Surgical robot system and control method for surgical robot

Abstract

This application provides a surgical robot system and a control method for the surgical robot. The system includes a robot body, a robotic arm, a first inertial module, a second inertial module, a control module, and a dental adapter sleeve. A surgical tool is fixedly mounted at the end of the robotic arm. The second inertial module is fixed to the robot body, and the first inertial module is fixed to a tooth via the dental adapter sleeve. The first inertial module acquires the first angular velocity information of the surgical tool and the second angular velocity information of the tooth to be treated at different times. The second inertial module acquires the third angular velocity information of the robot body. The control module performs registration based on the first, second, and third angular velocity information and a pre-acquired digital model reconstructed from preoperative images, and adjusts the pose of the surgical tool in real time based on preoperative planning. This reduces the types of consumables, lowers costs, and eliminates the need to consider camera placement and visual obstruction issues, thus broadening its applicability.

Description

Technical Field

[0001] This application relates to the technical field of data processing, and particularly relates to a surgical robot system and a control method for a surgical robot. Background Art

[0002] With the continuous development of science and technology, more and more robots are applied in the medical field.

[0003] In related technologies, common oral robots usually use a high-precision camera with an infrared laser for real-time navigation of the oral cavity position. Using a high-precision camera requires making matching reference frames with mutually exclusive structural parameters, and each reference frame needs to be fixed to teeth, surgical tools, and probes respectively.

[0004] The reference frames fixed at different positions have different sizes, resulting in a large variety of reference frames, high processing precision requirements, and the reference frames are disposable consumables, increasing the usage cost. Summary of the Invention

[0005] To solve the above technical problems, this application provides a surgical robot system and a control method for a surgical robot, which uses an inertial module to navigate teeth in the oral cavity, does not use a high-precision camera with an infrared laser and the reference frame supporting the high-precision camera with an infrared laser, reduces the types of consumables, reduces costs, and does not need to consider the placement position of the camera and the problem of visual occlusion, with a wider range of applications.

[0006] In a first aspect, this application provides a surgical robot system. The surgical robot system includes a robot body, a robotic arm, a first inertial module, a second inertial module, a control module, and a tooth adapter. A surgical tool is fixedly installed at the end of the robotic arm; the control module is respectively connected to the first inertial module and the second inertial module. The second inertial module is fixed on the robot body, and the first inertial module is fixed on the tooth through the tooth adapter; the first inertial module is configured to obtain first angular velocity information of the surgical tool and second angular velocity information of the tooth to be processed at non-simultaneous time periods; the second inertial module is configured to obtain third angular velocity information of the robot body; the control module is configured to perform registration based on the first angular velocity information, the second angular velocity information, the third angular velocity information, and a digital model reconstructed based on preoperative images, and to adjust the pose information of the surgical tool in real time based on preoperative planning.

[0007] Secondly, this application provides a control method for a surgical robot. The method is applied to a surgical robot system comprising: a robot body, a robotic arm, a first inertial module, a second inertial module, a dental adapter sleeve, and a control module. A surgical tool is fixedly mounted at the end of the robotic arm. The control module is connected to both the first and second inertial modules. The second inertial module is fixed to the robot body, and the first inertial module is fixed to a tooth via the dental adapter sleeve. The method includes: acquiring first angular velocity information of the surgical tool and second angular velocity information of the tooth to be treated using the first inertial module at different times; acquiring third angular velocity information of the robot body using the second inertial module; performing registration using the control module based on the first, second, and third angular velocity information and a pre-acquired digital model reconstructed from preoperative images; and adjusting the pose information of the surgical tool in real time based on preoperative planning.

[0008] Thirdly, this application provides a control device for a surgical robot, the device comprising: one or more processors; a storage device for storing one or more programs; and when the one or more programs are executed by the one or more processors, causing the one or more processors to implement the control method for the surgical robot as described in the second aspect above.

[0009] Fourthly, this application provides a storage medium, which may be a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the control method for a surgical robot as described in the second aspect above.

[0010] Fifthly, embodiments of this application provide a computer program product comprising a computer program or instructions that, when executed by a processor, implement the control method for a surgical robot as described in the second aspect above.

[0011] The technical solution provided in this application has the following advantages compared with the prior art:

[0012] This application provides a surgical robot system and a control method for the surgical robot. The surgical robot system includes a robot body, a robotic arm, a first inertial module, a second inertial module, a control module, a dental adapter sleeve, and a surgical tool fixedly mounted at the end of the robotic arm. The control module is connected to both the first and second inertial modules. The second inertial module is fixed to the robot body, and the first inertial module is fixed to the tooth via the dental adapter sleeve. The first inertial module is used to acquire the first angular velocity information of the surgical tool and the second angular velocity information of the tooth to be processed at different times. The second inertial module is used to acquire the third angular velocity information of the robot body. The control module is used to obtain the real-time pose of the surgical tool based on the integration calculation of the first angular velocity information, and to calibrate the motion parameters of the robotic arm through pose closed-loop comparison. It uses the second and third angular velocity information and a pre-acquired digital model based on preoperative image reconstruction for registration, and adjusts the pose information of the surgical tool in real time based on preoperative planning. The technical solution of this application uses an inertial module to navigate teeth in the oral cavity, without using a high-precision infrared laser camera or a reference frame that matches the high-precision infrared laser camera. This reduces the types of consumables, lowers costs, and eliminates the need to consider the camera's placement and visual obstruction issues, making it more widely applicable. Attached Figure Description

