End tool monitoring method, apparatus, device, and storage medium
By adaptively determining the location of monitoring points by acquiring skeleton, tool, and boundary parameters, the problem of accidentally damaging other skeletons in end-effector monitoring is solved, thereby improving safety and flexibility.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING NATONG MEDICAL ROBOT TECH CO LTD
- Filing Date
- 2023-10-17
- Publication Date
- 2026-05-12
AI Technical Summary
Existing technologies make it difficult to effectively monitor end-effectors during joint replacement surgery, leading to the risk of accidentally injuring other bones, and also lack flexibility.
By acquiring parameters of the bone to be ground, the end effector, and the limiting boundary, the location of the monitoring point is adaptively determined to ensure that the end effector does not accidentally damage other bones during the grinding process and to maximize the grinding effect.
It enables safety and flexibility monitoring under different bone conditions, avoids accidental damage to other bones, and improves the safety and flexibility of the grinding process.
Smart Images
Figure CN117582292B_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of security monitoring technology, and in particular to a method, apparatus, equipment and storage medium for monitoring end-point tools. Background Technology
[0002] With the rapid development of robotics technology, robots are being widely used in joint replacement surgery to improve the reliability and safety of the procedure.
[0003] In robotic joint replacement surgery, an end effector on the robot is used to grind the bone to be ground (e.g., the tibia). During bone grinding, the end effector needs to be monitored to avoid accidentally damaging other bones adjacent to the bone being ground (e.g., the tibial crest) and to ensure maximum grinding of the bone. Therefore, providing a highly safe and flexible end effector monitoring method is a pressing technical problem that needs to be solved. Summary of the Invention
[0004] To address the aforementioned technical problems, this disclosure provides a method, apparatus, device, and storage medium for monitoring end-point tools.
[0005] Firstly, this disclosure provides a method for monitoring endpoint tools, the method comprising:
[0006] Obtain the bone parameters of the bone to be ground, the tool parameters of the end effector, and the boundary parameters of the limiting boundary of the end effector;
[0007] Based on the skeletal parameters, the tool parameters, and the boundary parameters, the monitoring point position of the end effector is determined;
[0008] Based on the location of the monitoring point, the end tool is monitored while grinding the bone to be ground.
[0009] In some embodiments of this disclosure, determining the monitoring point location of the end effector based on the skeletal parameters, the tool parameters, and the boundary parameters includes:
[0010] Based on the skeletal parameters, the tool parameters, and the boundary parameters, the maximum travel distance of the end effector is calculated;
[0011] The monitoring point position of the end effector is determined based on the maximum travel distance and the rotation center position in the tool parameters.
[0012] In some embodiments of this disclosure, calculating the maximum travel distance of the end effector based on the skeletal parameters, the tool parameters, and the boundary parameters includes:
[0013] Based on the bone parameters, the tool parameters, and the boundary parameters, calculate the angular range of the end effector when it rotates around the rotation center position;
[0014] Based on the bone parameters, the tool parameters, the boundary parameters, and any angle within the angle range, calculate the candidate movable distance of the end effector at any given angle;
[0015] The maximum movement distance is calculated based on the candidate movable distances of the end effector at various angles.
[0016] In some embodiments of this disclosure, calculating the angular range of the end effector rotating around the rotation center position based on the bone parameters, the tool parameters, and the boundary parameters includes:
[0017] Based on the bone parameters, the tool width in the tool parameters, and the boundary parameters, the maximum angle when the end tool rotates around the rotation center position is calculated, and the angle range is determined by the maximum angle and the initial angle of the end tool.
[0018] In some embodiments of this disclosure, calculating the candidate movable distance of the end effector at any angle based on the bone parameters, the tool parameters, the boundary parameters, and any angle within the angle range includes:
[0019] Based on the skeletal parameters and the arbitrary angle, calculate the first movable distance of the first tip point on the end tool;
[0020] Based on the boundary parameters, the tool width in the tool parameters, the arbitrary angle, and the bone parameters, calculate the second movable distance of the second tip point on the end tool;
[0021] The movable distance with the smallest value is selected from the first movable distance and the second movable distance as the candidate movable distance.
