Orthopedic surgery robot complex space boundary control method and system and electronic equipment

Abstract

The invention relates to the technical field of robot motion control, in particular to an orthopedic surgery robot complex space boundary control method and system and electronic equipment. Comprising the steps that the target expected position of the ball center of a target grinding and drilling ball head installed at the robot operation end, complex space boundary data and the radius of the target grinding and drilling ball head are obtained; the complex space boundary data is a closed manifold polyhedron enveloped by triangular patches; whether the target expected position is located outside the complex space boundary or not is judged, whether the target expected position is corrected according to the radius of the target abrasive drill ball head or not is judged according to the judgment result, and the safe expected position of the ball center of the target abrasive drill ball head is obtained; according to the complex space boundary control method, dynamic compensation can be conducted on the ball head radius of the high-speed abrasive drill, and the problems that in an existing method, for abrasive drill tools with different ball head radiuses, compensation boundary models of different sizes need to be generated in advance, and dynamic management / switching of the used models needs to be conducted are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot motion control, and in particular to a complex space boundary control method and system for an orthopedic surgical robot, and electronic equipment. Background Art

[0002] The human knee joint is composed of the articular surfaces between the femur, tibia and patella. It is the joint connecting the femur and tibia, and is also one of the joints with the heaviest force in the body. The knee joint is mainly divided into the following three compartments: Medial Compartment: The medial compartment is the area on the inside of the knee joint, including the medial femoral condyle, tibial plateau and medial meniscus. Lateral Compartment: The lateral compartment is the area on the outside of the knee joint, including the lateral femoral condyle, tibial plateau and lateral meniscus. Anterior Compartment: The anterior compartment is located in the front of the knee joint, mainly including the femoral condyle, trochlear groove, patella and patellar tendon, and plays an important role in maintaining the stability and movement function of the knee joint. These three compartments together constitute the structure of the knee joint, and they work together to support, move and stabilize the knee joint. When knee joint diseases such as severe osteoarthritis, rheumatoid arthritis, and traumatic arthritis occur, one or more compartments may be affected, and the knee joint cannot perform normal functions. Joint replacement is required to replace the diseased part with an artificial prosthesis to relieve joint pain, correct deformities, restore and improve the joint's motion function, and improve the patient's quality of life.

[0003] Partial knee arthroplasty (PKA) is a surgical method used to treat specific knee joint diseases. Compared with total knee arthroplasty (TKA), PKA only replaces part of the knee joint, usually one or two damaged areas of the medial, lateral, and anterior compartments of the knee. It is mainly suitable for patients with partial knee lesions, that is, only one area or part of the knee joint has obvious wear or degenerative changes, while the contralateral knee joint structure is intact.

[0004] Compared with TKA, PKA can better preserve healthy bones and soft tissues and retain the natural structure of the knee joint. Patients can usually feel natural joint movement and stability better after surgery, and the use of artificial prostheses is also reduced. Because PKA involves less tissue, postoperative pain and discomfort are usually less severe, and patients recover faster and can return to normal life and activities more quickly. In addition, compared with TKA, PKA has a lower risk of postoperative complications, including a lower incidence of complications such as infection and thrombosis.

[0005] However, PKA has some technical difficulties compared to TKA. PKA requires accurate positioning and grinding of the damaged area of ​​the knee joint (i.e., accurate bone surface preparation operations) to ensure that the artificial prosthesis is positioned correctly and adapts to the patient's physiological anatomy. For doctors, accurately identifying and locating the lesion area is the key to a successful operation. PKA also requires doctors to be able to effectively protect the soft tissue structures around the knee joint, especially the ligaments and synovium. During surgery, avoiding damage or stretching these structures is crucial for the patient's postoperative recovery and functional reconstruction. In addition, PKA requires doctors to be able to accurately install the artificial prosthesis to the damaged knee joint.

[0006] In traditional PKA, doctors usually use a variety of surgical instruments to prepare the bone surface by hand. Specifically, doctors use surgical blades, bone rongeurs, oscillating saws, grinding drills and other surgical instruments to cut, trim and grind the surface of damaged bones in order to clean the bone surface and implant artificial prostheses. On the one hand, manual operations reduce the positioning accuracy and shape accuracy of bone surface preparation, which may damage the patient's soft tissues and ligaments and reduce the therapeutic effect of the entire operation; on the other hand, frequent tool changes and large grinding forces also bring a heavy burden to doctors.

[0007] There are also some methods to ensure the accuracy of bone surface preparation, which is to use forming files or osteotomy guides. For example, when processing the internal and external condylar surfaces of the femur, a handheld grinding drill is used to make additional deep holes on the femoral condyle to control the direction and depth of the forming file (CN217960230U is a single condylar grinding osteotomy system); when processing the trochlear groove, the osteotomy guide is fixed to the femur with bone pins, and a handheld osteotomy oscillating saw and milling cutter are used to complete the osteotomy operation. These methods require additional nailing and drilling operations on the patient's bones, making the surgical process more cumbersome. In addition, the tools manually controlled by the doctor cannot completely guarantee that the patient's soft tissues and ligaments will not be injured.

[0008] In robot-assisted partial knee replacement surgery, the robot arm can assist the doctor in interactive bone surface preparation. The robot arm drives the high-speed grinding drill, and the doctor triggers the tool power to complete the bone surface preparation operation of any shape in a controlled manner. It can not only improve the accuracy of bone surface preparation, but also improve the surgical effect without the need to change tools, greatly reducing the doctor's physical exertion. However. In the process of robot-assisted partial knee replacement surgery, the position of the high-speed grinding drill in space needs to be subject to certain boundary restrictions to prevent soft tissue and ligament damage caused by excessive range of motion and reduced surgical accuracy.

[0009] In clinical practice, the same surgery may require the replacement of high-speed drill ball heads with different radius sizes to achieve different grinding effects. Therefore, it is also necessary to dynamically compensate the ball head radius of the high-speed drill used to offset the grinding error caused by it. Similar tool size dynamic compensation is a commonly used concept in CNC machining. It refers to a compensation technology that uses a control algorithm to dynamically adjust the tool center point position in order to compensate for the error caused by the size of the machining tool used (for example, the radius of the ball head drill, the radius of the milling cutter head, etc.) during the machining process, so that the final machining size of the object to be machined is consistent with the expected size. However, the prior art has the following technical problems:

[0010] CN116077135A-A method for implementing bone grinding in unicompartmental replacement surgery: This method controls the power supply so that the drill bit of an orthopedic drill gun can rotate only within a specified grinding area, thereby achieving grinding of any shape. In essence, this method cannot achieve strict boundary control, and cannot ensure that the movement of the drill bit of the orthopedic drill gun driven by the mechanical arm does not exceed the specified range. It can only achieve passive power off after exceeding the range, and cannot strictly ensure the safety of the patient.

