Swing saw power tool, pose information measuring method and device thereof and surgical robot

Abstract

The invention discloses a swing saw power tool, a pose information measuring method and device thereof and a surgical robotic.The method obtains the position of a datum point under a tracker through a datum hole formed in a saw blade of a swing saw, then the pose information of the swing saw power tool is calibrated, operation is easy, deployment and implementation are easy, additional hardware equipment does not need to be added, and the cost is low. The pre-operation calibration process can be greatly simplified, the calibration cost is reduced, and the user satisfaction is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of orthopedic surgical robots, and particularly relates to a power saw and a method, device and surgical robot for measuring the pose information thereof. Background Art

[0002] Surgical navigation systems are increasingly used in orthopedic surgeries. They can accurately associate the patient's image data with the patient's physiological anatomical structure, assist the surgeon in performing surgical planning, and guide the surgeon to operate surgical instruments. The surgical navigation system makes orthopedic surgeries more precise, rapid, and safe.

[0003] Based on the surgical navigation system, a robotic arm can be added as an execution component to assist the doctor in completing orthopedic osteotomy operations. In the current product form, the robotic arm-assisted osteotomy operations focus on knee replacement surgeries, hip replacement surgeries, and spinal nail surgeries, among which knee replacement surgery is one of the main targeted surgical procedures.

[0004] In knee replacement surgeries, a power saw is generally used for osteotomy operations. In robot-assisted osteotomy, the power saw is connected to a tracker recognizable by the navigation system in some way. When the navigation system recognizes the position of the tracker, the position of the power saw can be indirectly obtained.

[0005] A saw blade for oscillating osteotomy is installed on the power saw. Here, the position of the power saw also refers to the position of the saw blade on the power saw. The saw blade has two upper and lower planes. We refer to the plane on the side where the bone is retained during osteotomy as the working plane of the saw blade. From the result of the final robot-assisted osteotomy by the doctor, the accuracy of the position of the power saw blade determines the accuracy of the final osteotomy position. Therefore, the calibration of the position of the power saw of the surgical robot is an important factor affecting the surgical accuracy.

[0006] The pose of the power saw of the surgical robot refers to:

[0007] 1. The pose of the saw blade of the power saw relative to a specific tracker; or,

[0008] 2. The pose of the saw blade of the power saw relative to a specific mechanical structure, and the relative position relationship between the specific mechanical structure and a certain tracker can be obtained in a certain way. For example, the specific mechanical structure refers to the end of the robotic arm, and the tracker is placed on the base of the robotic arm, so that the pose of the end of the robotic arm can be obtained through the position of the tracker and the motion pose of the robotic arm.

[0009] In the prior art, for the calibration of the position of the power saw of the surgical robot, in one method, it is calibrated before the surgery. When the doctor uses a specific power saw, he needs to select the calibrated pose parameters corresponding to the specific power saw.

[0010] In an actual medical scenario, it is not desirable for the operator to perform additional selection operations. Therefore, another approach is to use a high mechanical precision design to ensure that the position of the oscillating saw is fixed and accurate. However, this solution leads to overly high requirements for mechanical precision and increases costs. Another solution is to use an attitude calibrator to directly calibrate the position of the oscillating saw. However, the use of the attitude calibrator is complex and adds another tool. Summary of the Invention

[0011] The purpose of the present invention is to overcome the above technical deficiencies and provide an oscillating saw power tool, its pose information measurement method, device, and surgical robot, in order to solve the problem in related technologies that the pose calibration method of the oscillating saw power tool is complex and requires adding an attitude calibrator.

[0012] To achieve the above technical objectives, the present invention adopts the following technical solutions:

[0013] According to the first aspect of the present invention, an oscillating saw power tool is provided, including:

[0014] A navigation tracker, an oscillating saw main body, and an oscillating saw blade;

[0015] The navigation tracker and the oscillating saw main body are rigidly connected, or are respectively installed on the base and flange of the surgical robotic arm;

[0016] One end of the oscillating saw blade is provided with an installation interface for plugging into the oscillating saw main body, and the other end is formed with saw teeth as the osteotomy working area; a reference hole is provided on the oscillating saw blade, and the center point of the reference hole is at a fixed value from the end of the saw teeth.

