Collision detection device in steel plate implanting process, implanting system and method

Abstract

The invention relates to a collision detection device in a steel plate implanting process, an implanting system and an implanting method. The collision detection device comprises a piezoelectric vibrator, signal generating equipment and an acceleration sensor, the piezoelectric vibrator is used for being installed on a steel plate clamp connected with the tail end of a mechanical arm, the piezoelectric vibrator is connected with the signal generating device, and the signal generating device can drive the piezoelectric vibrator to vibrate. The acceleration sensor is used for being fixed on kirschner wires at the near end and the far end of the broken bone, and the acceleration sensor is connected with the control terminal; the piezoelectric vibrator can apply vibration to the steel plate in the steel plate implanting process so as to transmit the vibration to the acceleration sensor, and whether the steel plate collides with the broken bone or not is judged according to changes of vibration signals output by the acceleration sensor. And the occurrence probability of medical negligence is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a collision detection device, an implantation system and a method for a steel plate implantation process. Background Art

[0002] The statements herein merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] In current fracture surgeries, a robotic arm can be used to accurately implant the steel plate to the target position without a field of view. Using a robotic arm to insert a fracture steel plate can improve the accuracy of steel plate insertion, reduce the occurrence of various unexpected situations caused by large deviations in steel plate insertion, reduce the number of fluoroscopy times during surgery and the degree of doctor involvement in surgery, reduce the impact of radiation on doctors and patients, and reduce the difficulty of surgery. However, there is a risk of collision between the steel plate and the broken bone when using a robotic arm to implant the steel plate. Since the soft tissue on the implantation trajectory needs to be torn during the steel plate implantation process, the steel plate is always subjected to great force during the implantation process. Therefore, it is impossible to accurately judge the collision situation through the force situation at the end of the robotic arm, and it is also impossible to use visual methods to solve collision detection during the steel plate implantation surgery. Therefore, collision detection during the process of steel plate implantation by the robotic arm is a technical problem that needs to be urgently solved in this field. Summary of the invention

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a collision detection device, an implantation system and a method for a steel plate implantation process, which solves the problem that the current robotic arm cannot perform collision detection when implanting a steel plate.

[0005] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a collision detection device for a steel plate implantation process, comprising a piezoelectric vibrator, a signal generating device, and an acceleration sensor;

[0007] The piezoelectric vibrator is used to be installed on a steel plate fixture connected to the end of the robotic arm. The piezoelectric vibrator is connected to a signal generating device, and the signal generating device can drive the piezoelectric vibrator to vibrate;

[0008] The acceleration sensor is used to be fixed on the Kirschner wires at the proximal and distal ends of the broken bone, and the acceleration sensor is connected to the control terminal;

[0009] The piezoelectric vibrator can apply vibration to the steel plate during the implantation process to transmit the vibration to the acceleration sensor, and determine whether the steel plate collides with the broken bone through the change in the output signal of the acceleration sensor.

[0010] Optionally, the signal generating device includes a signal generator, which is connected to a power amplifier, and the power amplifier is connected to a piezoelectric vibrator.

[0011] Optionally, the acceleration sensor is adhesively fixed to the Kirschner wire;

[0012] Or,

[0013] The acceleration sensor is detachably fixed to the sensor bracket, and the sensor bracket is used for welding and fixing with the Kirschner wire.

[0014] In a second aspect, an embodiment of the present invention provides a steel plate implantation system, including the steel plate implantation process collision detection device described in the first aspect, and further including a robotic arm, a steel plate clamp, and Kirschner wires. The robotic arm is connected to a control terminal, and a steel plate clamp is provided at the end of the robotic arm. The steel plate clamp is used for fixing the steel plate. The piezoelectric vibrator is fixed on the steel plate clamp. The Kirschner wires are used for inserting into the proximal end and the distal end of the broken bone. Among the multiple Kirschner wires for cooperating with the proximal end of the broken bone, at least one Kirschner wire is fixed with an acceleration sensor. Among the multiple Kirschner wires for cooperating with the distal end of the broken bone, at least one Kirschner wire is fixed with an acceleration sensor.

[0015] Optionally, a force sensor is provided between the end of the robotic arm and the steel plate clamp.

