Method, System and Storage Medium for Generating Operation Trajectory of Osteotomy Robot-Assisted

Abstract

The present invention discloses a method, a system and a storage medium for generating an operation trajectory assisted by an osteotomy robot, including: obtaining an osteotomy trajectory based on a three-dimensional model of a bone to be osteotomized and determining the image coordinate values of the osteotomy trajectory; obtaining an intraoperative image of the bone to be osteotomized by a vision navigation device to generate a first transformation matrix; generating a second transformation matrix between a navigation coordinate system and a base coordinate system and executing a third transformation matrix between an execution coordinate system and the base coordinate system; converting the image coordinate values into an initial operation trajectory of the osteotomy robot according to the first, second and third transformation matrices, and optimizing the initial operation trajectory according to the result of simulating the operation based on the initial operation trajectory to generate an auxiliary operation trajectory of the osteotomy robot. An initial operation trajectory is generated through visual trajectory tracking, and the initial operation trajectory is optimized based on the simulated operation of the three-dimensional model of the actual bone to be osteotomized, so that the generated auxiliary operation trajectory fits the osteotomy trajectory required by the actual demand, and high-precision positioning of the auxiliary operation trajectory is realized.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a method, system and storage medium for generating an osteotomy robot-assisted operation trajectory. Background Art

[0002] Osteotomy is a surgery performed when bone deformities occur due to accident trauma, joint diseases, bone dysplasia, developmental deformities, etc. It can be performed in different parts of the body, such as the knee, hip, jaw, spine, etc. Through osteotomy, the deformed bones are cut and repositioned, aligned and repaired to achieve correction and relieve pain.

[0003] With the vigorous development of robotics technology, surgical robots are increasingly widely used in clinical practice. In osteotomy surgery, osteotomy robots can help doctors perform osteotomy tasks according to preoperative planning. Compared with traditional osteotomy surgical instruments, such as oscillating saws, osteotomy robots have the advantages of controllable precision and less damage to surrounding tissues. Whether the osteotomy robot can accurately perform the osteotomy task is closely related to the accurate planning of the auxiliary operation path before surgery. Although there are many ways to generate auxiliary operation paths, the accuracy of the generated paths is not satisfactory. Therefore, how to improve the accuracy of generating the auxiliary operation trajectory of the osteotomy robot is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The main purpose of the present invention is to provide a method, system and storage medium for generating an osteotomy robot-assisted operation trajectory, aiming to solve the technical problem of how to improve the accuracy of generating an osteotomy robot-assisted operation trajectory in the prior art.

[0005] To achieve the above object, the present invention provides a method for generating an osteotomy robot-assisted operation trajectory, wherein the osteotomy robot-assisted operation trajectory generation comprises:

[0006] Acquire a three-dimensional model of the bone to be osteotomized, and acquire an osteotomy trajectory of the bone to be osteotomized based on the three-dimensional model, and determine the image coordinate value of the osteotomy trajectory in a three-dimensional image coordinate system;

[0007] Acquire an intraoperative image of the bone to be osteotomized based on a visual navigation device corresponding to the osteotomy robot, and generate a first conversion matrix between the three-dimensional image coordinate system and the navigation coordinate system corresponding to the visual navigation device according to the intraoperative image;

[0008] Generate a second conversion matrix between the navigation coordinate system and the base coordinate system in the osteotomy robot, and obtain a third conversion matrix between the execution coordinate system of the end effector in the osteotomy robot and the base coordinate system;

[0009] Convert the image coordinate values into the initial operation trajectory of the osteotomy robot according to the first transformation matrix, the second transformation matrix, and the third transformation matrix, and perform a simulation operation on the three-dimensional model according to the initial operation trajectory, obtain the operation result, optimize the initial operation trajectory, and generate the auxiliary operation trajectory of the osteotomy robot.

[0010] Preferably, the step of generating the first transformation matrix between the three-dimensional image coordinate system generated according to the intraoperative image and the navigation coordinate system corresponding to the visual navigation device includes:

[0011] Identify the first pixel coordinates of the preset markers in the intraoperative image based on the navigation coordinate system, and form the first pixel coordinates into a first coordinate matrix;

[0012] Identify the second pixel coordinates of the preset markers in the model diagram corresponding to the three-dimensional model based on the three-dimensional image coordinate system, and form the second pixel coordinates into a second coordinate matrix;

[0013] Calculate the first rotation matrix based on the first preset formula for the first coordinate matrix and the second coordinate matrix. The first preset formula is:

[0014]

[0015] where min represents the minimum value, N represents the number of elements in the first or second coordinate matrix, qi represents the value of the i-th element in the first coordinate matrix, pi represents the value of the i-th element in the second coordinate matrix, R1 represents the first rotation matrix, ||·|| 2 used to calculate the square of the norm, σ() represents the correction function, ω represents the number of reference pixel points in the reference image corresponding to the intraoperative image, Bε represents the pixel coordinates of the pixel point corresponding to the reference pixel point in the intraoperative image, and B’ε0 represents the pixel coordinates of the reference pixel point in the reference image;

[0016] Calculate the first translation vector based on the first rotation matrix. The calculation formula is:

[0017] T1 = q - R1 * q;

[0018] where T1 represents the first translation vector, and q represents the average value of the elements in each row or each column of the first coordinate matrix;

[0019] Generate the first transformation matrix from the first rotation matrix and the first translation vector.

[0020] Preferably, the step of generating the second transformation matrix between the navigation coordinate system and the base coordinate system in the osteotomy robot includes:

[0021] Select any pixel coordinate from each of the first pixel coordinates as the target pixel coordinate, and correct the target pixel coordinate to obtain the corrected pixel coordinate. The correction formula is:

[0022]

[0023] where (u, v) represents the corrected pixel coordinate, (u0, v0) represents the target pixel coordinate, D1, D2, D3 represent correction parameters, and r represents the minimum distance between the target pixel coordinate and the boundary of the intraoperative image;

[0024] Identify the first base coordinate value corresponding to the target pixel coordinate in the base coordinate system of the osteotomy robot, and obtain the internal parameters of the visual navigation device;

[0025] Calculate the internal parameters, the corrected pixel coordinate, and the first base coordinate value based on a second preset formula to obtain a second rotation matrix and a second translation vector. The second preset formula is:

[0026]

[0027] where fx, fy, α, β all represent internal parameters, R2 represents the second rotation matrix, T2 represents the second translation vector, and (X0, Y0, Z0) represents the first base coordinate value;

[0028] Generate the second coordinate matrix from the second rotation matrix and the second translation vector.

[0029] Preferably, the step of converting the image coordinate value into the initial operation trajectory of the osteotomy robot according to the first transformation matrix, the second transformation matrix, and the third transformation matrix includes:

[0030] Obtain the intraoperative depth image of the bone to be osteotomized collected by the visual navigation device, and form the intraoperative three-dimensional model of the bone to be osteotomized in the navigation coordinate system based on the intraoperative depth image;

[0031] Convert the image coordinate value into the intraoperative coordinate value of the intraoperative three-dimensional model in the navigation coordinate system according to the first transformation matrix;

[0032] Convert the intraoperative coordinate value into the second base coordinate value on the base coordinate system based on the second transformation matrix, and convert the second base coordinate value into the execution coordinate value on the execution coordinate system based on the third transformation matrix;

[0033] Obtain the matching relationship between the osteotomy position corresponding to the osteotomy trajectory and the osteotomy operation parameters, and generate the initial operation trajectory based on the execution coordinate value and the matching relationship.

[0034] Preferably, the step of generating the initial operation trajectory based on the execution coordinate values and the matching relationship includes:

[0035] Search for target execution coordinate values corresponding to the respective osteotomy positions in the matching relationship from the execution coordinate values, and determine the weight parameters of each target execution coordinate value according to the osteotomy operation parameters corresponding to the respective osteotomy positions in the matching relationship;

[0036] Add default weight parameters to the other execution coordinate values in the execution coordinate values except the target execution coordinate values, and generate a weight array of the execution coordinate values with the weight parameters and the default weight parameters;

[0037] Fit the execution coordinate values to an initial operation trajectory according to a preset spline curve function and the weight array, where the preset spline curve function is:

[0038]

[0039] where C(s) represents the position vector of the curve trajectory corresponding to the preset spline curve function, n represents the number of execution coordinate values, w1j represents the weight value corresponding to the j-th execution coordinate value in the weight array, w2j represents the fitting weight factor corresponding to the j-th execution coordinate value, dj represents the j-th execution coordinate value, and N j，k (s) represents the k-th spline basis function corresponding to the j-th execution coordinate value in the preset spline curve function, and sj is the vector corresponding to the j-th execution coordinate value.