[0017] According to the second aspect of the present invention, a method for measuring the pose information of an oscillating saw power tool is provided, including:

[0018] Insert the tip of the surgical probe into the reference hole of the oscillating saw blade according to claim 1 until the outer edge of the surgical probe is stuck in the reference hole. At this time, the distance from the tip of the surgical probe to the working plane of the oscillating saw blade is a preset value;

[0019] The navigation system identifies the three-dimensional coordinates of the tip of the surgical probe under the navigation tracker;

[0020] Store the intersection point of the axis of the reference hole and the working plane of the oscillating saw blade as a reference point;

[0021] Calculate the new coordinates after offsetting the three-dimensional coordinates of the tip of the surgical probe under the navigation tracker by the preset value along the normal vector direction of the oscillating saw blade, and store them as the three-dimensional coordinates of the reference point under the navigation tracker;

[0022] Store the three-dimensional coordinates of the reference point under the navigation tracker as the position information of the oscillating saw power tool;

[0023] Store the line connecting the reference point and the center point of the installation interface of the pendulum saw main body as the current feed direction of the saw blade;

[0024] Store the feed direction and the normal vector of the pendulum saw blade as the pose information of the pendulum saw power tool;

[0025] Store the position information and the pose information as the pose information of the pendulum saw power tool.

[0026] Preferably, the method further includes:

[0027] According to the formula P saw =P cali +B*n feed Calculate the position of the bone cutting action area of the pendulum saw blade;

[0028] Store the position of the bone cutting action area of the pendulum saw blade as the action parameter of the pendulum saw power tool;

[0029] wherein, n feed is the feed direction, P cali is the three-dimensional coordinates of the reference point obtained by the surgical probe under the navigation tracker, B is the distance from the reference point to the end of the saw teeth of the saw blade, and P saw is the position of the bone cutting action area of the pendulum saw blade.

[0030] According to the third aspect of the present invention, there is provided a method for calibrating the pose information of a pendulum saw power tool during osteotomy surgery, including:

[0031] Before osteotomy surgery, obtain the basic parameters and action parameters of the pendulum saw power tool selected by the operator, and the basic parameters at least include: the length, width and height of the saw blade, and the pose information of the pendulum saw power tool measured according to the method described in claim 2 or 3;

[0032] According to the formula Err = ||P cali -P’ base || Calculate the deviation Err between the three-dimensional coordinates P cali of the reference point of the pendulum saw power tool under the navigation tracker and the three-dimensional coordinates P’ base of the reference point of the currently used pendulum saw power tool; wherein, the three-dimensional coordinates P cali are obtained from the measured pose information of the pendulum saw power tool;

[0033] If the deviation Err is less than the threshold, prompt the operator to continue the surgery;

[0034] If the deviation Err is greater than the threshold, prompt the operator to re-calibrate the pose information of the pendulum saw power tool, and when the operator selects re-calibration, use P obtained from the measured pose information of the pendulum saw power toolcali As the current use value P' base , recalibrate the pose information of the oscillating saw power tool according to the method of claim 2 or 3 again.

[0035] Preferably, the method further includes:

[0036] During the osteotomy surgery, place the surgical probe on the osteotomized plane, compare the position detected by the surgical probe with the position of the planned osteotomy plane. If the error between the two exceeds the preset value, it is determined that the osteotomy is incorrect, and the operator is prompted to recalibrate the pose information of the oscillating saw power tool again;

[0037] If the operator selects to recalibrate, obtain P from the pose information of the oscillating saw power tool measured cali As the current use value P' base , recalibrate the pose information of the oscillating saw power tool according to the method of claim 2 or 3 again.

[0038] According to the fourth aspect of the present invention, there is provided a pose information measuring device for an oscillating saw power tool, including:

[0039] An insertion module for inserting the tip of the surgical probe into the reference hole of the oscillating saw blade described in claim 1 until the outer edge of the surgical probe is stuck in the reference hole. At this time, the distance from the tip of the surgical probe to the working plane of the oscillating saw blade is a preset value;

[0040] A navigation module for identifying the three-dimensional coordinates of the tip of the surgical probe under the navigation tracker;

[0041] A storage module for storing the intersection point of the axis of the reference hole and the working plane of the oscillating saw blade as a reference point;

[0042] A calculation module for calculating the three-dimensional coordinates of the tip of the surgical probe under the navigation tracker, and the new coordinates after offsetting the preset value along the normal vector direction of the oscillating saw blade, and storing them as the three-dimensional coordinates of the reference point under the navigation tracker;

[0043] The storage module is further used for storing the three-dimensional coordinates of the reference point under the navigation tracker as the position information of the oscillating saw power tool;

[0044] Store the connection line between the reference point and the center point of the installation interface of the oscillating saw main body as the current cutting direction of the saw blade;

[0045] Store the cutting direction and the normal vector of the oscillating saw blade as the attitude information of the oscillating saw power tool;

[0046] Store the position information and the attitude information as the pose information of the oscillating saw power tool.