[0016] Optionally, the steel plate clamp adopts an L-shaped structure, including a first clamp part and a second clamp part that are perpendicular to each other. The first clamp part is connected to the end of the robotic arm. The second clamp part is provided with a positioning protrusion, and the positioning protrusion can be embedded in a positioning pit provided in the steel plate clamp. Moreover, the second clamp part can be detachably fixedly connected to the steel plate through a threaded fastener.

[0017] In a third aspect, an embodiment of the present invention provides a collision detection method for the steel plate implantation system described in the second aspect:

[0018] The signal generating device drives the piezoelectric vibrator to vibrate at a set excitation frequency;

[0019] During the process of the robotic arm driving the steel plate implantation, the piezoelectric vibrator transmits the vibration to the acceleration sensor through the steel plate;

[0020] When the control terminal receives that the change value of the vibration signal output by the acceleration sensor is greater than the set threshold, it is determined that the steel plate collides with the broken bone. Otherwise, it is determined that the steel plate does not collide with the broken bone.

[0021] Optionally, the output vibration signal of the acceleration sensor is subjected to Fourier transform to obtain the main frequency and amplitude of the broken bone vibration signal, and whether the steel plate collides with the broken bone is judged based on the obtained main frequency and amplitude.

[0022] Optionally, the method for obtaining the excitation frequency is:

[0023] The robotic arm drives the steel plate to move, so that the end of the steel plate contacts the broken bone through the incision with a set contact force;

[0024] The signal generating device performs frequency sweeping within a set frequency range to drive the piezoelectric element to vibrate;

[0025] The control terminal collects the vibration signals output by the acceleration sensor during frequency sweeping;

[0026] According to the vibration signals output by the acceleration sensor, determine the vibration frequency output by the signal generator that makes the vibration acceleration of the broken bone the largest during frequency sweeping as the excitation frequency.

[0027] Optionally, the set contact force is 0.8N - 1.2N, preferably 1N.

[0028] The beneficial effects of the present invention are as follows:

[0029] 1. The collision detection device, implantation system and method for the steel plate implantation process of the present invention can transmit vibration to the steel plate through the piezoelectric element. During the implantation process, the steel plate transmits the vibration to the acceleration sensor. During the implantation process, when the steel plate does not collide with the broken bone, the vibration of the steel plate is transmitted to the acceleration sensor through the soft tissue. When the steel plate collides with the broken bone, the vibration of the steel plate is transmitted to the acceleration sensor through the soft tissue and the bone, causing the output vibration signal of the acceleration sensor to change, realizing the collision detection during the steel plate implantation process, filling the technical gap in this aspect, solving the problem of collision detection during the steel plate implantation process, and reducing the probability of medical accidents while giving full play to the advantages of the robotic arm-assisted steel plate implantation.

[0030] 2. The collision detection device, implantation system and method for the steel plate implantation process of the present invention drive the piezoelectric element to vibrate with a set excitation frequency. The excitation frequency is the frequency corresponding to the maximum vibration acceleration output by the acceleration sensor when the steel plate contacts the broken bone, making the change of the output signal of the acceleration sensor more obvious when the steel plate collides with the broken bone, and making it more convenient for medical staff to identify the collision between the steel plate and the broken bone.

[0031] 3. The collision detection device, implantation system and method for the steel plate implantation process of the present invention perform Fourier transform on the vibration signals output by the acceleration sensor, and judge whether the steel plate collides with the broken bone through the main frequency and amplitude, avoiding the influence of environmental noise and random vibration in the operating room, and ensuring the accuracy of the collision detection result. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings forming a part of this specification are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0033] Figure 1 It is a schematic diagram of the usage state of Embodiment 1 of the present invention;

[0034] Among them, 1. Signal generator, 2. Power amplifier, 3. Mechanical sensor, 4. Piezoelectric vibrator, 5. Acceleration sensor, 6. Kirschner wire, 7. Steel plate fixture, 8. Steel plate, 9. Control terminal, 10. Robot arm. Specific implementation mode

[0035] In this implementation mode, the proximal end of the broken bone refers to the part of the bone fixed to the operating table by the Kirschner wire, and the distal end of the broken bone refers to the part connected to the reduction device by the Kirschner wire.

[0036] The vibration signal output by the acceleration sensor is an acceleration signal. The acceleration signal is a kind of vibration signal, and the vibration signal includes acceleration signal, velocity signal and displacement signal.

[0037] Embodiment 1

[0038] This embodiment provides a collision detection device for the steel plate implantation process, including a piezoelectric vibrator 4, a signal generating device and a plurality of acceleration sensors 5.

