A spinal surgery puncture robot control method, system and storage medium

Abstract

The application discloses a kind of spinal surgery puncture robot control method, system and storage medium, method includes following steps: S1, man-machine interactive handle or automatic control receiving module receives control signal and transmits control signal to multi-axis motion controller;S2, multi-axis motion controller controls multi-axis robot to move according to control signal;S3, the real-time medical image of the region to be punctured is obtained;S4, whether the posture of puncture needle or gripper meets the requirement is judged through medical image: if yes, then enter next step;If not, control gripper to adjust posture, return to step S4;S5, whether puncture needle or gripper reaches target position: if yes, then send puncture preparation completion instruction;If not, control gripper to move, return to step S5.The application has the advantages of high stability and high reliability, reduces the time of puncture operation, also reduces the probability of complication occurrence, and has high safety.

Description

Technical Field

[0001] This invention relates to the field of medical surgical instruments, and in particular, to a control method, system, and storage medium for a spinal surgical puncture robot. Background Technology

[0002] Traditional spinal puncture surgery involves determining the location of the lesion, and then the doctor manually adjusts the position and orientation of the puncture needle to insert it into the patient's body based on the location and imaging morphology information displayed on medical images. On the one hand, the manual puncture process is time-consuming and poses a significant challenge to the doctor's fine motor skills and endurance. In cases involving multiple punctures, not only is the puncture efficiency low, but it also negatively impacts the patient's physical and mental well-being. On the other hand, because the surgery requires online imaging information from an X-ray machine to assist the doctor in performing the puncture, the doctor is exposed to radiation, posing a risk to their health.

[0003] To address these issues, robots are used to assist doctors in performing puncture procedures. A dedicated control system and method have been designed to not only reduce the doctor's exposure risk under X-rays and improve puncture efficiency, but also ensure the robot's high-precision and stable feedback control function, thus reducing both performance stability and patient safety risks. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a control method for a spinal surgery puncture robot, which has the advantages of high puncture operation efficiency, high control precision, and strong operability.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A control method for a spinal surgery puncture robot includes the following steps: S1, a human-machine interface handle or automatic control receiving module receives a control signal and transmits the control signal to a multi-axis motion controller; S2, the multi-axis motion controller controls the multi-axis robot to move according to the control signal; S3, real-time medical images of the area to be punctured are obtained; S4, the posture of the puncture needle or gripper is determined based on the medical images: if yes, proceed to the next step; if no, the gripper is controlled to adjust its posture, and the process returns to step S4; S5, it is determined whether the puncture needle or gripper has reached the target position: if yes, a puncture preparation completion command is issued; if no, the gripper is controlled to move, and the process returns to step S5.

[0007] Further, when step S1 is the automatic control receiving module inputting a control signal; step S2 specifically includes: S21, the multi-axis motion controller receiving the control signal input by the automatic control receiving module, the control signal including the target position of the puncture needle or gripper; S22, establishing the total transformation matrix of the robotic arm and the pose matrix of the robotic arm gripper; S23, obtaining the kinematic equation of the robotic arm, and obtaining the total motion of the robotic arm through the kinematic equation; S24, calculating the motion of the moving part through the relationship between the motion of the moving part and the total motion of the robotic arm.

[0008] Furthermore, the robotic arm includes a first moving component, a second moving component, a third moving component, and a fourth moving component; the total transformation matrix of the robotic arm is:

[0009]

[0010] d1 represents the movement distance of the first and second moving parts; d2 represents the movement distance of the third and fourth moving parts; θ1 represents the rotation angle of the projection of the puncture needle relative to the first plane; θ2 represents the rotation angle of the projection of the puncture needle relative to the second plane; the pose matrix of the robotic arm gripper is T.

[0011]

[0012] n x n y and n z The projection of the unit direction vector of the x-axis in the coordinate system of the robotic arm gripper onto the x, y, and z axes of the reference coordinate system; x o y and o z a is the projection of the unit direction vector of the y-axis in the coordinate system of the robotic arm gripper onto the x, y, and z axes of the reference coordinate system; x a y and a z p is the projection of the unit direction vector of the z-axis in the coordinate system of the robotic arm gripper onto the x, y, and z axes of the reference coordinate system; x p y and p z The vector pointing from the origin of the reference coordinate system to the origin of the robotic arm's own coordinate system is projected onto the x, y, and z axes of the reference coordinate system.

[0013] Furthermore, the kinematic equations are: n x =cosθ1cosθ2; n y =sinθ1cosθ2; n z =-sinθ2;o x =-sinθ1;o y =cosθ1;oz =0; a x =cosθ1sinθ2; a y =sinθ1sinθ2; a z =cosθ2; p x =d1sinθ1+d2cosθ1sinθ2;p y =-d1cosθ1-d2sinθ1sinθ2;p z =d2cosθ2;

[0014] The total motion of the robotic arm is: θ1=arctan2(-o x ,o y ); θ2=arctan2(-n z ,a z );

[0015] The relationship between the amount of motion of the moving parts and the total amount of motion of the robotic arm is as follows: x 11 x represents the extension / retraction of the first moving part. 12 x represents the extension / retraction of the second moving part. 21 x represents the extension / retraction of the third moving part. 22 This refers to the extension / retraction of the fourth moving part.

