Punching control method and device, equipment, mechanical arm and medium

Abstract

The present disclosure relates to a drilling control method and device, equipment, a mechanical arm and a medium. The method is applied to an electronic device corresponding to the mechanical arm, and an external shaft is installed on an end effector of the mechanical arm. When the mechanical arm moves to a current trajectory point according to a planned trajectory, it is determined whether the bone density of a current bone channel point corresponding to the current trajectory point on a target bone channel is greater than a first density threshold, wherein the first density threshold is greater than the average density of the target bone channel. If the bone density of the current bone channel point is greater than the first density threshold, the current bone channel point is determined to be a first density bone point. The external shaft of the end effector of the mechanical arm is controlled to drill the first density bone point. In this way, only the external shaft needs to be installed on the end effector of the mechanical arm to drill the bone channel point with high density, without relying on a large-specification mechanical arm, thereby avoiding the problem of torque overrun, and at the same time, avoiding large vibration of the mechanical arm, and improving the service life of the mechanical arm.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of motion control of a mechanical arm, and particularly relates to a drilling control method and device, equipment, a mechanical arm and a medium. BACKGROUND

[0002] Since the bone of the bone tunnel is relatively hard, the drilling capacity of the mechanical arm is required to be high when drilling the bone tunnel. For example, when drilling a bone tunnel with hard bone and long length, the arm span and the torque that can be borne by the shaft of the mechanical arm are required to be high.

[0003] In the prior art, when drilling the bone tunnel by using the mechanical arm, a large-specification mechanical arm is generally used. However, when drilling a bone tunnel with very hard bone (i.e., a bone tunnel point with very high density) by using a large-specification mechanical arm, the problem of torque overrun is prone to occur, and at the same time, the mechanical arm is also subjected to a large vibration, thereby affecting the service life of the mechanical arm. SUMMARY

[0004] In order to solve the above technical problems, the present disclosure provides a drilling control method, device, equipment and medium.

[0005] In a first aspect, the present disclosure provides a drilling control method applied to an electronic device corresponding to a mechanical arm, wherein an end effector of the mechanical arm is installed with an external shaft, and the method comprises:

[0006] When the mechanical arm moves to a current trajectory point according to a planned trajectory, it is determined whether the bone density of a current bone tunnel point corresponding to the current trajectory point on a target bone tunnel is greater than a first density threshold, wherein the first density threshold is greater than the average density of the bone in the target bone tunnel;

[0007] If the bone density of the current bone tunnel point is greater than the first density threshold, the current bone tunnel point is determined to be a first density bone point.

[0008] The external shaft of the end effector on the mechanical arm is controlled to drill the first density bone point.

[0009] In a second aspect, the present disclosure provides a drilling control device configured in an electronic device corresponding to a mechanical arm, wherein an end effector of the mechanical arm is installed with an external shaft, and the device comprises:

[0010] A first determination module is configured to determine whether the bone density of a current bone tunnel point corresponding to a current trajectory point on a target bone tunnel is greater than a first density threshold when the mechanical arm moves to the current trajectory point according to a planned trajectory, wherein the first density threshold is greater than the average density of the bone in the target bone tunnel;

[0011] a second determining module, configured to determine the current bone hole point as a first density bone point if the bone density of the current bone hole point is greater than the first density threshold;

[0012] a drilling control module, configured to control an external shaft of an end effector on the mechanical arm to drill the first density bone point.

[0013] In a third aspect, the embodiments of the present disclosure further provide an electronic device, which comprises:

[0014] one or more processors;

[0015] a storage device configured to store one or more programs,

[0016] when the one or more programs are executed by the one or more processors, the one or more processors implement the method provided in the first aspect.

[0017] In a fourth aspect, the embodiments of the present disclosure further provide a mechanical arm, which comprises:

[0018] the end effector is installed with an external shaft;

[0019] the base is installed with a first shaft, a second shaft and a third shaft; the direction of the first shaft is consistent with the direction of a flange of the mechanical arm, the direction of the flange is consistent with the direction of a bone hole of a target bone hole to be drilled, and the second shaft and the third shaft are both perpendicular to the first shaft.

[0020] In a fifth aspect, the embodiments of the present disclosure further provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method provided in the first aspect.

[0021] Compared with the prior art, the technical solutions provided by the embodiments of the present disclosure have the following advantages:

[0022] The method is applied to an electronic device corresponding to a mechanical arm, and an end effector of the mechanical arm is provided with an external shaft. The method comprises the following steps: when the mechanical arm moves to a current trajectory point according to a planned trajectory, determining whether the bone density of a current trajectory point on a target bone channel corresponding to a current bone channel point is greater than a first density threshold, wherein the first density threshold is greater than the average bone density in the target bone channel; if the bone density of the current bone channel point is greater than the first density threshold, the current bone channel point is determined as a first density bone channel point; and the external shaft of the end effector of the mechanical arm is controlled to punch the first density bone channel point. In this way, only the external shaft needs to be installed on the end effector of the mechanical arm, so that the bone channel point with high density can be punched, without relying on a large-specification mechanical arm, thereby avoiding the problem of torque overrun, and avoiding that the mechanical arm directly bears a large vibration, and improving the service life of the mechanical arm. BRIEF DESCRIPTION OF DRAWINGS

[0023] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the accompanying drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0025] Figure 1 A structural schematic diagram of a mechanical arm is provided for the embodiments of the present disclosure.

[0026] Figure 2 A flowchart of a punch control method is provided for the embodiments of the present disclosure.

[0027] Figure 3 A structural schematic diagram of a punch control device is provided for the embodiments of the present disclosure.

