repulsion models, which are used to guide the operator to cut the bone at the lesion site and provide real-time feedback on the force when in contact with tissue through a tactile sensing device.

[0019] The collision simulation unit consists of a spring mass model, a bounding box, and a collision detection method, simulating the dynamic behavior of the interaction between the device and the contact area during surgery.

[0020] The spring mass model is used to simulate the collision process between the blade and various tissues during surgery. It consists of a tracking model, a linear spring, and a torsion spring. The tracking model is equipped with a bounding box, and the collision position is detected using the bounding box detection method. The linear spring is used to apply a translational force F to the contact area to adjust the position of the contact area. The torsion spring is used to apply a torque T to the contact area to adjust the direction of the contact area.

[0021] Furthermore, the geometric constraint module consists of a coordinate transformation unit, a spatial position constraint unit, and a spatial attitude constraint unit;

[0022] The coordinate transformation unit is used to convert the local coordinates of the cutting head into world coordinates within the spatial position unit, track the world coordinate position of the cutting head, and feed it back to the collision simulation unit to update the position of the manipulated object.

[0023] The spatial attitude constraint unit is used to send geometric constraint information to the dynamic force feedback unit to avoid unnecessary collisions and calculations between the cutter head and non-skeletal parts due to improper user operation.

[0024] Furthermore, the force feedback sensing and recording module consists of a sensor unit and a force feedback data unit;

[0025] The sensor unit is a multi-axis stress sensor, which consists of a permanent magnet, a coupling rod and a counterweight. The permanent magnet is connected to the coupling rod and is placed inside the coil.

[0026] The force feedback data unit consists of a data acquisition unit, a data processing unit, and a data storage unit.

[0027] Furthermore, the force feedback execution module consists of a force feedback calculation and judgment unit, a force feedback execution control unit, and a multi-axis stress feedback execution unit;

[0028] The force feedback calculation and judgment unit consists of a feedback force calculation unit and a feedback force judgment unit. The feedback force calculation unit consists of a hardness-feedback force conversion unit and a speed-feedback force conversion unit, and is used for the conversion calculation of feedback force.

[0029] The force feedback execution control unit is used for the regulation of the drive motor and the continuously variable transmission;

[0030] The velocity-feedback force detection unit is used to detect the corresponding signal and transmit it to the feedback force calculation unit for calculating the feedback force.

[0031] The multi-axis stress feedback execution unit is used to feed the generated feedback force back to the mobile phone, allowing the operator to intuitively feel the change in speed.

[0032] Another objective of this invention is to provide a control method for an intelligent integrated surgical power system, the control method comprising:

[0033] Step 1: The collision simulation unit uses a spring-mass model to simulate the collision state that may occur when the cutting head moves on human tissue, detects the pose information and collision information of the cutting head, and sends the calculated cutting head pose information to the geometric constraint module to provide trigger conditions for the geometric constraint module.

[0034] Step 2: Using the geometric constraint module, local coordinates are converted into world coordinates to track the world coordinate position of the device, which is then fed back to the collision simulation unit. The geometric constraint information is also sent to the dynamic force feedback unit as a trigger condition for the dynamic force feedback unit.

[0035] Step 3: Using the force feedback sensing and recording module, information from the force feedback data unit is collected through a multi-axis stress sensor. The permanent magnet drives the counterweight to generate displacement. The displacement generates an electrical signal, which is then converted into force feedback data information by the data processing unit and fed back to the mobile phone.

[0036] Step four: The force feedback execution module uses the force feedback calculation and judgment unit, the force feedback execution control unit, and the multi-axis stress feedback execution unit to collaboratively control the start-stop and stepless speed change of the motor.

