Orthopedic surgery robot complex space boundary control method and system, and electronic device

Abstract

The present application relates to the technical field of robot motion control, and in particular to a complex space boundary control method and system for orthopedic surgery robot, and an electronic device. The method comprises obtaining a target desired position of a spherical center of a target drill ball head installed on a robot operating end, complex space boundary data, and a radius of the target drill ball head; the complex space boundary data is a closed manifold polyhedron of triangular facet envelopes; it is judged whether the target desired position is located outside the complex space boundary, and according to the judgment result, it is judged whether the target desired position is corrected according to the radius of the target drill ball head to obtain a safe desired position of the spherical center of the target drill ball head; the complex space boundary control method can dynamically compensate the radius of the high-speed drill ball head, and solves the problem that in the prior art, for drill tools with different ball head radii, different size compensation boundary models need to be generated in advance, and dynamic management / switching of the models needs to be performed.

Description

Technical Field

[0001] This invention relates to the field of robot motion control technology, specifically to a method and system for controlling complex spatial boundaries of an orthopedic surgical robot, and electronic equipment. Background Technology

[0002] The human knee joint is composed of the articular surfaces between the femur, tibia, and patella. It connects the femur and tibia and is one of the most stress-bearing joints in the body. The knee joint is mainly divided into three compartments: the medial compartment (on the inside of the knee joint), which includes the medial femoral condyle, tibial plateau, and medial meniscus; the lateral compartment (on the outside of the knee joint), which includes the lateral femoral condyle, tibial plateau, and lateral meniscus; and the anterior compartment (located at the front of the knee joint), which mainly includes the femoral condyle, trochlear groove, patella, and patellar tendon, playing a crucial role in maintaining knee joint stability and movement. These three compartments together constitute the structure of the knee joint, working in coordination to support, move, and stabilize it. When knee joint diseases such as severe osteoarthritis, rheumatoid arthritis, or traumatic arthritis occur, one or more compartments may be affected, preventing the knee joint from functioning normally. In such cases, joint replacement surgery is necessary to replace the diseased part with an artificial prosthesis to relieve joint pain, correct deformities, restore and improve joint function, and improve the patient's quality of life.

[0003] Partial knee arthroplasty (PKA) is a surgical procedure used to treat specific knee joint diseases. Compared to total knee arthroplasty (TKA), PKA replaces only a portion of the knee joint, typically one or a combination of two damaged areas of the medial, lateral, or anterior compartments. It is primarily suitable for patients with partial knee joint disease, meaning that only one area or part of the knee joint has significant wear or degenerative changes, while the contralateral knee joint structure remains intact.

[0004] Compared to total knee arthroplasty (TKA), knee percutaneous patency test (PKA) better preserves healthy bone and soft tissue, retaining the natural structure of the knee joint. Patients typically experience better natural joint movement and stability post-surgery, while also requiring less prosthesis. Because PKA involves less tissue, post-operative pain and discomfort are usually milder, leading to faster recovery and a quicker return to normal life and activities. Furthermore, PKA carries a lower risk of post-operative complications compared to TKA, including a lower incidence of infections and thrombosis.

[0005] However, PKA presents several technical challenges compared to TKA. PKA requires precise localization and grinding of the damaged area of ​​the knee joint (i.e., accurate bone surface preparation) to ensure the correct placement of the prosthesis and its adaptation to the patient's anatomy. For surgeons, accurate identification and localization of the lesion area are crucial for surgical success. PKA also demands that surgeons effectively protect the soft tissue structures surrounding the knee joint, especially the ligaments and synovium. Avoiding damage or stretching of these structures during the procedure is essential for postoperative recovery and functional reconstruction. Furthermore, PKA requires surgeons to accurately implant the prosthesis into the damaged knee joint.

[0006] In traditional PKA (Physical Kaplanation), surgeons typically use a variety of surgical instruments manually to prepare the bone surface. Specifically, they use scalpels, bone forceps, oscillating saws, and drills to cut, trim, and grind the surface of damaged bone in order to clean the bone surface and implant artificial prostheses. On the one hand, manual operation reduces the positioning and shape accuracy of bone surface preparation, potentially damaging the patient's soft tissues and ligaments, and reducing the overall therapeutic effect of the surgery; on the other hand, frequent tool changes and the large grinding forces also place a significant burden on the surgeon.

[0007] Other methods to ensure the precision of bone surface preparation include using shaping files or osteotomy guides. For example, when working on the curved surfaces of the medial and lateral femoral condyles, a hand-held drill is used to create additional deep holes in the femoral condyles to control the direction and depth of the shaping file (CN217960230U, a unicompartmental grinding osteotomy system); when working on the trochlear groove, an osteotomy guide is fixed to the femur with bone pins, and the osteotomy is performed using a hand-held osteotomy oscillating saw and a milling cutter, respectively. These methods require additional nailing and drilling operations on the patient's bone, making the surgical procedure more complicated. In addition, the tools manually controlled by the surgeon cannot completely guarantee that the patient's soft tissues and ligaments will not be damaged.

[0008] Robot-assisted partial knee replacement surgery allows surgeons to interactively prepare the bone surface using a robotic arm. The robotic arm drives a high-speed drill, and the surgeon triggers the tool's power to controllably prepare the bone surface in any shape. This not only improves the precision of bone surface preparation and surgical outcomes but also eliminates the need for tool changes, significantly reducing the surgeon's physical exertion. However, during robot-assisted partial knee replacement surgery, the high-speed drill's position in space needs to be limited to prevent soft tissue and ligament damage and reduced surgical precision due to excessive range of motion.

