A high-frequency electric knife control method and system based on a mechanical arm

Abstract

The present invention provides a high-frequency electric knife control method and system based on a robotic arm. The method constructs a first three-dimensional model of a user's body and marks a surgical area in the first three-dimensional model, wherein the surgical area is consistent with the actual surgical position. When the surgical area is regular, the movement path parameters of the robotic arm and the corresponding output power parameters of the high-frequency electric knife are set according to the surgical area. According to the movement path parameters of the robotic arm and the output power parameters of the high-frequency electric knife, the robotic arm and the high-frequency electric knife are controlled to operate in a fully automatic mode. When the surgical area is irregular, the surgery is performed with the assistance of the robotic arm in a semi-automatic mode, thereby improving the operational stability and effectively improving the surgical accuracy and safety.

Description

Technical Field

[0001] The present invention belongs to the technical field of high-frequency electric knife control based on a mechanical arm, and in particular relates to a high-frequency electric knife control method and system based on a mechanical arm. Background Art

[0002] High-frequency electrosurgical unit (also known as high-frequency surgical unit) is an electrosurgical device that replaces mechanical scalpels for tissue cutting. It heats the tissue when it contacts the body through the high-frequency and high-voltage current generated by the effective electrode tip, achieving the purpose of cutting and hemostasis by separating and coagulating the body tissue.

[0003] A robotic arm is a highly flexible automated or semi-automated device that drives joints and actuators through motors or other power devices to achieve movement in all degrees of freedom. In the medical field, robotic arms are widely used in minimally invasive surgery, which can accurately control surgical instruments, reduce surgical trauma, and improve the success rate of surgery. If a high-frequency electrosurgical unit is combined with a robotic arm, the surgical accuracy and safety can be effectively improved. Summary of the invention

[0004] Based on this, an embodiment of the present invention provides a high-frequency electric knife control method and system based on a robotic arm, aiming to improve surgical accuracy and surgical safety.

[0005] A first aspect of an embodiment of the present invention provides a high-frequency electric knife control method based on a robotic arm, which is applied to a scenario with a robotic arm, wherein the robotic arm is fixedly connected to the high-frequency electric knife, and both the robotic arm and the high-frequency electric knife are electrically connected to a controller, and when applied, at least a fully automatic mode and a semi-automatic mode are included, and the method includes:

[0006] constructing a first three-dimensional model of the user's body and marking a surgical area in the first three-dimensional model, wherein the surgical area is consistent with an actual surgical position;

[0007] When the surgical area is regular, the moving path parameters of the robotic arm and the corresponding output power parameters of the high-frequency electrosurgical unit are set according to the surgical area;

[0008] According to the movement path parameters of the mechanical arm and the output power parameters of the high-frequency electrosurgical unit, the mechanical arm and the high-frequency electrosurgical unit are controlled to operate in a fully automatic mode;

[0009] When the surgical area is irregular, the surgery is performed with the assistance of the robotic arm in a semi-automatic mode.

[0010] Furthermore, when the surgical area is irregular, the step of performing surgery with the assistance of the robotic arm includes:

[0011] Marking a target area in the first three-dimensional model according to an actual metal implant in the user's body;

[0012] Importing the first three-dimensional model with the target area marked into the controller, and combining the first three-dimensional model with the target area marked with the second three-dimensional model according to a pre-established second three-dimensional model of the surgical scene to obtain a target three-dimensional model;

[0013] generating a restricted area in the target three-dimensional model according to the interference range of various metal implants;

[0014] With the assistance of the robotic arm, the high-frequency electric knife is controlled to perform spatial calibration, so as to obtain the position of the high-frequency electric knife in the target three-dimensional model in real time during the subsequent operation of the high-frequency electric knife;

[0015] According to the restricted area, the movement of the high-frequency electric knife is controlled, and the output power of the high-frequency electric knife is adjusted.

[0016] Furthermore, the step of combining the first three-dimensional model with the target area marked with the second three-dimensional model according to the pre-established second three-dimensional model of the surgical scene to obtain the target three-dimensional model includes:

[0017] Determine a reference plane corresponding to the first three-dimensional model marked with the target area and the second three-dimensional model, and combine the first three-dimensional model marked with the target area and the second three-dimensional model according to the reference plane;

[0018] According to the reference point on the second three-dimensional model, the preset point of the first three-dimensional model marked with the target area is moved to the reference point to obtain the target three-dimensional model.

[0019] Furthermore, the step of generating a restricted area in the target three-dimensional model according to the interference range of various metal implants includes:

[0020] Acquire the properties of the metal implant, and determine the corresponding interference distance of the metal implant according to a pre-established mapping relationship between the properties of the metal implant and the interference distance;

[0021] Acquire the boundary of the target area, determine each boundary point on the boundary, take the boundary point as the center of the circle and the interference distance of the corresponding metal implant as the radius, and draw a plurality of spherical first areas on the target three-dimensional model;

[0022] Taking the union of the first regions of the plurality of spheres, a second region is obtained;

[0023] The area in the second area that interferes with the first three-dimensional model is eliminated to obtain the restricted area.