[0040] Preferably, the step of performing a simulation operation on the three-dimensional model according to the initial operation trajectory, obtaining an operation result, optimizing the initial operation trajectory, and generating an auxiliary operation trajectory of the osteotomy robot includes:

[0041] Perform multiple simulation operations on the three-dimensional model according to the initial operation trajectory, obtain multiple operation results, and calculate the error results between the multiple operation results and the osteotomy trajectory based on a preset error calculation formula, where the preset error calculation formula is:

[0042]

[0043] where L represents the error result calculated based on the preset error calculation formula, G represents the number of simulation operations, m represents the number of execution coordinate values, and x τ , y τ , z τ , respectively represent the X-axis value, Y-axis value, Z-axis value, and direction of the operation result generated by the τ-th execution coordinate value through the simulation operation in the execution coordinate system, and xτ0 , y τ0 , z τ0 , respectively represent the X-axis reference value, Y-axis reference value, Z-axis reference value, and reference direction of the τ-th execution coordinate value in the execution coordinate system, g represents a numerical error calculation function, and f represents a direction error calculation function;

[0044] Compare the error result with a preset error threshold to determine whether the error result is less than or equal to the preset error threshold. If the error result is less than or equal to the preset error threshold, then generate the initial operation trajectory as the auxiliary operation trajectory;

[0045] If the error result is greater than the preset error threshold, then adjust the fitting weight factor in the preset spline curve function, and re-fit the execution coordinate value based on the adjusted preset spline curve function to form a new initial operation trajectory until the error result formed by simulating the operation of the initial operation trajectory is less than or equal to the preset error threshold.

[0046] Preferably, after the step of generating the initial operation trajectory as the auxiliary operation trajectory if the error result is less than or equal to the preset error threshold, it includes:

[0047] Determine an operation starting point corresponding to the bone to be osteotomized according to the auxiliary operation trajectory, and control the end effector of the osteotomy robot to move to the operation starting point;

[0048] Control the laser device corresponding to the osteotomy robot to start, generate laser from the laser device to the end effector, and control the end effector to move along the auxiliary operation trajectory to perform an osteotomy operation on the bone to be osteotomized;

[0049] Obtain the real-time osteotomy displacement formed by the osteotomy operation, generate a matching degree between the real-time osteotomy displacement and the auxiliary operation trajectory, and regulate the operation of the end effector according to the matching degree.

[0050] Preferably, the step of obtaining the three-dimensional model of the bone to be osteotomized includes:

[0051] Obtain multiple CT scan images corresponding to the bone to be osteotomized based on a CT scanning device, and perform preprocessing and segmentation on the multiple CT scan images to obtain multiple segmented images;

[0052] Perform model reconstruction based on the multiple segmented images to obtain the three-dimensional model of the bone to be osteotomized.

[0053] Further, to achieve the above object, the present invention further provides a system for generating an operation trajectory assisted by an osteotomy robot. The system for generating an operation trajectory assisted by an osteotomy robot includes a storage, a processor, a communication bus, and a control program stored on the storage:

[0054] The communication bus is used to implement the connection and communication between the processor and the storage;

[0055] The processor is configured to execute the control program to implement the steps of the method for generating an operation trajectory assisted by an osteotomy robot as described above.

[0056] Further, to achieve the above object, the present invention further provides a storage medium. A control program is stored on the storage medium, and when the control program is executed by a processor, the steps of the method for generating an operation trajectory assisted by an osteotomy robot as described above are implemented.

[0057] For the method, system, and storage medium for generating an operation trajectory assisted by an osteotomy robot according to the present invention, first, a three-dimensional model of the bone to be osteotomized is obtained, and an osteotomy trajectory of the bone to be osteotomized is obtained based on the three-dimensional model, and the image coordinate values of the osteotomy trajectory in the three-dimensional image coordinate system are determined; then, intraoperative images of the bone to be osteotomized are obtained based on a visual navigation device corresponding to the osteotomy robot, and a first transformation matrix between the three-dimensional image coordinate system and the navigation coordinate system corresponding to the visual navigation device is generated according to the intraoperative images; and a second transformation matrix between the navigation coordinate system and the base coordinate system in the osteotomy robot is generated, and a third transformation matrix between the execution coordinate system and the base coordinate system of the end effector in the osteotomy robot is obtained; then, according to the first transformation matrix, the second transformation matrix, and the third transformation matrix, the image coordinate values are converted into an initial operation trajectory of the osteotomy robot, and a simulation operation is performed on the bone to be osteotomized according to the initial operation trajectory, and the initial operation trajectory is optimized based on the operation result to generate an auxiliary operation trajectory of the osteotomy robot, which is used as the operation trajectory for osteotomy of the osteotomy robot. Through the first transformation matrix between the three-dimensional image coordinate system and the navigation coordinate system, the second transformation matrix between the navigation coordinate system and the base coordinate system, and the third transformation matrix between the base coordinate system and the end effector, the osteotomy trajectory formed before surgery is converted into an initial operation trajectory during surgery. Since the first transformation matrix is generated based on the images of the bone to be osteotomized during actual osteotomy surgery, the conversion of the osteotomy trajectory is more accurate, and the obtained initial operation trajectory is closer to the actual osteotomy trajectory. In addition, an osteotomy simulation operation is performed on the three-dimensional model according to the initial operation trajectory, and the initial operation trajectory is optimized based on the operation result of the simulation operation. Since the three-dimensional model is generated based on the bone to be osteotomized, the operation result of the simulated osteotomy reflects the accuracy of the actual osteotomy of the bone to be osteotomized, so that the auxiliary operation trajectory formed after optimization is further closer to the actual osteotomy trajectory, improving the accuracy of generating the auxiliary operation trajectory of the osteotomy robot. Brief Description of the Drawings

[0058] Figure 1 It is a schematic flowchart of the first embodiment of the method for generating the operation trajectory of an osteotomy robot assisted by the present invention;

[0059] Figure 2 It is a schematic flowchart of the second embodiment of the method for generating the operation trajectory of an osteotomy robot assisted by the present invention;

[0060] Figure 3 It is a schematic flowchart of the third embodiment of the method for generating the operation trajectory of an osteotomy robot assisted by the present invention;

[0061] Figure 4 It is a schematic flowchart of the fourth embodiment of the method for generating the operation trajectory of an osteotomy robot assisted by the present invention;

[0062] Figure 5 It is a schematic structural diagram of the hardware operating environment involved in an embodiment of the system for generating the operation trajectory of an osteotomy robot assisted by the present invention.

[0063] The realization, functional characteristics and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed Embodiments

[0064] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0065] The present invention provides a method for generating an operation trajectory of an osteotomy robot assisted, please refer to Figure 1 , Figure 1 It is a schematic flowchart of the first embodiment of the method for generating the operation trajectory of an osteotomy robot assisted by the present invention.

[0066] The embodiments of the present invention provide an embodiment of the method for generating the operation trajectory of an osteotomy robot assisted. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described herein may be executed in a different order. Specifically, the method for generating the operation trajectory of an osteotomy robot assisted in this embodiment includes:

[0067] Step S10, obtaining a three-dimensional model of the bone to be osteotomized, obtaining the osteotomy trajectory of the bone to be osteotomized based on the three-dimensional model, and determining the image coordinate values of the osteotomy trajectory in the three-dimensional image coordinate system.

[0068] The osteotomy robot-assisted operation trajectory generation method of this embodiment is applied to the control center of the osteotomy robot system. In addition to the control center, the osteotomy robot system at least includes an osteotomy robot and a vision navigation device that are communicatively connected to the control center. The osteotomy robot can be further divided into an end effector that actually performs the osteotomy operation and a base that supports the end effector. Moreover, the end effector can be a laser emission end. At this time, the osteotomy robot system further includes a laser device, and the control center controls the laser emission end to emit laser to perform the osteotomy operation according to the formed assisted operation trajectory.

[0069] Specifically, the control center obtains the three-dimensional model of the bone to be osteotomized that needs to undergo osteotomy surgery. The three-dimensional model is in a one-to-one size ratio with the bone to be osteotomized and can reflect the characteristics of the bone to be osteotomized through model parameters, such as bone density, bone hardness, and the position closest to the blood vessel. Moreover, the three-dimensional model can be formed based on CT (Computed Tomography) or MRI (magnetic resonance imaging). Specifically, the steps of obtaining the three-dimensional model of the bone to be osteotomized include:

[0070] Step S11: Obtain multiple CT scan images corresponding to the bone to be osteotomized based on a CT scanning device, and perform preprocessing and segmentation on the multiple CT scan images to obtain multiple segmented images;

[0071] Step S12: Perform model reconstruction based on the multiple segmented images to obtain the three-dimensional model of the bone to be osteotomized.

[0072] Furthermore, the osteotomy robot system is also communicatively connected to a CT scanning device or a magnetic resonance device. Such a device can be a part of the osteotomy robot system or a device independent of the osteotomy robot system, and there is no limitation in this regard. This embodiment specifically uses a CT scanning device for illustration. Specifically, a specific marker is used to mark the tissue part to be osteotomized, and the tissue part of the patient's bone to be osteotomized is tomographically scanned by a CT scanning device to obtain multiple cross-sectional images as the CT scan images corresponding to the bone to be osteotomized. Then, preprocessing such as filtering and denoising is performed on the multiple CT scan images, and threshold segmentation is performed on the preprocessed CT scan images to obtain the edges of each layer of the image. Then, model reconstruction is performed on the multiple segmented images. By adding the Z-axis parameter to the edge, the two-dimensional array of the image is converted into a three-dimensional array, and the information of the three-dimensional array is spliced and fused to form a three-dimensional vector array, so as to form the final three-dimensional model from the three-dimensional vector array and obtain the three-dimensional model of the bone to be osteotomized.

