Surgical robot and control device and method thereof

Abstract

The present invention discloses a surgical robot and its control device and method, relating to the field of medical device technology. The surgical robot includes a robotic arm and a needle insertion assembly, the needle insertion assembly comprising a feed component, a rotating component, and a clamping component connected in sequence. The feed component is connected to the free end of the robotic arm. The control device includes: an acquisition module for acquiring the relative position of a Kirschner wire held by the clamping component and a target bone, as well as a target insertion direction; a determination module for determining a target control strategy for the rotating component and the feed component based on the relative position, the type of target bone, the target insertion direction, and the target insertion depth of the Kirschner wire; and a control module for controlling the rotating component and the feed component according to the target control strategy to implant the Kirschner wire into the target bone. This control device can automatically implant Kirschner wires during orthopedic surgery, thereby improving surgical efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a surgical robot and a control device and method thereof. Background Art

[0002] Currently, during orthopedic surgery, the surgeon typically uses a handheld electric drill loaded with the wire to drive it into the bone to be fixed. However, during this procedure, the surgeon controls the insertion of the wire based on experience, which can cause vibrations and prevent stable and safe insertion. This necessitates the removal and re-insertion of the wire, exacerbating the patient's injury and prolonging the surgery, which in turn compromises treatment effectiveness. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the present invention aims to provide a surgical robot and a control device and method thereof to realize automatic implantation of Kirschner wires in orthopedic surgery and improve surgical efficiency.

[0004] In order to solve the above technical problems, an embodiment of the first aspect of the present invention proposes a control device for a surgical robot, wherein the surgical robot includes a robotic arm and a needle insertion assembly, the needle insertion assembly includes a feeding component, a rotating component and a clamping component connected in sequence, the feeding component is connected to the free end of the robotic arm, and the control device includes: an acquisition module for acquiring the relative position of the Kirschner wire clamped by the clamping component and the target bone, as well as the target needle insertion direction; a determination module for determining a target control strategy for the rotating component and the feeding component based on the relative position, the type of the target bone, the target needle insertion direction and the target needle insertion depth of the Kirschner wire; and a control module for controlling the rotating component and the feeding component according to the target control strategy to realize the implantation of the Kirschner wire into the target bone.

[0005] In addition, the control device of the surgical robot according to the embodiment of the present invention may also have the following additional technical features:

[0006] According to one embodiment of the present invention, the relative position is characterized by the distance between the end of the Kirschner wire and the surface of the target bone, and the target control strategy includes a first target speed of the rotating component and a second target speed of the feeding component; wherein, the second determination module is specifically used to: when the distance is greater than the second preset depth and less than or equal to the first preset depth, determine the first target speed and the second target speed based on the first preset database according to the type of the target bone and the target needle insertion direction; and / or, when the distance is greater than the target needle insertion depth and less than or equal to the second preset depth, determine the first target speed and the second target speed based on the second preset database according to the type of the target bone and the target needle insertion direction; the first preset database and the second preset database both include at least one set of correspondence between bone type, needle insertion direction, feeding speed and rotation speed.

[0007] According to one embodiment of the present invention, the second determination module is further specifically used to: when the distance is greater than the first preset depth, determine that the first target speed is zero and the second target speed is the first preset speed; and / or, when the distance reaches the target needle insertion depth, determine that the first target speed is zero and the second target speed is zero, so as to control the rotating part and the feeding part to stop moving.

[0008] According to one embodiment of the present invention, the first preset database is obtained in the following manner:

[0009] Within the range of the second preset depth and the first preset depth, for different types of bones B i , control the robotic arm to insert the needle in different directions θ j , the rotating parts rotate at different speeds n k , the feeding components are fed at different speeds v l , driving the Kirschner wire to be implanted, and recording the corresponding setting value combination (B i ,θ j ,n k ,v l ), the force F at the end of the K-wire ijkl and temperature T ijkl , and the bone B i Offset x of the upper marker ijkl ; For each combination (B i ,θ j ), filter out the ijkl ≤F max 、T ijkl ≤T max and x ijkl ≤xmax Combination of (n k , v l ), and from the selected combinations (n k , v l ) and select one to be stored in the first preset database, wherein F max Indicates the first stress threshold, T max represents the first temperature threshold, x max represents the first offset threshold;

[0010] and / or,

[0011] The second preset database is obtained in the following manner:

[0012] Within the range of the third preset depth and the second preset depth, for different types of bones B i , control the robotic arm to insert the needle in different directions θ j , the rotating parts rotate at different speeds n k , the feeding components are fed at different speeds v l , driving the Kirschner wire to be implanted, and recording the corresponding setting value combination (B i ,θ j ,n k ,v l ), the force F at the end of the K-wire ijkl and temperature T ijkl , and the bone B i Offset x of the upper marker ijkl , wherein the third preset depth is greater than or equal to the target needle insertion depth; for each combination (B i ,θ j ), filter out the ijkl ≤F max '、T ijkl ≤T max ' and x ijkl ≤x max 'combination(n k , v l ), and from the selected combinations (n k , v l ) and select one to be stored in the second preset database, wherein F max ' represents the second stress threshold, T max ' represents the second temperature threshold, x max ' represents the second offset threshold.

[0013] According to one embodiment of the present invention, the method for obtaining the second preset database also includes: determining the force on the end of the Kirschner wire corresponding to multiple needle insertion depths under each group (B1, θ1, n1, v1); obtaining the mapping relationship between the needle insertion depth and the force on the end of the Kirschner wire under the group (B1, θ1, n1, v1) by fitting; and recording the corresponding mapping relationship for each group (B1, θ1, n1, v1) in the second preset database.

