Device for automatically cutting skin during surgery, control method thereof, and electronic device

Abstract

The present invention provides a device for automatically incising the skin during surgery, a control method thereof, and an electronic device. The device includes a robotic arm end, the robotic arm end includes a six-dimensional force sensor and a head tracker, the robotic arm end is installed with a flange, the six-dimensional force sensor is installed on the flange, the head tracker is arranged at the end of the six-dimensional force sensor, and a skin cutting tool is installed at the end of the head tracker for incising the skin; a robotic arm controller is used to control the skin cutting tool to incise the skin, by controlling the cutter head of the skin cutting tool at the end of the robotic arm to penetrate the skin to a first preset depth at a preset position according to a first expected control force; controlling the cutter head to cut a first preset length along a preset direction according to a second expected control force; after the cutting is completed, controlling the cutter head to move upward away from the skin incision, thereby realizing the function of automatically incising the skin, greatly reducing the skin incision error caused by human factors, and further improving the success rate of the operation.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic skin incision during surgery, and in particular to a device for automatic skin incision during surgery, a control method thereof, and an electronic device. Background Art

[0002] With the rapid development of robotic-assisted surgery, the automated operations that robots can perform during surgery are becoming increasingly complex. While skin incision is an essential step in surgical procedures, it is relatively standardized and simple, yet still requires the surgeon's attention. Automating skin incision with a robot could reduce the surgeon's workload, alleviate fatigue, and increase their focus on the key steps of the procedure, ultimately improving the success rate of the surgery and ultimately providing better outcomes for patients.

[0003] In surgery, skin incision is a crucial early step. Controlling the location, length, depth, and neatness of the incision impacts both the smoothness of the procedure and the healing of the patient's wound. However, compared to subsequent surgical steps, skin incision is relatively simple, so in actual surgery, it is sometimes performed by an assistant. A significant advantage of robotic-assisted surgery lies in its precision. Using robots for automated skin incisions reduces errors caused by human factors and reduces the workload of the surgeon on the operating table, potentially leading to new breakthroughs in the surgical process. Existing techniques typically use a method of sending commands to direct the robot to a designated waypoint. However, this control method lacks control over contact force, potentially causing injury.

[0004] Therefore, the existing technology needs to be further developed. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and provide a device for automatically incising the skin during surgery, a control method thereof, and an electronic device to solve the problems existing in the prior art.

[0006] To achieve the above technical objectives, according to a first aspect of the present invention, there is provided a device for automatically incising skin during surgery, comprising a robotic arm end, the robotic arm end including a six-axis force sensor and a handpiece tracker, the robotic arm end being mounted with a flange, the six-axis force sensor being mounted on the flange, and the handpiece tracker being disposed at the end of the six-axis force sensor. The device for automatically incising skin during surgery further comprises:

[0007] A skin cutting tool, which is mounted on the end of the handpiece tracker and is used to cut the skin;

[0008] The robotic arm controller is used to control the skin cutting tool to cut the skin.

[0009] Specifically, the skin cutting tool includes a guide wheel, a cutter head, a guide wheel connecting rod, a spring, and a cutter head connecting rod;

[0010] The guide wheel is fixedly mounted on the guide wheel connecting rod, and the guide wheel connecting rod is slidingly connected to the cutter head connecting rod through a spring. When the guide wheel and the guide wheel connecting rod retreat in the direction of the cutter head connecting rod, the relative cutter head will exceed the plane where the guide wheel contacts the skin. The cutter head connecting rod is fixedly mounted at the end of the machine head tracker.

[0011] According to a second aspect of the present invention, there is provided a method for controlling an apparatus for automatically incising skin during surgery, comprising:

[0012] S100, controlling the cutting head of the skin cutting tool at the end of the robotic arm to penetrate the skin to a first preset depth at a preset position according to a first desired control force;

[0013] S200, controlling the cutter head to cut a first preset length along a preset direction according to a second desired control force;

[0014] S300: After the cutting is completed, the cutting head is controlled to move upward away from the skin incision.

[0015] Specifically, the S100 includes:

[0016] The robotic arm controller is used to control the cutting head of the skin incision tool to align with the skin incision at a preset position and penetrate the skin to a first preset depth. The first desired control force is calculated based on the distance between the end of the guide wheel of the skin incision tool and the end of the cutting head, and the stiffness of the spring of the skin incision tool. The specific calculation method is as follows:

[0017] ;

[0018] in, represents the first expected control force, represents the spring stiffness coefficient, Indicates the first preset depth, Indicates the distance between the end of the guide wheel and the end of the cutting head of the leather cutting tool.

[0019] Specifically, the step S200 includes:

[0020] Using a robotic arm controller to control the blade of the skin cutting tool to cut a first preset length along a preset direction while maintaining a first preset depth;

[0021] At the same time, the cutter head rotates with the cutter head tip as the origin to form a rotation inclination angle. The angle of the rotation inclination angle is expressed as a first preset angle. The second expected control force of the cutter head is calculated based on the first preset angle. The specific calculation method is as follows:

[0022] ;

[0023] in, represents the second expected control force, Indicates the first preset angle, represents the spring stiffness coefficient, Indicates the first preset depth, Indicates the distance between the end of the guide wheel and the end of the cutting head of the leather cutting tool.