[0011] CN116712169A-Motion control method, device, equipment and storage medium for end tool: Boundary control is performed based on the nearest pixel point. When there are noise points or jumps in the image pixel points, there is a problem of continuity of motion control, and the judgment of pixel points introduces angle judgment conditions, which will introduce inverse trigonometric function calculations and increase the amount of calculation. In addition, when judging the intersection of rays, this method does not consider the intersection of rays with boundary lines or vertices, resulting in the impact of floating-point operation rounding errors on the number of calculated rays. When a ray intersects with a boundary line or a vertex, an abnormality will occur in the judgment inside and outside the boundary.

[0012] CN118106975B - A robot-based complex space boundary control method, device and robot: The method comprises: obtaining the desired position of the robot operating end, judging whether the desired position is within the complex space boundary according to a point detection algorithm within the complex space boundary; if the desired position is within the complex space boundary, the safe position is equal to the desired position, and the robot operating end is controlled to work in the safe position; if the desired position is outside the boundary, the shortest distance and the shortest point of each triangular face constituting the complex space boundary are traversed and calculated according to a fast algorithm of the shortest distance and the shortest point from any point in the space to the triangular face, the shortest point corresponding to the shortest distance is selected as the safe position output, and the robot operating end is controlled to work in the safe position.

[0013] In the above three methods, the control model is only for the center position of the high-speed grinding ball head, and the dynamic compensation of the ball head radius is not considered. For the same operation, if different radius sizes need to be changed for fine edge grinding, different retraction models need to be pre-stored in the software at the same time, and boundary models suitable for different ball head radii need to be generated offline before the operation. This will generate a lot of unnecessary work content such as data preprocessing, software scheduling management, data preprocessing, etc., and bring risks.

[0014] CN110997247B-Robotic system and method for generating reaction force to achieve virtual boundary: A virtual boundary control method based on polygonal grid is presented, specifically, the penetration reaction force is calculated through the interactive virtual volume, and the reaction force is applied to the virtual volume to reduce the penetration of the virtual volume into the polygonal elements, thereby performing boundary control. This method takes into account the radius of the high-speed grinding drill ball head, but in essence, this method is to achieve boundary control of the tool by applying a virtual damping force to the tool at the boundary, which belongs to indirect position control through force control. This method has the defects of difficult determination of the damping coefficient and insufficient stiffness at the boundary in engineering. When the damping coefficient is not set accurately or the applied force is too large, there may be a problem that the control result exceeds the boundary, and the boundary cannot be strictly controlled.

[0015] Therefore, the prior art needs to be further developed. Summary of the invention

[0016] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a complex space boundary control method and system and electronic equipment for an orthopedic surgical robot to solve the problems existing in the prior art.

[0017] To achieve the above technical objectives, according to a first aspect of the present invention, the present invention provides a complex space boundary control method for an orthopedic surgical robot, comprising:

[0018] S100, obtaining a target expected position of the center of a target grinding drill ball head installed on the robot operating end, complex space boundary data, and a radius of the target grinding drill ball head; the complex space boundary data is a closed manifold polyhedron enveloping a triangular facet;

[0019] S200, determining whether the target expected position is outside the boundary of the complex space, and determining whether to correct the target expected position according to the radius of the target drill ball head according to the determination result, to obtain a safe expected position of the center of the target drill ball head;

[0020] S300, controlling the movement of the robot operating end according to the safe expected position.

[0021] Specifically, determining whether to correct the target expected position according to the radius of the target drill ball head according to the judgment result to obtain the safe expected position of the center of the target drill ball head includes:

[0022] If the target expected position is within the boundary of the complex space, calculate the shortest distance from the target expected position to the boundary of the complex space, determine whether the shortest distance is greater than or equal to the radius of the target drill ball head, and determine whether to correct the target expected position according to the radius of the target drill ball head based on the determination result to obtain a safe expected position of the center of the target drill ball head;

[0023] If the closest distance is greater than or equal to the radius of the target drill ball head, it is determined that the target expected position is directly used as the safe expected position of the center of the target drill ball head;

[0024] If the shortest distance is smaller than the radius of the target drill bit, it is determined that the target expected position is corrected according to the radius of the target drill bit to obtain a safe expected position of the center of the target drill bit.

[0025] Specifically, the target expected position is corrected according to the radius of the target drill ball head to obtain the safe expected position of the center of the target drill ball head, including:

[0026] The target expected position is taken as the initial search position, and the nearest point from the initial search position to the boundary of the complex space is selected as the initial nearest point. The distance from the initial search position to the initial nearest point is calculated as the target distance. The difference between the radius of the target drill ball head and the target distance is calculated as the distance to be corrected. The direction in which the initial search position points to the initial nearest point is taken as the initial search direction. The initial search position is moved along the initial search direction by the distance to be corrected to obtain a safe expected position.

[0027] Specifically, the step of determining whether the target expected position is outside the boundary of the complex space and determining whether to correct the target expected position according to the radius of the target drill ball head according to the determination result to obtain the safe expected position of the center of the target drill ball head includes:

[0028] If the target expected position is located on a complex space boundary, the target expected position is corrected according to the radius of the target drill ball head to obtain a safe expected position of the ball center of the target drill ball head.

[0029] Specifically, the target expected position is corrected according to the radius of the target drill ball head to obtain the safe expected position of the center of the target drill ball head, including:

[0030] The target expected position is taken as the initial search position, the radius of the target drill ball head is taken as the distance to be corrected, the initial search position is taken as the foot of the perpendicular, a perpendicular line is drawn to the boundary where the initial search position is located, the direction of the ray formed by the foot of the perpendicular and the perpendicular line is taken as the initial search direction, the initial search position is moved along the initial search direction by the distance to be corrected to obtain a safe expected position.

[0031] Specifically, the step of determining whether the target expected position is outside the boundary of the complex space and determining whether to correct the target expected position according to the radius of the target drill ball head according to the determination result to obtain the safe expected position of the center of the target drill ball head includes:

[0032] If the target expected position is outside the boundary of the complex space, the target expected position is corrected according to the radius of the target drill ball head to obtain a safe expected position of the center of the target drill ball head.

[0033] Specifically, the target expected position is corrected according to the radius of the target drill bit to obtain the safe expected position of the center of the target drill ball head, including:

[0034] The nearest point from the target expected position to the boundary of the complex space is selected, and the nearest point is used as the initial search position. The radius of the target drill ball head is used as the distance to be corrected. The initial search position is used as the foot of the perpendicular, and a perpendicular line to the boundary where the initial search position is located is made. The direction indicated by the ray formed by the foot of the perpendicular and the perpendicular line is used as the initial search direction. The initial search position is moved along the initial search direction by the distance to be corrected to obtain a safe expected position.