[0047] Preferably, the calculation module is further configured to calculate the position of the osteotomy action area of the oscillating saw blade according to the formula P saw =P cali +B*n feed wherein, n

[0048] The storage module is further configured to store the position of the osteotomy action area of the oscillating saw blade as the action parameter of the oscillating saw power tool;

[0049] wherein, n feed is the feed direction, P cali is the three-dimensional coordinate of the reference point obtained by the surgical probe under the navigation tracker, B is the distance from the reference point to the end of the saw teeth of the saw blade, and P saw is the position of the osteotomy action area of the oscillating saw blade.

[0050] According to a fifth aspect of the present invention, there is provided a surgical robot, comprising:

[0051] The pose information measuring device of the above-mentioned oscillating saw power tool, and, the above-mentioned oscillating saw power tool.

[0052] According to a sixth aspect of the present invention, there is provided an electronic device, comprising:

[0053] A processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0054] The memory is used for storing a computer program;

[0055] The processor is configured to implement the above-mentioned method when executing the program stored on the memory.

[0056] According to a seventh aspect of the present invention, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the above-mentioned method.

[0057] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects:

[0058] By obtaining the position of the reference point under the tracker through the reference hole opened on the oscillating saw blade, the pose information of the oscillating saw power tool is calibrated. The operation is simple, the deployment and implementation are simple, no additional hardware equipment is required, the calibration process before surgery can be greatly simplified, the calibration cost can be reduced, and the user satisfaction can be improved.

[0059] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a schematic structural diagram of a reciprocating saw blade shown according to an exemplary embodiment;

[0061] Figure 2 It is a schematic structural diagram of a reciprocating saw power tool shown according to an exemplary embodiment;

[0062] Figure 3 It is a flowchart of a method for measuring the pose information of a reciprocating saw power tool shown according to an exemplary embodiment;

[0063] Figure 4 It is a schematic diagram of a surgical probe inserted into a reference hole shown according to an exemplary embodiment;

[0064] Figure 5 It is a flowchart of a method for calibrating the pose information of a reciprocating saw power tool in an osteotomy surgery shown according to an exemplary embodiment;

[0065] Figure 6 It is a schematic block diagram of a device for measuring the pose information of a reciprocating saw power tool shown according to an exemplary embodiment;

[0066] Figure 7 It is a schematic block diagram of an electronic device shown according to an exemplary embodiment. Detailed implementation manners

[0067] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0068] As described in the background art above, in the related art, the method for calibrating the pose of a reciprocating saw power tool is complex and there is a problem of needing to add a calibrator with an attitude.

[0069] In order to effectively solve the problems in the related art, the present invention provides a reciprocating saw power tool and a method, device and surgical robot for measuring its pose information, which will be specifically described below.

[0070] It should be noted that in the following embodiments, the intersection point of the axis of the reference hole and the working plane of the reciprocating saw blade is defined as the reference point. The working plane of the reciprocating saw blade generally refers to the upper surface or the lower surface of the reciprocating saw. Just select one of them to define the working plane of the reciprocating saw blade.

[0071] Embodiment 1

[0072] Figure 2 It is a reciprocating saw power tool shown according to an exemplary embodiment. As Figure 2 shown, the reciprocating saw power tool includes:

[0073] Navigation tracker 1, pendulum saw main body 2, and pendulum saw blade 3;

[0074] The navigation tracker 1 is rigidly connected to the pendulum saw main body 2, or is respectively installed on the base and flange of the surgical robotic arm;

[0075] One end of the pendulum saw blade 3 is provided with a mounting interface for inserting into the pendulum saw main body, and the other end is formed with saw teeth, which is the osteotomy action area; a reference hole is opened on the pendulum saw blade 3, and the reference point is at a fixed value from the end of the saw teeth.