[0016] Furthermore, after step S23, the following steps are also included:

[0017] Trajectory planning is performed on the motion trajectory of the moving parts.

[0018] Furthermore, step S23 specifically includes:

[0019] S231, set the starting point as point A and the ending point as point B, and take points C and D in the line connecting points A and B;

[0020] S232, generates two trajectory interpolation points:

[0021]

[0022] Among them, X ji This represents the motion of the j-th moving part at the i-th trajectory point, where j is the sequence number of the moving part and i is the sequence number of the trajectory point; X j1 Let X be the motion of the j-th moving part at point A. j4 Let's consider the motion of the j-th moving part at point B.

[0023] S233, Establish the trajectory planning function:

[0024]

[0025] Where h j1 (t) represents the cubic polynomial interpolation function of the first segment of the trajectory of the j-th moving part; h j2 (t) represents the fifth-order polynomial interpolation function of the second segment trajectory of the j-th moving part; h j3 (t) represents the cubic polynomial interpolation function of the trajectory of the third segment of the j-th moving part; a j10 a j11 a j12 and a j13 Let a be a constant parameter of the trajectory of the first segment of the j-th moving part; j20 a j21 a j22 a j23 a j24 and a j25 Let a be a constant parameter of the trajectory of the second segment of the j-th moving part; j30 a j31 a j32 and a j33 These are the constant parameters for the third segment of the trajectory of the j-th moving part.

[0026] S234, obtain the parameters of the trajectory planning function.

[0027] Furthermore, the constraints of the trajectory planning function are:

[0028]

[0029] t0 is the starting time of the robot's movement, and t1, t2, and t3 are the time required for the robot to move in segments AC, CD, and DB, respectively.

[0030] Furthermore, the step of determining whether the posture of the puncture needle or gripper meets the requirements through medical imaging specifically includes: identifying the puncture needle using C-arm medical imaging, obtaining the shape of the puncture needle in the C-arm medical image, and determining that the posture of the puncture needle or gripper meets the requirements if the puncture needle appears as a dot in the C-arm medical image, and that the posture of the puncture needle or gripper does not meet the requirements if the puncture needle appears as a straight line in the C-arm medical image.

[0031] This invention also provides a spinal surgery puncture robot control system for implementing the aforementioned spinal surgery puncture robot control method, comprising: a human-machine interface handle for receiving control signals and transmitting the control signals to the multi-axis motion controller; an automatic control receiving module for receiving control signals and transmitting the control signals to the multi-axis motion controller; a data acquisition unit for acquiring displacement data, processing the displacement data, and sending it to the multi-axis motion controller; a multi-axis motion controller for receiving and processing the control signals from the human-machine interface handle or the data acquired and sent by the data acquisition unit, and then sending instructions to the drive unit of the multi-axis robot to control the movement of the gripper; and a medical image acquisition unit for acquiring and displaying medical images of the robotic arm gripper of the multi-axis robot.

[0032] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the spinal surgery puncture robot control method described above.

[0033] The present invention has the following beneficial effects:

[0034] A multi-axis motion controller is used to control the movement of a multi-axis robot based on control signals. Real-time medical images of the area to be punctured are used to determine if the posture of the puncture needle or gripper meets the requirements. If not, the gripper is controlled to adjust its posture until the posture of the puncture needle or gripper meets the requirements and the puncture needle reaches the target position. Then, a puncture preparation completion command is issued to remind the operator that puncture preparation is complete and the puncture operation can proceed. This increases the stability and reliability of the spinal surgery puncture robot and gives it extremely high positioning accuracy. This invention uses real-time medical images to judge and adjust the puncture needle state, which has the advantages of being intuitive and easy to operate, thus improving efficiency and safety. The advantages of high stability and high reliability reduce the puncture operation time and the probability of complications, resulting in high safety.

[0035] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0036] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0037] Figure 1 This is a flowchart illustrating the method of the present invention;

[0038] Figure 2 This is a structural diagram of a multi-axis robot;

[0039] Figure 3This is a partial structural diagram of a multi-axis robot;

[0040] Figure 4 This is a schematic diagram of the coordinate system of a multi-axis robot;

[0041] Figure 5 This is a displacement adjustment diagram according to an embodiment of the present invention;

[0042] Figure 6 This is an angle adjustment diagram of one embodiment of the present invention. Detailed Implementation

[0043] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0045] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0046] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0047] Reference Figure 1 The preferred embodiment of the present invention provides a spinal surgery puncture robot control method, which includes steps S1, S2, S3, S4 and S5.

[0048] S1, the human-machine interface handle or automatic control receiving module receives the control signal and transmits the control signal to the multi-axis motion controller.

[0049] S2, the multi-axis motion controller controls the multi-axis robot to move according to the control signal. The multi-axis robot includes a robotic arm and a gripper on the robotic arm. The gripper is used to grasp the puncture needle.

[0050] S3, obtains real-time medical images of the area to be punctured.

