Device for spine cone automatic osteotomy in operation and control method thereof

Abstract

The invention provides an automatic spine cone osteotomy device and a control method thereof.The device comprises a mechanical arm tail end, the mechanical arm tail end comprises a six-dimensional force sensor and a machine head tracker, a flange plate is installed at the mechanical arm tail end, the six-dimensional force sensor is installed on the flange plate, and the machine head tracker is arranged at the tail end of the six-dimensional force sensor; the osteotomy tool is arranged at the tail end of the machine head tracker and is used for carrying out automatic osteotomy operation on the spine cone; and the control module is used for automatically planning an osteotomy path of the osteotomy tool for osteotomy and controlling the osteotomy tool to perform automatic osteotomy on the spine cone according to the osteotomy path. The technical problems that in the prior art, manual operation for osteotomy is mostly needed, and in the current automatic osteotomy technology, a safe osteotomy boundary cannot be self-defined are solved, the osteotomy path is automatically planned, an osteotomy tool is controlled for automatic osteotomy, and the osteotomy efficiency is improved. The accuracy and safety of automatic osteotomy for the spine cone are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic osteotomy of a spinal cone during surgery, and in particular to a device for automatic osteotomy of a spinal cone during surgery and a control method thereof. Background Art

[0002] In minimally invasive spinal surgery, spinal cone osteotomy is an important technique, which is mainly used to expand the exit space of nerve roots and improve the compression of nerve roots. It also helps to better expose the surgical field and facilitate surgical operations. In the current surgical process, doctors still need to hold osteotomy equipment and perform manual osteotomy in the minimally invasive channel, which is very dependent on the doctor's skills and experience.

[0003] Spinal cone osteotomy is a time-consuming and laborious operation that requires high requirements from doctors. In minimally invasive spinal surgery, doctors have to lower their heads for a long time to operate tools in minimally invasive incisions to perform spinal cone osteotomy. At the same time, they need to pay attention to the anatomical structure to prevent more harm to the patient, which is a challenge to the doctor's physical strength and energy. Robot-assisted surgery has the characteristics of high precision and no fatigue. In recent years, the proportion of robot-assisted surgery in orthopedic surgery has gradually increased, and doctors' acceptance of robot-assisted surgery has gradually increased. If robots can be used for automatic spinal cone osteotomy, it can save doctors' energy, improve surgical accuracy, and increase the success rate of surgery.

[0004] In the prior art, the cutting surface is offset according to the three-dimensional model of the spinal cone and the parameters of the osteotomy instrument, and the three-dimensional model is cut using the offset osteotomy tool to obtain the working area and the safety boundary, thereby quickly generating an osteotomy path that conforms to the actual osteotomy operation conditions. However, the generation method of this solution is only applicable to rectangular boundaries and does not support the cutting of custom curved boundaries, so automatic planning of the osteotomy path in a true sense is not achieved.

[0005] Therefore, the prior art needs to be further developed. Summary of the invention

[0006] The purpose of the present invention is to overcome the above technical deficiencies and provide a device for automatic osteotomy of spinal cones during surgery and a control method thereof to solve the problems existing in the prior art.

[0007] To achieve the above technical objectives, according to a first aspect of the present invention, the present invention provides a device for automatic osteotomy of a spinal cone during surgery, comprising: a robotic arm end, the robotic arm end comprising a six-dimensional force sensor and a head tracker, the robotic arm end being equipped with a flange, the six-dimensional force sensor being mounted on the flange, the head tracker being arranged at the end of the six-dimensional force sensor, and comprising: An osteotomy tool, arranged at the end of the handpiece tracker, for automatically performing an osteotomy operation on a spinal cone; The control module is used to automatically plan an osteotomy path for the osteotomy tool to perform osteotomy, and control the osteotomy tool to automatically perform osteotomy on the spinal cone according to the osteotomy path.

[0008] Specifically, the control module includes a robot arm controller, and the robot arm controller is used to control the osteotomy tool to perform automatic osteotomy operation on the spinal cone according to the automatically planned osteotomy path.

[0009] Specifically, the control module also includes a force-position hybrid controller, which is used to control the force and posture of the osteotomy tool during the osteotomy process.

[0010] According to a second aspect of the present invention, there is provided a method for controlling an apparatus for automatic osteotomy of a spinal cone during surgery, comprising: S100, obtaining the osteotomy line planned by the user on the spinal cone model; S200, using a control module to automatically plan an osteotomy path according to the osteotomy line; S300, controlling the osteotomy tool to perform automatic osteotomy on the spinal cone according to the osteotomy path.

[0011] Specifically, the step of obtaining the osteotomy line planned by the user on the spinal cone model includes: The user manually plans the osteotomy line of the spinal cone on the spinal cone model in the minimally invasive channel to define the range of osteotomy of the spinal cone, and then obtains the osteotomy line.

[0012] Specifically, the method of automatically planning an osteotomy path according to the osteotomy line using a control module includes: A safe osteotomy area is generated according to the osteotomy line planned by the user on the spinal cone model, and then the osteotomy path of the spinal cone is automatically planned according to the safe osteotomy area.