[0035] Specifically, the step of moving the initial search position along the initial search direction by the distance to be corrected to obtain the safe expected position further includes:

[0036] After moving the initial search position along the initial search direction by the distance to be corrected, the expected position to be verified is obtained, the closest distance from the expected position to be verified to the boundary of the complex space is calculated, and it is determined whether the closest distance is greater than or equal to the radius of the target grinding drill ball head;

[0037] If not, the expected position to be verified is corrected again according to the above method until the corrected expected position to be verified is within the boundary of the complex space, and after the closest distance from the corrected expected position to the boundary of the complex space is calculated, the closest distance is greater than or equal to the radius of the target grinding drill ball head, and the corrected expected position to be verified is used as the safe expected position;

[0038] If so, directly use the expected position to be verified as the safe expected position.

[0039] Specifically, the method further includes:

[0040] If the closest distance from the corrected expected position to be verified to the boundary of the complex space is greater than or equal to the radius of the target drill ball head, determine whether the difference between the closest distance from the corrected expected position to be verified to the boundary of the complex space and the radius of the target drill ball head is less than or equal to a first preset threshold, and if so, use the corrected expected position to be verified as a safe expected position;

[0041] If not, the expected position to be verified is corrected again according to the above method until the difference between the closest distance between the corrected expected position to be verified and the boundary of the complex space and the radius of the target drill ball head is less than or equal to the first preset threshold value, and the expected position to be verified at this time is used as the safe expected position.

[0042] Specifically, the method further includes:

[0043] Recording the number of corrections, determining whether the number of corrections is greater than or equal to a second preset threshold, and determining whether a safe expected position is found at this time, and determining whether the target expected position correction is abnormal according to the determination result;

[0044] If the number of corrections is greater than or equal to a second preset threshold and the safe expected position is not found at this time, it is determined that the target expected position correction is abnormal;

[0045] If the number of corrections is less than a second preset threshold and a safe expected position is found at this time, it is determined that the correction of the target expected position is normal;

[0046] If the number of corrections is less than the second preset threshold and the safe expected position is not found at this time, it is determined that the correction of the target expected position is normal, and the correction of the target expected position continues.

[0047] Specifically, the method further includes:

[0048] If the number of corrections is greater than or equal to the second preset threshold and the safe expected position is not found at this time, determine whether the difference between the closest distance from the expected position to be verified to the boundary of the complex space and the radius of the target drill ball head is less than or equal to the third preset threshold. If so, take the expected position to be verified at this time as the safe expected position. If not, re-correct the expected position to be verified at this time according to the above method, and re-record the number of corrections until the difference between the closest distance from the expected position to be verified to the boundary of the complex space after correction and the radius of the target drill ball head is less than or equal to the third preset threshold, and take the expected position to be verified at this time as the safe expected position.

[0049] Specifically, the method further includes:

[0050] Determine whether the number of re-recorded corrections is greater than or equal to a fourth preset threshold, determine whether a safe expected position is found at this time, and determine whether the correction of the target expected position is abnormal according to the determination result;

[0051] If the number of re-recorded calibrations is greater than or equal to a fourth preset threshold, and the safe expected position is not found at this time, it is determined that the calibration of the target expected position is abnormal;

[0052] If the number of re-recorded corrections is less than a fourth preset threshold and a safe expected position is found at this time, it is determined that the target expected position correction is normal;

[0053] If the number of re-recorded corrections is less than a fourth preset threshold and the safe expected position is not found at this time, it is determined that the correction of the target expected position is normal, and the correction of the target expected position continues.

[0054] According to a second aspect of the present invention, there is provided an orthopedic surgery robot complex space boundary control system, comprising:

[0055] An acquisition module is used to acquire the target expected position of the ball center of the target grinding drill ball head installed on the robot operation end, complex space boundary data, and the radius of the target grinding drill ball head; the complex space boundary data is a closed manifold polyhedron enveloping a triangular facet;

[0056] The control module is used to determine whether the target expected position is outside the boundary of the complex space, and determine whether to correct the target expected position according to the radius of the target drill ball head based on the judgment result to obtain the safe expected position of the center of the target drill ball head; and is used to control the movement of the robot operating end according to the safe expected position.

[0057] According to a third aspect of the present invention, there is provided an electronic device, comprising: a memory; and a processor, wherein the memory stores computer-readable instructions, and the computer-readable instructions, when executed by the processor, implement the above-mentioned complex space boundary control method of an orthopedic surgical robot.

[0058] Beneficial effects:

[0059] 1. The present invention proposes and designs a specific implementation scheme for complex space boundary control, which only requires the expected position of the high-speed drill, the ball head radius of the high-speed drill, and the safety boundary, and does not need to obtain the current position of the high-speed drill, thereby reducing the impact of system time delay on control and ensuring that the given high-speed drill safety position is consistent with the direction of the expected position;

[0060] 2. The complex space boundary control method proposed in the present invention can dynamically compensate for the ball head radius of the high-speed drill grinder, solving the problem in the existing method that for drill grinders with different ball head radii, different size compensation boundary models need to be generated in advance and the models need to be dynamically managed / switched;

[0061] 3. The complex space boundary control method proposed in the present invention does not impose any restrictions on the concavity and convexity of the boundary, and supports customizing the boundary type according to the patient's anatomical structure and the shape of the artificial prosthesis. It can protect the patient from additional secondary injuries and avoid unnecessary excessive grinding of soft tissues and ligaments;

[0062] 4. The present invention uses complex spatial boundary control to ensure that when the surgical tool position planned by the doctor's operating force exceeds the boundary, the position is corrected to a position within the specified boundary range and in the desired direction. While achieving the bone surface preparation operation, the artificial prosthesis can be accurately installed without warping or leaking.

[0063] 5. Compared with the traditional bone surface preparation operation implementation method of replacing multiple tools and using multiple fixtures and measuring tools, the method provided by the present invention uses a single high-speed grinding drill power tool with a variety of ball heads of different radii to prepare the bone surface. There is no need to replace the power tools for bone grinding and osteotomy, which greatly improves the surgical efficiency and doctor experience, and shortens the operation time and the patient's postoperative recovery time.