[0051] S4: The medical imaging determines whether the posture of the puncture needle or gripper meets the requirements. If yes, proceed to the next step, S5; otherwise, control the gripper to adjust its posture and return to step S4 until the posture of the puncture needle or gripper meets the requirements. The gripper is used to grasp the puncture needle; the position and posture of the puncture needle indicate the position and posture of the gripper. The position and posture of the gripper correspond to the position and posture of the puncture needle, and either can be chosen as the basis for judgment based on the actual situation. Controlling the gripper to adjust its posture involves controlling the movement of the robotic arm via a multi-axis motion controller to drive the gripper to adjust its posture.

[0052] S5, determine whether the puncture needle or gripper has reached the target position: if yes, issue a puncture preparation completion command; if no, control the gripper movement and return to step S5 until the puncture needle or gripper reaches the target position; controlling the gripper movement means controlling the movement of the robotic arm through the multi-axis motion controller to drive the gripper movement to adjust the posture.

[0053] This invention provides a control method for a spinal surgery puncture robot. A multi-axis motion controller controls the movement of the multi-axis robot based on control signals. Real-time medical images of the area to be punctured determine if the posture of the puncture needle or gripper meets requirements. If not, the gripper is adjusted until the posture of the puncture needle or gripper meets requirements and the puncture needle reaches the target position. Then, a puncture preparation completion command is issued, notifying the operator that preparation is complete and the puncture operation can proceed. This increases the stability and reliability of the spinal surgery puncture robot and provides extremely high positioning accuracy. The invention uses real-time medical images to judge and adjust the puncture needle state, offering advantages such as intuitiveness and ease of operation, which improves efficiency and safety. The high stability and reliability reduce puncture surgery time and the probability of complications, resulting in high safety.

[0054] In some embodiments of the present invention, when step S1 is the automatic control receiving module inputting a control signal, the operation mode can be divided into manual operation mode and automatic operation mode according to the operation method. When step S1 is the automatic control receiving module inputting a control signal, it is the automatic operation mode. Only initial information (target position of the puncture needle or gripper) needs to be input at the beginning to realize the automatic control operation of the machine.

[0055] Step S2 specifically includes steps S21, S22, S23 and S24.

[0056] S21, the multi-axis motion controller receives a control signal input from the automatic control receiving module. The control signal includes the target position of the puncture needle or gripper. Specifically, the area to be punctured can be observed through medical imaging, and the target position of the puncture needle or gripper can be determined by clicking the screen or inputting coordinates. The target position is then input to the automatic control receiving module, which in turn transmits the signal to the multi-axis motion controller.

[0057] S22. Establish the total transformation matrix of the robotic arm and the pose matrix of the robotic arm gripper. First, establish a reference coordinate system, and then obtain the total transformation matrix of the robotic arm and the pose matrix of the robotic arm gripper based on the positional relationship of the moving parts.

[0058] S23, obtain the kinematic equations of the robotic arm, and obtain the total motion of the robotic arm through the kinematic equations.

[0059] S24, calculate the motion amount of the moving part by the relationship between the motion amount of the moving part and the total motion amount of the robotic arm, and then control the movement of the moving part based on the motion amount.

[0060] Reference Figure 2 and Figure 3In some embodiments of the present invention, the robotic arm includes a first moving member 110, a second moving member 120, a third moving member 210, and a fourth moving member 220. The first moving member 110 and the second moving member 120 are a pair of movable members located away from the gripper 230. The movement paths of the first moving member 110 and the second moving member 120 are parallel and spaced vertically, with the first moving member 110 positioned above the second moving member 120. The movement directions of the first moving member 110 and the second moving member 120 are parallel. Specifically, the frame 100 is provided with two first slide rails. The first moving member 110 and the second moving member 120 are slidably mounted on the two first slide rails, respectively, and are driven to slide by a drive mechanism. The drive mechanism can be a drive motor and a lead screw that drive a sliding seat to slide along the first slide rails. Alternatively, the drive mechanism can be an electric push rod or a telescopic motor, or other drive mechanism with telescopic drive function. The first moving part 110 and the second moving part 120 are each fixedly provided with a second slide rail. The third moving part 210 and the fourth moving part 220 are slidably mounted on the second slide rails on the first moving part 110 and the second moving part 120, respectively. The third moving part 210 and the fourth moving part 220 are driven to slide along the second slide rails by a drive mechanism. The first slide rail and the second slide rail are arranged perpendicularly. The third moving part 210 and the fourth moving part 220 are a pair of moving parts close to the gripper 230. The movement paths of the third moving part 210 and the fourth moving part 220 are parallel and spaced vertically. The third moving part 210 is located above the fourth moving part 220. The movement directions of the third moving part 210 and the fourth moving part 220 are parallel and perpendicular to the movement directions of the first moving part 110 and the second moving part 120. The gripper 230 includes a first gripper 231 and a second gripper 232, which are hinged to a third moving member 210 and a fourth moving member 220, respectively. To maintain alignment and enable the grippers 231 and 232 to grasp the puncture needle 300, the grippers 231 and 232 can move relative to each other in a preset direction. This preset direction is the direction in which the puncture needle is placed on the grippers 231 and 232. The hinge axis of the grippers 231 and 232 is parallel to the first moving member 110 and the second moving member 120. The preset direction is perpendicular to both the first moving member 110 and the second moving member 120 and the hinge axis of the grippers 231 and 232.

