Osteotomy plane boundary control method, electronic device and storage medium

Abstract

The application discloses a kind of osteotomy plane boundary control method, electronic equipment and storage medium, the method is by calculating the distance of the center point of osteotomy swing saw to the boundary line of osteotomy plane, the weighted sum of the inward vector of the two edges with the shortest distance is selected, as search direction, step search is carried out, to quickly find the nearest position boundary of plane (i.e. it is in accordance with the desired motion direction and attitude) and in the safe position of plane boundary, the safe position is subsequently issued to mechanical arm, and the surgical tool is moved, and then accurately and safely help the doctor to realize the osteotomy operation of femur and tibia. The technical problem that soft tissue and ligament injury, surgical precision is reduced due to the too large movement range of osteotomy swing saw in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of artificial intelligence technology, specifically to a method for controlling the boundary of an osteotomy plane, an electronic device, and a storage medium. Background Technology

[0002] The human knee joint is composed of the articular surfaces between the femur, tibia, and patella. It connects the femur and tibia and is one of the most stress-bearing joints in the body. When knee joint diseases such as severe osteoarthritis, rheumatoid arthritis, or traumatic arthritis occur, the knee joint cannot perform its normal function, requiring knee replacement surgery. This involves replacing the diseased parts (including the femur, tibia, and meniscus) with artificial prostheses to relieve joint pain, correct deformities, restore and improve joint function, and improve the patient's quality of life.

[0003] The surface of the human knee joint is covered with cartilage. As we age, the cartilage gradually wears down, and the bones and ligaments around the knee joint also degenerate, eventually causing knee pain, deformity, and limited mobility. Many people have a misconception that knee replacement surgery involves replacing the entire knee, but this is not the case. Knee replacement surgery mainly replaces the worn-out, pitted cartilage on the surface of the knee joint with a metal prosthesis and a wear-resistant polyethylene pad.

[0004] Types of artificial knee replacement include total knee arthroplasty (TKA) and unicompartmental knee arthroplasty (UKA).

[0005] Taking total knee arthroplasty (TKA) as an example, it refers to the surgery of replacing a knee joint deformed due to osteoarthritis or rheumatoid arthritis with artificial materials (as shown in the attached document). Figure 1 As shown in the image, this is an effective surgical method for treating end-stage knee osteoarthritis caused by various factors.

[0006] The steps of total knee arthroplasty (TKA) typically include patient positioning, skin incision, exposure of the knee joint, tibial retraction of the dislocated tibia, soft tissue release, removal of surrounding osteophytes, femoral osteotomy in five planes (anterior condyle, anterior oblique, distal, posterior oblique, and posterior condyle), tibial osteotomy, femoral prosthesis implantation, tibial prosthesis implantation, tibial graft implantation, adjustment, and suturing. Among these steps, the femoral and tibial osteotomies require relatively high levels of surgical skill, demanding precise osteotomy operations in predetermined positions and postures to ensure the cut joint cross-section conforms to the surgical plan, has good flexion-extension balance, and restores accurate lower limb alignment. A perfect osteotomy not only alleviates postoperative pain and improves knee joint function, but also prevents prosthesis dislocation, reduces notching (anterior femoral cortical notch, a common postoperative complication of total knee arthroplasty, characterized by a defect in the anterior femoral cortical bone due to poor anterior condylar osteotomy during TKA, with a perpendicular distance >1 mm between the distal tangent of the anterior femoral cortex and the tangent of the femoral prosthesis contacting the femur), and prolongs the lifespan of the prosthesis. Therefore, the femoral and tibial plane osteotomies, these two crucial steps, directly affect the success or failure of the entire surgery.

[0007] In traditional knee replacement surgery, femoral and tibial osteotomies are performed manually by the surgeon using a hand-held osteotomy saw. On the one hand, manual operation reduces the precision of the osteotomy plane, potentially damaging the patient's soft tissues and ligaments, and reducing the overall treatment outcome; on the other hand, the large cutting reaction force also places a significant burden on the surgeon.

[0008] Another approach to ensure the accuracy and boundary constraints of planar osteotomy involves using an osteotomy guide plate or a four-in-one guide. After exposing the knee joint, the osteotomy guide plate or guide is fixed to the femur or tibia with Kirschner wires, and the osteotomy is performed using a handheld osteotomy oscillating saw. This method requires additional nailing of the patient's bones, making the surgical procedure more complicated. In addition, the manually controlled osteotomy oscillating saw cannot completely guarantee that the patient's soft tissues and ligaments will not be damaged.

[0009] Robot-assisted knee replacement surgery allows surgeons to perform interactive femoral and tibial plane osteotomies using robotic arms. The robotic arm drives an oscillating saw, and the surgeon triggers the tool's power to complete the osteotomy process in a controlled manner. This not only improves the precision of the plane osteotomy and enhances surgical outcomes but also significantly reduces the surgeon's physical exertion. However, during femoral and tibial plane osteotomies in robot-assisted knee replacement surgery, the position of the oscillating saw within the osteotomy plane needs to be limited to certain boundaries to prevent soft tissue and ligament damage and reduced surgical precision due to excessive range of motion. In existing technologies, because the robotic oscillating saw cannot be confined within the osteotomy plane, excessive range of motion often leads to soft tissue and ligament damage and reduced surgical precision. Summary of the Invention

[0010] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a method for controlling the boundary of the osteotomy plane, an electronic device, and a storage medium to solve the technical problems in related technologies where excessive range of motion of the osteotomy oscillating saw leads to soft tissue and ligament damage and reduced surgical precision.

[0011] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0012] According to a first aspect of the present invention, a method for controlling the boundary of an osteotomy plane is provided, comprising:

[0013] Step S1: Calculate the distance between the center point of the osteotomy saw and the boundary line of the osteotomy plane, select the two sides with the shortest distance and sum the inward vectors of each side as the search direction, and perform a step-by-step search.

[0014] Step S2: After each step search is completed, update the search point coordinates, and determine the left and right limit point coordinates corresponding to the osteotomy oscillating saw blade surface based on the updated search coordinates.

[0015] Step S3: Determine whether the line connecting the left and right extreme points intersects with the boundary line of the osteotomy plane. If not, complete the search and output the current search coordinates as the safe coordinates of the osteotomy oscillating saw center point. If yes, return to step S1 to recalculate the search direction and perform a step-by-step search.