[0037] Furthermore, the formula for calculating the spring mass model in step one is:

[0038] F = k T (P t -P d )-b T (v t -v d )

[0039] T = k R ×θ t-d -b R ×ω t-d

[0040] Where, k T It is the linear spring stiffness constant, b T It is a linear damping constant;

[0041] Pt and Pd are the centroid positions of the tracked model and the contact area in the world coordinate system;

[0042] v t and v d It is the linear velocity of the tracked model and the contact area;

[0043] k R It is the stiffness constant of the torsional spring;

[0044] b R It is the torsional damping constant;

[0045] θ t-d It is the rotation angle of the contact point relative to the tracked model in the world coordinate system;

[0046] w t-d It is the rotational angular velocity of the contact area relative to the tracked model.

[0047] Based on the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solution to be protected by this invention are as follows:

[0048] First, the present invention is a novel electric bone tissue surgical device powered by electricity. It adds force feedback sensing function. Through the coordinated work of collision detection module, geometric constraint module, force feedback sensing and recording module and force feedback execution module, it identifies and converts different tissue hardness, realizes the function of cutting hard tissues without cutting soft tissues, and avoids surgical errors. It retains the high efficiency of surgical operation at high speed and enhances surgical safety.

[0049] The hand-controlled micro motor of the present invention is equipped with a force feedback sensing device, which works in conjunction with the force feedback control device on the main unit to achieve stepless speed regulation.

[0050] This device incorporates force feedback sensing. Through the collaborative work of a collision detection module, a geometric constraint module, a force feedback sensing and recording module, and a force feedback execution module, it identifies and judges the hardness of different tissues during surgery. When the surgeon cuts bone or drills, the tip of the blade contacts the bone. If the feedback force value at that point is within a specified threshold (i.e., the stress value of the bone), the motor starts, and the cutting or drilling continues. When the tip of the blade deviates from the cutting position and approaches nearby nerves or other tissues, and the feedback force value is low but still within the specified threshold, the mobile phone issues a resistance warning to correct the operator's posture. When the tip of the blade contacts soft tissues such as nerves, and the feedback force value exceeds the specified threshold, the motor stops to protect the nerves and other soft tissues, preventing accidental cutting and irreversible damage. (This force feedback sensing function is used in orthopedic surgery; the specified threshold varies depending on the type of surgery.)

[0051] This device, based on force feedback sensing, incorporates continuously variable transmission (CVT) and fixed-speed adjustment functions. The force feedback execution control unit is used to drive the motor and regulate the CVT. After the motor starts, the operator selects CVT or fixed-speed adjustment according to actual conditions or preferences and sends the selection to the speed execution unit, which outputs the rotational speed. When CVT is activated, the drive motor outputs the rotational speed to the speed-feedback force detection unit. The speed-feedback force detection unit detects the corresponding signal and transmits it to the feedback force calculation unit for calculating the feedback force. The resulting feedback force is then fed back to the mobile phone through the multi-axis stress feedback execution unit, allowing the operator to intuitively feel the speed change. This achieves rapid switching between CVT and fixed-speed adjustment while maintaining safety.

[0052] The expected benefits and commercial value of the technical solution of this invention after transformation are as follows: The functions of this device are unique in the orthopedic surgery market, which is a pioneering technology. Moreover, the functions have practical development value and significance, which are extremely needed by hospitals and medical staff. This technology benefits patients while avoiding medical accidents and doctor-patient disputes.

[0053] Secondly, the advantages and positive effects of the intelligent integrated surgical power system also include:

[0054] 1. Improve surgical safety: The collision detection module, geometric constraint module, and dynamic force feedback module monitor and control the position and collision information of the surgical tip in real time to avoid unnecessary collisions to non-skeletal parts and reduce surgical risks.

[0055] 2. Improve surgical precision: The geometric constraint module constrains the spatial position and orientation of the scalpel tip, ensuring that the tip operates along the predetermined surgical path and improving the precision of surgical cutting.

[0056] 3. Improve surgical efficiency: Through the force feedback sensing and recording module and the force feedback execution module, the operator can perceive the force feedback information in real time during the surgical process, which helps the operator complete the surgical task more quickly and accurately.

