Swing saw robot platform based on orthopedic surgery

Abstract

The invention discloses a swing saw robot platform based on orthopedic surgery. The robot platform is composed of a mechanical arm, a bone swing saw, a direct-current power box, a sound signal collector, a comprehensive controller, a bone-imitating panel, a bone swing saw limiting surface, a vice and a wire. When in use, the bone swing saw starts to operate under the driving of the direct-current power box, and under the restriction of the limiting surface of the bone swing saw, the bone-imitating panel is cut along with the slow downward movement of the mechanical arm. The sound signal collector collects sound signals generated in the process and transmits the sound signals to the comprehensive controller for data processing, and the comprehensive controller controls the mechanical arm and the direct-current power box according to the data processing result so as to control the behavior of the bone pendulum saw. The swing saw robot platform has the advantages of being high in information sensing capacity, complete in integrity, good in control effect and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical robots, and particularly relates to a reciprocating saw robot platform based on orthopedic surgery. Background Art

[0002] Bone cutting surgery is very common in clinical surgical operations and can be used for the treatment of diseases in the hip joint and knee joint. Usually, during these surgeries, surgeons hold an electric reciprocating saw to perform bone cutting surgery. In order to protect the tissues around the bone, doctors often need to judge the cutting depth during the cutting process and then adjust the cutting rate of the reciprocating saw. Robotic systems have high stability, fast response speed, and are not easily fatigued, and have now been widely used in various surgical fields. In the field of orthopedics, robots have been initially applied in scenarios such as hip and knee joint replacements and cervical spine surgeries. However, using orthopedic robots will weaken the surgeon's perception of the bone cutting state and the ability to directly control the surgery. Therefore, strengthening the robot's perception ability of bone cutting surgery, identifying the state of bone cutting surgery, and then controlling the behavior of the reciprocating saw have become urgent problems to be solved.

[0003] At present, scholars have conducted in-depth research on bone milling and used multi-dimensional perception to detect the state of bone milling. However, for bone cutting surgery, which is also widely used in the field of orthopedics, scholars have relatively less attention. This is mainly because the cutting process of the reciprocating saw, the surgical tool required in bone cutting surgery, is relatively complex, and the analysis of the generated sound signals, vibration signals, and force signals is more difficult. At the same time, compared with bone milling cutters, reciprocating saws are larger in size, and the signal amplitude generated during the operation process is also higher, making it more difficult to achieve automation and robotization. During the operation, the control of the reciprocating saw relies too much on the doctor's experience judgment. Once the judgment is incorrect, it may cause irreparable damage to the key tissues near the patient's bone.

[0004] Regarding the problem of potential safety hazards caused by the use of reciprocating saws during bone cutting surgery, it is necessary to invent a robot platform based on orthopedic surgery to solve the perception of the bone cutting surgery state and achieve the control of the reciprocating saw behavior, so as to ultimately eliminate the potential safety hazards during the operation and increase the safety of the operation. Summary of the Invention

[0005] The object of the present invention is to overcome the deficiencies in existing pendulum saw robot devices, solve the problems of state perception and pendulum saw control difficulties of orthopaedic pendulum saw robots, and provide a pendulum saw robot platform based on orthopaedic surgery. Signals are collected in the surgical scene by a sound signal collector, and the data is processed by a pre-set comprehensive controller to achieve perception of the surgical state. Finally, the pose of the robotic arm and the operation of the pendulum saw are adjusted according to the perceived state. This platform can effectively improve the accuracy of bone cutting surgery state recognition, and thus improve the safety of using the bone pendulum saw.

[0006] The object of the present invention is achieved by the following technical solutions:

[0007] A pendulum saw robot platform based on orthopaedic surgery, comprising a robotic arm, a bone pendulum saw, a DC power supply box, a sound signal collector, a comprehensive controller, a bone-simulating panel, a bone pendulum saw limiting surface, a vise, and a wire;

[0008] The robotic arm includes three degrees of freedom, including a horizontal movement unit arranged on the platform. A horizontal rotating shaft is also provided on the platform. The horizontal movement unit is rotatably connected to the horizontal rotating shaft, and the horizontal movement of the horizontal movement unit is realized by adjusting the rotation direction of the horizontal rotating shaft. A vertical movement unit is rotatably connected to the horizontal movement unit through a vertical rotating shaft, and the vertical movement of the vertical movement unit is realized by adjusting the rotation direction of the vertical rotating shaft. A rotating disk is rotatably installed on the vertical movement unit;

