Control method and control device of planar bone cutting device and planar bone cutting device

Abstract

The invention provides a control method and device of a plane bone cutting device and the plane bone cutting device.The method comprises the steps that under the non-dragging condition, sensor gravity compensation parameters are obtained, and in the dragging process, according to the gravity compensation parameters and sensor data, the exercise amount of the plane bone cutting device under a sensor coordinate system is calculated; determining the amount of motion under the swing saw plane coordinate system; the motion amount in the swing saw plane normal direction of the motion amount under the swing saw plane coordinate system is set to be zero, a new motion amount under the swing saw plane coordinate system is obtained, and the new motion amount under the swing saw plane coordinate system is converted into the base coordinate system to obtain the motion amount of the plane bone cutting device under the base coordinate system; and controlling the plane bone cutting device to move based on the movement amount of the plane bone cutting device under the base coordinate system. According to the embodiment of the invention, the swing saw can be limited in a plane to be freely dragged, the vertical deviation is small, and the accuracy and safety of bone cutting operation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of planar bone cutting, and in particular to a control method and a control device of a planar bone cutting device, and a planar bone cutting device. Background Art

[0002] At present, orthopedic surgery mainly relies on doctors to use handheld oscillating saws to cut the patient's required treatment area and then replace it with an artificial device. This work is extremely dependent on the doctor's experience and condition, and requires high precision in the cut area, which must be cut strictly within the required plane. If there is a deviation in the cutting, the operation may fail.

[0003] Existing bone cutting operation methods have problems with insufficient accuracy and safety. Summary of the invention

[0004] To solve the above problems, an embodiment of the present invention provides a control method for a planar bone cutting device, the method comprising: obtaining a sensor gravity compensation parameter in the absence of dragging, and during the dragging process, calculating the amount of motion of the planar bone cutting device in the sensor coordinate system according to the gravity compensation parameter and sensor data; determining the amount of motion in the oscillating saw plane coordinate system according to the amount of motion in the sensor coordinate system and the rotation matrix from the sensor coordinate system to the oscillating saw plane coordinate system; setting the amount of motion in the oscillating saw plane normal direction of the motion in the oscillating saw plane coordinate system to zero to obtain a new amount of motion in the oscillating saw plane coordinate system, and converting the new amount of motion in the oscillating saw plane coordinate system into the base coordinate system according to the rotation matrix from the oscillating saw plane coordinate system to the base coordinate system to obtain the amount of motion of the planar bone cutting device in the base coordinate system; and controlling the movement of the planar bone cutting device based on the amount of motion of the planar bone cutting device in the base coordinate system.

[0005] Optionally, the method further comprises: determining the rotation matrix from the sensor coordinate system to the oscillating saw plane coordinate system according to the inverse matrix of the rotation matrix of the oscillating saw plane coordinate system with respect to the robot end coordinate system and the rotation matrix from the sensor coordinate system to the robot end coordinate system.

[0006] Optionally, the method also includes: calibrating the rotation matrix from the oscillating saw plane coordinate system to the robot end coordinate system through a binocular vision camera; determining the rotation matrix from the oscillating saw plane coordinate system to the base coordinate system based on the rotation matrix from the oscillating saw plane coordinate system to the robot end coordinate system and the rotation matrix from the robot end coordinate system to the base coordinate system.

[0007] Optionally, calculating the movement amount of the planar osteotomy device in the sensor coordinate system according to the gravity compensation parameter and the sensor data includes: calculating the corresponding acceleration according to the gravity compensation parameter and the sensor data, and integrating them to obtain the velocity and displacement.

[0008] Optionally, the method also includes: determining the rotation matrix of the robot's terminal coordinate system in the binocular vision coordinate system; acquiring the terminal posture of the target moving on the oscillating saw blade, and determining the oscillating saw plane coordinate system based on the terminal posture; determining the rotation matrix of the oscillating saw plane coordinate system in the binocular vision coordinate system; determining the rotation matrix of the oscillating saw plane coordinate system with respect to the robot's terminal coordinate system based on the rotation matrix of the terminal coordinate system in the binocular vision coordinate system and the rotation matrix of the oscillating saw plane coordinate system in the binocular vision coordinate system.