[0013] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the surgical robot system provided in the embodiments of this application;

[0016] Figure 2 This is a schematic diagram of the process of using a surgical robot system provided in an embodiment of this application;

[0017] Figure 3 A flowchart illustrating a control method for a surgical robot provided in an embodiment of this application;

[0018] Figure 4 A flowchart illustrating another control method for a surgical robot provided in an embodiment of this application;

[0019] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0020] To better understand the above-mentioned objectives, features, and advantages of this application, the solution of this application will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0021] Many specific details are set forth in the following description in order to provide a full understanding of this application, but this application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of this application, and not all embodiments.

[0022] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below.

[0023] It should be noted that the concepts of "first" and "second" mentioned in this application are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0024] It should be noted that the terms "a" and "a plurality of" used in this application are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0025] The key point detection method provided in this application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] Figure 1 This is a schematic diagram of a surgical robot system according to an embodiment of this application. This embodiment is applicable to navigation of oral and dental surgeries. Figure 1As shown, the surgical robot system 10 provided in this embodiment includes a robot body 11, a robotic arm 12, a first inertial module 13, a second inertial module 14, a control module (not shown in the figure), and a dental adapter sleeve 15. A surgical tool 16 is fixedly mounted at the end of the robotic arm 12. The control module is connected to the first inertial module 13 and the second inertial module 14 respectively. The second inertial module 14 is fixed to the robot body, and the first inertial module 13 is fixed to the tooth through the dental adapter sleeve 15. The first inertial module 13 is used to acquire the first angular velocity information of the surgical tool 16 (such as a dental handpiece) and the second angular velocity information of the tooth to be treated (not shown in the figure) at different times. The second inertial module 14 is used to acquire the third angular velocity information of the robot body 11. The control module is used to obtain the real-time pose information of the surgical tool based on the integration calculation of the first angular velocity information, and to calibrate the motion parameters of the robotic arm through closed-loop comparison of the pose information. It is used to register the second angular velocity information and the third angular velocity information with a pre-acquired digital model based on preoperative image reconstruction, and to adjust the pose information of the surgical tool in real time based on preoperative planning.

[0027] The robot body 11, also known as a surgical robot cart, is equipped with a robotic arm. A surgical robot cart is a specially designed medical device used to support and operate a surgical robot system. Surgical robot carts are commonly used in minimally invasive surgeries (such as laparoscopic surgery), cardiac surgeries, neurosurgeries, and other surgical scenarios requiring high precision. In this embodiment, the surgical robot cart is a dental robot cart used for navigation of diseases or teeth in the oral cavity.

[0028] In this embodiment, an inertial module is used to achieve positioning and navigation in the oral cavity space. This inertial module is also called an inertial navigation module. An inertial navigation module (INM) is a device used to measure and set the position, velocity, and attitude of an object. The object being set may include the robot body 11, surgical instruments 16, the tooth to be treated, and the end effector of the robotic arm, etc.

[0029] All inertial modules provided in this embodiment have the same physical hardware structure, but are numbered and named according to their different installation positions and the different objects from which they collect position information. The first inertial module 13 is fixed to the target tooth via a dental adapter sleeve and is mainly used to collect the pose information of the tooth to be processed in the oral cavity and the pose information of the surgical tool 16 mounted at the end of the robotic arm. The second inertial module 14 is mounted on the robot body. The surgical robot system also includes a third inertial module 17, which is fixed to the end of the robotic arm and used to acquire the fourth angular velocity information of the end of the robotic arm.

[0030] In one possible implementation, the first, second, and third inertial modules have the same structure; each of the first, second, and third inertial modules includes: a circuit board, a power supply unit, and a communication unit; the circuit board includes a gyroscope and an accelerometer; the communication unit is used for data transmission with the control unit; the power supply unit is used to power the circuit board and the communication unit; and the gyroscope and accelerometer are used for positioning.

[0031] Specifically, the gyroscope mentioned above can be an electronic gyroscope, and further, it can be a 6-axis or 9-axis electronic gyroscope. The accelerometer is a 1-axis or 3-axis accelerometer.

[0032] Gyroscopes are primarily used to measure angular velocity, which is the speed at which an object rotates around its axes. By integrating the angular velocity, the attitude changes of the object can be obtained, namely the pitch, roll, and yaw angles. Accelerometers (usually triaxial accelerometers) are used to measure linear acceleration, including acceleration due to gravity and acceleration caused by the movement of the object.

[0033] Gyroscopes and accelerometers, when used together, can form an inertial measurement unit (IMU), a device used to estimate the motion, orientation, and attitude of an object. Combining the two improves the accuracy and reliability of the inertial module, thereby enhancing the precision of surgical navigation.

[0034] The inertial measurement unit, constructed from gyroscopes and accelerometers, is the main component of the inertial module. In addition, the inertial module also includes auxiliary components such as power supply units and communication units.