[0028] Figure 4 A structural schematic diagram of an electronic device is provided for the embodiments of the present disclosure. DETAILED DESCRIPTION

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the accompanying drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0030] Many specific details are set forth in the following description in order to provide a thorough understanding of the present disclosure. However, the present disclosure can be practiced according to other embodiments that do not require some of the specific details described below. It is understood that the present disclosure is well suited to carry out alternative embodiments of the application, and that the present disclosure can implement the application in various specific environments and / or configurations.

[0031] To solve the above problems, Figure 1 A structural schematic diagram of the mechanical arm is shown. As shown in the figure, Figure 1 The mechanical arm includes an end effector 100 and a base 200.

[0032] The end effector 100 is installed with an external shaft 110. Specifically, when the mechanical arm is used to drill a target bone channel, for the bone points with high density on the target bone channel, the external shaft 110 on the end effector 100 of the mechanical arm is started to drill.

[0033] Therefore, it is not necessary to rely on a large-specification mechanical arm, thereby avoiding the problem of torque overrun, and at the same time, avoiding the mechanical arm from being subjected to large vibration, and improving the service life of the mechanical arm.

[0034] The base 200 is installed with a first shaft, a second shaft and a third shaft. The first shaft is a rotation shaft of the mechanical arm, and the second shaft and the third shaft are translation shafts of the mechanical arm.

[0035] Specifically, before the target bone channel is drilled by the mechanical arm, first, the planned path and the planned pose of the mechanical arm are determined; then, at each trajectory point on the planned path, it is determined whether the bone point corresponding to each trajectory point is reachable by the mechanical arm based on the planned pose of the mechanical arm, whether the singularity degree of the mechanical arm at each trajectory point satisfies the singularity region moving out condition based on the planned pose of the mechanical arm, and whether the planned stiffness of the mechanical arm to the target bone channel satisfies the drilling stiffness condition based on the planned pose of the mechanical arm; then, if the bone point corresponding to each trajectory point is not reachable by the mechanical arm, the base 200 needs to be controlled to translate along the second shaft and / or the third shaft, thereby updating the pose of the mechanical arm at each trajectory point, so that it is determined that the bone point at each trajectory point is reachable by the mechanical arm based on the updated pose of the mechanical arm at each trajectory point; similarly, if the singularity degree of the mechanical arm at each trajectory point satisfies the singularity region moving out condition, the base 200 is controlled to rotate around the first shaft, and / or the base 200 is controlled to translate along the second shaft, and / or the base 200 is controlled to translate along the third shaft, thereby updating the pose of the mechanical arm at each trajectory point, so that the mechanical arm moves out of the singularity region and adjusts the step length of the planned trajectory based on the updated pose of the mechanical arm at each trajectory point; similarly, if the planned stiffness of the mechanical arm to the target bone channel at each trajectory point does not satisfy the drilling stiffness condition, the base 200 is controlled to rotate around the first shaft, thereby updating the pose of the mechanical arm at each trajectory point, so that the stiffness of the mechanical arm to the target bone channel satisfies the drilling stiffness condition based on the pose of the mechanical arm at each trajectory point.

[0036] In this way, three axes are installed on the base of the mechanical arm to adjust the pose of the mechanical arm, so that when the mechanical arm encounters the problem of unreachability of the bone hole point, the problem of singular region of the mechanical arm, and the problem of insufficient stiffness of the mechanical arm, only the rotation or translation of the mechanical arm around the axis needs to be controlled to ensure the reachability of the drilling mechanical arm, the removal of the singular region, and the sufficient stiffness. Compared with the use of a mechanical arm with a larger size specification, the operation is more convenient and the cost is lower.

[0037] The following will be described in combination with Figure 2 The drilling control method provided by the embodiments of the present disclosure will be described. In the embodiments of the present disclosure, the drilling control method can be executed by an electronic device corresponding to the mechanical arm as shown in the figure. As shown in the figure, the end effector 100 of the mechanical arm is installed with an external axis 110, and the electronic device can include a tablet computer, a desktop computer, a notebook computer, and the like, and can also include a device simulated by a virtual machine or a simulator. Figure 1 Figure 1 As shown in the figure, the end effector 100 of the mechanical arm is installed with an external axis 110, and the electronic device can include a tablet computer, a desktop computer, a notebook computer, and the like, and can also include a device simulated by a virtual machine or a simulator.

[0038] Figure 2 A flowchart of a drilling control method provided by an embodiment of the present disclosure is shown.

[0039] As shown in the figure, the end effector 100 of the mechanical arm is installed with an external axis 110, and the electronic device can include a tablet computer, a desktop computer, a notebook computer, and the like, and can also include a device simulated by a virtual machine or a simulator. Figure 2 As shown in the figure, the end effector 100 of the mechanical arm is installed with an external axis 110, and the electronic device can include a tablet computer, a desktop computer, a notebook computer, and the like, and can also include a device simulated by a virtual machine or a simulator.

[0040] S210, when the mechanical arm moves to the current trajectory point according to the planned trajectory, determine whether the bone density of the current bone hole point corresponding to the current trajectory point on the target bone hole is greater than the first density threshold, wherein the first density threshold is greater than the average density of the target bone hole.

[0041] In the present embodiment, before drilling the target bone hole by the mechanical arm, the electronic device determines the planned trajectory of the mechanical arm according to the entry point coordinates, the exit point coordinates, the safe skin preparation point coordinates, the length of the target bone hole, and the step length between the trajectory points. In addition, when the electronic device determines the trajectory points, the trajectory points corresponding to each bone hole point on the target bone hole are also determined, so that the mechanical arm moves to each trajectory point on the planned trajectory to drill the corresponding bone hole point on the target bone hole.

