A control method and system for preventing vibration of osteotomy saw blade

Abstract

The present invention discloses a control method, device, storage medium and processor for anti-shake of a saw blade. The method includes: obtaining the coordinate information of the end of the saw blade; establishing a connection between the coordinate information of the end of the saw blade and a calibration graphic, wherein the calibration graphic is a graphic with a baseline, and when the end of the saw blade overlaps with the target cutting surface, the coordinate information of the end of the saw blade is indicated by an indicator mark on the screen at the baseline position of the calibration graphic, and the indicator mark feeds back the coordinate information of the end of the saw blade in the calibration graphic; adjusting the position of the saw blade according to the change in the position of the indicator mark corresponding to the coordinate information of the end of the saw blade and the baseline of the calibration graphic so that the saw blade moves within a predetermined range of the baseline. The present invention solves the technical problem in the prior art that it is difficult for the saw blade to ensure the cutting position accuracy in real time due to the characteristics of the collaborative robot arm.

Description

[0001] This application is a divisional application based on the invention with application number 202010628902.5, application date July 1, 2020, applicant is Beijing Hehua Ruibo Medical Technology Co., Ltd., and the invention name is "A control method and system for anti-shake of osteotomy saw blade". Technical Field

[0002] The present invention relates to the technical field of computer-assisted surgery, and in particular to a control method and system for preventing vibration of an osteotomy saw blade, a storage medium, and a processor. Background Art

[0003] Currently, with the development of computer technology, computer-assisted surgical systems are also developing rapidly. In such systems, collaborative robotic arms are often deployed to facilitate operations such as movement. The distal end of the collaborative robotic arm is usually equipped with an end effector, which can be equipped with different medical instruments such as saws, drills, and milling cutters depending on the needs of different scenarios. (In this article, "proximal end" refers to the end that is relatively closer to the robotic arm operator and farther from the patient, while "distal end" refers to the end that is relatively farther away from the robotic arm operator and closer to the patient). Through the mechanical connection mechanism and control operation between the collaborative robot arm, the end effector and the medical device, cutting, drilling, grinding and other actions on the target are achieved. Taking the electric saw as an example, the saw blade of the osteotomy electric saw is one of the medical devices that the end effector is more commonly equipped with. The electric saw can cut the target more efficiently and is suitable for total knee replacement surgery, etc. In order to ensure the accuracy of the operation, the precise positioning and cutting of the farthest end (also called the front end or end) of the saw blade is very important; therefore, in the scenario of osteotomy surgery, the osteotomy saw blade needs to be kept within the specific osteotomy plane to be cut for cutting. However, this specific osteotomy surgery scenario usually has the following two problems:

[0004] 1. The main difference between collaborative robotic arms and other types of robotic arms is that they require manual manipulation, such as pushing, pulling, lifting, and pressing, to operate them. This semi-manual operation inevitably causes the saw blade to deviate from the plane of the bone being cut.

[0005] 2. When used in the specific scenario of orthopedic surgery, since the osteotomy saw blade is usually small in size and the collaborative robotic arm itself needs to ensure a certain amount of movement space and freedom during cutting, it cannot be made rigid. The electric saw blade is in a high-speed swinging state during the operation (the swing speed of the saw blade is as high as 8,800 times / minute), so when performing orthopedic surgery, it is difficult for the cutting saw blade to ensure the accuracy of the cutting position in real time.

[0006] Currently, no effective solution has been proposed to the technical problem that the osteotomy saw blade is unable to ensure the cutting position accuracy in real time due to the characteristics of the collaborative robot arm. Summary of the Invention

[0007] Embodiments of the present invention provide a control method and system for preventing saw blade vibration, a storage medium, and a processor to solve the technical problem in the prior art that it is difficult for a saw blade to ensure cutting position accuracy in real time due to the characteristics of a collaborative robot arm.

[0008] According to one aspect of an embodiment of the present invention, a control method for anti-shake of a saw blade is provided, comprising: acquiring coordinate information of the end of the saw blade; establishing a connection between the coordinate information of the end of the saw blade and a calibration figure, wherein the calibration figure is a figure with a baseline, and when the end of the saw blade overlaps with a target cutting surface, an indicator mark corresponding to the coordinate information of the end of the saw blade on the screen indicates the baseline position of the calibration figure, and the indicator mark feeds back the coordinate information of the end of the saw blade in the calibration figure; adjusting the position of the saw blade according to changes in the indicator mark corresponding to the coordinate information of the end of the saw blade and the baseline position of the calibration figure so that it keeps moving within a predetermined range of the baseline.

[0009] Furthermore, obtaining the coordinate information of the end of the saw blade includes: when the end of the saw blade approaches the target cutting surface and reaches a predetermined alignment position, obtaining the coordinate system position relationship between the body positioning frame of the end actuator and the end positioning frame of the saw blade, wherein the saw blade is installed on the end actuator; obtaining the posture information of the saw blade in real time according to the coordinate system position relationship and the posture information of the body positioning frame; and obtaining the coordinate information of the current end of the saw blade through the current posture information of the saw blade.

[0010] Furthermore, adjusting the position of the saw blade according to the change in the position of the indicator mark corresponding to the coordinate information of the saw blade end and the baseline of the calibration figure includes: making the moving direction of the indicator mark in the calibration figure correspond to the orientation of the coordinate information of the saw blade end when it is on the target to be cut from the target cutting surface.

[0011] Furthermore, making the moving direction of the indicator mark in the calibration figure correspond to the orientation of the coordinate information of the end of the saw blade when it is on the target to be cut from the target cutting surface includes: controlling the indicator mark to move in the calibration figure in both positive and negative directions based on the target cutting surface, wherein the moving directions are respectively located in the upper and lower directions of the reference line of the calibration figure.

[0012] Furthermore, controlling the indicator mark to move in both positive and negative directions based on the target cutting plane in the calibration figure includes: when the indicator mark indicates the upper part of the calibration figure, controlling the actual cutting position of the saw blade to be close to the edge of the patient's bone from the position of the target cutting plane; when the indicator mark indicates the lower part of the calibration figure, controlling the actual cutting position of the saw blade to be far away from the edge of the patient's bone from the position of the target cutting plane.

[0013] Furthermore, before obtaining the coordinate information of the end of the saw blade, it includes: controlling the movement of the robotic arm device by determining the positional relationship between the position of the end positioning frame and the target cutting surface, wherein the end actuator is installed on the robotic arm device; judging whether the distance between the end positioning frame and the target cutting surface exceeds a threshold range, and if it exceeds the threshold range, updating the positional relationship between the position of the end positioning frame and the target cutting surface, and continuing to control the robotic arm device to move until the end of the saw blade approaches the target cutting surface and reaches a predetermined alignment position, and then stopping the judgment.

[0014] Furthermore, adjusting the position of the saw blade according to the change in the position of the indicator mark corresponding to the saw blade end coordinate information and the baseline of the calibration figure includes: when the positioning frame or the target reference frame on the flange of the robotic arm device is blocked during osteotomy, the color of the calibration figure is changed to provide a prompt.

[0015] Furthermore, adjusting the position of the saw blade so that it moves within a predetermined range of the baseline according to the change in the position of the indicator mark corresponding to the saw blade end coordinate information and the baseline of the calibration figure includes: presetting the calibration figure into five different color areas, wherein each color area corresponds to a predetermined range of a different size; controlling the indicator mark corresponding to the saw blade end coordinate so that it moves within a small predetermined range around the baseline.

[0016] Furthermore, establishing a connection between the coordinate information of the end of the saw blade and the calibration pattern includes: presetting a unit distance of movement of the indicator mark in the calibration pattern to correspond to the actual change in the coordinate information of the end of the saw blade.

[0017] Furthermore, the indicator mark is a rectangular bar in the calibration figure that can indicate different positions by changing light and dark, and / or the indicator mark is a three-dimensional figure corresponding to the saw blade, and / or the indicator mark is a two-dimensional figure corresponding to the saw blade.

[0018] Furthermore, after obtaining the coordinate information of the end of the saw blade, the method further includes: displaying the actual angle between the plane where the saw blade is located and the target cutting plane through a first indicator frame.

[0019] Furthermore, after obtaining the coordinate information of the saw blade end, the method further includes: displaying data of actual changes in the coordinate information of the saw blade end compared with the target cutting plane through a second indicator frame.

[0020] According to another aspect of an embodiment of the present invention, a control system for preventing saw blade vibration is provided, comprising:

[0021] An acquisition unit is used to acquire the coordinate information of the end of the saw blade; a processing unit is used to establish a connection between the coordinate information of the end of the saw blade and a calibration figure, wherein the calibration figure is a figure with a baseline, and when the end of the saw blade overlaps with the target cutting surface, the coordinate information of the end of the saw blade is indicated on the screen by an indicator mark corresponding to the baseline position of the calibration figure, and the indicator mark feeds back the coordinate information of the end of the saw blade in the calibration figure; a first control unit is used to adjust the position of the saw blade according to the change of the indicator mark corresponding to the coordinate information of the end of the saw blade and the baseline position of the calibration figure so that it keeps moving within a predetermined range of the baseline.