[0035] The power supply unit in the inertial module is primarily used to power the inertial module. In one possible implementation, the power supply unit may include a power cord with a plug, which powers the inertial module during the use of the surgical robot. In another possible implementation, the power supply unit may include a wireless charging module and a built-in battery. The built-in battery powers the inertial module during the use of the surgical robot. When the surgical robot is not in use, the built-in battery is charged via the wireless charging module.

[0036] The communication unit is primarily used for data transmission. That is, it transmits the pose information acquired by the inertial sensor to the control module via the communication unit. This communication unit may include a tapped transmission line or a wireless communication module, such as a Bluetooth communication module or a cellular communication module.

[0037] In one possible implementation, the first inertial module, the second inertial module, and the third inertial module all include a first connecting mechanism; the first connecting mechanism of the first inertial module is fixedly connected to the second connecting mechanism on the tooth adapter sleeve, and the tooth adapter sleeve is fixed to the target tooth by adhesive bonding, with the target tooth located on the opposite side of the tooth to be treated, thus forming a rigid connection between the first inertial module and the target tooth; the first connecting mechanism of the third inertial module is fixedly connected to the second connecting mechanism at the end of the robotic arm; and the first connecting structure of the second inertial module is fixedly connected to the second connecting mechanism on the robot body.

[0038] The first connecting mechanism on the inertial module, also known as the mounting interface, is mainly used to fix the inertial module to the carrier. The first connecting mechanism on the inertial module and the second connecting mechanism on the carrier work together. The mounting mechanism can include threaded interfaces, quick-release clamps, snap-fit ​​installations, etc. The carrier includes a toothed adapter sleeve, a robotic arm end effector, and the robot body.

[0039] In one possible implementation, the surgical robot system includes two inertial modules: a first inertial module and a second inertial module. Two slots are provided on the robot body to accommodate the first and second inertial modules. Further, these two slots are designated as a first slot and a second slot, respectively. When the surgical robot is not performing surgery, the first slot accommodates the first inertial module, and the second slot accommodates the second inertial module. When oral surgery is required, the first inertial module is removed from the first slot and fixedly connected to a second connecting mechanism on a dental adapter sleeve via a first connecting structure of the first inertial module. Then, the dental adapter sleeve is glued to the target tooth, thus fixing the first inertial module in the oral cavity and achieving registration and positioning within the oral cavity space. The second inertial module is placed in the second slot for registration and positioning of the robot body.

[0040] Furthermore, the first inertial module is used to acquire the first angular velocity information of the surgical tool, the second angular velocity information of the tooth to be treated, and the fourth angular velocity information of the end effector of the robotic arm. The control module is used to perform integral calculation based on the first angular velocity information to obtain the real-time pose information of the surgical tool. The motion parameters of the robotic arm are calibrated by closed-loop comparison of the pose information. The second angular velocity information, the third angular velocity information, and the first angular velocity information are used for registration with the pre-acquired digital model based on preoperative image reconstruction. The pose information of the surgical tool is adjusted in real time based on the preoperative plan.

[0041] In this embodiment, registration and positioning of the intraoral space are achieved through two inertial modules, eliminating the need for a high-precision infrared laser camera and a reference frame that is compatible with the camera. This reduces the types of consumables, lowers costs, and eliminates the need to consider camera placement and visual obstruction issues, thus broadening the applicability.

[0042] In one possible implementation, the first inertial module, the second inertial module, and the third inertial module all include a first connecting mechanism; the first connecting mechanism of the first inertial module is fixedly connected to the second connecting mechanism on the tooth adapter sleeve, and the tooth adapter sleeve is fixed to the target tooth by adhesive bonding, with the target tooth located on the opposite side of the tooth to be treated, thus forming a rigid connection between the first inertial module and the target tooth; the first connecting mechanism of the third inertial module is fixedly connected to the second connecting mechanism at the end of the robotic arm; and the first connecting structure of the second inertial module is fixedly connected to the second connecting mechanism on the robot body.

[0043] The system utilizes a first module to acquire second angular velocity information; a second module to acquire third angular velocity information; and a third module to acquire fourth and fifth angular velocity information before acquiring the first angular velocity information. Specifically, the first angular velocity information is used to obtain the real-time pose information of the surgical tool through integral calculation, and the robotic arm motion parameters are calibrated using the pose information closed-loop ratio. The fifth angular velocity information is used to establish a relationship between the target tooth, the reconstructed digital model, and the second angular velocity information. The fourth angular velocity information is used to acquire the real-time pose information of the robotic arm's end effector. Registration is performed using the first, second, third, and fourth angular velocity information, along with a pre-acquired digital model reconstructed from preoperative images. The pose information of the surgical tool is then adjusted in real-time based on preoperative planning.

[0044] In this way, it is not necessary to bond the dental fixation sleeve in advance when obtaining preoperative images. During the operation, registration can be achieved through the fifth angular velocity information, which improves the product experience and reduces patient waiting time.

[0045] In one possible implementation, the robot body is provided with a first slot 18, a second slot 19, and a third slot 20; the first slot 18, the second slot 19, and the third slot 20 are used to carry inertial modules; the control module is used to, when it detects that the first slot, the second slot, and the third slot all carry inertial modules, mark the inertial module carried in the first slot as the first inertial module, the inertial module carried in the second slot as the second inertial module, and the inertial module carried in the third slot as the third inertial module; and establish a common coordinate system based on the position parameters of the first inertial module, the position parameters of the second inertial module, and the position parameters of the third inertial module.