[0024] Furthermore, the step of controlling the high-frequency electric knife to perform spatial calibration with the assistance of the mechanical arm includes:

[0025] Initializing the robotic arm, and determining the initialization position as the coordinate origin of the target three-dimensional model;

[0026] Controlling the high-frequency electric knife to move at a preset position, wherein the electric knife moves at least once in the X-axis, Y-axis, and Z-axis directions, the moving path is determined, and each movement is only along one direction of the X-axis, Y-axis, and Z-axis;

[0027] Acquire the movement data of the robotic arm during the movement process, and establish a relationship between the movement data and the spatial coordinate position generated according to the movement in the target three-dimensional model to complete the spatial calibration, wherein the spatial coordinate position generated by the movement is determined based on the coordinate origin.

[0028] Furthermore, after the step of removing the area in the second area that interferes with the first three-dimensional model to obtain the restricted area, the step includes:

[0029] The restricted area is divided into a plurality of restricted sub-areas according to the distance from the boundary of the target area, each of the restricted sub-areas corresponds to a preset power output upper limit value, so that when the high-frequency electric knife enters the corresponding restricted sub-area, the power output of the high-frequency electric knife is controlled by the controller not to exceed the power output upper limit value;

[0030] Wherein, in each limiting sub-area, a resistance area is arranged on a side close to the metal implant, and when the high-frequency electric knife enters the resistance area, the movement resistance of the high-frequency electric knife will be increased.

[0031] Furthermore, the step of controlling the movement of the high-frequency electric knife and adjusting the output power of the high-frequency electric knife according to the restricted area includes:

[0032] Acquire the critical point coordinate position of each of the restricted sub-areas, acquire the spatial coordinate position of the high-frequency electric knife in real time, and judge whether the high-frequency electric knife is ready to enter the restricted area according to the critical point coordinate position of each of the restricted sub-areas and the spatial coordinate position of the high-frequency electric knife;

[0033] If it is determined that the high-frequency electric knife is about to enter the restricted area, the high-frequency electric knife is controlled by the mechanical arm to stop moving and a warning is issued;

[0034] Obtaining the thrust direction and thrust time of the high-frequency electrosurgical knife, and determining whether the thrust direction is toward the restricted area;

[0035] If it is determined that the thrust direction is toward the restricted area, determining whether the thrust time is greater than a threshold;

[0036] If it is determined that the thrust time is greater than the threshold, the high-frequency electric knife is released by the mechanical arm, and the output power of the high-frequency electric knife is controlled not to exceed the power output upper limit value of the corresponding restricted sub-area;

[0037] According to the spatial coordinate position of the high-frequency electric knife movement obtained in real time, judging whether the high-frequency electric knife has entered the resistance area;

[0038] If it is determined that the high-frequency electric knife enters the resistance area, the movement resistance of the high-frequency electric knife is increased, and the movement trajectory of the high-frequency electric knife in the corresponding resistance area is obtained;

[0039] According to the movement trajectory, determining whether the high-frequency electric knife is ready to move from the current restricted sub-area to the next restricted sub-area;

[0040] If it is determined that the high-frequency electric knife is ready to move from the current restricted sub-area to the next restricted sub-area, the high-frequency electric knife is released by the robotic arm, and the output power of the high-frequency electric knife is controlled not to exceed the power output upper limit value of the corresponding restricted sub-area.

[0041] Furthermore, after the step of controlling the output power of the high-frequency electrosurgical unit not to exceed the power output upper limit value of the corresponding restricted sub-region, the step includes:

[0042] Acquire the output power signal of the high-frequency electric knife and the moving trajectory of the high-frequency electric knife in each restricted sub-area;

[0043] Determining whether there is an abnormal signal according to the output power signal;

[0044] If so, determine the target position of the high-frequency electric knife on the moving trajectory of the corresponding restricted sub-area when the abnormal signal appears;

[0045] According to the target position, the interference distance of the corresponding metal implant is re-determined, and in subsequent operations, the interference distances of other metal implants are corrected to optimize the definition of the restricted area and each restricted sub-area;

[0046] Wherein, the target interference distance of the target metal implant in the subsequent operation is determined according to the re-determined interference distance of the current metal implant, the properties and the shapes of the two metal implants.

[0047] A second aspect of an embodiment of the present invention provides a high-frequency electric knife control system based on a mechanical arm, which is used to implement the high-frequency electric knife control method based on a mechanical arm provided in the first aspect, and the system includes:

[0048] A construction module, used for constructing a first three-dimensional model of the user's body and marking a surgical area in the first three-dimensional model, wherein the surgical area is consistent with an actual surgical position;

[0049] A setting module, used for setting the moving path parameters of the robot arm and the corresponding output power parameters of the high-frequency electrosurgical unit according to the operating area when the operating area is regular;

[0050] A first operation module is used to control the operation of the mechanical arm and the high-frequency electric knife according to the movement path parameters of the mechanical arm and the output power parameters of the high-frequency electric knife to perform a fully automatic mode;

[0051] The second operation module is used to perform surgery with the assistance of the robotic arm in a semi-automatic mode when the surgical area is irregular.

[0052] A third aspect of an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the high-frequency electric knife control method based on a robotic arm provided in the first aspect.

[0053] A fourth aspect of an embodiment of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the high-frequency electric knife control method based on a robotic arm provided in the first aspect is implemented.