[0022] In some embodiments of this disclosure, calculating the maximum movement distance based on candidate movable distances at various angles on the end effector includes:
[0023] From the candidate movable distances at various angles on the end tool, select the movable distance with the largest value as the maximum movable distance.
[0024] In some embodiments of this disclosure, determining the monitoring point position of the end effector based on the maximum travel distance and the rotation center position in the tool parameters includes:
[0025] Determine the initial position of the first tip point on the end effector;
[0026] Starting from the rotation center position, along the direction from the initial position to the rotation center position, determine the position corresponding to the maximum movement distance, and use the position corresponding to the maximum movement distance as the monitoring point position.
[0027] Secondly, this disclosure provides an end-tool monitoring device, the device comprising:
[0028] The parameter acquisition module is used to acquire the bone parameters of the bone to be ground, the tool parameters of the end tool, and the boundary parameters of the limiting boundary of the end tool;
[0029] The location determination module is used to determine the monitoring point location of the end effector based on the skeletal parameters, the tool parameters, and the boundary parameters.
[0030] The monitoring module is used to monitor the grinding of the bone to be ground by the end tool according to the location of the monitoring point.
[0031] Thirdly, embodiments of this disclosure also provide an electronic device, the device comprising:
[0032] One or more processors;
[0033] Storage device for storing one or more programs.
[0034] When one or more programs are executed by one or more processors, the one or more processors implement the methods provided in the first aspect.
[0035] Fourthly, embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method provided in the first aspect.
[0036] The technical solution provided in this disclosure has the following advantages compared with the prior art:
[0037] This disclosure discloses an end-effector monitoring method, apparatus, device, and storage medium. The method acquires the bone parameters of the bone to be ground, the tool parameters of the end-effector, and the boundary parameters of the end-effector's limiting boundary. Based on the bone parameters, tool parameters, and boundary parameters, it determines the monitoring point position of the end-effector. According to the monitoring point position, it monitors the end-effector during the grinding of the bone. Therefore, for different bones to be ground, the monitoring point position corresponding to each bone is adaptively determined and monitored based on its respective bone parameters. This avoids accidental damage to other bones adjacent to the bone to be ground and maximizes the grinding of the bone to be ground, thus ensuring the safety and flexibility of the bone grinding process. Attached Figure Description
[0038] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.
[0039] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0040] Figure 1 A flowchart illustrating an end-point tool monitoring method provided in an embodiment of this disclosure;
[0041] Figure 2 A schematic flowchart of S120 provided in an embodiment of this disclosure;
[0042] Figure 3 A schematic diagram of the initial state of the end effector provided in the embodiments of this disclosure;
[0043] Figure 4 A schematic diagram showing the state of the end effector when it is rotated to its maximum angle, as provided in an embodiment of this disclosure.
[0044] Figure 5 A schematic diagram illustrating the state of the end effector when rotated to any angle according to an embodiment of this disclosure;
[0045] Figure 6 A schematic diagram illustrating the principle of determining the location of monitoring points according to an embodiment of this disclosure;
[0046] Figure 7 This is a schematic diagram of the structure of an end-effector monitoring device provided in an embodiment of the present disclosure;
[0047] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation
[0048] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.
[0049] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.
[0050] Currently, in robotic joint replacement surgery (such as single ankle replacement surgery), the two tips of an end effector (such as a sag head) are used as monitoring points. The end effector is controlled to grind the bone to be ground (such as the tibia) while controlling the movement of these two tips within a defined boundary (such as a two-dimensional virtual boundary). However, this monitoring method only monitors the two tips; other parts (such as the sag body) are not monitored. This allows other parts to potentially move outside the defined boundary, causing damage to other bones (such as the tibial crest).
[0051] In addition to the monitoring methods mentioned above, related technologies also employ methods such as limiting the turning range of the end-effector or adding fixed monitoring points to the end-effector to monitor it.
[0052] While monitoring the end-effector by limiting its turning radius can prevent accidental injury to other bones, it also greatly restricts the end-effector's range of motion and reduces its flexibility.