[0022] Furthermore, the acquisition unit includes: a first acquisition module, used to obtain the coordinate system position relationship between the body positioning frame of the end effector and the end positioning frame of the saw blade when the end of the saw blade approaches the target cutting surface and reaches a predetermined alignment position, wherein the saw blade is installed on the end effector; a second acquisition module, used to obtain the posture information of the saw blade in real time according to the coordinate system position relationship and the posture information of the body positioning frame; a third acquisition module, used to obtain the coordinate information of the current end of the saw blade through the current posture information of the saw blade.

[0023] Furthermore, the first control unit includes: a direction control module for making the moving direction of the indicator mark in the calibration pattern correspond to the orientation of the coordinate information of the end of the saw blade when it is on the target to be cut, from the target cutting surface.

[0024] Furthermore, the direction control module includes: a first control module for controlling the indicator mark to move in two directions in the calibration figure with the target cutting surface as the reference, wherein the moving directions are respectively the upper and lower directions of the calibration figure reference line.

[0025] Furthermore, the direction control module also includes: a second control module for controlling the actual cutting position of the saw blade to be close to the edge of the patient's bone from the position of the target cutting plane when the indicator mark indicates the upper part of the calibration figure; and a third control module for controlling the actual cutting position of the saw blade to be far away from the edge of the patient's bone from the position of the target cutting plane when the indicator mark indicates the lower part of the calibration figure.

[0026] Furthermore, the system also includes: a second control unit, used to control the movement of the robotic arm device by determining the positional relationship between the position of the end positioning frame and the target cutting surface, wherein the end actuator is mounted on the robotic arm device; a judgment control unit, used to judge whether the distance between the end positioning frame and the target cutting surface exceeds a threshold range, and if it exceeds the threshold range, update the positional relationship between the position of the end positioning frame and the target cutting surface, and continue to control the movement of the robotic arm device until the end of the saw blade approaches the target cutting surface and reaches a predetermined alignment position, and then stop judging.

[0027] Furthermore, the first control unit also includes: a prompt module, which is used to change the color of the calibration graphic to provide a prompt when the positioning frame or the target reference frame on the flange of the robotic arm device is blocked during osteotomy.

[0028] Furthermore, the first control unit also includes: a first preset module, used to preset the calibration graphic into five different color areas, wherein each color area corresponds to a predetermined range of different sizes; a fourth control module, used to control the indicator mark corresponding to the saw blade end coordinate so that it remains in a small predetermined range around the baseline.

[0029] Furthermore, the processing unit includes: a second preset module for presetting the unit distance of movement of the indicator mark in the calibration pattern to correspond to the actual changed coordinate information of the end of the saw blade.

[0030] Furthermore, the system further includes: a first display module, configured to display an actual angle between the plane where the saw blade is located and the target cutting plane through a first indicator frame.

[0031] Furthermore, the system further includes: a second display module, configured to display data of actual changes in coordinate information of the end of the saw blade compared with the target cutting plane through a second indicator frame.

[0032] According to another aspect of an embodiment of the present invention, a storage medium is provided. The storage medium stores a program, and the program executes the above method when executed.

[0033] According to another aspect of an embodiment of the present invention, a processor is provided, and the above method is executed when the program is executed.

[0034] According to an embodiment of the present invention, the coordinate information of the end of the saw blade is obtained; the coordinate information of the end of the saw blade is linked to a calibration figure, wherein the calibration figure is a figure with a baseline, and when the end of the saw blade overlaps with the target cutting surface, the coordinate information of the end of the saw blade is indicated on the screen by an indicator mark corresponding to the coordinate information of the end of the saw blade at the baseline position of the calibration figure, and the indicator mark feeds back the coordinate information of the end of the saw blade in the calibration figure; the position of the saw blade is adjusted according to the change in the position of the indicator mark corresponding to the coordinate information of the end of the saw blade and the baseline of the calibration figure so that it moves within a predetermined range of the baseline. The present invention solves the technical problem in the prior art that it is difficult for the saw blade to ensure the cutting position accuracy in real time due to the characteristics of the collaborative robot arm, so that the saw blade can be fine-tuned in real time during the doctor's operation of the collaborative robot arm, thereby ensuring that the saw blade remains more accurately within the target plane to be cut during the entire osteotomy operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0036] Figure 1 is a flow chart of a method for controlling saw blade anti-shake according to an embodiment of the present invention;

[0037] Figure 2 is a schematic diagram of a calibration graph according to an embodiment of the present invention;

[0038] Figure 3 is a schematic diagram of a calibration graph according to an embodiment of the present invention;

[0039] Figure 4 is a schematic diagram of a calibration graph according to an embodiment of the present invention;

[0040] Figure 5 is a schematic diagram of the relationship between a two-dimensional indicator pattern and a calibration pattern according to an embodiment of the present invention;

[0041] Figure 6 is a schematic diagram of the relationship between a two-dimensional indicator pattern and a calibration pattern according to an embodiment of the present invention;

[0042] Figure 7 is a schematic diagram of the relationship between a three-dimensional indication pattern and a calibration pattern according to an embodiment of the present invention;

[0043] Figure 82 is a schematic structural diagram of a collaborative robot arm device according to an embodiment of the present invention;

[0044] Figure 9 is a schematic structural diagram of a host part and an optical navigation device according to an embodiment of the present invention;

[0045] Figure 10 is a schematic structural diagram of an optical positioning frame according to an embodiment of the present invention;

[0046] Figure 11 is a schematic structural diagram of an optical navigation device according to an embodiment of the present invention;

[0047] Figure 12 is a schematic structural diagram of an end effector according to an embodiment of the present invention;

[0048] Figure 13 is a structural schematic diagram of installing an end positioning frame on an end effector according to an embodiment of the present invention;

[0049] Figure 14 is a schematic structural diagram of an end positioning frame according to an embodiment of the present invention;

[0050] Figure 15 is a side view of an end positioning frame according to an embodiment of the present invention;

[0051] Figure 16 2. It is a schematic structural diagram of the marble mechanism portion of the end positioning frame according to an embodiment of the present invention;

[0052] Figure 17 is a schematic diagram of the positional relationship between the reference frame and the intended cutting plane according to an embodiment of the present invention;

[0053] Figure 18 is a schematic diagram of the positional relationship between the end positioning frame and the main body positioning frame according to an embodiment of the present invention;

[0054] Figure 19 is a schematic diagram of the positional relationship between the end effector and the object to be cut according to an embodiment of the present invention;

[0055] Figure 20 Schematic diagram of a saw blade anti-shake control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0057] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0058] According to an embodiment of the present invention, an embodiment of a control method for preventing a bone cutting saw blade from shaking is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0059] The meanings of the terms appearing in the following embodiments are explained below:

[0060] Figure 1 FIG. 1 is a flow chart of a method for controlling anti-shake of an osteotomy saw blade according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps:

[0061] Step S1002, obtaining coordinate information of the end of the osteotomy saw blade. The coordinate information of the end of the saw blade is calculated based on the position information of a certain point on the end of the saw blade. The specific calculation method can be from any point on the cross section of the end of the saw blade. Preferably, when the cross section of the end of the saw blade is rectangular, the center point of the rectangle can be used as the position information of the end point of the saw blade.

[0062] Step S1004: establishing a connection between the coordinate information of the end of the osteotomy saw blade and a calibration graphic, wherein the calibration graphic is a graphic with a reference line. When the end of the osteotomy saw blade overlaps with the target cutting surface, an indicator mark corresponding to the coordinate information of the end of the osteotomy saw blade on the screen is indicated at the position of the reference line of the calibration graphic, and the indicator mark feeds back the coordinate information of the end of the osteotomy saw blade in the calibration graphic;

[0063] The calibration pattern can clearly identify any pattern in both positive and negative directions of movement, such as Figure 4 The rectangle shown is composed of different colored blocks, and can also be other forms of graphics, such as Figure 2 、 Figure 3The Wi-Fi radar-like graphs and fan-shaped graphs shown in the figure all have a central baseline and two directions relative to the baseline. Alternatively, a calibration graph can have only one baseline, indicating the movement of the medical tool in one direction. This step uses the calibration graph to provide real-time feedback on subtle deviations of the osteotomy saw blade from the plane being cut during the osteotomy process.

[0064] In step S1006, the position of the osteotomy saw blade is adjusted based on the change in the position of the indicator mark corresponding to the coordinate information of the end of the osteotomy saw blade and the reference line of the calibration graphic, so that the position of the osteotomy saw blade remains within a predetermined range of the reference line. The reference line represents the plane to be cut. When the indicator mark in the calibration graphic indicates deviation from the reference line, it means that the position of the osteotomy saw blade has deviated from the plane to be cut. This predetermined range is the allowable deviation error of the osteotomy saw blade during osteotomy.