[0064] 6. By applying the method proposed in the present invention, when a doctor performs bone surface preparation operations on a patient's bones and needs to dynamically adjust the position of a high-speed drill within a complex spatial boundary, the robotic arm can limit the doctor's dynamically adjusted safety area, thereby protecting the patient from unnecessary harm and ensuring the safety and accuracy of the bone surface preparation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a flow chart of a complex space boundary control method of an orthopedic surgical robot provided in a specific embodiment of the present invention;

[0066] Figure 2 It is a schematic diagram of a common partial knee replacement procedure for replacing different knee joint compartments provided in a specific embodiment of the present invention;

[0067] Figure 3 It is a schematic diagram of the connection relationship of the system components of the complex space boundary control system of the orthopedic surgical robot provided in a specific embodiment of the present invention;

[0068] Figure 4 It is a schematic diagram of the hardware position relationship of the system components of the complex space boundary control system of the orthopedic surgical robot provided in a specific embodiment of the present invention;

[0069] Figure 5 is a schematic diagram of a typical medial / lateral compartment artificial prosthesis provided in a specific embodiment of the present invention;

[0070] Figure 6 is a schematic diagram of the installation of a typical medial / lateral compartment artificial prosthesis provided in a specific embodiment of the present invention;

[0071] Figure 7 is a schematic diagram of complex spatial boundaries corresponding to a typical medial / lateral compartment artificial prosthesis provided in a specific embodiment of the present invention;

[0072] Figure 8 yes Figure 7 A schematic diagram from another angle;

[0073] Fig. 9 It is a schematic diagram of the relationship between the complex space boundary and the femoral position corresponding to a typical medial / lateral compartment artificial prosthesis provided in a specific embodiment of the present invention;

[0074] Fig.10 is a schematic diagram of a typical patellofemoral joint artificial prosthesis provided in a specific embodiment of the present invention;

[0075] Fig.11 is a schematic diagram of the installation of a typical patellofemoral joint artificial prosthesis provided in a specific embodiment of the present invention;

[0076] Fig.12 is a schematic diagram of a complex space boundary corresponding to a typical patellofemoral joint artificial prosthesis provided in a specific embodiment of the present invention;

[0077] Fig.13 yes Fig.12 A schematic diagram from another angle;

[0078] Fig.14 It is a schematic diagram of the relationship between the complex space boundary and the femur position corresponding to a typical patellofemoral joint artificial prosthesis provided in a specific embodiment of the present invention;

[0079] Fig.15 A schematic diagram of a two-dimensional cross section corresponding to a complex spatial boundary of a femur provided in a specific embodiment of the present invention;

[0080] Fig.16 A schematic diagram of an equidistant indentation boundary required by other methods in the prior art provided in a specific embodiment of the present invention;

[0081] Fig.17 Schematic diagram of a high-speed grinding drill and ball heads of different sizes provided in a specific embodiment of the present invention;

[0082] Fig.18 A schematic diagram of the search principle when the search position is outside the boundary provided in a specific embodiment of the present invention;

[0083] Fig.19 A schematic diagram of the search principle when the search position is on the boundary provided in a specific embodiment of the present invention;

[0084] Fig. 20 A schematic diagram of a search principle provided in a specific embodiment of the present invention when the search position is within the boundary and a search is still required;

[0085] Fig.21 A schematic diagram of a search principle when a search position is within a boundary and no search is required, provided in a specific embodiment of the present invention;

[0086] Fig. 22 It is a schematic diagram of the algorithm flow of the complex space boundary control method of the surgical robot provided in a specific embodiment of the present invention;

[0087] Fig.23 A local two-dimensional cross-sectional schematic diagram corresponding to a conventional search process provided in a specific embodiment of the present invention;

[0088] Fig.24 A local two-dimensional cross-sectional schematic diagram corresponding to the search process for unconventional situations provided in a specific embodiment of the present invention;

[0089] Fig.25 This is a schematic diagram of the system composition of the complex space boundary control system of an orthopedic surgical robot provided in a specific embodiment of the present invention.

[0090] In the above drawings, there are the following reference numerals:

[0091] 1. Robotic arm; 2. Six-dimensional force sensor; 3. Optical camera; 4. Optical positioning sensor; 5. Patient's bones; 6. Tools; 100. Acquisition module; 200. Control module. DETAILED DESCRIPTION

[0092] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0093] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0094] See also Figure 1-Figure 25 The present invention provides a complex space boundary control method for an orthopedic surgical robot, comprising:

[0095] S100, obtaining the target expected position of the center of the target drill ball head installed on the robot operating end, complex space boundary data, and the radius of the target drill ball head; the complex space boundary data is a closed manifold polyhedron enveloped by triangular facets.

[0096] It should be noted here that Figure 2 This is a diagram of common partial knee replacements that replace different knee compartments. From left to right, they are medial compartment replacement, patellofemoral replacement, lateral compartment replacement, medial + patellofemoral replacement, and combinations of medial + lateral compartment replacements. They are collectively referred to as partial knee replacements.

[0097] It should be noted here that the complex space boundary control method of the orthopedic surgical robot proposed in the present invention has the following system components: Figure 3 and Figure 4 As shown, it includes a motion control PC, a robotic arm 1, a six-dimensional force sensor 2, a tool 6 (high-speed grinding drill), an optical positioning sensor 4, and an optical camera 3. Figure 4 As shown, a six-dimensional force sensor is installed at the end of the robotic arm, and the sensor sensing end is fixedly connected to the high-speed grinding drill. During the operation, the doctor directly performs handheld interactive operations with the high-speed grinding drill, and then the motion control PC can sense the doctor's handheld interactive force based on the six-dimensional force sensor, and control the robotic arm to perform power control through the specific size of the interactive force, so that the high-speed grinding drill can interactively move in a controlled manner within a given complex spatial boundary. The optical positioning sensor is responsible for real-time sensing of the relative position relationship between the patient's bones 5 and the tool, so that the motion control PC can calculate and update the posture information of the complex spatial boundary in real time.

[0098] Specifically, the "complex space boundary" is defined as a closed manifold polyhedron enclosed by triangular facets, which satisfies the following conditions:

[0099] 1. Each face of a polyhedron is a triangle;

[0100] 2. Each triangle shares at least one vertex or one edge with an adjacent triangle;

[0101] 3. No two triangles intersect or overlap;

[0102] 4. A polyhedron is a manifold, that is, each point has a neighborhood, can be represented by a coordinate system in Euclidean space, and satisfies local Euclidean properties.

[0103] The definition can be further explained as follows: A closed manifold polyhedron enclosed by a triangular patch is a mesh structure composed of triangles, which satisfies that the connection relationship between adjacent triangles is continuous and uninterrupted; each triangle is called a triangular patch, which has three vertices and three edges. These triangles form a seamless polyhedral surface without any overlap or intersection. At the same time, this polyhedron also needs to meet the definition of a manifold, that is, it should be a Euclidean space locally, and it should be continuous and differentiable as a whole.

[0104] The closed manifold polyhedron enclosed by triangles is an important data structure widely used in computer graphics and computer-aided design. When we need to represent complex geometric shapes, a collection of triangles is a common and effective method that can be used to represent the shape and surface features of three-dimensional objects. The flexibility of triangles allows them to be combined in a variety of different ways to approximate complex geometric shapes. By increasing or decreasing the number of triangles, and adjusting their size, shape, and position, the original geometric shape can be better approximated. This adjustability allows us to make fine or rough approximations as needed.

[0105] Triangular facets can also approximate areas with local details very well. For local areas with large curvature or complex shapes, using smaller triangles can better preserve these details. By increasing the density of triangles in areas that require more accurate approximation, we can achieve a better approximation of local details of geometric shapes. It is also one of the essential basic elements in many numerical calculations and simulation methods, and can be considered as general knowledge in this field.