[0016] Preferably, step S1 includes:

[0017] Step S11: Obtain the planned coordinates of the center point of the osteotomy oscillating saw, the planned direction vector of the osteotomy oscillating saw, the set of boundary points of the osteotomy plane, the set of boundary lines formed by the set of boundary points, and the single step amount.

[0018] Step S12: Traverse each boundary line in the set of boundary lines, calculate the distance from the center point of the osteotomy oscillating saw to each boundary line, and the coordinates of the nearest point;

[0019] Step S13: Traverse the distance from the center point of the osteotomy oscillating saw to the boundary line, and find the index number of the two boundary lines with the shortest distance.

[0020] Step S14: Determine whether the center point of the osteotomy oscillating saw is located within the set of boundary lines. If so, initialize the search coordinate point to be equal to the planned coordinates of the center point of the osteotomy oscillating saw. Otherwise, initialize the search coordinate point to be equal to the coordinates of the nearest point on the boundary line with the shortest distance.

[0021] Step S15: Calculate the search direction, which is the weighted sum of the direction vectors of the two boundary lines with the shortest distance. The weight of the direction vector of each boundary line is the distance between the other boundary line and the center point of the osteotomy oscillating saw.

[0022] Preferably, step S2 includes:

[0023] Step S21: Perform a step search along the search direction, and after each step search is completed, update the search coordinate point to the sum of the original search coordinate point and the step amount in the search direction;

[0024] Step S22: Based on the updated search coordinates and the planned direction vector of the osteotomy oscillating saw, calculate the coordinates of the left limit point corresponding to the left limit point when the osteotomy oscillating saw is in the left limit position, and the coordinates of the right limit point corresponding to the right limit point when the osteotomy oscillating saw is in the right limit position.

[0025] Preferably, step S3 includes:

[0026] Step S31: Traverse each boundary line in the boundary line set, calculate whether the line connecting the left and right limit points intersects with each boundary line. If they do not intersect, complete the search and output the current search coordinate point as the safe coordinate of the osteotomy oscillating saw center point; if they intersect, continue to the next step.

[0027] Step S32: Traverse each boundary line in the boundary line set, calculate the distance from the current search coordinate point to each boundary line, and the coordinates of the nearest point;

[0028] Step S33: Traverse the distances from the current search coordinate point to the boundary line, find the index number of the two boundary lines with the shortest distance, and return to step S15.

[0029] Preferably, the calculation of the distance from the center point of the osteotomy oscillating saw to each boundary line, and the coordinates of the nearest point in step S12 includes:

[0030] For any boundary line, determine the positional relationship between the center point of the osteotomy oscillating saw and the boundary line;

[0031] If the projection of the center point of the osteotomy oscillating saw onto the left extension of the boundary line falls on the left side of the boundary line, the coordinates of the left endpoint of the boundary line are determined as the coordinates of the nearest point, and the distance between the center point of the osteotomy oscillating saw and the left endpoint is the distance from the center point of the osteotomy oscillating saw to the boundary line.

[0032] If the projection of the center point of the osteotomy oscillating saw onto the right extension of the boundary line falls on the right side of the boundary line, the coordinates of the right endpoint of the boundary line are determined as the coordinates of the nearest point, and the distance between the center point of the osteotomy oscillating saw and the right endpoint is the distance from the center point of the osteotomy oscillating saw to the boundary line.

[0033] If the projection of the center point of the osteotomy oscillating saw onto the boundary line falls on the boundary line, the projection point is determined as the coordinate of the nearest point, and the distance between the center point of the osteotomy oscillating saw and the projection point is the distance from the center point of the osteotomy oscillating saw to the boundary line.

[0034] Preferably, determining the positional relationship between the center point of the osteotomy oscillating saw and any boundary line includes:

[0035] The left endpoint of the boundary line is defined as the starting point of the vector, and the vector direction of the boundary line is from the left endpoint to the right endpoint;

[0036] Calculate the projection of the vector connecting the left endpoint and the center point of the osteotomy oscillating saw onto the direction of the vector of this boundary line.

[0037] If the length of the projection is less than or equal to 0, it is determined that the projection of the center point of the osteotomy saw on the boundary line falls on the left extension line of the boundary line.

[0038] If the length of the projection is greater than 0 and less than or equal to the vector length of the boundary line, it is determined that the projection of the osteotomy oscillating saw center point on the boundary line falls on the boundary line.

[0039] If the length of the projection is greater than the vector length of the boundary line, it is determined that the projection of the center point of the osteotomy saw on the boundary line falls on the right extension line of the boundary line.

[0040] Preferably, determining whether the center point of the osteotomy oscillating saw is located within the set of boundary lines in step S14 includes:

[0041] Step S141: Starting from the center point of the osteotomy oscillating saw, generate a ray in any direction towards infinity;

[0042] Step S142: Traverse each boundary point in the boundary point set and determine whether the ray passes through the boundary point. If yes, return to step S141; otherwise, proceed to the next step.

[0043] Step S143: Traverse each boundary line in the boundary line set and determine whether the ray coincides with the boundary line. If yes, return to step S141; otherwise, proceed to the next step.

[0044] Step S144: Traverse each boundary line in the boundary line set and calculate the number of intersection points between the ray and the boundary line;

[0045] Step S145: If the number of intersection points is odd, the center point of the osteotomy oscillating saw is determined to be within the set of boundary lines; if the number of intersection points is even, the center point of the osteotomy oscillating saw is determined to be outside the set of boundary lines.

[0046] Preferably, step S31, which involves traversing each boundary line in the boundary line set and calculating whether the line connecting the left and right limit points intersects with each boundary line, includes:

[0047] For any boundary line, calculate the line vector connecting the right endpoint and the left limit point of the boundary line, and the first rotation direction between the line vector connecting the right endpoint and the left endpoint;

[0048] Calculate the line vector connecting the right endpoint and the right limit point of the boundary line, and the second rotation direction between the line vector connecting the right endpoint and the left endpoint;

[0049] If the product of the first rotation direction and the second rotation direction is greater than 0, then it is determined that the line connecting the left limit point and the right limit point does not intersect the boundary line.