[0053] Adding fixed monitoring points to the end effector can expand the monitoring range and prevent the front part of the end effector from exceeding the limit boundary, but it can also cause accidental damage to other skeletons to some extent. In addition, since different users have different skeleton lengths, monitoring with fixed monitoring points may result in an excessively large monitoring range for users with shorter skeleton lengths, while also restricting the movement range of the end effector more. Conversely, monitoring with fixed monitoring points may result in an excessively small monitoring range for users with longer skeleton lengths, while also insufficiently monitoring the movement range of the end effector, which may still lead to accidental damage to other skeletons.
[0054] It is evident that existing end-tool monitoring methods are difficult to adapt to different bones and cannot guarantee the safety and flexibility of the bone grinding process.
[0055] To address the aforementioned issues, this disclosure provides a method, apparatus, device, and storage medium for monitoring end-point tools.
[0056] The following is combined Figures 1 to 6 The end-user tool monitoring method provided in this disclosure is described below. In this disclosure, the end-user tool monitoring method can be executed by an electronic device. The electronic device may include devices with communication capabilities such as tablet computers, desktop computers, and laptop computers, or it may include devices simulated by virtual machines or emulators.
[0057] Figure 1 A flowchart illustrating an end-point tool monitoring method provided in an embodiment of this disclosure is shown.
[0058] like Figure 1 As shown, the end-point tool monitoring method may include the following steps.
[0059] S110. Obtain the bone parameters of the bone to be ground, the tool parameters of the end tool, and the boundary parameters of the end tool's limiting boundary.
[0060] In this embodiment, in order to determine a monitoring scheme suitable for different user skeleton conditions, it is necessary to obtain the skeleton parameters of each skeleton and combine them with the parameters of the end-effector and the parameters of the constraint boundary to adaptively determine the monitoring point positions corresponding to each skeleton, so as to achieve adaptive monitoring of different skeletons.
[0061] In this context, "bone to be ground" refers to the bone that needs to be ground down by an end-effector during the surgical procedure. For example, in unicompartmental arthroplasty, the bone to be ground is the tibia; in other surgeries, the bone to be ground can be other types of bone, and this is not a limitation here.
[0062] Here, bone parameters can be understood as geometric parameters that characterize the actual situation of the bone to be ground. Optionally, bone parameters include, but are not limited to, the length, width, and position of each point of the bone to be ground.
[0063] The tool parameters can be understood as the geometric parameters of the end-effector. Optionally, the tool parameters include, but are not limited to, the length, width, and position of each point of the end-effector.
[0064] Here, the constraint boundary refers to a virtual boundary that restricts the movement of the end effector. Optionally, the constraint boundary includes, but is not limited to, two-dimensional virtual boundaries, three-dimensional virtual boundaries, etc.
[0065] Boundary parameters can be understood as geometric parameters that restrict the boundary. Optionally, boundary parameters include, but are not limited to, the width and length of the boundary.
[0066] S120. Based on the skeleton parameters, tool parameters, and boundary parameters, determine the monitoring point location of the end effector.
[0067] In this embodiment, after obtaining the bone parameters, tool parameters, and boundary parameters, the monitoring point positions of the bone to be ground are adaptively determined. Thus, when determining the monitoring point positions, not only the positions of each point on the end effector are considered, but also the geometric parameters of the end effector, the limiting boundary, and the bone to be ground, ensuring that the tip of the end effector and other parts (such as the oscillating saw body) can be monitored.
[0068] The location of the monitoring point can be understood as a location that conforms to the actual situation of the bone to be ground and allows the end tool to monitor it to the greatest extent.
[0069] In some embodiments, the location of the monitoring point can be directly calculated based on skeletal parameters, tool parameters, and boundary parameters.
[0070] In other embodiments, the angular range of the end-effector rotation can be calculated based on the skeletal parameters, tool parameters, and boundary parameters. Then, the monitoring point position can be determined based on the angular range and the initial position of the end-effector.
[0071] S130. Based on the location of the monitoring point, monitor the grinding of the bone to be ground by the end tool.
[0072] After determining the location of the monitoring point, the end tool is monitored at the monitoring point while it is grinding the bone. This not only ensures that the tip of the end tool is confined within the limit boundary, but also ensures that other parts (such as the swing arm) are also confined within the limit boundary, thereby avoiding accidental injury to other bones (such as the tibial crest) during the bone grinding process.