[0009] The bone pendulum saw is installed on the rotating disk. Both the bone pendulum saw and the comprehensive controller are connected to the DC power supply box through wires. The comprehensive controller is also respectively connected to the sound signal collector and the bone pendulum saw;

[0010] The sound signal collector is used to collect the sound signals generated during the operation of the bone pendulum saw and transmit them to the comprehensive controller for data processing;

[0011] The bone-simulating panel and the bone pendulum saw limiting surface are fixed on the platform by a vise. The bone-simulating panel is used to simulate the human bone to verify the surgical operation; through holes for passing the bone pendulum saw blade are provided on the bone pendulum saw limiting surface to limit the vibration of the bone pendulum saw blade in the direction perpendicular to the blade.

[0012] Further, the DC power supply box can provide a voltage of 0 - 30V and a current of 0 - 10A, meeting the normal working conditions of the bone pendulum saw; the sound signal collector is a MEMS microphone.

[0013] Furthermore, the integrated controller includes a microphone module, a motor module, a DC power source module, and a DSP chip. The microphone module is used to connect to a sound signal collector, the motor module is used to connect to the motor that drives the robotic arm to operate, the DC power source module is used to connect to a DC power supply box, and the DSP chip is used to control the normal operation of the microphone module, the motor module, and the DC power source module.

[0014] Furthermore, the integrated controller transmits the PWM signal output by the DSP chip to the robotic arm and the motor controlling the bone saw through the motor module. At the same time, it extracts the features of the collected sound signal, discriminates the surgical state with the help of a pre-trained neural network, and then outputs control instructions according to the discrimination result to control the output parameters of the DC power supply box and the actions of the robotic arm.

[0015] Furthermore, the integrated controller can perform internal processing based on the results collected by the sound signal collector and control the movement of the robotic arm and the power of the bone saw.

[0016] Furthermore, the robotic arm, the DC power supply box, and the integrated controller are designed as a modular structure to facilitate the adaptation to several different models of bone saws and system expansion.

[0017] Furthermore, the bone saw limiting surface is arranged in the movement path of the bone saw blade to reduce the vibration of the bone saw in the direction perpendicular to the blade and ensure a smooth and stable cutting process.

[0018] Furthermore, the integrated controller reserves spare motor drive and microphone module interfaces to meet the future needs of expanding other signal collection or multi-degree-of-freedom robotic arm control.

[0019] Compared with the prior art, the beneficial effects brought by the technical solution of the present invention are as follows:

[0020] 1. Improvement in real-time state perception and control accuracy: By collecting the sound signals generated during the operation of the bone saw during the surgical process with a high-performance MEMS microphone, and through the integrated controller for collection and feature processing using a pre-trained neural network, real-time monitoring and accurate judgment of the surgical cutting process stage are achieved. This solution enables the system to send a stop control signal in a timely manner when the bone saw is about to penetrate the bone-like panel, thereby significantly improving surgical safety and reducing the risks caused by doctors' subjective judgment errors.

[0021] 2. Improvement in multi-degree-of-freedom motion platform and DC power supply: The robotic arm is designed to have three degrees of freedom, ensuring precise positioning and adjustment for different cutting angles and depths during the surgical process. At the same time, by changing from a traditional solid-state battery to DC power supply, it not only expands the possibility of adapting to different models of bone saws but also realizes precise control of the cutting speed and working state of the bone saw, further improving the stability and repeatability of the cutting process.

[0022] 3. Vibration suppression and cutting smoothness assurance: By introducing the limiting surface of the bone oscillating saw and restricting the vertical vibration of the blade, the errors and instabilities caused by vibration can be effectively reduced, ensuring that the cutting operation is smoother, reducing the energy fluctuations during the operation, and playing an obvious role in improving the surgical precision and patient safety.