[0039] Among them, the piezoelectric vibrator 4 is connected to the signal generating device. The signal generating device can drive the piezoelectric vibrator 4 to vibrate. The piezoelectric vibrator 4 is used to be installed on the steel plate fixture 7 at the end of the robot arm 10. The steel plate fixture 7 is used to fix the steel plate 8 to be implanted, and the piezoelectric vibrator 4 can transmit the vibration to the steel plate 8 through the steel plate fixture 7.

[0040] In this embodiment, the signal generating device includes a signal generator 1. The signal generator 1 is connected to a power amplifier 2, and the power amplifier 2 is connected to the piezoelectric vibrator 4. The signal generator 1 is used to send the initial driving signal of the piezoelectric vibrator 4, and the power amplifier 2 is used to amplify the initial driving signal sent by the signal generator 1 to drive the piezoelectric vibrator 4 to vibrate.

[0041] The signal generator 1, the power amplifier 2 and the piezoelectric vibrator 4 can adopt existing instrument equipment, and their specific structures will not be described in detail here.

[0042] The acceleration sensor 5 is used to be fixed on the Kirschner wire 6. The Kirschner wire 6 is used to be inserted into the broken bone to temporarily fix the broken bone.

[0043] The acceleration sensor 5 is connected to the control terminal 9 and can send a vibration signal to the control terminal 9. The control terminal 9 can receive the vibration signal sent by the acceleration sensor 5 and process the vibration signal to judge whether the steel plate collides with the broken bone.

[0044] In this embodiment, the piezoelectric vibrator 4 is fixed on the steel plate fixture 7. During the implantation process of the steel plate 8, the piezoelectric vibrator 4 transmits vibration to the steel plate 8 through the steel plate fixture 7. During the implantation process of the steel plate 8, the vibration of the steel plate 8 can be transmitted to the acceleration sensor 5. After receiving the vibration, the acceleration sensor 5 transmits the vibration signal to the control terminal 9. When the vibration signal output by the acceleration sensor 5 changes to exceed the set threshold, it is determined that the steel plate collides with the broken bone; otherwise, it is determined that the steel plate does not collide with the broken bone.

[0045] Embodiment 2

[0046] This embodiment provides a steel plate implantation system, including the steel plate implantation process collision detection device described in Embodiment 1.

[0047] It further includes a robotic arm 10 and a steel plate fixture 7.

[0048] The robotic arm 10 can be an existing robotic arm, and its specific structure will not be described in detail here.

[0049] The end of the robotic arm 10 is connected with a steel plate fixture 7 through a force sensor 3. The steel plate fixture 7 can be detachably and fixedly connected to the steel plate 8 to be implanted. The force sensor 3 can be an existing sensor, such as a pressure sensor, etc. The force sensor 3 is used to detect mechanical information such as the pressure and torque received at the end of the robotic arm during the steel plate implantation process.

[0050] The force sensor 3 is connected to the control terminal 9 and can transmit the detected mechanical information to the control terminal 9.

[0051] The steel plate fixture 7 adopts an L-shaped structure, including a first fixture part and a second fixture part that are perpendicular to each other. One end of the first fixture part is fixedly connected to the force sensor 3, and the other end is fixedly connected to one end of the second fixture part. The end of the second fixture part is provided with a plurality of positioning protrusions. In this embodiment, three positioning protrusions matching the positioning pits at the end of the steel plate are provided. The second fixture part is provided with connection holes matching the fixing holes at the end of the steel plate 8. The second fixture part can be detachably and fixedly connected to one end of the steel plate 8 through the connection holes and threaded connectors.

[0052] The threaded fasteners can be bolts or screws, etc., which can be set by those skilled in the art according to actual needs.

[0053] The piezoelectric vibrator 4 is fixed on the steel plate fixture 7. In this embodiment, the piezoelectric vibrator 4 is fixed on the first fixture part.

[0054] There are multiple Kirschner wires 6, which are used to be inserted into the broken bone for temporarily fixing the broken bone.

[0055] The broken bone includes a proximal end of the broken bone and a distal end of the broken bone. Part of the Kirschner wire 6 is used to be inserted into the proximal end of the broken bone. The Kirschner wire 6 inserted into the proximal end of the broken bone is used to connect to a fixing frame through a clamp. The fixing frame is used to be fixed on the operating table, realizing the temporary fixation of the proximal end of the broken bone. The clamp and the fixing frame can adopt existing technologies and will not be described in detail herein.