[0061] The total transformation matrix of the robotic arm is:

[0062]

[0063] like Figure 4As shown, d1 represents the travel distance of the first and second moving parts; d2 represents the travel distance of the third and fourth moving parts; θ1 represents the rotation angle of the projection of the puncture needle relative to the first plane; θ2 represents the rotation angle of the projection of the puncture needle relative to the second plane; the first plane is the plane that defines the travel distance of the axes of the first and second moving parts; the second plane is the plane that defines the travel distance of the axes of the third and fourth moving parts. This matrix takes all the positions of the robotic arm into account, facilitating the subsequent establishment of kinematic equations. The combined motion of the four moving parts can be considered as a combined robotic arm composed of two rotary joints and two translational joints. A link coordinate system diagram is drawn to obtain the link parameter table, and the final kinematic equations are obtained. Each moving part drives a high-precision linear slide through its corresponding servo driver to complete the motion action. When two parallel moving parts move at the same speed, the robotic arm achieves linear motion; when they move at different speeds, they achieve rotary motion.

[0064] like Figure 5 and Figure 6 The diagram shows the actual control effect with X = -14cm, Y = 7cm, α = 48°, and β = -36° as the control targets. Here, the X-axis direction is the direction of movement of the first moving part, the Y-axis direction is the direction of movement of the second moving part, and the angle α is θ2 and the angle β is θ1.

[0065] In a specific embodiment of the present invention, the pose matrix of the robotic arm gripper is T. The target position of the puncture needle or gripper can be represented by the pose matrix of the robotic arm gripper, which is the input data, i.e., known data.

[0066]

[0067] n x n y and n z The coordinate system of the robotic arm gripper is the projection of the unit direction vector of the x-axis onto the x, y, and z axes of the reference coordinate system; that is, the robotic arm gripper has a coordinate system with itself as the reference, having x, y, and z axes. When the robotic arm gripper 230 moves, its own coordinate system also moves accordingly.

[0068] o x o y and o z Let a be the projection of the unit direction vector of the y-axis in the coordinate system of the robotic arm gripper onto the x, y, and z axes of the reference coordinate system. x a y and a z p is the projection of the unit direction vector of the z-axis in the coordinate system of the robotic arm gripper onto the x, y, and z axes of the reference coordinate system. x p y and p zThe vector pointing from the origin of the reference coordinate system to the origin of the robotic arm's own coordinate system is projected onto the x, y, and z axes of the reference coordinate system.

[0069] In some embodiments of the present invention, the pose matrix T of the robotic arm gripper and the total transformation matrix of the robotic arm are used. The kinematic equations can be obtained, which are: n x =cosθ1cosθ2; n y =sinθ1cosθ2; n z =-sinθ2;o x =-sinθ1;o y =cosθ1;o z =0; a x =cosθ1sinθ2; a y =sinθ1sinθ2; a z =cosθ2; p x =d1sinθ1+d2cosθ1sinθ2;p y =-d1cosθ1-d2sinθ1sinθ2;p z =d2cosθ2.

[0070] The total motion of the robotic arm can be obtained by solving the above kinematic equations.

[0071] The total motion of the robotic arm is:

[0072] θ1=arctan2(-o x ,o y );

[0073] θ2=arctan2(-n z ,a z );

[0074]

[0075] The relationship between the amount of motion of the moving parts and the total amount of motion of the robotic arm is as follows:

[0076]

[0077]

[0078] x 11 x represents the extension / retraction of the first moving part 110. 12 x represents the extension / retraction of the second moving part 120. 21 x represents the extension / retraction of the third moving part 210. 22Let θ1, θ2, d1, and d2 be the extension / retraction of the fourth moving part 220. These can be obtained by solving the kinematic equations, and then x can be further solved for. 11 x 12 x 21 and x 22 This allows us to obtain the amount of motion of the moving parts and use it as the basis for controlling the moving parts; l is the distance between the first moving part and the second moving part. It can be understood that the distance between the first moving part 110 and the second moving part 120 is equal to the distance between the third moving part 210 and the fourth moving part 220, and the distance is l.

[0079] In some embodiments of the present invention, after step S23, the method further includes: performing trajectory planning on the motion trajectory of the moving part, thereby avoiding significant jerking of the robotic arm's movement, which could cause the puncture needle to wobble easily.

[0080] In some embodiments of the present invention, step S23 specifically includes:

[0081] S231, set the starting point as point A and the ending point as point B, and take points C and D in the line connecting points A and B; the ending point is the target position.

[0082] S232, generates two trajectory interpolation points:

[0083]

[0084] Among them, X ji This represents the motion of the j-th moving part at the i-th trajectory point, where j is the sequence number of the moving part, taking values ​​of j = 1, 2, 3, 4, corresponding to the first moving part 110, the second moving part 120, the third moving part 210, and the fourth moving part 220, respectively. i is the sequence number of the trajectory point, taking values ​​of i = 1, 2, 3, 4, corresponding to trajectory points A, C, D, and B, respectively. X j1 Let X be the motion of the j-th moving part at point A. j4 Let's consider the motion of the j-th moving part at point B; from this, we can obtain the motion X at point C. j2 and the motion of point D X j3 The motion status includes the current amount of motion (i.e., the current position of the moving part), the current velocity, and the acceleration.