[0023] 4. System modular design and expandability: The design of unified control of the robotic arm, sound signal acquisition, and DC power supply box by the integrated controller makes the entire platform have a high degree of automation and portability. At the same time, the multiple reserved interfaces provide a good expansion foundation for introducing more signal acquisition methods and multi-degree-of-freedom motion adjustment functions in the future.

[0024] 5. Data-driven state discrimination mechanism: By means of the database established for the sound signals collected during the surgical process and the neural network discrimination technology, different stages during the cutting process can be identified and segmented, which is conducive to subsequent refined control and feedback mechanism design, realizing the dynamic tracking and real-time regulation of the bone cutting state.

[0025] 6. Improved control method: Based on the accumulation of certain preliminary experimental data, it can be simply deduced that there is a certain functional relationship between the amplitude of the sound signal and the depth of the bone-like panel being cut. Divide different stages during the surgical process, extract the features of the sound signals within the same stage, label them, and use them as a database for training in the neural network. Then the platform will identify the surgical stage according to the collected sound signals, and finally control the behavior of the bone oscillating saw through the integrated controller.

[0026] In summary, through the above technical solutions, the present invention significantly improves the state monitoring and feedback control capabilities during the bone cutting surgery, reducing the safety hazards caused by the instability of traditional manual operations; at the same time, its modular design and good expandability lay a foundation for subsequent system upgrades and diverse adaptations, ensuring that the overall system has outstanding technical advantages in improving surgical safety, precision, and operation stability. Description of the Drawings

[0027] Figure 1 is the system block diagram of the oscillating saw robot platform based on orthopedic surgery;

[0028] Figure 2 is the structural schematic diagram of the oscillating saw robot based on orthopedic surgery;

[0029] Figure 3 is the structural schematic diagram of the robotic arm of the platform of the present invention;

[0030] Figure 4 is the structural schematic diagram of the bone oscillating saw used in the platform of the present invention;

[0031] Figure 5 It is a schematic structural diagram of the integrated controller of the platform of the present invention;

[0032] Figure 6 It is a schematic structural diagram of the DC power supply box of the platform of the present invention;

[0033] Figure 7 It is a schematic structural diagram of the sound signal collector involved in the platform of the present invention;

[0034] Figure 8 It is a time-domain diagram of the sound signal collected by the platform of the present invention.

[0035] Reference numerals: 1 is a robotic arm, 1-1 is a horizontal moving unit, 1-2 is a vertical rotating shaft, 1-3 is a vertical moving unit, 1-4 is a rotating disk, 1-5 is a horizontal rotating shaft; 2 is a bone oscillating saw, 2-1 is a bone oscillating saw blade, 2-2 is a power supply base; 3 is a DC unit box, 3-1 is a data display screen, 3-2 is an operation knob, 3-3 is a power supply interface, 3-4 is a power switch, 3-5 is an operation button; 4 is a sound signal collector, 4-1 is a MEMS microphone, 4-2 is an RS232 interface, 4-3 is a female pin; 5 is a vise; 6 is an artificial bone panel; 7 is a bone oscillating saw limiting surface; 8 is an integrated controller, 8-1 is a DSP chip, 8-2 is a microphone module, 8-3 is a motor drive module, 8-4 is a DC power source module; 9 is a vise, 10 is a wire. Specific embodiments

[0036] The present invention will be further described in detail below with reference to the accompanying drawings and specific 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.

[0037] This embodiment provides a pendulum saw robot platform based on orthopedic surgery. This experimental platform mainly consists of a robotic arm 1, a bone pendulum saw 2, a DC power supply box 3, a sound signal collector 4, a comprehensive controller 8, a simulated bone panel 6, a bone pendulum saw limiting surface 7, etc. Among them, the surgical tool bone pendulum saw 2 is fixed on the robotic arm 1, and pose adjustment with three degrees of freedom is provided. When the platform is in use, the DC power supply box 3 turns on the switch, and the bone pendulum saw 2 starts to swing accordingly. At this time, the robotic arm 1 will slowly move downward from top to bottom. When the bone pendulum saw 2 touches the simulated bone panel 6, the bone cutting surgery is officially started. At this time, the sound signal collector 4 will collect the sound signals generated during the surgery. And it will be transmitted to the DSP chip 8-1 through the microphone module 8-2 of the comprehensive controller 8 for processing. The DSP chip 8-1 judges the current surgical stage according to the characteristics of the signal. When it judges that the bone pendulum saw 2 is about to penetrate the simulated bone panel 6, it will stop sending PWM waves and specific instructions to control the motor and the DC power supply box to stop operating, thereby achieving the purpose of improving surgical safety. The comprehensive controller 8 of this experimental platform reserves various interfaces such as redundant motor drive interfaces and microphone module interfaces, so that the system can serve robotic arms with more degrees of freedom and systems based on other signal collections. The overall structural block diagram of the system operation is as Figure 1 .