[0042] Wherein, the target bone hole refers to any bone hole that needs to be drilled.

[0043] In the present embodiment, when the mechanical arm moves to any current trajectory point according to the planned trajectory, the electronic device needs to determine whether the current bone hole point corresponding to the current trajectory point on the target bone hole is a point with high density, specifically whether the bone density of the current bone hole point is greater than the first density threshold, so as to analyze whether the bone quality of the current bone hole point is hard.

[0044] ​In some embodiments, the method of determining whether the bone density of the current trajectory point corresponding to the current trajectory point on the target trajectory is greater than the first density threshold in S210 includes but is not limited to the following method: determining the bone position region to which the current trajectory point belongs on the target trajectory; if the bone density of the bone position region is greater than the first density threshold, determining that the bone density of the current trajectory point is greater than the first density threshold, wherein the bone position region contained in the target trajectory and the bone density corresponding to the bone position region are determined by pre-image segmentation of the scanning image of the target trajectory.

[0045] Specifically, before the mechanical arm is used to punch the target trajectory, the electronic device acquires the scanning image of the target trajectory, and performs image segmentation on the scanning image to determine different bone position regions on the target trajectory and the bone density of different bone position regions. When the mechanical arm is used to punch the target trajectory, according to the coordinate data of the current trajectory point and the coordinate range of each bone position region on the target trajectory, the bone position region to which the current trajectory point belongs on the target trajectory is determined. Since the bone density of the bone position region to which the current trajectory point belongs can be used as the bone density of the current trajectory point, by judging whether the bone density of the bone position region is greater than the first density region, it can be determined whether the bone density of the current trajectory point is greater than the first density threshold.

[0046] In order to more accurately determine the bone density of the current trajectory point, the position of the current trajectory point can also be corrected. For example, the position of the current trajectory point is represented as d, the bone density of the current trajectory point is represented as p, and after the position of the current trajectory point is corrected, the position of the corrected current trajectory point is represented as d+δ. At this time, the relationship between the position and the bone density of the corrected current trajectory point is represented as (p, d+δ). In this way, the bone position region to which the corrected current trajectory point belongs is determined according to the corrected position of the current trajectory point, and the bone density of the bone position region is determined as the bone density of the corrected current trajectory point.

[0047] In other embodiments, the method of determining whether the bone density of the current trajectory point corresponding to the current trajectory point on the target trajectory is greater than the first density threshold in S210 includes but is not limited to the following method: obtaining the force acting on the current trajectory point by the mechanical arm; performing frequency domain analysis on the force to determine the ratio of the sum of the first frequency amplitudes to the sum of the total frequency amplitudes, wherein the sum of the first frequency amplitudes is the sum of a plurality of first frequency amplitudes, and any first frequency amplitude is greater than the average of the sum of the total frequency amplitudes; if the ratio is greater than a preset ratio, it is determined that the bone density of the current trajectory point is greater than the first density threshold.

[0048] Specifically, one or more force sensors are installed on the mechanical arm, and the electronic device can control the mechanical arm to approach the current bone hole point, and when the mechanical arm starts to punch the current bone hole point, the force sensor on the mechanical arm collects the force acting on the mechanical arm, and then the electronic device performs frequency domain analysis on the force to determine the ratio of the sum of the first frequency amplitudes of the force to the sum of the total frequency amplitudes. Next, since any one first frequency amplitude is greater than the average of the sum of the total frequencies, the first frequency amplitude can be considered as a high frequency amplitude. Finally, the electronic device compares the ratio with a preset ratio to determine whether the bone density of the current bone hole point is greater than a first density threshold.

[0049] Optionally, the ratio of the sum of the first frequency amplitudes of the force to the sum of the total frequency amplitudes can be determined in the following manner:

[0050]

[0051] wherein I ω is the ratio of the sum of the first frequency amplitudes of the force to the sum of the total frequency amplitudes, ω stop is the frequency cutoff point of the first frequency amplitude, ω pass is the frequency pass point of the first frequency amplitude, ω T is the frequency period, and P(ω) is the frequency amplitude.

[0052] wherein the preset ratio is a critical value set in advance based on experience. Optionally, the preset ratio is represented as I T .

[0053] In the above manner, the bone density of the current bone hole point can be determined by analyzing the frequency domain data of the force, and the bone density of the current bone hole point can also be determined by the image segmentation result and the position of the current bone hole point. Therefore, it can be suitable for different analysis requirements and improve flexibility.

[0054] S220, if the bone density of the current bone hole point is greater than the first density threshold, the current bone hole point is determined as a first density bone point.

[0055] It can be understood that since the first density threshold is greater than the average density of the target bone hole, and if the bone density of the current bone hole point is greater than the first density threshold, it can be determined that the current bone hole point is an intraosseous high-density point of the target bone hole, i.e., the bone quality of the current bone hole point is relatively hard, and the punching difficulty is relatively large.

[0056] wherein the first density bone point is a point with higher density on the target bone hole (i.e., a point with relatively hard bone quality).

[0057] S230, controlling the external shaft of the end effector on the mechanical arm to punch the first density bone point.

[0058] In the embodiment, after the electronic device determines that the current bone channel point is the first density bone point, the outer shaft of the end effector on the mechanical arm is started, and the outer shaft is controlled to punch the first density bone point, so that the outer shaft of the end effector is used to punch the high density point in the bone, without increasing the torque of the mechanical arm, and the mechanical arm is also avoided from being subjected to large vibration, thereby improving the service life of the mechanical arm.