[0073] Further, the three-dimensional model of the bone to be osteotomized reflects a series of characteristics of the bone to be osteotomized, such as at least including the deformed part of the bone to be osteotomized that needs to be resected, the distance between the bone to be osteotomized and surrounding tissues, such as blood vessels and nerves. In order to accurately resect the deformed part, a professional doctor views the three-dimensional model of the bone to be osteotomized, determines its appropriate osteotomy trajectory, and then adds the determined osteotomy trajectory to the three-dimensional model to form the osteotomy trajectory of the bone to be osteotomized. Moreover, a coordinate system is pre-set in the three-dimensional imaging space where the three-dimensional model is located, and it is used as the three-dimensional imaging coordinate system. By identifying the position and shape of the three-dimensional model in the three-dimensional imaging coordinate system and the position and shape of the osteotomy trajectory on the three-dimensional model, the image coordinates of the osteotomy trajectory in the three-dimensional imaging coordinate system are calculated and determined to reflect the position of the osteotomy trajectory in the three-dimensional imaging coordinate system.

[0074] Step S20: Based on the vision navigation device corresponding to the osteotomy robot, obtain the intraoperative image of the bone to be osteotomized, and generate a first transformation matrix between the three-dimensional imaging coordinate system and the navigation coordinate system corresponding to the vision navigation device according to the intraoperative image.

[0075] Furthermore, after the osteotomy trajectory is formed, the patient who needs to be osteotomized is transferred to the operating space for osteotomy surgery. The operating space is provided with an osteotomy robot and a vision navigation device included in the osteotomy robot system. The vision navigation device is preferably binocular stereo vision. The vision navigation device is used to photograph the part where the bone to be osteotomized is located, that is, the part where the specific marker is located, to obtain the intraoperative image of the bone to be osteotomized. The photographed intraoperative image is a depth map and usually has its own coordinate system, such as a coordinate system formed by the point at the upper left corner of the image, and the pixel point positions are all determined according to this coordinate system. In this embodiment, this coordinate system is used as the navigation coordinate system associated with the vision navigation device, and a first transformation matrix between the three-dimensional imaging coordinate system and the navigation coordinate system is generated according to the corresponding relationship between the pixel positions of the osteotomy trajectory in the intraoperative image and the position of the osteotomy trajectory in the three-dimensional imaging coordinate system. Through this first transformation matrix, the image coordinate values of the osteotomy trajectory in the three-dimensional imaging coordinate system can be converted into the coordinate values in the navigation coordinate system.

[0076] Step S30: Generate a second transformation matrix between the navigation coordinate system and the base coordinate system in the osteotomy robot, and obtain a third transformation matrix between the execution coordinate system of the end effector in the osteotomy robot and the base coordinate system.

[0077] Understandably, the osteotomy robot includes a base and an end effector. The coordinate reference for the actions performed by the end effector usually directly comes from the connected moving joints. To ensure that the actual operation site of the end effector coincides with the site tracked by the vision navigation device, it is necessary to convert the coordinate reference of the vision navigation device to the coordinate reference for the actions. Since the base of the osteotomy robot is a fixed rigid object, the conversion is based on the base. The coordinate system corresponding to the base is used as the base coordinate system. By using the position of a specific marker in the intraoperative image and the position of the specific marker relative to the base coordinate system, a second transformation matrix between the navigation coordinate system and the base coordinate system is generated.

[0078] Further, the coordinate system referred to by the end effector is used as the execution coordinate system. In advance, based on the joint angles, joint lengths, etc. of the osteotomy robot and combined with the kinematic model, a transformation matrix between the execution coordinate system of the end effector and the base coordinate system in the osteotomy robot is formed. This transformation matrix is obtained as the third transformation matrix to achieve the coordinate transformation between the execution coordinate system and the base coordinate system during the operation.

[0079] Step S40: According to the first transformation matrix, the second transformation matrix, and the third transformation matrix, convert the image coordinate values into the initial operation trajectory of the osteotomy robot, and perform a simulated operation on the three-dimensional model according to the initial operation trajectory. Obtain the operation result to optimize the initial operation trajectory and generate the auxiliary operation trajectory of the osteotomy robot.

[0080] Furthermore, through the first transformation matrix, the image coordinate values of the osteotomy trajectory in the three-dimensional image coordinate system are converted into coordinate values in the navigation coordinate system. Then, according to the second transformation matrix, the coordinate values in the navigation coordinate system are converted into coordinate values in the base coordinate system, and according to the third transformation matrix, the coordinate values in the base coordinate system are converted into coordinate values in the execution coordinate system. Then, the coordinate values in the execution coordinate system are formed into the initial operation trajectory, and this initial operation trajectory is the trajectory for the end effector to perform osteotomy operations on the bone to be osteotomized.

[0081] Understandably, there may be errors in the conversion of the image coordinate values by the first transformation matrix, the second transformation matrix, and the third transformation matrix, or there may be errors in the formation of the first transformation matrix, the second transformation matrix, and the third transformation matrix themselves, resulting in conversion errors, or there may be errors in the image coordinate values determined based on the osteotomy trajectory. Regardless of the reason for the error, it will ultimately cause errors in the formed initial operation trajectory, resulting in inaccurate osteotomy operations based on this initial operation trajectory. Therefore, to ensure the accuracy of osteotomy operations, this embodiment is provided with a simulated operation mechanism for the formed initial operation trajectory.

[0082] Specifically, the three-dimensional model is simulated for operation according to the initial operation trajectory, the starting point of the initial operation trajectory in the three-dimensional model is identified, and the simulated osteotomy operation is performed starting from this starting point. After the simulated osteotomy operation is completed, the simulated osteotomy trajectory formed by the simulated osteotomy operation is obtained, and this simulated osteotomy trajectory is the operation result of the simulated operation. Furthermore, according to the difference between the operation result reflected by this simulated osteotomy trajectory and the planned osteotomy trajectory, the initial operation trajectory is optimized, so that the operation result formed by the simulated operation according to the optimized initial operation trajectory is closer to the planned osteotomy trajectory. The optimized initial operation trajectory is formed into the auxiliary operation trajectory of the osteotomy robot to ensure the accuracy of the osteotomy of the osteotomy robot.

[0083] For the method for generating the auxiliary operation trajectory of the osteotomy robot in this embodiment, first, the three-dimensional model of the bone to be osteotomized is obtained, and according to this three-dimensional model, the osteotomy trajectory of the bone to be osteotomized is obtained, and the image coordinate value of the osteotomy trajectory in the three-dimensional image coordinate system is determined; furthermore, the intraoperative image of the bone to be osteotomized is obtained according to the visual navigation device corresponding to the osteotomy robot, and the first transformation matrix between the three-dimensional image coordinate system and the navigation coordinate system corresponding to the visual navigation device is generated according to the intraoperative image; and the second transformation matrix between the navigation coordinate system and the base coordinate system in the osteotomy robot is generated, and the third transformation matrix between the execution coordinate system of the end effector in the osteotomy robot and the base coordinate system is obtained; furthermore, according to the first transformation matrix, the second transformation matrix and the third transformation matrix, the image coordinate value is transformed into the initial operation trajectory of the osteotomy robot, and the bone to be osteotomized is simulated for operation according to the initial operation trajectory, and the initial operation trajectory is optimized according to the operation result to generate the auxiliary operation trajectory of the osteotomy robot as the operation trajectory for the osteotomy of the osteotomy robot. In the present invention, through the first transformation matrix between the three-dimensional image coordinate system and the navigation coordinate system, the second transformation matrix between the navigation coordinate system and the base coordinate system, and the third transformation matrix between the base coordinate system and the end effector, the osteotomy trajectory formed before the operation is transformed into the initial operation trajectory during the operation. Since the first transformation matrix is generated based on the image of the bone to be osteotomized in the actual osteotomy operation, the transformation of the osteotomy trajectory is more accurate, and the obtained initial operation trajectory is closer to the trajectory actually required for osteotomy. In addition, the three-dimensional model is also simulated for osteotomy operation according to the initial operation trajectory, and the initial operation trajectory is optimized according to the simulated operation result. Since the three-dimensional model is generated based on the bone to be osteotomized, the operation result of its simulated osteotomy reflects the osteotomy accuracy of the actual bone to be osteotomized, so that the auxiliary operation trajectory formed after optimization according to it is further closer to the trajectory actually required for osteotomy, improving the accuracy of generating the auxiliary operation trajectory of the osteotomy robot.

[0084] Furthermore, please refer to Figure 2, based on the first embodiment of the osteotomy robot-assisted operation trajectory generation method of the present invention, the second embodiment of the osteotomy robot-assisted operation trajectory generation method of the present invention is proposed.

[0085] The difference between the second embodiment of the osteotomy robot-assisted operation trajectory generation method and the first embodiment of the osteotomy robot-assisted operation trajectory generation method is that the step of generating the first conversion matrix between the three-dimensional image coordinate system and the navigation coordinate system corresponding to the visual navigation device according to the intraoperative image includes:

[0086] Step S21, based on the navigation coordinate system, identify the first pixel coordinates of the preset marker in the intraoperative image, and form each of the first pixel coordinates into a first coordinate matrix;

[0087] Step S22, based on the three-dimensional image coordinate system, identify the second pixel coordinates of the preset marker in the model diagram corresponding to the three-dimensional model, and form each of the second pixel coordinates into a second coordinate matrix;

[0088] Step S23, calculate the first rotation matrix based on a first preset formula for the first coordinate matrix and the second coordinate matrix;

[0089] Step S24, calculate the first translation vector based on the first rotation matrix;

[0090] Step S25, generate the first conversion matrix from the first rotation matrix and the first translation vector.