[0085] S233, Establish the trajectory planning function:

[0086]

[0087] Where h j1 (t) represents the cubic polynomial interpolation function of the first segment of the trajectory of the j-th moving part; h j2 (t) represents the fifth-order polynomial interpolation function of the second segment trajectory of the j-th moving part; hj3 (t) represents the cubic polynomial interpolation function of the trajectory of the third segment of the j-th moving part; a j10 a j11 a j12 and a j13 Let a be a constant parameter of the trajectory of the first segment of the j-th moving part; j20 a j21 a j22 a j23 a j24 and a j25 Let a be a constant parameter of the trajectory of the second segment of the j-th moving part; j30 a j31 a j32 and a j33 These are constant parameters for the third segment of the trajectory of the j-th moving part. The first segment is from point A to point C, the second segment is from point C to point D, and the third segment is from point D to point B. t represents time, h... j1 (t), h j2 (t) and h j3 (t) can be understood as the relationship between the total amount of motion of the corresponding moving part and the trajectory planning function of time t.

[0088] S234, obtain the parameters of the trajectory planning function.

[0089] Specifically, the constraints of the trajectory planning function are:

[0090]

[0091] Let t0 be the starting time of the robot's motion, and t1, t2, and t3 be the times required for the robot's motion in segments AC, CD, and DB, respectively. In other words, t1, t2, and t3 are the planning times for the first, second, and third trajectory segments, respectively. The value of a is obtained by simultaneously solving the constraint conditions and the trajectory planning function. j10 a j11 a j12 and a j13 a j20 a j22 a j23 a j24 and a j25 and a j30 a j31 a j32 and a j33The values ​​are then substituted into the trajectory planning function to obtain the trajectory planning for each moving part. Formula group (1) is used to constrain the velocity and acceleration of the starting point to 0, controlling its smooth start. Formula group (2) is used to constrain the displacement, velocity, and acceleration to be consistent when the first and second segments of the trajectory are connected, controlling its smooth transition. Formula group (3) is used to constrain the displacement, velocity, and acceleration to be consistent when the second and third segments of the trajectory are connected, controlling its smooth transition; Formula group (4) is used to constrain the trajectory to pass through the trajectory point within a specified time. Formula group (5) is used to constrain the velocity and acceleration of the ending point to 0, controlling its smooth stop. and Let h be the velocity and acceleration at time t0 of the planning function for the first segment of the trajectory of the j-th moving part, respectively. j1 (t) is obtained by taking the first and second derivatives and substituting them into t0. and Let be the velocity and acceleration at time t1 of the planning function for the first segment of the trajectory of the j-th moving part. and Let be the velocity and acceleration at time t1 of the planning function for the second segment trajectory of the j-th moving part; and Let be the velocity and acceleration at time t2 of the planning function for the second segment trajectory of the j-th moving part, respectively. and Let be the velocity and acceleration at time t2 of the planning function for the trajectory of the third segment of the j-th moving part, respectively; and Let h be the velocity and acceleration at time t3 of the planning function for the third segment of the trajectory of the j-th moving part. j1 (t0) represents the total activity of the first segment of the trajectory of the j-th moving part at time t0, h j1 (t1) represents the total movement of the first segment of the trajectory of the j-th moving part at time t1, and so on, h j2 (t1) represents the total activity of the second segment trajectory of the j-th moving part at time t1, h j2 (t2) represents the total activity of the second segment trajectory of the j-th moving part at time t2, h j3 (t2) represents the total activity of the third segment of the trajectory of the j-th moving part at time t2, h j3 (t3) represents the total amount of motion of the third segment of the j-th moving part at time t3.

[0092] The process of determining whether the posture of the puncture needle or gripper meets the requirements through medical imaging specifically includes: identifying the puncture needle using C-arm medical imaging; acquiring images of the puncture needle in the C-arm medical imaging device; if the puncture needle appears as a dot in the C-arm medical imaging, the posture of the puncture needle or gripper is deemed to meet the requirements; if the puncture needle appears as a straight line in the C-arm medical imaging, the posture of the puncture needle or gripper is deemed to not meet the requirements. In automatic operation mode, image recognition technology can typically be used to comprehensively determine whether the puncture needle is dot-shaped by recognizing its shape and image area in the C-arm medical imaging.

[0093] Specifically, the puncture robot can be operated not only in an automatic mode but also in a more flexible manual mode. In manual control mode, control signals can be input to the human-machine interface handle using the buttons. In automatic operation mode, the target position is input to the automatic control receiving module, thus providing the robot with the target for automatic control.

[0094] Specifically, the manual operation mode includes the following steps:

[0095] Step 1: The patient lies face down on the operating table, and the frame of the robotic arm is fixed to the operating table railing via a connecting bracket. Then, the doctor adjusts the C-arm based on experience to irradiate the patient, and the medical images from the C-arm are transmitted in real time to the medical image acquisition unit.

[0096] Step 2: Then select the manual operation mode via the button; in manual operation mode, the virtual buttons can make the robotic arm gripper perform translation and rotation actions.