[0024] Specifically, the method of controlling the cutting head of the skin cutting tool 4 to cut a first preset length along a preset direction while maintaining a first preset depth by using the robotic arm controller includes:

[0025] During the process of the cutter head automatically rotating by the first preset angle, a lateral displacement is generated in the preset direction. The actual distance the cutter head moves along the preset direction is calculated based on the lateral displacement. The specific calculation process is as follows:

[0026] ;

[0027] ;

[0028] in, Indicates the actual distance the cutter head moves along the preset direction. Indicates the first preset length, Indicates the lateral displacement of the cutter head during rotation. Indicates the first preset depth, Indicates the first preset angle.

[0029] Specifically, the method of using the robotic arm controller to control the blade of the skin cutting tool to cut a first preset length along a preset direction while maintaining a first preset depth also includes:

[0030] The cutter head moves along the cutting direction After the distance is reached, the robot arm controller is used to control the cutter head to rotate straight, that is, the first preset angle of the rotation angle is 0°. During the rotation of the cutter head, the cutter head is controlled to continue moving along the preset direction. distance, compensating for the lateral displacement of the cutter head during rotation.

[0031] Specifically, the S300 includes:

[0032] After the cutting is completed, the first preset angle of the rotation inclination of the blade is 0°, and the robotic arm controller is used to control the blade to move upward away from the skin incision until the six-dimensional force sensor receives a control force of 0 from the blade feedback and stops.

[0033] Specifically, the method further includes:

[0034] A feedback-based force-position hybrid control method is used to control the movement posture of the skin cutting tool head in the Cartesian space for automatic skin cutting. By adjusting the dimensional constant, the multi-dimensional control of the skin cutting tool head in the Cartesian space is completed.

[0035] Among them, the feedback-based force-position hybrid control method includes position control and force control. The position control is controlled by a PID controller, and the force control is controlled by an admittance-like controller.

[0036] Specifically, the dimensional constant and is a mutually exclusive vector represented by 0 and 1;

[0037] In the six-dimensional control under Cartesian space, when a dimension adopts force control, the dimension constant Set the value of this dimension to 1 and the other dimensions to 0. The value of this dimension is set to 0, and the other dimensions are set to 1;

[0038] In the controller calculation, the admittance controller only calculates The dimension set to 1 in the output is the first speed control quantity, and the PID controller only calculates The dimension is set to 1, the second speed control amount is output, the first speed control amount and the second speed control amount are combined to obtain the third speed control amount, and the control posture instruction is obtained through integral transformation, and the control posture instruction is sent to the skin cutting tool 4 at the end of the robot arm for movement.

[0039] According to a third aspect of the present invention, there is provided an electronic device comprising: a memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the control method of the apparatus for automatically cutting skin during surgery is implemented.

[0040] Beneficial effects:

[0041] The present invention provides a device for automatically incising the skin during surgery and a control method thereof, wherein a skin incision tool is installed at the end of a robotic arm, and the cutter head on the skin incision tool at the end of the robotic arm is controlled to penetrate the skin to a first preset depth at a preset position according to a first expected control force; then the cutter head is controlled to cut a first preset length along a preset direction according to a second expected control force; after the cutting is completed, the cutter head is controlled to move upward away from the skin incision, thereby realizing the function of automatically incising the skin during surgery, greatly reducing the skin incision error caused by human factors, and at the same time reducing the workload of the surgeon on the operating table, further improving the success rate of the surgery. The force-position hybrid control method in this scheme enables the robot to dynamically adjust the control posture and control speed according to the hardness and elasticity of the skin, thereby achieving a more refined and smoother cutting effect, greatly improving the intelligence, usability and reliability of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a flow chart of a method for controlling an apparatus for automatically incising skin during surgery provided in a specific embodiment of the present invention;

[0043] Figure 2 Schematic diagram of the structure of the end of the robotic arm provided in a specific embodiment of the present invention;

[0044] Figure 3 is a schematic structural diagram of a skin cutting tool provided in a specific embodiment of the present invention;

[0045] Figure 4 Schematic diagram of the operation process of automatic skin incision provided in a specific embodiment of the present invention;

[0046] Figure 5 Schematic diagram of the position of the blade during the automatic skin cutting process provided in a specific embodiment of the present invention;

[0047] Figure 6 is a schematic diagram of the position of the cutter head after rotation and the desired control pressure provided in a specific embodiment of the present invention;

[0048] Figure 7 Schematic diagram of the force-position hybrid control process during skin incision provided in a specific embodiment of the present invention;

[0049] The reference numerals of the above drawings are as follows:

[0050] 1. Six-dimensional force sensor; 2. Machine head tracker; 3. Flange; 4. Leather cutting tool; 5. Guide wheel; 6. Cutting head; 7. Guide wheel connecting rod; 8. Spring; 9. Cutting head connecting rod. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0052] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0053] Example 1

[0054] See also Figure 2-Figure 3 This embodiment provides a device for automatically incising skin during surgery, comprising a robotic arm end, the robotic arm end comprising a six-dimensional force sensor 1 and a handpiece tracker 2. The robotic arm end is mounted with a flange 3, the six-dimensional force sensor 1 being mounted on the flange 3, and the handpiece tracker 2 being disposed at the end of the six-dimensional force sensor 1. The device for automatically incising skin during surgery further comprises:

[0055] A skin cutting tool 4 is mounted on the end of the handpiece tracker 2 and is used for cutting the skin;

[0056] The robotic arm controller is used to control the skin incision tool 4 to incise the skin.