[0091] Further, a specific marker set during the CT scan is used as the preset marker, and this preset marker will be imaged both in the CT scan image and in the intraoperative image taken by the visual navigation device. According to the navigation coordinate system, identify the first pixel coordinates of the preset marker in the intraoperative image, and identify the image position of the preset marker in the intraoperative image. This image position reflects the pixel point position of the preset marker in the navigation coordinate system, and the first pixel coordinates can be obtained by identifying the pixel point coordinates. Among them, the preset marker may occupy more pixel points, and the middle position can be selected as the pixel point position. And, in order to accurately locate the tissue part of the bone to be osteotomized, the number of markers set is usually multiple, such as 4, 5, etc. After identifying the first pixel coordinates of each preset marker in the intraoperative image respectively, arrange the first pixel coordinates in a row or column manner to form a first coordinate matrix.

[0092] Furthermore, for the imaging of the preset marker in the CT scan image, its pixel coordinates are identified according to the three-dimensional imaging coordinate system and used as the second pixel coordinates of the preset marker in the model diagram corresponding to the three-dimensional model. It should be noted that if the three-dimensional model is not formed based on CT scanning, for example, formed based on MRI imaging, then the pixel coordinates of the preset marker in the MRI imaging diagram are identified according to the three-dimensional imaging coordinate system and used as the second pixel coordinates of the preset marker in the model diagram corresponding to the three-dimensional model. That is, the model diagram corresponding to the three-dimensional model is the image based on which the three-dimensional model is formed. Similarly, for the multiple pixel points formed by each preset marker, the pixel point located in the middle position is selected as the pixel point position of the preset marker. And, after identifying the second pixel coordinates of each preset marker in the model diagram respectively, the second pixel coordinates are arranged in a row or column manner to form a second coordinate matrix. Among them, the arrangement positions of the second pixel coordinates are the same as those of the first pixel coordinates to ensure that the preset markers corresponding to the rows or columns in the first coordinate matrix and the second coordinate matrix are the same.

[0093] It can be understood that the conversion between different coordinate systems can be achieved through rotation and translation, that is, one coordinate system is converted to have the same direction as another coordinate system through rotation, and one coordinate system is moved to have the same position as another coordinate system through translation. In this embodiment, the conversion between the three-dimensional imaging coordinate system and the navigation coordinate system also includes rotation and translation. Therefore, the first conversion matrix includes a rotation part for rotation and a translation part for translation. The rotation part is a 3*3 matrix, and the translation part is a 3*1 vector. A first preset formula for generating the rotation part in the first conversion matrix is formed in advance through experiments. The first coordinate matrix and the second conversion matrix are calculated through this first preset formula to obtain a matrix as the first rotation matrix. The specific first preset formula is shown in the following formula (1).

[0094]

[0095] Among them, min represents the minimum value, N represents the number of elements in the first or second coordinate matrix, qi represents the value of the i-th element in the first coordinate matrix, pi represents the value of the i-th element in the second coordinate matrix, R1 represents the first rotation matrix, ||·|| 2 is used to calculate the square of the norm, σ( ) represents the correction function, ω represents the number of reference pixel points in the reference image corresponding to the intraoperative image, Bε represents the pixel coordinates of the pixel point corresponding to the reference pixel point in the intraoperative image, and B'ε0 represents the pixel coordinates of the reference pixel point in the reference image.

[0096] By determining the first rotation matrix \(R\) that can minimize the minimum value \(min\) of the first preset formula, the rotation conversion error between the three-dimensional image coordinate system and the navigation coordinate system is minimized by the first selection matrix. At the same time, considering that the intraoperative images captured by the vision navigation device may have image distortion, such as the radial error and decentering error of the image caused by the imaging lens factor in the vision navigation device. To reduce the influence of image distortion on the accuracy of the formed rotation matrix during the operation, a reference image as a reference for the intraoperative image is obtained in advance by a standard vision navigation device, and multiple reference pixel points are selected from the reference image, and the pixel coordinates of each reference pixel point are obtained. The pixel coordinates of the reference pixel points are introduced into the first preset formula, the pixel points corresponding to the reference pixel points are identified from the intraoperative image, and the pixel coordinates of each corresponding pixel point are obtained. Furthermore, the distortion rate of each identified pixel point relative to its reference pixel point is calculated from the pixel coordinates of the identified pixel points and the pixel coordinates of the reference pixel points, and all the distortion rates are statistically analyzed to obtain the total distortion rate. A correction function between different distortion rates and correction coefficients is preset in advance, the correction coefficient corresponding to the total distortion rate is determined through the correction function, and then the first preset formula for forming the first rotation matrix is corrected by the correction coefficient, so that the first rotation matrix determined by the first preset formula is more accurate, and the rotation conversion error between the coordinate systems is further reduced.

[0097] Furthermore, for the translation vector for realizing the translation of the coordinate system, it can be calculated through its correlation with the rotation matrix. The specific calculation formula is as follows in formula (2).

[0098] \(T1 = q - R1*q\) (2);

[0099] Where, \(T1\) represents the first translation vector, and \(q\) represents the average value of the elements in each row or each column of the first coordinate matrix. It should be noted that if the first pixel coordinates are arranged in rows to form the first coordinate matrix, that is, each row contains the XYZ values in a pixel coordinate, then \(q\) represents the average value of each column in the first coordinate matrix. If the first pixel coordinates are arranged in columns to form the first coordinate matrix, that is, each column contains the XYZ values in a pixel coordinate, then \(q\) represents the average value of each row in the first coordinate matrix. The \(q\) formed in this way is the average value of pixel X, average value of pixel Y, and average value of pixel Z of the preset marker imaged in the intraoperative image. By calculating the \(q\) value and the first rotation matrix through the calculation formula (2), the first translation vector is obtained, and the first rotation matrix and the first translation vector are combined to form the first conversion matrix, which is used to realize the conversion and translation between the three-dimensional image coordinate system and the navigation coordinate system, and convert the coordinates in the three-dimensional image coordinate system into the coordinates in the navigation coordinate system.

[0100] Further, for the second transformation matrix, the steps of generating the second transformation matrix between the navigation coordinate system and the base coordinate system in the osteotomy robot include:

[0101] Step S31, select any pixel coordinate from each of the first pixel coordinates as the target pixel coordinate, and correct the target pixel coordinate to obtain the corrected pixel coordinate;

[0102] Step S32, identify the first base coordinate value corresponding to the target pixel coordinate in the base coordinate system of the osteotomy robot, and obtain the internal parameters of the visual navigation device;

[0103] Step S33, calculate the internal parameters, the corrected pixel coordinate, and the first base coordinate value based on a second preset formula to obtain a second rotation matrix and a second translation vector;

[0104] Step S34, generate the second coordinate matrix from the second rotation matrix and the second translation vector.

[0105] Further, arbitrarily select one from the first pixel coordinates respectively generated based on multiple preset markers as the target pixel coordinate. Considering the image distortion problem as described above, use a preset correction formula to correct the target pixel coordinate to obtain the corrected pixel coordinate. The correction formula can be specifically referred to as formula (3) below.

[0106]

[0107] Among them, (u, v) represents the corrected pixel coordinate, (u0, v0) represents the target pixel coordinate, D1, D2, and D3 represent correction parameters, and r represents the minimum distance between the target pixel coordinate and the boundary of the intraoperative image.

[0108] Furthermore, the target pixel coordinate is the pixel point coordinate of a certain preset marker imaged in the intraoperative image. A probe is provided on the osteotomy robot. By controlling the contact between the probe and the preset marker, the coordinate position of the preset marker in the base coordinate system of the osteotomy robot can be identified, and this coordinate position is determined as the first base coordinate value corresponding to the target pixel coordinate in the base coordinate system.

[0109] Further, obtain the internal parameters of the visual navigation device. Such internal parameters can be determined in advance by calibrating the visual navigation device. Then, through the second preset formula, calculate the internal parameters, the target pixel coordinate, and the first base coordinate value to obtain a second rotation matrix and a second translation vector. The second preset formula can be specifically referred to as formula (4) below.

[0110]

[0111] Among them, fx, fy, α, and β all represent internal parameters, R2 represents the second rotation matrix, T2 represents the second translation vector, and (X0, Y0, Z0) represents the first base coordinate value.

[0112] The second preset formula is formed by pre-setting through experiments. The second rotation matrix and the second translation vector are obtained by calculating with it, realizing the rotation and translation between the navigation coordinate system and the base coordinate system, and converting the coordinates in the navigation coordinate system into the coordinates in the base coordinate system. Moreover, since the corrected pixel coordinates used for calculation are obtained by correcting the target pixel coordinates through the correction formula, it can effectively avoid the image distortion caused by the visual navigation device, making the corrected pixel coordinates more accurately reflect the imaging of the preset marker in the intraoperative image, thereby improving the accuracy of the calculation of the second rotation matrix and the second translation vector, and making the conversion between the navigation coordinate system and the base coordinate system more accurate.

[0113] Furthermore, in order to further improve the accuracy of the conversion, multiple target pixel coordinates can be selected from the first pixel coordinates for correction. Each of the multiple pixel coordinates is corrected to form its corresponding corrected pixel coordinate and processed through formula (4). Among them, the processing method can be to form the corrected mean value of each corrected pixel coordinate, find the corresponding first base coordinate value for each, form the base mean value of each first base coordinate value, and then formula (4) processes the corrected mean value and the base mean value to obtain the second rotation matrix and the second translation vector. In addition, it can also be to first find the first base coordinate value corresponding to each corrected pixel value respectively, and process them respectively through formula (4) to obtain multiple sets of second rotation matrices and second translation matrices for mean operation to obtain the final second rotation matrix and second translation matrix.