[0073] This disclosure discloses an end-effector monitoring method that acquires the bone parameters of the bone to be ground, the tool parameters of the end-effector, and the boundary parameters of the end-effector's limiting boundary. Based on the bone parameters, tool parameters, and boundary parameters, the monitoring point position of the end-effector is determined. According to the monitoring point position, the end-effector is monitored during the grinding of the bone to be ground. Therefore, for different bones to be ground, the monitoring point position corresponding to each bone is adaptively determined and monitored based on its respective bone parameters, to avoid accidentally damaging other bones next to the bone to be ground and to maximize the grinding of the bone to be ground. This ensures the safety and flexibility of the bone grinding process.
[0074] In another embodiment of this disclosure, the process of determining the location of the monitoring point is explained in detail.
[0075] Figure 2 A flowchart of S120 provided in an embodiment of this disclosure is shown.
[0076] like Figure 2As shown, the process of determining the monitoring point location of the end effector based on skeletal parameters, tool parameters, and boundary parameters may include the following steps.
[0077] S210. Calculate the maximum travel distance of the end effector based on bone parameters, tool parameters, and boundary parameters.
[0078] The specific implementation methods of S210 include, but are not limited to, the following:
[0079] S2101. Based on the bone parameters, tool parameters, and boundary parameters, calculate the angular range of the end tool when it rotates around the rotation center position;
[0080] S2102. Based on the bone parameters, tool parameters, boundary parameters, and any angle within the angle range, calculate the candidate movable distance of the end tool at any angle.
[0081] S2103. Calculate the maximum movement distance based on the candidate movable distances at various angles on the end tool.
[0082] In this embodiment, the bone parameters may include the length of the bone to be ground, the tool parameters may include the rotation center position of the end tool and the tool width, and the constraint parameters may include the width of the constraint boundary.
[0083] The specific implementation of S2101 includes, but is not limited to, the following: based on the bone parameters, the tool width in the tool parameters, and the boundary parameters, calculate the maximum angle when the end tool rotates around the rotation center position, and determine the angle range by the maximum angle and the initial angle of the end tool.
[0084] Specifically, the maximum angle is calculated based on the length of the bone to be ground, the width of the tool, and the width of the limiting boundary, thereby determining the angle range.
[0085] For ease of understanding, Figure 3 A schematic diagram of the initial state of the end effector is shown. Figure 4 This diagram illustrates the state of the end effector when it is rotated to its maximum angle. (Example:) Figure 3 As shown, when the end tool is in its initial state, one side of the end tool coincides with one side of the limiting boundary, and another side of the end tool coincides with the centerline of the bone to be ground. The length of the bone to be ground 100 is denoted as L. t The tool width of the end tool 200 is denoted as W. s The width of the boundary 300 is denoted as W. w Let A be the first tip of the end tool, B be the second tip, and O be the center of rotation. Then, one boundary line of the limiting boundary 300 is denoted as AO, and the other boundary line is denoted as CD.
[0086] In the end tool 200 by Figure 3 The initial state shown is rotated clockwise from the rotation center position O to... Figure 4 In the state shown, that is, the end tool 200 is rotated to the maximum angle α. max , Figure 3 The first apex A in the middle becomes Figure 4 The first apex point A' in the middle, Figure 3 The second apex B in the middle becomes Figure 4 The second apex point B' in, and, Figure 4 The second apex point B' falls on the boundary line CD, and in this state, according to the length L of the bone to be ground... t Tool width W s And the width W of the limiting boundary w Calculate the maximum angle α max Therefore, the angle range is determined to be (0, α). max ).
[0087] Optional, maximum angle α max It can be determined in the following way:
[0088] L t* sinα max +W s* cosα max =W w
[0089] The specific implementation of S2102 includes, but is not limited to, the following: based on the skeletal parameters and any angle, calculate the first movable distance of the first tip point on the end tool; based on the boundary parameters, the tool width in the tool parameters, any angle, and the skeletal parameters, calculate the second movable distance of the second tip point on the end tool; select the movable distance with the smallest value from the first movable distance and the second movable distance as the candidate movable distance.