[0059] The method for punching control provided in the embodiment of the present disclosure is applied to an electronic device corresponding to a mechanical arm, and an end effector of the mechanical arm is installed with an outer shaft. The method comprises the following steps: when the mechanical arm moves to a current trajectory point according to a planned trajectory, it is determined whether the bone density of a current bone channel point corresponding to the current trajectory point on a target bone channel is greater than a first density threshold value, wherein the first density threshold value is greater than the average density of the bone in the target bone channel; if the bone density of the current bone channel point is greater than the first density threshold value, it is determined that the current bone channel point is a first density bone point; and the outer shaft of the end effector on the mechanical arm is controlled to punch the first density bone point. In this way, only the outer shaft needs to be installed on the end effector of the mechanical arm, so that the bone channel point with high density can be punched, without relying on a large-specification mechanical arm, thereby avoiding the problem of torque overrun, and the mechanical arm is also avoided from being subjected to large vibration, thereby improving the service life of the mechanical arm.

[0060] In the embodiment, after S210 is performed, the method further comprises the following steps: if the bone density of the current bone channel point is less than the first density threshold value, it is determined whether the bone density of the current bone channel point is less than a second density threshold value; if the bone density of the current bone channel point is less than the second density threshold value, it is determined that the current bone channel point is a second density bone point, wherein the second density threshold value is less than the average density of the bone in the target bone channel, or the second density threshold value is less than the average density of the bone outside the target bone channel; and the end effector of the mechanical arm is controlled to punch the second density bone point.

[0061] It can be understood that, since the second density threshold value is less than the average density of the bone in the target bone channel or the average density of the bone outside the target bone channel, and if the bone density of the current bone channel point is not only less than the first density threshold value but also less than the second density threshold value, it can be determined that the current bone channel point is a low density point in the bone in the target bone channel or a low density point outside the target bone channel, i.e., the bone of the current bone channel point is relatively soft and the punching difficulty is relatively small. Therefore, in this case, the electronic device controls the end effector of the mechanical arm to punch the second density bone point.

[0062] In this way, for the low density point in the bone or the low density point outside the target bone channel, the end effector of the mechanical arm is used to punch, and the process can be successfully performed even without increasing the torque of the mechanical arm, and even if the mechanical arm is subjected to large vibration, the use life of the mechanical arm will not be affected when the end effector of the mechanical arm is directly used to punch.

[0063] In another embodiment of the present disclosure, the base of the robot arm is provided with a first axis, a second axis and a third axis; the first axis is a rotation axis of the robot arm, and the second axis and the third axis are translation axes of the robot arm. Before drilling, the robot arm is rotated around the first axis, and / or is translated along the second axis, and / or is translated along the third axis, so as to ensure that the robot arm has reachability, moves out of singular regions and has sufficient rigidity during drilling.

[0064] In some embodiments, before S210 is performed, the method further comprises:

[0065] Based on the planned pose of the robot arm at the current trajectory point, it is determined whether the robot arm at the current trajectory point satisfies the reachability condition for the current bone hole point;

[0066] If the robot arm at the current trajectory point does not satisfy the reachability condition for the current bone hole point, the robot arm is controlled to be translated along the second axis and / or the third axis, so that the planned pose of the robot arm at the current trajectory point is adjusted to the first target pose;

[0067] If, based on the first target pose, it is determined that the robot arm at the current trajectory point satisfies the reachability condition for the current bone hole point, the robot arm is controlled to move to the current trajectory point according to the planned trajectory, otherwise, the robot arm is continuously controlled to be translated along the second axis and / or the third axis until, based on the updated target pose of the robot arm at the current trajectory point, it is determined that the robot arm at the current trajectory point satisfies the reachability condition for the current bone hole point.

[0068] Specifically, before the robot arm drills the target bone hole, the electronic device determines whether the robot arm at any current trajectory point can reach the current bone hole point, i.e., whether the reachability condition is satisfied, based on the planned pose of the robot arm at the current trajectory point, the pose of the current bone hole point and the length of the robot arm; if the robot arm does not satisfy the reachability condition, the electronic device controls the robot arm to be translated along at least one of the second axis and the third axis, and can also control the base of the robot arm to move a certain distance (e.g., two steps) along the bone hole direction of the target bone hole, so as to update the pose of the robot arm; then, based on the updated pose of the robot arm, the pose of the current bone hole point and the length of the robot arm, it is determined again whether the robot arm satisfies the reachability condition; if the robot arm satisfies the reachability condition at this time, the electronic device controls the robot arm to move to the current trajectory point according to the planned trajectory, so as to start drilling the target bone hole; if the robot arm does not satisfy the reachability condition at this time, the electronic device continues to control the robot arm to be translated along at least one of the second axis and the third axis, and can also control the base of the robot arm to move a certain distance (e.g., two steps) along the bone hole direction of the target bone hole, so as to continue to update the pose of the robot arm, until the robot arm satisfies the reachability condition, and then the robot arm is controlled to move to the current trajectory point according to the planned trajectory, so as to start drilling the target bone hole.

[0069] Thus, before the target bone tunnel is drilled by the robot arm, the robot arm changes the pose of the robot arm by translating at least one of the second axis and the third axis, so that the robot arm after the pose change has reachability in the drilling process.