[0065] The above method cleverly uses visualization to ensure that the offset of the osteotomy saw blade to the plane to be osteotomized is within a predetermined range, and real-time control fine-tuning can be performed at any time based on the visual observation results. Even if the tool is constantly shaking and cutting, the accuracy of the desired cutting position can still be guaranteed, so that it can remain moving within the target plane to be cut, thereby solving the technical problem in the existing technology that the osteotomy saw blade is difficult to ensure the cutting position accuracy in real time due to the characteristics of the collaborative robot arm.

[0066] In order to obtain the coordinate information of the end of the osteotomy saw blade in the above steps more accurately and in real time, first, after multiple recursive calibrations between the knife and the target cutting surface, when the knife is confirmed to be aligned with the target cutting surface, NDI records the coordinate system relationship between the body positioning frame and the blade tip positioning frame located at the end effector, and corrects the coordinate system of the end effector body positioning frame through this coordinate system relationship. At this time, the spatial posture of the end effector body positioning frame photographed by NDI represents the spatial posture information of the saw blade, and the coordinates of the end of the saw blade can be expressed in the coordinate system where the end effector body positioning frame is located. Finally, the coordinate information of the saw blade is obtained through the coordinate information of the body positioning frame, and the coordinate information of the end point of the saw blade is calculated through the coordinate information of the saw blade. In an optional embodiment, that is, when the end of the osteotomy saw blade approaches the target cutting surface and reaches the predetermined alignment position, the coordinate system position relationship between the body positioning frame of the end effector and the end positioning frame of the osteotomy saw blade is obtained, wherein the osteotomy saw blade is installed on the end effector; the posture information of the osteotomy saw blade is obtained in real time based on the coordinate system position relationship and the posture information of the body positioning frame; and the coordinate information of the end of the current osteotomy saw blade is obtained through the posture information of the current osteotomy saw blade. For example, when calculating the distance between the end point of the saw blade and the intended cutting plane in real time, it is actually calculating the position relationship between the coordinate system corresponding to the plane where the saw blade is located and the coordinate system where the intended cutting plane is located, and calculating the posture angle is calculating the angle between the plane where the saw blade is located and the intended cutting plane. The coordinate system C of the end point of the saw blade is calculated in real time. F The coordinate system C of the proposed cutting planeP The positional relationship between them, C P and C T The positional relationship is fixed from beginning to end, and can be coincident or have a fixed positional relationship, according to the coordinate system C of the reference frame of the target to be cut. T , and the known positional relationship between the coordinate system of the reference frame and the coordinate system of the proposed cutting plane, the coordinate system C of the proposed cutting plane can be determined. P The coordinate information of the end of the osteotomy saw blade is obtained by calculating these positional relationships.

[0067] The direction in which the indicator moves within the calibration pattern represents the position of the saw blade tip relative to the target cutting surface when the coordinate information of the saw blade tip is on the target cutting surface. In an optional embodiment, adjusting the position of the osteotomy saw blade based on a change in the position of the indicator corresponding to the coordinate information of the saw blade tip relative to the reference line of the calibration pattern includes: first, adjusting the position of the osteotomy saw blade based on a change in the position of the indicator corresponding to the coordinate information of the saw blade tip relative to the target cutting surface; and second, adjusting the direction in which the indicator moves within the calibration pattern to correspond to the position of the saw blade tip relative to the target cutting surface when the coordinate information of the saw blade tip is on the target cutting surface.

[0068] Make the moving direction of the indicator mark in the calibration figure correspond to the orientation of the coordinate information of the end of the saw blade when it is on the target to be cut from the target cutting surface. In an optional embodiment, the indicator mark is controlled to move in the calibration figure in both positive and negative directions based on the target cutting surface, wherein the moving directions are respectively located in the upper and lower directions of the reference line of the calibration figure.

[0069] The above steps control the saw blade to correspond to the visual calibration graphic, so that the visual calibration graphic can provide real-time feedback on the positional relationship, direction and distance between the saw blade and the offset target plane to be osteotomized, and the calibration graphic can provide feedback on the two directions in which the saw blade is offset from the target plane to be osteotomized, avoiding interference in other directions. This can better and more intuitively fine-tune the saw blade in real time to keep it within the predetermined deviation range above and below the plane to be osteotomized, thereby better ensuring the surgical cutting accuracy of the osteotomy saw blade.

[0070] After the control indicator mark moves in both positive and negative directions based on the target cutting plane in the calibration graphic, in an optional embodiment, when the indicator mark indicates the upper part of the calibration graphic, the actual cutting position of the osteotomy saw blade is controlled to be closer to the edge of the patient's bone from the position of the target cutting plane; when the indicator mark indicates the lower part of the calibration graphic, the actual cutting position of the osteotomy saw blade is controlled to be farther from the edge of the patient's bone from the position of the target cutting plane. In this way, the depth of the osteotomy can be detected in real time, avoiding deviations in the osteotomy position caused by misoperation during osteotomy. When the indicator mark indicates the upper part of the calibration graphic, it indicates that the actual cutting position is shallower than the target cutting plane or closer to the edge of the patient's bone; when the indicator mark indicates the lower part of the calibration graphic, it indicates that the actual cutting position is deeper than the target cutting plane or closer to the edge of the patient's bone.

[0071] In an optional embodiment, obtaining the coordinate information of the end of the osteotomy saw blade includes: controlling the movement of a robotic arm device by determining the positional relationship between the position of the end positioning frame and the target cutting surface, wherein the end effector is mounted on the robotic arm device; determining whether the distance between the end positioning frame and the target cutting surface exceeds a threshold range; if so, updating the positional relationship between the position of the end positioning frame and the target cutting surface, and continuing to control the movement of the robotic arm device until the end of the osteotomy saw blade approaches the target cutting surface and reaches a predetermined alignment position, then stopping the determination. By controlling the movement of the cooperative robotic arm to the target position in this manner, the end of the osteotomy saw blade approaches the target cutting surface, and the plane on which the osteotomy saw blade is located also coincides with the target cutting surface, thereby preparing for subsequent visual fine-tuning. Because visual fine-tuning is real-time control of the saw blade to move within a range of less than a millimeter, it is necessary that the plane on which the osteotomy saw blade is located substantially coincide with the target cutting surface, that is, the end of the osteotomy saw blade approaches the target cutting surface and reaches the predetermined alignment position.

[0072] When the positioning frame or the target reference frame on the flange of the manipulator device is blocked during osteotomy, the saw blade end coordinate information may not be obtained in a timely manner, resulting in a large deviation. Visual real-time feedback is provided on whether the end coordinate information is obtained in a timely manner. In an optional embodiment, adjusting the position of the osteotomy saw blade according to the change in the position of the indicator mark corresponding to the osteotomy saw blade end coordinate information and the baseline of the calibration graphic includes: when the positioning frame or the target reference frame on the flange of the manipulator device is blocked during osteotomy, the color of the calibration graphic is changed to provide a prompt.

[0073] In an optional embodiment, adjusting the position of the osteotomy saw blade based on the change in the position of the indicator corresponding to the coordinate information of the end of the osteotomy saw blade relative to the reference line of the calibration pattern so that the position of the osteotomy saw blade remains within a predetermined range of the reference line includes: presetting the calibration pattern into five different color areas, wherein each color area corresponds to a predetermined range of different sizes; and controlling the indicator corresponding to the coordinate information of the end of the osteotomy saw blade to remain within a small predetermined range around the reference line. Preferably, the calibration pattern can be preset to have a total range of 5 mm, and the calibration pattern is divided from the top to the bottom into five color areas: red, yellow, green, yellow, and red, each area having a range of 1 mm. Each color area is further divided into five unit grids, each unit grid representing a unit distance of movement of the indicator in the calibration pattern, and also representing an actual change of 0.2 mm in the coordinate information of the end of the saw blade. The third unit grid in the green area represents the position of the reference line, and also corresponds to a ±0.1 mm offset between the actual saw blade end and the target osteotomy plane, and the same applies to the other grids. The third unit grid (baseline) in the green area divides the calibration graph into two sections. When the saw blade cuts too shallowly, the indicator moves above the calibration graph; when the saw blade cuts too deep, the indicator moves below the calibration graph. When the distance between the actual osteotomy saw blade and the osteotomy plane exceeds ±2.5mm of the total range, the rainbow bar displays the topmost red grid or the bottommost red grid. In an optional embodiment, associating the coordinate information of the end of the osteotomy saw blade with the calibration graph includes: presetting the unit distance that the indicator moves in the calibration graph to correspond to the actual coordinate information of the end of the saw blade.