[0046] In a possible implementation, the surgical robot system includes three inertial modules: a first inertial module, a second inertial module, and a third inertial module. Three slots are provided on the robot body to accommodate these modules. Specifically, these three slots are designated as the first slot, the second slot, and the third slot, respectively. When the surgical robot is not performing surgery, the first slot accommodates the first inertial module, the second slot accommodates the second inertial module, and the third slot accommodates the third inertial module. When oral surgery is required, the first inertial module is removed from the first slot and fixedly connected to the second connecting mechanism on a dental adapter sleeve via a first connecting structure. The dental adapter sleeve is then glued to the target tooth, thus fixing the first inertial module in the oral cavity and enabling registration and real-time positioning of the surgical tool structure parameters at the robotic arm's end effector and the intraoral space. The second inertial module, located in the second slot, is used for real-time positioning of the robot body. The third inertial module is removed from the third slot and fixedly connected to the second connecting mechanism at the end of the robotic arm through the first connecting structure on the third inertial module, thereby achieving the positioning of the end of the robotic arm.

[0047] Furthermore, the first inertial module is used to acquire the first angular velocity information of the surgical tool and the second angular velocity information of the tooth to be treated, and the third inertial module is used to acquire the fourth angular velocity information of the robotic arm end effector. The control module is used to perform integral calculation based on the first angular velocity information to obtain the real-time pose information of the surgical tool, and the motion parameters of the robotic arm with the surgical tool are calibrated by closed-loop comparison of the pose information. The first, second, third and fourth angular velocity information and the pre-acquired digital model based on preoperative image reconstruction are used for registration, and the pose information of the surgical tool is adjusted in real time based on the preoperative plan.

[0048] In one possible implementation, the entire process of using a surgical robot system is described. For example... Figure 2 As shown, the entire process using a surgical robot system includes the following steps:

[0049] S201. Preoperative preparation process.

[0050] A dental connector is bonded to the opposite side of the tooth to be treated. A CT scan is then performed on the oral cavity with the connector bonded, yielding CT images. Surgical planning is then performed based on the patient's condition and surgical requirements, using the CT scan images.

[0051] The CT scan images include the relative position of the second connecting mechanism in the dental connector within the oral cavity. The surgical plan includes the movement trajectory of the surgical instruments at the end of the robotic arm within the oral cavity.

[0052] S202, Preoperative planning and preparation.

[0053] After the patient lies in the designated position, the three inertial modules are placed in the three slots of the robot body for mutual calibration and numbering. The inertial module in the first slot is labeled as the first inertial module, the one in the second slot as the second inertial module, and the one in the third slot as the third inertial module. After calibration and numbering, the second inertial module is placed in the second slot and kept stationary. The third inertial module is removed from the third slot and fixedly connected to the second connecting structure at the end of the robotic arm via the first connecting mechanism of the third inertial module. The first inertial module is removed from the first slot and fixedly connected to the second connecting structure of the dental connector via the first connecting mechanism of the first inertial module. The dental connector connected to the first inertial module is then adhered to the opposite side of the tooth to be treated.

[0054] Then, the control module can obtain the second angular velocity information of the surgical tool and the first angular velocity information of the tooth to be treated through the first inertial module, the third angular velocity information of the robot body through the second inertial module, and the fourth angular velocity information of the end effector of the robotic arm through the third inertial module.

[0055] The preoperative CT scan images are imported into the surgical robot system, and the patient's actual posture information is fused with the CT scan images. The surgical robot system then obtains the real-time posture information of the oral cavity and completes real-time registration of the teeth. When the teeth move in space, the surgical robot system can identify the real-time changes in the teeth and display these changes on the surgical robot system's display screen.

[0056] S203, Intraoperative procedures.

[0057] According to the preoperative plan, the robotic arm of the surgical robot is moved automatically or manually so that the surgical tool at the end of the robotic arm is moved to the position of the tooth to be treated and the surgery is continued. During the operation, when the tooth to be treated moves, the auxiliary robotic arm feeds back the change in the spatial coordinates of the tooth to the surgical robotic arm. The surgical robotic arm adjusts and changes in real time according to the feedback so as to realize the real-time search and following of the planned path of the tooth.

[0058] S204. The surgery is completed.

[0059] After the surgery is completed, the surgical instruments are pulled out of the mouth, the first inertial module is disconnected from the tooth connector, and then the tooth connector is removed to complete the surgery.

[0060] Based on the above embodiments, this application provides a control method for a surgical robot, which is applied to a surgical robot system.

[0061] The surgical robot system includes: a robot body, a robotic arm, a first inertial module, a second inertial module, a dental adapter sleeve, and a control module; surgical tools are fixedly mounted at the end of the robotic arm; the control module is connected to both the first and second inertial modules, the second inertial module is fixed to the robot body, and the first inertial module is fixed to the teeth via the dental adapter sleeve.

[0062] The various components included in the surgical robot system and the connection relationships between the components can be referred to the description in the above embodiments, and will not be repeated in the embodiments of this application.