[0009] Optionally, determining the rotation matrix of the robot's terminal coordinate system in the binocular vision coordinate system includes: selecting a position of a point at the robot's terminal in the binocular vision coordinate system as P0; controlling the robot's terminal to move a distance in the positive direction of the tool coordinate system X to obtain a position P1 in the binocular vision coordinate system; controlling the robot's terminal to move a distance in the positive direction of the tool coordinate system Z to obtain a position P2 in the binocular vision coordinate system; defining the x-axis direction vector of the robot's terminal coordinate system as: X=P1-P0; the Z-axis direction vector as: Z=P2-P0; the y-axis direction vector as: Y=Z×X; redefining the Z direction vector as: Z=X×Y; the rotation matrix of the terminal coordinate system in the binocular vision coordinate system is:

[0010]

[0011] Optionally, determining the oscillating saw plane coordinate system according to the terminal posture includes: fitting a plane expression of the oscillating saw blade plane in the binocular vision coordinate system through a plane fitting algorithm; determining a normal vector of the oscillating saw blade plane according to the plane expression; determining the oscillating saw plane coordinate system according to the normal vector; the rotation matrix of the oscillating saw plane coordinate system in the binocular vision coordinate system is:

[0012] Optionally, the rotation matrix of the oscillating saw plane coordinate system with respect to the terminal coordinate system is:

[0013] An embodiment of the present invention provides a control device for a planar bone cutting device, the device comprising: a first motion amount determination module, used to obtain a sensor gravity compensation parameter in the absence of dragging, and during the dragging process, calculate the motion amount of the planar bone cutting device in the sensor coordinate system according to the gravity compensation parameter and sensor data; a second motion amount determination module, used to determine the motion amount in the oscillating saw plane coordinate system according to the motion amount in the sensor coordinate system and the rotation matrix from the sensor coordinate system to the oscillating saw plane coordinate system; a third motion amount determination module, used to set the motion amount in the oscillating saw plane normal direction of the motion amount in the oscillating saw plane coordinate system to zero to obtain a new motion amount in the oscillating saw plane coordinate system, and convert the new motion amount in the oscillating saw plane coordinate system into the base coordinate system according to the rotation matrix from the oscillating saw plane coordinate system to the base coordinate system to obtain the motion amount of the planar bone cutting device in the base coordinate system; a control module, used to control the movement of the planar bone cutting device based on the motion amount of the planar bone cutting device in the base coordinate system.

[0014] An embodiment of the present invention provides a planar bone cutting device, including a mechanical arm and an oscillating saw, which are used to execute the control method of the planar bone cutting device.

[0015] The control method, control device and planar bone cutting device provided by the embodiments of the present invention can restrict the swing saw to be dragged freely within a plane, with a small vertical deviation, thereby improving the accuracy and safety of the bone cutting operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0017] Figure 1 A schematic diagram of a planar bone cutting device provided by an embodiment of the present invention;

[0018] Figure 2 is a schematic flow chart of a control method of a planar bone cutting device in an embodiment of the present invention;

[0019] Figure 3 Schematic diagram of the structure of a control device of a planar bone cutting device in an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0021] The embodiment of the present invention provides a planar bone cutting device and a control method thereof. When a doctor holds an oscillating saw, the movement can be strictly restricted within one plane, thereby improving the accuracy and safety of treatment.

[0022] Figure 1 A schematic diagram of a planar bone cutting device provided in an embodiment of the present invention. Figure 1 A binocular vision camera 101, a robotic arm 102 equipped with a swing saw and a six-dimensional force sensor, and a trolley 103 are shown.

[0023] Figure 2 : is a schematic flow chart of a control method of a planar bone cutting device in an embodiment of the present invention, the planar bone cutting device includes a sensor, and the method includes:

[0024] S202, in the absence of dragging, obtaining a sensor gravity compensation parameter, and in the dragging process, calculating the movement amount of the planar osteotomy device in the sensor coordinate system according to the gravity compensation parameter and the sensor data.

[0025] Calculate sensor gravity compensation without dragging. For example, collect data of different postures and the corresponding force and torque data of the six degrees of freedom of the sensor, and use the least squares method to calculate the various parameters required for sensor gravity compensation (including the mass of the swing saw, the center of gravity position, the zero point of each degree of freedom of the sensor, etc.). Through these parameters, the six-degree-of-freedom external force in the sensor coordinate system can be calculated in any posture.

[0026] When there is no dragging, the force on each degree of freedom is 0, so the force setting value of each degree of freedom is 0. According to the calculated external force, the error of the force on each degree of freedom in the sensor coordinate system can be obtained, and then the amount of movement that the robot should make in the sensor coordinate system can be determined. Specifically, the corresponding acceleration can be calculated according to the external force, and the velocity and displacement can be obtained by integration.