[0057] See also Figure 2 In the device of this embodiment, the end of the robotic arm is the last joint of the robotic arm, and the subsequent hardware is connected to the robotic arm through the flange 3 at the end of the robotic arm. The six-dimensional force sensor 1 is installed on the flange 3 at the end of the robotic arm, which can sense the external force information of the skin cutting tool 4 in real time, that is, it can receive the magnitude of the control force fed back by the cutter head in real time, thereby controlling the movement of the robotic arm. The head tracker 2 is installed after the six-dimensional force sensor 1. The head tracker 2 can be tracked in real time by the optical camera set on the robotic arm. According to the calibrated data, the posture information of the skin cutting tool 4 is displayed in real time. The skin cutting tool 4 is installed at the end of the head tracker 2 and is a tool for skin incision.

[0058] Specifically, the skin cutting tool 4 includes a guide wheel 5, a cutter head 6, a guide wheel connecting rod 7, a spring 8, and a cutter head connecting rod 9;

[0059] The guide wheel 5 is fixedly mounted on the guide wheel connecting rod 7 , and the guide wheel connecting rod 7 is slidingly connected to the cutter head connecting rod 9 via a spring 8 , and the cutter head connecting rod 9 is fixedly mounted on the end of the machine head tracker 2 .

[0060] See also Figure 3 In the device of this embodiment, the skin cutting tool 4 is provided with a spring structure, which can transmit the feedback force of the skin on the guide wheel 5 and the cutting head 6 to the six-dimensional force sensor 1. The guide wheels 5 on both sides of the cutting head 6 can also play the role of flattening the skin, thereby facilitating the cutting head to cut the skin.

[0061] In the device of this embodiment, the specific skin cutting process includes: when cutting the skin, the guide wheel 5 will continue to contact the skin, flatten the skin, and facilitate cutting by the blade 6; at the same time, as the reaction force exerted by the skin on the guide wheel 5 gradually increases, the spring 8 will be compressed, and the guide wheel 5 and the guide wheel connecting rod 7 will retreat along the direction of the blade connecting rod 9. The relative blade 6 will exceed the plane where the guide wheel 5 contacts the skin and cut into the skin. The force between the guide wheel 5 and the skin will be transmitted to the six-dimensional force sensor 1 to control the movement of the robotic arm.

[0062] It should be noted here that the present invention provides a device for automatically cutting the skin during surgery. By installing a skin cutting tool 4 at the end of the robotic arm, the skin cutting tool 4 will continuously contact the skin through the guide wheel 5, which plays a role in flattening the skin and facilitating cutting with the blade 6; at the same time, as the reaction force exerted by the skin on the guide wheel 5 gradually increases, the spring 8 will be compressed, and the guide wheel 5 and the guide wheel connecting rod 7 will retreat along the direction of the blade connecting rod 9. The relative blade 6 will exceed the plane where the guide wheel 5 contacts the skin and cut into the skin. The force between the guide wheel 5 and the skin will be transmitted to the six-dimensional force sensor 1, thereby realizing the function of automatic skin cutting, greatly reducing the skin cutting error caused by human factors, and at the same time reducing the workload of the surgeon on the operating table, further improving the success rate of the operation, and greatly improving the usability and reliability of the present invention.

[0063] Example 2

[0064] See also Figure 1 This embodiment provides a method for controlling a device for automatically incising skin during surgery, the method comprising:

[0065] S100, controlling the cutting head 6 of the skin cutting tool 4 at the end of the robotic arm to penetrate the skin to a first preset depth at a preset position according to a first desired control force;

[0066] Specifically, the S100 includes:

[0067] The robotic arm controller controls the blade head 6 of the skin incision tool 4 to align with the skin incision at a preset position and penetrate the skin to a first preset depth. The first desired control force is calculated based on the distance between the end of the guide wheel 5 of the skin incision tool 4 and the end of the blade head 6, as well as the stiffness of the spring 8 of the skin incision tool 4. The specific calculation method is as follows:

[0068] ;

[0069] in, represents the first expected control force, represents the stiffness coefficient of spring 8, Indicates the first preset depth, It shows the distance between the end of the guide wheel 5 and the end of the cutting head 6 of the skin cutting tool 4.