[0014] According to one embodiment of the present invention, the combination (n k , v l ) and save it in the corresponding preset database.

[0015] According to one embodiment of the present invention, the control module is also used to: after the distance reaches the target needle insertion depth and the rotating part and the feeding part are controlled to stop moving, control the rotating part to retract at a second preset speed and the feeding part to retract at a third preset speed until returning to the initial state or exiting the target bone.

[0016] According to one embodiment of the present invention, the third preset speed is equal to the first preset speed and opposite in direction, and the second preset speed is determined by randomly selecting a speed of the rotating component from the second preset database, and taking a speed that is equal to the speed and opposite in direction as the second preset speed.

[0017] According to one embodiment of the present invention, the second preset database also includes a mapping relationship between the force at the end of the Kirschner wire and the needle insertion depth under different setting value combinations (B1, θ1, n1, v1); wherein the acquisition module is also used to obtain the force at the end of the Kirschner wire; the control module is also used to control the rotating part and the feeding part to stop moving when the force is less than a preset force lower limit, and / or when the relationship between the force and the distance is inconsistent with the mapping relationship within the range consisting of the target needle insertion depth and the second preset depth, and then control the rotating part to retract at a second preset speed and the feeding part to retract at a third preset speed until returning to the initial state or exiting the target bone.

[0018] According to one embodiment of the present invention, the acquisition module is further used to acquire the temperature of the end of the Kirschner wire; wherein, the control device further includes: an update module, used to update the first preset database and / or the second preset database according to the force and the temperature.

[0019] In order to solve the above technical problems, the second embodiment of the present invention proposes a surgical robot, comprising: a robotic arm and a needle insertion assembly, the needle insertion assembly including a feeding component, a rotating component and a clamping component connected in sequence, the feeding component being connected to the free end of the robotic arm; and the control device of the surgical robot described in the first embodiment above.

[0020] In order to solve the above technical problems, the third aspect of the present invention provides a control method for a surgical robot, wherein the surgical robot includes a robotic arm and a needle insertion assembly, the needle insertion assembly includes a feeding component, a rotating component and a clamping component connected in sequence, and the feeding component is connected to the free end of the robotic arm. The control method includes: obtaining the relative position of the Kirschner wire clamped by the clamping component and the target bone; determining the type of the target bone, the target needle insertion direction and the target needle insertion depth of the Kirschner wire, and the target needle insertion direction; determining a target control strategy for the rotating component and the feeding component according to the relative position, the type of the target bone, the target needle insertion direction and the target needle insertion depth of the Kirschner wire; and controlling the rotating component and the feeding component according to the target control strategy to realize the implantation of the Kirschner wire into the target bone.

[0021] The surgical robot and its control device and method according to embodiments of the present invention first determine the relative position of a Kirschner wire held by a clamping component and the target bone. Then, based on the relative position, the type of target bone, the target insertion direction of the robotic arm, and the target insertion depth of the Kirschner wire, a target control strategy for the rotating and feeding components is determined by comprehensively considering multiple factors. The rotating and feeding components are then controlled according to the target control strategy to implant the Kirschner wire into the target bone. This allows for automated Kirschner wire implantation during orthopedic surgery, ensuring stable and safe insertion, thereby improving surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of a surgical robot according to an embodiment of the present invention;

[0023] Figure 2 is a structural block diagram of a control device for a surgical robot according to an embodiment of the present invention;

[0024] Figure 3 is a structural block diagram of a control device for a surgical robot according to another embodiment of the present invention;

[0025] Figure 4 is a structural block diagram of a surgical robot according to an embodiment of the present invention;

[0026] Figure 5 4 is a flowchart of a control method for a surgical robot according to an embodiment of the present invention.

[0027] Reference numerals:

[0028] 100. Surgical robot, 1. Robotic arm, 2. Needle insertion assembly, 3. Kirschner wire, 4. Navigator, 21. Feeding component, 22. Rotating component, 23. Clamping component, 211. Electric push rod, 212. Force control sensor, 213. Structural connector, 01. Bone, 51. First marker, 52. Second marker, 53. Third marker;

[0029] 200 , a control device of a surgical robot; 210 , an acquisition module; 220 , a determination module; 230 , a control module; 240 , an update module. DETAILED DESCRIPTION

[0030] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0031] The following describes a surgical robot and a control device and method thereof according to embodiments of the present invention with reference to the accompanying drawings.

[0032] In an embodiment of the present invention, Figure 1 As shown, the surgical robot 100 includes a robotic arm 1 and a needle insertion assembly 2. The needle insertion assembly 2 includes a feeding component 21, a rotating component 22, and a clamping component 23 connected in sequence. The feeding component 21 is connected to the free end of the robotic arm 1. The surgical robot 100 can be used to automatically implant and monitor Kirschner wires in orthopedic surgery.

[0033] See also Figure 1 The feed component 21 is used to advance the K-wire 3 held by the clamping component 23 and may include an electric push rod 211 and a force control sensor 212. The electric push rod 211 may include a push rod motor, a feed controller, a speed reducer, a screw, etc. The force control sensor 212 may include a strain gauge to measure the force applied to the end of the K-wire. The rotating component 22 is used to rotate the K-wire 3 held by the clamping component 23 and may include a rotary motor and a rotary controller. The clamping component 23 may be an electric clamping device used to clamp the K-wire 3.