[0074] In an optional embodiment, the indicator mark is a rectangular bar that can indicate different positions in the calibration pattern by changing light and dark, and / or the indicator mark is a three-dimensional graphic corresponding to the osteotomy saw blade, and / or the indicator mark is a two-dimensional graphic corresponding to the osteotomy saw blade. If the indicator mark is a rectangular bar that can indicate different positions in the calibration pattern by changing light and dark, when the saw blade is aligned with the target cutting surface and the saw blade end point approximately overlaps with the target cutting surface, the coordinate information of the saw blade end, that is, the coordinate information (pose information) of the end effector body positioning frame, is transmitted to the host computer. The host computer associates this coordinate information with the calibration pattern. When the saw blade end overlaps with the target cutting surface, the rectangular bar corresponding to this coordinate information becomes brighter at the calibration pattern's baseline position (the third grid in the green area). When this coordinate information changes, the position of the rectangular bar in the calibration pattern changes accordingly. A unit distance of the rectangular bar in the calibration pattern represents an actual change of 0.2 mm in the saw blade end coordinate information. This change in coordinate information represents the spatial distance that the saw blade end deviates from the target cutting surface on the cutting target. The rectangular bar may be an indicator mark of other shapes, or may be displayed as an indicator by brightening the unit cells of the color area divided in the calibration graphic.

[0075] like Figure 7 As shown, when the indication mark is a three-dimensional indication graphic corresponding to the osteotomy saw blade, the three-dimensional indication graphic represents the data of the three-dimensional graphic of the actual saw blade, and the corresponding information between the three-dimensional indication graphic and the actual osteotomy saw blade can be obtained by using the reference frame and the navigator on the end effector in a similar manner to the data information at the end of the saw blade.

[0076] The rectangular block in the middle of the left three-dimensional rectangle represents the target position for osteotomy. When the saw blade is completely aligned with the plane target to be osteotomized, the saw blade is facing the middle rectangular block in the three-dimensional view. During the osteotomy process, the navigation device captures the position and posture of the positioning frame (end effector positioning frame) in real time, and synchronously displays the position and posture in real time in the three-dimensional view. The specific method is that the positioning frame 500 represents a coordinate system, and the three-dimensional rectangle (the target position to be osteotomized) also represents a coordinate system 801. The posture relationship between the two coordinate systems is the posture relationship between the three-dimensional rectangle and the saw blade.

[0077] The end of the three-dimensional indicator graphic close to the calibration graphic serves as the indicator end, and the indicator end represents the end of the saw blade. No matter how the three-dimensional indicator graphic changes, the indicator end of the three-dimensional indicator graphic is always located within the preset range of the calibration graphic. For example, the preset range can be along an edge of the indicator pattern that can indicate a unit distance. When the end of the saw blade overlaps with the target cutting surface, the indicator end corresponding to the coordinate information is indicated at the baseline position of the calibration graphic. When the coordinate information changes, the position of the indicator end in the calibration graphic changes accordingly. The unit distance that the indicator end moves in the calibration graphic represents that the coordinate information of the end of the saw blade actually changes by 0.2mm. The change in coordinate information indicates the spatial distance that the end of the saw blade deviates from the target cutting surface on the cutting target. The three-dimensional graphic can be used to observe the angle change between the plane where the saw blade is located and the intended cutting surface of the target in real time, which is convenient for adjustment.

[0078] like Figure 5 and Figure 6 As shown, the indicator mark is a two-dimensional indicator graphic corresponding to the osteotomy saw blade. The two-dimensional indicator graphic represents the two-dimensional data of the actual saw blade. The corresponding information between the two-dimensional indicator graphic and the actual saw blade can be obtained by using the reference frame and the navigator on the end effector in a similar manner to the data information at the end of the saw blade. Figure 7 The 3D rectangular block shown on the left represents the target cutting plane. This block is fixed to the software interface and projected onto the back of the block, perpendicular to the cutting plane, to form a 2D rectangular strip. The centerline of the saw blade is also projected onto this "back" plane. The reference line at the center of the 3D rectangular block represents the target cutting plane. The angle between the projected target cutting plane (which becomes a line after projection) and the saw blade centerline on the right represents the actual angle between the saw blade and the target cutting plane.

[0079] The end of the indicator graphic close to the calibration graphic serves as the indicator end, and the indicator end represents the end of the saw blade. Regardless of how the indicator pattern changes, the indicator end of the indicator graphic is always within the preset range of the calibration graphic. For example, the preset range may be along an edge of the indicator pattern that can indicate a unit distance. When the end of the saw blade overlaps with the target cutting surface, the indicator end corresponding to the coordinate information indicates the baseline position of the calibration graphic. When the coordinate information changes, the position of the indicator end in the calibration graphic changes accordingly. The unit distance that the indicator end moves in the calibration graphic represents that the coordinate information of the end of the saw blade actually changes by 0.2 mm. The change in coordinate information indicates the spatial distance that the end of the saw blade deviates from the target cutting surface on the cutting target. The two-dimensional graphic can be used to observe the angle change between the saw blade as a whole and the target cutting surface in real time, which is convenient for adjustment.

[0080] In an optional embodiment, after obtaining the coordinate information of the end of the osteotomy saw blade, the method further includes: displaying the actual angle between the plane where the osteotomy saw blade is located and the target cutting plane through a first indicator frame.

[0081] In an optional embodiment, after obtaining the coordinate information of the end of the osteotomy saw blade, the method further includes: displaying data on actual changes in the coordinate information of the end of the osteotomy saw blade compared with the target cutting plane through a second indicator frame.

[0082] This embodiment establishes and tracks the relationship between the target cutting (osteotomy) surface and the saw blade in real time, and guides the user to make adjustments through visualization to achieve the best osteotomy effect, thereby improving the success rate of osteotomy. The displayed parameters are intuitive, easy to understand, and have a smooth learning curve.

[0083] The following describes the process of obtaining the coordinate information of the end of the osteotomy saw blade in an optional embodiment with reference to the figure:

[0084] The medical devices referred to in this application are instrumental devices that can be used in medicine to assist doctors in completing examinations or surgical operations. For example, they can be electric saws and saw blades used in total knee replacement surgery, but are not limited to these. They can also be pliers, drills, milling cutters, screwdrivers, expanders, implant inserters, etc.

[0085] like Figure 8 The figure shows a robotic arm device, which includes a control cabinet 100 , a collaborative robotic arm 200 , an end effector 300 , a medical instrument 400 , and an optical positioning frame 500 mounted on the end effector 300 .

[0086] The control cabinet 100 houses a control unit 103 . The control unit 103 has signal processing capabilities and may be, but is not limited to, any chip or device with data processing and control capabilities, including a central processing unit (CPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The control unit 103 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention.

[0087] The control unit 103 can be connected to the host part of the system (not shown) through the interface part 101 of the control cabinet 100 to achieve communication with the system host. The control unit 103 can receive control signals from the system host and convert them into operating instructions to control the movement of the collaborative robot arm 200.

[0088] The collaborative robot arm 200 can receive instructions from the control unit 103 and move according to the movement mode specified by the instructions. The operator can also apply external force to the collaborative robot arm to perform pushing, pulling, lifting, pressing and other actions under the operator's manual control.

[0089] The top end surface of the control cabinet 100 is the base portion 102, which is fixedly connected to the base end 201 of the collaborative robot arm 200. The collaborative robot arm 200 is a multi-axis robot arm, with its proximal end being the base end 201, which is fixedly mounted to the base portion 102 of the control cabinet 100. The distal end of the collaborative robot arm 200 is the flange end 202. The collaborative robot arm 200 can receive commands from the control unit 103, causing the flange end 202 to perform rotational and translational movements according to the movement mode specified by the commands and move to a specific spatial position specified by the commands.

[0090] The flange end 202 of the collaborative robot arm 200 is fixedly connected to the end effector 300. The end effector 300 carries a medical device 400. For example, the medical device 400 carried by the end effector 300 in this embodiment is a saw blade of an electric saw. The saw blade is driven by a motor and can maintain high-speed swinging during operation. For example, an optical positioning frame 500 can also be mounted on the body of the end effector 300.

[0091] like Figure 9 The optical navigation device is shown. The system also includes a host part 1000. The host part can be a computer or a similar device with storage, computing and communication functions. Figure 9In the example, the optical navigation device and the system host 1000 are integrated into one device. It is understandable that the two can also be set up independently, or the system host and Figure 8 The robotic arm devices shown are integrated together, as long as secure connection and stable communication between the various devices can be ensured.

[0092] As an example, the optical navigation device 600 can be a binocular navigation camera, which tracks the position of the tracking markers (usually individual reflective balls, but not limited to this, as long as they are markers that can be tracked by the binocular navigation camera) on the optical positioning frame, thereby determining the spatial position information of the optical positioning frame.

[0093] exist Figure 9 In the illustrated embodiment, the optical navigation device 600 is fixed to one end of a cantilever 700, the other end of which is fixed to the top of a column 800. The bottom of the column 800 is connected to the housing that houses the host 1000. Cables for data transmission, communication, and power supply are routed through the column 800, the cantilever 700, and the interior of the housing. The cantilever 700 is fixedly connected to the top of the column 800 in a manner that allows it to be raised and lowered and rotatable.