[0070] See also Figure 3 and Figure 5 In some specific embodiments, the preset position is usually set by the doctor according to the actual surgical situation. The doctor can drag the end of the robotic arm so that the skin cutting tool 4 is vertically aligned with the starting point of the incision, that is, Figure 5 After the process ① to process ② in the above process, and the direction of the blade of the cutter head 6 is aligned with the incision direction, the robot arm will perform a downward skin incision, so that the blade penetrates the skin to a specified depth, that is, the first preset depth. This depth is usually set by the doctor according to the actual situation. The robot arm controller will adjust the distance between the lower end of the guide wheel 5 of the skin cutting tool 4 and the lower end of the blade 6. The first desired control force for cutting the skin downward is calculated based on the spring 8 stiffness of the skin cutting tool 4. In the actual control process, the first desired control force will be input into the robot controller for calculation, thereby controlling the skin cutting tool 4 to move along the Figure 5 When the tool axis in the middle penetrates the skin downwards and reaches the control force, the depth of the cutter head 6 penetrating the skin reaches the first preset depth set by the doctor. Then perform a transverse incision.

[0071] S200, controlling the cutter head 6 to cut a first preset length along a preset direction according to a second desired control force;

[0072] Specifically, the step S200 includes:

[0073] Using the robotic arm controller to control the blade 6 of the skin cutting tool 4 to cut a first preset length along a preset direction while maintaining a first preset depth;

[0074] At the same time, the cutter head 6 rotates with the tip of the cutter head 6 as the origin to form a rotation inclination angle. The angle of the rotation inclination angle is expressed as a first preset angle. The second expected control force of the cutter head 6 is calculated based on the first preset angle. The specific calculation method is as follows:

[0075] ;

[0076] in, represents the second expected control force, Indicates the first preset angle, represents the stiffness coefficient of spring 8, Indicates the first preset depth, It shows the distance between the end of the guide wheel 5 and the end of the cutting head 6 of the skin cutting tool 4.

[0077] See also Figure 5 and Figure 6 In the method of this embodiment, when the depth of the cutter head 6 inserted into the skin reaches the first preset depth set by the doctor, the cutter head 6 rotates to the first preset angle. ,Right now Figure 5 From process ② to process ③; Figure 6 The left side is a schematic diagram of the rotation process of the cutter head 6: is the lateral displacement caused by the rotation of the cutter head 6, is the incision depth, i.e. the first preset depth, is the rotation angle of the cutter head 6, i.e. the first preset angle, Figure 6 The right side is the control force applied vertically along the skin, which is the first desired control force. , and the control force applied after the actual rotation, that is, the second expected control force Schematic diagram of the relationship, according to Figure 6 First expected control and the second expected control The functional relationship in the triangle gives the above calculation formula, and the second expected control force is calculated size.

[0078] Specifically, the method of controlling the blade 6 of the skin cutting tool 4 to cut the skin by a first preset length along a preset direction while maintaining a first preset depth by using the robotic arm controller includes:

[0079] During the process of the cutter head 6 automatically rotating by the first preset angle, a lateral displacement is generated in the preset direction. The actual distance the cutter head 6 moves in the preset direction is calculated based on the lateral displacement. The specific calculation process is as follows:

[0080] ;

[0081] ;

[0082] in, Indicates the actual distance the cutter head 6 moves along the preset direction, Indicates the first preset length, Indicates the lateral displacement of the cutter head 6 during the rotation process, Indicates the first preset depth, Indicates the first preset angle.

[0083] See also Figure 5 and Figure 6 In the method of this embodiment, the first preset length The preset direction of cutting can be preset by the doctor according to the actual surgical needs. The robotic arm will control the skin cutting tool 4 to move along the preset direction while maintaining the blade penetrating the skin to the first preset depth, thereby achieving the effect of horizontal incision. Figure 5 From process ③ to process ④, during the transverse incision process, the robotic arm will control the skin cutting tool 4 to cut the skin at a constant speed. At the same time, the skin cutting tool 4 will control the cutter head 6 to automatically adjust to a rotation angle, i.e., the first preset angle, when receiving the transverse resistance torque. In order to achieve greater cutting efficiency, due to the rotation of the skin cutting tool 4, the blade of the cutter head 6 will produce a displacement in the preset direction compared to the posture of the cutter head 6 when the skin is cut downwards, such as Figure 6 shown Therefore, during the transverse skin cutting process, the actual distance that the blade 6 moves along the preset direction is , and the actual control robot arm's blade head 6 will compensate for this displacement when cutting along the preset direction, thereby ensuring that the final cut skin length reaches the preset first preset length .

[0084] Specifically, the method of controlling the blade 6 of the skin cutting tool 4 to cut a first preset length along a preset direction while maintaining a first preset depth using the robotic arm controller further includes:

[0085] The cutter head 6 moves along the cutting direction After the distance is reached, the robot arm controller is used to control the cutter head 6 to rotate straight, that is, the first preset angle of the rotation angle is 0°. During the rotation of the cutter head 6, the cutter head 6 is controlled to continue to move along the preset direction. distance, compensating for the lateral displacement of the cutter head 6 during the rotation process.

[0086] It should be noted that the maximum rotation angle of the cutting head 6 of the skin cutting tool 4 can be set to a fixed value. By limiting the rotation angle of the cutter head 6, accidental rotation of the cutter head 6 during use can be avoided, thereby further reducing the risk of injury to the user.

[0087] S300: After the cutting is completed, the blade head 6 is controlled to move upward away from the skin incision.