[0063] like Figure 3 As shown in the embodiments of this application, the control method for a surgical robot mainly includes steps S301-S303.

[0064] Before using a surgical robot for surgical navigation, the positions of each inertial module must first be calibrated. The robot body has a first slot and a second slot; these slots are used to hold inertial modules. When the control module detects that both the first and second slots are holding inertial modules, the inertial module in the first slot is marked as the first inertial module, and the inertial module in the second slot is marked as the second inertial module. A common coordinate system is then established based on the position parameters of the first and second inertial modules.

[0065] Specifically, the two inertial modules are placed in the slots provided in the robot body and activated. The control module reads the basic information of the two inertial modules. If the basic information can be read, it is determined that the two inertial modules can work normally. The basic information includes the inertial module ID, inertial module model, etc.

[0066] Assuming both inertial modules are functioning correctly, the inertial modules are numbered based on their placement slots. Specifically, the inertial module in the first slot is designated as the first inertial module, and the inertial module in the second slot is designated as the second inertial module.

[0067] After numbering the modules, the inertial modules are calibrated to eliminate the effects of sensor bias and other error sources. Calibration can be performed through static calibration (keeping the device stationary for a period of time) or dynamic calibration (moving the device according to a specific pattern).

[0068] The position parameters of the first inertial module are obtained, and its pose information is calculated using these parameters. Similarly, the position parameters of the second inertial module are obtained, and its pose information is calculated using these parameters. The position parameters include acceleration, angular velocity, magnetic field strength, etc. The pose information includes pitch angle, roll angle, yaw angle, etc.

[0069] Choose one inertial module as a reference point, or define a global reference frame according to specific application requirements. Based on this reference point or reference frame, determine the positional relationships of other modules relative to it. Using the above information, a shared coordinate system can be established, allowing data from two inertial modules to be compared and processed in the same coordinate system, transforming the attitude and position of all modules to the same reference frame.

[0070] S301. The first angular velocity information of the surgical tool and the second angular velocity information of the tooth to be treated are obtained at different times using the first inertial module.

[0071] The angular velocity information includes the acceleration detected by the accelerometer along each axis and the angular velocity detected by the gyroscope along each axis. The accelerometer measures the acceleration of an object along three axes, while the gyroscope measures the angular velocity of the object around the three axes.

[0072] The first angular velocity information refers to the real-time angular velocity changes of each axis of the surgical tool detected by the first inertial module; the second angular velocity information refers to the real-time angular velocity changes of each axis of the tooth to be treated detected by the first inertial module.

[0073] In one possible implementation, the first inertial module is used to obtain the first angular velocity information of the surgical tool and the second angular velocity information of the tooth to be treated, including: using the first inertial module to obtain the first angular velocity information of the surgical tool, the second angular velocity information of the tooth to be treated, and the fourth angular velocity information of the end effector of the robotic arm.

[0074] The fourth angular velocity information refers to the acceleration and angular velocity of each axis at the end of the robotic arm detected by the first inertial module.

[0075] The first angular velocity information, the second angular velocity information, and the fourth angular velocity information detected by the first inertial module are transmitted to the control module.

[0076] S302. Use the second inertial module to obtain the third velocity information of the robot body.

[0077] The third angular velocity information refers to the acceleration and angular velocity of each axis of the robot body detected by the second inertial module. This third angular velocity information detected by the second inertial module is transmitted to the control module.

[0078] S303. The control module performs registration based on the first angular velocity information, the second angular velocity information, and the third angular velocity information, as well as the pre-acquired digital model based on preoperative image reconstruction, and adjusts the pose information of the surgical tools in real time based on the preoperative plan.

[0079] Specifically, the control module performs registration based on the first, second, third, and fourth angular velocity information, as well as the pre-acquired digital model reconstructed from preoperative images, and adjusts the pose information of the surgical tools in real time based on the preoperative plan.

[0080] Pose information is typically used to describe the position and orientation of an object in three-dimensional space. Specifically, pose information includes two main aspects: position and orientation. Position is usually represented by three coordinate values, commonly using a Cartesian coordinate system (X, Y, Z). Orientation describes the direction or orientation of an object. Orientation can be represented in several ways, commonly including: Euler angles: usually represented as pitch, roll, and yaw, these three angles correspond to the angles of rotation about the object's three orthogonal axes. Quaternions: a mathematical representation that effectively avoids gimbal lock and is easy for computers to process. A quaternion consists of four real numbers, usually written as q = [w, x, y, z], where w is the scalar part, and x, y, z are the vector parts. Rotation matrix: a 3x3 matrix used to describe the rotation of one coordinate system relative to another. Axis-Angle: Describes the angle by which an object rotates about a certain axis.

[0081] Specifically, the first pose information is obtained by calculating based on the first angular velocity information, the second pose information is obtained by calculating based on the second angular velocity information, the third pose information is obtained by calculating based on the third angular velocity information, and the fourth pose information is obtained by calculating based on the fourth angular velocity information.

[0082] The first pose information refers to the position and pose of the surgical instruments mounted on the end effector of the robotic arm. The second angular velocity information refers to the position and pose of the tooth to be treated. The fourth pose information refers to the position and pose of the end effector of the robotic arm. The third angular velocity information refers to the position and pose of the robot itself.