[0070] In some embodiments, before S210 is performed, the method further includes:

[0071] Based on the planned pose of the robot arm at the current trajectory point, determine the singularity degree of the robot arm at the current trajectory point;

[0072] If it is determined based on the singularity degree that the robot arm at the current trajectory point satisfies the singularity region moving out condition, control the robot arm to rotate around the first axis, and / or control the robot arm to translate along the second axis, and / or control the robot arm to translate along the third axis, so that the planned pose of the robot arm at the current trajectory point is adjusted to the second target pose;

[0073] Control the robot arm to move out of the singularity region corresponding to the current trajectory point based on the second target pose, and adjust the step of the planned trajectory;

[0074] Control the robot arm that has moved out of the singularity region to move to the current trajectory point according to the planned trajectory after the step is adjusted.

[0075] Specifically, before the target bone tunnel is drilled by the robot arm, the electronic device calculates the Jacobian eigenvalue in the Cartesian space based on the planned pose of the robot arm at the current trajectory point, and takes the Jacobian eigenvalue as the singularity degree of the robot arm at the current trajectory point; then, based on the component of the target bone tunnel direction of the singularity degree, determine whether the robot arm at the current trajectory point satisfies the singularity region moving out condition; if so, control the robot arm to rotate around the first axis, and / or control the robot arm to translate along at least one of the second axis and the third axis, to update the pose of the robot arm; at the same time, take the singularity point corresponding to the current trajectory point of the robot arm as the center and a preset length as the radius to draw a circle, to determine the singularity region; then control the robot arm to move out of the singularity region according to the updated pose, and adjust the step of the planned trajectory; finally, control the robot arm that has moved out of the singularity region to move to the current trajectory point according to the planned trajectory after the step is adjusted, to start drilling the target bone tunnel.

[0076] Alternatively, the Jacobian eigenvalue can be represented as: {λ x ,λ y ,λ z ,λ Rx ,λ Ry ,λ Rz}. Wherein, λ x is the singularity degree of the Jacobian eigenvalue in the position component of the second axis (x-axis), λ y is the singularity degree of the Jacobian eigenvalue in the position component of the first axis (y-axis), λz is a singular degree of the position component of the Jacobi eigenvalue in the third axis (z-axis), λ Rx is a singular degree of the rotation component of the Jacobi eigenvalue in the second axis (x-axis), λ Ry is a singular degree of the rotation component of the Jacobi eigenvalue in the first axis (y-axis), λ Rz is a singular degree of the rotation component of the Jacobi eigenvalue in the second axis (z-axis).

[0077] Optionally, the preset length can be determined empirically.

[0078] Correspondingly, when λ min < λ y < λ T , it is determined that the robot arm satisfies the singular region moving out condition at the current trajectory point, the pose of the robot arm is updated, and the robot arm is controlled to move out of the singular region, and it is explained that the planned trajectory can be retained, and only the step of the planned trajectory needs to be adjusted (for example, the step is adjusted to the minimum step), and finally the robot arm that has moved out of the singular region is controlled to move to the current trajectory point according to the planned trajectory with the adjusted step, and the drilling of the target bone tunnel is started.

[0079] wherein λ T is the maximum component of the first axis (y-axis), which can be determined empirically. λ min is the minimum component of the first axis (y-axis), which can be determined empirically.

[0080] In this way, before the robot arm drills the target bone tunnel, if the singular degree of the robot arm satisfies the singular degree moving out condition, the robot arm is controlled to rotate around the first axis and / or to translate along at least one of the second axis and the third axis to change the pose of the robot arm, so that the robot arm with the changed pose can move out of the singular region.

[0081] In some embodiments, before S210 is performed, the method further includes:

[0082] determining a planned stiffness of the robot arm to the target bone tunnel based on the planned pose of the robot arm at the current trajectory point;

[0083] if the planned stiffness of the robot arm to the target bone tunnel does not satisfy the drilling stiffness condition, controlling the robot arm to rotate around the first axis so that the planned pose of the robot arm at the current trajectory point is adjusted to a third target pose;

[0084] determining a target stiffness of the robot arm to the target bone tunnel based on the third target pose;

[0085] If the target stiffness meets the drilling stiffness condition, the mechanical arm is controlled to move to the current trajectory point according to the planned trajectory, otherwise, the mechanical arm continues to rotate around the first axis, and the stiffness calculation is performed again until the stiffness determined again meets the drilling stiffness condition.

[0086] Specifically, before the mechanical arm drills the target bone tunnel, the electronic device determines the drilling capability of the mechanical arm based on the planned pose of the mechanical arm at the current trajectory point, that is, determines the planned stiffness of the mechanical arm to the target bone tunnel; then, it is judged whether the planned stiffness of the mechanical arm to the target bone tunnel meets the drilling stiffness condition; if it meets, the mechanical arm rotates around the first axis to update the pose of the mechanical arm, and continues to determine the target stiffness of the mechanical arm to the target bone tunnel based on the updated pose of the mechanical arm; if the electronic device judges that the target stiffness of the mechanical arm meets the drilling stiffness condition, the mechanical arm is controlled to move to the current trajectory point according to the planned trajectory to start drilling the target bone tunnel, otherwise, the mechanical arm continues to rotate around the first axis, and the stiffness calculation is performed again until the stiffness determined again meets the drilling stiffness condition, then the mechanical arm is controlled to move to the current trajectory point according to the planned trajectory to start drilling the target bone tunnel.