[0009] In clinical practice, different radii of high-speed drill ball heads may be needed for the same surgery to achieve different grinding effects. Therefore, dynamic compensation of the ball head radius of the high-speed drill is required to offset the grinding errors it introduces. A similar concept of dynamic tool size compensation is commonly used in CNC machining. It refers to a compensation technique that, during machining, dynamically adjusts the tool's center point position through a control algorithm to compensate for errors caused by the size of the machining tool (e.g., ball drill radius, milling cutter head radius, etc.), ensuring that the final machined dimensions of the workpiece match the desired dimensions. However, existing technologies have the following technical problems:

[0010] CN116077135A - A method for bone grinding in unicompartmental arthroplasty: This method controls the power supply so that the drill bit of the orthopedic drill can only rotate within a specified grinding area, thereby achieving grinding of arbitrary shapes. Essentially, this method cannot achieve strict boundary control and cannot guarantee that the movement of the drill bit driven by the robotic arm will not exceed the limited range. It can only passively cut off the power after exceeding the range, and cannot strictly guarantee patient safety.

[0011] CN116712169A - Motion control method, apparatus, device, and storage medium for end-effector tools: This method uses boundary control based on the nearest pixel. However, when image pixels contain noise or abrupt changes, the continuity of motion control is compromised. Furthermore, the pixel determination introduces angle judgment conditions, which require inverse trigonometric function calculations, increasing the computational load. Additionally, when determining ray intersections, this method does not consider the intersection of rays with boundary lines or vertices, leading to floating-point rounding errors that affect the number of calculated rays. When rays intersect with boundary lines or vertices, anomalies occur in the boundary-inside / outside determination.

[0012] CN118106975B - A robot-based method, apparatus, and robot for controlling complex spatial boundaries: The method includes: obtaining the desired position of the robot's operating end; determining whether the desired position is within the complex spatial boundary based on a point detection algorithm within the complex spatial boundary; if the desired position is within the complex spatial boundary, then the safe position is equal to the desired position, and the robot's operating end is controlled to work in the safe position; if the desired position is outside the boundary, then, based on a fast algorithm for finding the nearest distance and nearest point from any point in space to a triangular facet, traversing and calculating the nearest distance and nearest point from the desired position to each triangular facet constituting the complex spatial boundary, selecting the nearest point corresponding to the smallest nearest distance as the safe position output, and controlling the robot's operating end to work in the safe position.

[0013] The three methods described above only control the position of the ball's center in the high-speed drill bit, without considering dynamic compensation for the ball's radius. For scenarios requiring different radius sizes for fine edge grinding during the same surgery, different indentation models need to be pre-stored in the software, and boundary models adapted to different ball radii need to be generated offline before the surgery. This generates a large amount of unnecessary work, including data preprocessing, software scheduling and management, and introduces risks.

[0014] CN110997247B - Robot System and Method for Generating Reaction Forces to Achieve Virtual Boundaries: This paper demonstrates a virtual boundary control method based on polygonal meshes. Specifically, it calculates penetration reaction forces through an interactive virtual volume and applies these reaction forces to the virtual volume to reduce the penetration of the virtual volume into polygonal elements, thereby achieving boundary control. This method considers the radius of the ball head in a high-speed drill, but essentially, it achieves boundary control of the tool by applying virtual damping forces at the boundary, which is an indirect control of position through force control. This method suffers from drawbacks in engineering, such as difficulty in determining the damping coefficient and insufficient stiffness at the boundary. When the damping coefficient is set inaccurately or the applied force is too large, the control result may exceed the boundary, making it impossible to strictly control the boundary.

[0015] Therefore, existing technologies still need further development. Summary of the Invention

[0016] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a method, system, and electronic device for controlling complex spatial boundaries of orthopedic surgical robots, so as to solve the problems existing in the prior art.

[0017] To achieve the above-mentioned technical objectives, according to a first aspect of the present invention, the present invention provides a method for controlling the complex spatial boundaries of an orthopedic surgical robot, comprising:

[0018] S100: Obtain the target desired position of the center of the target drill ball installed on the robot's operating end, the complex spatial boundary data, and the radius of the target drill ball; the complex spatial boundary data is a closed manifold polyhedron enveloped by triangular facets;

[0019] S200. Determine whether the target desired position is located outside the complex space boundary, and determine whether to correct the target desired position according to the radius of the target drill ball, so as to obtain the safe desired position of the center of the target drill ball.

[0020] S300: Control the movement of the robot's operating end according to the desired safe position.

[0021] Specifically, based on the judgment result, it is determined whether to correct the target's desired position according to the radius of the target drill ball, to obtain the safe desired position of the target drill ball's center, including:

[0022] If the target desired position is located within the boundary of a complex space, calculate the shortest distance from the target desired 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, and determine whether to correct the target desired position based on the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball.

[0023] If the nearest distance is greater than or equal to the radius of the target drill ball, the target expected position is determined to be the safe expected position of the center of the target drill ball.

[0024] If the nearest distance is less than the radius of the target drill ball, the target desired position is corrected according to the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball.

[0025] Specifically, the step of correcting the target desired position based on the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball includes:

[0026] Using the target desired position as the initial search position, select the nearest point from the initial search position to the boundary of the complex space, and denot it as the initial nearest point. Calculate the distance from the initial search position to the initial nearest point, and denot it as the target distance. Calculate the difference between the radius of the target drill ball and the target distance, and denot it as the distance to be corrected. Take the direction from the initial search position to the initial nearest point as the initial search direction. Move the initial search position along the initial search direction by the distance to be corrected to obtain the safe desired position.

[0027] Specifically, determining whether the desired target position is located outside the boundary of a complex space, and based on the determination result, deciding whether to correct the desired target position according to the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball, includes:

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

[0029] Specifically, the step of correcting the target desired position based on the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball includes:

[0030] Using the target desired position as the initial search position, the radius of the target drill ball is taken as the distance to be corrected. Using the initial search position as the foot of the perpendicular, a perpendicular line is drawn to the boundary where the initial search position is located. The direction pointed to by 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 the safe desired position.