[0027] S204, determining the amount of movement in the oscillating saw plane coordinate system according to the amount of movement in the sensor coordinate system and the rotation matrix from the sensor coordinate system to the oscillating saw plane coordinate system.

[0028] Exemplarily, the amount of motion of the robot in the oscillating saw plane coordinate system is obtained by multiplying the amount of motion in the sensor coordinate system by the rotation matrix from the sensor coordinate system to the oscillating saw plane coordinate system.

[0029] S206, the motion in the normal direction of the oscillating saw plane coordinate system is set to zero to obtain a new motion in the oscillating saw plane coordinate system, and according to the rotation matrix from the oscillating saw plane coordinate system to the base coordinate system, the new motion in the oscillating saw plane coordinate system is converted to the base coordinate system to obtain the motion of the plane bone cutting device in the base coordinate system.

[0030] Since it can only move in the XY plane of the oscillating saw plane coordinate system, the amount of motion in the Z direction in this coordinate system is 0. Set the amount of motion in the Z direction to 0, get the new amount of motion, and then convert the new amount of motion to the robot base coordinate system.

[0031] S208, controlling the movement of the planar bone cutting device based on the movement amount of the planar bone cutting device in the base coordinate system.

[0032] The control method of the planar bone cutting device provided in the embodiment of the present invention can restrict the swing saw to be dragged freely within a plane, with a small vertical deviation, thereby improving the accuracy and safety of the bone cutting operation.

[0033] Furthermore, the rotation matrix from the sensor coordinate system to the oscillating saw plane coordinate system can be determined based on the inverse matrix of the rotation matrix of the oscillating saw plane coordinate system with respect to the robot end coordinate system and the rotation matrix from the sensor coordinate system to the robot end coordinate system.

[0034] Furthermore, the rotation matrix from the oscillating saw plane coordinate system to the robot end coordinate system can be calibrated through a binocular vision camera; then, the rotation matrix from the oscillating saw plane coordinate system to the robot end coordinate system and the rotation matrix from the robot end coordinate system to the base coordinate system can be determined.

[0035] Optionally, the rotation matrix of the oscillating saw plane coordinate system with respect to the end coordinate system is determined based on the following method:

[0036] (1) Determine the rotation matrix of the robot’s end coordinate system in the binocular vision coordinate system.

[0037] A target is installed at the end of the robot, which can be read by the binocular vision camera. By moving multiple points within the camera's field of view, the robot's rotation matrix in the binocular vision coordinate system can be determined.

[0038] Exemplarily, the rotation matrix is ​​determined based on the following method:

[0039] 1. Select the position of a point at the end of the robot in the binocular vision coordinate system as P0;

[0040] 2. Control the robot end to move a certain distance along the positive direction of the tool coordinate system X to obtain the position P1 in the binocular vision coordinate system;

[0041] 3. Control the end of the robot to move a certain distance along the positive direction of the tool coordinate system Z to obtain the position P2 in the binocular vision coordinate system;

[0042] 4. Define the x-axis direction vector of the robot end coordinate system as: X = P1-P0; the z-axis direction vector as: Z = P2-P0; the y-axis direction vector as: Y = Z×X;

[0043] 5. Redefine the Z direction vector as: Z = X × Y; In order to ensure that the X, Y, and Z axes are perpendicular to each other, the Z direction vector can be redefined;

[0044] The rotation matrix of the end coordinate system in the binocular vision coordinate system is:

[0045] (2) Obtaining the end position of the target moving on the oscillating saw blade, and determining the oscillating saw plane coordinate system according to the end position.

[0046] Exemplarily, the plane coordinate system of the oscillating saw is determined by the end posture of the target in the following manner: first, a plane expression of the oscillating saw blade plane in the binocular vision coordinate system is obtained by fitting through a plane fitting algorithm; secondly, the normal vector of the oscillating saw blade plane is determined according to the plane expression; then, the oscillating saw plane coordinate system is determined according to the above normal vector.

[0047] For example, the target is controlled to move on the swing saw blade, and the coordinates of n target points collected in the binocular vision coordinate system are (x i ,y i ,z i ), i=0,1,2,......,n-1;

[0048] To fit a plane using n points, Minimum, should meet as follows:

[0049] ∑2*(a0*x i +a1*y i +a2-z i )*x i =0

[0050] ∑2*(a0*x i +a1*y i +a2-z i )*y i =0

[0051] ∑2*(a0*x i +a1*y i +a2-z i )*1.0=0

[0052] Based on n target points, the plane z=a0*x+a1*y+a2 is fitted and rewritten into a matrix form. The parameters a0, a1, and a2 are calculated by the following matrix:

[0053]

[0054] Define the normal vector (a0, a1, -1) of plane z as the Z-axis direction vector Z_E of the oscillating saw plane coordinate system;

[0055] The Y-axis direction vector Y_E and the X-axis direction vector X_E of the oscillating saw plane coordinate system are defined according to the Z-axis direction vector Z_E.