[0076] It should be noted that as Figure 4 shown, the reference hole is a through hole, and its diameter is generally designed corresponding to the size of the surgical probe, and it is required to be larger than the diameter of the probe tip to ensure the insertion of the probe. For example, it can be designed with a diameter ranging from 0.5 - 5 mm, and the preferred value is 1 mm.

[0077] The reference point is at a fixed value B (as Figure 1 shown) from the end of the saw teeth, and B can take a value of 10 mm, and the value range is 5 - 40 mm.

[0078] See Figure 1 , the length L, width W, and height H of the pendulum saw blade are known. One end of the pendulum saw blade away from the saw teeth is provided with a mounting interface ( Figure 1 the arc-shaped notch in), and the pendulum saw blade is inserted into the end of the pendulum saw main body through the mounting interface. See Figure 2 , 1 represents the navigation tracker, 2 represents the pendulum saw main body, and 3 represents the pendulum saw blade. The pendulum saw main body is provided with a navigation tracker, and their relative positions are fixed. For example, the navigation tracker is connected to the pendulum saw main body, or after the orthopedic surgical robot arm end clamps the pendulum saw main body, since the navigation tracker is fixedly arranged at the end of the orthopedic surgical robot arm, the relative fixed connection between the pendulum saw main body and the navigation tracker is indirectly realized.

[0079] See Figure 1 shown, taking Figure 1 the center of the mounting interface in as the origin, passing through the origin and parallel to the saw blade axis, the direction pointing to the saw teeth is the positive Y-axis direction, and passing through the origin and perpendicular to the working plane of the pendulum saw blade is the positive Z-axis direction, and the normal vector of the pendulum saw blade is the same as the positive Z-axis direction.

[0080] See Figure 2 , the normal vector of the pendulum saw blade is n saw , the feed direction of the pendulum saw blade is n feed , which is also the action direction of the saw blade for osteotomy.

[0081] It can be understood that for the technical solution provided in this embodiment, the position of the intersection point (i.e., the reference point) of the reference hole axis and the working plane of the oscillating saw blade is obtained through the reference hole opened on the oscillating saw blade, and then the pose information of the oscillating saw power tool is measured. Compared with the prior art technical solution that requires adding a calibrator with an attitude tracker for pose calibration, the technical solution provided in this embodiment is simple to deploy and implement, does not require adding additional hardware devices, has a simple calibration process, and has high efficiency and reliability.

[0082] Embodiment 2

[0083] Figure 3 is a flowchart of a method for measuring the pose information of an oscillating saw power tool shown according to an exemplary embodiment. As Figure 3 shown, the method includes:

[0084] Step S11: Insert the tip of the surgical probe into the reference hole of the above-mentioned oscillating saw blade until the outer edge of the surgical probe is stuck in the reference hole. At this time, the distance between the tip of the surgical probe and the working plane of the oscillating saw blade is a preset value (as Figure 4 shown, at this time, the distance between the tip of the surgical probe and the working plane of the oscillating saw blade is a preset value, and this preset value can be calculated based on the diameter of the reference hole, the diameter and taper of the tip of the surgical probe, and the thickness of the saw blade);

[0085] Step S12: The navigation system identifies the three-dimensional coordinates of the tip of the surgical probe under the navigation tracker;

[0086] Step S13: Define the intersection point of the reference hole axis and the working plane of the oscillating saw blade as the reference point;

[0087] Step S14: Calculate the new coordinates after offsetting the three-dimensional coordinates of the tip of the surgical probe under the navigation tracker by the preset value along the normal vector direction of the oscillating saw blade, and store them as the three-dimensional coordinates of the reference point under the navigation tracker;

[0088] Step S15: Store the three-dimensional coordinates of the reference point under the navigation tracker as the position information of the oscillating saw power tool;

[0089] Step S16: Store the connection line between the reference point and the center point of the installation interface of the oscillating saw main body as the current feed direction of the saw blade;

[0090] Step S17: Store the feed direction and the normal vector of the oscillating saw blade as the attitude information of the oscillating saw power tool;

[0091] Step S18: Store the position information and the attitude information as the pose information of the oscillating saw power tool.

[0092] It should be noted that the technical solution provided in this embodiment runs in the controller of a medical device (including a surgical robot) in specific practice, or is loaded and runs in an electronic device connected to the controller. The controller of the medical device executes the corresponding method by calling the program stored in this electronic device.