[0088] Specifically, the S300 includes:

[0089] After the cutting is completed, the first preset angle of the rotation inclination of the cutter head 6 is 0°, and the robotic arm controller is used to control the cutter head 6 to move upward away from the skin incision until the six-dimensional force sensor 1 receives a control force of 0 feedback from the cutter head 6 and stops.

[0090] See also Figure 5It is understandable that the robot arm controller controls the skin cutting tool 4 to rotate with the tip of the blade 6 as the vertex, so that the first preset angle of the final rotation angle is 0°, that is, the angle is restored to the same as the downward skin incision, such as Figure 5 From process ④ to process ⑤, at the same time, in order to ensure that the cutting length of the tip of the blade 6 also reaches the first preset length planned by the doctor , the robot arm controller will control the tip of the cutter head 6 to continue to move forward along the cutting direction , when the first preset angle of the rotation inclination of the blade head 6 is 0°, and the distance between the end point of the blade head 6 and the initial point of the skin cutting along the preset direction is When the blade 6 moves upward, it will leave the skin incision. During this process, the robot arm controller controls the skin cutting tool 4 to retreat upward at a uniform speed along the tool axis until the feedback force felt by the six-dimensional force sensor 1 is 0. At this time, the spring 8 of the skin cutting tool 4 returns to the length when it is not under force, and the blade has left the skin. The skin incision process is completed, and the doctor manually teaches to remove the skin incision tool 4 and perform subsequent operations.

[0091] Specifically, the method further includes:

[0092] A feedback-based force-position hybrid control method is used to realize the control of the motion posture of the cutter head 6 of the skin cutting tool 4 in the Cartesian space for automatic skin cutting. By adjusting the dimensional constant, the multi-dimensional control of the cutter head 6 of the skin cutting tool 4 in the Cartesian space is completed.

[0093] Among them, the feedback-based force-position hybrid control method includes position control and force control. The position control is controlled by a PID controller, and the force control is controlled by an admittance-like controller.

[0094] Specifically, the dimensional constant and is a mutually exclusive vector represented by 0 and 1;

[0095] In the six-dimensional control under Cartesian space, when a dimension adopts force control, the dimension constant Set the value of this dimension to 1 and the other dimensions to 0. The value of this dimension is set to 0, and the other dimensions are set to 1;

[0096] In the controller calculation, the admittance controller only calculates The dimension set to 1 in the output is the first speed control quantity, and the PID controller only calculates The dimension is set to 1, the second speed control amount is output, the first speed control amount and the second speed control amount are combined to obtain the third speed control amount, and the control posture instruction is obtained through integral transformation, and the control posture instruction is sent to the skin cutting tool 4 at the end of the robot arm for movement.

[0097] See also Figure 7 In some specific embodiments, a force-position hybrid control method is adopted to achieve multi-dimensional control in Cartesian space by adjusting the control dimension constant. The implementation process is as follows:

[0098] (1) Position control adopts PID control method:

[0099] ;

[0100] in, is the control quantity, i.e., in this embodiment, it serves as an intermediate quantity. 、 、 are the proportional, integral and differential coefficients of the PID controller respectively, Represents the error between the current feedback control pose and the desired control pose, The calculation method is as follows:

[0101] ;

[0102] ;

[0103] in, represents the feedback control pose, Indicates the desired control posture, which is the control posture fed back from the previous moment during speed control. With the desired control speed Integrate to obtain; Indicates the desired control speed; the output control quantity is the first speed control quantity , the specific calculation method is as follows:

[0104] ;

[0105] (2) Force control adopts a method similar to admittance control:

[0106] ;

[0107] in, 、 、 are the proportional, integral and differential coefficients of the admittance-like controller respectively, is the expected control force error, represents the control acceleration, Represents the error between the current feedback control pose and the desired control pose, is the expected velocity error:

[0108] ;

[0109] ;

[0110] ;

[0111] ;

[0112] in, In order to control the six-dimensional force, is the current control six-dimensional force fed back by the six-dimensional force sensor 1, is the desired control posture, which is the control posture at the previous moment in this embodiment , is the current feedback control pose, The current control speed is fed back through the current control posture The differential of gets, is the desired control speed, which is always 0 in this embodiment; the control quantity output by the force feedback admittance controller is the second speed control quantity :

[0113] ;

[0114] (3) Dimension constant and Adjustments:

[0115] Dimension constant and For the six-dimensional control in Cartesian space, the mutually exclusive vectors represented by 0 and 1 are and It is a vector of dimension 1*6, corresponding to the six dimensions of X, Y, Z, RX, RY, and RZ. When force control is desired for this dimension, The corresponding value in should be set to 1, The corresponding value in should be set to 0. In the calculation of the controller, the force feedback admittance controller only considers The dimension is 1, and the position PID controller only considers The dimension is 1, and the combination of the two control quantities is the third speed control quantity , and is converted into the final control posture instruction through integration The signal is sent to the robotic arm controller to control the skin cutting tool 4 to move.