[0031] Specifically, determining whether the desired target position is located outside the boundary of a complex space, and based on the determination result, deciding whether to correct the desired target position according to the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball, includes:

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

[0033] Specifically, the step of correcting the target desired position based on the radius of the target drill bit to obtain the safe desired position of the center of the target drill ball includes:

[0034] Select the nearest point from the target desired position to the boundary of the complex space, and take the nearest point as the initial search position. Take the radius of the target drill ball as the distance to be corrected. With the initial search position as the foot of the perpendicular, draw a perpendicular line to the boundary where the initial search position is located. Take the direction pointed to by the ray formed by the foot of the perpendicular and the perpendicular line as the initial search direction. Move the initial search position along the initial search direction by the distance to be corrected to obtain the safe desired 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 desired safe 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 shortest distance from the expected position to be verified to the boundary of the complex space is calculated, and it is determined whether the shortest distance is greater than or equal to the radius of the target drill ball.

[0037] If not, repeat the above method to correct the expected position to be verified until the corrected expected position to be verified is located within the boundary of the complex space, and after calculating the shortest distance from the corrected expected position to be verified to the boundary of the complex space, the shortest distance is greater than or equal to the radius of the target drill ball. Then, take the corrected expected position to be verified as the safe expected position.

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

[0039] Specifically, the method further includes:

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

[0041] If not, repeat the above method to correct the expected position to be verified until the difference between the nearest distance from the corrected expected position to be verified to the boundary of the complex space and the radius of the target drill ball is less than or equal to the first preset threshold. Then, take the expected position to be verified at this time as the safe expected position.

[0042] Specifically, the method further includes:

[0043] Record the number of corrections, determine whether the number of corrections is greater than or equal to a second preset threshold, and determine whether a safe expected position has been found at this time. Based on the determination result, determine whether the target expected position correction is abnormal.

[0044] If the number of corrections is greater than or equal to the second preset threshold, and no safe expected position is found at this time, the target expected position correction is determined to be abnormal.

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

[0046] If the number of corrections is less than the second preset threshold, and no safe expected position is found at this time, the target expected position correction is determined to be normal, and the target expected position correction continues.

[0047] Specifically, the method further includes:

[0048] If the number of corrections is greater than or equal to the second preset threshold, and no safe expected position is found at this time, determine whether the difference between the nearest distance from the expected position to be verified to the boundary of the complex space and the radius of the target drill ball is less than or equal to the third preset threshold. If yes, the expected position to be verified at this time is taken as the safe expected position. If no, the expected position to be verified at this time is corrected again according to the above method, and the number of corrections is recorded again until the difference between the nearest distance from the corrected expected position to the boundary of the complex space and the radius of the target drill ball is less than or equal to the third preset threshold. The expected position to be verified at this time is then taken 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 the fourth preset threshold, and determine whether the expected safe position has been found at this time. Based on the determination result, determine whether the target expected position correction is abnormal.

[0051] If the number of re-recorded corrections is greater than or equal to the fourth preset threshold, and no safe expected position is found at this time, the target expected position correction is determined to be abnormal.

[0052] If the number of re-recorded corrections is less than the fourth preset threshold, and the desired safe position is found at this time, the target desired position correction is determined to be normal.

[0053] If the number of re-recorded corrections is less than the fourth preset threshold, and no safe expected position is found at this time, the target expected position correction is determined to be normal, and the target expected position correction continues.

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

[0055] The acquisition module is used to acquire the target desired position of the center of the target drill ball installed on the robot's operating end, the complex spatial boundary data, and the radius of the target drill ball; the complex spatial boundary data is a closed manifold polyhedron enveloped by triangular facets;

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

[0057] According to a third aspect of the present invention, an electronic device is provided, comprising: a memory; and a processor, wherein the memory stores computer-readable instructions that, when executed by the processor, implement the above-described method for controlling complex spatial boundaries of an orthopedic surgical robot.

[0058] Beneficial effects:

[0059] 1. This invention proposes and designs a specific implementation scheme for complex spatial boundary control, which only requires the desired position of the high-speed drill, the ball head radius of the high-speed drill, and the safety boundary, without needing to obtain the current position of the high-speed drill, thus reducing the impact of system time delay on control, and ensuring that the given safe position of the high-speed drill conforms to the direction of the desired position;

[0060] 2. The complex spatial boundary control method proposed in this invention can dynamically compensate for the ball head radius of high-speed grinding drills, solving the problem in existing methods that require pre-generating compensation boundary models of different sizes for grinding tools with different ball head radii and dynamically managing / switching the models used.

[0061] 3. The complex spatial boundary control method proposed in this invention does not impose any restrictions on the concavity or convexity of the boundary, and supports the customization of boundary types based on the patient's anatomical structure and the shape of the prosthesis. It can protect the patient from additional collateral damage and avoid unnecessary excessive grinding of soft tissues and ligaments;

[0062] 4. This invention, through complex spatial boundary control, ensures that when the position of the surgical tool, planned by the surgeon's manipulation force, exceeds the boundary, the position is corrected to within the specified boundary range and conforms to the desired direction. This achieves bone surface preparation while enabling precise installation of the artificial prosthesis without warping or gaps.

[0063] 5. Compared with the traditional bone surface preparation operation that requires changing multiple tools and using multiple clamps and measuring instruments, the method provided by this invention uses a single high-speed grinding drill power tool in conjunction with multiple ball heads of different radii for bone surface preparation. There is no need to change the power tools for grinding and cutting bone, which greatly improves surgical efficiency and doctor's experience, and shortens the operation time and patient's postoperative recovery time.

[0064] 6. When a doctor performs bone surface preparation on a patient's bones using the method proposed in this invention, and the doctor needs to dynamically adjust the position of the high-speed drill within a complex spatial boundary, the robotic arm can limit the safe area for the doctor's dynamic adjustment, protecting the patient from unnecessary harm and ensuring the safety and accuracy of the bone surface preparation operation. Attached Figure Description

[0065] Figure 1 This is a flowchart illustrating the complex spatial boundary control method for orthopedic surgical robots provided in a specific embodiment of the present invention;

[0066] Figure 2 This is a schematic diagram of a common partial knee replacement surgery that replaces different compartments of the knee joint, provided in a specific embodiment of the present invention.