[0056] Another part of the Kirschner wire 6 is used to be inserted into the distal end of the broken bone. The Kirschner wire 6 inserted into the distal end of the broken bone can be connected to a reset device through a clamp. The reset device is used to drive the distal end of the broken bone to move through the Kirschner wire, so that the distal end of the broken bone moves to a set position to realize the combination of the proximal end and the distal end of the broken bone.

[0057] In this embodiment, a robotic arm can be adopted as the reset device. The end of the robotic arm is connected to the Kirschner wire 6 through a clamp. The clamp can adopt existing technologies and will not be described in detail herein. Therefore, the entire operation needs to be completed with the cooperation of two robotic arms. One is used for the implantation of the steel plate, and the other robotic arm is used for the reset of the distal end of the broken bone.

[0058] Among the multiple Kirschner wires 6 used to be inserted into the proximal end of the broken bone, at least one Kirschner wire 6 is fixed with an acceleration sensor. In this embodiment, one of the Kirschner wires 6 is fixed with an acceleration sensor 5. Among the multiple Kirschner wires 6 used to be inserted into the distal end of the broken bone, at least one Kirschner wire 6 is fixed with an acceleration sensor. In this embodiment, one Kirschner wire 6 is fixed with an acceleration sensor 5.

[0059] In one implementation manner, the acceleration sensor 5 is directly bonded and fixed on the Kirschner wire 6.

[0060] In another implementation manner, the acceleration sensor 5 is fixed on a sensor bracket made of a metal material through a screw or a bolt, and the sensor bracket is welded and fixed to the Kirschner wire 6.

[0061] Those skilled in the art can select the fixing manner of the acceleration sensor 5 and the Kirschner wire 6 according to actual needs and will not be described in detail herein.

[0062] The robotic arm 10, the mechanical sensor 3 and the acceleration sensor 5 are all connected to a control terminal. The mechanical sensor 3 can send mechanical signals to the control terminal 9, and the acceleration sensor 5 can send vibration signals to the control terminal 9. The control terminal 9 can control the operation of the robotic arm 10, so that the robotic arm 10 implants the steel plate 8 along a set trajectory.

[0063] Embodiment 3

[0064] This embodiment provides a collision detection method for the steel plate implantation system described in Embodiment 2, taking femoral shaft fracture as an example for illustration:

[0065] The robotic arm 10 drives the steel plate 8 to move to the starting point of the steel plate 8 implantation through the steel plate fixture 7. The signal generator 1 drives the piezoelectric vibrator 4 to vibrate at a set excitation frequency through the power amplifier 2; the piezoelectric vibrator 4 drives the steel plate 8 to vibrate at the set excitation frequency through the steel plate fixture 7.

[0066] The control terminal 9 controls the robotic arm 10 to drive the steel plate 8 to move along a preset path for the implantation of the steel plate 8. In this embodiment, a small incision is made at the condyle and the steel plate is implanted along the femur. Compared with the open reduction and placement of the steel plate for fixation, the implantation method in this embodiment causes less damage to the soft tissue, thereby protecting the blood supply in the fracture area and being beneficial to the recovery of the broken bone. During the process of the robotic arm 10 driving the implantation of the steel plate 8, the piezoelectric vibrator 4 transmits the vibration to the acceleration sensor 5 through the steel plate 8. The acceleration sensor 5 transmits the vibration signal to the control terminal 9 in real time. In this embodiment, the vibration signal is an acceleration signal.

[0067] When the control terminal 9 receives that the change value of the vibration signal output by the acceleration sensor 5 is greater than the set threshold value, it is determined that the steel plate 8 collides with the broken bone; otherwise, it is determined that the steel plate 8 does not collide with the broken bone.

[0068] In this embodiment, when the steel plate 8 does not collide with the broken bone, the vibration of the steel plate 8 is transmitted to the acceleration sensor 5 through the soft tissue; when the steel plate 8 collides with the broken bone, the vibration of the steel plate 8 is transmitted to the acceleration sensor 5 through the soft tissue and the bone. Since the vibration transmission ability of the bone is much greater than that of the soft tissue, before and after the steel plate 8 collides with the broken bone, the vibration signal received by the acceleration sensor 5 will increase significantly. Therefore, it is possible to judge whether the steel plate 8 collides with the broken bone by the change of the vibration signal output by the acceleration sensor.