[0114] In this embodiment, by considering the possible influence of image distortion in the intraoperative image captured by the visual navigation device, relevant correction mechanisms are set, and based on this, the first conversion matrix and the second conversion matrix are generated, making the generated first conversion matrix and second conversion matrix more accurate, thereby improving the accuracy of the conversion between the three-dimensional image coordinate system and the navigation coordinate system, and between the navigation coordinate system and the base coordinate system, which is beneficial to generating an accurate osteotomy operation trajectory.

[0115] Furthermore, please refer to Figure 3 , based on the first and second embodiments of the osteotomy robot-assisted operation trajectory generation method of the present invention, the third embodiment of the osteotomy robot-assisted operation trajectory generation method of the present invention is proposed.

[0116] The difference between the third embodiment of the osteotomy robot-assisted operation trajectory generation method and the first and second embodiments of the osteotomy robot-assisted operation trajectory generation method is that the step of converting the image coordinate values into the initial operation trajectory of the osteotomy robot according to the first transformation matrix, the second transformation matrix, and the third transformation matrix includes:

[0117] Step S41, obtaining an intraoperative depth image of the bone to be osteotomized collected based on the visual navigation device, and forming an intraoperative three-dimensional model of the bone to be osteotomized in the navigation coordinate system based on the intraoperative depth image;

[0118] Step S42, converting the image coordinate values into intraoperative coordinate values of the intraoperative three-dimensional model in the navigation coordinate system according to the first transformation matrix;

[0119] Step S43, converting the intraoperative coordinate values into second base coordinate values on the base coordinate system based on the second transformation matrix, and converting the second base coordinate values into execution coordinate values on the execution coordinate system based on the third transformation matrix;

[0120] Step S44, obtaining the matching relationship between the osteotomy position corresponding to the osteotomy trajectory and the osteotomy operation parameters, and generating the initial operation trajectory based on the execution coordinate values and the matching relationship.

[0121] Furthermore, multiple depth images of the bone to be osteotomized during the operation are collected by the visual navigation device, and the control center obtains the collected multiple depth images as intraoperative depth images, and then performs three-dimensional reconstruction based on the intraoperative depth images to obtain an intraoperative three-dimensional model of the bone to be osteotomized in the navigation coordinate system. Among them, the depth image is taken based on a preset marker and is used to represent the image of the part that needs to be osteotomized, and the corresponding intraoperative three-dimensional model is also used to represent the three-dimensional shape of the part that needs to be osteotomized.

[0122] Furthermore, the image coordinate values are converted through the first transformation matrix and converted into coordinate values in the navigation coordinate system. The intraoperative three-dimensional model is located in the navigation coordinate system and represents the part that needs to be osteotomized, and the converted coordinate values are located on the three-dimensional model and represent the specific position of the osteotomy. Therefore, the converted coordinate values are the intraoperative coordinate values of the three-dimensional model in the navigation coordinate system.

[0123] Further, the intraoperative coordinate values in the navigation coordinate system are converted into the second pedestal coordinate values in the pedestal coordinate system through a second transformation matrix, and the second pedestal coordinate values on the pedestal coordinate system are converted into the execution coordinate values in the execution coordinate system through a third transformation matrix. The execution coordinate values reflect the actual coordinate positions during the osteotomy operation of the end effector of the osteotomy robot. Since they are converted from the image coordinate values corresponding to the osteotomy trajectory, the end effector can perform the actual osteotomy operation according to the planned osteotomy trajectory.

[0124] Furthermore, the planned osteotomy trajectory includes an osteotomy start point and an end point, as well as turning positions or bending positions between the start point and the end point. In order to enable the end effector to start osteotomy from the start point and accurately turn or bend at the turning position or bending position, the converted execution coordinate values need to be generated into the initial operation trajectory of the end effector in the osteotomy robot, so as to control the end effector to perform the osteotomy operation according to the initial operation trajectory.

[0125] In addition, considering that different positions of the bone to be osteotomized often have different bone hardness or bone density, etc., or the distances between different positions and different tissues are different, such as the distance from blood vessels or nerves. The bone hardness, bone density, or the distance information between different positions and other tissues can be obtained during the CT scanning process and is reflected in the three-dimensional model formed based on the CT scan. When the doctor forms the osteotomy trajectory based on the three-dimensional model, the positions where the bone hardness is relatively large and the execution energy consumption of the end effector of the cutting robot needs to be increased are marked, and at the same time, the positions where the distance from other tissues is relatively close and the execution speed of the end effector structure needs to be adjusted are also marked. Such markings form the matching relationship between the osteotomy positions and the osteotomy operation parameters in the osteotomy trajectory. During the process of forming the initial operation trajectory, the matching relationship between the osteotomy positions and the osteotomy operation parameters needs to be considered, and the initial operation trajectory is formed based on the matching relationship and the execution coordinate values, so that the formed initial operation trajectory has different osteotomy operation parameters at different operation positions, and different positions are matched with different energy consumption or speeds for osteotomy. Specifically, the steps of generating the initial operation trajectory based on the execution coordinate values and the matching relationship include:

[0126] Step S441, find out the target execution coordinate values corresponding to each osteotomy position in the matching relationship from the execution coordinate values, and determine the weight parameters of each target execution coordinate value according to the osteotomy operation parameters corresponding to each osteotomy position in the matching relationship;

[0127] Step S442: Add default weight parameters to the execution coordinate values other than the target execution coordinate value among the execution coordinate values, and generate a weight array of the execution coordinate values from each of the weight parameters and each of the default weight parameters.

[0128] Step S443: Fit the execution coordinate values into an initial operation trajectory according to a preset spline curve function and the weight array.

[0129] Understandably, in the matching relationship between the osteotomy position formed by doctor annotation and the osteotomy operation parameters, the osteotomy position corresponds to the osteotomy trajectory, and the coordinate system it refers to is the three-dimensional image coordinate system. Therefore, it is necessary to convert it to the position on the execution coordinate system according to the first transformation matrix, the second transformation matrix, and the third transformation matrix. The conversion method is the same as that of the image coordinate value, which will not be elaborated here. After conversion, the matching relationship between the osteotomy position and the osteotomy operation parameters on the execution coordinate system is obtained.

[0130] It should be noted that the matching relationship between the osteotomy position and the osteotomy operation parameters is formed by standardizing the positions that require specific energy consumption and speed. For other positions, preset energy consumption and speed can be set for osteotomy. Therefore, the energy consumption and speed of the formed initial operation trajectory also differ between specific positions and other positions. Specifically, search for the target execution coordinate values corresponding to each osteotomy position in the matching relationship from the execution coordinate values, and search for the osteotomy operation parameters corresponding to each of these osteotomy positions in the matching relationship. Then, generate weight parameters for each target execution coordinate value based on each osteotomy operation parameter. Among them, the osteotomy operation parameters at least include two aspects: energy consumption and speed, so that the weight parameters also at least reflect the weights of these two aspects. And there is a preset corresponding relationship between the osteotomy operation parameters and the weight parameters. After determining the osteotomy operation parameters corresponding to the target execution coordinate value, the corresponding weight parameter can be found from this corresponding relationship as the weight parameter of the target execution coordinate value. When the end effector of the osteotomy robot performs osteotomy operations at the position corresponding to the target execution coordinate value, it operates at the energy consumption and speed reflected by the weight parameters to meet the osteotomy operation requirements of different positions.

[0131] Furthermore, except for the target execution coordinate value, the other execution coordinate values in the execution coordinate values do not require specific energy consumption and speed. The end effector of the osteotomy robot can operate at the preset energy consumption and speed at the positions corresponding to these execution coordinate values. For this, default weight parameters are preset, and the default weight parameters are added to the other execution coordinate values in the execution coordinate values except for the target execution coordinate value. Then, each weight parameter and each default weight parameter are generated into a weight array of the execution coordinate values according to their corresponding execution coordinate values.

[0132] In addition, a preset spline curve function for fitting the execution coordinate values into a curve is pre-set. Through this preset spline curve function, the execution coordinate values are fitted into an initial operation trajectory in combination with a weight array. Specifically, for the preset spline curve function, please refer to the following formula (5).

[0133]

[0134] Among them, C(s) represents the position vector of the curve trajectory corresponding to the preset spline curve function, n represents the number of execution coordinate values, w1j represents the weight value corresponding to the j-th execution coordinate value in the weight array, w2i represents the fitting weight factor corresponding to the j-th execution coordinate value, dj represents the j-th execution coordinate value, and N j，k (s) represents the k-th spline basis function corresponding to the j-th execution coordinate value in the preset spline curve function, and sj is the vector corresponding to the j-th execution coordinate value.

[0135] In this embodiment, by generating a weight matrix based on the requirements of different positions of the bone to be osteotomized for osteotomy energy consumption and speed, and fitting the converted execution coordinate values according to the weight matrix to generate an initial operation curve, the initial operation curve not only reflects the operation path of the end effector of the osteotomy robot, but also reflects the requirements of each position in the initial operation curve for operation energy consumption and operation speed, enabling the end effector to operate according to the required operation energy consumption and operation speed, and further making the osteotomy of the bone to be osteotomized by the osteotomy robot more accurate.