[0054] A high-frequency electric knife control method and system based on a robotic arm is provided in an embodiment of the present invention. The method constructs a first three-dimensional model of the user's body and marks the surgical area in the first three-dimensional model, wherein the surgical area is consistent with the actual surgical position. When the surgical area is regular, the movement path parameters of the robotic arm and the corresponding output power parameters of the high-frequency electric knife are set according to the surgical area. According to the movement path parameters of the robotic arm and the output power parameters of the high-frequency electric knife, the robotic arm and the high-frequency electric knife are controlled to operate in a fully automatic mode. When the surgical area is irregular, the surgery is performed with the assistance of the robotic arm in a semi-automatic mode to improve the operational stability and effectively improve the surgical accuracy and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A flowchart of a high-frequency electric knife control method based on a mechanical arm provided in the first embodiment of the present invention;

[0056] Figure 2 A flowchart of a high-frequency electric knife control method based on a mechanical arm provided in the second embodiment of the present invention;

[0057] Figure 3A structural block diagram of a high-frequency electrosurgical unit control system based on a mechanical arm provided in Embodiment 3 of the present invention;

[0058] Figure 4 This is a structural block diagram of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0059] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0060] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0062] Embodiment 1

[0063] According to an embodiment of the present invention, a high-frequency electric knife control method based on a robotic arm is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0064] In the first embodiment of the present invention, a high-frequency electric knife control method based on a robotic arm is provided, which can be used in electronic devices, such as computers. It should be noted that the method is applied to a scenario with a robotic arm, the robotic arm is fixedly connected to the high-frequency electric knife, and the robotic arm and the high-frequency electric knife are both electrically connected to a controller. When applied, it includes at least a fully automatic mode and a semi-automatic mode. Specifically, the robotic arm can be a UR5 robotic arm.

[0065] See also Figure 1 , Figure 1The flowchart of the implementation of a high-frequency electric knife control method based on a mechanical arm provided in the first embodiment of the present invention is shown, which specifically includes steps S01 to S04.

[0066] Step S01: construct a first three-dimensional model of the user's body and mark the surgical area in the first three-dimensional model, where the surgical area is consistent with the actual surgical position.

[0067] Specifically, a high-precision scanner (such as CT, MRI or 3D laser scanner) can be used to perform a full-body scan on the human body to obtain detailed image data, and then a first three-dimensional model can be established based on the image data. After the first three-dimensional model is constructed, the surgical area consistent with the actual surgical position can be manually marked on the first three-dimensional model.

[0068] Step S02: When the surgical area is regular, the moving path parameters of the robot arm and the corresponding output power parameters of the high-frequency electrosurgical unit are set according to the surgical area.

[0069] Among them, when the shape of the surgical area is regular, it is convenient to perform fully automated operations. Specifically, based on the regularity of the surgical area, one or more optimal moving paths are designed. The paths should minimize the number of turns and moving distances of the robotic arm, while ensuring that the high-frequency electrosurgical knife can accurately reach and cover the entire surgical area. In addition, the parameters such as the moving speed, acceleration, and stop position of the robotic arm are set. These parameters need to be adjusted according to the specific needs of the surgery to ensure a smooth and safe surgical process.

[0070] It should be noted that the high-frequency electrosurgical knife is also working while the robotic arm drives it to move. The appropriate output power of the high-frequency electrosurgical knife is selected according to the tissue type, thickness and surgical objectives (such as cutting, hemostasis, etc.) in the surgical area. Generally speaking, higher power may be required for thicker tissues or when rapid cutting is required, while lower power should be selected for delicate operations or when thermal damage needs to be reduced. In addition, during the operation, the doctor can dynamically adjust the output power of the high-frequency electrosurgical knife based on real-time feedback (such as tissue reaction, bleeding, etc.).

[0071] Step S03, controlling the robot arm and the high-frequency electrosurgical unit to operate in a fully automatic mode according to the movement path parameters of the robot arm and the output power parameters of the high-frequency electrosurgical unit.

[0072] It can be understood that according to preset parameters, the controller controls the robot arm and the high-frequency electric knife to operate in a fully automatic mode to complete the operation.

[0073] Step S04, when the surgical area is irregular, the surgery is performed with the assistance of the robotic arm in a semi-automatic mode to improve the operational stability.

[0074] It should be noted that when the shape of the surgical area is irregular, the setting of the movement path parameters of the robotic arm and the output power parameters of the high-frequency electrosurgical knife is relatively complex, so a semi-automatic method is adopted to assist the operation through the robotic arm to improve the operational stability.

[0075] In summary, the high-frequency electric knife control method based on a robotic arm in the above-mentioned embodiment of the present invention constructs a first three-dimensional model of the user's body and marks the surgical area in the first three-dimensional model, and the surgical area is consistent with the actual surgical position; when the surgical area is regular, the movement path parameters of the robotic arm and the corresponding output power parameters of the high-frequency electric knife are set according to the surgical area; according to the movement path parameters of the robotic arm and the output power parameters of the high-frequency electric knife, the robotic arm and the high-frequency electric knife are controlled to work in a fully automatic mode; when the surgical area is irregular, the surgery is performed with the assistance of the robotic arm in a semi-automatic mode to improve the operational stability and effectively improve the surgical accuracy and safety.

[0076] Embodiment 2

[0077] In order to safely use the high-frequency electrosurgical unit during surgery, a comprehensive assessment of the patient is required before surgery, including understanding whether there are metal implants in the patient's body (such as pacemakers, steel plates, screws, etc.), because these metal objects may interfere with the use of the high-frequency electrosurgical unit. During surgery, the doctor will be more cautious in selecting the output power and entry point of the high-frequency electrosurgical unit for surgery. Due to the above limitations, the surgical efficiency and treatment effect will be affected to a certain extent. Therefore, the second embodiment of the present invention also provides a high-frequency electrosurgical unit control method based on a robotic arm. The difference from the first embodiment is that the semi-automatic mode is described in detail. Please refer to Figure 2 , Figure 2 A flowchart of a high-frequency electric knife control method based on a mechanical arm provided in the second embodiment of the present invention is shown, which specifically includes steps S11 to S15.