[0094] A display unit 900 is also fixedly mounted in the upper middle portion of column 800. The display unit can be a liquid crystal display unit, cathode ray tube display unit, neon display unit, vacuum fluorescent display unit, electronic moving information display unit, gas discharge display unit, plasma display unit, or can utilize light-emitting diodes, electroluminescent materials, fiber optic technology, laser technology, holographic technology, or any other technology for displaying information on the display unit. Furthermore, the display unit can display static or moving information, and the displayed information can be in different languages. Display unit 900 is preferably fixed at a height that is easily visible to the operator.

[0095] The host part 1000 receives data from the optical navigation device 600, completes the calculation of the spatial relationship according to the method steps provided in this application, generates motion control instructions, and sends the motion control instructions to the control unit 103 of the robotic arm device. The control unit 103 controls the movement of the collaborative robotic arm 200 in space according to the motion control instructions.

[0096] As an example of an optical positioning frame 500, Figure 10As shown, the main body of the optical positioning frame 500 is a flat plate with a roughly crescent-shaped outer profile. Three or more reflective balls are positioned at regular intervals along the edge of the main body for tracking. As a preferred example, four reflective balls 501, 502, 503, and 504 are positioned at roughly even intervals along the edge of the positioning frame. Each reflective ball is coated with a coating that efficiently reflects infrared light.

[0097] As an example of the optical navigation device 600, Figure 11 As shown, the optical navigation device 600 includes binocular cameras 601 and 602. An infrared light emitter is also integrated inside the optical navigation device 600 (not shown). The infrared emitter actively emits infrared light outward. After the emitted infrared light hits the four reflective balls on the positioning frame 500, it is reflected by the reflective balls and captured by the binocular camera. Through the principle of triangulation, the optical navigation device 600 can calculate the spatial posture information of the optical positioning frame 500.

[0098] As an example of the end effector 300, Figure 12 As shown, the end effector 300 includes a main body portion 301 , from which a flange interface end 302 extends in one direction. The flange interface end 302 is fixedly connected to the flange end 202 of the aforementioned collaborative robot arm 200 .

[0099] On the main body, in the direction opposite to the flange interface end 302, a positioning frame end 305 is extended, on which the optical positioning frame 500 is fixedly mounted; hereinafter referred to as the "main body positioning frame" to indicate that the positioning frame is installed on the main body of the end effector, and the coordinate system where the main body positioning frame is located is marked as C F .

[0100] On the main body, in a direction roughly perpendicular to the extension direction of the flange interface end 302, a handle end 303 and an output end 304 extend from both sides. The handle end 303 is held by the operator so that the operator can directly apply force to the collaborative robot arm to control the movement of the robot arm, the end effector and the medical device. The output end 304 serves as the mounting portion of the medical device. For example, an electric saw blade 400 is mounted on the output end 304. The saw blade 400 is fixed in a pluggable buckle. When the electric saw is working, the electric saw motor (not shown) provided in the inner cavity of the end effector body 301 drives the saw blade 400 to move along a predetermined trajectory. While the saw blade 400 moves along the predetermined trajectory, it also maintains a high-speed swinging motion within a certain range in the horizontal direction of its sheet body.

[0101] In order to solve the problems in the background technology, the present application designs a positioning frame 6 for the end of the saw blade, hereinafter referred to as the end positioning frame 6. Figure 13The figure shows the positional relationship between the end positioning frame 6 and the end effector 300. It can be seen that Figure 13 In the embodiment, the body positioning frame 500 is fixedly mounted on the positioning frame end 305 of the end effector 300. The coordinate system represented by the positioning frame is C F The saw blade 400 is fixedly mounted at the output end 304 of the end effector 300, and the end positioning frame 6 is mounted at the end of the saw blade 400 or near the end thereof. The coordinate system represented by the positioning frame is C V .

[0102] As an example, Figure 14 、 Figure 15 The detailed structure of the end positioning frame 6 is shown, wherein Figure 7 This is the front view of the end positioning frame. Figure 15 This is a side view of the end positioning frame. The end positioning frame 6 is designed based on the characteristics of the end of the medical device (usually having a small volume). The end positioning frame includes a positioning frame body 61, a slot 62, a locking mechanism 63, and a plurality of reflective balls 7. The slot 62 and the locking mechanism 63 can easily fix the end positioning frame body to the end of the medical device. The optical navigation device can track the positions of the plurality of reflective balls 7 to establish the coordinate system C of the end positioning frame. V .

[0103] The positioning frame body 61 is flat, and its overall shape is roughly an inverted triangle with arc edges; the slot 62 and the locking mechanism 63 are both located on one side of the positioning frame body 61, and multiple reflective balls 7 are all located on the other side of the positioning frame body 61. The number of reflective balls can be set to 3 to 5. As an example, this embodiment is set to 3 reflective balls, which are respectively arranged near the three vertices of the roughly triangular positioning frame body 61.

[0104] The slot 62 is formed as an elongated groove with two sidewalls. The locking mechanism 63 is disposed on one sidewall of the slot 62. The other sidewall of the slot 62 is a precision-machined, high-hardness flat surface that serves as a positioning reference surface. The slot 62 is used to insert the saw blade 400. The locking mechanism 63 is used to abut and secure the saw blade 400 against the positioning reference surface after insertion, thereby securing the saw blade 400 within the slot 62. The locking mechanism disposed on one sidewall of the slot provides the necessary pressure to lock the saw blade in the slot and abuts the inserted saw blade against the other sidewall of the slot. The machining precision of the other sidewall ensures positioning accuracy, facilitating accurate calculation of the saw blade's position.

[0105] A saw blade limit block 401 is provided at one end of the saw blade 400 close to the end actuator. When the saw blade 400 is inserted into the slot 62 of the end positioning frame 6, the saw blade limit block 401 provides a limiting function to limit the relative position of the two along the length direction of the saw blade.

[0106] The locking mechanism 63 includes a ball mechanism 631, which is used to provide a spring force to abut and secure the saw blade 400 against the positioning reference surface. The number of ball mechanisms 631 can be one or more, but preferably, two are provided. When the saw blade 400 is not inserted into the slot, the ball mechanism can be retracted into the side wall of the slot. When the saw blade 400 is inserted into the slot, the ball mechanism extends from the side wall and abuts against the saw blade with a strong pressure, thereby securing the saw blade.

[0107] like Figure 16 , a schematic structural diagram of a ball mechanism 631 as an embodiment is provided. The ball mechanism 631 includes a housing tube 6311, a spring 6312, and a ball 6313. The side wall portion of the locking mechanism of the slot 62 is provided with a through hole, and the housing tube 6311 is fixed therein. One end of the spring 6312 is fixed to the bottom of the housing tube 6311, and the other end of the spring 6312 is connected to the ball 6313. The connection between the spring and the ball provides a strong pressure for engaging the saw blade. A ball stopper 63111 is provided at one end of the housing tube 6311 near the ball 6313. The ball stopper 63111 can limit the position of the ball 6313 in the housing tube 6311, preventing the ball 6313 from leaving the housing tube 6311 under the elastic force of the spring.

[0108] When the saw blade 400 is not inserted, the spring 6312 is in a compressed state in the accommodating tube 6311. The elastic force of the spring 6312 can press the marble 6313 toward the side opposite to the side where the through hole is located, that is, the positioning reference surface. The marble limit block 63111 restricts the marble 6313 from leaving the accommodating tube 6311. When the end positioning frame is mounted to the saw blade 400, the slot 62 of the end positioning frame is aligned with the saw blade 400, and the saw blade 400 is inserted into the slot 62. During the insertion of the saw blade 400 into the slot 62, due to the action of the elastic force, the spring 6312 will be compressed into the accommodating tube, thereby leaving a gap in the slot 62, allowing the saw blade 400 to be inserted into the slot 62. After confirming that the saw blade 400 is mounted in place (that is, the saw blade 400 abuts the saw blade limit block 401 in the length direction, and the saw blade 400 abuts the bottom surface of the long groove of the slot 62 in the depth direction), the saw blade 400 is pressed tightly against the positioning reference surface of the slot 62 through the joint action of the spring 6312 and the marble 6313.

[0109] On the other side of the end positioning frame body 61, 3-5 reflective balls 7 are provided. Figure 15As shown, an end reflective ball 71 is provided at the top corner of the end positioning frame body 61. After the end positioning frame 6 is clamped to the saw blade 400, the position of the end reflective ball 71 is close to the end part of the saw blade 400, and the extension line of the central longitudinal axis of the saw blade 400 passes through the center of the end reflective ball 71. With this position setting of the reflective ball 71, the position of a single end reflective ball 71 can be tracked by using an optical navigation device, which assists in providing precise positioning of the end part of the saw blade 400 and improves the positioning accuracy.