[0056] (3) Determine the rotation matrix of the oscillating saw plane coordinate system in the binocular vision coordinate system.

[0057] Based on the axis direction vectors of the above-mentioned fitting plane z, the rotation matrix of the oscillating saw plane coordinate system in the binocular vision coordinate system is determined as:

[0058] (4) According to the rotation matrix of the terminal coordinate system in the binocular vision coordinate system and the rotation matrix of the oscillating saw plane coordinate system in the binocular vision coordinate system, the rotation matrix of the oscillating saw plane coordinate system with respect to the terminal coordinate system is determined.

[0059] For example, the rotation matrix of the oscillating saw plane coordinate system with respect to the terminal coordinate system can be obtained by multiplying the inverse matrix of the rotation matrix of the terminal coordinate system in the binocular vision coordinate system by the rotation matrix of the oscillating saw plane coordinate system in the binocular vision coordinate system. Specifically, as follows:

[0060] The following embodiments take a planar bone cutting device as an example, which can strictly limit the free dragging of the oscillating saw within a plane, and the vertical deviation of the planar motion is less than 1 mm.

[0061] First, the sensor gravity compensation calculation needs to be performed. According to the mechanical structure, the rotation matrix of the force sensor and the end coordinate system of the robot arm is determined. Collect data of different postures and the corresponding force and torque data of the six degrees of freedom of the sensor, and apply the least squares method to calculate the various parameters required for sensor gravity compensation (mass of the swing saw, center of gravity position, zero point of each degree of freedom of the sensor). Through these parameters, the six-degree-of-freedom external force in the sensor coordinate system can be calculated in any posture.

[0062] In the bone cutting scenario, the handheld oscillating saw needs to be dragged freely. When not dragged, the force on each degree of freedom is 0, so the force setting value of each degree of freedom is 0. Based on the calculated external force, the error of the force on each degree of freedom in the sensor coordinate system can be obtained. According to Newton's second law, force is equal to mass multiplied by acceleration, that is,

[0063] F=m*a

[0064] The mass can be obtained through the load identification of the robot arm, from which we get the required acceleration:

[0065]

[0066] However, acceleration cannot be directly input into the control system of the robot arm. It needs to be integrated to obtain velocity and displacement, as shown in the following formula:

[0067]

[0068]

[0069] Through the above calculation, the displacement required by the end of the robot arm to eliminate the force deviation can be obtained. For example, the corresponding PID (Proportion Integration Differentiation) controller is designed to make the whole system more stable and responsive. From this, the amount of movement that the robot should make in the sensor coordinate system can be calculated.

[0070] At any robot position, the transformation matrix between the end point and the robot base coordinate system can be obtained from the robot API. This allows the calculated motion to be transformed into the robot base coordinate system, where is the rotation matrix of the robot’s posture in the base coordinate system, B V is the amount of motion the robot needs to move in the base coordinate system. S V is the amount of motion the robot needs to move in the sensor coordinate system:

[0071]

[0072] Will B V is input into the robot system to make movement, and free dragging can be achieved.

[0073] For bone cutting scenarios, the robot needs to move only in the saw plane. Through the binocular vision camera, the rotation matrix of the saw plane coordinate system to the robot end coordinate system can be calibrated. Install a target at the end of the robot. While keeping the binocular camera NDI able to read the target, select a space point at position P0 in NDI, control the robot end tool TCP (Tool Center Point) to move a distance in the positive direction of the tool coordinate system X, and obtain the TCP position P1 in NDI; control the robot TCP to move a distance in the positive direction of the tool coordinate system Z, and obtain the TCP position P2 in NDI. The above data can be used to define the three direction vectors of the TCP coordinate system XYZ in NDI, and the x-axis direction vector of the robot TCP coordinate system is:

[0074] X = P1-P0;

[0075] The Z-axis direction vector is:

[0076] Z = P2-P0;

[0077] Then the y-axis direction vector can be obtained as:

[0078] Y = Z × X;

[0079] In order to ensure that the X, Y, and Z axes are perpendicular to each other, redefine the Z direction vector as:

[0080] Z = X × Y;

[0081] Then the rotation matrix of the robot TCP in the NDI coordinate system is:

[0082]

[0083] Use a handheld target to scratch the oscillating saw blade and record the terminal position of the handheld target. Through the plane fitting algorithm, the plane expression of the oscillating saw blade plane in the camera can be fitted, and the normal vector of the plane can be obtained. Define the normal vector as the Z direction vector (Z_E) of the oscillating saw plane coordinate system, and use the x-axis direction vector of the TCP coordinate system as the X direction vector (X_E) of the plane, then the Y-axis direction vector (Y_E) of the plane can be obtained as:

[0084] Y_E=Z_E×X_E;

[0085] In order to ensure that the X_E, Y_E, and Z_E axes are perpendicular to each other, redefine the X_E direction vector as:

[0086] X_E=Z_E×Y_E;

[0087] Then the rotation matrix of the saw plane in the NDI coordinate system is:

[0088]

[0089] From this, we can get the rotation matrix of the saw plane coordinate system with respect to the robot end coordinate system, which is as mentioned above:

[0090]

[0091] From this, we can get the rotation matrix from the sensor coordinate system to the coordinate system of the oscillating saw plane and from the coordinate system of the oscillating saw plane to the robot base coordinate system:

[0092]

[0093]

[0094] The robot's motion in the saw plane coordinate system is calculated as follows:

[0095]

[0096] Since it can only move in the XY plane of the saw plane coordinate system, the amount of movement in the Z direction in this coordinate system is 0. E Set the Z-direction motion in V to 0, and we get E V_new. Then convert the motion into the robot base coordinate system:

[0097]

[0098] Using the robot's API, B The movement of V can realize free dragging within the plane of the swing saw.

[0099] Figure 3 : is a schematic diagram of the structure of a control device of a planar bone cutting device in an embodiment of the present invention, the device comprising:

[0100] The first movement amount determination module 301 is used to obtain the sensor gravity compensation parameter in the absence of dragging, and calculate the movement amount of the planar osteotomy device in the sensor coordinate system according to the gravity compensation parameter and the sensor data during the dragging process;

[0101] A second movement amount determination module 302 is used to determine the movement amount in the oscillating saw plane coordinate system according to the movement amount in the sensor coordinate system and the rotation matrix from the sensor coordinate system to the oscillating saw plane coordinate system;

[0102] The third motion amount determination module 303 is used to set the motion amount in the normal direction of the oscillating saw plane of the motion amount in the oscillating saw plane coordinate system to zero, obtain a new motion amount in the oscillating saw plane coordinate system, and convert the new motion amount in the oscillating saw plane coordinate system to the base coordinate system according to the rotation matrix from the oscillating saw plane coordinate system to the base coordinate system to obtain the motion amount of the planar bone cutting device in the base coordinate system;

[0103] The control module 304 is used to control the movement of the planar bone cutting device based on the movement amount of the planar bone cutting device in the base coordinate system.

[0104] The control device of the planar bone cutting device provided in the embodiment of the present invention can restrict the swing saw to be dragged freely within a plane, with a small vertical deviation, thereby improving the accuracy and safety of the bone cutting operation.

[0105] An embodiment of the present invention provides a planar bone cutting device, including a mechanical arm and an oscillating saw, which are used to execute the control method of the planar bone cutting device.

[0106] The embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above-mentioned production measurement method based on image segmentation is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0107] Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the control device through a computer, and the program can be stored in a computer-readable storage medium. When the program is executed, it may include the processes of the above-mentioned method embodiments, wherein the storage medium may be a memory, a disk, an optical disk, etc.

[0108] In this article, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0109] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0110] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be 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 the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a planar bone cutting device, characterized in that: The method comprises: In the absence of dragging, a sensor gravity compensation parameter is obtained, and in the dragging process, the movement amount of the planar osteotomy device in the sensor coordinate system is calculated according to the gravity compensation parameter and the sensor data; Determine the amount of movement in the oscillating saw plane coordinate system according to the amount of movement in the sensor coordinate system and the rotation matrix from the sensor coordinate system to the oscillating saw plane coordinate system; The motion amount in the normal direction of the oscillating saw plane of the motion amount in the oscillating saw plane coordinate system is set to zero to obtain a new motion amount in the oscillating saw plane coordinate system, and according to the rotation matrix from the oscillating saw plane coordinate system to the base coordinate system, the new motion amount in the oscillating saw plane coordinate system is converted to the base coordinate system to obtain the motion amount of the planar bone cutting device in the base coordinate system; The movement of the planar bone cutting device is controlled based on the movement amount of the planar bone cutting device in the base coordinate system.