[0078] Step S11: marking a target area in the first three-dimensional model according to the actual metal implant in the user's body.

[0079] Obtain the image data of the metal implant in the user's body and mark the target area in the 3D model. It is understandable that the effects of metal implants of different materials and sizes on the high-frequency electrosurgical unit may vary. The effects of metal implants of different materials and sizes on the high-frequency electrosurgical unit can be studied in advance to determine the initial interference range and output power adjustment standard.

[0080] The marking of the target area in the first three-dimensional model is specifically reflected in the protrusion of the outline of the metal implant, that is, the shape of the metal implant can be displayed in the first three-dimensional model.

[0081] Step S12, importing the first three-dimensional model marked with the target area into the controller, and combining the first three-dimensional model marked with the target area with the second three-dimensional model according to a pre-established second three-dimensional model of the surgical scene to obtain a target three-dimensional model.

[0082] It should be noted that the reference planes corresponding to the first three-dimensional model and the second three-dimensional model marked with the target area are determined, and the first three-dimensional model and the second three-dimensional model marked with the target area are combined according to the reference planes. For example, the reference plane of the first three-dimensional model is the surface of the patient's back, and the second three-dimensional model is an operating table. For example, the reference plane of the second three-dimensional model is the front of the operating table, and the surface of the patient's back is fitted with the front of the operating table to complete the combination;

[0083] According to the reference point on the second three-dimensional model, the preset point of the first three-dimensional model marked with the target area is moved to the reference point to obtain the target three-dimensional model. The reference point on the second three-dimensional model can be a patient head placement point set on the operating table. The patient's head can also be limited by a limiting tool on the actual operating table. In this regard, the preset point of the first three-dimensional model is also the vertex of the patient's head. The vertex of the patient's head is moved to the patient's head placement point. It can be understood that as the vertex of the patient's head moves, other points of the first three-dimensional model move synchronously to finally obtain the target three-dimensional model.

[0084] Step S13: generating a restricted area in the target three-dimensional model according to the interference range of various types of metal implants.

[0085] Specifically, the properties of the metal implant are obtained, and the interference distance of the corresponding metal implant is determined according to a pre-established mapping relationship between the properties of the metal implant and the interference distance;

[0086] Obtaining the boundary, i.e., the outline, of the target area, and determining each boundary point on the boundary, taking the boundary point as the center of the circle and the interference distance of the corresponding metal implant as the radius, and drawing a plurality of spherical first areas on the target three-dimensional model;

[0087] Taking the union of the first regions of the plurality of spheres, a second region is obtained;

[0088] The area in the second area that interferes with the first three-dimensional model is eliminated to obtain a restricted area.

[0089] Further, the restricted area is divided into a plurality of restricted sub-areas according to the distance from the boundary of the target area, each restricted sub-area corresponds to a preset power output upper limit value, so that when the high-frequency electric knife enters the corresponding restricted sub-area, the power output of the high-frequency electric knife is controlled by the controller not to exceed the power output upper limit value;

[0090] Among them, in each restriction sub-area, a resistance area is set on the side close to the metal implant. When the high-frequency electric knife enters the resistance area, the movement resistance of the high-frequency electric knife will increase, which is achieved through the damping of the mechanical arm.

[0091] Step S14, with the assistance of the robotic arm, controlling the high-frequency electric knife to perform spatial calibration, so as to obtain the position of the high-frequency electric knife in the target three-dimensional model in real time during the subsequent operation of the high-frequency electric knife.

[0092] In the embodiment of the present invention, the entire set of equipment of the robotic arm is fixed at a specific position on the operating table, the robotic arm is initialized, and the initialization position is determined as the coordinate origin of the target three-dimensional model;

[0093] Control the high-frequency electrosurgical knife to move at a preset position, wherein it moves at least once in the X-axis, Y-axis, and Z-axis directions, the moving path is determined, and each movement only moves in one direction among the X-axis, Y-axis, and Z-axis. It can be understood that the preset position can be selected in advance on the target three-dimensional model, but at least three paths must be selected, and the paths need to have a certain length to reduce errors. The three paths are in the X-axis, Y-axis, and Z-axis directions, respectively. Exemplarily, a path of the patient's shoulder width is selected. In the X-axis direction, the path can be limited by a position limiting fixture to ensure that the starting and ending point deviations of the high-frequency electrosurgical knife on the shoulder width path are small. When the high-frequency electrosurgical knife is placed at the starting point of the shoulder width path, the control robot arm can only move in the X-axis direction, and other directions are restricted. Move to the end point of the shoulder width path to complete the calibration on the X-axis. Similarly, the Y-axis direction can select the path of the patient's height, and the Z-axis direction can select the path of the patient's body thickness.

[0094] The movement data of the robot arm during the movement process is obtained, and a relationship is established between the movement data and the spatial coordinate position generated according to the movement in the target three-dimensional model to complete the spatial calibration, wherein the spatial coordinate position generated by the movement is determined based on the coordinate origin.

[0095] Step S15, controlling the movement of the high-frequency electric knife and adjusting the output power of the high-frequency electric knife according to the restricted area.