[0087] Optionally, the planned stiffness of the mechanical arm to the target bone tunnel is represented as{S x ,S y ,S z ,S Rx ,S Ry ,S Rz}wherein S x is the stiffness evaluation index of the position component of the planned stiffness in the second axis (x-axis), S y is the stiffness evaluation index of the position component of the planned stiffness in the first axis (y-axis), S z is the stiffness evaluation index of the position component of the planned stiffness in the third axis (z-axis), S Rx is the stiffness evaluation index of the rotation component of the planned stiffness in the second axis (x-axis), S Ry is the stiffness evaluation index of the rotation component of the planned stiffness in the first axis (y-axis), and S Rz is the stiffness evaluation index of the rotation component of the planned stiffness in the second axis (z-axis). When any one of S x , S z , S Rx , S Rz in the planned stiffness is less than the stiffness threshold (S T ), it is determined that the mechanical arm meets the drilling stiffness condition.

[0088] wherein the stiffness threshold (S T ) can be determined according to experience.

[0089] In this way, before using the robotic arm to drill holes in the target bone channel, if the planned stiffness of the robotic arm for the target bone channel does not meet the drilling stiffness condition, the robotic arm is controlled to rotate around the first axis to ensure that the stiffness of the robotic arm is large enough during the drilling process.

[0090] This disclosure also provides a drilling control device for implementing the above-described drilling control method, the device being configured in... Figure 1 The robotic arm shown corresponds to the electronic device. For example... Figure 1 As shown, the end effector 100 of the robotic arm is equipped with an external shaft 110. In this embodiment, the punching control device can be an electronic device. The electronic device can include devices with communication capabilities such as tablet computers, desktop computers, and laptop computers, or devices simulated by virtual machines or simulators. The following describes the process in conjunction with... Figure 3 Please provide an explanation.

[0091] Figure 3 A schematic diagram of a punching control device provided in an embodiment of this disclosure is shown.

[0092] like Figure 3 As shown, the punching control device 300 may include:

[0093] The first determining module 310 is used to determine whether the bone density of the current bone channel point corresponding to the current trajectory point on the target bone channel is greater than a first density threshold when the robotic arm moves to the current trajectory point according to the planned trajectory. The first density threshold is greater than the average intraosseous density of the target bone channel.

[0094] The second determining module 320 is used to determine the current bone tunnel point as a first density bone point if the bone density of the current bone tunnel point is greater than the first density threshold.

[0095] The drilling control module 330 is used to control the external axis of the end effector on the robotic arm to drill holes in the first density bone points.

[0096] The punching control device of the embodiment of the present disclosure is configured in an electronic device corresponding to a mechanical arm, and an external shaft is installed on an end effector of the mechanical arm. The method comprises: determining whether the bone density of a current bone channel point corresponding to a current trajectory point on a target bone channel is greater than a first density threshold when the mechanical arm moves to the current trajectory point according to a planned trajectory, wherein the first density threshold is greater than the average density of the target bone channel; if the bone density of the current bone channel point is greater than the first density threshold, the current bone channel point is determined as a first density bone point; and the external shaft of the end effector of the mechanical arm is controlled to punch the first density bone point. In this way, only the external shaft needs to be installed on the end effector of the mechanical arm, and the bone channel point with high density can be punched, without relying on a large-specification mechanical arm, so as to avoid the problem of torque overrun, and at the same time, the mechanical arm is directly prevented from being subjected to large vibration, thereby prolonging the service life of the mechanical arm.

[0097] In some embodiments of the present disclosure, the first determination module 310 comprises:

[0098] The first determination unit is configured to determine a bone position region to which the current bone channel point belongs on the target bone channel.

[0099] The second determination unit is configured to determine that the bone density of the current bone channel point is greater than the first density threshold if the bone density of the bone position region is greater than the first density threshold, wherein the bone position region and the bone density corresponding to the bone position region contained in the target bone channel are determined by pre-image segmentation of a scanning image of the target bone channel.

[0100] In some embodiments of the present disclosure, the first determination module 310 comprises:

[0101] The first acquisition unit is configured to acquire an acting force received by the mechanical arm at the current bone channel point.

[0102] The third determination unit is configured to perform frequency domain analysis on the acting force to determine a ratio of a first frequency amplitude sum to a total frequency amplitude sum, wherein the first frequency amplitude sum is a sum of a plurality of first frequency amplitudes, and any first frequency amplitude is greater than an average value of the total frequency amplitude sum.

[0103] The fourth determination unit is configured to determine that the bone density of the current bone channel point is greater than the first density threshold if the ratio is greater than a preset ratio.

[0104] In some embodiments of the present disclosure, the device further comprises:

[0105] The judgment module is configured to determine whether the bone density of the current bone channel point is less than a second density threshold if the bone density of the current bone channel point is less than the first density threshold.

[0106] The third determining module is configured to determine the current bone hole point as a second density bone point if the bone density of the current bone hole point is less than the second density threshold, wherein the second density threshold is less than the average bone density inside the target bone hole, or the second density threshold is less than the average bone density outside the target bone hole.

[0107] The first control module is configured to control the end effector of the mechanical arm to punch the second density bone point.

[0108] In some embodiments of the present disclosure, the base of the mechanical arm is provided with a first axis, a second axis and a third axis; the first axis is a rotation axis of the mechanical arm, and the second axis and the third axis are translation axes of the mechanical arm.

[0109] In some embodiments of the present disclosure, the device further comprises:

[0110] The fourth determining module is configured to determine whether the mechanical arm satisfies the reachability condition for the current bone hole point at the current trajectory point based on the planned pose of the mechanical arm at the current trajectory point.

[0111] The second control module is configured to control the mechanical arm to translate along the second axis and / or the third axis to adjust the planned pose of the mechanical arm at the current trajectory point to a first target pose if the mechanical arm does not satisfy the reachability condition for the current bone hole point at the current trajectory point.