[0090] For ease of understanding, Figure 5 This diagram illustrates the state of the end effector when rotated to any angle. Figure 3 When the end-effector 200 rotates clockwise around the rotation center position O by any angle α, the state of the end-effector 200 changes from Figure 3 The initial state is transformed into Figure 5 The state shown, and, Figure 3 The first apex A in the middle becomes Figure 5 The first apex point A' in the middle, Figure 3 The second apex in the middle changes from B to Figure 5 The second apex point B' in, then, with Figure 5Starting from the first apex point A', extend a line along the direction from the rotation center O towards the first apex point A', intersecting one side AC of the limiting boundary 300 at point M. The first movable distance can be denoted as A'M. Simultaneously, starting from the second apex point B', extend a line parallel to AC, intersecting one side AC of the limiting boundary 300 at point N. The second movable distance can be denoted as B'N. Furthermore, on one side of the end tool 200, take B'P = AO, and draw a perpendicular line from point P to the extension of AO, intersecting at point Q. Then PQ = OP * cosα = W. s *cosα, PD=DQ-PQ=W w -W s *cosα.
[0091] Optionally, the first movable distance A'M can be determined as follows:
[0092] A'M=OM-OA'=OA / cosα-OA'=L t *(1 / cosα-1)
[0093] Optionally, the second movable distance B'N can be determined as follows:
[0094] B'N=NP-B'P=PD / sinα-B'P=(W w -W s *cosα) / sinα-L t
[0095] Furthermore, the candidate movable distance is the minimum of A'M and B'N, that is, the candidate movable distance is denoted as min(A'M, B'N), which ensures that the end tool will not exceed the limit boundary during rotation based on the first tip point and the second tip point.
[0096] The specific implementation of S2103 includes, but is not limited to, the following: selecting the maximum movable distance from the candidate movable distances at various angles on the end tool as the maximum movable distance.
[0097] Understandably, to maximize the movement of the end effector, it is necessary to find the optimal monitoring point. Specifically, the end effector 200 rotates from its initial state to its maximum angle α around the rotation center position O. max During the process, the candidate movable distances corresponding to each angle are traversed, and the movable distance with the largest value is selected from all the candidate movable distances corresponding to all angles as the maximum movable distance l. max Then l max =max(min(A'M, B'N)).
[0098] Therefore, for different bones to be ground, based on their respective bone parameters and combined with tool parameters and limiting parameters, the maximum angle and maximum distance that the end tool can move are determined, which facilitates the determination of the corresponding monitoring point positions for different bones to be ground based on the maximum angle and maximum distance.
[0099] S220. Determine the monitoring point position of the end tool based on the maximum travel distance and the rotation center position in the tool parameters.
[0100] The specific implementation process of S220 includes, but is not limited to, the following: determining the initial position of the first tip point on the end tool; taking the rotation center position as the starting point, determining the position corresponding to the maximum movement distance along the direction from the initial position to the rotation center position, and using the position corresponding to the maximum movement distance as the monitoring point position.
[0101] Wherein, the initial position of the first tip is the position of the end tool when it is in its initial state, that is, the initial position of the first tip is Figure 3 Point A in the middle.
[0102] For ease of understanding, Figure 6 A schematic diagram illustrating the principle of determining the location of monitoring points is shown. For example... Figure 6 As shown, the maximum moving distance l can be determined by starting from the rotation center position O and moving along the direction from the initial position A to the rotation center position O. max The corresponding position, and the maximum movement distance l max The corresponding location is designated as the monitoring point location S.
[0103] The monitoring point locations determined by the above method enable the end-effector to move to the maximum extent while avoiding accidental injury to the bone, thereby improving the safety and flexibility of the end-effector during grinding.
[0104] This disclosure also provides an end-tool monitoring device for implementing the above-described end-tool monitoring method, which is described below in conjunction with... Figure 7 The following explanation is provided. In this embodiment, the end-device monitoring device can be an electronic device. This electronic device can include devices with communication capabilities such as tablets, desktop computers, and laptops, or it can include devices simulated by virtual machines or simulators.
[0105] Figure 7 A schematic diagram of the structure of an end-tool monitoring device provided in an embodiment of this disclosure is shown.