[0096] It should be noted that the critical point coordinate position of each restricted sub-area is obtained, and the critical point coordinate position is also the boundary point coordinate position. The spatial coordinate position of the high-frequency electric knife movement is obtained in real time. According to the critical point coordinate position of each restricted sub-area and the spatial coordinate position of the high-frequency electric knife movement, it is judged whether the high-frequency electric knife is ready to enter the restricted area. It can be understood that when the spatial coordinate position of the high-frequency electric knife coincides with the boundary point coordinate position, it means that the high-frequency electric knife is ready to enter the restricted area.

[0097] If it is determined that the high-frequency electrosurgical knife is about to enter the restricted area, the high-frequency electrosurgical knife is controlled by the robotic arm to stop moving and a warning is given. For example, a freeze can be set and a light can be used for prompting;

[0098] Obtain the thrust direction and thrust time of the high-frequency electrosurgical knife. Both the thrust direction and thrust time can be collected by the robotic arm to determine whether the thrust direction is toward the restricted area;

[0099] If it is determined that the thrust direction is toward the restricted area, then it is determined whether the thrust time is greater than a threshold;

[0100] If it is judged that the thrust time is greater than the threshold, the high-frequency electric knife is released through the mechanical arm, and the output power of the high-frequency electric knife is controlled not to exceed the power output upper limit value of the corresponding restricted sub-area;

[0101] According to the spatial coordinate position of the high-frequency electric knife movement obtained in real time, it is judged whether the high-frequency electric knife enters the resistance area;

[0102] If it is determined that the high-frequency electric knife enters the resistance area, the movement resistance of the high-frequency electric knife is increased, and the movement trajectory of the high-frequency electric knife in the corresponding resistance area is obtained;

[0103] According to the moving trajectory, it is judged whether the high-frequency electric knife is ready to move from the current restricted sub-area to the next restricted sub-area. It can be understood that when the moving trajectory is reciprocating and the spatial coordinate position of the high-frequency electric knife coincides with the coordinate position of the corresponding boundary point for many times, it can be judged that the high-frequency electric knife is ready to move from the current restricted sub-area to the next restricted sub-area;

[0104] If it is determined that the high-frequency electric knife is ready to move from the current restricted sub-area to the next restricted sub-area, the high-frequency electric knife is released by the robotic arm, that is, the damping is canceled, and the output power of the high-frequency electric knife is controlled not to exceed the power output upper limit value of the corresponding restricted sub-area.

[0105] In this embodiment, in order to continuously improve the definition of the restricted area and the restricted sub-area and make the surgical process safer, specifically, the output power signal of the high-frequency electric knife and the movement trajectory of the high-frequency electric knife in each restricted sub-area are obtained. The output power signal is used to judge the stability of the power output;

[0106] According to the output power signal, determine whether there is an abnormal signal, wherein the deviation of all the acquired output power signals can be calculated, and the signal with a large deviation is determined to be an abnormal signal. The deviation calculation can be obtained by calculating the difference between the average value and a single data piece;

[0107] If it is determined that there is an abnormal signal, the target position of the high-frequency electric knife on the moving trajectory of the corresponding restricted sub-area when the abnormal signal appears is determined. The target position is a coordinate position in space. It can be understood that when abnormal signals appear frequently, it may mean that the boundary definition of the restricted area is not accurate enough. Therefore, the target position is subjected to k-means clustering analysis to determine the appropriate boundary position;

[0108] According to the target position, the interference distance of the corresponding metal implant is re-determined, and in subsequent operations, the interference distances of other metal implants are corrected to optimize the definition of the restricted area and each restricted sub-area;

[0109] Among them, the target interference distance of the target metal implant in the subsequent operation is determined based on the re-determined interference distance of the current metal implant, the properties and shapes of the two metal implants. It can be understood that when the materials and / or functions of the two metal implants are the same, the geometric centers of the two metal implants are determined respectively, and based on the geometric centers, the three-dimensional models of the two metal implants are overlapped. First, the overlap rate of the two three-dimensional models is calculated, and the target interference distance of the target metal implant in the subsequent operation is determined based on the overlap rate and the re-determined interference distance of the current metal implant, wherein the higher the overlap rate, the closer the interference distance of the two metal implants.

[0110] In summary, the high-frequency electric knife control method based on a robotic arm in the above-mentioned embodiment of the present invention constructs a first three-dimensional model of the user's body, and marks the target area in the three-dimensional model according to the actual metal implants in the user's body; imports the first three-dimensional model marked with the target area into the controller, and combines the first three-dimensional model marked with the target area with the second three-dimensional model according to a second three-dimensional model of the surgical scene established in advance to obtain a target three-dimensional model; generates a restricted area in the target three-dimensional model according to the interference range of various metal implants; with the assistance of the robotic arm, controls the high-frequency electric knife to perform spatial calibration, so as to obtain the position of the high-frequency electric knife in the target three-dimensional model in real time during the subsequent high-frequency electric knife operation; controls the movement of the high-frequency electric knife according to the restricted area, and adjusts the output power of the high-frequency electric knife. Since the high-frequency electric knife is assisted in control, there will be no blind operation, which effectively solves the problem that the operation of the high-frequency electric knife during the current operation may be affected by metal objects in the patient's body, thereby resulting in low surgical efficiency and poor treatment effect.