[0050] Preferably, step S31, which involves traversing each boundary line in the boundary line set and calculating whether the line connecting the left and right limit points intersects with each boundary line, includes:

[0051] For any boundary line, calculate the line vector connecting the right limit point to the left endpoint of the boundary line, and the third rotation direction between the line vector connecting the right limit point and the left limit point;

[0052] Calculate the line vector connecting the right limit point and the right endpoint of the boundary line, and the fourth rotation direction between the line vector connecting the right limit point and the left limit point;

[0053] If the product of the third rotation direction and the fourth rotation direction is greater than 0, then the line connecting the left limit point and the right limit point is determined not to intersect the boundary line.

[0054] According to a second aspect of the present invention, an osteotomy plane boundary control device is provided, comprising:

[0055] The search module is used to calculate the distance from the center point of the osteotomy saw to the boundary line of the osteotomy plane, select the inward vectors of the two sides with the shortest distance and sum them up as the search direction, and perform a step-by-step search.

[0056] The determination module is used to update the search point coordinates after each step search, and determine the left and right limit point coordinates corresponding to the osteotomy oscillating saw blade surface based on the updated search coordinates.

[0057] The judgment module is used to determine whether the line connecting the left and right extreme points intersects with the boundary line of the osteotomy plane. If not, the search is completed and the current search coordinates are output as the safe coordinates of the osteotomy oscillating saw center point; if yes, the search module is returned to recalculate the search direction and perform a step-by-step search.

[0058] According to a third aspect of the present invention, an electronic device is provided, comprising:

[0059] The processor, communication interface, memory, and communication bus are connected, with the processor, communication interface, and memory communicating with each other via the communication bus.

[0060] Memory, used to store computer programs;

[0061] A processor, when executing a program stored in memory, implements the method described in any one of claims 1 to 9.

[0062] According to a fourth aspect of the present invention, a non-transitory computer-readable storage medium is provided storing computer instructions for causing a computer to perform the methods described above.

[0063] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects:

[0064] By calculating the distance from the center point of the osteotomy oscillating saw to the boundary of the osteotomy plane, and weighted summing of the inward vectors of the two shortest sides as the search direction, a step-by-step search is performed to quickly find a safe position within the plane boundary (i.e., meeting the desired movement direction and posture). This safe position is then sent to the robotic arm to move the surgical tool, thereby accurately and safely assisting the surgeon in performing osteotomy operations on the femur and tibia. This solves the technical problem in existing technologies where excessive range of motion of the osteotomy oscillating saw leads to soft tissue and ligament damage and reduced surgical precision.

[0065] When the technical solution provided in this embodiment is applied to a knee replacement surgery robot, it can accurately and easily assist doctors in performing osteotomy operations during knee replacement surgery, while ensuring the boundary safety of the oscillating saw, improving the accuracy and success rate of knee replacement surgery, and reducing the burden on doctors.

[0066] By applying the technical solution provided in this embodiment, when a doctor performs a planar osteotomy on the patient's femur or tibia, and when the doctor needs to dynamically adjust the position of the osteotomy oscillating saw within the plane, the robotic arm can limit the safe area for the doctor's dynamic adjustment, protecting the patient's posterior cruciate ligament and medial and lateral collateral ligaments from damage, thus ensuring the safety of the planar osteotomy operation.

[0067] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0068] Figure 1 This is a flowchart of total knee arthroplasty (TKA) as shown in the background art;

[0069] Figure 2 This is a flowchart illustrating a method for controlling the boundary of an osteotomy plane according to an exemplary embodiment;

[0070] Figure 3 This is a schematic diagram of a partial system structure of a knee replacement surgery robot according to an exemplary embodiment;

[0071] Figure 4 This is a schematic diagram of the end control model of an osteotomy oscillating saw according to an exemplary embodiment;

[0072] Figure 5 This is a schematic diagram of the osteotomy plane boundary according to an exemplary embodiment;

[0073] Figure 6 This is a schematic diagram illustrating osteotomy plane boundary control according to an exemplary embodiment;

[0074] Figure 7 This is a schematic diagram of the search process in a screenshot planar boundary control method according to another exemplary embodiment;

[0075] Figure 8 This is a schematic diagram illustrating the calculation of the distance from the center point of the osteotomy oscillating saw to any boundary line, and the coordinates of the nearest point, according to an exemplary embodiment.

[0076] Figure 9 This is a schematic diagram illustrating a calculation method for determining whether the center point of an osteotomy oscillating saw is located within a set of boundary lines, according to an exemplary embodiment.

[0077] Figure 10 This is a schematic diagram illustrating a vector rotation direction calculation algorithm according to an exemplary embodiment;

[0078] Figure 11 This is a schematic block diagram illustrating an osteotomy plane boundary control device according to an exemplary embodiment;

[0079] Figure 12 This is a schematic block diagram of an electronic device according to an exemplary embodiment. Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0081] As described in the background section, there are technical problems in related technologies where excessive range of motion of the osteotomy oscillating saw leads to soft tissue and ligament damage and reduced surgical precision.

[0082] To effectively address the problems in related technologies, this invention provides a method for controlling the boundary of the osteotomy plane, an electronic device, and a storage medium, which are described in detail below.

[0083] It should be noted that the "connecting lines" mentioned in the following embodiments (such as boundary connecting lines, connecting lines between the left limit point and the right limit point) include, but are not limited to: line segments, broken lines, curves, etc.

[0084] Example 1

[0085] Figure 2 This is a flowchart illustrating a method for controlling the boundary of an osteotomy plane according to an exemplary embodiment. See also... Figure 2 The method includes:

[0086] Step S1: Calculate the distance between the center point of the osteotomy saw and the boundary line of the osteotomy plane, select the two sides with the shortest distance and sum the inward vectors of each side as the search direction, and perform a step-by-step search.

[0087] Step S2: After each step search is completed, update the search point coordinates, and determine the left and right limit point coordinates corresponding to the osteotomy oscillating saw blade surface based on the updated search coordinates.

[0088] Step S3: Determine whether the line connecting the left and right extreme points intersects with the boundary line of the osteotomy plane. If not, complete the search and output the current search coordinates as the safe coordinates of the osteotomy oscillating saw center point. If yes, return to step S1 to recalculate the search direction and perform a step-by-step search.

[0089] It should be noted that, in practice, the technical solution provided in this embodiment runs in the controller of the medical device, or is loaded into an electronic device connected to the controller. The controller of the medical device executes the corresponding method by calling the program stored in the electronic device.