[0083] Throughout the entire operation of the surgical robot, the first inertial module continuously monitors the state of the robotic arm's end effector, acquiring the real-time angular velocity changes of each axis. This data is then processed using pre-defined mathematical methods or algorithms to obtain the third pose information of the robotic arm's end effector. The first inertial module continuously collects and processes motion data from the robotic arm's end effector to correct and determine its position and orientation, thereby obtaining precise pose information to ensure the robot's operational accuracy.

[0084] Throughout the operation of the surgical robot, a first inertial module continuously monitors the state of the surgical tools mounted at the end effector of the robotic arm, acquiring the real-time angular velocity changes of each axis of the surgical tools. This data is then processed using pre-defined mathematical methods or algorithms to obtain the second pose information of the surgical tools. The first inertial module continuously collects and processes motion data from the end effector of the robotic arm to ensure that the surgical tools can accurately perform the required operations, thus ensuring the precision and safety of the surgery.

[0085] Registration refers to precisely aligning the dental connector with the position of the dental connector as planned before surgery.

[0086] The first inertial module is used to monitor the position of the dental connector and obtain the real-time angular velocity changes of each axis of the dental connector. The real-time angular velocity change data of each axis is processed by a pre-set mathematical method or algorithm to obtain the position information of the dental connector. This position information is then used to accurately align with the position of the dental connector in the preoperative plan to achieve the registration and verification of the digital model.

[0087] Throughout the entire surgical robot's operation, the first inertial module continuously monitors the state of the tooth to be treated, acquiring real-time angular velocity changes along each axis. This data is then processed using pre-defined mathematical methods or algorithms to obtain the tooth's second pose information. The first inertial module continuously collects and processes the tooth's motion data to ensure its precise positioning, thereby guaranteeing the accuracy and safety of the surgery.

[0088] By integrating the real-time angular velocity changes of the second inertial module, the position and attitude information of the robot body are continuously updated to obtain the third pose information, thereby improving the accuracy and reliability of the surgical robot navigation system.

[0089] Specifically, the second inertial module is a module that uses accelerometers and gyroscopes to measure and report the position, orientation, and velocity of an object. It does not rely on external signals but performs calculations using data from internal sensors.

[0090] Preoperative CT scan images are imported into the surgical robot system. The first, second, third, and fourth pose information are fused with the CT scan images to obtain real-time pose information of the oral cavity, enabling real-time navigation of the teeth. As the teeth move within space, the surgical robot system identifies these real-time changes and displays them on its screen. Based on the preoperative plan, the robotic arm of the surgical robot is automatically or manually moved to the location of the tooth requiring surgery and then dragged to perform the procedure. During the surgery, when the tooth moves, the auxiliary robotic arm feeds back the changes in the tooth's spatial coordinates to the surgical robotic arm, which then adjusts accordingly in real time.

[0091] This application provides a control method for a surgical robot. The method is applied to a surgical robot system including a robot body, a robotic arm, a first inertial module, a second inertial module, a control module, and a dental adapter sleeve. Surgical tools are fixedly mounted at the end of the robotic arm. The control module is connected to both the first and second inertial modules. The second inertial module is fixed to the robot body, and the first inertial module is fixed to a tooth via the dental adapter sleeve. The method includes: acquiring first angular velocity information of the surgical tool and second angular velocity information of the tooth to be treated using the first inertial module; acquiring third angular velocity information of the robot body using the second inertial module; performing registration based on the first, second, and third angular velocity information and a pre-acquired digital model reconstructed from preoperative images using the control module; and adjusting the position of the surgical tool in real time based on preoperative planning. This application's technical solution uses an inertial module to navigate teeth within the oral cavity, eliminating the need for a high-precision infrared laser camera and a reference frame for the camera, thus reducing consumables and costs. Furthermore, it eliminates the need to consider camera placement and visual obstruction issues, making it more widely applicable.

[0092] Based on the above embodiments, the control method for a surgical robot provided in this application mainly includes steps S401-S404.

[0093] In one possible implementation, a first slot, a second slot, and a third slot are provided on the robot body; the first slot, the second slot, and the third slot are used to carry inertial modules; when the control module detects that the first slot, the second slot, and the third slot all carry inertial modules, the inertial module carried in the first slot is marked as the first inertial module, the inertial module carried in the second slot is marked as the second inertial module, and the inertial module carried in the third slot is marked as the third inertial module; the control module establishes a common coordinate system based on the position parameters of the first inertial module, the position parameters of the second inertial module, and the position parameters of the third inertial module.

[0094] Before using a surgical robot for surgical navigation, the positions of each inertial module must first be calibrated. The robot body is equipped with a first slot, a second slot, and a third slot; these three slots are used to hold inertial modules. When the control module detects that all three slots are holding inertial modules, the inertial module in the first slot is marked as the first inertial module, the inertial module in the second slot as the second inertial module, and the inertial module in the third slot as the third inertial module. A common coordinate system is then established based on the position parameters of the first, second, and third inertial modules.