[0034] To improve the stability of the K-wire 3 implanted into the bone 01, see Figure 1 The feeding component 21 is further provided with a structural connector 213, through which the Kirschner wire 3 passes to fix the implantation direction of the Kirschner wire 3. In order to obtain the implantation depth of the Kirschner wire 3, the surgical robot 100 is further provided with a navigator 4, a plurality of markers ( Figure 1 Three are shown, namely the first marker 51, the second marker 52, and the third marker 53).

[0035] The parameters that may be used during the control of the surgical robot include: the thrust of the electric push rod (i.e., the force on the end of the Kirschner wire 3) F, which can be obtained by the force control sensor 212 installed on the electric push rod 211; the speed v of the push rod motor, which can be obtained by the feed controller; the speed n of the rotary motor 221, which can be obtained by the rotary controller; the needle insertion direction θ, which can be obtained by the navigator and / or the robotic arm; the end temperature T of the Kirschner wire 3 during the implantation process, which can be obtained by the thermal imager; the marker offset x, which can be obtained by the navigator 4 observing the third marker 53; the depth y of the Kirschner wire 3 entering the bone 01, which can be obtained by the navigator observing the first marker 51, the second marker 52, and the third marker 53.

[0036] Among them, the surgical robot 100 may also include a base, and the robotic arm 1 is arranged on the base. The robotic arm 1 can be a multi-degree-of-freedom robotic arm, and the needle insertion direction is the implantation direction of the Kirschner wire relative to the bone, which can be determined by the posture of the robotic arm 1 and the posture of the bone 01. For example, the needle insertion direction is the deflection angle between the coordinate system corresponding to the bone 01 and the coordinate system corresponding to the end of the robotic arm 1. When the placement posture of the bone 01 relative to the base coordinate system of the robotic arm 1 is consistent, it can also be represented by the unilateral posture of the robotic arm 1. The posture of the robotic arm 1 can be represented by the deflection angle of the coordinate system of the end of the robotic arm 1 relative to its base coordinate system.

[0037] The coordinate system corresponding to bone 01 can be established based on markers set on bone 01. The coordinate system of the end of robot arm 1 can be a coordinate system established based on markers fixed to the end of robot arm 1, such as a coordinate system established based on first marker 51 or second marker 52. The base coordinate system is located at the stationary part of robot arm 1 (i.e., the base) and is a three-dimensional coordinate system.

[0038] Figure 2 4 is a structural block diagram of a control device for a surgical robot according to an embodiment of the present invention.

[0039] like Figure 2 As shown, the control device 200 of the surgical robot includes: an acquisition module 210 , a determination module 220 and a control module 230 .

[0040] Among them, the acquisition module 210 is used to obtain the relative position of the Kirschner wire 3 clamped by the clamping part 23 and the target bone, as well as the target needle insertion direction; the determination module 220 is used to determine the target control strategy of the rotating part 22 and the feeding part 21 according to the relative position, the type of target bone, the target needle insertion direction and the target needle insertion depth of the Kirschner wire 3; the control module 230 is used to control the rotating part 22 and the feeding part 21 according to the target control strategy to realize the implantation of the Kirschner wire 3 into the target bone.

[0041] The target needle insertion direction is a pre-set needle insertion direction, which can be actively set by the doctor or determined by the navigation positioning process performed by the robotic arm.

[0042] In this embodiment, during orthopedic surgery, initialization, registration, and path planning can be performed according to a general process. This includes determining the target bone type B0 (which can be categorized by bone location, age, or gender of the patient to whom the bone belongs), the target insertion direction θ0, and the target insertion depth l of the Kirschner wire 3 into the target bone. During insertion, the relative position of the Kirschner wire 3 and the target bone can be monitored in real time by the navigator 4 based on the first marker 51, the second marker 52, the third marker 53, and related structural dimensions. This can be represented by the distance y between the end of the Kirschner wire 3 and the surface of the target bone. The distance y is positive when the end is outside the target bone and negative when it is inside the target bone. The further outside the target bone is from the target bone surface, the greater the distance, while the further inside the target bone is from the target bone surface, the smaller the distance. This value can also represent the insertion depth, i.e., the position reached by the end. At the initial insertion, the speed n of the rotary motor in the rotating component 22 can be set to 0, and the speed v of the push rod motor in the feed component 21 can be set to 0.

[0043] When the control device 200 (which can be installed on the surgical robot 100 in the form of a chip) controls the surgical robot 100, it obtains y via the acquisition module 210 (communicating with the navigator 4). The determination module 220 determines the target control strategy (e.g., the target speeds of the rotating component 22 and the feeding component 21) based on the relative position y, type B0, target insertion direction θ0, and target insertion depth l. Subsequently, the control module 230 (communicating with the feeding component 21 and the rotating component 22) controls the rotating component 22 and the feeding component 21 according to the target control strategy to implant the K-wire 3 into the target bone. This allows for automated K-wire implantation during orthopedic surgery, thereby improving surgical efficiency.

[0044] In some embodiments of the present invention, the relative position is characterized by the distance y between the end of the K-wire and the target bone surface, and the target control strategy includes a first target speed of the rotating component 22 and a second target speed of the feeding component 21 .

[0045] In this embodiment, the determination module 220 is specifically configured to: determine, based on the first preset database and the target bone type and target needle insertion direction, a first target speed and a second target speed when the distance is greater than the second preset depth and less than or equal to the first preset depth and the Kirschner wire has not entered the target bone; and / or, determine, based on the second preset database and the target bone type and target needle insertion direction, a first target speed and a second target speed when the distance is greater than the target needle insertion depth and less than or equal to the second preset depth and the Kirschner wire has entered the target bone; the first preset depth is greater than zero and the second preset depth is less than zero, and the first preset database and the second preset database each include at least one set of corresponding relationships between bone type, needle insertion direction, feed speed, and rotation speed. The database can be obtained through experimentation, thereby configuring relatively safe data combinations that meet surgical requirements, thereby ensuring the safety and stability of needle insertion during actual surgery.