[0090] Specifically, the medical device can be an orthopedic surgical robot, which can be applied to, but is not limited to, knee replacement surgery. This method can be applied to osteotomy plane boundary control in total knee arthroplasty (TKA), as well as osteotomy plane boundary control in unicompartmental arthroplasty (UKA), or extended to boundary control of planar positions in any surgical procedure.

[0091] Understandably, the technical solution provided in this embodiment calculates the distance from the center point of the osteotomy oscillating saw to the boundary of the osteotomy plane, selects the two shortest sides, and performs a weighted sum of their inward vectors as the search direction. This step-by-step search quickly finds a safe position within the plane boundary (i.e., one that meets the desired movement direction and posture). This safe position is then sent to the robotic arm, driving the surgical tool to move, thereby precisely and safely assisting the surgeon in performing osteotomy operations on the femur and tibia. This solves the technical problem in existing technologies where excessive movement of the osteotomy oscillating saw leads to soft tissue and ligament damage and reduced surgical precision.

[0092] When the technical solution provided in this embodiment is applied to a knee replacement surgery robot, it can accurately and easily assist doctors in performing osteotomy operations during knee replacement surgery, while ensuring the boundary safety of the oscillating saw, improving the accuracy and success rate of knee replacement surgery, and reducing the burden on doctors.

[0093] See Figure 3 A knee replacement surgery robot may include: a motion control PC, a robotic arm, a six-dimensional force sensor, tools (osteotomy oscillating saw), and optical positioning sensors.

[0094] See Figure 3 A six-dimensional force sensor is installed at the end of the robotic arm, and the sensor's sensing end is fixedly connected to the osteotomy oscillating saw. During the operation, the surgeon interacts directly with the osteotomy oscillating saw. The motion control PC then uses the six-dimensional force sensor to sense the surgeon's interaction force and controls the robotic arm's power accordingly, allowing the osteotomy oscillating saw to move in a controlled manner within the osteotomy plane. An optical positioning sensor is responsible for real-time sensing of the relative position between the patient and the tool, enabling the motion control PC to calculate and update the planar pose information in real time.

[0095] It is understood that, by applying the technical solution provided in this embodiment, when a doctor performs a planar osteotomy on the patient's femur or tibia, and when the doctor needs to dynamically adjust the position of the osteotomy oscillating saw within the plane, the robotic arm can limit the safe area for the doctor's dynamic adjustment, protect the patient's posterior cruciate ligament and medial and lateral collateral ligaments from damage, and ensure the safety of the planar osteotomy operation.

[0096] Figure 4 See the schematic diagram of the control model for the end of the osteotomy oscillating saw. Figure 4, Let be the direction vector of the oscillating saw. These are the coordinates of the end point of the oscillating saw when it is in the neutral position. This refers to the coordinates of the left limit point corresponding to the lateral displacement projected onto the cutting edge of the oscillating saw when it is in the left limit position. These are the coordinates of the corresponding right limit point. When the coordinates of the end point of the oscillating saw and the direction vector are determined, the coordinates of the left and right limit positions can be uniquely determined according to the mechanical structure design of the oscillating saw.

[0097] Figure 5 See the schematic diagram of the osteotomy plane boundary. Figure 5 In the osteotomy plane, For the boundary point, The polygons are line segments between boundary points. The starting and ending boundary points extend infinitely backward along the starting and ending line segments, connecting at infinity to form a planar position boundary. The polygons formed by the boundary line segments can have any concave or convex shape; the method proposed in this embodiment does not impose any restrictions on the concaveness or convexity of the boundary.

[0098] Figure 6 See the schematic diagram for osteotomy plane boundary control. Figure 6 In the osteotomy plane, The location of the osteotomy saw is planned by the surgeon's operating force (it may exceed the boundary). This is the safe position for the osteotomy oscillating saw (ensuring it remains within the boundaries). This safe position allows control over the movement of the oscillating saw tip within the planar boundaries of the osteotomy plane, ensuring that the posterior cruciate ligament and medial and lateral collateral ligaments are not damaged while completing the osteotomy, thus improving surgical safety and postoperative recovery.

[0099] In practical application, see Figure 7 Step S1 includes:

[0100] Step S11: Obtain the planned coordinates of the center point of the osteotomy oscillating saw. The planning direction vector of the osteotomy oscillating saw The set of boundary points of the osteotomy plane The set of boundary lines consisting of the set of boundary points single step size ;

[0101] Step S12: Traverse the set of boundary lines For each boundary line in the data, take... Calculate the center point of the osteotomy oscillating saw Connect to each boundary line distance And, the coordinates of the nearest point ;

[0102] Step S13: Calculate the center point of the osteotomy oscillating saw Connect to the boundary Given the distance, find the index number of the line connecting the two boundaries that has the shortest distance. ;

[0103] Step S14: Determine the center point of the osteotomy oscillating saw. Is it located within the set of boundary lines? If so, then initialize the search coordinate point to the planned coordinates of the center point of the osteotomy oscillating saw. Otherwise, initialize the search coordinates to the coordinates of the nearest point on the boundary line with the shortest distance. ;

[0104] Step S15: Calculate the search direction ,in Represents the set of boundary lines The direction vector (unit vector) formed pointing inside the boundary; for Perform a normalization operation to normalize it to a unit vector.

[0105] In practice, step S2 includes:

[0106] Step S21: Perform a step search along the search direction, and after each step search, update the search coordinates to the sum of the original search coordinates and the step amount in the search direction. ;

[0107] Step S22: Based on the updated search coordinates The planned direction vector of the osteotomy oscillating saw Calculate the coordinates of the left limit point corresponding to the projection of the lateral displacement onto the cutting edge of the osteotomy oscillating saw when it is in the left limit position. And, when the osteotomy oscillating saw is in the right extreme position, the coordinates of the right extreme point corresponding to the projection of the lateral displacement onto the oscillating saw blade surface. .

[0108] In practice, step S3 includes:

[0109] Step S31: Traverse the boundary connection set For each boundary line in the data, take... Calculate the left limit point and the right limit point The lines connecting the two sides and the lines connecting each boundary. If the coordinates do not intersect, the search is complete, and the current search coordinates are output as the safe coordinates of the osteotomy oscillating saw center point. If they do not intersect, proceed to the next step.