[0106] The complex space boundary defined by a closed manifold polyhedron enclosed by triangular facets is hereinafter referred to as the "complex space boundary".

[0107] When used for motion control of a robotic arm, one or several faces of a given complex spatial boundary are usually generated with the geometric shape of the artificial prosthesis fitting the bone surface side. The robotic arm controls the high-speed grinding drill to make the ball head spherical surface fit the side and move nearby to achieve the bone surface preparation operation. The bone surfaces required by several typical artificial prostheses and the corresponding complex spatial boundary schematic diagrams are shown below: Figure 5-Figure 14 As shown. It is understandable that Figure 5-Figure 14 The schematic diagram is only used to represent the optional style of complex space boundary and is not a limitation of the complex space boundary style. The complex space boundary control method proposed in this paper can be applied to the bone surface preparation operation of artificial prostheses of any shape, as long as a closed manifold polyhedron enveloping a triangular facet can be generated according to the geometric shape of the side of the artificial prosthesis that fits the bone surface.

[0108] Fig.15Taking the two-dimensional cross-section of the complex spatial boundary of the femur as an example, the complex spatial boundary definition and the position that can be reached by the high-speed grinding drill ball head are shown. In practical applications, general boundary control methods such as CN116712169A and CN118106975B, etc., also need to perform polyhedral equidistant indentation (the indentation distance is set according to the radius of the ball head used) on the complex spatial boundary generated by the artificial prosthesis according to the radius of the different ball heads used, generate multiple actual compensation control models for different grinding drill radius sizes, and then perform actual grinding to compensate for the position (such as Fig.16 The above control methods are not applicable to high-speed drill head with radius size that has not been pre-compensated by model generation. In contrast, the present method does not need to generate multiple equidistant retraction boundary control models in advance, nor does it need to store, manage or schedule these models. Instead, the control method is used to dynamically compensate for the radius of the high-speed drill head currently in use. For ball heads of various radius sizes, a unique complex spatial boundary generated according to the prosthesis mounting surface (such as Fig.15 , 16 The control is shown by the dotted line in the middle sector, which has better universality.

[0109] Specifically, high-speed grinding drills and ball heads of different sizes are shown below: Fig.17 As shown, the robotic arm can control the center position of the ball head of the high-speed bur by holding the non-rotating part of the high-speed bur, thereby controlling the grinding area and achieving precise bone surface preparation operations.

[0110] It can be understood that the core idea of ​​the present invention is to calculate the safe position of the surgical tool based on the position of the surgical tool planned by the doctor's operating force, the boundary of the surgical safety area, and the radius of the high-speed grinding drill ball head used, and send it to the robotic arm to drive the surgical tool to move, thereby accurately and safely performing the bone surface preparation operation.

[0111] It should be noted that before step S100, the following steps are also included:

[0112] A first preset threshold, a second preset threshold, a third preset threshold, and a fourth preset threshold are preset in the control module 200 .

[0113] It can be understood that the first preset threshold, the second preset threshold, the third preset threshold and the fourth preset threshold can be specifically set according to the actual needs of the user of the present invention. The present invention does not impose specific restrictions on the values ​​of the first preset threshold, the second preset threshold, the third preset threshold and the fourth preset threshold, as long as they are applicable to the complex space boundary control method of the orthopedic surgical robot proposed in the present invention.

[0114] Preferably, since the radius of the bur ball head is generally 0.75 mm to 6 mm, the present invention prefers the first preset threshold to be 0.001 times or 0.00075 mm of the radius of the target bur ball head, the present invention prefers the second preset threshold to be 100 times, the present invention prefers the third preset threshold to be 0.01 times or 0.06 mm of the radius of the target bur ball head, and the present invention also prefers the fourth preset threshold to be 100 times. The above settings are obtained by the technicians of the present invention through a large number of tests, and can well illustrate the complex space boundary control method of the orthopedic surgical robot proposed in the present invention.

[0115] S200, determining whether the target expected position is outside the boundary of the complex space, and determining whether to correct the target expected position according to the radius of the target drill ball head according to the determination result, to obtain a safe expected position of the center of the target drill ball head.

[0116] Specifically, determining whether to correct the target expected position according to the radius of the target drill ball head according to the judgment result to obtain the safe expected position of the center of the target drill ball head includes:

[0117] If the target expected position is within the boundary of the complex space, calculate the shortest distance from the target expected position to the boundary of the complex space, determine whether the shortest distance is greater than or equal to the radius of the target drill ball head, and determine whether to correct the target expected position according to the radius of the target drill ball head based on the determination result to obtain a safe expected position of the center of the target drill ball head;

[0118] If the closest distance is greater than or equal to the radius of the target drill ball head, it is determined that the target expected position is directly used as the safe expected position of the center of the target drill ball head;

[0119] If the shortest distance is smaller than the radius of the target drill bit, it is determined that the target expected position is corrected according to the radius of the target drill bit to obtain a safe expected position of the center of the target drill bit.

[0120] Specifically, the target expected position is corrected according to the radius of the target drill ball head to obtain the safe expected position of the center of the target drill ball head, including:

[0121] The target expected position is taken as the initial search position, and the nearest point from the initial search position to the boundary of the complex space is selected as the initial nearest point. The distance from the initial search position to the initial nearest point is calculated as the target distance. The difference between the radius of the target drill ball head and the target distance is calculated as the distance to be corrected. The direction in which the initial search position points to the initial nearest point is taken as the initial search direction. The initial search position is moved along the initial search direction by the distance to be corrected to obtain a safe expected position.

[0122] Specifically, the step of determining whether the target expected position is outside the boundary of the complex space and determining whether to correct the target expected position according to the radius of the target drill ball head according to the determination result to obtain the safe expected position of the center of the target drill ball head includes:

[0123] If the target expected position is located on a complex space boundary, the target expected position is corrected according to the radius of the target drill ball head to obtain a safe expected position of the ball center of the target drill ball head.

[0124] Specifically, the target expected position is corrected according to the radius of the target drill ball head to obtain the safe expected position of the center of the target drill ball head, including:

[0125] The target expected position is taken as the initial search position, the radius of the target drill ball head is taken as the distance to be corrected, the initial search position is taken as the foot of the perpendicular, a perpendicular line is drawn to the boundary where the initial search position is located, the direction of the ray formed by the foot of the perpendicular and the perpendicular line is taken as the initial search direction, the initial search position is moved along the initial search direction by the distance to be corrected to obtain a safe expected position.

[0126] Specifically, the step of determining whether the target expected position is outside the boundary of the complex space and determining whether to correct the target expected position according to the radius of the target drill ball head according to the determination result to obtain the safe expected position of the center of the target drill ball head includes:

[0127] If the target expected position is outside the boundary of the complex space, the target expected position is corrected according to the radius of the target drill ball head to obtain a safe expected position of the center of the target drill ball head.