[0013] Specifically, the method for generating a safe osteotomy area according to an osteotomy line planned by a user on a spinal cone model includes: The intersection area of ​​the osteotomy line and the minimally invasive channel planned by the user on the spinal cone model is obtained, and the intersection area is contracted inward by a first preset length to obtain the boundary line of the safe area. The boundary line of the safe area corresponds to the three-dimensional projection area of ​​the spinal cone model, which is the safe osteotomy area. The spinal cone model within the safe osteotomy area is the osteotomy cone model.

[0014] Specifically, the first preset length is the radius of the tool head of the osteotomy tool.

[0015] Specifically, the method for automatically planning the osteotomy path of the spinal cone according to the safe osteotomy area includes: generating a plurality of cutting planes of the osteotomy cone model, wherein the cutting planes are parallel to the two-dimensional plane formed by the boundary line of the safety area; Project the safe osteotomy area on each cutting plane to generate the cutting plane contour line of each cutting plane; An osteotomy path of the osteotomy cone model is generated according to the cutting plane contour line.

[0016] Specifically, the method for generating an osteotomy path of an osteotomy cone model according to the cutting plane contour line comprises: Traverse the points on the cutting plane contour line of each cutting plane in the same direction, and determine the vertical distance between each point and the osteotomy cone model in turn. If the vertical distance is less than a first preset threshold, the point is determined to be located on both the cutting plane contour line and the osteotomy cone model, that is, the point is regarded as a point on the osteotomy path, and then a set of osteotomy path points on the cutting plane contour line located on the osteotomy cone model is obtained.

[0017] Specifically, the method for generating an osteotomy path of an osteotomy cone model according to the cutting plane contour line further includes: The starting point and the end point of the osteotomy path on the cutting plane contour line located on the osteotomy cone model are determined according to the set of osteotomy path points, and the starting point is translated along the direction of the two-dimensional plane formed by the boundary line of the minimally invasive channel perpendicular to the safety area to obtain a new starting point of the osteotomy path, so that the vertical distance between the new starting point and the osteotomy cone model is a first preset distance, and then the set of osteotomy path points are connected in an S-shaped manner to generate an osteotomy path for spinal cone osteotomy.

[0018] Specifically, the method further includes: A force-position hybrid controller is used to control the force and position of the osteotomy tool during the osteotomy process. and , to complete the multi-dimensional control of osteotomy tools in Cartesian space; Among them, the force-position hybrid controller includes a position PID controller and a force feedback type admittance controller; The position PID controller obtains the real-time position and posture of the osteotomy tool through the head tracker, and the force feedback type admittance controller obtains the real-time force of the osteotomy tool through the six-dimensional force sensor.

[0019] Specifically, 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; During the calculation process, the force feedback type admittance controller only calculates The dimension set to 1 in the output is the first speed control quantity, and the position 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 osteotomy tool for movement.

[0020] Beneficial effects: The present invention automatically plans the osteotomy path of the osteotomy tool and controls the osteotomy tool to automatically perform osteotomy on the spinal cone according to the osteotomy path, thereby solving the problem that most of the existing technologies require doctors to hold the osteotomy equipment and perform manual osteotomy in the minimally invasive channel. In addition, there is a technical problem that the current automatic osteotomy technology cannot customize the safe osteotomy boundary. The present invention can realize automatic planning of the osteotomy path and control the osteotomy tool to perform automatic osteotomy. In addition, a force-position mixed control method is adopted in the actual osteotomy process to reduce the risk of fracture of the osteotomy tool head, which greatly improves the accuracy and safety of automatic osteotomy for the spinal cone, and greatly improves the intelligence, usability and reliability of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the composition of a device for automatic osteotomy of a spinal cone during surgery provided in a specific embodiment of the present invention; Figure 2 It is a flow chart of a control method of a device for automatic osteotomy of a spinal cone during surgery provided in a specific embodiment of the present invention; Figure 3 is a flowchart of automatic osteotomy of a spinal cone provided in a specific embodiment of the present invention; Figure 4 is a schematic diagram of an osteotomy line planned by a doctor provided in a specific embodiment of the present invention; Figure 5 is a schematic diagram of a method for generating a safe osteotomy area provided in a specific embodiment of the present invention; Figure 6 is a schematic diagram of a safe osteotomy area provided in a specific embodiment of the present invention; Figure 7 is a schematic diagram of a cone portion cut by a safe osteotomy area provided in a specific embodiment of the present invention; Figure 8 is a flow chart of generating an osteotomy planning path provided in a specific embodiment of the present invention; Fig. 9 is a schematic diagram of generating a cutting plane contour line provided in a specific embodiment of the present invention; Fig.10 is a schematic diagram of a cutting plane contour line set for generating a safe osteotomy channel provided in a specific embodiment of the present invention; Fig.11 is a schematic diagram of a path set for generating a cutting plane on a cone model provided in a specific embodiment of the present invention; Fig.12 The osteotomy path point set is provided in the specific embodiment of the present invention. Schematic diagram of Fig.13 is a schematic diagram of a force-position hybrid controller provided in a specific embodiment of the present invention; Fig.14 It is a schematic diagram of the principle of connecting the path collection points in an S-shaped manner provided in a specific embodiment of the present invention; Wherein, the reference numerals of the above-mentioned drawings are as follows: 1. Six-dimensional force sensor; 2. Head tracker; 3. Flange; 4. Osteotomy tool; 5. Minimally invasive channel; 6. Spinal cone model; 7. Osteotomy line; 8. Safe osteotomy area. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the accompanying drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the accompanying drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0023] The present invention will be further described below in conjunction with the accompanying drawings and preferred embodiments.