[0057] 4. Enhance the surgical experience: By collecting force feedback data through multi-axis stress sensors, the electrical signals are converted into force feedback data information and fed back to the mobile phone in real time, allowing the operator to intuitively feel the changes in speed and improve the operator's surgical experience.

[0058] 5. Easy to operate and learn: The intelligent integrated surgical power system adopts a modular design, which allows each component of the system to independently complete specific tasks, making it easy for operators to quickly master and use.

[0059] 6. High adaptability: This system can be widely used in various types of surgery, such as orthopedics and neurosurgery, and has high adaptability and broad application prospects.

[0060] In summary, the intelligent integrated surgical power system can significantly improve the safety, accuracy, efficiency, and user experience of surgery by real-time monitoring and control of the surgical tip's position and collision information, providing real-time force feedback, achieving accurate surgical cutting, and offering an intuitive operating experience. It has broad application prospects. Attached Figure Description

[0061] Figure 1 This is a schematic diagram of the intelligent integrated surgical power system provided in an embodiment of the present invention;

[0062] Figure 2 This is a flowchart of the equipment provided in an embodiment of the present invention;

[0063] Figure 3 This is a structural diagram of the force feedback system provided in an embodiment of the present invention. Detailed Implementation

[0064] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0065] In the intelligent integrated surgical power system, the signal and data processing procedure of this invention embodiment is as follows:

[0066] 1) Collision Detection Module: First, this module detects the pose and collision information of the cutting head. The pose information is the position and orientation of the cutting head in space. When a collision is detected, this module sends the pose information of the cutting head to the geometric constraint module as a trigger condition.

[0067] 2) Geometric Constraint Module: This module is responsible for constraining the spatial position and orientation of the surgical equipment. First, it converts local coordinates to world coordinates to track the actual position of the equipment in space. Then, it feeds back the world coordinate position of the equipment to the collision simulation unit for collision detection and handling. Finally, it sends the geometric constraint information to the dynamic force feedback unit as a trigger condition.

[0068] 3) Force Feedback Sensing and Recording Module: This module collects information from the force feedback data unit through a multi-axis stress sensor. A permanent magnet drives a counterweight to generate displacement, and the resulting electrical signal is sent to the data processing unit. The data processing unit converts the electrical signal into force feedback data and feeds this information back to the mobile phone for real-time viewing and analysis by the doctor.

[0069] 4) Force Feedback Execution Module: This module includes a force feedback calculation and judgment unit, a force feedback execution control unit, and a multi-axis stress feedback execution unit. These units work together to control the motor's start / stop and stepless speed regulation based on data collected by the force feedback sensing and recording module. This allows for real-time response to force feedback adjustments during surgery, ensuring the blade operates at appropriate speed and force.

[0070] like Figure 1 As shown, the intelligent integrated surgical power system provided in this embodiment of the invention includes: a collision detection module 1, a geometric constraint module 2, a force feedback sensing and recording module 3, and a force feedback execution module 4.

[0071] The collision detection module 1 simulates the possible collision states when the cutting head moves on human tissue through the collision simulation units 1-3, detects the position and collision information of the cutting head, and sends the calculated cutting head position information to the geometric constraint module 2 to provide trigger conditions for the geometric constraint module; based on the surgical procedure, it determines whether the cutting head collides with non-bone tissue and sends the collision position, direction and depth and other collision information to the force feedback sensing and recording device, and calculates and determines the start and stop of the motor under the collision condition to avoid the cutting head from damaging tissues other than bones;

[0072] The geometric constraint module 2 is used for the spatial position and attitude constraints of the device. It converts local coordinates into world coordinates, tracks the world coordinate position of the device, feeds back to the collision simulation unit 1-3, and sends the geometric constraint information to the dynamic force feedback unit 1-1 as the trigger condition for the dynamic force feedback unit 1-1.