[0038] See Figure 2 , a pendulum saw robot platform provided in this embodiment for orthopedic surgery includes a robotic arm 1, a set of bone pendulum saws 2, a DC power supply box 3, a comprehensive controller 8, a sound signal collector 4, vises 5, 9, a simulated bone panel 6, a bone pendulum saw limiting surface 7, and several wires 10 to connect each part. The two vises 5 and 9 are respectively used to fix the simulated bone panel 6 and the bone pendulum saw limiting surface 7. The bone pendulum saw limiting surface 7 is mainly used to reduce the vibration of the bone pendulum saw in the direction perpendicular to the bone pendulum saw blade 2-1 (see Figure 4 ), so that the cutting task of the bone pendulum saw can be completed more stably and smoothly.

[0039] See Figure 3 , the robotic arm 1 provides three degrees of freedom for movement. The horizontal movement unit 1-1 will move left and right along the horizontal rotating shaft 1-5, and the vertical movement unit 1-3 will move up and down along the vertical rotating shaft 1-2. The rotating disk 1-4 can be used to fix devices and adjust the angles of devices. Before the bone cutting surgery starts, the horizontal movement unit 1-1 will be adjusted first to move it directly above the surgical site, and at the same time, the rotating disk 1-4 will be adjusted to find the appropriate cutting angle. When the surgery starts, the vertical movement unit 1-3 will slowly descend until it touches the surgical site (in this embodiment, the surgical site is replaced by the simulated bone panel 6, see Figure 2 ).

[0040] See Figure 4, the bone oscillating saw 2 mainly has a blade 2-1 to cut the bone-like panel 6, and at the same time, the power supply base 2-2 is used to connect to the DC power supply box 3 to provide power for the bone oscillating saw 2.

[0041] See Figure 5 , in the integrated controller 8, there is a DSP chip 8-1, which is mainly responsible for sending PWM wave signals to the robotic arm 1, and then making the bone oscillating saw 2 slowly descend to cut the bone-like panel 6 through the motor drive module 8-3. At the same time, the sound signal collected by the sound signal collector 4 will be transmitted to the DSP chip 8-1 through the microphone module 8-2 for data processing. The DSP chip 8-1 will control the behavior of the DC power supply box 3 and the robotic arm 1 according to the results of data processing through the DC power source module 8-4 and the motor drive module 8-3.

[0042] See Figure 6 , in the DC power supply box 3, there is mainly a data display screen 3-1 to display the specific values of the power supply voltage and the power supply current. The operation knob 3-2 and the operation button 3-5 are used to adjust the power supply voltage and the power supply current to meet the conditions required for the operation of the bone oscillating saw. The power supply interface 3-3 is used to connect to the bone oscillating saw 2, and the power switch 3-4 is used to control the opening and closing of the DC power supply box 3.

[0043] See Figure 7 , in the sound signal collector 4, the MEMS microphone 4-1 is used to collect the sound signals generated during the bone cutting operation. The female pin socket 4-3 is used to connect to the MEMS microphone 4-1 to enable it to function. The RS232 interface 4-2 is used to connect to the integrated controller 8 to transmit the collected sound signals for data processing.

[0044] The sound signal image collected during the bone cutting operation in this implementation is as Figure 8 shown. By calibrating the surgical stage where the sound signal is located, the specific features of each different stage can be effectively extracted. Finally, based on these specific features, they are fed into the neural network for training, and the trained neural network is deployed into the DSP chip 8-1 (see Figure 5 ). When this experimental platform starts to be used, the sound signal collector 4 starts to collect the sound signals generated during the operation and transmits them as input to the DSP chip 8-1 through the wire 10 for processing. The DSP chip 8-1 controls the behavior of the robotic arm 1 and the DC power supply box 3 according to the output results of the neural network, and timely stops the operation of the robotic arm 1 and the bone oscillating saw 2, ultimately achieving the purpose of improving the safety of the bone cutting operation.