[0097] Step 3: While operating the virtual buttons on the human-machine interface handle, observe the real-time C-arm medical image of the puncture needle of the robotic arm gripper displayed on the medical image acquisition unit. If the puncture needle is not a point but a straight line in the C-arm medical image, it indicates that the puncture needle and the projection plane of the C-arm are not perpendicular. Gradually control the puncture needle to be displayed as a point feature in the C-arm medical image, and then control the point feature to move to the puncture site. That is, judge whether the posture of the puncture needle or gripper meets the requirements through the medical image. If it does not meet the requirements, control the gripper to adjust the posture until the puncture needle meets the posture requirements.

[0098] Step 4: The position and posture of the robotic arm gripper will be displayed in real time on the information area of ​​the human-machine interface handle. The positional relationship between the robotic arm gripper, the puncture needle, and the surgical site will be displayed in real time on the X-ray image taken by the C-arm. Determine whether the point features and position of the puncture needle in the C-arm medical image meet the requirements of spinal puncture surgery, i.e., whether the puncture needle has reached the target position: If the robotic arm gripper meets the requirements and reaches the target position, the puncture needle, which is held in the robotic arm gripper, can be manually pushed into the patient's body. If it does not meet the requirements, continue to control the robotic arm gripper until it reaches the required position.

[0099] The automatic operation mode includes the following steps:

[0100] Step 1: The patient undergoes a CT scan, reconstructing a 3D medical image of the spine. Three feature points are selected at the pedicle where surgery is required. The CT equipment itself has the capability to reconstruct 3D medical images. The reconstructed 3D medical image with feature points is imported into the medical image acquisition unit. Based on the 3D medical image, the optimal C-arm oblique projection angle and puncture position (target position) are obtained and this information is input to the automatic control receiving module, which then transmits the information to the multi-axis motion controller. Initially, the optimal C-arm oblique projection angle and puncture position rely on the doctor's marking, i.e., the doctor provides the target position. Subsequently, with the increase in data volume, through machine learning, the medical image unit can complete the calculation of the optimal C-arm oblique projection angle and puncture position without doctor intervention. The medical image acquisition unit can use machine vision to calculate the patient's optimal C-arm oblique projection angle and puncture position (target position) on the 3D medical image; and the calculation is faster and more accurate. The patient lies prone on the operating table, and the frame of the robotic arm is fixed to the operating table railing via a connecting bracket.

[0101] Step 2: The medical images from the C-arm are transmitted in real time to the medical image acquisition unit. The medical image acquisition unit registers the C-arm medical images with the 3D medical images and marks the puncture point in the C-arm medical images. At the same time, the puncture needle of the robotic arm gripper is also visualized in the C-arm medical images. The medical image acquisition unit identifies the puncture needle. If the puncture needle is not a point but a straight line in the C-arm medical images, it means that the puncture needle and the projection plane of the C-arm are not perpendicular. That is, the posture of the puncture needle or gripper is judged by the medical images to determine whether it meets the requirements. At this point, the medical image acquisition unit transmits the linear features of the puncture needle to the multi-axis motion controller. The multi-axis motion controller calculates the amount of rotation required for the puncture needle to appear as a point in the C-arm medical image based on the linear features. The calculated rotation amount is then converted into a control quantity to control the rotation of the robotic arm gripper and adjust its posture. During the rotation, the medical image acquisition unit monitors the rotation effect in real time to prevent insufficient or excessive rotation of the puncture needle. Step 2 is repeated, that is, the steps of determining and adjusting the posture of the puncture needle are repeated until the puncture needle appears as a point in the C-arm medical image.

[0102] Step 3: Determine if the puncture needle or gripper has reached the target position (i.e., whether the point features of the puncture needle coincide with the puncture point in the C-arm medical image). If not, the multi-axis motion controller controls the multi-axis robot to move the puncture needle to the target position. Specifically, the medical image acquisition unit calculates the planar positional relationship between the point features of the puncture needle and the puncture point in the C-arm medical image, and transmits the planar positional relationship to the multi-axis motion controller. The multi-axis motion controller calculates the amount of movement required for the puncture needle to coincide with the puncture point based on the planar positional relationship. The movement amount is converted into a control quantity to control the movement of the robotic arm gripper. During the movement, the medical image acquisition unit monitors the movement effect in real time to prevent insufficient or excessive movement of the puncture needle; Step 3 is repeated until the point features of the puncture needle coincide with the puncture point in the C-arm medical image.

[0103] Step 4: The medical image acquisition unit detects that the puncture needle is a point in the C-arm medical image, and the point features coincide with the puncture point. It then issues a puncture preparation completion command and reminds the doctor that the puncture can be performed.

[0104] Step 5: The doctor enters the operating room and inserts the puncture needle into the patient's body.