[0024] See also Figure 1 This embodiment provides a device for automatic osteotomy of a spinal cone during surgery, comprising: The end of the mechanical arm comprises a six-dimensional force sensor 1 and a head tracker 2. The end of the mechanical arm is provided with a flange 3, the six-dimensional force sensor 1 is installed on the flange 3, the head tracker 2 is arranged at the end of the six-dimensional force sensor 1, and the device further comprises: An osteotomy tool 4, arranged at the end of the handpiece tracker 2, for automatically performing an osteotomy operation on the spinal cone; The control module is used to automatically plan the osteotomy path of the osteotomy tool 4 and control the osteotomy tool 4 to automatically perform osteotomy on the spinal cone according to the osteotomy path.

[0025] See also Figure 1In some specific embodiments, 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, and can sense the external force information of the skin cutting and osteotomy tool 4 in real time, so as to control the movement of the robotic arm. The head tracker 2 is installed after the six-dimensional force sensor 1, and the tracker can be tracked in real time by the optical camera. According to the calibrated data, the position information of the blade of the osteotomy tool 4 can be displayed in real time. The osteotomy tool 4 is installed at the end of the head tracker 2 and is used to perform osteotomy on the spinal cone. In this embodiment, a grinding drill is preferably used as the osteotomy tool 4. In actual use, an ultrasonic bone knife or other osteotomy tool 4 can also be used as a substitute.

[0026] Specifically, the control module includes a robot arm controller, which is used to control the osteotomy tool 4 to perform automatic osteotomy on the spinal cone according to the automatically planned osteotomy path.

[0027] Specifically, the control module further includes a force-position hybrid controller, which is used to control the force and position of the osteotomy tool 4 during the osteotomy process.

[0028] It should be noted here that, in some specific embodiments, the force-position hybrid controller includes a position PID controller and a force feedback type admittance controller, wherein the position PID controller obtains the real-time posture of the osteotomy tool 4 through the head tracker 2, and the force feedback type admittance controller obtains the real-time force condition of the osteotomy tool 4 through the six-dimensional force sensor 1.

[0029] It should be noted here that the present embodiment provides a device for automatic osteotomy of a spinal cone during surgery, which automatically plans the osteotomy path of the osteotomy tool and controls the osteotomy tool to automatically perform osteotomy on the spinal cone according to the osteotomy path. This solves the problem in the prior art that most doctors need to hold the osteotomy device and perform manual osteotomy in a minimally invasive channel. In addition, the current automatic osteotomy technology has the limitation that the safe osteotomy boundary cannot be customized. The present invention can realize automatic planning of the osteotomy path and control the osteotomy tool to perform automatic osteotomy. In addition, a force-position mixed control method is adopted in the actual osteotomy process to reduce the risk of the cutter head of the osteotomy tool breaking, which greatly improves the accuracy and safety of automatic osteotomy for the spinal cone, and greatly improves the intelligence, usability and reliability of the present invention.

[0030] See also Figure 2 This embodiment provides a control method for a device for automatic osteotomy of a spinal cone during surgery, the method comprising: S100, obtaining the osteotomy line 7 planned by the user on the spinal cone model 6; It should be noted here that the first preset length, the first preset threshold, and the first preset distance are pre-set before step S100. It can be understood that the present invention does not limit the specific values ​​of the first preset length, the first preset threshold, and the first preset distance, as long as the control method of the device for automatic spinal cone osteotomy during surgery proposed by the present invention can be applied. Specifically, the step of obtaining the osteotomy line 7 planned by the user on the spinal cone model 6 includes: The user manually plans the osteotomy line 7 of the spinal cone on the spinal cone model 6 in the minimally invasive channel 5 to define the range of osteotomy of the spinal cone, and then obtains the osteotomy line 7.

[0031] See also Figure 4 In some specific embodiments, the doctor can plan the osteotomy line 7 on the software, and the doctor can use the mouse to slide in the minimally invasive channel 5 to plan the osteotomy line 7 on the spinal cone model 6, wherein the planned osteotomy line 7 can be a curve, which solves the problem that the automatic osteotomy in the prior art can only be applied to rectangular boundaries, and further improves the flexibility of planning.

[0032] S200 , automatically planning an osteotomy path according to the osteotomy line 7 using a control module.

[0033] Specifically, the control module automatically plans the osteotomy path according to the osteotomy line 7, including: A safe osteotomy area 8 is generated according to the osteotomy line 7 planned by the user on the spinal cone model 6, and then the osteotomy path of the spinal cone is automatically planned according to the safe osteotomy area 8.

[0034] Specifically, the method for generating a safe osteotomy area 8 according to an osteotomy line 7 planned by a user on a spinal cone model 6 includes: Obtain the intersection area between the osteotomy line 7 planned by the user on the spinal cone model 6 and the minimally invasive channel 5, shrink the intersection area inward by a first preset length, and obtain the boundary line of the safe area. The boundary line of the safe area corresponds to the three-dimensional projection area of ​​the spinal cone model 6, which is the safe osteotomy area 8. The spinal cone model 6 within the safe osteotomy area 8 is an osteotomy cone model.