[0136] Further, please refer to Figure 4 , based on the first, second, and third embodiments of the method for generating an assisted operation trajectory of the osteotomy robot of the present invention, a fourth embodiment of the method for generating an assisted operation trajectory of the osteotomy robot of the present invention is proposed.

[0137] The difference between the fourth embodiment of the method for generating an assisted operation trajectory of the osteotomy robot and the first, second, and third embodiments of the method for generating an assisted operation trajectory of the osteotomy robot is that the step of performing a simulation operation on the three-dimensional model according to the initial operation trajectory, obtaining an operation result, optimizing the initial operation trajectory, and generating the assisted operation trajectory of the osteotomy robot includes:

[0138] Step S45, performing multiple simulation operations on the three-dimensional model according to the initial operation trajectory, obtaining multiple operation results, and calculating the error results between the multiple operation results and the osteotomy trajectory based on a preset error calculation formula;

[0139] Step S46, comparing the error result with a preset error threshold, determining whether the error result is less than or equal to the preset error threshold, and if the error result is less than or equal to the preset error threshold, generating the initial operation trajectory as the assisted operation trajectory;

[0140] In step S47, if the error result is greater than a preset error threshold, adjust the fitting weight factor in the preset spline curve function, and re-fit the execution coordinate values based on the adjusted preset spline curve function to form a new initial operation trajectory until the error result formed by simulating the operation of the initial operation trajectory is less than or equal to the preset error threshold.

[0141] In this embodiment, a preset error calculation formula for evaluating the effect of simulating the operation according to the initial operation trajectory is preset. By calculating the magnitude of the error result between the simulated osteotomy trajectory generated by the simulated operation and the actually required osteotomy trajectory represented by the doctor's plan through this preset error calculation formula, the initial operation trajectory is optimized to form a final auxiliary operation trajectory. Specifically, perform multiple simulated operations on the three-dimensional model according to the initial operation trajectory. After each simulated operation is completed, a simulated osteotomy trajectory can be generated. Take this type of simulated operation trajectory as the operation result of the simulated operation, and calculate the error result between the simulated operation trajectory and the osteotomy trajectory in the operation result through the preset error calculation formula.

[0142] The specific preset error calculation formula can be seen in the following formula (6).

[0143]

[0144] where L represents the error result calculated based on the preset error calculation formula, G represents the number of simulated operations, m represents the number of execution coordinate values, x τ 、y τ 、z τ 、 respectively represent the X-axis value, Y-axis value, Z-axis value and direction in the execution coordinate system of the operation result generated by the τ-th execution coordinate value through the simulated operation, x τ0 、y τ0 、z τ0 、 respectively represent the X-axis reference value, Y-axis reference value, Z-axis reference value and reference direction of the τ-th execution coordinate value in the execution coordinate system, g represents a numerical error calculation function, and f represents a direction error calculation function. Thus, for each execution coordinate value, the calculated error result includes both position error and direction error. The combination of the two makes the calculation of the error result more accurate. Furthermore, it makes the optimization of the initial operation trajectory based on the error result more accurate, which is beneficial to generating an accurate auxiliary operation trajectory.

[0145] Further, a preset error threshold representing the magnitude of the error result is pre-set. The calculated error result is compared with the preset error threshold to determine whether the error result is less than or equal to the preset error threshold. If it is less than or equal to, it indicates that the similarity between the simulated osteotomy trajectory formed by performing simulated operations according to the initial operation trajectory and the planned osteotomy trajectory is relatively high. The end effector of the osteotomy robot can achieve a better osteotomy effect by performing osteotomy on the bone to be osteotomized according to this initial operation trajectory. Therefore, the initial operation trajectory is generated into the final auxiliary operation trajectory.

[0146] Conversely, if it is determined through comparison that the error result is greater than the preset error threshold, it indicates that there is a large difference between the simulated osteotomy trajectory formed by performing simulated operations according to the initial operation trajectory and the planned osteotomy trajectory. The end effector of the osteotomy robot cannot meet the actual osteotomy requirements by performing osteotomy on the bone to be osteotomized according to this initial operation trajectory. At this time, the fitting weight factor in the preset spline curve function is adjusted, and the fitting degree of each execution coordinate value is changed by adjusting the fitting weight factor, so that the initially obtained operation trajectory by fitting is more in line with the operation trajectory required by the actual situation. Among them, the adjustment method of the fitting weight factor can be pre-set. For example, it is pre-set to be adjusted according to a certain ratio, or adjusted according to a certain difference, or adjusted by an adjustment method that can be verified to have a better fitting effect.

[0147] Furthermore, after adjusting the fitting weight factor, the execution coordinate values are formed into a new initial operation trajectory according to the adjusted fitting weight factor, and simulated operations are performed with the new initial operation trajectory to form an error result between the operation result calculation and the osteotomy trajectory, until the calculated error result is less than or equal to the preset error threshold, and the newly formed initial operation trajectory is generated into the auxiliary operation trajectory.

[0148] Further, for the auxiliary operation trajectory generated through simulated operations and determined to have a good osteotomy effect, it is necessary to control the end effector of the osteotomy robot to perform osteotomy operations on the bone to be osteotomized according to this auxiliary operation trajectory. Specifically, after the step of generating the initial operation trajectory into the auxiliary operation trajectory if the error result is less than or equal to the preset error threshold, the following steps are included:

[0149] Step a: Determine the operation starting point corresponding to the bone to be osteotomized according to the auxiliary operation trajectory, and control the end effector of the osteotomy robot to move to the operation starting point;

[0150] Step b: Control the laser device corresponding to the osteotomy robot to start, generate laser from the laser device to the end effector, and control the end effector to move along the auxiliary operation trajectory to perform osteotomy operations on the bone to be osteotomized;

[0151] Step c: Obtain the real-time osteotomy displacement formed by the osteotomy operation, generate the matching degree between the real-time osteotomy displacement and the auxiliary operation trajectory, and regulate the operation of the end effector according to the matching degree.

[0152] Furthermore, according to the auxiliary operation trajectory, identify the starting point of the bone to be osteotomized, and control the end effector of the osteotomy robot to move to this starting point. The end effector is a laser emission end, and the osteotomy operation is performed by emitting laser through the laser emission end. In order to emit laser, the osteotomy robot system is provided with a laser device corresponding to the osteotomy robot. After the end effector moves to the starting point of the operation, control the laser device to start, generate laser through the laser device and emit it from the laser emission end which is the end effector, and control the end effector to move according to the auxiliary operation trajectory to perform the osteotomy operation on the bone to be osteotomized.

[0153] Further, in order to ensure the accuracy of osteotomy, obtain the real-time osteotomy displacement formed by the osteotomy operation. This real-time osteotomy displacement is the osteotomy trajectory formed by the real-time movement of the end effector. At the same time, obtain the reference displacement corresponding to this real-time movement from the auxiliary operation trajectory, and then generate the matching degree between the real-time osteotomy displacement and this reference displacement. The matching degree represents the coincidence degree between the two displacements. The higher the matching degree, the higher the coincidence degree and the more accurate the osteotomy. Therefore, a coincidence degree threshold can be preset. If the generated matching degree is greater than the coincidence degree threshold, it means that accurate osteotomy is achieved at the current time. If the generated matching degree is less than the coincidence degree threshold, it means that the osteotomy at the current time is inaccurate. At this time, according to the deviation degree of the real-time osteotomy displacement relative to the reference displacement represented by the matching degree, regulate the operation of the end effector so that the real-time osteotomy displacement of the end effector during the osteotomy operation fits the required reference displacement.

[0154] On the one hand, in this embodiment, before the actual osteotomy, the auxiliary operation trajectory that fits the required osteotomy trajectory is obtained through simulation operation, ensuring the accuracy of osteotomy according to the auxiliary operation trajectory during the actual osteotomy process. On the other hand, during the actual osteotomy process, compare the real-time osteotomy displacement at each current time with the reference displacement, and ensure the accuracy of the real-time displacement at each current time to make the entire osteotomy trajectory meet the planning requirements.

[0155] In addition, the embodiment of the present invention also provides an osteotomy robot auxiliary operation trajectory generation system. Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of the device hardware operating environment involved in the embodiment scheme of the osteotomy robot auxiliary operation trajectory generation system of the present invention.

[0156] Such as Figure 5As shown in the figure, the osteotomy robot-assisted operation trajectory generation system may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0157] Those skilled in the art can understand that Figure 5 the hardware structure of the osteotomy robot-assisted operation trajectory generation system shown in does not constitute a limitation on the osteotomy robot-assisted operation trajectory generation system, and may include more or fewer components than shown in the figure, or combine some components, or have different component arrangements.

[0158] As Figure 5 shown, the memory 1005, as a storage medium, may include an operating system, a network communication module, a user interface module, and a control program. Among them, the operating system is a program for managing and controlling the osteotomy robot-assisted operation trajectory generation system and software resources, and supports the operation of the network communication module, the user interface module, the control program, and other programs or software; the network communication module is used to manage and control the network interface 1004; the user interface module is used to manage and control the user interface 1003.