[0069] To avoid the influence of environmental noise or random vibration in the operating room, the control terminal 9 performs Fourier transform on the vibration signal transmitted by the acceleration sensor 5 to obtain the main frequency and amplitude of the broken bone vibration signal, and judges whether the steel plate 8 collides with the broken bone through the dual detection criteria of the main frequency and amplitude, ensuring the accuracy of the judgment result.

[0070] When the change value of the main frequency of the broken bone vibration signal transmitted by the acceleration sensor 5 exceeds the set main frequency change threshold value and the change value of the amplitude exceeds the set amplitude change threshold value, that is, when the main frequency of the broken bone vibration signal changes to within the range of the excitation frequency ±a and the amplitude changes to be greater than b, it is determined that the steel plate 8 collides with the broken bone, where a ranges from 2Hz to 5Hz and b ranges from 2.5 times to 5 times the acceleration of gravity. In this embodiment, the values of a and b are determined by the equipment accuracy and the mechanical properties of the affected limb and will not be described in detail here.

[0071] In this embodiment, when a surgical instrument (such as a scalpel, an orthopedic drill bit, an instrument tray, etc.) accidentally drops onto the surgical platform or the Kirschner wire 6 used to fix the broken bone, it will cause a drastic change in the signal of the acceleration sensor 5. Theoretically speaking, when a specific surgical instrument drops onto a specific position at a specific angle, there is a possibility that the main frequency of the vibration signal output by the acceleration sensor 5 = the excitation frequency ± a, and the amplitude > b, thus triggering false detection. However, since the connection parts between the bone, soft tissue, Kirschner wire, acceleration sensor, Kirschner wire fixing device, and the desktop introduce a large number of non-linear properties into the entire vibration system, this makes the vibration curve caused by the dropping of the surgical instrument not a sine curve with a constant frequency in the absence of a stable excitation. Based on this feature, the criterion for judging the collision between the steel plate 8 and the broken bone is modified to determine a collision when the main frequency = the excitation frequency ± a and the amplitude > b are detected continuously twice, which can further reduce the probability of false detection. Although this will have a certain impact on the sensitivity of the collision detection method. However, since the detection frequency of the acceleration sensor is 25 kHz, and the implantation speed during the steel plate implantation process is relatively slow, the impact is very limited. Therefore, for the experimental environment with the risk of accidental dropping, the above detection criterion is recommended to reduce the probability of false detection.

[0072] In this embodiment, the method for obtaining the excitation frequency includes the following steps:

[0073] Step 1: Make an incision at the femoral condyle.

[0074] Step 2: The control terminal 9 controls the movement of the end of the robotic arm 10 so that the end of the steel plate 8 contacts the femoral condyle through the incision, and the contact force is 0.8 N - 1.2 N, preferably 1 N, and the contact force is controlled by the reading of the mechanical sensor.

[0075] Step 3: The signal transmitter 1 performs frequency sweeping within a set frequency range, and the signal is amplified by the power amplifier 2 and then drives the piezoelectric vibrator 4 to vibrate.

[0076] Step 4: The data acquisition card of the control terminal 9 acquires the vibration signal output by the acceleration sensor 5 at the proximal end of the broken bone during the frequency sweeping process. The control terminal 9 reads the vibration signal acquired by the data acquisition card and determines the frequency output by the signal generator 1 that makes the vibration acceleration at the proximal end of the broken bone the largest during the frequency sweeping process as the excitation frequency. In this embodiment, the excitation frequency is 500 Hz - 1000 Hz, which is determined by the mechanical properties of the affected limb. For the same affected limb, the mechanical properties of the proximal and distal ends of the broken bone are similar, so the excitation frequency obtained through the proximal end of the broken bone is used as the excitation frequency for the entire implantation process.

[0077] In this embodiment, the excitation frequency is the frequency corresponding to the maximum vibration acceleration output by the acceleration sensor when the steel plate 8 contacts the broken bone, so that when the steel plate collides with the broken bone, the change in the output signal of the acceleration sensor 5 is more obvious, making it more convenient for medical staff to identify the collision between the steel plate and the broken bone.