[0035] Specifically, the first preset length is the radius of the tool head of the osteotomy tool 4 .

[0036] Preferably, the present invention sets the first preset length as the radius of the cutting head of the osteotomy tool 4, and generates a safe osteotomy area 8 taking into account the influence of the radius of the minimally invasive channel 5 and the cutting head of the osteotomy tool 4, so that the planned osteotomy route will not interfere with the minimally invasive channel 5 and will not exceed the range defined by the osteotomy line 7, further ensuring the safety of osteotomy and greatly improving the accuracy of osteotomy.

[0037] See also Figure 4-Figure 7 In some specific embodiments, the minimally invasive surgical channel 5 is as follows Figure 4 As shown, the planned osteotomy line 7 is drawn by the doctor inside the minimally invasive channel 5 through software, and the intersection area of ​​the minimally invasive channel 5 and the planned osteotomy line 7 is shrunk inward by the radius of the cutter head of the osteotomy tool 4, that is, the boundary line of the safe area is obtained. The boundary line of the safe area corresponds to the three-dimensional projection area of ​​the spinal cone model 6, which is the safe osteotomy area 8. Figure 5 and Figure 6 , the spinal cone model 6 within the safe osteotomy area 8 is Figure 7 The osteotomy cone model in.

[0038] Specifically, the method for automatically planning the osteotomy path of the spinal cone according to the safe osteotomy area 8 includes: generating a plurality of cutting planes of the osteotomy cone model, wherein the cutting planes are parallel to the two-dimensional plane formed by the boundary line of the safety area; See also Fig.10 After the safe osteotomy area 8 is generated, an osteotomy cone model is obtained. The highest point and the lowest point of the osteotomy cone model can be obtained along the axial direction (z direction) of the minimally invasive channel 5. The highest point and the lowest point are interpolated along the axial direction of the minimally invasive channel 5 according to a preset step length. The preset step length must be smaller than the diameter of the osteotomy tool 4 to obtain a cutting plane point set. A point in the cutting plane point set is used as a point in the plane, and the axial direction (z direction) of the minimally invasive channel 5 is used as the plane normal to obtain a cutting plane set. The surface of the safe osteotomy area 8 is cut separately with the cutting plane set to obtain a cutting plane contour line set of the safe osteotomy channel, such as Fig.10 As shown, the above method reduces the dimensionality of the osteotomy path planning problem from 3D space to 2D space, and converts the problem of body surface planning into the problem of in-plane path planning, which greatly reduces the computational requirements and greatly improves the computational speed.

[0039] Projecting the safe osteotomy area 8 on each cutting plane to generate a cutting plane contour line of each cutting plane; In some specific embodiments, the method of generating the cutting plane contour line of each cutting plane may include: Fig. 9 As shown in the figure, the osteotomy cone model can be regarded as a three-dimensional solid model composed of multiple triangular facets, where , , are the three vertices of the triangular patch where the osteotomy cone model intersects with a certain cutting plane. , is the intersection point of the two sides of the triangle and the tangent plane. , , … The line segment formed by the connection is the contour line contour where the tangent plane intersects the cone model, that is, the tangent plane contour line of each tangent plane.

[0040] An osteotomy path of the osteotomy cone model is generated according to the cutting plane contour line.

[0041] Specifically, the method for generating an osteotomy path of an osteotomy cone model according to the cutting plane contour line comprises: See also Fig.11 , obtain the set of osteotomy path points: traverse the points on the cutting plane contour line of each cutting plane along the same direction, and determine the vertical distance between each point and the osteotomy cone model in turn. If the vertical distance is less than a first preset threshold, it is determined that the point is located on both the cutting plane contour line and the osteotomy cone model, that is, the point is regarded as a point on the osteotomy path, and then the set of osteotomy path points on the cutting plane contour line located on the osteotomy cone model is obtained.

[0042] Preferably, this embodiment sets the first preset threshold to 0.01 mm. Usually, the threshold is related to the density of the cone model. The finer the cone model, the smaller the threshold. That is, when the vertical distance between a point on the cutting plane contour line and the osteotomy cone model is less than 0.01 mm, it is determined that the point is located on both the cutting plane contour line and the osteotomy cone model, and the point is taken as a point on the osteotomy path.

[0043] It is understandable that in the actual osteotomy operation of the spinal cone, the osteotomy tool 4 will cut along the contour line of the cutting plane of the safe osteotomy area 8, but it is not necessary to cut along the complete contour path, because some points on the contour line are not located on the osteotomy cone model. Therefore, an intersection judgment is made with the osteotomy cone model to extract the path points that need to be cut on each cutting plane, which helps to further improve the accuracy of the osteotomy of the spinal cone.

[0044] Specifically, the method for generating an osteotomy path of an osteotomy cone model according to the cutting plane contour line further includes: The starting point and the end point of the osteotomy path on the cutting plane contour line on the osteotomy cone model are determined according to the set of osteotomy path points, and the starting point is translated along the direction of the two-dimensional plane formed by the minimally invasive channel 5 perpendicular to the boundary line of the safety area to obtain a new starting point of the osteotomy path, so that the vertical distance between the new starting point and the osteotomy cone model is a first preset distance, and then the set of osteotomy path points are connected in an S-shaped manner to generate an osteotomy path for spinal cone osteotomy.