[0046] Specifically, the second preset depth is -y l , the first preset depth is y B (The starting position of the pre-drilling hole is an adjustable value, which can generally be set to 5-10mm). The specific value can be set as needed. B Before that, the feeding component 21 can be fed at a certain speed until it reaches y B When -y l <y≤y B When (the coordinate origin is the intersection of the extension line of the Kirschner wire 3 and the surface of the target bone, and the upward direction along the robot arm θ0 is positive and the downward direction is negative), the pre-drilling process is performed. According to the type of the target bone B0 and the target needle insertion direction θ0, the first target speed n of the rotary motor in the rotating component 22 during pre-drilling under the current type B0 and the target needle insertion direction θ0 is determined based on the first preset database. i and the second target speed v of the push rod motor in the feed component 21 j Therefore, the pre-drilling process can be carried out according to (n i ,v j ) Combination control of the rotating motor of the rotating component 22 and the push rod motor of the feeding component 21.

[0047] When -l <y≤-y l The first target speed n of the rotating motor in the rotating component 22 is determined based on the bone type B0 and the target needle insertion direction θ0 when the Kirschner wire 3 is implanted into the target bone under the current bone type B0 and the target needle insertion direction θ0. i and the second target speed v of the push rod motor in the feed component 21 j Therefore, the process of implanting the Kirschner wire 3 into the target bone can be carried out according to (n i ,v j) Combined control of the rotary motor of the rotating component 22 and the push rod motor of the feeding component 21. When y reaches -1, it means that the Kirschner wire 3 is successfully implanted. At this time, the rotary motor and the push rod motor can be controlled to stop and prepare to exit.

[0048] Therefore, the target control strategy is determined through different preset databases according to different needle insertion ranges, which can not only respond to the control of the rotating component 22 and the feeding component 21 in a timely manner, but also improve the control accuracy, thereby improving the surgical efficiency.

[0049] In some embodiments of the present invention, the second determination module 230 is further specifically used to: when the distance is greater than the first preset depth, determine the first target speed to be zero and the second target speed to be the first preset speed; when the distance reaches the target needle insertion depth, determine the first target speed to be zero and the second target speed to be zero, so as to control the rotating part 22 and the feeding part 21 to stop moving.

[0050] Specifically, when y>y B When , it means that the Kirschner wire 3 is outside the target bone and far away from the target bone. At this time, it is not necessary to rotate the Kirschner wire 3, so the first target speed n of the rotary motor is set to 0; at the same time, the second target speed v of the push rod motor can be set to the first preset speed v0 (adjustable value, generally set to the maximum feed speed of the push rod motor). In this way, the Kirschner wire can quickly reach the pre-drilling starting position y B When -l≤y, it means that the K-wire 3 has reached the target implantation point. The first target speed n of the rotary motor can be set to 0, and the second target speed v of the push rod motor can be set to 0, that is, the K-wire 3 is no longer driven for implantation. After the rotating component 22 and the feeding component 21 stop moving, the K-wire 3 can be released to complete the implantation of the K-wire 3.

[0051] As an embodiment, when the distance reaches the target needle insertion depth, the first target speed and the second target speed can also be determined as the corresponding exit speeds, such as the second preset speed and the third preset speed described below, to shorten the time for controlling the rotating part 22 and the feeding part 21 to stop the action, and to facilitate the procedure of directly controlling the rotating part 22 and the feeding part 21 to return to the state before the needle insertion.

[0052] In some embodiments of the present invention, the first preset database is obtained by:

[0053] Within the range of the second preset depth and the first preset depth, for different types of bones B i , control the robot arm 1 to insert the needle in different directions θ j , the rotating component 22 rotates at different speeds n k , the feeding component 21 is fed at different feed speeds v l, driving the Kirschner wire 3 to be implanted, and recording the corresponding setting value combination (B i ,θ j ,n k ,v l ) under the force F at the end of K-wire 3 ijkl and temperature T ijkl , and bone B i Offset x of the upper marker ijkl ; For each combination (B i ,θ j ), filter out the ijkl ≤F max 、T ijkl ≤T max and x ijkl ≤x max Combination of (n k , v l ), and from the selected combinations (n k , v l ) and select one to be stored in the first preset database, wherein F max Indicates the first stress threshold, T max represents the first temperature threshold, x max The first offset threshold is indicated by the temperature and force screening, ensuring that the bone will not be damaged by the force and temperature during surgery, thereby ensuring the safety and stability of surgical needle insertion.

[0054] Among them, the combination (n k , v l ) and select one to be stored in the first preset database, such as screening out a combination (n k , v l ) is stored in the first preset database to improve the implantation efficiency during subsequent control.

[0055] Specifically, a first preset database of the pre-drilling process can be established in advance through experiments. In the experiment, a third marker 53 that can be recognized by the navigator 4 can be clamped on different types of bones, and the surgical robot 100 can be controlled to implant the Kirschner wire 3.

[0056] Based on -y l <y≤y B This range, taking different bone types B i , the robotic arm inserts the needle in different directions θ j , rotating the motor at different speeds n k , the push rod motor is at different speeds v l, each time the Kirschner wire 3 is implanted with the first preset length y0 (adjustable value, generally equal to the depth of the Kirschner wire 3 tip), different setting value combinations are recorded (B i ,θ j ,n k ,v l ) The force F on the end of the Kirschner wire 3 during the pre-drilling process ijkl and temperature T ijkl , and the offset x of the third marker 53 ijkl .