[0093] The navigation system includes a navigation camera and an algorithm program loaded in the controller of a medical device (including a surgical robot). It can be understood that the three-dimensional coordinates of the tip of the surgical probe under the navigation tracker are known, the normal vector of the saw blade of the oscillating saw is known, and the distance that needs to be moved along the normal vector direction is also known (the above preset value). According to the solution disclosed in the prior art, the coordinates of a new point after a point in the three-dimensional coordinates is offset by a preset distance along a preset direction can be calculated, that is, the three-dimensional coordinates of the reference point under the navigation tracker.

[0094] As a possibility, the surgical probe can be inserted into the reference hole from the upper surface or the lower surface of the saw blade of the oscillating saw. The difference is that the numerical value of the distance between the tip of the probe and the working plane of the saw blade is different.

[0095] As a possibility, when the surgical probe is inserted into the reference hole once, the navigation system of the surgical robot can be used to collect continuous multi-frame probe data. By filtering the multi-frame data, the accuracy of the navigation system in identifying the position of the reference point under the navigation tracker can be improved.

[0096] It can be understood that the technical solution provided in this embodiment obtains the position of the intersection point (i.e., the reference point) of the axis of the reference hole and the working plane of the saw blade of the oscillating saw through the reference hole opened on the saw blade of the oscillating saw, and then measures the pose information of the oscillating saw power tool. Compared with the prior art technical solution that requires adding a calibrator with an attitude tracker for pose calibration, the technical solution provided in this embodiment is simple to deploy and implement, does not require adding additional hardware devices, the calibration process is simple, and the efficiency and reliability are high.

[0097] Further, the method further includes:

[0098] According to the formula P saw =P cali +B*n feed Calculate the position of the osteotomy working area of the saw blade of the oscillating saw;

[0099] Store the position of the osteotomy working area of the saw blade of the oscillating saw as the working parameter of the oscillating saw power tool;

[0100] Wherein, n feed is the feed direction, P cali is the three-dimensional coordinates of the reference point obtained through the surgical probe under the navigation tracker, B is the distance between the reference point and the end of the saw teeth of the saw blade, P sawIt is the position of the osteotomy action area of the oscillating saw blade.

[0101] It can be understood that for the pose information measurement method of the oscillating saw power tool provided in this embodiment, the position of the reference point under the tracker is obtained through the reference holes opened on the oscillating saw blade, and then the pose information of the oscillating saw power tool is calibrated. The operation is simple, the deployment and implementation are simple, no additional hardware equipment is required, the calibration process before surgery can be greatly simplified, the calibration cost can be reduced, and user satisfaction can be improved.

[0102] Embodiment III

[0103] Figure 5 It is a flowchart of a method for calibrating the pose information of an oscillating saw power tool during an osteotomy surgery shown according to an exemplary embodiment. As Figure 5 shown, the method includes:

[0104] Step S21: Before the osteotomy surgery, obtain the basic parameters and working parameters of the oscillating saw power tool selected by the surgeon. The basic parameters at least include: the length, width, and height of the saw blade, and the pose information of the oscillating saw power tool measured according to the above method.

[0105] Step S22: Calculate the deviation Err between the three-dimensional coordinates P cali -P' base || of the reference point of the oscillating saw power tool under the navigation tracker and the three-dimensional coordinates P' Cali of the reference point of the currently used oscillating saw power tool according to the formula Err = ||P base Among them, the three-dimensional coordinates P cali are obtained from the measured pose information of the oscillating saw power tool.

[0106] Step S23: If the deviation Err is less than the threshold, prompt the surgeon to continue the surgery;

[0107] If the deviation Err is greater than the threshold, prompt the surgeon to recalibrate the pose information of the oscillating saw power tool, and when the surgeon chooses to recalibrate, use P cali obtained from the measured pose information of the oscillating saw power tool as the current use value P' base , and recalibrate the pose information of the oscillating saw power tool according to the above method.

[0108] It should be noted that the technical solution provided in this embodiment runs in the controller of medical devices (including surgical robots) in specific practice, or is loaded and runs in an electronic device connected to the controller. The controller of the medical device executes the corresponding method by calling the program stored in the electronic device.