[0116] See also Figure 4, the working principle of the present invention is explained below through specific examples:

[0117] During the skin incision implementation, this example simulates the skin incision process performed by surgeons in actual surgery, such as Figure 5 and Figure 6 As shown, the doctor first teaches and drags the robotic arm to align the blade head 6 of the skin incision tool 4 with the starting point of the preset incision plan, and the direction of the blade head 6 is aligned with the preset direction of the incision. Then the robotic arm will automatically perform the skin incision process such as downward skin incision, horizontal incision, and blade rotation. After completing the skin incision process, the skin incision tool 4 is removed from the incision, and the doctor then performs subsequent surgical operations. The specific implementation steps are as follows:

[0118] Step 1: Drag the skin cutting tool 4 at the end of the robotic arm to the starting point of the planned incision position:

[0119] The doctor drags the end of the robotic arm so that the skin incision tool 4 is vertically aligned with the incision starting point at the preset position and the direction of the blade is aligned with the preset direction.

[0120] Step 2: Downward skin incision:

[0121] The robot arm controls the blade 6 to penetrate the skin to a first preset depth. Set by the doctor, such as Figure 5 As shown, the robot arm controller calculates the first desired control force for cutting the skin downward according to the distance between the lower end of the guide wheel 5 of the skin cutting tool 4 and the lower end of the cutter head 6, and the stiffness of the spring 8 of the skin cutting tool 4. size;

[0122] In the actual control process, the first expected control force It will be input into the robot controller for calculation, thereby controlling the skin cutting tool 4 to penetrate the skin downward along the tool axis to achieve the first desired control force When the blade penetrates the skin to the first preset depth set by the doctor , go to step 3.

[0123] Step 3: Cut horizontally:

[0124] The robotic arm controls the skin cutting tool 4 to move along the preset direction while maintaining the blade 6 penetrating the skin to the first preset depth, thereby achieving a transverse incision effect. The length of the cutting movement, i.e. the first preset length It is also set by the doctor. During the transverse incision process, the robotic arm will control the skin cutting tool 4 to cut the skin at a constant speed;

[0125] At the same time, the skin cutting tool 4 will control the cutter head 6 to automatically adjust to a rotation angle when receiving the lateral resistance torque to achieve greater cutting efficiency. Due to the rotation of the skin cutting tool 4, compared with the posture of the cutter head 6 when the skin is cut downward in step 2, the blade of the cutter head 6 will produce a displacement in the cutting direction, such as Figure 5 As shown, the actual moving distance is calculated during the actual skin cutting process. After that, it is necessary to control the cutter head 6 to continue cutting in the preset direction to compensate for this displacement, and set the maximum angle that the cutter head 6 can rotate. .

[0126] When the cutter head 6 rotates, in order to maintain the depth of the incision, the pressure applied along the axial direction of the skin cutting tool 4 should also be adjusted accordingly, such as Figure 5 As shown, the robot arm controls the skin cutting tool 4 to maintain the first preset depth of the incision while moving in the preset direction at a constant speed. When the tip of the blade 6 moves laterally to a distance When the cutter head 6 is rotated, step 4 will be entered.

[0127] Step 4: Straighten the blade:

[0128] The robotic arm controller controls the skin cutting tool 4 to rotate with the tip of the blade 6 as the vertex, and the first preset angle of the optional inclination angle is 0, that is, the angle of the downward skin incision in step 2 is restored. At the same time, in order to ensure that the cutting length of the tip of the blade 6 also reaches the first preset length planned by the doctor , the robot arm controller controls the tip of the cutter head 6 to continue moving forward in the cutting direction length.

[0129] In this step, the third desired control force applied along the axial direction of the skin cutting tool 4 will gradually decrease with the change of the rotation angle. The calculation formula is the same as the calculation method of the second desired control force applied in the transverse incision in step 3. When the rotation angle of the blade 6 is 0°, and the distance between the end point of the blade 6 and the initial point of the skin cutting along the preset direction is When the cut is complete, proceed to step 5 and move upwards away from the cut.

[0130] Step 5: Move upwards and away from the incision:

[0131] The robot arm controller controls the skin cutting tool 4 to retreat upward at a constant speed along the tool axis until the feedback force felt by the six-dimensional force sensor 1 is 0, and the skin cutting tool 4 spring 8 returns to its unstressed length, and the blade has left the skin. The skin incision process ends here, and the doctor manually teaches to remove the skin incision tool 4 and perform subsequent operations.

[0132] In order to control the cutting force and incision depth while maintaining the accuracy of the incision, steps 2-5 adopt a feedback-based force-position hybrid control method, such as Figure 7 As shown, the blade head 6 maintains a constant pressure on the skin during cutting, and the control dimension constant is adjusted according to the requirements of the movement posture of the blade head 6 in the skin cutting tool 4 in different steps. and , thus completing the multi-dimensional control in Cartesian space,

[0133] Among them, the position control adopts the PID control method, and the force control adopts the admittance control method. The following describes the steps 2-4 in the skinning process, and the dimensional constants and Adjustments:

[0134] Dimension constant and For the six-dimensional control in Cartesian space, the mutually exclusive vectors represented by 0 and 1 are and It is a vector of 1*6 dimensions, corresponding to the six dimensions of X, Y, Z, RX, RY, and RZ. When force control is desired for this dimension, The corresponding value in should be set to 1, The corresponding value in should be set to 0. In the calculation of the controller, the force feedback admittance controller only considers The dimension is 1, and the position PID controller only considers The dimension is 1, and the combination of the two control quantities is the third speed control quantity , and is converted into the final control posture instruction through integration and sent to the robot arm for movement;