[0045] It can be understood that after obtaining the set of osteotomy path points of the cutting plane on the osteotomy cone model, in order to optimize the osteotomy path, an S-shaped method is adopted to optimize the path set. To prevent the osteotomy tool 4 from directly colliding with the cone bone surface before the osteotomy begins, and to ensure the safety and accuracy of the osteotomy of the spinal cone, the minimally invasive channel 5 is translated upward by a first preset distance at the initial point as the path starting point, and the connected path is interpolated and smoothed to obtain the final osteotomy path point set, such as Fig.12 As shown, the starting point of the osteotomy path is , the end point is The main purpose of obtaining a new starting point of the osteotomy path is to prevent the osteotomy tool 4 from colliding with the bone surface of the cone before the osteotomy begins, thereby further ensuring the safety of automatic osteotomy.

[0046] Preferably, in the present embodiment, the value range of the first preset distance is greater than the radius of the burr of the osteotomy tool 4. In the present embodiment, the first preset distance is set to the burr diameter of the osteotomy tool 4, that is, when the vertical distance between the new starting point and the osteotomy cone model is the burr diameter of the osteotomy tool 4, the set of osteotomy path points is connected in an S-shaped manner, which further optimizes the osteotomy path, greatly reduces the moving distance of the osteotomy tool, and saves osteotomy time.

[0047] It should be further explained that the method for connecting the osteotomy path point set in an S-shaped manner is as follows: See also Fig.14 , represents the jth waypoint in the counterclockwise direction on the i-th layer osteotomy path. Assuming that there are s waypoints in the i-th layer, the osteotomy path on the cone model is expressed as … A collection of; When performing S-type connection, the odd-numbered layers are arranged in positive order, the even-numbered layers are arranged in reverse order, and then connected in the new order: Fig.14 As shown, there are m waypoints in the first layer, n waypoints in the second layer, p waypoints in the third layer, and q waypoints in the fourth layer. The order of the waypoints after reordering and connection is: From the perspective of the path, it presents an S-shaped pattern to achieve the shortest path effect.

[0048] S300, controlling the osteotomy tool 4 to perform automatic osteotomy on the spinal cone according to the osteotomy path.

[0049] Specifically, the method further includes: A force-position hybrid controller is used to control the force and position of the osteotomy tool 4 during the osteotomy process, and the dimensional constant is adjusted. and , completing the multi-dimensional control of the osteotomy tool 4 in Cartesian space; Among them, the force-position hybrid controller includes a position PID controller and a force feedback type admittance controller; The position PID controller obtains the real-time position and posture of the osteotomy tool 4 through the head tracker 2 , and the force feedback type admittance controller obtains the real-time force of the osteotomy tool 4 through the six-dimensional force sensor 1 .

[0050] Specifically, 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; During the calculation process, the force feedback type admittance controller only calculates The dimension set to 1 in the output is the first speed control quantity, and the position PID controller only calculates The dimension is set to 1 in the middle, 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 osteotomy tool 4 for movement.

[0051] See also Fig.13 In some specific embodiments, in order to prevent the osteotomy tool 4 from being broken due to excessive force on the head due to the patient's hard bone during the osteotomy process, the present invention adopts a force-position hybrid control method, which ensures that the head is not subjected to excessive force during the osteotomy process and also ensures the accuracy of the osteotomy. Among them, the position control adopts the PID control method, and the force control adopts the admittance-like control method. The outputs are processed by dimensional constants and summed up to obtain the final third control speed quantity , and then the final control posture sent to the robot arm is obtained through integration The calculation formulas for position PID control and force admittance control are as follows: (1) Position PID control: ; in, To control the amount, , , They are respectively the position PID controller (i.e. Fig.13 The proportional, integral and differential coefficients of the PID controller in the represents the error between the current feedback control posture and the desired control posture, The calculation method is as follows: ; ; 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. and the desired control speed By summing the integrals, we get Indicates the desired control speed, the output control amount is the first speed control amount , the specific calculation method is: ; (2) Force feedback admittance control: ; in, , , They are force feedback admittance controllers (i.e. Fig.13 Proportional, integral, and differential coefficients of the admittance controller in the is the expected control force error, represents the control acceleration, represents the error between the current feedback control posture and the desired control posture, is the expected speed error: ; ; ; ; 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 posture of the planned osteotomy path point in this embodiment. When the end tool of the robotic arm approaches the last planned path point, the desired control posture is modified to the control posture of the next path point. is the desired control speed, is the current control posture of the feedback, is the current control speed of feedback; The control quantity output by the force feedback type admittance controller is the second speed control quantity , the specific calculation method is as follows: ; (3) Dimensional constant and Adjustment Dimension constant and For mutually exclusive vectors represented by 0 and 1, for six-dimensional control in Cartesian space 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 type admittance controller only considers The dimension is 1, and the position PID controller only considers The dimension of 1 in the middle is the third speed control quantity. , and is converted into the final control posture instruction through integration, and then sent to the robot arm for movement. The specific calculation process is as follows: , in, and Respectively and The transpose of The integral formula is: , in, is the posture control instruction of the previous moment, The third speed control value calculated in this cycle , is the final control pose instruction.