[0057] According to clinical experience, the maximum force applied to the end of the Kirschner wire (i.e., the first force threshold) is designated as F. max (Excessive force on bones will damage the bone structure) and the maximum temperature (i.e. the first temperature threshold) is T max (The maximum temperature that different bones can withstand is different, and too high a temperature may damage nerves or blood vessels), and the maximum offset of the third marker 53 (ie, the first offset threshold) is specified as x according to the accuracy requirement. max (Based on the error value of the navigator 4 , it can be known that the offset of the third marker 53 will cause the system accuracy to be unsatisfactory).

[0058] For a bone type B1, in the needle insertion direction θ j Within the range of the experience value, the interval zero preset value traverses the range, assuming the initial value is θ1: at speed n k Within the range of the experience value, the interval first preset value traverses the range, and at the speed v l Within the empirical value range, the range is traversed at intervals of the second preset value. Each time y0 is implanted, the force F at the end of the Kirschner wire 3 is obtained. ijkl and temperature T ijkl , and the offset x of the third marker 53 ijkl .

[0059] For any combination (B1, θ1), in different (n k , v l ) configuration, there exists a configuration that satisfies the requirement F ijkl ≤F max , T ijkl ≤T max and x ijkl ≤x max Speed ​​combination (n k , v l ), the maximum efficiency combination can be selected, such as n k and v l The maximum values ​​are obtained (in order to shorten the operation time and improve efficiency in subsequent control) and stored in the first preset database. This process is repeated to obtain the speed combinations for all bone types and all needle insertion directions, that is, the first preset database is obtained, as shown in Table 1 below:

[0060] Table 1

[0061] <![CDATA[θ1]]> <![CDATA[θ2]]> <![CDATA[θ3]]> ... <![CDATA[θ j ]]> ... <![CDATA[B1]]> <![CDATA[(n B1 ,in θ1 )]]> <![CDATA[(n B1 ,in θ2 )]]> <![CDATA[(n B1 ,in θ3 )]]> ... <![CDATA[(n B1 ,in θj )]]> ... <![CDATA[B2]]> <![CDATA[(n B2 ,in θ1 )]]> <![CDATA[(n B2 ,in θ2 )]]> <![CDATA[(n B2 ,in θ3 )]]> ... <![CDATA[(n B2 ,in θj )]]> ... <![CDATA[B3]]> <![CDATA[(n B3 ,in θ1 )]]> <![CDATA[(n B3 ,in θ2 )]]> <![CDATA[(n B3 ,in θ3 )]]> ... <![CDATA[(n B3 ,in θj )]]> ... ... ... ... ... ... ... ... <![CDATA[B i ]]> <![CDATA[(n Bi ,in θ1 )]]> <![CDATA[(n Bi ,in θ2 )]]> <![CDATA[(n Bi ,in θ3 )]]> ... <![CDATA[(n Bi ,in θj )]]> ... ... ... ... ... ... ... ...

[0062] In some embodiments of the present invention, the second preset database is obtained by:

[0063] Within the range of the third preset depth and the second preset depth, for different types of bones B i , control the robot arm 1 to insert the needle in different directions θ j , the rotating component 22 rotates at different speeds n k , the feeding component 21 is fed at different feed speeds v l , drives the Kirschner wire 3 to be implanted, and records the corresponding setting value combination (B i ,θ j ,n k ,v l ) under the force F at the end of K-wire 3 ijkl and temperature T ijkl , and bone B i Offset x of the upper marker ijkl , wherein the third preset depth is greater than or equal to the target needle insertion depth; for each combination (B i ,θ j ), filter out the ijkl ≤F max '、T ijkl ≤T max ' and x ijkl ≤x max 'combination(n k , v l ), and from the selected combinations (n k , v l ) and select one to be stored in the second preset database, wherein F max ' represents the second stress threshold, T max ' represents the second temperature threshold, x max ' represents the second offset threshold.

[0064] Among them, the combination (n k , v l ) and select one to be stored in the second preset database, such as selecting a combination (n k , v l ) is stored in the second preset database to improve the implantation efficiency during subsequent control.

[0065] Specifically, based on the above experiment of establishing the first preset database, the experiment can be continued to establish the second preset database. Similar to the process of establishing the first preset database, based on -y C <y≤-y l In this range, the third preset depth y C ≥l, a second preset database similar to the first preset database shown in Table 1 is obtained. As the depth of penetration into the bone increases, the force and temperature that the bone can withstand may change, so the parameters used to establish the second preset database, such as y0', F max '、T max ', x max ', can be used with the parameters y0 and F used in establishing the first preset database max 、T max 、x max different.

[0066] In some embodiments of the present invention, the control module 230 is also used to: after the distance reaches the target needle insertion depth and the rotating part 22 and the feeding part 21 are controlled to stop moving, control the rotating part 22 to retract at a second preset speed and the feeding part 21 to retract at a third preset speed until they return to the initial state (which may be the state before needle insertion) or exit the target bone.

[0067] As an embodiment, the third preset speed and the first preset speed may be equal in magnitude and opposite in direction, and the second preset speed may be determined by randomly selecting the speed of a rotating component from a second preset database, and taking a speed that is equal in magnitude and opposite in direction to the speed as the second preset speed.

[0068] Specifically, after the Kirschner wire 3 is implanted according to clinical judgment, the needle insertion direction is maintained at θ0, and the speed of the rotating motor is set to any n in the second preset database. k The speed of the push rod motor is set to the negative value of the first preset speed, so that the surgical robot 100 quickly returns to the initial state before needle insertion.