[0078] By using the collision detection device, the placement system and the method of this embodiment, the collision detection during the steel plate implantation is realized, filling the technical gap in this aspect, solving the problem of collision detection during the steel plate implantation, and while giving full play to the advantages of the robotic arm-assisted steel plate implantation, reducing the probability of medical accidents.

[0079] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A collision detection device for steel plate implantation process, characterized in that: Including piezoelectric vibrator, signal generating device and acceleration sensor; The piezoelectric vibrator is used to be installed on a steel plate fixture connected to the end of the robotic arm. The piezoelectric vibrator is connected to a signal generating device, and the signal generating device can drive the piezoelectric vibrator to vibrate; The acceleration sensor is used to be fixed on the Kirschner wires at the proximal and distal ends of the broken bone, and the acceleration sensor is connected to the control terminal; The piezoelectric vibrator can apply vibration to the steel plate during the implantation process to transmit the vibration to the acceleration sensor, and judge whether the steel plate collides with the broken bone by the change of the vibration signal output by the acceleration sensor.

2. A steel plate implantation process collision detection device as claimed in claim 1, characterized in that: The signal generating device comprises a signal generator, the signal generator is connected to a power amplifier, and the power amplifier is connected to a piezoelectric vibrator.

3. A collision detection device for steel plate implantation process as claimed in claim 1, characterized in that: The acceleration sensor is bonded and fixed on the Kirschner wire; or, The acceleration sensor is detachably fixed on the sensor bracket, and the sensor bracket is used for being welded and fixed with the Kirschner wire.

4. A steel plate implantation system, characterized in that: The invention comprises a collision detection device for the steel plate implantation process as described in any one of claims 1 to 3, and also comprises a robotic arm, a steel plate clamp and a Kirschner wire. The robotic arm is connected to a control terminal. A steel plate clamp is provided at the end of the robotic arm. The steel plate clamp is used to fix the steel plate. The piezoelectric vibrator is fixed on the steel plate clamp. The Kirschner wire is used to be inserted into the proximal end and the distal end of the broken bone. Among the multiple Kirschner wires used to cooperate with the proximal end of the broken bone, at least one Kirschner wire is fixed with an acceleration sensor. Among the multiple Kirschner wires used to cooperate with the distal end of the broken bone, at least one Kirschner wire is fixed with an acceleration sensor.

5. A steel plate implantation system as claimed in claim 4, characterized in that: A mechanical sensor is provided between the end of the robotic arm and the steel plate fixture.

6. A steel plate implantation system as claimed in claim 4, characterized in that: The steel plate clamp adopts an L-shaped structure, including a first clamp part and a second clamp part that are perpendicular to each other. The first clamp part is connected to the end of the robotic arm, and the second clamp part is provided with a positioning protrusion. The positioning protrusion can be embedded in the positioning pit set in the steel plate clamp, and the second clamp part can be detachably fixedly connected to the steel plate through threaded fasteners.

7. A collision detection method for a steel plate implantation system according to claim 6, characterized in that: The signal generating device drives the piezoelectric vibrator to vibrate at a set excitation frequency; The piezoelectric vibrator transmits vibration to the acceleration sensor through the steel plate during the implantation process driven by the robotic arm; When the control terminal receives a change in the vibration signal output by the acceleration sensor that is greater than a set threshold, it is determined that the steel plate collides with the broken bone; otherwise, it is determined that the steel plate does not collide with the broken bone.

8. The collision detection method of the steel plate implantation system according to claim 7, characterized in that: The output vibration signal of the acceleration sensor is Fourier transformed to obtain the main frequency and amplitude of the broken bone vibration signal, and the obtained main frequency and amplitude are used to determine whether the steel plate collides with the broken bone.

9. The collision detection method of the steel plate implantation system according to claim 7, characterized in that: The method to obtain the excitation frequency is: The mechanical arm drives the steel plate to move, so that the end of the steel plate contacts the broken bone through the incision with a set contact force; The signal generating device sweeps the frequency within the set frequency range to drive the piezoelectric array to vibrate; The control terminal collects the vibration signal output by the acceleration sensor during the frequency sweep process; The vibration frequency output by the signal generator which makes the vibration acceleration of the broken bone maximum during the frequency sweeping process is determined according to the vibration signal output by the acceleration sensor as the excitation frequency.

10. The collision detection method of the steel plate implantation system according to claim 9, characterized in that: The contact force is set to 0.8N-1.2N, preferably 1N.

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