[0067] Figure 3 This is a schematic diagram showing the connection relationship of the system components of the complex spatial boundary control system for orthopedic surgical robots provided in a specific embodiment of the present invention;

[0068] Figure 4 This is a schematic diagram of the hardware positional relationship of the system components of the complex spatial boundary control system for orthopedic surgical robots provided in a specific embodiment of the present invention;

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

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

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

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

[0073] Figure 9 This is a schematic diagram showing the relationship between the complex spatial boundaries and the femur position of a typical medial / lateral compartment prosthesis provided in a specific embodiment of the present invention;

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

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

[0076] Figure 12 This is a schematic diagram of the complex spatial boundary corresponding to a typical patellofemoral joint prosthesis provided in a specific embodiment of the present invention;

[0077] Figure 13 yes Figure 12 A diagram from another angle;

[0078] Figure 14 This is a schematic diagram showing the complex spatial boundary and femoral position relationship of a typical patellofemoral joint prosthesis provided in a specific embodiment of the present invention;

[0079] Figure 15 This is a two-dimensional cross-sectional view of the complex spatial boundary of the femur provided in a specific embodiment of the present invention.

[0080] Figure 16 This is a schematic diagram of the equidistant inward boundary required by other methods in the prior art provided in a specific embodiment of the present invention;

[0081] Figure 17 This is a schematic diagram of a high-speed grinding drill and ball heads of different sizes and specifications provided in a specific embodiment of the present invention;

[0082] Figure 18 This is a schematic diagram illustrating the search principle when the search position is outside the boundary, provided in a specific embodiment of the present invention.

[0083] Figure 19 This is a schematic diagram illustrating the search principle when the search position is on the boundary, as provided in a specific embodiment of the present invention.

[0084] Figure 20 This is a schematic diagram of the search principle provided in a specific embodiment of the present invention, where the search position is within the boundary and a search is still required.

[0085] Figure 21 This is a schematic diagram of the search principle provided in a specific embodiment of the present invention, where the search position is within the boundary and no search is required.

[0086] Figure 22 This is a schematic diagram of the algorithm flow of the surgical robot complex spatial boundary control method provided in a specific embodiment of the present invention;

[0087] Figure 23 This is a partial two-dimensional cross-sectional schematic diagram corresponding to the search process under normal circumstances provided in a specific embodiment of the present invention;

[0088] Figure 24 This is a partial two-dimensional cross-sectional schematic diagram of the unconventional case search process provided in a specific embodiment of the present invention;

[0089] Figure 25 This is a schematic diagram of the system composition of the complex spatial boundary control system for orthopedic surgical robots provided in a specific embodiment of the present invention.

[0090] The above figures contain the following reference numerals:

[0091] 1. Robotic arm; 2. Six-dimensional force sensor; 3. Optical camera; 4. Optical positioning sensor; 5. Patient skeleton; 6. Tool; 100. Acquisition module; 200. Control module. Detailed Implementation

[0092] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments in this application, other similar embodiments obtained by those skilled in the art without creative effort should all fall within the scope of protection of this application. Furthermore, directional terms mentioned in the following embodiments, such as "up," "down," "left," and "right," are only for reference to the directions in the accompanying drawings; therefore, the directional terms used are for illustrative purposes and not for limiting the invention.

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

[0094] Please see Figures 1-25 This invention provides a method for controlling the complex spatial boundaries of an orthopedic surgical robot, comprising:

[0095] S100: Obtain the target desired position of the center of the target drill ball installed on the robot's operating end, the complex spatial boundary data, and the radius of the target drill ball; the complex spatial boundary data is a closed manifold polyhedron enveloped by triangular facets.

[0096] It should be noted here that... Figure 2 This diagram illustrates common partial knee arthroplasty procedures that replace different compartments of the knee joint. From left to right, they are: medial compartment replacement, patellofemoral replacement, lateral compartment replacement, and medial + patellofemoral replacement. Combinations such as medial + lateral compartment replacement are also included. These are collectively referred to as partial knee arthroplasty.

[0097] It should be noted that the complex spatial boundary control method for orthopedic surgical robots proposed in this invention has the following system composition: 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 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, with the sensor's sensing end fixedly connected to a high-speed drill. During surgery, the surgeon directly interacts with the high-speed drill by hand. The motion control PC then uses the six-dimensional force sensor to sense the surgeon's hand-held interaction force and controls the robotic arm's power accordingly, allowing the high-speed drill to move in a controlled manner within a given complex spatial boundary. An optical positioning sensor is responsible for real-time sensing of the relative position of the patient's bones 5 and the tool, enabling the motion control PC to calculate and update the pose information of the complex spatial boundary in real time.

[0098] Specifically, a "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 its adjacent triangle;

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

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

[0103] The definition can be further explained as follows: A closed manifold polyhedron enveloped by triangular facets is a mesh structure composed of triangles, satisfying the condition that the connections between adjacent triangles are continuous and uninterrupted; each triangle is called a triangular facet, and has three vertices and three edges. These triangles form a seamless polyhedral surface without any overlap or intersection. Simultaneously, this polyhedron must also satisfy the definition of a manifold, meaning that locally it should be Euclidean space, and globally it should be continuous and differentiable.

[0104] Closed manifold polyhedra with triangular facets are an important data structure widely used in computer graphics and computer-aided design. When representing complex geometries, triangular facet sets are a common and effective method for representing the shape and surface features of 3D objects. The flexibility of triangular facets allows them to be combined in various ways to approximate complex geometries. By increasing or decreasing the number of triangles, and adjusting their size, shape, and position, the original geometry can be approximated more closely. This adjustability allows for fine or coarse approximations as needed.