[0105] Understandably, during the control process, the system performs a self-check on the communication status to ensure normal communication. Only when communication is normal will the human-machine interface handle respond to operations. During the control process, regardless of whether it is manual or automatic operation mode, the puncture needle is moved from its actual position to the target position. The difference is that in manual operation mode, there is also a temporary target position. In manual operation mode, the actual position moves towards the temporary target position. The doctor changes the temporary target position by controlling the control buttons, making the temporary target position move closer to the target position until it equals the target position. In this way, the actual position moves indirectly towards the target position while moving towards the temporary target position, eventually reaching the target position. In automatic operation mode, there is no temporary target position, or rather, the temporary target position is directly equal to the target position, and the actual position moves directly towards the target position. During the movement from the actual position towards the temporary or target position, the multi-axis motion controller inversely solves the target position of the high-precision linear slide from the temporary or target position. The displacement sensor records the actual position of the high-precision linear slide in real time and compares the error value between the actual position and the target position. If the error value is greater than a certain range, the error value is used as the input of the PID controller. The output of the PID controller is used to control the servo motor to drive the high-precision linear slide to move linearly in the direction of reducing the error until the error value is within the allowable range, thereby improving the stability and accuracy of the control process. In manual operation mode, the system's operating speed can be selected, allowing the robotic arm gripper to approach the target position at a faster speed, thus saving time, and adjusting the position and posture at a slower speed, thus ensuring control accuracy. During manual operation, the doctor judges and adjusts the state of the robotic arm gripper through real-time X-ray images, which has the advantages of being intuitive and easy to operate. Manual operation mode has the advantages of short preparation time and low surgical cost; automatic operation mode has the advantages of accurate navigation and higher surgical precision. The system has an automatic calibration function. If the system's accuracy decreases after prolonged use, activating the automatic calibration function will restore the system's accuracy to an ideal state.

[0106] In a preferred embodiment of the present invention, the human-computer interaction handle exchanges signals with the multi-axis motion controller via an RS422A interface.

[0107] The present invention also provides a spinal surgery puncture robot control system for implementing a spinal surgery puncture robot control method, including a human-machine interaction handle, an automatic control receiving module, a data acquisition unit, a multi-axis motion controller, and a medical image acquisition unit.

[0108] The human-machine interface handle is used to receive control signals and transmit them to the multi-axis motion controller. The handle can display real-time system status parameters, including system communication status and the coordinate positions and deflection relationships of the robotic arm gripper in two directions, i.e., parameters θ1, θ2, d1, and d2.

[0109] The automatic control receiving module is used to receive control signals and transmit them to the multi-axis motion controller.

[0110] The data acquisition unit collects displacement data, processes the displacement data, and sends it to the multi-axis motion controller; the data acquisition unit collects data from the displacement sensor, encodes it, and transmits it to the multi-axis motion controller.

[0111] A multi-axis motion controller is used to receive and process control signals from the human-machine interface handle or data collected and sent by the data acquisition unit, and then send instructions to the drive unit of the multi-axis robot to control the movement of the gripper; the multi-axis motion controller is used to receive and process data and transmit control signals to the motion component drive unit; the robotic arm drive unit is used to adjust the robotic arm according to the control signals.

[0112] The medical image acquisition unit is used to acquire and display medical images of the robotic arm gripper of the multi-axis robot. The medical image acquisition unit displays C-shaped medical images of the gripper area for doctors' operational reference, and also has the function of registering CT images with real-time C-shaped image processing; the power supply unit converts mains power into a stable voltage required by the human-machine interface handle, multi-axis motion controller, data acquisition unit, and robotic arm drive unit.

[0113] The data acquisition unit includes a displacement sensor and a data input / output module. The displacement sensor is installed inside the robotic arm to collect displacement data of the internal mechanical structure in real time and transmit the displacement data to the data input / output module. The data input / output module is installed together with the multi-axis motion controller and is used to encode the data from the displacement sensor into signals that the multi-axis motion controller can process.

[0114] The robotic arm drive unit includes a servo driver and a robotic arm. The robotic arm includes a servo motor, a high-precision linear slide, and moving parts. The servo driver is installed together with the multi-axis motion controller and is used to send control signals to the servo motor inside the robotic arm. The data acquisition unit, power supply unit, multi-axis motion controller, and servo driver are installed in the same chassis, which is fixed to a frame.

[0115] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements a spinal surgery puncture robot control method.

[0116] The present invention has the following beneficial effects: 1. The present invention has high integration, compact structure, and small space occupation, and can be flexibly installed in brackets and other parts. 2. The present invention uses a high-precision displacement sensor, with high absolute positioning and repeatability accuracy, which increases the stability and reliability of the spinal surgery puncture robot, and at the same time makes the spinal surgery puncture robot have extremely high positioning accuracy. 3. The present invention uses an industrial tablet as a human-machine interface handle, which is small and portable, with strong anti-interference ability. Its human-machine interface is simple and clean, easy to operate, and can be quickly mastered. 4. The present invention uses real-time X-ray image judgment and adjustment of the state of the robotic arm gripper, which has the advantages of intuitive operation and is conducive to improving efficiency and safety. 5. The combination of manual and automatic operation modes can improve efficiency and fault tolerance at the same time. 6. The advantages of high stability and high reliability reduce the puncture operation time and the probability of complications, resulting in high safety. 7. The integrated control box design can integrate the multi-axis motion controller, data input and output module, servo driver, and power supply unit into the control box, leaving no extra cables on the outside of the spinal surgery puncture robot.