[0110] Step S32: Traverse the boundary connection set For each boundary line in the data, take... Calculate the current search coordinates. Connect to each boundary line distance And, the coordinates of the nearest point ;

[0111] Step S33: Traverse the current search coordinates. Find the index numbers of the two boundary lines that have the shortest distance to the boundary lines. Return to step S15.

[0112] In practice, the maximum number of step searches can be controlled by adjusting the step size (usually by controlling the step size to be between 1 / 20 and 1 / 10 of the width between the left and right limits of the osteotomy oscillating saw), thereby constraining the search time and ensuring the execution time of the algorithm.

[0113] The above-described position boundary control method ensures that when the position of the surgical tool planned by the doctor's operating force exceeds the boundary, the position is corrected to be within the boundary range and conforms to the desired direction, so as to control the movement of the robotic arm and adapt to the doctor's operation.

[0114] In practical application, see Figure 8 In step S12, calculating the distance from the center point of the osteotomy oscillating saw to each boundary line, and the coordinates of the nearest point, includes:

[0115] For any boundary line, determine the positional relationship between the center point of the osteotomy oscillating saw and the boundary line;

[0116] If the projection of the center point of the osteotomy oscillating saw onto the line connecting the boundaries falls on the left extension of that line (in this case, the position of the center point of the osteotomy oscillating saw is as follows...) Figure 8 The coordinates of the left endpoint Pa of the boundary line are determined by the midpoint P1. The distance between the center point P1 of the osteotomy saw and the left endpoint Pa is the distance from the center point of the osteotomy saw to the boundary line.

[0117] If the projection of the center point of the osteotomy oscillating saw onto the line connecting the boundaries falls on the right extension of that line (in this case, the position of the center point of the osteotomy oscillating saw is as follows...) Figure 8 The coordinates of the right endpoint Pb of the boundary line are determined as the coordinates of the nearest point. The distance between the center point P3 of the osteotomy saw and the right endpoint Pb is the distance from the center point of the osteotomy saw to the boundary line.

[0118] If the projection of the center point of the osteotomy oscillating saw onto the line connecting the boundaries falls on that line (in this case, the position of the center point of the osteotomy oscillating saw is as follows...) Figure 8The projection point is determined as the nearest point coordinate (midpoint P2). The distance between the center point P2 of the osteotomy oscillating saw and the projection point is the distance from the center point of the osteotomy oscillating saw to the line connecting the boundary.

[0119] See Figure 8 The step of determining the positional relationship between the center point of the osteotomy oscillating saw and any boundary line includes:

[0120] The left endpoint Pa of the boundary line is defined as the starting point of the vector, and the vector direction of the boundary line is from the left endpoint Pa to the right endpoint Pb;

[0121] Calculate the distance between the left endpoint Pa and the center point P of the osteotomy oscillating saw (P may be...). , , The projection of the vector connecting the points (in a certain way) to the boundary line in the direction of the vector of the boundary line;

[0122] If the length of the projection is less than or equal to 0, it is determined that the projection of the center point P of the osteotomy saw on the boundary line falls on the left extension line of the boundary line.

[0123] If the length of the projection is greater than 0 and less than or equal to the vector length d of the boundary line, it is determined that the projection of the osteotomy oscillating saw center point P on the boundary line falls on the boundary line.

[0124] If the length of the projection is greater than the vector length d of the boundary line, it is determined that the projection of the osteotomy oscillating saw center point P on the boundary line falls on the right extension line of the boundary line.

[0125] The above can be expressed using a data formula: Assuming the center point of the osteotomy oscillating saw is P ( , , The boundary line is formed by the point. , The line segment formed, the distance from the point nearest point The following formula is used for calculation:

[0126]

[0127] in,

[0128]

[0129]

[0130]

[0131] Then point From point , The shortest distance of the line segments is calculated using the following formula:

[0132]

[0133] In practical application, see Figure 9 Step S14, determining whether the center point of the osteotomy oscillating saw is located within the set of boundary lines, includes:

[0134] Step S141: Starting from the center point P of the osteotomy oscillating saw, generate a ray in any direction towards infinity. ;

[0135] Step S142: Traverse the boundary point set For each boundary point in the array, take... Determine the ray Does it pass through the boundary point? If yes, return to step S141; otherwise, proceed to the next step.

[0136] Step S143: Traverse the boundary connection set For each boundary line in the data, take... Determine the ray Is it connected to the boundary? If they overlap, return to step S141; otherwise, proceed to the next step.

[0137] Step S144: Traverse the boundary connection set Calculate the ray by connecting each boundary line in the diagram. Connecting to the boundary Number of intersection points ;

[0138] Step S145: If the number of intersection points If the number is odd, then the center point P of the osteotomy oscillating saw is determined to be within the set of boundary lines. If the number of intersection points If the number is even, then the center point P of the osteotomy oscillating saw is determined to be outside the set of boundary lines. .

[0139] It should be noted that in practical applications, a ray can be equivalent to a line segment between the ray's origin and a point at infinity along the ray's direction. Therefore, the ray-line segment intersection calculation in S14 can be transformed into the line segment intersection detection.

[0140] In practice, step S31, which involves traversing each boundary line in the boundary line set and calculating whether the line connecting the left and right limit points intersects with each boundary line, includes:

[0141] For any boundary line, calculate the line vector connecting the right endpoint and the left limit point of the boundary line, and the first rotation direction between the line vector connecting the right endpoint and the left endpoint;

[0142] Calculate the line vector connecting the right endpoint and the right limit point of the boundary line, and the second rotation direction between the line vector connecting the right endpoint and the left endpoint;

[0143] If the product of the first rotation direction and the second rotation direction is greater than 0, then it is determined that the line connecting the left limit point and the right limit point does not intersect the boundary line.

[0144] For any boundary line, calculate the line vector connecting the right limit point to the left endpoint of the boundary line, and the third rotation direction between the line vector connecting the right limit point and the left limit point;

[0145] Calculate the line vector connecting the right limit point and the right endpoint of the boundary line, and the fourth rotation direction between the line vector connecting the right limit point and the left limit point;

[0146] If the product of the third rotation direction and the fourth rotation direction is greater than 0, then the line connecting the left limit point and the right limit point is determined not to intersect the boundary line.