[0105] Triangular facets can also approximate regions with local details very well. For local regions with large curvature or complex shapes, using smaller triangles can better preserve this detailed information. By increasing the density of triangles in regions where a more accurate approximation is needed, we can achieve a better approximation of the local details of the geometry. It is also one of the essential basic elements in many numerical computation and simulation methods and can be considered common knowledge in the field.

[0106] Complex spatial boundaries are defined by closed manifold polyhedra enclosed by triangular facets and are referred to as "complex spatial boundaries" below.

[0107] When used for motion control of robotic arms, one or more faces of a given complex spatial boundary are typically generated using the geometry of the side of the prosthesis that will conform to the bone surface. The robotic arm controls a high-speed drill to move the ball head spherically against that side, thus performing bone surface preparation. Schematic diagrams of the complex spatial boundaries corresponding to the bone surfaces required for several typical prostheses are shown below. Figures 5-14 As shown. This is understandable. Figures 5-14 The illustrations are only intended to represent optional styles for complex spatial boundaries and are not intended to limit the styles of complex spatial boundaries. The complex spatial boundary control method proposed in this paper can be applied to the bone surface preparation operation of artificial prostheses of arbitrary shapes, as long as a closed manifold polyhedron with triangular facets can be generated based on the geometry of the side of the artificial prosthesis that fits the bone surface.

[0108] Figure 15This example uses a two-dimensional cross-section of the complex spatial boundary of the femur to illustrate the definition of the complex spatial boundary and the reachable position of the high-speed grinding drill ball. Common boundary control methods, such as CN116712169A and CN118106975B, require, in practical applications, polyhedral equidistant indentation of the complex spatial boundary generated from the artificial prosthesis (the indentation distance is set according to the radius of the used ball head) to generate multiple actual compensation control models for different grinding drill radii. Then, actual grinding is performed to compensate for the position (e.g., ...). Figure 16 (As shown by the solid sector line). For high-speed drill ball heads with radius dimensions not pre-compensated by a model, the above control methods are inapplicable. In contrast, this method does not require pre-generating multiple equidistant inward boundary control models, nor does it require storing, managing, or scheduling these models. Instead, it directly performs dynamic compensation for the radius of the currently used high-speed drill ball head through a control method. For ball heads with various different radius dimensions, a unique complex spatial boundary generated according to the prosthesis mounting surface (e.g., ...) is used. Figure 15 , 16 The control method (shown by the dashed fan-shaped line in the middle) has better universality.

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

[0110] It is understood that the core idea of ​​this 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 ball head of the high-speed drill used, and then send the calculation to the robotic arm to drive the surgical tool to move, thereby accurately and safely realizing the bone surface preparation operation.

[0111] It should be noted that step S100 includes the following:

[0112] The control module 200 pre-sets a first preset threshold, a second preset threshold, a third preset threshold, and a fourth preset threshold.

[0113] It is 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 according to 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 spatial boundary control method for orthopedic surgical robots proposed in the present invention.

[0114] Preferably, since the radius of the drill ball is generally 0.75mm to 6mm, the first preset threshold of this invention is preferably 0.001 times or 0.00075 mm of the radius of the target drill ball. The second preset threshold of this invention is preferably 100 times. The third preset threshold of this invention is preferably 0.01 times or 0.06 mm of the radius of the target drill ball. The fourth preset threshold of this invention is also preferably 100 times. The above settings were obtained by the technical personnel of this invention through a large number of tests, which can well demonstrate the complex spatial boundary control method for orthopedic surgical robots proposed in this invention.

[0115] S200. Determine whether the target desired position is located outside the complex space boundary. Based on the determination result, determine whether to correct the target desired position according to the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball.

[0116] Specifically, based on the judgment result, it is determined whether to correct the target's desired position according to the radius of the target drill ball, to obtain the safe desired position of the target drill ball's center, including:

[0117] If the target desired position is located within the boundary of a complex space, calculate the shortest distance from the target desired 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, and determine whether to correct the target desired position based on the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball.

[0118] If the nearest distance is greater than or equal to the radius of the target drill ball, the target expected position is determined to be the safe expected position of the center of the target drill ball.

[0119] If the nearest distance is less than the radius of the target drill ball, the target desired position is corrected according to the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball.

[0120] Specifically, the step of correcting the target desired position based on the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball includes:

[0121] Using the target desired position as the initial search position, select the nearest point from the initial search position to the boundary of the complex space, and denot it as the initial nearest point. Calculate the distance from the initial search position to the initial nearest point, and denot it as the target distance. Calculate the difference between the radius of the target drill ball and the target distance, and denot it as the distance to be corrected. Take the direction from the initial search position to the initial nearest point as the initial search direction. Move the initial search position along the initial search direction by the distance to be corrected to obtain the safe desired position.

[0122] Specifically, determining whether the desired target position is located outside the boundary of a complex space, and based on the determination result, deciding whether to correct the desired target position according to the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball, includes:

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

[0124] Specifically, the step of correcting the target desired position based on the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball includes:

[0125] Using the target desired position as the initial search position, the radius of the target drill ball is taken as the distance to be corrected. Using the initial search position as the foot of the perpendicular, a perpendicular line is drawn to the boundary where the initial search position is located. The direction pointed to by 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 the safe desired position.

[0126] Specifically, determining whether the desired target position is located outside the boundary of a complex space, and based on the determination result, deciding whether to correct the desired target position according to the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball, includes:

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

[0128] Specifically, the step of correcting the target desired position based on the radius of the target drill bit to obtain the safe desired position of the center of the target drill ball includes:

[0129] Select the nearest point from the target desired position to the boundary of the complex space, and take the nearest point as the initial search position. Take the radius of the target drill ball as the distance to be corrected. With the initial search position as the foot of the perpendicular, draw a perpendicular line to the boundary where the initial search position is located. Take the direction pointed to by the ray formed by the foot of the perpendicular and the perpendicular line as the initial search direction. Move the initial search position along the initial search direction by the distance to be corrected to obtain the safe desired 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 desired safe 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 shortest distance from the expected position to be verified to the boundary of the complex space is calculated, and it is determined whether the shortest distance is greater than or equal to the radius of the target drill ball.