[0111] Embodiment 3

[0112] See also Figure 3 , Figure 3 This is a block diagram of a high-frequency electrosurgical unit control system based on a mechanical arm provided in the third embodiment of the present invention. The high-frequency electrosurgical unit control system 200 based on a mechanical arm is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0113] Specifically, in a scenario with a robotic arm, the robotic arm is fixedly connected to a high-frequency electric knife, and both the robotic arm and the high-frequency electric knife are electrically connected to a controller. The high-frequency electric knife control system 200 based on the robotic arm includes: a construction module 21, a setting module 22, a first operation module 23, and a second operation module 24, wherein:

[0114] A construction module 21 is used to construct a first three-dimensional model of the user's body and mark the surgical area in the first three-dimensional model, where the surgical area is consistent with the actual surgical position;

[0115] A setting module 22, for setting the movement path parameters of the robot arm and the corresponding output power parameters of the high-frequency electrosurgical unit according to the operation area when the operation area is regular;

[0116] A first operation module 23 is used to control the operation of the mechanical arm and the high-frequency electrosurgical unit to perform a fully automatic mode according to the movement path parameters of the mechanical arm and the output power parameters of the high-frequency electrosurgical unit;

[0117] The second operation module 24 is used to perform surgery with the assistance of the robot arm when the surgical area is irregular, so as to perform a semi-automatic mode and improve the operation stability.

[0118] Further, in some optional embodiments of the present invention, the second operation module 24 includes:

[0119] a marking unit, configured to construct a first three-dimensional model of the user's body, and mark a target area in the first three-dimensional model according to an actual metal implant in the user's body;

[0120] a combining unit, configured to import the first three-dimensional model with the target area marked thereon into the controller, and combine the first three-dimensional model with the target area marked thereon with the second three-dimensional model according to a pre-established second three-dimensional model of the surgical scene to obtain a target three-dimensional model;

[0121] A restricted area generating unit, used for generating a restricted area in the target three-dimensional model according to the interference range of various metal implants;

[0122] A first control unit is used to control the high-frequency electric knife to perform spatial calibration with the assistance of the mechanical arm, so as to obtain the position of the high-frequency electric knife in the target three-dimensional model in real time during the subsequent operation of the high-frequency electric knife;

[0123] The second control unit is used to control the movement of the high-frequency electric knife and adjust the output power of the high-frequency electric knife according to the restricted area.

[0124] Further, in some optional embodiments of the present invention, the combining unit includes:

[0125] a combining subunit, configured to determine a reference plane corresponding to the first three-dimensional model marked with the target area and the second three-dimensional model, and combine the first three-dimensional model marked with the target area and the second three-dimensional model according to the reference plane;

[0126] The moving subunit is used to move the preset point of the first three-dimensional model marked with the target area to the reference point on the second three-dimensional model to obtain the target three-dimensional model.

[0127] Further, in some optional embodiments of the present invention, the restricted area generating unit includes:

[0128] A first determination subunit is used to obtain the properties of the metal implant and determine the interference distance of the corresponding metal implant according to a pre-established mapping relationship between the properties of the metal implant and the interference distance;

[0129] A drawing subunit is used to obtain the boundary of the target area and determine each boundary point on the boundary, and draw a plurality of spherical first areas on the target three-dimensional model with the boundary point as the center and the interference distance of the corresponding metal implant as the radius;

[0130] A union processing subunit, used for taking a union of a plurality of spherical first regions to obtain a second region;

[0131] The elimination subunit is used to eliminate the area in the second area that interferes with the first three-dimensional model to obtain the restricted area.

[0132] Further, in some optional embodiments of the present invention, the first control unit includes:

[0133] An initialization subunit, used to initialize the robotic arm and determine the initialization position as the coordinate origin of the target three-dimensional model;

[0134] A first control subunit is used to control the high-frequency electric knife to move at a preset position, wherein the high-frequency electric knife moves at least once in the X-axis, Y-axis and Z-axis directions, the moving path is determined, and each movement is only along one direction of the X-axis, Y-axis and Z-axis;

[0135] The first acquisition subunit is used to acquire the movement data of the robot arm during the movement process, and establish a relationship between the movement data and the spatial coordinate position generated according to the movement in the target three-dimensional model to complete the spatial calibration, wherein the spatial coordinate position generated by the movement is determined based on the coordinate origin.

[0136] Furthermore, in some optional embodiments of the present invention, the restricted area generating unit further includes:

[0137] A region division subunit, used for dividing the restricted area into a plurality of restricted sub-areas according to the distance from the boundary of the target area, each of the restricted sub-areas corresponding to a preset power output upper limit value, and used for controlling the power output of the high-frequency electric knife through the controller not to exceed the power output upper limit value when the high-frequency electric knife enters the corresponding restricted sub-area;

[0138] Wherein, in each limiting sub-area, a resistance area is arranged on a side close to the metal implant, and when the high-frequency electric knife enters the resistance area, the movement resistance of the high-frequency electric knife will be increased.