[0159] In Figure 5 the hardware structure of the osteotomy robot-assisted operation trajectory generation system shown in, the network interface 1004 is mainly used to connect to other system servers and perform data communication with other system servers; the user interface 1003 is mainly used to connect to a client (user side) and perform data communication with the client; the processor 1001 can call the control program stored in the memory 1005 and perform the following operations:

[0160] Obtain a three-dimensional model of the bone to be osteotomized, and based on the three-dimensional model, obtain the osteotomy trajectory of the bone to be osteotomized, and determine the image coordinate values of the osteotomy trajectory in the three-dimensional image coordinate system;

[0161] Obtain the intraoperative image of the bone to be osteotomized based on the vision navigation device corresponding to the osteotomy robot, and generate a first transformation matrix between the three-dimensional image coordinate system and the navigation coordinate system corresponding to the vision navigation device according to the intraoperative image;

[0162] Generate a second transformation matrix between the navigation coordinate system and the base coordinate system in the osteotomy robot, and obtain a third transformation matrix between the execution coordinate system of the end effector in the osteotomy robot and the base coordinate system;

[0163] According to the first transformation matrix, the second transformation matrix, and the third transformation matrix, convert the image coordinate values into the initial operation trajectory of the osteotomy robot, and perform a simulation operation on the three-dimensional model according to the initial operation trajectory, and optimize the initial operation trajectory based on the operation result to generate the auxiliary operation trajectory of the osteotomy robot.

[0164] Further, the step of generating the first transformation matrix between the three-dimensional image coordinate system and the navigation coordinate system corresponding to the vision navigation device according to the intraoperative image includes:

[0165] Identify the first pixel coordinates of the preset markers in the intraoperative image based on the navigation coordinate system, and form the first pixel coordinates into a first coordinate matrix;

[0166] Identify the second pixel coordinates of the preset markers in the model diagram corresponding to the three-dimensional model based on the three-dimensional image coordinate system, and form the second pixel coordinates into a second coordinate matrix;

[0167] Calculate the first rotation matrix based on a first preset formula for the first coordinate matrix and the second coordinate matrix. The first preset formula is:

[0168]

[0169] where min represents the minimum value, N represents the number of elements in the first or second coordinate matrix, qi represents the value of the i-th element in the first coordinate matrix, pi represents the value of the i-th element in the second coordinate matrix, R1 represents the first rotation matrix, ||·|| 2 is used to calculate the square of the norm, σ() represents the correction function, ω represents the number of reference pixel points in the reference image corresponding to the intraoperative image, Bε represents the pixel coordinates of the pixel point corresponding to the reference pixel point in the intraoperative image, and B’ε0 represents the pixel coordinates of the reference pixel point in the reference image;

[0170] Calculate the first translation vector based on the first rotation matrix. The calculation formula is:

[0171] T1 = q - R1 * q;

[0172] Wherein, T1 represents the first translation vector, and q represents the average value of the elements in each row or each column of the first coordinate matrix;

[0173] Generate the first rotation matrix and the first translation vector into the first transformation matrix.

[0174] Further, the step of generating the second transformation matrix between the navigation coordinate system and the base coordinate system in the osteotomy robot includes:

[0175] Select any pixel coordinate from each of the first pixel coordinates as the target pixel coordinate, and correct the target pixel coordinate to obtain the corrected pixel coordinate. The correction formula is:

[0176]

[0177] Wherein, (u, v) represents the corrected pixel coordinate, (u0, v0) represents the target pixel coordinate, D1, D2, and D3 represent correction parameters, and r represents the minimum distance between the target pixel coordinate and the boundary of the intraoperative image;

[0178] Identify the first base coordinate value corresponding to the target pixel coordinate in the base coordinate system of the osteotomy robot, and obtain the internal parameters of the visual navigation device;

[0179] Calculate the internal parameters, the corrected pixel coordinate, and the first base coordinate value based on a second preset formula to obtain a second rotation matrix and a second translation vector. The second preset formula is:

[0180]

[0181] Wherein, fx, fy, α, and β all represent internal parameters, R2 represents the second rotation matrix, T2 represents the second translation vector, and (X0, Y0, Z0) represents the first base coordinate value;

[0182] Generate the second rotation matrix and the second translation vector into the second coordinate matrix.

[0183] Further, the step of converting the image coordinate value into the initial operation trajectory of the osteotomy robot according to the first transformation matrix, the second transformation matrix, and the third transformation matrix includes:

[0184] Obtain the intraoperative depth image of the bone to be osteotomized collected by the visual navigation device, and form the intraoperative three-dimensional model of the bone to be osteotomized in the navigation coordinate system based on the intraoperative depth image;

[0185] Convert the image coordinate values into the intraoperative coordinate values of the intraoperative three-dimensional model in the navigation coordinate system according to the first conversion matrix;

[0186] Based on the second conversion matrix, convert the intraoperative coordinate values into the second pedestal coordinate values on the pedestal coordinate system, and based on the third conversion matrix, convert the second pedestal coordinate values into the execution coordinate values on the execution coordinate system;

[0187] Obtain the matching relationship between the osteotomy positions corresponding to the osteotomy trajectories and the osteotomy operation parameters, and generate the initial operation trajectory based on the execution coordinate values and the matching relationship.

[0188] Further, the step of generating the initial operation trajectory based on the execution coordinate values and the matching relationship includes:

[0189] Find out the target execution coordinate values corresponding to the respective osteotomy positions in the matching relationship from the execution coordinate values, and determine the weight parameters of the respective target execution coordinate values according to the osteotomy operation parameters corresponding to the respective osteotomy positions in the matching relationship;

[0190] Add default weight parameters to the other execution coordinate values in the execution coordinate values except the target execution coordinate values, and generate a weight array of the execution coordinate values with the respective weight parameters and the respective default weight parameters;

[0191] Fit the execution coordinate values into an initial operation trajectory according to a preset spline curve function and the weight array, where the preset spline curve function is:

[0192]

[0193] where C(s) represents the position vector of the curve trajectory corresponding to the preset spline curve function, n represents the number of execution coordinate values, w1j represents the weight value corresponding to the jth execution coordinate value in the weight array, w2j represents the fitting weight factor corresponding to the jth execution coordinate value, dj represents the jth execution coordinate value, N j，k (s) represents the kth spline basis function corresponding to the jth execution coordinate value in the preset spline curve function, and sj is the vector corresponding to the jth execution coordinate value.

[0194] Further, the step of performing a simulation operation on the three-dimensional model according to the initial operation trajectory, obtaining an operation result, optimizing the initial operation trajectory, and generating an auxiliary operation trajectory of the osteotomy robot includes:

[0195] Perform multiple simulation operations on the three-dimensional model according to the initial operation trajectory, obtain multiple operation results, and calculate the error results between the multiple operation results and the osteotomy trajectory based on a preset error calculation formula, where the preset error calculation formula is:

[0196]

[0197] where L represents the error result calculated based on the preset error calculation formula, G represents the number of simulation operations, m represents the number of execution coordinate values, x τ , y τ , z τ , respectively represent the X-axis value, Y-axis value, Z-axis value, and direction of the operation result generated by the τ-th execution coordinate value through simulation operations in the execution coordinate system, x τ0 , y τ0 , z τ0 , respectively represent the X-axis reference value, Y-axis reference value, Z-axis reference value, and reference direction of the τ-th execution coordinate value in the execution coordinate system, g represents a numerical error calculation function, and f represents a direction error calculation function;

[0198] Compare the error result with a preset error threshold to determine whether the error result is less than or equal to the preset error threshold. If the error result is less than or equal to the preset error threshold, generate the initial operation trajectory as the auxiliary operation trajectory;

[0199] If the error result is greater than the preset error threshold, adjust the fitting weight factor in the preset spline curve function, and re-fit the execution coordinate values based on the adjusted preset spline curve function to form a new initial operation trajectory until the error result formed by the simulation operation of the initial operation trajectory is less than or equal to the preset error threshold.

[0200] Further, after the step of generating the initial operation trajectory as the auxiliary operation trajectory if the error result is less than or equal to the preset error threshold, the processor 1001 can call the control program stored in the memory 1005 and perform the following operations:

[0201] Determine the operation starting point corresponding to the bone to be osteotomized according to the auxiliary operation trajectory, and control the end effector of the osteotomy robot to move to the operation starting point;

[0202] Control the laser device corresponding to the osteotomy robot to start, generate laser from the laser device to the end effector, and control the end effector to move along the auxiliary operation trajectory to perform an osteotomy operation on the bone to be osteotomized;

[0203] Obtain the real-time osteotomy displacement formed by the osteotomy operation, generate the matching degree between the real-time osteotomy displacement and the auxiliary operation trajectory, and regulate the operation of the end effector according to the matching degree.

[0204] Further, the step of obtaining the three-dimensional model of the bone to be osteotomized includes:

[0205] Based on a CT scanning device, obtain multiple CT scan images corresponding to the bone to be osteotomized, and perform preprocessing and segmentation on the multiple CT scan images to obtain a plurality of segmented images;

[0206] Based on the plurality of segmented images, perform model reconstruction to obtain the three-dimensional model of the bone to be osteotomized.

[0207] The specific implementation manner of the osteotomy robot-assisted operation trajectory generation system of the present invention is basically the same as that of the above-mentioned embodiments of the osteotomy robot-assisted operation trajectory generation method, and will not be described in detail here.

[0208] The embodiment of the present invention also proposes a storage medium. A control program is stored on the storage medium, and when the control program is executed by a processor, the steps of the above-mentioned osteotomy robot-assisted operation trajectory generation method are implemented.

[0209] The storage medium of the present invention may be a computer-readable storage medium, and its implementation manner is basically the same as that of the above-mentioned embodiments of the osteotomy robot-assisted operation trajectory generation method, and will not be described in detail here.