[0106] like Figure 7 As shown, the end-tool monitoring device 700 may include:
[0107] The parameter acquisition module 710 is used to acquire the bone parameters of the bone to be ground, the tool parameters of the end tool, and the boundary parameters of the limiting boundary of the end tool;
[0108] The position determination module 720 is used to determine the monitoring point position of the end effector based on the skeletal parameters, the tool parameters, and the boundary parameters.
[0109] The monitoring module 730 is used to monitor the grinding of the bone to be ground by the end tool according to the location of the monitoring point.
[0110] An end-effector monitoring device according to an embodiment of this disclosure acquires the bone parameters of the bone to be ground, the tool parameters of the end-effector, and the boundary parameters of the end-effector's limiting boundary; determines the monitoring point position of the end-effector based on the bone parameters, tool parameters, and boundary parameters; and monitors the end-effector during the grinding of the bone according to the monitoring point position. Therefore, for different bones to be ground, the device adaptively determines and monitors the corresponding monitoring point positions for each bone based on its individual bone parameters, avoiding accidental damage to other bones adjacent to the bone to be ground and maximizing the grinding of the bone to be ground. This ensures the safety and flexibility of the bone grinding process.
[0111] In some embodiments of this disclosure, the location determination module 720 includes:
[0112] The calculation unit is used to calculate the maximum travel distance of the end effector based on the bone parameters, the tool parameters, and the boundary parameters.
[0113] The determining unit is used to determine the monitoring point position of the end effector based on the maximum travel distance and the rotation center position in the tool parameters.
[0114] In some embodiments of this disclosure, the computing unit includes:
[0115] The first calculation subunit is used to calculate the angular range of the end tool when it rotates around the rotation center position based on the bone parameters, the tool parameters, and the boundary parameters.
[0116] The second calculation subunit is used to calculate the candidate movable distance of the end tool at any angle based on the bone parameters, the tool parameters, the boundary parameters, and any angle in the angle range.
[0117] The third calculation subunit is used to calculate the maximum movement distance based on the candidate movable distances at various angles on the end effector.
[0118] In some embodiments of this disclosure, the first computing subunit is specifically used for:
[0119] Based on the bone parameters, the tool width in the tool parameters, and the boundary parameters, the maximum angle when the end tool rotates around the rotation center position is calculated, and the angle range is determined by the maximum angle and the initial angle of the end tool.
[0120] In some embodiments of this disclosure, the second computing subunit is specifically used for:
[0121] Based on the skeletal parameters and the arbitrary angle, calculate the first movable distance of the first tip point on the end tool;
[0122] Based on the boundary parameters, the tool width in the tool parameters, the arbitrary angle, and the bone parameters, calculate the second movable distance of the second tip point on the end tool;
[0123] The movable distance with the smallest value is selected from the first movable distance and the second movable distance as the candidate movable distance.
[0124] In some embodiments of this disclosure, the third computing subunit is specifically used for:
[0125] From the candidate movable distances at various angles on the end tool, select the movable distance with the largest value as the maximum movable distance.
[0126] In some embodiments of this disclosure, the determining unit is specifically used for:
[0127] Determine the initial position of the first tip point on the end effector;
[0128] Starting from the rotation center position, along the direction from the initial position to the rotation center position, determine the position corresponding to the maximum movement distance, and use the position corresponding to the maximum movement distance as the monitoring point position.
[0129] It should be noted that, Figure 7 The end-tool monitoring device 700 shown can perform... Figures 1 to 6 The various steps in the method embodiment shown are implemented. Figures 1 to 6 The processes and effects in the method embodiments shown are not described in detail here.
[0130] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure is shown.
[0131] like Figure 8As shown, the electronic device may include a processor 801 and a memory 802 storing computer program instructions.
[0132] Specifically, the processor 801 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.
[0133] Memory 802 may include a mass storage device for information or instructions. For example, and not limitingly, memory 802 may include a hard disk drive (HDD), a floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 802 may include removable or non-removable (or fixed) media. Where appropriate, memory 802 may be internal or external to the integrated gateway device. In a particular embodiment, memory 802 is a non-volatile solid-state memory. In a particular embodiment, memory 802 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (Electrically Programmable ROM, EPROM), an electrically erasable programmable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.
[0134] The processor 801 reads and executes computer program instructions stored in the memory 802 to perform the steps of the end-tool monitoring method provided in this embodiment of the disclosure.