[0128] Specifically, the target expected position is corrected according to the radius of the target drill bit to obtain the safe expected position of the center of the target drill ball head, including:

[0129] The nearest point from the target expected position to the boundary of the complex space is selected, and the nearest point is used as the initial search position. The radius of the target drill ball head is used as the distance to be corrected. The initial search position is used as the foot of the perpendicular, and a perpendicular line to the boundary where the initial search position is located is made. The direction indicated by the ray formed by the foot of the perpendicular and the perpendicular line is used as the initial search direction. The initial search position is moved along the initial search direction by the distance to be corrected to obtain a safe expected position.

[0130] Specifically, the step of moving the initial search position along the initial search direction by the distance to be corrected to obtain the safe expected position further includes:

[0131] After moving the initial search position along the initial search direction by the distance to be corrected, the expected position to be verified is obtained, the closest distance from the expected position to be verified to the boundary of the complex space is calculated, and it is determined whether the closest distance is greater than or equal to the radius of the target grinding drill ball head;

[0132] If not, the expected position to be verified is corrected again according to the above method until the corrected expected position to be verified is within the boundary of the complex space, and after the closest distance from the corrected expected position to the boundary of the complex space is calculated, the closest distance is greater than or equal to the radius of the target grinding drill ball head, and the corrected expected position to be verified is used as the safe expected position;

[0133] If so, directly use the expected position to be verified as the safe expected position.

[0134] Specifically, the method further includes:

[0135] If the closest distance from the corrected expected position to be verified to the boundary of the complex space is greater than or equal to the radius of the target drill ball head, determine whether the difference between the closest distance from the corrected expected position to be verified to the boundary of the complex space and the radius of the target drill ball head is less than or equal to a first preset threshold, and if so, use the corrected expected position to be verified as a safe expected position;

[0136] If not, the expected position to be verified is corrected again according to the above method until the difference between the closest distance between the corrected expected position to be verified and the boundary of the complex space and the radius of the target drill ball head is less than or equal to the first preset threshold value, and the expected position to be verified at this time is used as the safe expected position.

[0137] Specifically, the method further includes:

[0138] Recording the number of corrections, determining whether the number of corrections is greater than or equal to a second preset threshold, and determining whether a safe expected position is found at this time, and determining whether the target expected position correction is abnormal according to the determination result;

[0139] If the number of corrections is greater than or equal to a second preset threshold and the safe expected position is not found at this time, it is determined that the target expected position correction is abnormal;

[0140] If the number of corrections is less than a second preset threshold and a safe expected position is found at this time, it is determined that the correction of the target expected position is normal;

[0141] If the number of corrections is less than the second preset threshold and the safe expected position is not found at this time, it is determined that the correction of the target expected position is normal, and the correction of the target expected position continues.

[0142] Specifically, the method further includes:

[0143] If the number of corrections is greater than or equal to the second preset threshold and the safe expected position is not found at this time, determine whether the difference between the closest distance from the expected position to be verified to the boundary of the complex space and the radius of the target drill ball head is less than or equal to the third preset threshold. If so, take the expected position to be verified at this time as the safe expected position. If not, re-correct the expected position to be verified at this time according to the above method, and re-record the number of corrections until the difference between the closest distance from the expected position to be verified to the boundary of the complex space after correction and the radius of the target drill ball head is less than or equal to the third preset threshold, and take the expected position to be verified at this time as the safe expected position.

[0144] Specifically, the method further includes:

[0145] Determine whether the number of re-recorded corrections is greater than or equal to a fourth preset threshold, determine whether a safe expected position is found at this time, and determine whether the correction of the target expected position is abnormal according to the determination result;

[0146] If the number of re-recorded calibrations is greater than or equal to a fourth preset threshold, and the safe expected position is not found at this time, it is determined that the calibration of the target expected position is abnormal;

[0147] If the number of re-recorded corrections is less than a fourth preset threshold and a safe expected position is found at this time, it is determined that the target expected position correction is normal;

[0148] If the number of re-recorded corrections is less than a fourth preset threshold and the safe expected position is not found at this time, it is determined that the correction of the target expected position is normal, and the correction of the target expected position continues.

[0149] It should be noted here that if it is determined that the target desired position correction is abnormal, an alarm signal related to the target desired position correction abnormality is output and the correction is stopped;

[0150] If it is determined that the target expected position correction is normal, a prompt signal indicating that the target expected position correction is normal is output.

[0151] It is understandable that, since complex boundary data may have artificial design problems due to its own structure, such as holes, discontinuities, incompleteness on the complex space boundary surface, or self-intersection of triangular facets inside the complex space boundary, and any closed manifold polyhedron definition that does not conform to the triangular facet envelope, even if the correction is continued, the safe expected position may not be found. The present invention performs intelligent monitoring and alarm for this situation. Through the above scheme, when the number of corrections is large, the threshold can be intelligently adjusted, and the judgment of whether the safe expected position is found again can be performed. If it is not found, the correction is continued, and the judgment of the second correction number is performed, so that the judgment of the correction abnormality of the present invention is more reliable. The judgment is first made with a high-precision threshold. If no result is found after many times, a slightly lower precision is used for searching again. In this way, it is avoided that no result can be found by using a single threshold and a fixed number of iterations, so that the present invention can quickly search for the safe expected position under the condition of slightly reducing the precision, and further improve the intelligence, availability, safety, reliability and system robustness of the present invention.

[0152] S300, controlling the movement of the robot operating end according to the safe expected position.

[0153] Specifically, the principle of the present invention is explained below by way of specific examples:

[0154] In order to generate a safe position within the boundary of a complex space, the following complex space boundary control method is proposed. The central idea is to first determine the relative position relationship between the expected position of the center point of the high-speed drill ball head and the boundary of the complex space through the expected position of the center point of the high-speed drill ball head; if the expected position is within the boundary and the closest distance between the expected position and the boundary is greater than the radius of the ball head, the expected position is directly output as the safe position; otherwise, a step search is performed toward the boundary according to different rules until a safe position whose closest distance to the boundary is greater than or equal to the radius of the ball head is found, and the search result is output as the safe position.

[0155] It can be understood that the step search process has the same meaning as the aforementioned correction process, but is expressed differently.

[0156] If a closed manifold polyhedron enclosed by a triangular patch is represented by a data structure, it generally includes a vertex coordinate set consisting of the coordinate data of the polyhedron vertices and a triangular patch index set consisting of the indices of the triangular patches. The triangular patch index set is generally a multi-row, three-column array consisting of integers. The integers in the 1st, 2nd, and 3rd columns of each row represent the index values ​​of the 1st, 2nd, and 3rd vertices of the triangular patch in the row in the vertex coordinate set, respectively, and are used to determine the three vertices that constitute a triangular patch. If such data structures are stored in files, they can usually be stored as files with the suffix .st l or .obj. Assume that the complex spatial boundary data is represented by boundary, and its specific data structure and specific file storage type are not limited here.