[0095] The process of establishing a common coordinate system based on the position parameters of the first inertial module, the position parameters of the second inertial module, and the position parameters of the third slot is the same as the process of establishing a common coordinate system based on the position parameters of the second inertial module. For details, please refer to the description in the above embodiments. This application embodiment will not be specifically limited.

[0096] S401. The first angular velocity information of the surgical tool and the second angular velocity information of the tooth to be treated are obtained at different times using the first inertial module.

[0097] S402. Use the second inertial module to obtain the third velocity information of the robot body.

[0098] The processes S401-S402 provided in this embodiment are the same as those S301-S302 in the above embodiments. For details, please refer to the description in the above embodiments. No further details will be repeated in this embodiment.

[0099] S403. Use the third inertial module to obtain the fourth angular velocity information of the robotic arm end effector.

[0100] The surgical robot system also includes a third inertial module, which is fixed to the end of the robotic arm.

[0101] Throughout the entire operation of the surgical robot, a third inertial module continuously monitors the state of the robotic arm's end effector, acquiring real-time angular velocity changes along each axis. This data is then processed using pre-defined mathematical methods or algorithms to obtain the fourth pose information of the robotic arm's end effector. The continuous collection and processing of motion data from the third inertial module ensures that the surgical tool can accurately perform the required operations, guaranteeing the precision and safety of the surgery.

[0102] S404. The control module performs registration based on the first angular velocity information, the second angular velocity information, the third angular velocity information, and the fourth angular velocity information, as well as the pre-acquired digital model based on preoperative image reconstruction, and adjusts the pose information of the surgical tools in real time based on the preoperative plan.

[0103] The process of S404 provided in this embodiment is the same as that of S303 in the above embodiment. For details, please refer to the description in the above embodiment. It will not be described in detail in this embodiment.

[0104] This application provides a control method for a surgical robot. The method is applied to a surgical robot system, which includes a robot body, a robotic arm, a first inertial module, a second inertial module, a third inertial module, a control module, and a dental adapter sleeve. A surgical tool is fixedly mounted at the end of the robotic arm. The control module is connected to both the first and second inertial modules. The second inertial module is fixed to the robot body, the first inertial module is fixed to a tooth via the dental adapter sleeve, and the third inertial module is fixed to the end of the robotic arm. The method includes: acquiring first angular velocity information of the surgical tool and second angular velocity information of the tooth to be treated using the first inertial module; acquiring third angular velocity information of the robot body using the second inertial module; acquiring fourth angular velocity information of the end of the robotic arm using the third inertial module; registering the surgical tool with the first, second, third, and fourth angular velocity information and a pre-acquired digital model reconstructed from preoperative images using the control module; and adjusting the position of the surgical tool in real time based on preoperative planning. The technical solution of this application uses an inertial module to navigate teeth in the oral cavity, without using a high-precision infrared laser camera and a reference frame that is compatible with the high-precision infrared laser camera. This reduces the use of consumables, lowers costs, and eliminates the need to consider the placement of the camera and visual obstruction issues, making it more widely applicable.

[0105] Figure 5 This is a schematic diagram of the structure of an electronic device provided in this embodiment. The electronic device may include a control device for a surgical robot, such as... Figure 5As shown, the electronic device 500 includes a processor 510, a memory 520, an input device 530, and an output device 540; the number of processors 510 in the electronic device can be one or more. Figure 5 Taking a processor 510 as an example; the processor 510, memory 520, input device 530, and output device 540 in the electronic device can be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0106] The memory 520, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the control method for the surgical robot in this embodiment of the invention. The processor 510 executes various functional applications and data processing of the electronic device by running the software programs, instructions, and modules stored in the memory 520, thereby implementing the control method for the surgical robot provided in this embodiment of the invention.

[0107] The memory 520 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 520 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 520 may further include memory remotely located relative to the processor 510, which can be connected to the electronic device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0108] Input device 530 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the electronic device, and may include a keyboard, mouse, etc. Output device 540 may include a display device such as a screen.

[0109] This embodiment also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to implement the control method for a surgical robot provided in this embodiment of the invention.

[0110] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the control method for surgical robots provided in any embodiment of the present invention.

[0111] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0112] It is worth noting that in the above embodiments of the control system for surgical robots, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0113] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0114] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A surgical robot system, characterized in that, The surgical robot system includes a robot body, a robotic arm, a first inertial module, a second inertial module, a control module, and a dental adapter sleeve. Surgical tools are fixedly mounted at the end of the robotic arm. The control module is connected to the first inertial module and the second inertial module respectively. The second inertial module is fixed to the robot body, and the first inertial module is fixed to the teeth through the tooth adapter sleeve. The first inertial module is used to acquire the first angular velocity information of the surgical tool and the second angular velocity information of the tooth to be treated at different times; The second inertial module is used to acquire the third velocity information of the robot body; The control module is used to perform registration based on the first angular velocity information, the second angular velocity information, and the third angular velocity information, as well as a pre-acquired digital model based on preoperative image reconstruction, and to adjust the pose information of the surgical tool in real time based on preoperative planning.

2. The system according to claim 1, characterized in that, The surgical robot system further includes a third inertial module, which is fixed to the end of the robotic arm; The third inertial module is used to acquire the fourth angular velocity information of the end effector of the robotic arm; The control module is used to perform registration based on the first angular velocity information, the second angular velocity information, the third angular velocity information, and the fourth angular velocity information, as well as a pre-acquired digital model based on preoperative image reconstruction, and to adjust the pose information of the surgical tool in real time based on preoperative planning.