[0052] In order to ensure the force on the tool head, the position of the osteotomy tool 4 is controlled by force admittance in the forward direction, and its expected position is always the position of the dynamic path point output by the planned osteotomy path step; the posture of the osteotomy tool 4 is controlled by position PID, and the tool posture is always the same as that of the minimally invasive channel 5, so that the end of the osteotomy tool 4 is kept parallel to the minimally invasive channel 5. and They are: ; ; During the osteotomy process, the head tracker 2 will provide real-time feedback on the relative position of the osteotomy tool 4 and the spinal cone, which is used to monitor the status of the osteotomy process in real time and dynamically track the changes in the posture of the cone. To ensure safety, the doctor can stop the osteotomy at any time through the software.

[0053] See also Figure 3-Figure 13 The working principle of the present invention is described below using the automatic osteotomy process of the articular process: Step 1: The doctor plans the osteotomy line on the software; Before performing automatic facet osteotomy, the doctor needs to plan the osteotomy line on the software7, such as Figure 4As shown, taking the osteotomy of the articular process as an example, the doctor drags the mouse to plan the desired osteotomy line 7 on the software interface, and the software will automatically generate a safe osteotomy area 8 in step 2; The osteotomy line 7 is a continuous line segment composed of a dense point set. The collection of the concentrated points of the osteotomy line 7 starts when the left mouse button is pressed and ends when the left mouse button is released. The coordinates of the concentrated points are the positions of the mouse pointer position projected on the spinal cone model 6 during the collection process.

[0054] Step 2: Generate a safe osteotomy area; The method for generating the safe osteotomy area 8 is as follows Figure 5 As shown, from the axial direction of the minimally invasive channel 5, the osteotomy planning line intersects with the minimally invasive surgical channel 5 to form an osteotomy area, and the bone in this area is the part that needs to be cut off; In the actual osteotomy process, considering that the cutter head of the osteotomy tool 4 has a certain volume, in order to ensure the accuracy of osteotomy, the osteotomy area is shrunk inwardly by the cutter head radius of the osteotomy tool 4. , that is, the boundary line of the safe area is obtained. This boundary line will extend along the axial direction of the minimally invasive channel 5 and intersect with the spinal cone model 6, and the following is obtained: Figure 6 The actual safe osteotomy area 8 shown is similar to the Figure 7 Model of the truncated cone portion (osteotomy cone model) shown.

[0055] Step 3: Automatically plan the osteotomy path; According to the result of generating the safe osteotomy area 8 in step 2, the path of the end of the osteotomy tool 4 during the automatic osteotomy of the articular process is automatically calculated, and the path is handed over to the robot arm motion controller to control the robot arm to drive the osteotomy tool 4 to perform the osteotomy step; The osteotomy path finally obtained is a path moving along the osteotomy curved surface of the osteotomy cone model in the safe osteotomy area 8. The osteotomy tool 4 can complete the automatic articular process osteotomy operation by moving along this trajectory.

[0056] See also Figure 8 The steps of generating the osteotomy planning path include: generating a cutting plane according to the osteotomy cone model; generating a cutting plane contour line of the safe osteotomy area 8; generating a set of path points of the cutting plane on the osteotomy cone model; connecting and smoothing the osteotomy path points. The specific descriptions of these steps are as follows: (1) Generate a cutting plane based on the osteotomy cone model; After the safe osteotomy area 8 is generated, the truncated cone model is obtained, that is, Fig.10 The osteotomy cone model shown in the figure can obtain the highest point of the osteotomy cone model along the axial direction of the minimally invasive channel 5 (the z direction in this embodiment). and the lowest point , the highest point and the lowest point Along the minimally invasive channel 5 direction according to the step length Perform interpolation ( To preset the step length, it must be smaller than the diameter of the osteotomy tool 4 ), get the tangent plane point set , tangent plane point set Include multiple cutting planes; Tangent plane point set The point in the plane is taken as a point in the plane, and the axis direction of the minimally invasive channel 5 is taken as the plane normal, and the tangent plane set can be obtained: .

[0057] (2) generating a cutting plane contour line of the safe osteotomy area 8; Cut plane collection By cutting the 8 surfaces in the safe osteotomy area separately, we can get the cutting plane contour line set of the safe osteotomy channel. ,like Fig.10 shown.

[0058] The method in this step reduces the dimension of the osteotomy path planning problem from 3D space to 2D space, and converts the body surface planning problem into the path planning problem in the plane, which greatly reduces the computational requirements and greatly improves the computational speed. For the contour collection To generate each contour line in the safe osteotomy area 8, the triangular facets that intersect with the cutting plane are iteratively searched, and the intersection points of the cutting plane and the triangular facets on both sides are calculated. The line connecting all the intersection points is the contour line, such as Fig.11 As shown, it should be noted that when the vertex of the triangle is exactly on the tangent plane, special processing will be done, and this vertex will be directly used as a point in the contour line instead of finding the intersection point.