[0073] The force feedback sensing and recording module 3 collects information from the force feedback data unit 3-2 through a multi-axis stress sensor, drives the counterweight to generate displacement through a permanent magnet, generates an electrical signal through displacement, and converts the electrical signal into force feedback data information through the data processing unit 3-22 and feeds it back to the mobile phone.

[0074] The force feedback execution module 4, through the force feedback calculation and judgment unit 4-1, the force feedback execution control unit 4-2, and the multi-axis stress feedback execution unit 4-3, coordinates the start and stop of the motor and the stepless speed change 5-2.

[0075] In this embodiment, the collision detection module 1 consists of a physical modeling unit 1-2, a dynamic force feedback unit 1-1, and a collision simulation unit 1-3, wherein:

[0076] Physical modeling unit 1-2 distinguishes the hardness of each tissue by dividing the bones, nerves and soft tissues (flesh) into partitioned meshes and performing three-dimensional physical modeling.

[0077] The dynamic force feedback unit 1-1 consists of contact stress 1-1 and repulsion model 1-2. The dynamic force feedback unit 1-1 is responsible for correctly guiding the operator to cut the bone at the lesion site and providing real-time feedback on the force situation when contacting tissue through the tactile sensing device. After the geometric constraint is triggered, the repulsion model 1-2 generates a corresponding repulsion force feedback to the operator based on the distance range between the blade and non-bone tissue. After receiving the collision position, direction and depth of the blade, the contact stress 1-1 and the resistance model provide the collision position, direction and depth as data for real-time calculation through the collision simulation unit 1-3. At the same time, the resistance is fed back to the handle, so that the operator can feel different resistance and remind the operator to adjust the position of the blade in time to avoid the phenomenon of cutting through the mold and cutting nerves and tissues. When the surrounding boxes of different tissues collide and exceed the minimum penetration distance, the force feedback execution control unit 4-2 drives the motor 4-21 to stop.

[0078] The collision simulation unit 1-3 consists of a spring mass model, a bounding box, and a collision detection method. The spring mass model is used to simulate the collision process between the blade and various tissues during surgery. It consists of a tracking model, a linear spring, and a torsion spring. The tracking model is equipped with a bounding box, and the collision position is detected by the bounding box detection method. The linear spring is used to apply a translational force F to the contact area to adjust the position of the contact area. The torsion spring is used to apply a torque T to the contact area to adjust the direction of the contact area. The simulation unit simulates the dynamic behavior of the interaction between the equipment and the contact area during surgery. The calculation formula of the spring mass model is as shown in formulas (1) to (2).

[0079] F = k T (P t -P d )-b T (v t -v d (1)

[0080] T = k R ×θ t-d -b R ×ω t-d (2)

[0081] Where, k T It is the linear spring stiffness constant.

[0082] b T It is a linear damping constant;

[0083] Pt and Pd are the centroid positions of the tracked model and the contact area in the world coordinate system;

[0084] V t and v d It is the linear velocity of the tracked model and the contact area;

[0085] k R It is the stiffness constant of the torsional spring;

[0086] b R It is the torsional damping constant;

[0087] θ t-d It is the rotation angle of the contact point relative to the tracked model in the world coordinate system;

[0088] w t-d It is the rotational angular velocity of the contact area relative to the tracked model;

[0089] In this embodiment, the geometric constraint module consists of a coordinate transformation unit, a spatial position constraint unit, and a spatial attitude constraint unit. The coordinate transformation unit converts the local coordinates of the cutter head into world coordinates within the spatial position unit, tracks the world coordinate position of the cutter head, feeds it back to the collision simulation unit 1-3, updates the position of the operation object, and sends the geometric constraint information to the dynamic force feedback unit 1-1 through the spatial attitude constraint unit, so as to avoid unnecessary collisions and calculations between the cutter head and non-skeletal parts due to improper user operation.