3. The system according to claim 1, characterized in that, The first inertial module is used to acquire the first angular velocity information of the surgical tool, the second angular velocity information of the tooth to be processed, and the fourth angular velocity information of the end effector of the robotic arm at different times. The control module is used to perform registration based on the first angular velocity information, the second angular velocity information, the third angular velocity information, and the fourth angular velocity information, as well as a pre-acquired digital model based on preoperative image reconstruction, and to adjust the pose information of the surgical tool in real time based on preoperative planning.

4. The system according to claim 2, characterized in that, The first inertial module, the second inertial module, and the third inertial module have the same structure; The first inertial module, the second inertial module, and the third inertial module each include: a circuit board, a power supply unit, and a communication unit, wherein the circuit board includes a gyroscope and an accelerometer. The communication unit is used to transmit data with the control module; The power supply unit is used to supply power to the circuit board and the communication unit; The gyroscope and the accelerometer are used for positioning.

5. The system according to claim 4, characterized in that, The first inertial module, the second inertial module, and the third inertial module each include: a first connecting mechanism; The first connecting mechanism of the first inertial module is fixedly connected to the second connecting mechanism on the tooth adapter sleeve. The tooth adapter sleeve is fixed to the target tooth by adhesive. The target tooth is located on the opposite side of the tooth to be treated. The first connecting mechanism of the third inertial module is fixedly connected to the second connecting mechanism at the end of the robotic arm; The first connection structure of the second inertial module is fixedly connected to the second connection mechanism on the robot body.

6. The system according to claim 2, characterized in that, A first slot, a second slot, and a third slot are provided on the robot body; the first slot, the second slot, and the third slot are used to carry the inertial module; The control module is configured to, when detecting that the first card slot, the second card slot, and the third card slot all carry inertial modules, mark the inertial module carried in the first card slot as the first inertial module, the inertial module carried in the second card slot as the second inertial module, and the inertial module carried in the third card slot as the third inertial module; and establish a common coordinate system based on the position parameters of the first inertial module, the position parameters of the second inertial module, and the position parameters of the third inertial module.

7. A control method for a surgical robot, characterized in that, The method is applied to a surgical robot system, which includes: a robot body, a robotic arm, a first inertial module, a second inertial module, a dental adapter sleeve, and a control module. Surgical tools are fixedly mounted at the end of the robotic arm. The control module is connected to the first inertial module and the second inertial module respectively. The second inertial module is fixed to the robot body. The first inertial module is fixed to the teeth through the tooth adapter sleeve. The method includes: The first angular velocity information of the surgical tool and the second angular velocity information of the tooth to be treated are obtained at different times using the first inertial module; The second inertial module is used to obtain the third velocity information of the robot body; The control module performs registration based on the first angular velocity information, the second angular velocity information, and the third angular velocity information, as well as a pre-acquired digital model based on preoperative image reconstruction, and adjusts the pose information of the surgical tool in real time based on preoperative planning.

8. The method according to claim 7, characterized in that, The surgical robot system further includes a third inertial module, which is fixed to the end of the robotic arm; The method further includes: using the third inertial module to obtain the fourth angular velocity information of the end effector of the robotic arm; The control module performs registration based on the first angular velocity information, the second angular velocity information, and the third angular velocity information, as well as a pre-acquired digital model reconstructed from preoperative images, and adjusts the pose information of the surgical tools in real time based on preoperative planning, including: The control module performs registration based on the first angular velocity information, the second angular velocity information, the third angular velocity information, and the fourth angular velocity information, as well as a pre-acquired digital model based on preoperative image reconstruction, and adjusts the pose information of the surgical tool in real time based on preoperative planning.

9. The method according to claim 7, characterized in that, The process of acquiring the first angular velocity information of the surgical tool and the second angular velocity information of the tooth to be treated using the first inertial module includes: The first inertial module is used to obtain the first angular velocity information of the surgical tool, the second angular velocity information of the tooth to be treated, and the fourth angular velocity information of the end effector of the robotic arm; The control module performs registration based on the first angular velocity information, the second angular velocity information, and the third angular velocity information, as well as a pre-acquired digital model reconstructed from preoperative images, and adjusts the pose information of the surgical tools in real time based on preoperative planning, including: The control module performs registration based on the first angular velocity information, the second angular velocity information, the third angular velocity information, and the fourth angular velocity information, as well as a pre-acquired digital model based on preoperative image reconstruction, and adjusts the pose information of the surgical tool in real time based on preoperative planning.

10. The method according to claim 7, characterized in that, A first slot, a second slot, and a third slot are provided on the robot body; the first slot, the second slot, and the third slot are used to carry the inertial module; When the control module detects that the first card slot, the second card slot, and the third card slot all carry inertial modules, it marks the inertial module carried in the first card slot as the first inertial module, the inertial module carried in the second card slot as the second inertial module, and the inertial module carried in the third card slot as the third inertial module. A common coordinate system is established using the control module based on the position parameters of the first inertial module, the second inertial module, and the third inertial module.

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