[0117] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A spinal surgery puncture robot control method characterized by, Includes the following steps: S1, the automatic control receiving module receives the control signal and transmits the control signal to the multi-axis motion controller; S2, the multi-axis motion controller controls the multi-axis robot to move according to the control signal. The multi-axis robot includes a robotic arm and a gripper on the robotic arm. The gripper is used to grasp the puncture needle. S3, obtain real-time medical images of the area to be punctured; S4: Determine whether the posture of the puncture needle or gripper meets the requirements through medical imaging: if yes, proceed to the next step; if no, control the gripper to adjust its posture and return to step S4. S5, determine whether the puncture needle or gripper has reached the target position: if yes, issue a puncture preparation completion command; if no, control the gripper movement and return to step S5; Step S2 specifically includes: S21, the multi-axis motion controller receives control signals input from the automatic control receiving module, the control signals including the target position of the puncture needle or gripper; S22, establishing the total transformation matrix of the robotic arm and the pose matrix of the robotic arm gripper; S23, obtaining the kinematic equations of the robotic arm, and obtaining the total motion of the robotic arm through the kinematic equations; S24, calculating the motion of the moving part through the relationship between the motion of the moving part and the total motion of the robotic arm. The mechanical arm comprises a first moving part, a second moving part, a third moving part and a fourth moving part; a total transformation matrix of the mechanical arm is , ； a distance of movement of the first and second moving parts; a distance of movement of the third and fourth moving parts; a rotation angle of the projection of the puncture needle relative to the first plane, a rotation angle of the projection of the puncture needle relative to the second plane; The pose matrix of the robotic arm gripper is as follows: , ； , and This refers to the projection of the unit direction vector of the x-axis in the coordinate system of the robotic arm gripper onto the x, y, and z axes of the reference coordinate system. , and This refers to the projection of the unit direction vector of the y-axis in the coordinate system of the robotic arm gripper onto the x, y, and z axes of the reference coordinate system. , and This refers to the projection of the unit direction vector of the z-axis in the coordinate system of the robotic arm gripper onto the x, y, and z axes of the reference coordinate system. , and The vector pointing from the origin of the reference coordinate system to the origin of the robotic arm's own coordinate system is projected onto the x, y, and z axes of the reference coordinate system; the kinematic equations are: ; ; ; ; ; ; ; ; ; ; ; ; The total motion of the robotic arm is: ; ; ; ; The relationship between the amount of motion of the moving parts and the total amount of motion of the robotic arm is as follows: ; ; ; ; The extension / retraction of the first moving part. This refers to the extension / retraction of the second moving part. The extension / retraction of the third moving part. The extension / retraction amount of the fourth moving part. The distance between the first moving part and the second moving part.

2. The spinal surgery puncture robot control method according to claim 1, characterized in that, After step S23, the following also includes: Trajectory planning is performed on the motion trajectory of the moving parts.

3. The spinal surgery puncture robot control method according to claim 2, characterized in that, Step S23 specifically includes: S231, set the starting point as point A and the ending point as point B, and take points C and D in the line connecting points A and B; S232, generates two trajectory interpolation points: ； in, This represents the motion of the j-th moving part at the i-th trajectory point, where j is the sequence number of the moving part and i is the sequence number of the trajectory point; Let's consider the motion of the j-th moving component at point A. Let's consider the motion of the j-th moving part at point B. S233, Establish the trajectory planning function: ； in The cubic polynomial interpolation function represents the trajectory of the first segment of the j-th moving part; The fifth-order polynomial interpolation function represents the trajectory of the second segment of the j-th moving part; The cubic polynomial interpolation function represents the trajectory of the third segment of the j-th moving part; , , and Let be the constant parameter of the trajectory of the first segment of the j-th moving part; , , , and For the constant parameter of the second segment trajectory of the j-th moving part; , , and These are the constant parameters of the trajectory of the third segment of the j-th moving part; S234, obtain the parameters of the trajectory planning function.

4. The spinal surgery puncture robot control method according to claim 3, characterized in that, The constraints of the trajectory planning function are: ； The moment when the robot begins to move. , , These represent the time required for the robot to move in segments AC, CD, and DB, respectively.

5. The spinal surgery puncture robot control method according to claim 1, characterized in that, The method of determining whether the posture of the puncture needle or gripper meets the requirements through medical imaging specifically includes: The C-arm medical image identifies the puncture needle and obtains its shape in the C-arm medical image. If the puncture needle appears as a dot in the C-arm medical image, the posture of the puncture needle or gripper is considered to meet the requirements. If the puncture needle appears as a straight line in the C-arm medical image, the posture of the puncture needle or gripper is considered to not meet the requirements.

6. A spinal surgery puncture robot control system, used to implement the spinal surgery puncture robot control method according to any one of claims 1 to 5, characterized in that, include: A human-machine interface handle is used to receive control signals and transmit the control signals to the multi-axis motion controller; An automatic control receiving module is used to receive control signals and transmit the control signals to the multi-axis motion controller; The data acquisition unit collects displacement data, processes the displacement data, and sends it to the multi-axis motion controller. A multi-axis motion controller is used to receive and process control signals from the human-machine interface handle or data collected and sent by the data acquisition unit, and then send instructions to the drive unit of the multi-axis robot to control the movement of the gripper. The medical image acquisition unit is used to acquire and display medical images of the robotic arm gripper of a multi-axis robot.

7. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the spinal surgery puncture robot control method as described in any one of claims 1 to 5.

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