[0090] In this embodiment, the force feedback sensing and recording module 3 consists of a sensor unit and a force feedback data unit 3-2. The sensor unit is a multi-axis stress sensor, which comprises a permanent magnet, a coupling rod, and a counterweight. The permanent magnet is connected to the coupling rod and placed inside a coil. When the coil is energized, the permanent magnet vibrates due to the change in the coil's magnetic field, simultaneously causing the coupling rod to resonate and drive the counterweight to displace. This displacement generates vibration feedback to the mobile phone. The force feedback data unit 3-2 consists of a data acquisition unit 3-23, a data processing unit 3-22, and a data storage unit 3-21. The data acquisition unit 3-23 processes electrical signals to generate digital signals, and generates feedback force signals through digital processing, storing them in the data storage unit 3-21. The data storage unit 3-21 stores the corresponding force feedback data.

[0091] In this embodiment, the force feedback execution module 4 consists of a force feedback calculation and judgment unit 4-1, a force feedback execution control unit 4-2, and a multi-axis stress feedback execution unit 4-3. The force feedback calculation and judgment unit 4-1 consists of a feedback force calculation unit 4-12 and a feedback force judgment unit. The feedback force calculation unit 4-12 consists of a hardness-feedback force conversion unit 4-111 and a speed-feedback force conversion unit 4-112, used for feedback force conversion calculation. When the tip of the cutter contacts the tissue, the hardness detection sensor 3-11 on the mobile phone transmits the hardness information of the contacted part to the force feedback data unit 3-2 through a steel cable transmission. The force feedback data unit 3-2 collects and processes the signal and sends it to the hardness-feedback force conversion unit 4-111. The converted signal is used by the feedback force calculation unit 4-12 to calculate the force value of different tissues such as bones, nerves, and muscles, and sends the stress value to the data storage unit 3-21 and the feedback force judgment unit. When the feedback force at that location is detected, the force feedback calculation unit 4-12 calculates the force value of different tissues such as bones, nerves, and muscles, and sends the stress value to the data storage unit 3-21 and the feedback force judgment unit. When the feedback force value is within the specified threshold (i.e., the stress value of the bone), the motor starts; when the feedback force value at that point is small but within the specified threshold, the mobile phone issues a resistance reminder to correct the operator's posture; when the feedback force value at that point exceeds the specified threshold, the motor stops to protect nerves and other soft tissues and avoid accidental cutting; the force feedback execution control unit 4-2 is used to drive the motor 4-21 and regulate the continuously variable transmission 5-2. After the motor starts, the operator selects the continuously variable transmission 5-2 or the fixed speed regulation 5-1 according to the actual situation and sends it to the speed execution unit 5 to output the speed. When the continuously variable transmission 5-2 is turned on, the motor 4-21 is driven, and the output speed is sent to the speed-feedback force detection unit 4-112. The speed-feedback force detection unit 4-112 detects the corresponding signal and transmits it to the feedback force calculation unit 4-12 to calculate the feedback force. The generated feedback force is then fed back to the mobile phone through the multi-axis stress feedback execution unit 4-3, allowing the operator to intuitively feel the change in speed.

[0092] This device incorporates force feedback sensing functionality. Through the collaborative work of collision detection module 1, geometric constraint module 2, force feedback sensing and recording module 3, and force feedback execution module 4, it identifies and converts different tissue hardness levels, enabling it to cut hard tissues without cutting soft ones, thus avoiding surgical errors. It retains the high efficiency of high-speed surgical operations while enhancing surgical safety. The innovatively designed hand-controlled micro-motor, equipped with a force feedback sensing device, works in conjunction with the force feedback control device on the main unit to achieve stepless speed regulation (5-2) functionality.

[0093] Detailed working principle of the intelligent integrated surgical power system provided in this embodiment of the invention:

[0094] The physical modeling unit partitions the bones, nerves, and soft tissues into meshes and performs 3D physical modeling, differentiating the hardness of each tissue. The dynamic force feedback unit consists of contact stress and repulsion force models, guiding the operator to cut the bone at the lesion site and providing real-time feedback on the force exerted on the contact tissue through tactile sensing devices. The collision simulation unit simulates the dynamic behavior of the interaction between the device and the contact area during surgery, including a spring mass model, bounding boxes, and collision detection methods. The spring mass model simulates the collision process between the blade and various tissues, including a tracking model, linear springs, and torsional springs. When a collision is detected, the blade's pose information is sent to the geometric constraint module.