[0147] To facilitate understanding the calculation process in step S31 of traversing each boundary line in the boundary line set and determining whether the line connecting the left and right limit points intersects with any other boundary line, we will now take the left limit point as... and the right limit point The left endpoint of any boundary line is The right endpoint is For example, see Figure 9 The explanation is as follows:

[0148] set up As a function characterizing the direction of vector rotation, point , Forming line segments, points , If two line segments are formed, the following algorithm can be used to quickly determine whether they intersect:

[0149]

[0150] in,

[0151]

[0152]

[0153]

[0154]

[0155]

[0156] See Figure 10 The The function is defined as:

[0157] Two vectors , The direction of rotation between them is calculated using the following method:

[0158]

[0159] in,

[0160]

[0161] It is a very small floating-point number, which can generally be taken as 0.000001.

[0162] It is understood that the technical solution provided in this embodiment, through boundary control of the osteotomy plane, can ensure that when the position of the surgical tool planned by the doctor's operating force exceeds the boundary, the position is corrected to a position within the specified boundary range and conforms to the desired direction, thereby improving the success rate of the surgery.

[0163] In addition, the boundary control method of the osteotomy plane provided in this embodiment does not impose any restrictions on the concavity or convexity of the boundary, supports the customization of the boundary type according to the patient's anatomical structure, can protect the patient's posterior cruciate ligament and medial and lateral collateral ligaments from damage, and avoid unnecessary excessive cutting of soft tissues and ligaments.

[0164] Furthermore, the technical solution provided in this embodiment calculates the safe position of the surgical tool based on the position of the surgical tool and the boundary of the safe surgical area planned by the surgeon's operating force, and sends this information to the robotic arm to drive the surgical tool to move, thereby accurately and safely performing osteotomy operations on the femur and tibia. Moreover, it only requires the desired position, desired direction, and safe boundary of the osteotomy oscillating saw, without needing to obtain the current position and current direction of the osteotomy oscillating saw, reducing the impact of system time delay on control, and ensuring that the given safe direction of the osteotomy oscillating saw conforms to the desired direction.

[0165] Example 2

[0166] A method for controlling the boundary of an osteotomy plane, according to another exemplary embodiment, includes:

[0167] Step S11: Obtain the planned coordinates of the center point of the osteotomy oscillating saw. The planning direction vector of the osteotomy oscillating saw The set of boundary points of the osteotomy plane The set of boundary lines consisting of the set of boundary points single step size ;

[0168] Step S12: Traverse the set of boundary lines For each boundary line in the data, take... Calculate the center point of the osteotomy oscillating saw Connect to each boundary line distance And, the coordinates of the nearest point ;

[0169] Step S13: Calculate the center point of the osteotomy oscillating saw Connect to the boundary Given the distance, find the index number of the line connecting the two boundaries that has the shortest distance. ;

[0170] Step S14: Determine the center point of the osteotomy oscillating saw. Is it located within the set of boundary lines? If so, then initialize the search coordinate point to the planned coordinates of the center point of the osteotomy oscillating saw. Otherwise, initialize the search coordinates to the coordinates of the nearest point on the boundary line with the shortest distance. ;

[0171] Step S15: Calculate the search direction ,in Represents the set of boundary lines The direction vector (unit vector) formed pointing inside the boundary; for Perform a normalization operation to normalize it to a unit vector;

[0172] Step S21: Perform a step search along the search direction, and after each step search, update the search coordinates to the sum of the original search coordinates and the step amount in the search direction. ;

[0173] Step S22: Based on the updated search coordinates The planned direction vector of the osteotomy oscillating saw Calculate the coordinates of the left limit point corresponding to the projection of the lateral displacement onto the cutting edge of the osteotomy oscillating saw when it is in the left limit position. And, when the osteotomy oscillating saw is in the right extreme position, the coordinates of the right extreme point corresponding to the projection of the lateral displacement onto the oscillating saw blade surface. ;

[0174] Step S31: Traverse the boundary connection set For each boundary line in the data, take... Calculate the left limit point and the right limit point The lines connecting the two sides and the lines connecting each boundary. If the coordinates do not intersect, the search is complete, and the current search coordinates are output as the safe coordinates of the osteotomy oscillating saw center point. If they do not intersect, proceed to the next step.

[0175] Step S32: Traverse the boundary connection set For each boundary line in the data, take... Calculate the current search coordinates. Connect to each boundary line distance And, the coordinates of the nearest point ;

[0176] Step S33: Traverse the current search coordinates. Find the index numbers of the two boundary lines that have the shortest distance to the boundary lines. Return to step S15.

[0177] It should be noted that, in practice, the technical solution provided in this embodiment runs in the controller of the medical device, or is loaded into an electronic device connected to the controller. The controller of the medical device executes the corresponding method by calling the program stored in the electronic device.

[0178] Specifically, the medical device can be an orthopedic surgical robot, which can be applied to, but is not limited to, knee replacement surgery. This method can be applied to osteotomy plane boundary control in total knee arthroplasty (TKA), as well as osteotomy plane boundary control in unicompartmental arthroplasty (UKA), or extended to boundary control of planar positions in any surgical procedure.

[0179] Understandably, the technical solution provided in this embodiment calculates the distance from the center point of the osteotomy oscillating saw to the boundary of the osteotomy plane, selects the two shortest sides, and performs a weighted sum of their inward vectors as the search direction. This step-by-step search quickly finds a safe position within the plane boundary (i.e., one that meets the desired movement direction and posture). This safe position is then sent to the robotic arm, driving the surgical tool to move, thereby precisely and safely assisting the surgeon in performing osteotomy operations on the femur and tibia. This solves the technical problem in existing technologies where excessive movement of the osteotomy oscillating saw leads to soft tissue and ligament damage and reduced surgical precision.

[0180] When the technical solution provided in this embodiment is applied to a knee replacement surgery robot, it can accurately and easily assist doctors in performing osteotomy operations during knee replacement surgery, while ensuring the boundary safety of the oscillating saw, improving the accuracy and success rate of knee replacement surgery, and reducing the burden on doctors.

[0181] In addition, the boundary control method of the osteotomy plane provided in this embodiment does not impose any restrictions on the concavity or convexity of the boundary, supports the customization of the boundary type according to the patient's anatomical structure, can protect the patient's posterior cruciate ligament and medial and lateral collateral ligaments from damage, and avoid unnecessary excessive cutting of soft tissues and ligaments.