[0132] If not, repeat the above method to correct the expected position to be verified until the corrected expected position to be verified is located within the boundary of the complex space, and after calculating the shortest distance from the corrected expected position to be verified to the boundary of the complex space, the shortest distance is greater than or equal to the radius of the target drill ball. Then, take the corrected expected position to be verified as the safe expected position.

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

[0134] Specifically, the method further includes:

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

[0136] If not, repeat the above method to correct the expected position to be verified until the difference between the nearest distance from the corrected expected position to be verified to the boundary of the complex space and the radius of the target drill ball is less than or equal to the first preset threshold. Then, take the expected position to be verified at this time as the safe expected position.

[0137] Specifically, the method further includes:

[0138] Record the number of corrections, determine whether the number of corrections is greater than or equal to a second preset threshold, and determine whether a safe expected position has been found at this time. Based on the determination result, determine whether the target expected position correction is abnormal.

[0139] If the number of corrections is greater than or equal to the second preset threshold, and no safe expected position is found at this time, the target expected position correction is determined to be abnormal.

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

[0141] If the number of corrections is less than the second preset threshold, and no safe expected position is found at this time, the target expected position correction is determined to be normal, and the target expected position correction continues.

[0142] Specifically, the method further includes:

[0143] If the number of corrections is greater than or equal to the second preset threshold, and no safe expected position is found at this time, determine whether the difference between the nearest distance from the expected position to be verified to the boundary of the complex space and the radius of the target drill ball is less than or equal to the third preset threshold. If yes, the expected position to be verified at this time is taken as the safe expected position. If no, the expected position to be verified at this time is corrected again according to the above method, and the number of corrections is recorded again until the difference between the nearest distance from the corrected expected position to the boundary of the complex space and the radius of the target drill ball is less than or equal to the third preset threshold. The expected position to be verified at this time is then taken 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 the fourth preset threshold, and determine whether the expected safe position has been found at this time. Based on the determination result, determine whether the target expected position correction is abnormal.

[0146] If the number of re-recorded corrections is greater than or equal to the fourth preset threshold, and no safe expected position is found at this time, the target expected position correction is determined to be abnormal.

[0147] If the number of re-recorded corrections is less than the fourth preset threshold, and the desired safe position is found at this time, the target desired position correction is determined to be normal.

[0148] If the number of re-recorded corrections is less than the fourth preset threshold, and no safe expected position is found at this time, the target expected position correction is determined to be normal, and the target expected position correction continues.

[0149] It should be noted that if the target expected position correction is determined to be abnormal, an alarm signal related to the abnormal target expected position correction will be output, and the correction will be stopped.

[0150] If the target's expected position is determined to be corrected normally, an alert signal indicating that the target's expected position is corrected normally will be output.

[0151] It is understandable that complex boundary data may have inherent design flaws in its structure, such as voids, discontinuities, or incompleteness on the surface of complex spatial boundaries, or the presence of triangular facets that self-intersect within the complex spatial boundary, or any other situation that does not conform to the definition of a closed manifold polyhedron with a triangular facet envelope. In such cases, even with continued correction, it may be impossible to find the desired safe location. This invention intelligently monitors and alarms in such situations. Through the above scheme, when the number of corrections is large, the threshold is intelligently adjusted, and a second judgment is made on whether the desired safe location has been found. If not found, correction continues, and a second judgment is made on the number of corrections. This makes the judgment of correction anomalies more reliable. A high-precision threshold is first used for judgment. If no result is found after many attempts, a slightly lower precision threshold is used for further searching. This avoids the inability to find results using a single threshold and a fixed number of iterations. This allows the invention to quickly find the desired safe location with slightly reduced precision, further improving the intelligence, usability, security, reliability, and system robustness of the invention.

[0152] S300: Control the movement of the robot's operating end according to the desired safe position.

[0153] Specifically, the principles of this invention will be illustrated below through concrete examples:

[0154] To generate safe positions within complex spatial boundaries, a complex spatial boundary control method is proposed. The central idea is to first determine the relative position between the expected position of the high-speed drill ball's center and the complex spatial boundary using the expected position of the ball's center. If the expected position is within the boundary and the nearest distance between the expected position and the boundary is greater than the ball's radius, then the expected position is directly output as a safe position. Otherwise, a step-by-step search towards the boundary is performed according to different rules until a safe position with a nearest distance to the boundary greater than or equal to the ball's radius is found, and the search result is output as the safe position.

[0155] It is understood that the step-by-step search process has the same meaning as the aforementioned correction process, only the terminology is different.

[0156] If a closed manifold polyhedron enclosed by triangular facets is represented by a data structure, it generally includes a vertex coordinate set consisting of the coordinates of the polyhedron's vertices and a triangular facet index set consisting of the indices of the triangular facets. The triangular facet index set is typically a multi-row, three-column array of integers. The first, second, and third columns of each row represent the indices of the first, second, and third vertices of the triangular facet in that row within the vertex coordinate set, respectively, used to determine the three vertices constituting a triangular facet. This type of data structure, if stored as a file, is typically stored as a file with the .stl or .obj extension. Complex spatial boundary data is represented by the term "boundary," and its specific data structure and file storage type are not restricted here.

[0157] Determining whether a point is inside / on / outside a complex spatial boundary can be achieved using any conventional method, such as ray intersection, or by employing open-source software algorithms; no such limitation is imposed in this invention. Let the complex spatial boundary data (boundary) and the sphere's center position (p) be used as the basis. center The pseudocode for `isIn`, which determines the relative position of the ball's center and the boundary of a complex space, is as follows:

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

[0159] The meaning of isIn is as follows:

[0160]

[0161] InOutCheck is the name of the algorithm function that determines whether a point is inside, on, or outside the boundary of a complex space.