[0095] The coordinate transformation unit converts the local coordinates of the cutting head into world coordinates within the spatial position unit, and feeds this information back to the collision simulation unit to update the position of the manipulated object. The spatial attitude constraint unit sends geometric constraint information to the dynamic force feedback unit to avoid unnecessary collisions.

[0096] The sensor unit employs a multi-axis stress sensor, consisting of a permanent magnet, a coupling, and a counterweight. The permanent magnet drives the counterweight to produce displacement, and the resulting electrical signal is converted into force feedback data by the data processing unit and then fed back to the mobile phone.

[0097] The force feedback calculation and judgment unit includes a feedback force calculation unit and a feedback force judgment unit, used for the conversion and calculation of feedback force. The force feedback execution control unit drives the motor and regulates the continuously variable transmission. The multi-axis stress feedback execution unit feeds the generated feedback force back to the mobile phone, allowing the operator to intuitively feel the speed change.

[0098] Embodiment 1 provided by the present invention:

[0099] The intelligent integrated surgical power system is applied to skull surgery. During skull surgery, the system monitors the contact between the cutting tip and the skull and surrounding soft tissues in real time through a collision detection module. When the cutting tip contacts the skull, the system adjusts the cutting force and speed in real time through a force feedback sensing and recording module and a force feedback execution module to ensure surgical safety and precision.

[0100] Embodiment 2 provided by the present invention:

[0101] An integrated intelligent surgical power system is applied to spinal surgery. During spinal surgery, the system monitors the contact between the surgical tip and the vertebrae and surrounding nerve tissue in real time. When the surgical tip contacts the vertebrae, the system adjusts the cutting force and speed in real time through a force feedback sensing and recording module and a force feedback execution module to avoid damage to nerve tissue. Simultaneously, real-time feedback information on the mobile phone provides the surgeon with intuitive operational awareness, improving the accuracy and safety of the surgery.

[0102] Embodiment 3 provided by the present invention:

[0103] An integrated intelligent surgical power system is used in joint replacement surgery. During the procedure, the system monitors the contact between the incision tip and the joint bone and surrounding soft tissues in real time. When the incision tip contacts the joint bone, the system adjusts the cutting force and speed in real time through a force feedback sensing and recording module and a force feedback execution module to ensure the accuracy and safety of the cut. Real-time feedback information on a mobile phone allows doctors to more intuitively perceive the cutting process, improving the precision and safety of the surgery.

[0104] The intelligent integrated surgical power system, through the coordinated operation of collision detection, geometric constraint, force feedback sensing and recording, and force feedback execution modules, achieves real-time monitoring and feedback of the contact between the surgical tip and various tissues during surgery. The system provides intuitive force feedback information, helping surgeons perform operations more precisely and safely. By applying the intelligent integrated surgical power system to different types of surgeries, surgical safety and precision can be significantly improved, reducing medical accidents and enhancing patient recovery quality.

[0105] It should be noted that embodiments of the present invention can be implemented in hardware, software, or a combination of both. The hardware portion can be implemented using dedicated logic; the software portion can be stored in memory and executed by a suitable instruction execution system, such as a microprocessor or dedicated-design hardware. Those skilled in the art will understand that the above-described devices and methods can be implemented using computer-executable instructions and / or included in processor control code, for example, such code provided on a carrier medium such as a disk, CD, or DVD-ROM, a programmable memory such as read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The devices and modules of the present invention can be implemented by hardware circuitry such as very large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field-programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of the above-described hardware circuitry and software, such as firmware.