[0157] To determine whether a point is inside / on / outside the boundary of a complex space, any conventional method, such as ray intersection method, or open source software algorithm can be used, which is not limited in the present invention. center , the pseudo code for judging the relative position relationship isIn between the center of the ball head and the boundary of the complex space is as follows:

[0158] [isIn]=I nOutCheck(boundary,p center )

[0159] Among them, isIn has the following meanings:

[0160]

[0161] Among them, InOutCheck is the name of an algorithm function for determining whether the position of a point is inside / on / outside the boundary of a complex space.

[0162] To determine the position of a point to each triangular facet of the complex space boundary, the position of the nearest point on the nearest triangular facet, the nearest distance, and the inward normal, any conventional method, such as traversal method, octree search method, etc., or open source software can be used, which is not limited in the present invention. center , calculate the position p of the nearest point on the triangle closest to the boundary of the ball head center closest , the closest distance d closest , inward normal n closest The pseudo code is as follows:

[0163] [p closest ,d closest ,n closest ]=Closest(boundary,p center )

[0164] Among them, Closest is the position p of the closest point on the triangle patch closest to the boundary where the center of the ball head is calculated. closest , the closest distance d closest , inward normal n closest The name of the algorithm function.

[0165] The complete method pseudo code is as follows:

[0166]

[0167]

[0168] In the above process, norma li ze means normalizing the vector to obtain the unit direction. EPS is the minimum value, representing the control accuracy, which can usually be set to 0.001 to 0.01 times of rad i us. In steps 3), 4), and 5), each jump to step 6) is to make the updated search position meet the needs of the high-speed grinding drill ball head spherical surface being tangent to the nearest surface or nearest point of the complex space boundary, so as to achieve a fast search to a safe position. The specific steps and the corresponding search principle diagram are shown in Figure 18-Figure 21 .

[0169] It is understandable that the above process can be used Fig. 22 In engineering implementation, it is also necessary to constrain the maximum number of searches of the above search method to prevent the method from falling into an infinite loop. An effective way is to accumulate the number of times step 6) is executed and determine that the method returns an exception when the number is greater than a certain larger value. Alternatively, the number of searches can be controlled by adjusting the value (usually a slightly larger value is used to reduce the number of searches and achieve faster returns).

[0170] Since each search direction is the closest direction pointing to the inside of the complex boundary, and each search distance is the distance that makes the sphere tangent to the nearest surface or nearest point of the complex space boundary after the search, under normal circumstances, the above method usually only needs one or two times to search for a safe position that meets the requirements (such as Fig.23 As shown above). The reason why the loop search and repeated judgment as shown above are needed is that the complex space boundary has uncertain concavity and convexity, and may have a small angle shape feature angle. This will cause the search direction and search distance obtained in one loop to exceed the boundary of another place after the step search (such as Fig.24 Therefore, we cannot simply assume that we can return to a safe position after obtaining the result variables of one or two searches and stepping through the updated positions.

[0171] It should be noted that this method can be used not only for complex space boundary control in partial knee arthroplasty (PKA), but also for complex space boundary control in any procedure. For example, when the complex space boundary is a sphere, it can be used for acetabular grinding in THA procedure; when the complex space boundary is a cube, it can be used for plane osteotomy in TKA procedure, etc. This article uses partial knee arthroplasty (PKA) as an example.

[0172] See also Fig.25 The present invention provides another embodiment, which provides a complex space boundary control system for an orthopedic surgery robot. The complex space boundary control system for an orthopedic surgery robot includes:

[0173] The acquisition module 100 is used to acquire the target expected position of the ball center of the target grinding drill ball head installed on the robot operation end, the complex space boundary data, and the radius of the target grinding drill ball head; the complex space boundary data is a closed manifold polyhedron enveloping a triangular facet;

[0174] The control module 200 is used to determine whether the target expected position is outside the boundary of the complex space, and determine whether to correct the target expected position according to the radius of the target drill ball head based on the judgment result to obtain the safe expected position of the center of the target drill ball head; and is used to control the movement of the robot operating end according to the safe expected position.

[0175] In a preferred embodiment, the present application further provides an electronic device, the electronic device comprising:

[0176] A memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the complex space boundary control method of the orthopedic surgical robot is implemented. The computer device can be broadly a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of the computer device can be used to provide necessary computing, processing and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices through a network. When the computer program is executed by the processor, the steps of the method of the present invention are performed.

[0177] The present invention may be implemented as a computer-readable storage medium having a computer program stored thereon, which causes the steps of the method of an embodiment of the present invention to be executed when executed by a processor. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be performed by one or more computer devices or processors, and one or more other method steps / operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step / operation, or perform two or more method steps / operations.

[0178] It will be appreciated by those skilled in the art that the method steps of the present invention may be performed by instructing related hardware such as a computer device or a processor through a computer program, and the computer program may be stored in a non-temporary computer-readable storage medium, which causes the steps of the present invention to be performed when the computer program is executed. Depending on the circumstances, any reference to memory, storage, database, or other media herein may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0179] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0180] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A complex space boundary control method for an orthopedic surgical robot, characterized in that: The method comprises: S100, obtaining a target expected position of the center of a target grinding drill ball head installed on the robot operating end, complex space boundary data, and a radius of the target grinding drill ball head; the complex space boundary data is a closed manifold polyhedron enveloping a triangular facet; S200, determining whether the target expected position is outside the boundary of the complex space, and determining whether to correct the target expected position according to the radius of the target drill ball head according to the determination result, to obtain a safe expected position of the center of the target drill ball head; S300, controlling the movement of the robot operating end according to the safe expected position.

2. The complex space boundary control method of an orthopedic surgical robot according to claim 1, characterized in that: According to the judgment result, it is determined whether to correct the target expected position according to the radius of the target grinding drill ball head to obtain the safe expected position of the ball center of the target grinding drill ball head, including: If the target expected position is within the boundary of the complex space, calculate the shortest distance from the target expected position to the boundary of the complex space, determine whether the shortest distance is greater than or equal to the radius of the target drill ball head, and determine whether to correct the target expected position according to the radius of the target drill ball head based on the determination result to obtain a safe expected position of the center of the target drill ball head; If the closest distance is greater than or equal to the radius of the target drill ball head, it is determined that the target expected position is directly used as the safe expected position of the center of the target drill ball head; If the shortest distance is smaller than the radius of the target drill bit, it is determined that the target expected position is corrected according to the radius of the target drill bit to obtain a safe expected position of the center of the target drill bit.

3. The complex space boundary control method of an orthopedic surgical robot according to claim 2, characterized in that: The method of correcting the target expected position according to the radius of the target drill ball head to obtain the safe expected position of the center of the target drill ball head includes: The target expected position is taken as the initial search position, and the nearest point from the initial search position to the boundary of the complex space is selected as the initial nearest point. The distance from the initial search position to the initial nearest point is calculated as the target distance. The difference between the radius of the target drill ball head and the target distance is calculated as the distance to be corrected. The direction in which the initial search position points to the initial nearest point is taken as the initial search direction. The initial search position is moved along the initial search direction by the distance to be corrected to obtain a safe expected position.