[0162] Determining the position of a point from the location of a point to the nearest point on each triangular facet of the complex spatial boundary, including the nearest point's position, the nearest distance, and the inward normal direction, can be achieved using any conventional method, such as traversal or octree search, or by using open-source software; no such limitation is imposed in this invention. Let the complex spatial boundary data (boundary) and the sphere's center position (p) be used as the basis for this determination. center Calculate the position p of the nearest point on the triangular facet closest to the boundary of the sphere's center. closest The closest distance d closest , inward normal direction n closest The pseudocode is as follows:

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

[0164] Where Closest is the position p of the nearest point on the triangular facet closest to the boundary where the center of the sphere is located. closest The closest distance d closest , inward normal direction n closest The name of the algorithm function.

[0165] The complete pseudocode for the method is as follows:

[0166]

[0167]

[0168] In the above process, normalization means normalizing the vector to obtain the unit direction. EPS is a minimum value representing control precision, typically set to 0.001 to 0.01 times rad i us. In steps 3), 4), and 5), each jump to step 6) in the search is to ensure the updated search position meets the requirement of the nearest surface or nearest point tangent to the complex spatial boundary of the high-speed drill ball head, thus enabling rapid searching for a safe position. Specific steps and corresponding search principle diagrams are shown below. Figures 18-21 .

[0169] Understandably, the above process can be used Figure 22 This indicates that, in engineering implementation, it is also necessary to constrain the maximum number of searches using the above search method to prevent the method from entering an infinite loop. An effective approach is to accumulate the number of times step 6) is executed and determine when the number exceeds a certain large value before returning an exception. Alternatively, the number of searches can be controlled by adjusting the value (usually by slightly increasing the value to reduce the number of searches and achieve faster returns).

[0170] Since each search direction points to the nearest direction inside the complex boundary, and each search distance is the distance that makes the sphere tangent to the nearest surface or point of the complex spatial boundary after the search, under normal circumstances, the above method usually only requires one or two searches to find a safe location that meets the requirements (e.g., Figure 23 (As shown). The reason for the need for iterative search and repeated judgment as described above is that complex spatial boundaries have uncertain concavity and convexity, and may have shape feature angles with small angles. This can lead to the search direction and search distance obtained in one iteration potentially exceeding another boundary after step-by-step search (e.g., Figure 24 As shown in the figure, it is not possible to simply assume that a safe position can be returned after obtaining the result variables of one or two searches and completing the step calculation of the update position.

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

[0172] Please see Figure 25 The present invention provides another embodiment, which provides a complex spatial boundary control system for an orthopedic surgical robot, the complex spatial boundary control system for the orthopedic surgical robot comprising:

[0173] The acquisition module 100 is used to acquire the target desired position of the center of the target drill ball installed on the robot's operating end, the complex spatial boundary data, and the radius of the target drill ball; the complex spatial boundary data is a closed manifold polyhedron enveloped by triangular facets;

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

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

[0176] The computer device includes a memory and a processor, wherein the memory stores computer-readable instructions that, when executed by the processor, implement the complex spatial boundary control method for orthopedic surgical robots. The computer device can be broadly categorized as a server, terminal, or any other electronic device with the necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc., connected via a system bus. The processor of the computer device can be used to provide the necessary computing, processing, and / or control capabilities. The memory of the computer device may include non-volatile storage media and internal memory. The non-volatile storage media may store an operating system, computer programs, etc. The internal memory can provide an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface and communication interface of the computer device can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, it performs the steps of the method of the present invention.

[0177] This invention can be implemented as a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the steps of the methods of embodiments of the invention to be performed. In one embodiment, the computer program is distributed across multiple network-coupled computer devices or processors, such 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 executed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be executed by one or more computer devices or processors, and one or more other method steps / operations may be executed by one or more other computer devices or processors. One or more computer devices or processors may execute a single method step / operation, or execute two or more method steps / operations.

[0178] Those skilled in the art will understand that the method steps of this invention can be performed by a computer program instructing related hardware, such as a computer device or processor, to perform the steps of this invention when executed. Depending on the context, any references herein to memory, storage, databases, or other media 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 drive, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0179] The technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification, provided that such combination does not contain contradictions.

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

Claims

1. A method for controlling complex spatial boundaries of an orthopedic surgical robot, characterized in that, The method includes: S100: Obtain the target desired position of the center of the target drill ball installed on the robot's operating end, the complex spatial boundary data, and the radius of the target drill ball; the complex spatial boundary data is a closed manifold polyhedron enveloped by triangular facets; S200. Determine whether the target desired position is located outside the complex space boundary, and determine whether to correct the target desired position according to the radius of the target drill ball, so as to obtain the safe desired position of the center of the target drill ball. S300: Control the movement of the robot's operating end according to the desired safe position; Based on the judgment result, determine whether to correct the target's expected position according to the radius of the target drill ball, and obtain the safe expected position of the target drill ball's center, including: If the target desired position is located within the boundary of a complex space, calculate the shortest distance from the target desired 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, and determine whether to correct the target desired position based on the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball. If the nearest distance is greater than or equal to the radius of the target drill ball, the target expected position is determined to be the safe expected position of the center of the target drill ball. If the nearest distance is less than the radius of the target drill ball, the target expected position is corrected according to the radius of the target drill ball to obtain the safe expected position of the center of the target drill ball; If the nearest distance is less than the radius of the target drill ball, the determination is to correct the target's desired position based on the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball, including: Using the target desired position as the initial search position, select the nearest point from the initial search position to the boundary of the complex space, and denot it as the initial nearest point. Calculate the distance from the initial search position to the initial nearest point, and denot it as the target distance. Calculate the difference between the radius of the target drill ball and the target distance, and denot it as the distance to be corrected. Take the direction from the initial search position to the initial nearest point as the initial search direction. Move the initial search position along the initial search direction by the distance to be corrected to obtain the safe desired position.