[0059] (3) Generate a set of path points of the cutting plane on the osteotomy cone model: In actual osteotomy, the osteotomy tool 4 will cut along the contour of the cutting plane of the safe osteotomy area 8, but it is not necessary to cut along the complete contour path, so it is necessary to make an intersection judgment with the osteotomy cone model and extract the path that needs to be cut on each cutting plane; In this embodiment, the trajectory of the cutting plane on the cone model is obtained by judging the distance: the points on the contour line of the cutting plane are traversed in the same direction, and if the distance between this point and the osteotomy cone model is less than a first preset threshold , then it is considered that this point is located on both the cutting plane contour line and the osteotomy cone model; The starting point and the end point of the cutting plane contour line located on the osteotomy cone model are obtained by the above method, and then the osteotomy path of the osteotomy cone model is obtained. For the cutting plane contour line set of the safe osteotomy channel The contour lines in are calculated separately, and the following are obtained: Fig.11 The path set of the cutting plane shown on the cone model .

[0060] (4) Connection and smoothing of osteotomy path points; In order to obtain the path set of the cutting plane on the osteotomy cone model Finally, in order to optimize the osteotomy path, the path set was set in an S-shaped manner. To prevent the osteotomy tool 4 from directly colliding with the bone surface of the spinal cone before the osteotomy begins, the front channel at the initial point is translated upward by a first preset distance. As the starting point of the path, the connected path is interpolated and smoothed to obtain the final osteotomy path point set ,like Fig.12 As shown, the path starting point is , the end point is .

[0061] Step 4: The robotic arm drives the osteotomy tool to perform; In the actual operation of the robot arm driving the osteotomy tool 4 to perform osteotomy, the robot arm controls the cutter head of the osteotomy tool 4 to move from the starting point to the Start along Fig.12 The osteotomy was performed along the path shown in Complete the automatic facet osteotomy operation.

[0062] It should be noted here that the present embodiment proposes a control method for an apparatus for automatic osteotomy of a spinal cone during surgery, which automatically plans the osteotomy path of the osteotomy tool and controls the osteotomy tool to automatically perform osteotomy on the spinal cone according to the osteotomy path. This solves the problem that most of the prior art requires doctors to hold the osteotomy device and perform manual osteotomy in a minimally invasive channel, and that the current automatic osteotomy technology has the limitation that the safe osteotomy boundary cannot be customized. The present invention can realize automatic planning of the osteotomy path and control the osteotomy tool to perform automatic osteotomy. In addition, a force-position mixed control method is adopted in the actual osteotomy process to reduce the risk of the cutter head of the osteotomy tool breaking, thereby greatly improving the accuracy and safety of automatic osteotomy for the spinal cone, and greatly improving the intelligence, usability and reliability of the present invention.

[0063] In a preferred embodiment, the present application further provides an electronic device, the 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 device for automatic osteotomy of the spinal cone during surgery is implemented. The computer device can be broadly a server, a terminal, or any other electronic device with necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected through a system bus. The processor of the computer device can be used to provide necessary computing, processing and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices through a network. When the computer program is executed by the processor, the steps of the method of the present invention are performed.

[0064] The present invention may be implemented as a computer-readable storage medium having a computer program stored thereon, which causes the steps of the method of an embodiment of the present invention to be executed when executed by a processor. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, may be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations may be performed by one or more computer devices or processors, and one or more other method steps / operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step / operation, or perform two or more method steps / operations.

[0065] It should be noted here that the present invention automatically plans the osteotomy path of the osteotomy tool and controls the osteotomy tool to automatically perform osteotomy on the spinal cone according to the osteotomy path, which solves the problem that most of the existing technologies require doctors to hold the osteotomy equipment and perform manual osteotomy in the minimally invasive channel. In addition, there is a technical problem that the current automatic osteotomy technology cannot customize the safe osteotomy boundary. The present invention can realize automatic planning of the osteotomy path and control the osteotomy tool to perform automatic osteotomy. In addition, a force-position mixed control method is adopted in the actual osteotomy process to reduce the risk of the blade breakage of the osteotomy tool, which greatly improves the accuracy and safety of automatic osteotomy for the spinal cone, and greatly improves the intelligence, usability and reliability of the present invention.

[0066] 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 sequence. 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 an order 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.

[0067] The various technical features described above can be combined arbitrarily. Although all possible combinations of these technical features are not described, any combination of these technical features should be considered to be covered by this specification as long as there is no contradiction in such combination.

[0068] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A device for automatic osteotomy of a spinal cone 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 provided with a flange (3), the six-dimensional force sensor (1) being mounted on the flange (3), the head tracker (2) being arranged at the end of the six-dimensional force sensor (1), and characterized in that it comprises: An osteotomy tool (4) is arranged at the end of the head tracker (2) and is used to perform an automatic osteotomy operation on the spinal cone; The control module is used to automatically plan an osteotomy path for the osteotomy tool (4) to perform osteotomy, and to control the osteotomy tool (4) to automatically perform osteotomy on the spinal cone according to the osteotomy path.

2. The device for automatic osteotomy of the spinal cone during surgery according to claim 1, characterized in that: The control module comprises a robotic arm controller, which is used to control the osteotomy tool (4) to perform automatic osteotomy on the spinal cone according to the automatically planned osteotomy path.