2. The method according to claim 1, characterized in that The method further comprises: The rotation matrix from the sensor coordinate system to the oscillating saw plane coordinate system is determined according to the inverse matrix of the rotation matrix of the oscillating saw plane coordinate system with respect to the robot end coordinate system and the rotation matrix from the sensor coordinate system to the robot end coordinate system.

3. The method according to claim 1, characterized in that The method further comprises: The rotation matrix from the plane coordinate system of the oscillating saw to the robot end coordinate system is calibrated by using a binocular vision camera; The rotation matrix from the oscillating saw plane coordinate system to the base coordinate system is determined according to the rotation matrix from the oscillating saw plane coordinate system to the robot end coordinate system and the rotation matrix from the robot end coordinate system to the base coordinate system.

4. The method according to claim 1, characterized in that: The step of calculating the movement amount of the planar osteotomy device in the sensor coordinate system according to the gravity compensation parameter and the sensor data includes: The corresponding acceleration is calculated according to the gravity compensation parameter and the sensor data, and the velocity and displacement are obtained by integration.

5. The method according to claim 1, characterized in that The method further comprises: Determine the rotation matrix of the robot end coordinate system in the binocular vision coordinate system; Acquiring the end position and posture of the target moving on the oscillating saw blade, and determining the oscillating saw plane coordinate system according to the end position and posture; Determine the rotation matrix of the oscillating saw plane coordinate system in the binocular vision coordinate system; According to the rotation matrix of the terminal coordinate system in the binocular vision coordinate system and the rotation matrix of the oscillating saw plane coordinate system in the binocular vision coordinate system, the rotation matrix of the oscillating saw plane coordinate system with respect to the robot terminal coordinate system is determined.

6. The method according to claim 5, characterized in that The step of determining the rotation matrix of the robot's end coordinate system in the binocular vision coordinate system includes: Select the position of a point at the end of the robot in the binocular vision coordinate system as P0; Control the robot end to move a certain distance along the positive direction of the tool coordinate system X to obtain the position P1 in the binocular vision coordinate system; Control the end of the robot to move a certain distance along the positive direction of the tool coordinate system Z to obtain the position P2 in the binocular vision coordinate system; Define the x-axis direction vector of the robot end coordinate system as: X = P1-P0; the z-axis direction vector as: Z = P2-P0; the y-axis direction vector as: Y = Z×X; Redefine the Z direction vector as: Z = X × Y; The rotation matrix of the end coordinate system in the binocular vision coordinate system is:

7. The method according to claim 6, characterized in that Determining the plane coordinate system of the swing saw according to the terminal posture includes: By using a plane fitting algorithm, a plane expression of the oscillating saw blade plane in the binocular vision coordinate system is obtained by fitting; Determine the normal vector of the plane of the oscillating saw blade according to the plane expression; Determine the plane coordinate system of the oscillating saw according to the normal vector; The rotation matrix of the oscillating saw plane coordinate system in the binocular vision coordinate system is:

8. The method according to claim 7, characterized in that The rotation matrix of the oscillating saw plane coordinate system with respect to the terminal coordinate system is:

9. A control device for a planar bone cutting device, characterized in that: The device comprises: A first movement amount determination module is used to obtain a sensor gravity compensation parameter in the absence of dragging, and to calculate the movement amount of the planar bone cutting device in the sensor coordinate system according to the gravity compensation parameter and sensor data during the dragging process; A second movement amount determination module is used to determine the movement amount in the oscillating saw plane coordinate system according to the movement amount in the sensor coordinate system and the rotation matrix from the sensor coordinate system to the oscillating saw plane coordinate system; A third motion amount determination module is used to set the motion amount in the normal direction of the oscillating saw plane of the motion amount in the oscillating saw plane coordinate system to zero, obtain a new motion amount in the oscillating saw plane coordinate system, and convert the new motion amount in the oscillating saw plane coordinate system to the base coordinate system according to the rotation matrix from the oscillating saw plane coordinate system to the base coordinate system to obtain the motion amount of the planar bone cutting device in the base coordinate system; A control module is used to control the movement of the planar bone cutting device based on the movement amount of the planar bone cutting device in a base coordinate system.

10. A planar bone cutting device, characterized in that: It comprises a mechanical arm and an oscillating saw, and is used to execute the control method of the planar bone cutting device described in any one of claims 1-8.

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