2. The method for controlling complex spatial boundaries of an orthopedic surgical robot according to claim 1, characterized in that, The step of determining whether the desired target position is located outside the complex spatial boundary, and determining whether to correct the desired target position based on the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball, includes: If the desired target position is located on a complex spatial boundary, the desired target position is corrected according to the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball.

3. The complex spatial boundary control method for orthopedic surgical robots according to claim 2, characterized in that, If the desired target position is located on a complex spatial boundary, the desired target position is corrected based on the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball, including: Using the target desired position as the initial search position, the radius of the target drill ball is taken as the distance to be corrected. Using the initial search position as the foot of the perpendicular, a perpendicular line is drawn to the boundary where the initial search position is located. The direction pointed to by 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 the safe desired position.

4. The method for controlling complex spatial boundaries of an orthopedic surgical robot according to claim 1, characterized in that, The step of determining whether the desired target position is located outside the complex spatial boundary, and determining whether to correct the desired target position based on the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball, includes: If the desired target position is located outside the boundary of a complex space, the desired target position is corrected according to the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball.

5. The complex spatial boundary control method for orthopedic surgical robots according to claim 4, characterized in that, If the desired target position is located outside the boundary of a complex space, the desired target position is corrected based on the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball, including: Select the nearest point from the target desired position to the boundary of the complex space, and take the nearest point as the initial search position. Take the radius of the target drill ball as the distance to be corrected. With the initial search position as the foot of the perpendicular, draw a perpendicular line to the boundary where the initial search position is located. Take the direction pointed to by the ray formed by the foot of the perpendicular and the perpendicular line as the initial search direction. Move the initial search position along the initial search direction by the distance to be corrected to obtain the safe desired position.

6. The method for complex spatial boundary control of an orthopedic surgical robot according to any one of claims 1, 3, or 5, characterized in that, The step of moving the initial search position along the initial search direction by a distance to be corrected to obtain the desired safe 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 shortest distance from the expected position to be verified to the boundary of the complex space is calculated, and it is determined whether the shortest distance is greater than or equal to the radius of the target drill ball. If not, repeat the above method to correct the expected position to be verified until the corrected expected position to be verified is located within the boundary of the complex space, and after calculating the shortest distance from the corrected expected position to be verified to the boundary of the complex space, the shortest distance is greater than or equal to the radius of the target drill ball. Then, take the corrected expected position to be verified as the safe expected position. If so, directly use the expected location to be verified as the expected safe location.

7. The method for controlling the complex spatial boundary of an orthopedic surgical robot according to claim 6, characterized in that, The method further includes: If the nearest 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, determine whether the difference between the nearest distance from the corrected expected position to be verified to the boundary of the complex space and the radius of the target drill ball is less than or equal to a first preset threshold. If so, the corrected expected position to be verified is taken as a safe expected position. If not, repeat the above method to correct the expected position to be verified until the difference between the nearest distance from the corrected expected position to be verified to the boundary of the complex space and the radius of the target drill ball is less than or equal to the first preset threshold. Then, take the expected position to be verified at this time as the safe expected position.

8. The method for controlling the complex spatial boundary of an orthopedic surgical robot according to claim 7, characterized in that, The method further includes: Record the number of corrections, determine whether the number of corrections is greater than or equal to a second preset threshold, and determine whether a safe expected position has been found at this time. Based on the determination result, determine whether the target expected position correction is abnormal. If the number of corrections is greater than or equal to the second preset threshold, and no safe expected position is found at this time, the target expected position correction is determined to be abnormal. If the number of corrections is less than the second 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 corrections is less than the second preset threshold, and no safe expected position is found at this time, the target expected position correction is determined to be normal, and the target expected position correction continues.

9. The method for controlling the complex spatial boundary of an orthopedic surgical robot according to claim 8, characterized in that, The method further includes: If the number of corrections is greater than or equal to the second preset threshold, and no safe expected position is found at this time, determine whether the difference between the nearest distance from the expected position to be verified to the boundary of the complex space and the radius of the target drill ball is less than or equal to the third preset threshold. If yes, the expected position to be verified at this time is taken as the safe expected position. If no, the expected position to be verified at this time is corrected again according to the above method, and the number of corrections is recorded again until the difference between the nearest distance from the corrected expected position to the boundary of the complex space and the radius of the target drill ball is less than or equal to the third preset threshold. The expected position to be verified at this time is then taken as the safe expected position.

10. The method for controlling the complex spatial boundary of an orthopedic surgical robot according to claim 9, characterized in that, The method further includes: Determine whether the number of re-recorded corrections is greater than or equal to the fourth preset threshold, and determine whether the expected safe position has been found at this time. Based on the determination result, determine whether the target expected position correction is abnormal. If the number of re-recorded corrections is greater than or equal to the fourth preset threshold, and no safe expected position is found at this time, the target expected position correction is determined to be abnormal. If the number of re-recorded corrections is less than the fourth preset threshold, and the desired safe location is found at this time, the target desired location correction is determined to be normal. If the number of re-recorded corrections is less than the fourth preset threshold, and no safe expected position is found at this time, the target expected position correction is determined to be normal, and the target expected position correction continues.

11. A complex spatial boundary control system for an orthopedic surgical robot, characterized in that, The complex spatial boundary control method for orthopedic surgical robots according to any one of claims 1-10, wherein the system comprises: The acquisition module is used to acquire the target desired position of the center of the target drill ball installed on the robot's operating end, the complex spatial boundary data, and the radius of the target drill ball; the complex spatial boundary data is a closed manifold polyhedron enveloped by triangular facets; The control module is used to determine whether the target desired position is located outside the boundary of the complex space, and based on the determination result, to determine whether to correct the target desired position according to the radius of the target drill ball to obtain the safe desired position of the center of the target drill ball; and to control the movement of the robot operating end according to the safe desired position.

12. An electronic device, characterized in that, include: Memory; The system includes a processor, wherein the memory stores computer-readable instructions that, when executed by the processor, implement the complex spatial boundary control method for orthopedic surgical robots according to any one of claims 1 to 10.

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