[0182] Furthermore, the technical solution provided in this embodiment calculates the safe position of the surgical tool based on the position of the surgical tool and the boundary of the safe surgical area planned by the surgeon's operating force, and sends this information to the robotic arm to drive the surgical tool to move, thereby accurately and safely performing osteotomy operations on the femur and tibia. Moreover, it only requires the desired position, desired direction, and safe boundary of the osteotomy oscillating saw, without needing to obtain the current position and current direction of the osteotomy oscillating saw, reducing the impact of system time delay on control, and ensuring that the given safe direction of the osteotomy oscillating saw conforms to the desired direction.

[0183] Example 3

[0184] Based on the same concept, see [link / reference] Figure 11 An osteotomy plane boundary control device 100, as illustrated in an exemplary embodiment, includes:

[0185] The search module 101 is used to calculate the distance between the center point of the osteotomy saw and the boundary line of the osteotomy plane, select the inward vectors of the two sides with the shortest distance and sum them up as the search direction, and perform a step-by-step search.

[0186] The determination module 102 is used to update the search point coordinates after each step search, and determine the left and right limit point coordinates corresponding to the osteotomy oscillating saw blade surface based on the updated search coordinate points.

[0187] The judgment module 103 is used to determine whether the line connecting the left and right extreme points intersects with the boundary line of the osteotomy plane. If not, the search is completed and the current search coordinate point is output as the safe coordinate of the center point of the osteotomy oscillating saw. If yes, the search module is returned to recalculate the search direction and perform a step-by-step search.

[0188] It should be noted that the implementation methods and beneficial effects of the above modules can be found in the description of the relevant steps in the above embodiments, and will not be repeated in this embodiment.

[0189] Understandably, the technical solution provided in this embodiment calculates the distance from the center point of the osteotomy oscillating saw to the boundary of the osteotomy plane, selects the two shortest sides, and performs a weighted sum of their inward vectors as the search direction. This step-by-step search quickly finds a safe position within the plane boundary (i.e., one that meets the desired movement direction and posture). This safe position is then sent to the robotic arm, driving the surgical tool to move, thereby precisely and safely assisting the surgeon in performing osteotomy operations on the femur and tibia. This solves the technical problem in existing technologies where excessive movement of the osteotomy oscillating saw leads to soft tissue and ligament damage and reduced surgical precision.

[0190] Example 4

[0191] See Figure 12 An electronic device according to an exemplary embodiment includes:

[0192] The processor 701, communication interface 702, memory 703, and communication bus 704 are provided, wherein the processor 701, communication interface 702, and memory 703 communicate with each other through the communication bus 704.

[0193] Memory 703 is used to store computer programs;

[0194] The processor 701 implements the above method when executing a program stored in memory.

[0195] Understandably, the technical solution provided in this embodiment calculates the distance from the center point of the osteotomy oscillating saw to the boundary of the osteotomy plane, selects the two shortest sides, and performs a weighted sum of their inward vectors as the search direction. This step-by-step search quickly finds a safe position within the plane boundary (i.e., one that meets the desired movement direction and posture). This safe position is then sent to the robotic arm, driving the surgical tool to move, thereby precisely and safely assisting the surgeon in performing osteotomy operations on the femur and tibia. This solves the technical problem in existing technologies where excessive movement of the osteotomy oscillating saw leads to soft tissue and ligament damage and reduced surgical precision.

[0196] Example 5

[0197] An exemplary embodiment illustrates a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the methods described above.

[0198] Understandably, the technical solution provided in this embodiment calculates the distance from the center point of the osteotomy oscillating saw to the boundary of the osteotomy plane, selects the two shortest sides, and performs a weighted sum of their inward vectors as the search direction. This step-by-step search quickly finds a safe position within the plane boundary (i.e., one that meets the desired movement direction and posture). This safe position is then sent to the robotic arm, driving the surgical tool to move, thereby precisely and safely assisting the surgeon in performing osteotomy operations on the femur and tibia. This solves the technical problem in existing technologies where excessive movement of the osteotomy oscillating saw leads to soft tissue and ligament damage and reduced surgical precision.

[0199] Of course, those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.). The program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The storage medium can be a memory, magnetic disk, optical disk, etc.

[0200] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for controlling the boundary of an osteotomy plane, characterized in that, include: Step S1: Calculate the distance between the center point of the osteotomy oscillating saw and the boundary line of the osteotomy plane. Select the two sides with the shortest distance and sum the inward vectors as the search direction to perform a step-by-step search. Step S2: After each step search is completed, update the search point coordinates, and determine the left and right limit point coordinates corresponding to the osteotomy oscillating saw blade surface based on the updated search coordinates. Step S3: Determine whether the line connecting the left and right extreme points intersects with the boundary line of the osteotomy plane. If not, complete the search and output the current search coordinates as the safe coordinates of the osteotomy oscillating saw center point. If yes, return to step S1 to recalculate the search direction and perform a step-by-step search.

2. The method according to claim 1, characterized in that, Step S1 includes: Step S11: Obtain the planned coordinates of the center point of the osteotomy oscillating saw, the planned direction vector of the osteotomy oscillating saw, the set of boundary points of the osteotomy plane, the set of boundary lines formed by the set of boundary points, and the single step amount. Step S12: Traverse each boundary line in the set of boundary lines, calculate the distance from the center point of the osteotomy oscillating saw to each boundary line, and the coordinates of the nearest point; Step S13: Traverse the distance from the center point of the osteotomy oscillating saw to the boundary line, and find the index number of the two boundary lines with the shortest distance. Step S14: Determine whether the center point of the osteotomy oscillating saw is located within the set of boundary lines. If so, initialize the search coordinate point to be equal to the planned coordinates of the center point of the osteotomy oscillating saw. Otherwise, initialize the search coordinate point to be equal to the coordinates of the nearest point on the boundary line with the shortest distance. Step S15: Calculate the search direction, which is the weighted sum of the direction vectors of the two boundary lines with the shortest distance. The weight of the direction vector of each boundary line is the distance between the other boundary line and the center point of the osteotomy oscillating saw.