[0112] The third control module is configured to control the mechanical arm to move to the current trajectory point according to the planned trajectory if it is determined that the mechanical arm satisfies the reachability condition for the current bone hole point at the current trajectory point based on the first target pose, or continue to control the mechanical arm to translate along the second axis and / or the third axis until it is determined that the mechanical arm satisfies the reachability condition for the current bone hole point at the current trajectory point based on the updated target pose of the mechanical arm at the current trajectory point.

[0113] In some embodiments of the present disclosure, the device further comprises:

[0114] The fifth determining module is configured to determine the singularity degree of the mechanical arm at the current trajectory point based on the planned pose of the mechanical arm at the current trajectory point.

[0115] The fourth control module is configured to control the mechanical arm to rotate around the first axis, and / or control the mechanical arm to translate along the second axis, and / or control the mechanical arm to translate along the third axis to adjust the planned pose of the mechanical arm at the current trajectory point to a second target pose if it is determined that the mechanical arm satisfies the singularity region moving out condition at the current trajectory point based on the singularity degree.

[0116] a fifth control module configured to control the robot arm to move out of the singularity region corresponding to the current trajectory point based on the second target pose, and adjust a step size of the planned trajectory;

[0117] a sixth control module configured to control the robot arm that has moved out of the singularity region to move to the current trajectory point according to the planned trajectory with the adjusted step size.

[0118] In some embodiments of the present disclosure, the device further comprises:

[0119] a sixth determination module configured to determine a planned stiffness of the robot arm to the target bone tunnel based on the planned pose of the robot arm at the current trajectory point;

[0120] a sixth control module configured to control the robot arm to rotate around the first axis to adjust the planned pose of the robot arm at the current trajectory point to a third target pose if the planned stiffness of the robot arm to the target bone tunnel does not satisfy a drilling stiffness condition.

[0121] a seventh determination module configured to determine a target stiffness of the robot arm to the target bone tunnel based on the third target pose;

[0122] a seventh control module configured to control the robot arm to move to the current trajectory point according to the planned trajectory if the target stiffness satisfies the drilling stiffness condition, or to control the robot arm to continue rotating around the first axis and re-perform stiffness calculation until the re-determined stiffness satisfies the drilling stiffness condition.

[0123] It should be noted that, Figure 3 the drilling control device 300 shown can perform Figure 2 each step in the method embodiment shown, and achieve Figure 2 each process and effect in the method embodiment shown, which will not be repeated here.

[0124] Figure 4 A structural schematic diagram of an electronic device provided by an embodiment of the present disclosure is shown.

[0125] As Figure 4 shown, the electronic device can include a processor 401 and a memory 402 having computer program instructions stored therein.

[0126] Specifically, the processor 401 described above can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or can be configured to implement one or more integrated circuits of the embodiments of the present disclosure.

[0127] The memory 402 can include mass storage for information or instructions. For example, and without limitation, the memory 402 can include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (USB) drive or a combination of two or more of these. The memory 402 can include removable or non-removable (or fixed) media, where appropriate. The memory 402 can be internal or external, where appropriate. In particular embodiments, the memory 402 is non-volatile, solid-state memory. In particular embodiments, the memory 402 includes read-only memory (ROM). Where appropriate, this ROM can be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these. The memory 402 stores information that can include instructions that, when executed by the processor 401, enable the electronic device to perform one or more of the steps described herein. In particular embodiments, the memory 402 stores data that the processor 401 can access when accessing in particular embodiments, the memory 402 stores data that the processor 401 can access when accessing instructions for execution during the operation of the electronic device. In particular embodiments, the memory 402 or the disk drive of the electronic device can include a non-transitory machine-readable storage medium that stores instructions that, when executed by the processor 401, cause the electronic device to perform various actions.

[0128] The processor 401 performs the steps of the hole control method provided by embodiments of the present disclosure by reading and executing computer program instructions stored in the memory 402.

[0129] In one example, the electronic device can further include a transceiver 403 and a bus 404. As shown, the processor 401, the memory 402, and the transceiver 403 are connected through the bus 404 and complete communication among each other. Figure 4

[0130] ​Bus 404 includes a hardware, software, or both. By way of example and not limitation, a bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side BUS (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or another suitable bus or a combination of two or more of these. Where appropriate, bus 404 can include one or more buses. Although the application embodiments described and illustrated herein focus on particular buses, the application contemplates any suitable bus or interconnect.

[0131] The following is an embodiment of a computer-readable storage medium provided by the embodiments of the present disclosure, which belongs to the same inventive concept as the hole control method of each of the above embodiments. Details not described in the embodiment of the computer-readable storage medium can be referred to the above embodiments of the hole control method.

[0132] The embodiment provides a storage medium containing computer executable instructions, which, when executed by a computer processor, are used to execute a hole control method. The method is applied to an electronic device corresponding to a mechanical arm. An end effector of the mechanical arm is installed with an external shaft. The method comprises:

[0133] When the mechanical arm moves to a current trajectory point according to a planned trajectory, it is determined whether the bone density of a current bone channel point corresponding to the current trajectory point on a target bone channel is greater than a first density threshold, wherein the first density threshold is greater than the average density of the target bone channel.

[0134] If the bone density of the current bone hole point is greater than the first density threshold, the current bone hole point is determined as a first density bone point.

[0135] The outer shaft of the end effector of the mechanical arm is controlled to punch the first density bone point.

[0136] Of course, the storage medium provided by the embodiment of the present disclosure contains computer executable instructions, which are not limited to the method operations as above, but can also perform related operations in the punch control method provided by any embodiment of the present disclosure.