[0135] For step 2, downward skin rupture and step 4, straightening the tool head, since force control is only performed along the tool axis (Z axis in this example), and position control is performed in other dimensions, and They are:

[0136] ;

[0137] ;

[0138] For the transverse cut in step 3, force control will be performed along the tool axis (Z) and rotation direction (RX), and position control will be performed in other dimensions, so and They are:

[0139] ;

[0140] ;

[0141] For step 5, when leaving the cut upward, there is only position control, so and They are:

[0142] ;

[0143] ;

[0144] By adopting a feedback-based force-position hybrid control method, the cutting force can be controlled, which helps maintain the stability of the incision depth. This is because the stable force can prevent the blade 6 from over-cutting or under-cutting, thereby accurately controlling the incision depth to a certain extent. Due to the force-position hybrid control, the blade 6 maintains a constant pressure on the skin, and the control dimension constant can be adjusted according to the motion posture requirements of the blade 6 in different steps, thereby accurately controlling the motion of the blade 6 in Cartesian space. The PID control and the quasi-admittance control work together, using the PID control method for position control and the quasi-admittance control method for force control. This collaborative working mode enables the effective combination of force control and position control, thereby achieving the above-mentioned precise control of the motion posture in different cutting steps, further improving the usability and reliability of the present invention.

[0145] It should be noted here that this embodiment provides a control method for a device for automatically cutting the skin during surgery, by controlling the blade on the skin cutting tool at the end of the robotic arm to penetrate the skin to a first preset depth at a preset position according to a first desired control force; then controlling the blade to cut a first preset length along a preset direction according to a second desired control force; after the cutting is completed, controlling the blade to move upward away from the skin incision, thereby realizing the function of automatically cutting the skin, greatly reducing the skin cutting error caused by human factors, and at the same time reducing the workload of the surgeon on the operating table, further improving the success rate of the operation. The force-position hybrid control method in this scheme enables the robot to dynamically adjust the control posture and control speed according to the hardness and elasticity of the skin, thereby achieving a more refined and smooth cutting effect, which greatly improves the intelligence, usability and reliability of the present invention.

[0146] In a preferred embodiment, the present application further provides an electronic device, comprising:

[0147] A memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the computer-readable instructions implement the control method for the device for automatically incising skin during surgery. The computer device can be broadly defined as a server, a terminal, or any other electronic device with the necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected via a system bus. The processor of the computer device can be used to provide the necessary computing, processing, and / or control capabilities. The memory of the computer device can include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. can be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface and communication interface of the computer device can be used to connect to and communicate with external devices via a network. When the computer program is executed by the processor, the steps of the method of the present invention are performed.

[0148] The present invention can be implemented as a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the steps of the method of an embodiment of the present invention to be performed. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, can be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations can be performed by one or more computer devices or processors, and one or more other method steps / operations can be performed by one or more other computer devices or processors. One or more computer devices or processors can perform a single method step / operation, or perform two or more method steps / operations.

[0149] It should be noted here that the present invention provides a device for automatically cutting the skin during surgery and a control method thereof, wherein a skin cutting tool is installed at the end of a robotic arm, and the cutter head on the skin cutting tool 4 at the end of the robotic arm is controlled to penetrate the skin to a first preset depth at a preset position according to a first expected control force; then the cutter head is controlled to cut a first preset length along a preset direction according to a second expected control force; after the cutting is completed, the cutter head is controlled to move upward away from the skin incision, thereby realizing the function of automatically cutting the skin, greatly reducing the skin cutting error caused by human factors, and at the same time reducing the workload of the surgeon on the operating table, further improving the success rate of the operation. The force-position hybrid control method in this scheme enables the robot to dynamically adjust the control posture and control speed according to the hardness and elasticity of the skin, thereby achieving a more refined and smooth cutting effect, which greatly improves the intelligence, usability and reliability of the present invention.

[0150] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0151] The various technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification as long as such combination does not conflict.

[0152] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A device for automatically incising skin during surgery, comprising: A robotic arm end, the robotic arm end comprising a six-dimensional force sensor (1) and a head tracker (2), the robotic arm end being mounted with a flange (3), the six-dimensional force sensor (1) being mounted on the flange (3), and the head tracker (2) being arranged at the end of the six-dimensional force sensor (1), characterized in that the device for automatically incising skin during surgery further comprises: A skin cutting tool (4), the skin cutting tool (4) is mounted on the end of the handpiece tracker (2), and the skin cutting tool (4) is used to cut the skin; A robotic arm controller for controlling a skin incision tool (4) to incise the skin; A method for controlling a device for automatically cutting skin during surgery includes: S100, controlling the blade (6) of the skin cutting tool (4) at the end of the robotic arm to penetrate the skin to a first preset depth at a preset position according to a first desired control force; S200, controlling the cutter head (6) to cut a first preset length along a preset direction according to a second desired control force; S300, after the cutting is completed, the cutting head (6) is controlled to move upward away from the skin incision; The S100 includes: The robot arm controller is used to control the blade head (6) of the skin cutting tool (4) to align with the skin incision at a preset position and penetrate the skin to a first preset depth. The first expected control force is calculated based on the distance between the end of the guide wheel (5) of the skin cutting tool (4) and the end of the blade head (6), and the stiffness of the spring (8) of the skin cutting tool (4). The specific calculation method is as follows: ； in, represents the first expected control force, represents the stiffness coefficient of spring (8), Indicates the first preset depth, Indicates the distance between the end of the guide wheel (5) and the end of the cutter head (6) of the skin cutting tool (4).