[0110] Through the above arrangement, on the one hand, the end positioning frame 6 has a relatively small size suitable for installation on the saw blade. On the other hand, its precise processing and position layout ensure that when installed on the saw blade, it can accurately determine the end position of the saw blade. More importantly, the end positioning frame 6 is very convenient to use and easy to assemble and disassemble. When the end positioning frame 6 is needed, the setting of the marble mechanism 631 allows the saw blade 400 to be easily snapped into the slot 62 of the end positioning frame 6. Once snapped into place, the optical navigation device 600 can determine the position of the coordinate system of the end positioning frame 6 by tracking the multiple reflective balls on the end positioning frame 6, thereby accurately determining the end position of the saw blade 400. When the end positioning frame 6 is not in use, the end positioning frame 6 can also be easily removed from the saw blade 400.

[0111] The method steps of how to use the end positioning frame 6 to position and determine the end position of the saw blade 400 will be described in detail below.

[0112] The coordinate system of the multiple reflective balls on the end positioning frame 6 is defined as C V Since the relative position relationship between the positioning reference plane forming the slot 62 and the coordinate system is known, when using, the saw blade 400 is clamped in the slot 62 of the end positioning frame, and the center plane of the saw blade 400 and the coordinate system C of the end positioning frame are V In this way, after the end positioning frame 6 is clamped in place, the position of the coordinate system of the reflective ball on the end positioning frame 6 can accurately express the position of the saw blade 400 plane. The optical navigation device 600 can determine the position of the coordinate system of the end positioning frame by tracking the position information of multiple reflective balls on the end positioning frame, and accurately determine the saw blade plane, that is, the position information of the end point of the saw blade.

[0113] like Figure 17 As shown, the system is also equipped with a reference frame (structure not shown), which is fixedly mounted on the surface of the target object to be cut, also known as the target reference frame. A rigid connection is formed between the target reference frame and the target object. The coordinate system of the reference frame is C TThe registration is completed by scanning the target object with an optical navigation device, and the spatial relative position of the reference frame coordinate system and the target object being cut can be obtained by scanning the reference frame.

[0114] like Figure 19 As shown, the simulated cutting plane of the target object to be cut is set in the host, and the coordinate system of the simulated cutting plane is set as C P Since the relative position of the intended cutting plane to the target object is known, and the relative position of the target object to be cut and the reference frame is known, the coordinate system C of the reference frame can be determined. T and the coordinate system C where the quasi-cutting plane is located P The spatial relative position relationship [RT] TP , where C T =[RT] TP CP, [RT] TP Represents the “rotation and translation matrix”. Assume that the coordinate system C where the reference frame is located T First rotate Ψ° around the Z axis, then rotate θ° around the Y axis, and finally rotate Φ° around the Z axis. Then translate a along the X axis, b along the Y axis, and z along the Z axis. In this way, we can get a unique "rotation and translation matrix" C T .

[0115] like Figure 18 As shown, the coordinate system where the end positioning frame 6 is located is C V The coordinate system of the main body positioning frame 500 is C F . C V and C F The relative position relationship is [RT] FV When the end positioning frame 6 and the main body positioning frame 500 are installed at the same time, the relative position relationship between the two is [RT] FV It can be calculated by reading the tracking information of both from the optical navigation device 600 .

[0116] The method for real-time, precise positioning of the distal end of a medical device using the precision positioning device provided in this application includes at least two stages, which, for ease of description, are referred to as a pre-positioning stage and a navigation positioning stage. When describing the method steps, the "initial position" used refers to the situation where the collaborative robotic arm has undergone a large range of movement and is relatively close to the target object to be cut, but still maintains a certain distance from the target object. This distance should at least ensure sufficient space for disassembly and assembly of the distal end positioning frame 6. It is understood that the initial position can be any position close to the target object to be cut and maintaining a certain distance from the target object.

[0117] 1. Pre-positioning stage

[0118] The pre-targeting phase includes the following steps:

[0119] Step 1: Assemble the medical device and bring it to its initial position. In this step, the end effector 300 is mounted on the end flange 202 of the collaborative robot arm 200, and the saw blade 400 is mounted on the saw blade end of the end effector 300. The end effector 300 is also equipped with a body positioning frame 500. The collaborative robot arm 200 is moved manually or under machine command control until the saw blade 400 approaches the target to be cut, i.e., reaches its initial position.

[0120] Step 2: Install the end positioning frame. In this step, the end positioning frame 6 is clamped onto the saw blade 400, ensuring that the saw blade 400 is clamped into the clamping slot 62 of the end positioning frame 6. In the length direction, one end of the saw blade 400 should abut the saw blade limit block 401, and in the depth direction, the saw blade 400 should abut the bottom surface of the long groove of the clamping slot 62.

[0121] Those skilled in the art will appreciate that the end positioning frame 6 may be first mounted on the saw blade 400, and then the collaborative robot arm 200 may be moved so that the saw blade 400 is close to the position of the object to be cut, i.e., the initial position. That is, the order of steps S101 and S102 may be interchanged.

[0122] Step 3: Tracking and positioning the end positioning frame. In this step, the optical navigation device tracks the positions of the multiple reflective balls on the end positioning frame 6 and calculates the position information of the coordinate system where the end positioning frame 6 is located.

[0123] Step 4: Calculate the positional relationship between the end positioning frame and the intended cutting plane. In this step, the host part processes the position information obtained by the optical navigation device and calculates the positional relationship between the coordinate system of the end positioning frame and the coordinate system of the intended cutting plane.

[0124] Specifically, the optical navigation device can simultaneously observe the saw blade end positioning frame 6 and the target reference frame. As mentioned above, the coordinate system where the end positioning frame is located is C V , the coordinate system of the target reference frame is C T , the relative position relationship between the two [RT] VT It can be calculated based on the position information of the two obtained in the optical navigation device.

[0125] Assume that the coordinate system C where the end positioning frame 6 is located V and the coordinate system C where the quasi-cutting plane is located P The positional relationship between the two is [RT] VP , then [RT] VP It can be obtained by the following calculation method:

[0126] ∵C V =[RT] VP C P

[0127] ∴[RT] VP =C V C P -1

[0128] ∵C T =[RT] TP C P

[0129] ∴[RT] TP -1 C T =C P

[0130] ∴[RT] VP =C V ([RT] TP -1 C T ) -1

[0131] That is to say, according to the coordinate system C where the end positioning frame 6 is located, V , the coordinate system C where the reference frame is located T , and the known positional relationship between the reference frame and the intended cutting plane, the coordinate system C where the end positioning frame 6 is located is obtained. V and the coordinate system C where the quasi-cutting plane is located P Positional relationship [RT] VP .

[0132] Step 5: Generate a control instruction and send it to the control unit. In this step, based on the [RT]VP calculated in step 104, a control instruction for controlling the motion path of the robot arm is generated and sent to the control unit.

[0133] Step 6: Control the robotic arm to move according to the instructions. In this step, the robotic arm moves according to the instructions.

[0134] Under ideal conditions, in step 6, after the collaborative robot arm completes the movement according to the instruction, the coordinate system C of the end positioning frame 6 is V and the coordinate system C where the quasi-cutting plane is located P Can be completely overlapped, at this time, [RT]V P It is a unit fourth-order matrix E, and the end of the saw blade is precisely aligned with the position of the intended cutting plane.

[0135] However, due to errors caused by the design of the robotic arm control system, it is difficult for the robotic arm 200 to move accurately along the route planned by the instructions. Therefore, after step 6, the end position of the medical instrument usually does not reach the position of the intended cutting plane accurately. Therefore, the following steps are further included:

[0136] Step 7: Update the tracking position information of the end positioning frame 6. In this step, after the robot arm 200 completes the movement according to the control instructions in step 6, the optical navigation device continues to track the positions of the multiple reflective balls on the end positioning frame 6 and calculates the position information of the coordinate system of the end positioning frame 6 to obtain updated position information.

[0137] Step 8: Update and calculate the positional relationship between the end positioning frame and the intended cutting plane. In this step, the coordinate system C of the current end positioning frame 6 is calculated and updated based on the updated tracking position information of the end positioning frame 6. V and the coordinate system C where the quasi-cutting plane is located P The new position relationship [RT] VP ';

[0138] Step 9: Determine whether the positional relationship between the end positioning frame and the intended cutting plane exceeds the threshold. In this step, calculate the new positional relationship [RT] VP The difference between ′ and the unit fourth-order matrix E is compared with a preset threshold to determine whether the difference exceeds the threshold range.

[0139] If the result of step nine is that the difference exceeds the threshold range, as shown in the figure, then return to step five to generate a control instruction and send it to the control unit. The difference is that in this step five, the [RT] calculated in step eight is VP ', generate a control instruction for controlling the movement path of the robot arm and send it to the control unit. Step S106, control the robot arm to complete the movement according to the instruction. After the movement, continue to perform steps 7 to 9.

[0140] Step 10: If the result of step 9 is that the difference is less than the threshold range, the system considers that the end of the medical device has reached its position, generates and sends a stop movement instruction, ends the pre-positioning phase, and prepares to enter the navigation positioning phase.