[0069] In some embodiments of the present invention, the second preset database further includes a mapping relationship between the force on the end of the K-wire and the needle insertion depth under different setting value combinations (B1, θ1, n1, v1).

[0070] In this embodiment, the method of obtaining the second preset database also includes: determining the force on the end of the Kirschner wire corresponding to multiple needle insertion depths under each group (B1, θ1, n1, v1); obtaining the mapping relationship between the needle insertion depth and the force on the end of the Kirschner wire under the group (B1, θ1, n1, v1) by fitting; and recording the corresponding mapping relationship for each group (B1, θ1, n1, v1) in the second preset database.

[0071] Specifically, when establishing the second preset database, the depth y of the Kirschner wire 3 entering the bone can be obtained in real time, and the depth y of the Kirschner wire 3 entering the bone can be obtained according to any combination (B i ,θ j ,n k ,v l ) under the combination (B1, θ1, n1, v1), the relationship between F and y is F = f(y). Similarly, by changing other combinations, the relationship between F and y is F = f(y) under all combinations in the second preset database.

[0072] In this embodiment, the acquisition module 210 (communicating with the force control sensor 212) is also used to obtain the force on the end of the Kirschner wire; the control module 230 is also used to control the rotating component and the feeding component to stop moving when the force is less than the preset force lower limit, and / or, within the range of the target needle insertion depth and the second preset depth, the relationship between the force and the distance is inconsistent with the mapping relationship (for example, the distance difference corresponding to the same force is greater than the preset distance threshold, and for example, the force difference corresponding to the same distance is greater than the preset force threshold, etc.), and then control the rotating component to retract at the second preset speed and the feeding component to retract at the third preset speed until it returns to the initial state or exits the target bone. Through this process, the needle insertion process can be further detected. By detecting the force situation, unexpected situations during the needle insertion process can be avoided, thereby ensuring the safety and stability of the needle insertion.

[0073] In some examples, after the Kirschner wire 3 enters the target bone, that is, y is less than 0, if the value collected by the force control sensor 212 suddenly decreases sharply and approaches the critical value F0 (that is, the preset lower limit of force, which can be a value close to 0), it means that the current drilling position of the Kirschner wire 3 is wrong and is not the target bone. At this time, the implantation needs to be stopped and returned to the initial state to ensure the safety of the operation.

[0074] In some examples, within the range of the target needle insertion depth and the second preset depth, if the relationship between force and distance is inconsistent with the mapping relationship corresponding to the target bone type, target needle insertion direction, and current target control strategy, it indicates that there is a problem with the needle insertion. To ensure surgical safety, the implantation needs to be stopped and returned to the initial state.

[0075] In some embodiments of the present invention, the acquisition module 210 (communicatively connected to the thermal imager) is further configured to acquire the temperature of the distal end of the K-wire.

[0076] In this embodiment, if Figure 3 As shown, the control device 200 further includes an updating module 240. The updating module 240 is configured to update the first preset database and / or the second preset database according to the force and temperature. For specific updating methods, please refer to the above-mentioned process of establishing the preset database.

[0077] Figure 4 4 is a structural block diagram of a surgical robot according to an embodiment of the present invention.

[0078] like Figure 4 As shown, the surgical robot 100 includes: a robotic arm 1, a needle insertion assembly 2, and the control device 200 of the surgical robot of the above embodiment.

[0079] See also Figure 1 、 Figure 4 The needle insertion assembly 2 includes a feeding component 21, a rotating component 22 and a clamping component 23 connected in sequence, and the feeding component 22 is connected to the free end of the robotic arm 1. Figure 4 In the figure, the solid line is the mechanical connection and the dotted line is the communication connection.

[0080] Figure 5 4 is a flowchart of a control method for a surgical robot according to an embodiment of the present invention.

[0081] like Figure 5 As shown, the control method of the surgical robot includes:

[0082] S51, obtaining the relative position between the K-wire clamped by the clamping component and the target bone, as well as the target needle insertion direction.

[0083] S52, determining a target control strategy for the rotating component and the feeding component based on the relative position, the type of the target bone, the target insertion direction, and the target insertion depth of the K-wire.

[0084] S53, controlling the rotating component and the feeding component according to the target control strategy to implant the Kirschner wire into the target bone.

[0085] It should be noted that during the process of implanting the Kirschner wire into the target bone, various parameters are monitored. When it is determined based on the parameters that the Kirschner wire has undergone unexpected movement, the surgical robot is controlled to stop the implantation action in a timely manner.

[0086] In some embodiments of the present invention, the relative position is characterized by the distance between the distal end of the K-wire and the target bone surface, and the target control strategy includes a first target speed of the rotating component and a second target speed of the feeding component.

[0087] In this embodiment, the target control strategy of the rotating component and the feeding component is determined according to the relative position, the type of target bone, the target insertion direction and the target insertion depth of the Kirschner wire, including: when the distance is greater than the second preset depth and less than or equal to the first preset depth, the first target speed and the second target speed are determined according to the type and the target insertion direction based on the first preset database; and / or, when the distance is greater than the target needle insertion depth and less than or equal to the second preset depth, the first target speed and the second target speed are determined according to the type and the target needle insertion direction based on the second preset database; wherein the first preset depth is greater than zero and the second preset depth is less than zero, and the first preset database and the second preset database both include at least one set of corresponding relationships between bone type, robotic arm rotation angle, feed speed and rotation speed.