[0106] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention, and within the spirit and principles of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent integrated surgical power system, characterized in that, The intelligent integrated surgical power system includes: The collision detection module is used to detect the pose information and collision information of the tool head, and sends the calculated tool head pose information to the geometric constraint module to provide trigger conditions for the geometric constraint module. The geometric constraint module is used for the spatial position and attitude constraints of the device. It converts local coordinates to world coordinates, tracks the world coordinate position of the device, feeds back to the collision simulation unit, and sends the geometric constraint information to the dynamic force feedback unit as the trigger condition for the dynamic force feedback unit. The force feedback sensing and recording module is used to collect information from the force feedback data unit through a multi-axis stress sensor, drive the counterweight block to generate displacement through a permanent magnet, generate an electrical signal through displacement, and convert the electrical signal into force feedback data information through a data processing unit and feed it back to the mobile phone. The force feedback execution module is used to control the start-stop and stepless speed change of the motor in a coordinated manner through the force feedback calculation and judgment unit, the force feedback execution control unit, and the multi-axis stress feedback execution unit.

2. The intelligent integrated surgical power system as described in claim 1, characterized in that, The collision detection module consists of a physical modeling unit, a dynamic force feedback unit, and a collision simulation unit, wherein: The physical modeling unit distinguishes the hardness of each tissue by dividing the bones, nerves and soft tissues into partitioned meshes and performing three-dimensional physical modeling. The dynamic force feedback unit consists of contact stress and repulsion models, which are used to guide the operator to cut the bone at the lesion site and provide real-time feedback on the force when in contact with the tissue through a tactile sensing device. The collision simulation unit consists of a spring mass model, a bounding box, and a collision detection method, simulating the dynamic behavior of the interaction between the device and the contact area during surgery. The spring mass model is used to simulate the collision process between the blade and various tissues during surgery. It consists of a tracking model, a linear spring, and a torsion spring. The tracking model is equipped with a bounding box, and the collision position is detected using the bounding box detection method. The linear spring is used to apply a translational force F to the contact area to adjust the position of the contact area. The torsion spring is used to apply a torque T to the contact area to adjust the direction of the contact area.

3. The intelligent integrated surgical power system as described in claim 1, characterized in that, The geometric constraint module consists of a coordinate transformation unit, a spatial position constraint unit, and a spatial attitude constraint unit. The coordinate transformation unit is used to convert the local coordinates of the cutting head into world coordinates within the spatial position unit, track the world coordinate position of the cutting head, and feed it back to the collision simulation unit to update the position of the manipulated object. The spatial attitude constraint unit is used to send geometric constraint information to the dynamic force feedback unit to avoid unnecessary collisions and calculations between the cutter head and non-skeletal parts due to improper user operation.

4. The intelligent integrated surgical power system as described in claim 1, characterized in that, The force feedback sensing and recording module consists of a sensor unit and a force feedback data unit; The sensor unit is a multi-axis stress sensor, which consists of a permanent magnet, a coupling rod and a counterweight. The permanent magnet is connected to the coupling rod and is placed inside the coil. The force feedback data unit consists of a data acquisition unit, a data processing unit, and a data storage unit.

5. The intelligent integrated surgical power system as described in claim 1, characterized in that, The force feedback execution module consists of a force feedback calculation and judgment unit, a force feedback execution control unit, and a multi-axis stress feedback execution unit. The force feedback calculation and judgment unit consists of a feedback force calculation unit and a feedback force judgment unit. The feedback force calculation unit consists of a hardness-feedback force conversion unit and a speed-feedback force conversion unit, and is used for the conversion calculation of feedback force. The force feedback execution control unit is used for the regulation of the drive motor and the continuously variable transmission; The speed-feedback force detection unit is used to detect the corresponding signal and transmit it to the feedback force calculation unit for calculating the feedback force; The multi-axis stress feedback execution unit is used to feed the generated feedback force back to the mobile phone, allowing the operator to intuitively feel the change in speed.

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