4. The complex space boundary control method of an orthopedic surgical robot according to claim 1, characterized in that: The step of judging whether the target expected position is outside the boundary of the complex space and judging whether to correct the target expected position according to the radius of the target drill ball head to obtain a safe expected position of the center of the target drill ball head includes: If the target expected position is located on a complex space boundary, the target expected position is corrected according to the radius of the target drill ball head to obtain a safe expected position of the ball center of the target drill ball head.

5. The complex space boundary control method of an orthopedic surgical robot according to claim 4, characterized in that: The method of correcting the target expected position according to the radius of the target drill ball head to obtain the safe expected position of the center of the target drill ball head includes: The target expected position is taken as the initial search position, the radius of the target drill ball head is taken as the distance to be corrected, the initial search position is taken as the foot of the perpendicular, a perpendicular line is drawn to the boundary where the initial search position is located, the direction of the ray formed by the foot of the perpendicular and the perpendicular line is taken as the initial search direction, the initial search position is moved along the initial search direction by the distance to be corrected to obtain a safe expected position.

6. The complex space boundary control method of an orthopedic surgical robot according to claim 1, characterized in that: The step of judging whether the target expected position is outside the boundary of the complex space and judging whether to correct the target expected position according to the radius of the target drill ball head to obtain a safe expected position of the center of the target drill ball head includes: If the target expected position is outside the boundary of the complex space, the target expected position is corrected according to the radius of the target drill ball head to obtain a safe expected position of the center of the target drill ball head.

7. The complex space boundary control method of an orthopedic surgical robot according to claim 6, characterized in that: The method of correcting the target expected position according to the radius of the target drill bit to obtain the safe expected position of the center of the target drill ball head includes: The nearest point from the target expected position to the boundary of the complex space is selected, and the nearest point is used as the initial search position. The radius of the target drill ball head is used as the distance to be corrected. The initial search position is used as the foot of the perpendicular, and a perpendicular line to the boundary where the initial search position is located is made. The direction indicated by the ray formed by the foot of the perpendicular and the perpendicular line is used as the initial search direction. The initial search position is moved along the initial search direction by the distance to be corrected to obtain a safe expected position.

8. The complex space boundary control method of an orthopedic surgical robot according to any one of claims 3, 5 or 7, characterized in that: The step of moving the initial search position along the initial search direction by the distance to be corrected to obtain a safe expected position further includes: After moving the initial search position along the initial search direction by the distance to be corrected, the expected position to be verified is obtained, the closest distance from the expected position to be verified to the boundary of the complex space is calculated, and it is determined whether the closest distance is greater than or equal to the radius of the target grinding drill ball head; If not, the expected position to be verified is corrected again according to the above method until the corrected expected position to be verified is within the boundary of the complex space, and after the closest distance from the corrected expected position to the boundary of the complex space is calculated, the closest distance is greater than or equal to the radius of the target grinding drill ball head, and the corrected expected position to be verified is used as the safe expected position; If so, directly use the expected position to be verified as the safe expected position.

9. The complex space boundary control method of an orthopedic surgical robot according to claim 8, characterized in that: The method further comprises: If the closest distance from the corrected expected position to be verified to the boundary of the complex space is greater than or equal to the radius of the target drill ball head, determine whether the difference between the closest distance from the corrected expected position to be verified to the boundary of the complex space and the radius of the target drill ball head is less than or equal to a first preset threshold, and if so, use the corrected expected position to be verified as a safe expected position; If not, the expected position to be verified is corrected again according to the above method until the difference between the closest distance between the corrected expected position to be verified and the boundary of the complex space and the radius of the target drill ball head is less than or equal to the first preset threshold value, and the expected position to be verified at this time is used as the safe expected position.

10. The complex space boundary control method of an orthopedic surgical robot according to any one of claim 9, characterized in that: The method further comprises: Recording the number of corrections, determining whether the number of corrections is greater than or equal to a second preset threshold, and determining whether a safe expected position is found at this time, and determining whether the target expected position correction is abnormal according to the determination result; If the number of corrections is greater than or equal to a second preset threshold and the safe expected position is not found at this time, it is determined that the target expected position correction is abnormal; If the number of corrections is less than a second preset threshold and a safe expected position is found at this time, it is determined that the correction of the target expected position is normal; If the number of corrections is less than the second preset threshold and the safe expected position is not found at this time, it is determined that the correction of the target expected position is normal, and the correction of the target expected position continues.

11. The complex space boundary control method of an orthopedic surgical robot according to claim 10, characterized in that: The method further comprises: If the number of corrections is greater than or equal to the second preset threshold and the safe expected position is not found at this time, determine whether the difference between the closest distance from the expected position to be verified to the boundary of the complex space and the radius of the target drill ball head is less than or equal to the third preset threshold. If so, take the expected position to be verified at this time as the safe expected position. If not, re-correct the expected position to be verified at this time according to the above method, and re-record the number of corrections until the difference between the closest distance from the expected position to be verified to the boundary of the complex space after correction and the radius of the target drill ball head is less than or equal to the third preset threshold, and take the expected position to be verified at this time as the safe expected position.

12. The complex space boundary control method of an orthopedic surgical robot according to claim 11, characterized in that: The method further comprises: Determine whether the number of re-recorded corrections is greater than or equal to a fourth preset threshold, determine whether a safe expected position is found at this time, and determine whether the correction of the target expected position is abnormal according to the determination result; If the number of re-recorded calibrations is greater than or equal to a fourth preset threshold, and the safe expected position is not found at this time, it is determined that the calibration of the target expected position is abnormal; If the number of re-recorded corrections is less than a fourth preset threshold and a safe expected position is found at this time, it is determined that the target expected position correction is normal; If the number of re-recorded corrections is less than a fourth preset threshold and the safe expected position is not found at this time, it is determined that the correction of the target expected position is normal, and the correction of the target expected position continues.

13. A complex space boundary control system for an orthopedic surgical robot, characterized in that: The system comprises: An acquisition module is used to acquire the target expected position of the ball center of the target grinding drill ball head installed on the robot operation end, complex space boundary data, and the radius of the target grinding drill ball head; the complex space boundary data is a closed manifold polyhedron enveloping a triangular facet; The control module is used to determine whether the target expected position is outside the boundary of the complex space, and determine whether to correct the target expected position according to the radius of the target drill ball head based on the judgment result to obtain the safe expected position of the center of the target drill ball head; and is used to control the movement of the robot operating end according to the safe expected position.

14. An electronic device, characterized in that: include: Memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the complex space boundary control method of the orthopedic surgical robot according to any one of claims 1 to 12 is implemented.

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