[0139] Further, in some optional embodiments of the present invention, the second control unit includes:

[0140] The first judgment subunit is used to obtain the critical point coordinate position of each of the restricted sub-areas, obtain the spatial coordinate position of the high-frequency electric knife in real time, and judge whether the high-frequency electric knife is ready to enter the restricted area according to the critical point coordinate position of each of the restricted sub-areas and the spatial coordinate position of the high-frequency electric knife;

[0141] A second control subunit is used for controlling the high-frequency electric knife to stop moving through the mechanical arm and giving a warning if it is determined that the high-frequency electric knife is about to enter the restricted area;

[0142] A second judgment subunit is used to obtain the thrust direction and thrust time of the high-frequency electric knife, and judge whether the thrust direction is toward the restricted area;

[0143] A third judging subunit is configured to judge whether the thrust time is greater than a threshold value if it is judged that the thrust direction is toward the restricted area;

[0144] A third control subunit is configured to release the high-frequency electric knife through the mechanical arm and control the output power of the high-frequency electric knife not to exceed the power output upper limit value of the corresponding restriction sub-area if it is determined that the thrust time is greater than a threshold value;

[0145] A fourth judgment subunit is used to judge whether the high-frequency electric knife enters the resistance area according to the spatial coordinate position of the high-frequency electric knife movement acquired in real time;

[0146] A second acquisition subunit is used for increasing the movement resistance of the high-frequency electric knife if it is determined that the high-frequency electric knife enters the resistance area, and acquiring the movement trajectory of the high-frequency electric knife in the corresponding resistance area;

[0147] a fifth judgment subunit, used to judge whether the high-frequency electric knife is ready to move from the current restricted sub-area to the next restricted sub-area according to the movement trajectory;

[0148] The fourth control subunit is used to release the high-frequency electric knife through the robotic arm if it is determined that the high-frequency electric knife is ready to move from the current restricted sub-area to the next restricted sub-area, and control the output power of the high-frequency electric knife not to exceed the power output upper limit value of the corresponding restricted sub-area.

[0149] Furthermore, in some optional embodiments of the present invention, the second control unit further includes:

[0150] A third acquisition subunit is used to acquire the output power signal of the high-frequency electric knife and the movement trajectory of the high-frequency electric knife in each restricted sub-area;

[0151] a sixth judging subunit, configured to judge whether there is an abnormal signal according to the output power signal;

[0152] The second determination subunit is used to determine the target position of the high-frequency electric knife on the moving track of the corresponding restricted sub-area when the abnormal signal appears, when it is determined that there is an abnormal signal;

[0153] The third determination subunit is used to re-determine the interference distance of the corresponding metal implant according to the target position, and in subsequent operations, correct the interference distance of other metal implants to optimize the definition of the restriction area and each restriction sub-area;

[0154] Wherein, the target interference distance of the target metal implant in the subsequent operation is determined according to the re-determined interference distance of the current metal implant, the properties and the shapes of the two metal implants.

[0155] Embodiment 4

[0156] Another aspect of the present invention provides an electronic device, see Figure 4, shown is an electronic device in Embodiment 4 of the present invention, including a memory 20, a processor 10, and a computer program 30 stored in the memory and executable on the processor. When the processor 10 executes the computer program 30, the high-frequency electric knife control method based on the robotic arm as described above is implemented.

[0157] In some embodiments, the processor 10 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 20, such as executing access restriction programs.

[0158] Among them, the memory 20 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 20 can be an internal storage unit of an electronic device, such as a hard disk of the electronic device. In other embodiments, the memory 20 can also be an external storage device of an electronic device, such as a plug-in hard disk equipped on the electronic device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. Further, the memory 20 can also include both an internal storage unit of the electronic device and an external storage device. The memory 20 can not only be used to store application software and various types of data of the electronic device, but also can be used to temporarily store data that has been output or is to be output.

[0159] It should be pointed out that Figure 4 The structure shown does not constitute a limitation on the electronic device. In other embodiments, the electronic device may include fewer or more components than those shown in the figure, or combine certain components, or arrange the components differently.

[0160] The embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the high-frequency electric knife control method based on a robotic arm as described above is implemented.

[0161] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0162] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0163] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0164] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0165] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A high-frequency electrosurgical knife control system based on a robotic arm, characterized in that: Applied in a scenario with a robotic arm, the robotic arm is fixedly connected to a high-frequency electric knife, and both the robotic arm and the high-frequency electric knife are electrically connected to a controller, and the application includes at least a fully automatic mode and a semi-automatic mode. The system includes: A construction module, used for constructing a first three-dimensional model of the user's body and marking a surgical area in the first three-dimensional model, wherein the surgical area is consistent with an actual surgical position; A setting module, used for setting the moving path parameters of the robot arm and the corresponding output power parameters of the high-frequency electrosurgical unit according to the operating area when the operating area is regular; A first operation module is used to control the operation of the mechanical arm and the high-frequency electric knife according to the movement path parameters of the mechanical arm and the output power parameters of the high-frequency electric knife to perform a fully automatic mode; a second operation module for performing surgery with the assistance of the robotic arm in a semi-automatic mode when the surgical area is irregular; The second operation module includes: a marking unit, configured to construct a first three-dimensional model of the user's body, and mark a target area in the first three-dimensional model according to an actual metal implant in the user's body; a combining unit, configured to import the first three-dimensional model with the target area marked thereon into the controller, and combine the first three-dimensional model with the target area marked thereon with the second three-dimensional model according to a pre-established second three-dimensional model of the surgical scene to obtain a target three-dimensional model; A restricted area generating unit, used for generating a restricted area in the target three-dimensional model according to the interference range of various metal implants; A first control unit is used to control the high-frequency electric knife to perform spatial calibration with the assistance of the mechanical arm, so as to obtain the position of the high-frequency electric knife in the target three-dimensional model in real time during the subsequent operation of the high-frequency electric knife; The second control unit is used to control the movement of the high-frequency electric knife and adjust the output power of the high-frequency electric knife according to the restricted area.