[0109] The threshold value is set according to clinical requirements and the dimensional tolerance of the hardware, for example, set to 0.8 mm. The clinical requirement is that no clinical safety risk is triggered within this threshold value (0.8 mm is safe).

[0110] It can be understood that the method for calibrating the pose information of the oscillating saw power tool in the osteotomy surgery provided in this embodiment obtains the position of the reference point under the tracker through the reference hole opened on the oscillating saw blade, and then calibrates the pose information of the oscillating saw power tool. The operation is simple, the deployment and implementation are simple, no additional hardware equipment needs to be added, the calibration process before surgery can be greatly simplified, the calibration cost can be reduced, and the user satisfaction can be improved.

[0111] Furthermore, the method further includes:

[0112] During the osteotomy surgery, place the surgical probe on the osteotomized plane, compare the position detected by the surgical probe with the position of the planned osteotomy plane. If the error between the two exceeds the preset value, it is determined that the osteotomy is incorrect, and the surgeon is prompted to recalibrate the pose information of the oscillating saw power tool again;

[0113] If the surgeon chooses to recalibrate, obtain the P cali from the pose information of the oscillating saw power tool measured as the current use value P' base , and recalibrate the pose information of the oscillating saw power tool according to the above method again.

[0114] It should be noted that the preset value is set according to historical experience values or experimental data, for example, set to 1.5 mm. When the error exceeds 1.5 mm, it is considered that the osteotomy is incorrect.

[0115] It can be understood that for the technical solution provided in this embodiment, the surgeon calibrates the pose information of the oscillating saw power tool before surgery, and can adjust the calibration result at any time according to the osteotomy result during the surgery, ensuring the safe progress of the surgery. The calibration process is simple, with high efficiency and reliability, and improves the user experience.

[0116] Embodiment 4

[0117] Figure 6 is a schematic block diagram of a device 100 for measuring the pose information of an oscillating saw power tool shown according to an exemplary embodiment, as Figure 6 shown. The device 100 includes:

[0118] An insertion module 101, configured to insert the tip of the surgical probe into the reference hole of the oscillating saw blade described in claim 1 until the outer edge of the surgical probe is stuck in the reference hole. At this time, the distance from the tip of the surgical probe to the working plane of the oscillating saw blade is a preset value;

[0119] The navigation module 102 is used to identify the three-dimensional coordinates of the tip of the surgical probe under the navigation tracker;

[0120] The storage module 103 is used to store the intersection point of the axis of the reference hole and the plane of action of the saw blade of the oscillating saw as a reference point;

[0121] The calculation module 104 is used to calculate the new coordinates after offsetting the three-dimensional coordinates of the tip of the surgical probe under the navigation tracker by the preset value in the normal vector direction of the saw blade of the oscillating saw, and store them as the three-dimensional coordinates of the reference point under the navigation tracker;

[0122] The storage module 103 is further used to store the three-dimensional coordinates of the reference point under the navigation tracker as the position information of the oscillating saw power tool;

[0123] The connection line between the reference point and the center point of the installation interface of the oscillating saw main body is stored as the current feed direction of the saw blade;

[0124] The feed direction and the normal vector of the saw blade of the oscillating saw are stored as the attitude information of the oscillating saw power tool;

[0125] The position information and the attitude information are stored as the pose information of the oscillating saw power tool.

[0126] It should be noted that the technical solution provided in this embodiment runs in the controller of medical devices (including surgical robots) in specific practice, or is loaded and run in an electronic device connected to the controller. The controller of the medical device executes the corresponding method by calling the program stored in the electronic device.

[0127] Preferably, the calculation module is further used to calculate according to the formula P saw =P cali +B*n feed the position of the osteotomy area of the saw blade of the oscillating saw;

[0128] The storage module 103 is further used to store the position of the osteotomy area of the saw blade of the oscillating saw as the action parameter of the oscillating saw power tool;

[0129] where n feed is the feed direction, P cali is the three-dimensional coordinates of the reference point obtained through the surgical probe under the navigation tracker, B is the distance from the reference point to the end of the saw teeth of the saw blade, and P saw is the position of the osteotomy area of the saw blade of the oscillating saw.

[0130] It can be understood that for the technical solution provided in this embodiment, the position of the reference point under the tracker is obtained through the reference holes opened on the oscillating saw blade, and then the pose information of the oscillating saw power tool is calibrated. The operation is simple, the deployment and implementation are simple, no additional hardware devices need to be added, which can greatly simplify the calibration process before surgery, reduce the calibration cost, and improve user satisfaction.