2. The device for automatically incising skin during surgery according to claim 1, characterized in that: The skin cutting tool (4) comprises a guide wheel (5), a cutter head (6), a guide wheel connecting rod (7), a spring (8), and a cutter head connecting rod (9); The guide wheel (5) is fixedly mounted on the guide wheel connecting rod (7), and the guide wheel connecting rod (7) is slidably connected to the cutter head connecting rod (9) via a spring (8). When the guide wheel (5) and the guide wheel connecting rod (7) retreat in the direction of the cutter head connecting rod (9), the relative cutter head (6) will exceed the plane where the guide wheel (5) contacts the skin. The cutter head connecting rod (9) is fixedly mounted on the end of the machine head tracker (2).

3. The device for automatically incising skin during surgery according to claim 1, characterized in that: The S200 includes: Using a robotic arm controller to control the blade (6) of the skin cutting tool (4) to cut a first preset length along a preset direction while maintaining a first preset depth; At the same time, the cutter head (6) rotates with the tip of the cutter head (6) as the origin to form a rotation inclination angle, and the angle of the rotation inclination angle is expressed as a first preset angle. The second expected control force of the cutter head (6) is calculated based on the first preset angle. The specific calculation method is as follows: ； in, represents the second expected control force, Indicates the first preset angle, represents the stiffness coefficient of spring (8), Indicates the first preset depth, Indicates the distance between the end of the guide wheel (5) and the end of the cutter head (6) of the skin cutting tool (4).

4. The device for automatically incising skin during surgery according to claim 3, characterized in that: The method of using a robotic arm controller to control the cutter head (6) of the skin cutting tool (4) to cut a first preset length along a preset direction while maintaining a first preset depth comprises: During the process of the cutter head (6) automatically rotating by the first preset angle, a lateral displacement is generated in the preset direction. The actual distance the cutter head (6) moves along the preset direction is calculated based on the lateral displacement. The specific calculation process is as follows: ； ； in, Indicates the actual distance the cutter head (6) moves along the preset direction, Indicates the first preset length, represents the lateral displacement of the cutter head (6) during the rotation process, Indicates the first preset depth, Indicates the first preset angle.

5. The device for automatically incising skin during surgery according to claim 4, characterized in that: The method of using a robotic arm controller to control the blade (6) of the skin cutting tool (4) to cut a first preset length along a preset direction while maintaining a first preset depth also includes: The cutter head (6) moves along the cutting direction After the distance is reached, the robot arm controller is used to control the cutter head (6) to rotate straight, that is, the first preset angle of the rotation angle is 0°, and during the rotation of the cutter head (6), the cutter head (6) is controlled to continue to move along the preset direction. distance, compensating for the lateral displacement of the cutter head (6) during the rotation process.

6. The device for automatically incising skin during surgery according to claim 5, characterized in that: The S300 includes: After the cutting is completed, the first preset angle of the rotation inclination of the cutter head (6) is 0°, and the cutter head (6) is controlled by the robotic arm controller to move upward away from the skin incision until the six-dimensional force sensor (1) receives a control force feedback of 0 from the cutter head (6), and stops.

7. The device for automatically incising skin during surgery according to claim 1, characterized in that: The method further comprises: A feedback-based force-position hybrid control method is used to realize the control of the motion posture of the cutter head (6) of the skin cutting tool (4) for automatic skin cutting in Cartesian space, and multi-dimensional control of the cutter head (6) of the skin cutting tool (4) in Cartesian space is completed by adjusting the dimensional constant; Among them, the feedback-based force-position hybrid control method includes position control and force control. The position control is controlled by a PID controller, and the force control is controlled by an admittance-like controller.

8. The device for automatically incising skin during surgery according to claim 7, characterized in that: The dimensional constant and is a mutually exclusive vector represented by 0 and 1; In the six-dimensional control under Cartesian space, when a dimension adopts force control, the dimension constant Set the value of this dimension to 1 and the other dimensions to 0. The value of this dimension is set to 0, and the other dimensions are set to 1; In the controller calculation, the admittance controller only calculates The dimension set to 1 in the output is the first speed control quantity, and the PID controller only calculates The dimension is set to 1, the second speed control amount is output, the first speed control amount and the second speed control amount are combined to obtain the third speed control amount, and the control posture instruction is obtained through integral transformation, and the control posture instruction is sent to the skin cutting tool (4) at the end of the robot arm for movement.

9. An electronic device, characterized in that: include: Memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the control method of the device for automatically incising skin during surgery according to claim 1 is implemented.

Images