[0088] In some embodiments of the present invention, the target control strategy of the rotating component and the feeding component is determined based on the relative position, the type of target bone, the target insertion direction and the target insertion depth of the Kirschner wire, and also includes: when the distance is greater than the first preset depth, determining the first target speed to be zero and the second target speed to be the first preset speed; and / or, when the distance reaches the target insertion depth, determining the first target speed to be zero and the second target speed to be zero, so as to control the rotating component and the feeding component to stop moving.

[0089] In some embodiments of the present invention, the first preset database is obtained by:

[0090] Within the range of the second preset depth and the first preset depth, for different types of bones B i , control the robotic arm to insert the needle in different directions θ j , the rotating parts rotate at different speeds n k , feed components at different feed speeds v l , drive the Kirschner wire to be implanted, and record the corresponding setting value combination (B i ,θ j ,n k ,v l ) under the condition that the force F at the end of the K-wire ijkl and temperature T ijkl , and bone B i Offset x of the upper marker ijkl ; For each combination (B i ,θ j ), filter out the ijkl ≤F max 、T ijkl ≤T max and x ijkl ≤x max Combination of (n k , v l), and from the selected combinations (n k , v l ) and select one to be stored in the first preset database, wherein F max Indicates the first stress threshold, T max represents the first temperature threshold, x max Indicates the first offset threshold.

[0091] In some embodiments of the present invention, the second preset database is obtained by:

[0092] Within the range of the third preset depth and the second preset depth, for different types of bones B i , control the robotic arm to insert the needle in different directions θ j , the rotating parts rotate at different speeds n k , feed components at different feed speeds v l , drive the Kirschner wire implantation, and record the corresponding setting value combination (B i ,θ j ,n k ,v l ) under the condition that the force F at the end of the K-wire ijkl and temperature T ijkl , and bone B i Offset x of the upper marker ijkl , wherein the third preset depth is greater than or equal to the target needle insertion depth; for each combination (B i ,θ j ), filter out the ijkl ≤F max '、T ijkl ≤T max ' and x ijkl ≤x max 'combination(n k , v l ), and from the selected combinations (n k , v l ) and select one to be stored in the second preset database, wherein F max ' represents the second stress threshold, T max ' represents the second temperature threshold, x max ' represents the second offset threshold.

[0093] In some embodiments of the present invention, the combination (n k , v l ) and save it in the corresponding preset database.

[0094] In some embodiments of the present invention, the control method further includes: after the distance reaches the target needle insertion depth and the rotating part and the feeding part are controlled to stop moving, the rotating part is controlled to retract at a second preset speed and the feeding part is controlled to retract at a third preset speed until returning to the initial state or exiting the target bone.

[0095] In some embodiments of the present invention, the third preset speed is equal in magnitude and opposite in direction to the first preset speed, and the second preset speed is determined as follows:

[0096] A speed of a rotating component is randomly selected from the second preset database, and a speed that is equal to the speed and opposite in direction to the speed is used as the second preset speed.

[0097] In some embodiments of the present invention, the second preset database further includes a mapping relationship between the force on the end of the K-wire and the needle insertion depth under different setting value combinations (B1, θ1, n1, v1).

[0098] In this embodiment, the method of obtaining the second preset database also includes: determining the force on the end of the Kirschner wire corresponding to multiple needle insertion depths under each group (B1, θ1, n1, v1); obtaining the mapping relationship between the needle insertion depth and the force on the end of the Kirschner wire under the group (B1, θ1, n1, v1) by fitting; and recording the corresponding mapping relationship for each group (B1, θ1, n1, v1) in the second preset database.

[0099] In this embodiment, the control method also includes: obtaining the force at the end of the Kirschner wire; when the force is less than a preset lower force limit, and / or when the relationship between the force and the distance is inconsistent with the mapping relationship within the range formed by the target needle insertion depth and the second preset depth, controlling the rotating part and the feeding part to stop moving, and then controlling the rotating part to retract at a second preset speed and the feeding part to retract at a third preset speed until returning to the initial state or exiting the target bone.

[0100] In some embodiments of the present invention, the control method further includes: obtaining the temperature of the end of the Kirschner wire; and updating the first preset database and / or the second preset database according to the force and temperature.

[0101] It should be noted that, for other specific implementations of the control method of the surgical robot according to the embodiment of the present invention, reference may be made to the specific implementations of the control device of the surgical robot according to the above-mentioned embodiment of the present invention.

[0102] In summary, the surgical robot and its control device and method of the embodiment of the present invention first obtain the relative position of the Kirschner wire clamped by the clamping component and the target bone, as well as the target needle insertion direction, and then determine the target control strategy of the rotating component and the feeding component based on the relative position, the type of target bone, the target needle insertion direction and the target needle insertion depth of the Kirschner wire, combined with the preset database obtained by the preset experiment, and then control the rotating component and the feeding component according to the target control strategy to achieve the implantation of the Kirschner wire into the target bone. In this way, accurate, fast and safe automatic implantation of Kirschner wires in orthopedic surgery can be achieved, thereby improving the efficiency of the operation. In addition, by stopping the implantation process and returning to the initial state when an implantation abnormality is detected, such as abnormally small force on the end of the Kirschner wire, mismatch between the force on the end of the Kirschner wire and the implantation depth, the safety of the operation can be improved.