2. The high-frequency electrosurgical unit control system based on a robotic arm according to claim 1, characterized in that: The step of combining the first three-dimensional model with the target area marked with the second three-dimensional model according to the pre-established second three-dimensional model of the surgical scene to obtain the target three-dimensional model comprises: Determine a reference plane corresponding to the first three-dimensional model marked with the target area and the second three-dimensional model, and combine the first three-dimensional model marked with the target area and the second three-dimensional model according to the reference plane; According to the reference point on the second three-dimensional model, the preset point of the first three-dimensional model marked with the target area is moved to the reference point to obtain the target three-dimensional model.

3. The high-frequency electrosurgical unit control system based on a robotic arm according to claim 2, characterized in that: The step of generating a restricted area in the target three-dimensional model according to the interference range of various metal implants includes: Acquire the properties of the metal implant, and determine the corresponding interference distance of the metal implant according to a pre-established mapping relationship between the properties of the metal implant and the interference distance; Acquire the boundary of the target area, determine each boundary point on the boundary, use the boundary point as the sphere center and the interference distance of the corresponding metal implant as the radius, and draw a plurality of spherical first areas on the target three-dimensional model; Taking the union of the first regions of the plurality of spheres, a second region is obtained; The area in the second area that interferes with the first three-dimensional model is eliminated to obtain the restricted area.

4. The high-frequency electrosurgical unit control system based on a robotic arm according to claim 3, characterized in that: The step of controlling the high-frequency electric knife to perform spatial calibration with the assistance of the mechanical arm includes: Initializing the robotic arm, and determining the initialization position as the coordinate origin of the target three-dimensional model; Controlling the high-frequency electric knife to move at a preset position, wherein the electric knife moves at least once in the X-axis, Y-axis, and Z-axis directions, the moving path is determined, and each movement is only along one direction of the X-axis, Y-axis, and Z-axis; Acquire the movement data of the robotic arm during the movement process, and establish a relationship between the movement data and the spatial coordinate position generated according to the movement in the target three-dimensional model to complete the spatial calibration, wherein the spatial coordinate position generated by the movement is determined based on the coordinate origin.

5. The high-frequency electrosurgical unit control system based on a robotic arm according to claim 4, characterized in that: After the step of removing the area in the second area that interferes with the first three-dimensional model to obtain the restricted area, the following steps are included: The restricted area is divided into a plurality of restricted sub-areas according to the distance from the boundary of the target area, each of the restricted sub-areas corresponds to a preset power output upper limit value, so that when the high-frequency electric knife enters the corresponding restricted sub-area, the power output of the high-frequency electric knife is controlled by the controller not to exceed the power output upper limit value; Wherein, in each limiting sub-area, a resistance area is arranged on a side close to the metal implant, and when the high-frequency electric knife enters the resistance area, the movement resistance of the high-frequency electric knife will be increased.

6. The high-frequency electrosurgical unit control system based on a robotic arm according to claim 5, characterized in that: The step of controlling the movement of the high-frequency electric knife and adjusting the output power of the high-frequency electric knife according to the restricted area comprises: Acquire the critical point coordinate position of each of the restricted sub-areas, acquire the spatial coordinate position of the high-frequency electric knife in real time, and judge whether the high-frequency electric knife is ready to enter the restricted area according to the critical point coordinate position of each of the restricted sub-areas and the spatial coordinate position of the high-frequency electric knife; If it is determined that the high-frequency electric knife is about to enter the restricted area, the high-frequency electric knife is controlled by the mechanical arm to stop moving and a warning is issued; Obtaining the thrust direction and thrust time of the high-frequency electrosurgical knife, and determining whether the thrust direction is toward the restricted area; If it is determined that the thrust direction is toward the restricted area, determining whether the thrust time is greater than a threshold; If it is determined that the thrust time is greater than the threshold, the high-frequency electric knife is released by the mechanical arm, and the output power of the high-frequency electric knife is controlled not to exceed the power output upper limit value of the corresponding restricted sub-area; According to the spatial coordinate position of the high-frequency electric knife movement obtained in real time, judging whether the high-frequency electric knife has entered the resistance area; If it is determined that the high-frequency electric knife enters the resistance area, the movement resistance of the high-frequency electric knife is increased, and the movement trajectory of the high-frequency electric knife in the corresponding resistance area is obtained; According to the movement trajectory, determining whether the high-frequency electric knife is ready to move from the current restricted sub-area to the next restricted sub-area; If it is determined that the high-frequency electric knife is ready to move from the current restricted sub-area to the next restricted sub-area, the high-frequency electric knife is released by the robotic arm, and the output power of the high-frequency electric knife is controlled not to exceed the power output upper limit value of the corresponding restricted sub-area.

7. The high-frequency electrosurgical unit control system based on a robotic arm according to claim 6, characterized in that: The step of controlling the output power of the high-frequency electrosurgical unit not to exceed the power output upper limit of the corresponding limiting sub-area includes: Acquire the output power signal of the high-frequency electric knife and the moving trajectory of the high-frequency electric knife in each restricted sub-area; Determining whether there is an abnormal signal according to the output power signal; If so, determine the target position of the high-frequency electric knife on the moving trajectory of the corresponding restricted sub-area when the abnormal signal appears; According to the target position, the interference distance of the corresponding metal implant is re-determined, and in subsequent operations, the interference distances of other metal implants are corrected to optimize the definition of the restricted area and each restricted sub-area; Wherein, the target interference distance of the target metal implant in the subsequent operation is determined according to the re-determined interference distance of the current metal implant, the properties and the shapes of the two metal implants.

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