[0141] With this method, on the one hand, by tracking the position of the end positioning frame, the position of the saw blade end can be positioned more accurately; on the other hand, based on the positional relationship between the tracked saw blade end and the coordinate system of the target cutting plane, an instruction to control the movement of the robotic arm is generated to control the robotic arm to complete the movement, so that the robotic arm can move to a position close to the ideal target position; furthermore, after each movement of the robotic arm, the position of the saw blade end and the positional relationship with the target cutting plane are updated and monitored. If the robotic arm does not move to the ideal target position or the movement error is large, the robotic arm is controlled to move again. This process is a convergence process. By repeating this method, the ideal target position can be approached in a successive approximation manner, thereby achieving precise alignment at the end of the pre-positioning stage.

[0142] In order to complete the above steps, this application designs the host and control system to provide the following units:

[0143] The positioning frame information reading unit includes a unit for reading the end positioning frame information and a unit for reading the reference frame information, which are respectively used to read the coordinate system C of the end positioning frame 6 from the optical navigation device. V , and the coordinate system C where the reference frame is located T ;

[0144] Position relationship calculation unit, based on the coordinate system C where the end positioning frame 6 is located V , the coordinate system C where the reference frame is located T , calculate the coordinate system C where the end positioning frame is located V The coordinate system C of the proposed cutting plane P Positional relationship between [RT] VP ;

[0145] an instruction generating unit, which generates a control instruction based on the position relationship calculated by the position relationship calculating unit and sends the control instruction for controlling the movement of the robot arm;

[0146] Position relationship update unit, used to update the position relationship between the robot arm and the robot arm. VP Then update the coordinate system C where the end positioning frame is located V The coordinate system C of the proposed cutting plane P Positional relationship between [RT] VP ';

[0147] Judgment unit, used to judge [RT] VP ' is less than a predetermined threshold, if it is greater than the predetermined threshold, the position relationship update unit updates the calculated position relationship [RT] VP 'Generate a control command and send it to control the movement of the robot arm. If it is less than a predetermined threshold, generate a command to stop the movement.

[0148] 2. Navigation and Positioning Phase

[0149] After completing the pre-positioning, the system enters the navigation and positioning phase.

[0150] The navigation and positioning phase includes the following steps:

[0151] Step a, calculate and store the positional relationship between the coordinate system of the main body positioning frame and the coordinate system of the end positioning frame. After completing the pre-positioning stage, the coordinate system C of the main body positioning frame 500 obtained by tracking the optical navigation device 600 is obtained. F , and the coordinate system C where the end positioning frame 6 is located V Position information, calculate C V and C F The relative position relationship is [RT]FV , and [RT] FV Stored as the first calibration parameter.

[0152] Step b: Calculate the positional relationship between the coordinate system of the main body positioning frame and the coordinate system of the intended cutting plane according to the first calibration parameter. The coordinate system C of the main body positioning frame 500 is calculated according to the following formula: F The coordinate system C of the proposed cutting plane P The relationship between [RT] FP , and [RT] FP Stored as a second calibration parameter:

[0153] ∵[RT] FP =[RT] FV [RT] VP

[0154] ∵[RT] VP =C V ([RT] TP -1 C T ) -1

[0155] ∴[RT] FP =[RT] FV C V ([RT] TP -1 C T ) -1

[0156] Step c: remove the end positioning frame 6 clamped on the end of the saw blade.

[0157] Step d: Setting the blocking force parameters. In this step, the blocking force parameters of the collaborative robot arm 200 during movement are set. The blocking force in the same plane as the plane where the saw blade 400 is located is set to 0, and the blocking force in the direction perpendicular to the plane where the saw blade 400 is located is set to F=kx, where the blocking force coefficient k is 4000-6000 N / mm, preferably 5000 N / mm, x is the moving distance, and F is the blocking force. By setting the blocking force, a greater force is required in the direction perpendicular to the plane where the saw blade 400 is located to move it. This limits the range of motion of the collaborative robot arm 200 to a single plane to be cut, preventing errors caused by the saw blade shaking or misoperation that may cause it to leave the target plane.

[0158] Step e: Controlling the saw blade to move along a predetermined trajectory and real-time tracking. In this step, the host sends a command to the collaborative robot arm 200 to drive the saw blade 400 to move along the predetermined trajectory. During the movement of the saw blade, the optical navigation device 600 tracks and reads the position information of the coordinate system of the main body positioning frame 500 in real time, and adjusts the position according to the second calibration parameter [RT]. FP The real-time position of the end of the saw blade 400 is obtained by calculation.

[0159] Step f, calculate in real time the positional relationship between the coordinate system where the saw blade end point is located and the coordinate system where the intended cutting plane is located. T , and the known positional relationship between the coordinate system of the reference frame and the coordinate system of the proposed cutting plane, the coordinate system C of the proposed cutting plane can be determined. P , the plane position of the end of the saw blade 400 and the coordinate system C of the intended cutting plane can be calculated in real time P The positional relationship between them.

[0160] Step g determines whether the distance between the blade tip and the intended cutting plane deviates from a predetermined range and issues an alarm. In this step, if the distance between the blade tip and the intended cutting plane deviates from the predetermined range, an alarm is issued using various means, such as sound and color display, prompting the operator to make adjustments, or the system automatically responds and adjusts until all cutting operations within the intended cutting plane are completed.

[0161] In order to complete the above steps, the present application designs the host and control system to also provide the following units:

[0162] The body positioning frame information reading unit is used to read the position information of the coordinate system where the body positioning frame 500 is located from the optical navigation device;

[0163] The calibration parameter calculation unit is based on the coordinate system C where the end positioning frame 6 is located. V , the coordinate system C where the body positioning frame 500 is located F , calculate the positional relationship between the two [RT] FV ;

[0164] The position relationship calculation unit is based on the position information of the coordinate system of the main body positioning frame 500 and the coordinate system C of the reference frame. T Position information, calibration parameters [RT] FV , and the known positional relationship between the coordinate system of the reference frame and the coordinate system of the simulated cutting surface, the coordinate system C of the main body positioning frame 500 is obtained by calculation. F The coordinate system C of the proposed cutting plane P Positional relationship between [RT] FP ;

[0165] A real-time calculation unit is used to calculate the position information and position relationship of the coordinate system of the main body positioning frame 500 obtained in real time [RT] FP , calculate and obtain the real-time position of the end of the medical device;

[0166] The deviation judgment unit is used to calculate the distance between the planar position of the end of the medical instrument and the coordinate system of the intended cutting plane, and to judge whether the deviation exceeds a predetermined range.

[0167] For scenarios involving multiple intended cutting planes, after the navigation and positioning phase is completed, in this embodiment, that is, after the medical device completes its operation on one intended cutting plane, the method provided by this application further includes step h: controlling the end of the medical device to retract to an initial position. In this step, the control unit controls the movement of the robotic arm 200 to retract the saw blade 400 to a position a certain distance from the target object to be cut. For example, this can be the initial position of the previous pre-positioning phase, or a position different from the initial position of the previous pre-positioning phase, as long as the position is relatively close to the target object to be cut and maintains a certain safe distance from the target object.

[0168] After step h, the end positioning bracket 6 is reattached to the saw blade 400, returning to step 2 of the pre-positioning phase. The pre-positioning and navigation phases are then continued until the cutting operation on the second intended cutting plane is complete. In steps 4, 8, and steps b and f, the positional relationship is calculated using the coordinate system of the second intended cutting plane.

[0169] After completing the cutting operation of the second simulated cutting plane, the system determines whether there is a third simulated cutting plane. If so, it continues to execute step h and repeats the above steps until the operations on all simulated cutting planes are completed.

[0170] Since multiple planes need to be cut in surgeries such as total knee replacements, generally at least five different cutting planes are required. For this situation, the solution provided by this embodiment is that after completing the cutting operation of a proposed cutting plane, the medical device is returned to its initial position, and the pre-positioning and navigation positioning steps are repeated for the next proposed cutting plane to ensure that each proposed cutting plane can be accurately positioned and navigated. Compared with existing technologies, the solution provided by this embodiment performs precise pre-positioning before each cutting operation is performed on the proposed cutting target plane, and records the calibration parameters after pre-positioning to continue navigation positioning, which can eliminate the positioning error generated by the medical device during each movement, making the entire positioning process more refined and providing higher accuracy. Moreover, since the solution provided by this embodiment is based on real-time calculation of the positional relationship between the medical device, the end effector, and the proposed cutting target, it does not consume too much time while ensuring accurate positioning for each proposed cutting plane, and takes into account both the speed and accuracy of positioning.

[0171] The embodiment of the present invention further provides a control system for preventing vibration of an osteotomy saw blade, which can realize its functions through an acquisition unit, a processing unit, and a control unit. It should be noted that the control system for preventing vibration of an osteotomy saw blade according to the embodiment of the present invention can be used to execute the control method for preventing vibration of an osteotomy saw blade according to the embodiment of the present invention, and another control method for preventing vibration of an osteotomy saw blade according to the embodiment of the present invention can also be executed by the control system for preventing vibration of an osteotomy saw blade according to the embodiment of the present invention.