3. The device for automatic osteotomy of the spinal cone during surgery according to claim 1, characterized in that: The control module also includes a force-position hybrid controller, which is used to control the force and position of the osteotomy tool (4) during the osteotomy process.

4. A control method for a device for automatic osteotomy of a spinal cone during surgery, characterized in that: include: S100, obtaining an osteotomy line (7) planned by a user on a spinal cone model (6); S200, using a control module to automatically plan an osteotomy path according to the osteotomy line (7); S300, controlling the osteotomy tool (4) to automatically perform an osteotomy operation on the spinal cone according to the osteotomy path.

5. The control method of the device for automatic osteotomy of the spinal cone during surgery according to claim 4, characterized in that: The step of obtaining the osteotomy line (7) planned by the user on the spinal cone model (6) includes: The user manually plans the osteotomy line (7) of the spinal cone on the spinal cone model (6) in the minimally invasive channel (5) to define the range of osteotomy of the spinal cone, thereby obtaining the osteotomy line (7).

6. The control method of the device for automatic osteotomy of the spinal cone during surgery according to claim 4, characterized in that: The method of automatically planning an osteotomy path according to the osteotomy line (7) using a control module comprises: A safe osteotomy area (8) is generated according to the osteotomy line (7) planned by the user on the spinal cone model (6), and then the osteotomy path of the spinal cone is automatically planned according to the safe osteotomy area (8).

7. The control method of the device for automatic osteotomy of the spinal cone during surgery according to claim 6, characterized in that: The method for generating a safe osteotomy area (8) according to an osteotomy line (7) planned by a user on a spinal cone model (6) comprises: The intersection area between the osteotomy line (7) planned by the user on the spinal cone model (6) and the minimally invasive channel (5) is obtained, and the intersection area is contracted inward by a first preset length to obtain a boundary line of the safe area. The boundary line of the safe area corresponds to the three-dimensional projection area of ​​the spinal cone model (6), which is the safe osteotomy area (8). The spinal cone model (6) within the safe osteotomy area (8) is an osteotomy cone model.

8. The control method of the device for automatic osteotomy of the spinal cone during surgery according to claim 7, characterized in that: The first preset length is the radius of the cutting head of the osteotomy tool (4).

9. The control method of the device for automatic osteotomy of the spinal cone during surgery according to claim 7, characterized in that: The method for automatically planning an osteotomy path of a spinal cone according to the safe osteotomy area (8) comprises: generating a plurality of cutting planes of the osteotomy cone model, wherein the cutting planes are parallel to the two-dimensional plane formed by the boundary line of the safety area; Projecting the safe osteotomy area (8) onto each cutting plane to generate cutting plane contour lines of each cutting plane; An osteotomy path of the osteotomy cone model is generated according to the cutting plane contour line.

10. The control method of the device for automatic osteotomy of the spinal cone during surgery according to claim 9, characterized in that: The method for generating an osteotomy path of an osteotomy cone model according to the cutting plane contour line comprises: Traverse the points on the cutting plane contour line of each cutting plane in the same direction, and determine the vertical distance between each point and the osteotomy cone model in turn. If the vertical distance is less than a first preset threshold, the point is determined to be located on both the cutting plane contour line and the osteotomy cone model, that is, the point is regarded as a point on the osteotomy path, and then a set of osteotomy path points on the cutting plane contour line located on the osteotomy cone model is obtained.

11. The control method of the device for automatic osteotomy of the spinal cone during surgery according to claim 10, characterized in that: The method for generating an osteotomy path of an osteotomy cone model according to the cutting plane contour line further comprises: The starting point and the end point of the osteotomy path located on the contour line of the cutting plane on the osteotomy cone model are determined according to the set of osteotomy path points, and the starting point is translated along the direction of the two-dimensional plane formed by the minimally invasive channel (5) perpendicular to the boundary line of the safety area to obtain a new starting point of the osteotomy path, so that the vertical distance between the new starting point and the osteotomy cone model is a first preset distance, and then the set of osteotomy path points are connected in an S-shaped manner to generate an osteotomy path for spinal cone osteotomy.

12. The control method of the device for automatic osteotomy of the spinal cone during surgery according to claim 4, characterized in that: The method further comprises: A force-position hybrid controller is used to control the force and position of the osteotomy tool (4) during the osteotomy process, by adjusting the dimensional constant and , completing the multi-dimensional control of the osteotomy tool (4) in Cartesian space; Among them, the force-position hybrid controller includes a position PID controller and a force feedback type admittance controller; The position PID controller obtains the real-time position and posture of the osteotomy tool (4) through the head tracker (2), and the force feedback type admittance controller obtains the real-time force of the osteotomy tool (4) through the six-dimensional force sensor (1).

13. The control method of the device for automatic osteotomy of the spinal cone during surgery according to claim 12, 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; During the calculation process, the force feedback type admittance controller only calculates The dimension set to 1 in the output is the first speed control quantity, and the position PID controller only calculates The dimension is set to 1, a second speed control amount is output, the first speed control amount and the second speed control amount are combined to obtain a third speed control amount, and a control posture instruction is obtained through integral transformation, and the control posture instruction is sent to the osteotomy tool (4) for movement.

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