[0135] In one example, the electronic device may also include a transceiver 803 and a bus 804. Wherein, as... Figure 8 As shown, the processor 801, memory 802 and transceiver 803 are connected via bus 804 and communicate with each other.
[0136] Bus 804 includes hardware, software, or both. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, bus 804 may include one or more buses. Although specific buses are described and illustrated in the embodiments of this application, this application considers any suitable bus or interconnection.
[0137] The following are embodiments of a computer-readable storage medium provided in this disclosure. This computer-readable storage medium belongs to the same inventive concept as the end-tool monitoring methods in the above embodiments. For details not described in detail in the embodiments of the computer-readable storage medium, please refer to the embodiments of the above-described end-tool monitoring methods.
[0138] This embodiment provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform an end-tool monitoring method, the method comprising:
[0139] Obtain the bone parameters of the bone to be ground, the tool parameters of the end effector, and the boundary parameters of the limiting boundary of the end effector;
[0140] Based on the skeletal parameters, the tool parameters, and the boundary parameters, the monitoring point position of the end effector is determined;
[0141] Based on the location of the monitoring point, the end tool is monitored while grinding the bone to be ground.
[0142] Of course, the computer-executable instructions provided in the embodiments of this disclosure are not limited to the above-described method operations, but can also perform related operations in the end-tool monitoring method provided in any embodiment of this disclosure.
[0143] Based on the above description of the implementation methods, those skilled in the art can clearly understand that this disclosure can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer cloud platform (which may be a personal computer, server, or network cloud platform, etc.) to execute the end-tool monitoring methods provided in the various embodiments of this disclosure.
[0144] Note that the above description is merely a preferred embodiment and the technical principles employed in this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, it is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the concept of this disclosure, and the scope of this disclosure is determined by the scope of the appended claims.
Claims
1. An end-effector monitoring device, characterized in that, include: The parameter acquisition module is used to acquire the bone parameters of the bone to be ground, the tool parameters of the end tool, and the boundary parameters of the limiting boundary of the end tool; The location determination module is used to determine the monitoring point location of the end effector based on the skeletal parameters, the tool parameters, and the boundary parameters. The monitoring module is used to monitor the grinding of the bone to be ground by the end tool according to the location of the monitoring point. The location determination module includes: The calculation unit is used to calculate the maximum travel distance of the end effector based on the bone parameters, the tool parameters, and the boundary parameters. The determining unit is used to determine the monitoring point position of the end tool based on the maximum travel distance and the rotation center position in the tool parameters; The determining unit is used for: Determine the initial position of the first tip point on the end effector; Starting from the rotation center position, along the direction from the initial position to the rotation center position, determine the position corresponding to the maximum movement distance, and use the position corresponding to the maximum movement distance as the monitoring point position.
2. The apparatus according to claim 1, characterized in that, The computing unit includes: The first calculation subunit is used to calculate the angular range of the end tool when it rotates around the rotation center position based on the bone parameters, the tool parameters, and the boundary parameters. The second calculation subunit is used to calculate the candidate movable distance of the end tool at any angle based on the bone parameters, the tool parameters, the boundary parameters, and any angle in the angle range. The third calculation subunit is used to calculate the maximum movement distance based on the candidate movable distances at various angles on the end effector.
3. The apparatus according to claim 2, characterized in that, The first computing subunit is used for: Based on the bone parameters, the tool width in the tool parameters, and the boundary parameters, the maximum angle when the end tool rotates around the rotation center position is calculated, and the angle range is determined by the maximum angle and the initial angle of the end tool.
4. The apparatus according to claim 2, characterized in that, The second calculation subunit is used for: Based on the skeletal parameters and the arbitrary angle, calculate the first movable distance of the first tip point on the end tool; Based on the boundary parameters, the tool width in the tool parameters, the arbitrary angle, and the bone parameters, calculate the second movable distance of the second tip point on the end tool; The movable distance with the smallest value is selected from the first movable distance and the second movable distance as the candidate movable distance.
5. The apparatus according to claim 2, characterized in that, The third computing subunit is used for: From the candidate movable distances at various angles on the end tool, select the movable distance with the largest value as the maximum movable distance.