[0172] Figure 20 FIG. 1 is a schematic diagram of a control system for preventing vibration of an osteotomy saw blade according to an embodiment of the present invention. Figure 20 As shown, a control system for preventing vibration of an osteotomy saw blade includes:

[0173] An acquisition unit 212 is used to acquire coordinate information of the end of the osteotomy saw blade;

[0174] The processing unit 214 is configured to associate the coordinate information of the end of the osteotomy saw blade with a calibration graphic, wherein the calibration graphic is a graphic with a reference line. When the end of the osteotomy saw blade overlaps with the target cutting surface, an indicator corresponding to the coordinate information of the end of the osteotomy saw blade on the screen is indicated at the position of the reference line of the calibration graphic, and the indicator provides feedback of the coordinate information of the end of the osteotomy saw blade in the calibration graphic.

[0175] The first control unit 216 is used to adjust the position of the osteotomy saw blade according to the change of the indicator mark corresponding to the coordinate information of the end of the osteotomy saw blade and the reference line position of the calibration pattern so that the osteotomy saw blade moves within a predetermined range of the reference line.

[0176] In an optional embodiment, the acquisition unit includes: a first acquisition module, which is used to obtain the coordinate system position relationship between the body positioning frame of the end effector and the end positioning frame of the osteotomy saw blade when the end of the osteotomy saw blade approaches the target cutting surface and reaches a predetermined alignment position, wherein the osteotomy saw blade is installed on the end effector; a second acquisition module, which is used to obtain the posture information of the osteotomy saw blade in real time based on the coordinate system position relationship and the posture information of the body positioning frame; and a third acquisition module, which is used to obtain the coordinate information of the end of the current osteotomy saw blade through the posture information of the current osteotomy saw blade.

[0177] In an optional embodiment, the first control unit includes: a direction control module for making the moving direction of the indicator mark in the calibration graph correspond to the orientation of the coordinate information of the end of the saw blade when it is on the target to be cut from the target cutting surface.

[0178] In an optional embodiment, the direction control module includes: a first control module, used to control the indicator mark to move in the positive and negative directions based on the target cutting surface in the calibration figure, wherein the movement directions are respectively the upper and lower directions of the calibration figure reference line.

[0179] In an optional embodiment, the direction control module also includes: a second control module for controlling the actual cutting position of the osteotomy saw blade to be close to the edge of the patient's bone from the position of the target cutting plane when the indicator mark indicates the upper part of the calibration figure; and a third control module for controlling the actual cutting position of the osteotomy saw blade to be far away from the edge of the patient's bone from the position of the target cutting plane when the indicator mark indicates the lower part of the calibration figure.

[0180] In an optional embodiment, the system further includes: a second control unit, for controlling the movement of the robotic arm device by determining the positional relationship between the position of the end positioning frame and the target cutting surface, wherein the end effector is mounted on the robotic arm device; a judgment control unit, for judging whether the distance between the end positioning frame and the target cutting surface exceeds a threshold range, and if so, updating the positional relationship between the position of the end positioning frame and the target cutting surface, and continuing to control the movement of the robotic arm device until the end of the osteotomy saw blade approaches the target cutting surface and reaches a predetermined alignment position, and then stopping the judgment.

[0181] In an optional embodiment, the first control unit further includes: a prompt module for changing the color of the calibration graphic to provide a prompt when the positioning frame or the target reference frame on the flange of the robotic arm device is blocked during osteotomy.

[0182] In an optional embodiment, the first control unit also includes: a first preset module, used to preset the calibration graphic into five different color areas, wherein each color area corresponds to a predetermined range of different sizes; a fourth control module, used to control the indicator mark corresponding to the end coordinate of the osteotomy saw blade so that it remains in a small predetermined range around the baseline.

[0183] In an optional embodiment, the processing unit includes: a second preset module for presetting the unit distance of movement of the indicator mark in the calibration graph to correspond to the actual changed coordinate information of the end of the saw blade.

[0184] In an optional embodiment, the system further includes: a first display module, configured to display the actual angle between the plane where the osteotomy saw blade is located and the target cutting plane through a first indicator frame.

[0185] In an optional embodiment, the system further includes: a second display module for displaying data on actual changes in coordinate information of the end of the osteotomy saw blade compared with the target cutting plane through a second indicator frame.

[0186] In this embodiment, a storage medium is provided. The storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the above method.

[0187] In this embodiment, a processor is provided. The processor includes a processor program, wherein when the program runs, the device where the processor is located is controlled to execute the above method.

[0188] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0189] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0190] The above-mentioned embodiment of a control system for preventing the vibration of an osteotomy saw blade corresponds to a control method for preventing the vibration of an osteotomy saw blade, so the beneficial effects are not described in detail.

[0191] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0192] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected to achieve the purpose of the present embodiment according to actual needs.

[0193] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0194] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), mobile hard disk, magnetic disk or optical disk, and other media that can store program codes.

[0195] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A control system for preventing saw blade vibration, characterized in that: The system comprises: An acquisition unit, used for acquiring coordinate information of the end of the saw blade; a processing unit configured to associate the coordinate information of the saw blade end with a calibration pattern, wherein the calibration pattern is a pattern with a reference line, and when the saw blade end overlaps with a target cutting surface, an indicator corresponding to the coordinate information of the saw blade end is indicated on a screen at a position of the reference line of the calibration pattern, and the indicator provides feedback of the coordinate information of the saw blade end in the calibration pattern; wherein the calibration pattern includes a central reference line and two directions based on the reference line, or the calibration pattern has only one reference line that indicates movement of the medical tool in only one direction; The first control unit is configured to adjust the position of the saw blade so as to keep the position of the saw blade moving within a predetermined range of the baseline according to the change in the position of the indicator mark corresponding to the saw blade end coordinate information and the baseline of the calibration pattern; the acquisition unit includes: a first acquisition module, configured to acquire a coordinate system position relationship between a body positioning frame of an end effector and an end positioning frame of the saw blade when the end of the saw blade approaches the target cutting surface and reaches a predetermined alignment position, wherein the saw blade is mounted on the end effector; A second acquisition module is used to acquire the posture information of the saw blade in real time according to the position relationship of the coordinate system and the posture information of the body positioning frame; A third acquisition module is used to obtain the coordinate information of the end of the current saw blade through the posture information of the current saw blade; a second control unit, configured to control the movement of a manipulator device by determining a positional relationship between the position of the end positioning frame and the target cutting surface, wherein the end effector is mounted on the manipulator device; A judgment control unit is used to judge whether the distance between the end positioning frame and the target cutting surface exceeds a threshold range. If it exceeds the threshold range, the positional relationship between the position of the end positioning frame and the target cutting surface is updated, and the robot arm device is continued to be controlled to move until the end of the saw blade approaches the target cutting surface and reaches a predetermined alignment position, and then the judgment is stopped.

2. The system according to claim 1, wherein: The first control unit includes: A direction control module is used to make the moving direction of the indicator mark in the calibration pattern correspond to the orientation of the coordinate information of the end of the saw blade when it is on the target to be cut, relative to the target cutting surface.

3. The system according to claim 2, characterized in that The direction control module includes: The first control module is used to control the indicator mark to move in two directions in the calibration pattern based on the target cutting surface, wherein the movement directions are respectively located above and below the calibration pattern reference line.

4. The system according to claim 3, characterized in that The direction control module also includes: a second control module, configured to control the actual cutting position of the saw blade to be closer to the edge of the patient's bone than the position of the target cutting surface when the indicator mark indicates an upper portion of the calibration graphic; The third control module is used to control the actual cutting position of the saw blade to be away from the edge of the patient's bone from the position of the target cutting surface when the indicator mark indicates the lower part of the calibration figure.

5. The system according to claim 1, wherein: The first control unit further includes: The prompt module is used to change the color of the calibration graphic to provide a prompt when the positioning frame or the target reference frame on the flange of the robotic arm device is blocked during osteotomy.

6. The system according to claim 1, wherein: The first control unit further includes: a first preset module, configured to preset the calibration pattern into five different color regions, wherein each color region corresponds to a predetermined range of a different size; The fourth control module is used to control the indicator mark corresponding to the coordinate of the end of the saw blade to keep moving within a small predetermined range around the reference line.

7. The system according to claim 1, wherein: The processing unit includes: The second preset module is used to preset that the unit distance moved by the indicator mark in the calibration pattern corresponds to the actual changed coordinate information of the end of the saw blade.

8. The system according to claim 1, wherein: The indicator mark is a rectangular bar in the calibration figure that can indicate different positions by changing light and dark, and / or the indicator mark is a three-dimensional figure corresponding to the saw blade, and / or the indicator mark is a two-dimensional figure corresponding to the saw blade.

9. The system according to claim 1, wherein: Also includes: The first display module is used to display the actual angle between the plane where the saw blade is located and the target cutting surface through a first indication frame.

10. The system according to claim 1, wherein: Also includes: The second display module is used to display data of actual changes in coordinate information of the end of the saw blade compared with the target cutting surface through a second indicator frame.

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