[0131] Embodiment Five

[0132] Based on the same inventive concept, a surgical robot shown according to an exemplary embodiment includes:

[0133] The pose information measuring device of the above oscillating saw power tool and the above oscillating saw power tool.

[0134] It can be understood that for the technical solution provided in this embodiment, the position of the reference point under the tracker is obtained through the reference holes opened on the oscillating saw blade, and then the pose information of the oscillating saw power tool is calibrated. The operation is simple, the deployment and implementation are simple, no additional hardware devices need to be added, which can greatly simplify the calibration process before surgery, reduce the calibration cost, and improve user satisfaction.

[0135] Embodiment Six

[0136] See Figure 7 , a kind of electronic device shown according to an exemplary embodiment includes:

[0137] A processor 701, a communication interface 702, a memory 703 and a communication bus 704, wherein the processor 701, the communication interface 702 and the memory 703 complete mutual communication through the communication bus 704;

[0138] The memory 703 is used for storing computer programs;

[0139] The processor 701, when executing the program stored on the memory, implements the above method.

[0140] It can be understood that for the technical solution provided in this embodiment, the position of the reference point under the tracker is obtained through the reference holes opened on the oscillating saw blade, and then the pose information of the oscillating saw power tool is calibrated. The operation is simple, the deployment and implementation are simple, no additional hardware devices need to be added, which can greatly simplify the calibration process before surgery, reduce the calibration cost, and improve user satisfaction.

[0141] Embodiment Seven

[0142] A non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to cause a computer to execute the above method.

[0143] It can be understood that for the technical solution provided in this embodiment, the position of the reference point under the tracker is obtained through the reference hole opened on the pendulum saw blade, and then the pose information of the pendulum saw power tool is calibrated. The operation is simple, the deployment and implementation are simple, no additional hardware equipment needs to be added, which can greatly simplify the calibration process before the operation, reduce the calibration cost, and improve user satisfaction.

[0144] Certainly, those of ordinary skill in the art can understand that all or part of the processes in the above-described method embodiments can be completed by instructing relevant hardware (such as a processor, a controller, etc.) through a computer program. The program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the above-described method embodiments. The storage medium can be a memory, a magnetic disk, an optical disk, etc.

[0145] The specific embodiments of the present invention described above do not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and deformations made according to the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A reciprocating saw power tool, characterized in that, Comprising: A navigation tracker, a pendulum saw main body, and a pendulum saw blade; The navigation tracker and the pendulum saw main body are rigidly connected, or are respectively installed on the base and flange of the surgical robotic arm; One end of the pendulum saw blade is provided with a mounting interface for insertion into the pendulum saw main body, and the other end is formed with saw teeth, which is the osteotomy action area; a reference hole is formed on the pendulum saw blade, and the center point of the reference hole is at a fixed value from the end of the saw teeth.

2. A method for measuring the pose information of a reciprocating saw power tool, characterized in that, Comprising: Insert the tip of the surgical probe into the reference hole of the pendulum saw blade according to claim 1 until the outer edge of the surgical probe is stuck in the reference hole. At this time, the distance from the tip of the surgical probe to the working plane of the pendulum saw blade is a preset value; The navigation system identifies the three-dimensional coordinates of the tip of the surgical probe under the navigation tracker; Store the intersection point of the axis of the reference hole and the working plane of the pendulum saw blade as a reference point; Calculate the three-dimensional coordinates of the tip of the surgical probe under the navigation tracker, and the new coordinates after offsetting the preset value along the normal vector direction of the pendulum saw blade, and store them as the three-dimensional coordinates of the reference point under the navigation tracker; Store the three-dimensional coordinates of the reference point under the navigation tracker as the position information of the pendulum saw power tool; Store the connection line between the reference point and the center point of the mounting interface of the pendulum saw main body as the current cutting direction of the saw blade; Store the cutting direction and the normal vector of the pendulum saw blade as the attitude information of the pendulum saw power tool; Store the position information and attitude information as the pose information of the pendulum saw power tool.