[0103] It should be noted that the logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, apparatus, or device, or in conjunction with such instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection portion having one or more wires (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0104] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above-described embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0105] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0106] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0107] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0108] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0109] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0110] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A control device for a surgical robot, characterized in that: The surgical robot includes a robotic arm and a needle insertion assembly, wherein the needle insertion assembly includes a feeding component, a rotating component, and a clamping component connected in sequence, wherein the feeding component is connected to the free end of the robotic arm, and the control device includes: an acquisition module, configured to acquire a relative position between the Kirschner wire held by the clamping component and the target bone, and a target needle insertion direction, wherein the relative position is represented by a distance between the end of the Kirschner wire and the surface of the target bone; a determination module, configured to determine a target control strategy for the rotating component and the feeding component based on the relative position, the type of the target bone, the target insertion direction, and the target insertion depth of the K-wire, the target control strategy including a first target speed of the rotating component and a second target speed of the feeding component; A control module, configured to control the rotating component and the feeding component according to the target control strategy to implant the Kirschner wire into the target bone, comprising: When the distance is greater than the second preset depth and less than or equal to the first preset depth, the first target speed and the second target speed are determined based on a first preset database according to the type of the target bone and the target needle insertion direction; and / or, when the distance is greater than the target needle insertion depth and less than or equal to the second preset depth, the first target speed and the second target speed are determined based on a second preset database according to the type of the target bone and the target needle insertion direction; The first preset database and the second preset database each include at least one set of correspondences between bone types, needle insertion directions, feeding speeds, and rotation speeds; The first preset database is obtained in the following manner: Within the range of the second preset depth and the first preset depth, for different types of bones B i , control the robotic arm to insert the needle in different directions θ j , the rotating parts rotate at different speeds n k , the feeding components are fed at different speeds v l , driving the Kirschner wire to be implanted, and recording the corresponding setting value combination (B i ,θ j ,n k ,v l ), the force F at the end of the K-wire ijkl and temperature T ijkl , and the bone B i Offset x of the upper marker ijkl ; For each combination (B i ,θ j ), filter out the ones that meet F ijkl ≤F max 、T ijkl ≤T max and x ijkl ≤x max Combination of (n k , v l ), and from the selected combinations (n k , v l ) and select one to be stored in the first preset database, wherein F max Indicates the first stress threshold, T max represents the first temperature threshold, x max represents the first offset threshold; and / or, The second preset database is obtained in the following manner: Within the range of the third preset depth and the second preset depth, for different types of bones B i , control the robotic arm to insert the needle in different directions θ j , the rotating parts rotate at different speeds n k , the feeding components are fed at different speeds v l , driving the Kirschner wire to be implanted, and recording the corresponding setting value combination (B i ,θ j ,n k ,v l ), the force F at the end of the K-wire ijkl and temperature T ijkl , and the bone B i Offset x of the upper marker ijkl , wherein the third preset depth is greater than or equal to the target needle insertion depth; For each combination (B i ,θ j ), filter out the ones that meet F ijkl ≤F max '、T ijkl ≤T max ' and x ijkl ≤x max 'combination (n k , v l ), and from the selected combinations (n k , v l ) and select one to be stored in the second preset database, wherein F max ' represents the second stress threshold, T max ' represents the second temperature threshold, x max ' represents the second offset threshold.

2. The control device according to claim 1, characterized in that The determining module is further specifically configured to: When the distance is greater than the first preset depth, determining that the first target speed is zero and the second target speed is the first preset speed; and / or, When the distance reaches the target needle insertion depth, the first target speed is determined to be zero and the second target speed is determined to be zero, so as to control the rotating component and the feeding component to stop moving.

3. The control device according to claim 1, characterized in that The method for obtaining the second preset database further includes: Determine the force on the K-wire tip corresponding to multiple insertion depths for each group (B1, θ1, n1, v1); The mapping relationship between the needle insertion depth and the force on the end of the K-wire in this group (B1, θ1, n1, v1) was obtained by fitting; The corresponding mapping relationship is recorded for each group (B1, θ1, n1, v1) in the second preset database.

4. The control device according to claim 1, characterized in that According to the implantation efficiency, the selected combinations (n k , v l ) and save it in the corresponding preset database.

5. The control device according to claim 2, characterized in that: The control module is further configured to: After the distance reaches the target needle insertion depth and the rotating component and the feeding component are controlled to stop moving, the rotating component is controlled to retract at a second preset speed and the feeding component is controlled to retract at a third preset speed until returning to the initial state or exiting the target bone.

6. The control device according to claim 5, characterized in that The third preset speed is equal in magnitude and opposite in direction to the first preset speed, and the second preset speed is determined as follows: A speed of the rotating component is randomly selected from the second preset database, and a speed that is equal to the speed and opposite in direction to the speed is used as the second preset speed.

7. The control device according to any one of claims 1 to 6, characterized in that: The second preset database also includes a mapping relationship between the force on the end of the Kirschner wire and the needle insertion depth under different setting value combinations (B1, θ1, n1, v1); wherein, The acquisition module is further used to acquire the force applied to the end of the Kirschner wire; The control module is further configured to control the rotating component and the feeding component to stop moving when the force is less than a preset lower force limit, and / or when the relationship between the force and the distance is inconsistent with the mapping relationship within the range formed by the target needle insertion depth and the second preset depth, and then control the rotating component to retract at a second preset speed and the feeding component to retract at a third preset speed until they return to an initial state or exit the target bone.

8. The control device according to any one of claims 1 to 4, characterized in that: The acquisition module is further used to acquire the temperature of the end of the Kirschner wire; Wherein, the control device further includes: An updating module is used to update the first preset database and / or the second preset database according to the force and the temperature.

9. A surgical robot, characterized in that: include: A robotic arm and a needle insertion assembly, wherein the needle insertion assembly comprises a feeding component, a rotating component, and a clamping component connected in sequence, and the feeding component is connected to the free end of the robotic arm; as well as A control device for a surgical robot according to any one of claims 1 to 8.

Images