3. The method according to claim 2, characterized in that, Step S2 includes: Step S21: Perform a step search along the search direction, and after each step search is completed, update the search coordinate point to the sum of the original search coordinate point and the step amount in the search direction; Step S22: Based on the updated search coordinates and the planned direction vector of the osteotomy oscillating saw, calculate the coordinates of the left limit point corresponding to the left limit point when the osteotomy oscillating saw is in the left limit position, and the coordinates of the right limit point corresponding to the right limit point when the osteotomy oscillating saw is in the right limit position.

4. The method according to claim 3, characterized in that, Step S3 includes: Step S31: Traverse each boundary line in the boundary line set, calculate whether the line connecting the left and right limit points intersects with each boundary line. If they do not intersect, complete the search and output the current search coordinate point as the safe coordinate of the osteotomy oscillating saw center point; if they intersect, continue to the next step. Step S32: Traverse each boundary line in the boundary line set, calculate the distance from the current search coordinate point to each boundary line, and the coordinates of the nearest point; Step S33: Traverse the distances from the current search coordinate point to the boundary line, find the index number of the two boundary lines with the shortest distance, and return to step S15.

5. The method according to claim 2, characterized in that, The calculation of the distance from the center point of the osteotomy oscillating saw to each boundary line, and the coordinates of the nearest point in step S12, includes: For any boundary line, determine the positional relationship between the center point of the osteotomy oscillating saw and the boundary line; If the projection of the center point of the osteotomy oscillating saw onto the left extension of the boundary line falls on the left side of the boundary line, the coordinates of the left endpoint of the boundary line are determined as the coordinates of the nearest point, and the distance between the center point of the osteotomy oscillating saw and the left endpoint is the distance from the center point of the osteotomy oscillating saw to the boundary line. If the projection of the center point of the osteotomy oscillating saw onto the right extension of the boundary line falls on the right side of the boundary line, the coordinates of the right endpoint of the boundary line are determined as the coordinates of the nearest point, and the distance between the center point of the osteotomy oscillating saw and the right endpoint is the distance from the center point of the osteotomy oscillating saw to the boundary line. If the projection of the center point of the osteotomy oscillating saw onto the boundary line falls on the boundary line, the projection point is determined as the coordinate of the nearest point, and the distance between the center point of the osteotomy oscillating saw and the projection point is the distance from the center point of the osteotomy oscillating saw to the boundary line.

6. The method according to claim 5, characterized in that, Determining the positional relationship between the center point of the osteotomy oscillating saw and any boundary line includes: The left endpoint of the boundary line is defined as the starting point of the vector, and the vector direction of the boundary line is from the left endpoint to the right endpoint; Calculate the projection of the vector connecting the left endpoint and the center point of the osteotomy oscillating saw onto the direction of the vector of this boundary line. If the length of the projection is less than or equal to 0, it is determined that the projection of the center point of the osteotomy saw on the boundary line falls on the left extension line of the boundary line. If the length of the projection is greater than 0 and less than or equal to the vector length of the boundary line, it is determined that the projection of the osteotomy oscillating saw center point on the boundary line falls on the boundary line. If the length of the projection is greater than the vector length of the boundary line, it is determined that the projection of the center point of the osteotomy saw on the boundary line falls on the right extension line of the boundary line.

7. The method according to claim 2, characterized in that, The step S14, determining whether the center point of the osteotomy oscillating saw is located within the set of boundary lines, includes: Step S141: Starting from the center point of the osteotomy oscillating saw, generate a ray in any direction towards infinity; Step S142: Traverse each boundary point in the boundary point set and determine whether the ray passes through the boundary point. If yes, return to step S141; otherwise, proceed to the next step. Step S143: Traverse each boundary line in the boundary line set and determine whether the ray coincides with the boundary line. If yes, return to step S141; otherwise, proceed to the next step. Step S144: Traverse each boundary line in the boundary line set and calculate the number of intersection points between the ray and the boundary line; Step S145: If the number of intersection points is odd, the center point of the osteotomy oscillating saw is determined to be within the set of boundary lines; if the number of intersection points is even, the center point of the osteotomy oscillating saw is determined to be outside the set of boundary lines.

8. The method according to claim 4, characterized in that, Step S31 involves traversing each boundary line in the boundary line set and calculating whether the line connecting the left and right limit points intersects with each boundary line, including: For any boundary line, calculate the line vector connecting the right endpoint and the left limit point of the boundary line, and the first rotation direction between the line vector connecting the right endpoint and the left endpoint; Calculate the line vector connecting the right endpoint and the right limit point of the boundary line, and the second rotation direction between the line vector connecting the right endpoint and the left endpoint; If the product of the first rotation direction and the second rotation direction is greater than 0, then it is determined that the line connecting the left limit point and the right limit point does not intersect the boundary line.

9. The method according to claim 4, characterized in that, Step S31 involves traversing each boundary line in the boundary line set and calculating whether the line connecting the left and right limit points intersects with each boundary line, including: For any boundary line, calculate the line vector connecting the right limit point to the left endpoint of the boundary line, and the third rotation direction between the line vector connecting the right limit point and the left limit point; Calculate the line vector connecting the right limit point and the right endpoint of the boundary line, and the fourth rotation direction between the line vector connecting the right limit point and the left limit point; If the product of the third rotation direction and the fourth rotation direction is greater than 0, then the line connecting the left limit point and the right limit point is determined not to intersect the boundary line.

10. A device for controlling the boundary of an osteotomy plane, characterized in that, include: The search module is used to calculate the distance from the center point of the osteotomy saw to the boundary line of the osteotomy plane, select the inward vectors of the two sides with the shortest distance and sum them up as the search direction, and perform a step-by-step search. The determination module is used to update the search point coordinates after each step search, and determine the left and right limit point coordinates corresponding to the osteotomy oscillating saw blade surface based on the updated search coordinates. The judgment module is used to determine whether the line connecting the left and right extreme points intersects with the boundary line of the osteotomy plane. If not, the search is completed and the current search coordinates are output as the safe coordinates of the osteotomy oscillating saw center point; if yes, the search module is returned to recalculate the search direction and perform a step-by-step search.

11. An electronic device, characterized in that, include: The processor, communication interface, memory, and communication bus are connected, with the processor, communication interface, and memory communicating with each other via the communication bus. Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method described in any one of claims 1 to 9.

12. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-9.

Images