[0045] The present invention is not limited to the embodiments described above. The above description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention. The above specific embodiments are merely illustrative and not restrictive. Without departing from the spirit of the present invention and the scope protected by the claims, those of ordinary skill in the art can make many specific transformations in various forms under the inspiration of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. An oscillating saw robot platform based on orthopedic surgery, characterized in that It includes a robotic arm, a bone oscillating saw, a DC power supply box, a sound signal collector, a comprehensive controller, a bone-simulating panel, a bone oscillating saw limiting surface, a vise, and wires; The robotic arm has three degrees of freedom, including a horizontal movement unit disposed on a platform. A horizontal rotating shaft is also provided on the platform. The horizontal movement unit is rotatably connected to the horizontal rotating shaft. By adjusting the rotation direction of the horizontal rotating shaft, the horizontal movement of the horizontal movement unit is achieved. A vertical movement unit is rotatably connected to the horizontal movement unit through a vertical rotating shaft. By adjusting the rotation direction of the vertical rotating shaft, the vertical movement of the vertical movement unit is achieved. A rotating disk is rotatably installed on the vertical movement unit; The bone oscillating saw is installed on the rotating disk. Both the bone oscillating saw and the comprehensive controller are connected to the DC power supply box through wires. The comprehensive controller is also respectively connected to the sound signal collector and the bone oscillating saw; The sound signal collector is used to collect the sound signals generated during the operation of the bone oscillating saw and transmit them to the comprehensive controller for data processing; The bone-simulating panel and the bone oscillating saw limiting surface are fixed on the platform by a vise. The bone-simulating panel is used to simulate the human bone to achieve surgical operation verification; a through hole for passing the bone oscillating saw blade is provided on the bone oscillating saw limiting surface to limit the vibration of the bone oscillating saw blade in the direction perpendicular to the blade.

2. The swing saw robot platform based on orthopedic surgery according to claim 1, characterized in that, The DC power supply box can provide a voltage of 0 - 30V and a current of 0 - 10A, meeting the normal working conditions of the bone oscillating saw; the sound signal collector is a MEMS microphone.

3. The sawing robot platform based on orthopedic surgery according to claim 1, wherein The comprehensive controller includes a microphone module, a motor module, a DC power source module, and a DSP chip; among them, the microphone module is used to connect the sound signal collector, the motor module is used to connect the motor driving the operation of the robotic arm, the DC power source module is used to connect the DC power supply box, and the DSP chip is used to control the normal operation of the microphone module, the motor module, and the DC power source module.

4. The sawing robot platform based on orthopedic surgery according to claim 1 or 3, characterized in that, The comprehensive controller transmits the PWM signal output by the DSP chip to the motors of the robotic arm and the bone oscillating saw through the motor module. At the same time, it extracts the features of the collected sound signals, discriminates the surgical state with the help of a pre-trained neural network, and then outputs control instructions according to the discrimination results to control the output parameters of the DC power supply box and the actions of the robotic arm.

5. The swing saw robot platform based on orthopedic surgery according to claim 1, wherein, The comprehensive controller can perform internal processing according to the results collected by the sound signal collector and control the movement of the robotic arm and the power of the bone oscillating saw.

6. The sawing robot platform based on orthopedic surgery according to claim 1, wherein The robotic arm, the DC power supply box, and the comprehensive controller are designed as modular structures to achieve the adaptation of several different models of bone oscillating saws and system expansion.

7. The swing saw robot platform based on orthopedic surgery according to claim 1, characterized in that, The bone oscillating saw limiting surface is disposed in the movement path of the bone oscillating saw blade to reduce the vibration of the bone oscillating saw in the direction perpendicular to the blade and ensure a smooth and stable cutting process.

8. The sawing robot platform based on orthopedic surgery according to claim 1, wherein, The comprehensive controller reserves redundant motor drive and microphone module interfaces to meet the future needs of expanding other signal acquisitions or multi-degree-of-freedom robotic arm control.

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