3. The method according to claim 2, wherein Further comprising: According to the formula P saw = P cali + B * n feed calculate the position of the osteotomy action area of the oscillating saw blade; Store the position of the osteotomy action area of the pendulum saw blade as the action parameter of the pendulum saw power tool; where n feed is the feed direction, P cali is the three-dimensional coordinate of the reference point obtained by the surgical probe under the navigation tracker, B is the distance from the reference point to the end of the saw blade teeth, and P saw is the position of the osteotomy area of the oscillating saw blade.

4. A method for calibrating the pose information of a power saw in osteotomy surgery, characterized in that, Comprising: Before the osteotomy operation, obtain the basic parameters and action parameters of the pendulum saw power tool selected by the surgeon. The basic parameters at least include: the length, width and height of the saw blade, and the pose information of the pendulum saw power tool measured according to the method of claim 2 or 3; According to the formula Err = ||P calu - P' base ||, calculate the three-dimensional coordinates P of the reference point of the pendulum saw power tool under the navigation tracker cali and the three-dimensional coordinates P' of the reference point of the currently used pendulum saw power tool base to obtain the deviation Err therebetween; wherein, the three-dimensional coordinates P cali are obtained from the measured pose information of the pendulum saw power tool; If the deviation Err is less than the threshold value, prompt the surgeon to continue the operation; If the deviation Err is greater than the threshold value, prompt the operator to recalibrate the pose information of the oscillating saw power tool, and when the operator selects to recalibrate, obtain P from the measured pose information of the oscillating saw power tool cali as the current usage value P' base , and recalibrate the pose information of the oscillating saw power tool according to the method of claim 2 or 3 again.

5. The method according to claim 4, characterized in that Further comprising: During the osteotomy operation, place the surgical probe on the osteotomized plane, compare the position detected by the surgical probe with the position of the planned osteotomy plane. If the error between the two exceeds the preset value, it is determined that the osteotomy is incorrect, and prompt the surgeon to re-calibrate the pose information of the pendulum saw power tool; If the operator chooses to recalibrate, the P obtained from the pose information of the reciprocating saw power tool measured will be used as the current value P'. cali base Then, the pose information of the reciprocating saw power tool will be recalibrated according to the method of claim 2 or 3 again.​ 6. A posture information measuring device for a reciprocating saw power tool, characterized in that, Comprising: An insertion module for inserting the tip of the surgical probe into the reference hole of the pendulum saw blade according to claim 1 until the outer edge of the surgical probe is stuck in the reference hole. At this time, the distance from the tip of the surgical probe to the working plane of the pendulum saw blade is a preset value; A navigation module for identifying the three-dimensional coordinates of the tip of the surgical probe under the navigation tracker; A storage module for storing the intersection point of the axis of the reference hole and the working plane of the pendulum saw blade as a reference point; A calculation module for calculating the three-dimensional coordinates of the tip of the surgical probe under the navigation tracker, the new coordinates after offsetting the preset value along the normal vector direction of the pendulum saw blade, and storing them as the three-dimensional coordinates of the reference point under the navigation tracker; The storage module is further used to store the three-dimensional coordinates of the reference point under the navigation tracker as the position information of the pendulum saw power tool; Store the line connecting the reference point and the center point of the installation interface of the pendulum saw main body as the current feed direction of the saw blade; Store the feed direction and the normal vector of the pendulum saw blade as the pose information of the pendulum saw power tool; Store the position information and the pose information as the pose information of the pendulum saw power tool.

7. The measuring device according to claim 6, wherein: The calculation module is further configured to calculate the position of the osteotomy action area of the oscillating saw blade according to the formula P saw = P cali + B * n feed ​ The storage module is further configured to store the position of the bone cutting action area of the pendulum saw blade as the action parameter of the pendulum saw power tool; where n feed is the feed direction, P cali is the three-dimensional coordinate of the reference point obtained by the surgical probe under the navigation tracker, B is the distance from the reference point to the end of the saw blade teeth, and P saw is the position of the osteotomy area of the oscillating saw blade.

8. A surgical robot, characterized in that, Comprising: The pose information measuring device of the pendulum saw power tool according to claim 6 or 7, and the pendulum saw power tool according to claim 1.

9. An electronic device, characterized in that, Comprising: A processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete mutual communication through the communication bus; The memory is used for storing computer programs; The processor is configured to implement the method according to any one of claims 2 to 5 when executing the program stored on the memory.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that, The computer instructions are used to cause the computer to execute the method according to any one of claims 2 - 5.

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