[0210] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific implementation manners. The above specific implementation manners are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the claims of the present invention. All equivalent structural or equivalent process transformations made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, are within the protection scope of the present invention.

Claims

1. An osteotomy robot-assisted operation trajectory generation method, characterized in that, The osteotomy robot-assisted operation trajectory generation method includes: Obtaining a three-dimensional model of the bone to be osteotomized, and based on the three-dimensional model, obtaining the osteotomy trajectory of the bone to be osteotomized and determining the image coordinate values of the osteotomy trajectory in the three-dimensional image coordinate system; Obtaining an intraoperative image of the bone to be osteotomized based on a visual navigation device corresponding to the osteotomy robot, and generating a first transformation matrix between the three-dimensional image coordinate system and the navigation coordinate system corresponding to the visual navigation device according to the intraoperative image; Generating a second transformation matrix between the navigation coordinate system and the base coordinate system in the osteotomy robot, and obtaining a third transformation matrix between the execution coordinate system of the end effector in the osteotomy robot and the base coordinate system; According to the first transformation matrix, the second transformation matrix, and the third transformation matrix, converting the image coordinate values into the initial operation trajectory of the osteotomy robot, and performing a simulation operation on the three-dimensional model according to the initial operation trajectory, obtaining an operation result to optimize the initial operation trajectory, and generating the assisted operation trajectory of the osteotomy robot; Among them, the step of converting the image coordinate values into the initial operation trajectory of the osteotomy robot according to the first transformation matrix, the second transformation matrix, and the third transformation matrix includes: Obtaining an intraoperative depth image of the bone to be osteotomized collected based on the visual navigation device, and forming an intraoperative three-dimensional model of the bone to be osteotomized in the navigation coordinate system based on the intraoperative depth image; According to the first transformation matrix, converting the image coordinate values into intraoperative coordinate values of the intraoperative three-dimensional model in the navigation coordinate system; Based on the second transformation matrix, converting the intraoperative coordinate values into second base coordinate values on the base coordinate system, and based on the third transformation matrix, converting the second base coordinate values into execution coordinate values on the execution coordinate system; Obtaining the matching relationship between the osteotomy position corresponding to the osteotomy trajectory and the osteotomy operation parameters, and generating the initial operation trajectory based on the execution coordinate values and the matching relationship.

2. The osteotomy robot-assisted operation trajectory generation method according to claim 1, wherein The step of generating the first transformation matrix between the three-dimensional image coordinate system and the navigation coordinate system corresponding to the visual navigation device according to the intraoperative image includes: Identifying the first pixel coordinates of the preset marker in the intraoperative image based on the navigation coordinate system, and forming the first pixel coordinates into a first coordinate matrix; Identifying the second pixel coordinates of the preset marker in the model diagram corresponding to the three-dimensional model based on the three-dimensional image coordinate system, and forming the second pixel coordinates into a second coordinate matrix; Calculating the first coordinate matrix and the second coordinate matrix based on a first preset formula to obtain a first rotation matrix, and the first preset formula is: ； where min represents the minimum value, N represents the number of elements in the first or second coordinate matrix, qi represents the value of the i-th element in the first coordinate matrix, pi represents the value of the i-th element in the second coordinate matrix, and R1 represents the first rotation matrix, for calculating the square of the norm, represents the correction function, represents the number of reference pixel points in the reference image corresponding to the intraoperative image, represents the pixel coordinates of the pixel point in the intraoperative image corresponding to the reference pixel point, represents the pixel coordinates of the reference pixel point in the reference image; Calculating a first translation vector based on the first rotation matrix, and the calculation formula is: ； Among them, T1 represents the first translation vector, and q represents the average value of the elements in each row or each column of the first coordinate matrix; Generating the first transformation matrix from the first rotation matrix and the first translation vector.

3. The osteotomy robot-assisted operation trajectory generation method according to claim 2, wherein, The steps of generating the second transformation matrix between the navigation coordinate system and the base coordinate system in the osteotomy robot include: Select any pixel coordinate from each of the first pixel coordinates as the target pixel coordinate, and correct the target pixel coordinate to obtain the corrected pixel coordinate. The correction formula is: ； Among them, represents the corrected pixel coordinates, represents the target pixel coordinates, and D1, D2, and D3 represent the correction parameters, represents the minimum distance between the target pixel coordinates and the boundary of the intraoperative image; Identify the first base coordinate value corresponding to the target pixel coordinate in the base coordinate system of the osteotomy robot, and obtain the internal parameters of the visual navigation device; Calculate the internal parameters, the corrected pixel coordinate, and the first base coordinate value based on a second preset formula to obtain a second rotation matrix and a second translation vector. The second preset formula is: ； Among them, , , , all represent internal parameters, represents the second rotation matrix, represents the second translation vector, and (X0, Y0, Z0) represents the first base coordinate value; Generate the second coordinate matrix from the second rotation matrix and the second translation vector.

4. The osteotomy robot-assisted operation trajectory generation method according to claim 1, wherein The steps of generating the initial operation trajectory based on the execution coordinate value and the matching relationship include: Find the target execution coordinate values corresponding to each osteotomy position in the matching relationship from the execution coordinate values, and determine the weight parameters of each target execution coordinate value according to the osteotomy operation parameters corresponding to each osteotomy position in the matching relationship; Add default weight parameters to the other execution coordinate values except the target execution coordinate values in the execution coordinate values, and generate a weight array of the execution coordinate values from each of the weight parameters and the default weight parameters; Fit the execution coordinate values into an initial operation trajectory according to a preset spline curve function and the weight array. The preset spline curve function is: ； Among them, represents the position vector of the curve trajectory corresponding to the preset spline curve function, n represents the number of execution coordinate values, w1j represents the weight value corresponding to the j-th execution coordinate value in the weight array, w2j represents the fitting weight factor corresponding to the j-th execution coordinate value, and dj represents the j-th execution coordinate value, represents the k-th spline basis function corresponding to the j-th execution coordinate value in the preset spline curve function, sj is the vector corresponding to the j-th execution coordinate value, and s represents the knot vector of the preset spline curve function.

5. The osteotomy robot-assisted operation trajectory generation method according to claim 4, wherein The steps of performing a simulation operation on the three-dimensional model according to the initial operation trajectory, obtaining an operation result, optimizing the initial operation trajectory, and generating an auxiliary operation trajectory for the osteotomy robot include: Perform multiple simulation operations on the three-dimensional model according to the initial operation trajectory, obtain multiple operation results, and calculate the error results between the multiple operation results and the osteotomy trajectory based on a preset error calculation formula. The preset error calculation formula is: ； Among them, L represents the error result calculated based on a preset error calculation formula, G represents the number of simulation operations, and m represents the number of execution coordinate values. respectively represent the X-axis value, Y-axis value, Z-axis value, and direction of the operation result generated by the simulation operation of the respectively represent the X-axis reference value, Y-axis reference value, Z-axis reference value, and reference direction of the execution coordinate value in the execution coordinate system, g represents the numerical error calculation function, and f represents the direction error calculation function. Compare the error result with a preset error threshold, determine whether the error result is less than or equal to the preset error threshold. If the error result is less than or equal to the preset error threshold, generate the initial operation trajectory as the auxiliary operation trajectory; If the error result is greater than the preset error threshold, adjust the fitting weight factor in the preset spline curve function, and refit the execution coordinate values based on the adjusted preset spline curve function to form a new initial operation trajectory until the error result formed by the simulation operation of the initial operation trajectory is less than or equal to the preset error threshold.

6. The osteotomy robot-assisted operation trajectory generation method according to claim 5, characterized in that, After the step of generating the initial operation trajectory as the auxiliary operation trajectory if the error result is less than or equal to the preset error threshold includes: Determine an operation start point corresponding to the bone to be osteotomized according to the auxiliary operation trajectory, and control the end effector of the osteotomy robot to move to the operation start point; Control the activation of the laser device corresponding to the osteotomy robot, generate laser by the laser device to the end effector, and control the end effector to move along the auxiliary operation trajectory to perform osteotomy operation on the bone to be osteotomized; Obtain the real-time osteotomy displacement formed by the osteotomy operation, generate the matching degree between the real-time osteotomy displacement and the auxiliary operation trajectory, and regulate the operation of the end effector according to the matching degree.

7. The osteotomy robot-assisted operation trajectory generation method according to any one of claims 1-6, characterized in that, The step of obtaining the three-dimensional model of the bone to be osteotomized includes: Based on the CT scanning device, obtain multiple CT scan images corresponding to the bone to be osteotomized, and perform preprocessing and segmentation on the multiple CT scan images to obtain multiple segmented images; Based on the multiple segmented images, perform model reconstruction to obtain the three-dimensional model of the bone to be osteotomized.

8. An osteotomy robot-assisted operation trajectory generation system, characterized in that, The osteotomy robot auxiliary operation trajectory generation system includes a memory, a processor, a communication bus, and a control program stored on the memory: The communication bus is used to realize the connection and communication between the processor and the memory; The processor is used to execute the control program to realize the steps of the osteotomy robot auxiliary operation trajectory generation method as described in any one of claims 1-7.

9. A storage medium, characterized in that, A control program is stored on the storage medium, and when the control program is executed by the processor, the steps of the osteotomy robot auxiliary operation trajectory generation method as described in any one of claims 1-7 are realized.

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