[0137] Through the above description of the embodiments, those skilled in the art can clearly understand that the present disclosure can be realized by software and necessary general hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present disclosure can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a FLASH memory, a hard disk or an optical disk, etc., including a plurality of instructions to make a computer cloud platform (which can be a personal computer, a server, or a network cloud platform, etc.) execute the punch control method provided by each embodiment of the present disclosure.

[0138] Note that the above is only the preferred embodiment of the present disclosure and the applied technical principles. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A punching control device, characterized in that, An electronic device configured on a robotic arm, wherein the end effector of the robotic arm is mounted with an external shaft, the device comprising: The first determining module is used to determine whether the bone density of the current bone channel point corresponding to the current trajectory point on the target bone channel is greater than a first density threshold when the robotic arm moves to the current trajectory point according to the planned trajectory. The first density threshold is greater than the average intraosseous density of the target bone channel. The second determining module is used to determine the current bone tunnel point as a first density bone point if the bone density of the current bone tunnel point is greater than the first density threshold. The drilling control module is used to control the external axis of the end effector on the robotic arm to drill holes in the first density bone points.

2. The apparatus according to claim 1, characterized in that, The first determining module includes: The first determining unit is used to determine the bone location region to which the current bone channel point belongs on the target bone channel; The second determining unit is configured to determine that the bone density of the current bone passage point is greater than the first density threshold if the bone density of the bone location region is greater than the first density threshold, wherein the bone location region included in the target bone passage and the bone density corresponding to the bone location region are determined by pre-segmenting the scanned image of the target bone passage.

3. The apparatus according to claim 1, characterized in that, The first determining module includes: The first acquisition unit is used to acquire the force exerted on the robotic arm at the current bone passage point; The third determining unit is used to perform frequency domain analysis on the force and determine the ratio of the sum of the first frequency amplitudes of the force to the sum of the total frequency amplitudes, wherein the sum of the first frequency amplitudes is the sum of a plurality of first frequency amplitudes, and any first frequency amplitude is greater than the average value of the sum of the total frequency amplitudes. The fourth determining unit is used to determine that the bone density of the current bone passage point is greater than the first density threshold if the ratio is greater than a preset ratio.

4. The apparatus according to claim 1, characterized in that, Also includes: The judgment module is used to determine whether the bone density of the current bone tunnel point is less than a second density threshold if the bone density of the current bone tunnel point is less than the first density threshold. The third determining module is used to determine the current bone passage point as a second density bone passage point if the bone density of the current bone passage point is less than the second density threshold, wherein the second density threshold is less than the average intraosseous density of the target bone passage, or the second density threshold is less than the average extraosseous density of the target bone passage. The first control module is used to control the end effector of the robotic arm to drill holes in the second density bone particles.

5. The apparatus according to claim 1, characterized in that, The base of the robotic arm is equipped with a first axis, a second axis, and a third axis; the first axis is the rotation axis of the robotic arm, and the second and third axes are the translation axes of the robotic arm.

6. The apparatus according to claim 5, characterized in that, Also includes: The fourth determining module is used to determine whether the robotic arm meets the accessibility condition of the current bone passage point at the current trajectory point based on the planned pose of the robotic arm at the current trajectory point. The second control module is used to control the robotic arm to translate along the second axis and / or the third axis if the robotic arm does not meet the accessibility condition of the current bone passage point at the current trajectory point, so as to adjust the planned pose of the robotic arm at the current trajectory point to the first target pose. The third control module is configured to, if based on the first target pose, determine that the robotic arm satisfies the accessibility condition to the current bone path point at the current trajectory point, then control the robotic arm to move to the current trajectory point according to the planned trajectory; otherwise, continue to control the robotic arm to translate along the second axis and / or the third axis until, based on the updated target pose of the robotic arm at the current trajectory point, it is determined that the robotic arm satisfies the accessibility condition to the current bone path point at the current trajectory point.

7. The apparatus according to claim 5, characterized in that, Also includes: The fifth determining module is used to determine the singularity of the robotic arm at the current trajectory point based on the planned pose of the robotic arm at the current trajectory point; The fourth control module is used to control the robotic arm to rotate around the first axis, and / or control the robotic arm to translate along the second axis, and / or control the robotic arm to translate along the third axis if it is determined based on the singularity degree that the robotic arm meets the singularity region removal condition at the current trajectory point, so that the planned pose of the robotic arm at the current trajectory point is adjusted to the second target pose; The fifth control module is used to control the robotic arm to move out of the singular region corresponding to the current trajectory point based on the second target pose, and to adjust the step size of the planned trajectory; The sixth control module is used to control the robotic arm, which has been moved out of the strange region, to move to the current trajectory point according to the planned trajectory after step size adjustment.

8. The apparatus according to claim 5, characterized in that, Also includes: The sixth determining module is used to determine the planned stiffness of the robotic arm relative to the target bone path based on the planned pose of the robotic arm at the current trajectory point. The seventh control module is used to control the robotic arm to rotate around the first axis if the planned stiffness of the robotic arm for the target bone channel does not meet the drilling stiffness condition, so that the planned pose of the robotic arm at the current trajectory point is adjusted to the third target pose. The seventh determining module is used to determine the target stiffness of the robotic arm to the target bone tunnel based on the third target pose. The eighth control module is used to control the robotic arm to move to the current trajectory point according to the planned trajectory if the target stiffness meets the drilling stiffness condition; otherwise, it controls the robotic arm to continue rotating around the first axis and recalculate the stiffness until the recalculated stiffness meets the drilling stiffness condition.

Images