Human-shaped orthopedic surgery robot and control system thereof

Abstract

The invention discloses a humanoid orthopedic surgical robot and a control system thereof, and relates to the technical field of surgical robots. The humanoid orthopedic surgery robot and the control system thereof comprise a robot upper body and a moving part arranged at the bottom of the robot upper body, a robot head is arranged at the top of the robot upper body, functional arms are arranged on the two sides of the robot upper body, and a moving wheel set is arranged at the bottom of the moving part. An auxiliary supporting assembly is arranged on the moving part and staggered with the moving wheel set. The robot can be flexibly moved and stably supported, meanwhile, the robot is provided with a mechanical arm to assist manual operation, the robot is further integrated with an illuminating lamp, a binocular stereoscopic vision camera, a touch display screen, a voice module and the like, meanwhile, the head turning and pitching functions are provided for the head, free tracking illumination and shooting can be achieved, and the robot is further integrated with a voice interaction system. And a storage space and a tool storage space are additionally arranged, so that medical staff can take and use the tool conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and particularly to a humanoid orthopedic surgical robot and its control system. Background Art

[0002] With the development of orthopedic surgery towards precision and minimally invasive directions, traditional orthopedic robot systems have gradually exposed problems such as scattered functional modules, low human-machine collaboration efficiency, and insufficient operation flexibility. Most existing orthopedic robots adopt a design with a robotic arm separated from the navigation system, relying on preoperative images and static positioning during surgery, and it is difficult to respond to complex surgical scenarios in real time. In addition, problems such as the dependence on manual adjustment for surgical field illumination, the lack of voice interaction function, and the single end effector limit the surgical efficiency and safety, and also restrict the application of robots, artificial intelligence, etc. in orthopedic surgery. Therefore, there is an urgent need for a new type of robot system that integrates bionic design, has multi-modal interaction capabilities, and can autonomously adapt to diverse orthopedic surgery requirements. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the present invention provides a humanoid orthopedic surgical robot and its control system, which solves the problems of traditional orthopedic robots.

[0004] To achieve the above objectives, the present invention is realized through the following technical solutions: A humanoid orthopedic surgical robot includes an upper body of the robot and a moving part provided at its bottom. A robot head is provided at the top of the upper body of the robot. Functional arms are provided on both sides of the upper body of the robot. A set of moving wheels is provided at the bottom of the moving part, and the set of moving wheels is composed of a pair of large-sized wheel sets responsible for driving movement and a pair of small-sized wheel sets for longitudinal elastic support; An auxiliary support assembly is provided on the moving part in a staggered manner with respect to the set of moving wheels, and the auxiliary support assembly adopts a swing-type structure, which expands around to support during use and rotates and retracts during retraction; A storage space is provided inside the upper body of the robot for classifying and storing consumables, and a box door is provided outside the storage space. The functional arms are respectively an operating robotic arm on one side and a surgical arm on the other side. Different surgical tools are installed on the surgical arm, and a function for switching surgical tools is provided. The execution end of the operating robotic arm is a manipulator for clamping surgical instruments; The robot head supports horizontal rotation and pitching rotation. The robot head integrates display, voice interaction, illumination, and camera functions. The robot head captures the operation position of the operating robotic arm through the camera function and controls the rotation of the robot head through a program to perform tracking illumination.

[0005] Preferably, the moving part includes a moving bottom box and a bottom plate bolted to the bottom thereof. The moving wheel set includes driving wheels penetrating through opposite sides of the bottom plate, and the driving wheels are driven by a driving motor installed on the top of the bottom plate. Guide frames are arranged on the other two sides of the driving wheels. The moving wheel set further includes a wheel frame slidably connected inside the guide frames. An auxiliary wheel is rotatably connected to the bottom of the wheel frame. An elastic member is arranged on the top of the wheel frame, and the top of the elastic member abuts against the inner side of the moving bottom box to press down the wheel frame. Limiting bolts are threadedly connected to both sides of the wheel frame, and limiting grooves adapted to the limiting bolts are formed on both sides of the guide frames.

[0006] Preferably, the auxiliary support assembly includes a support telescopic cylinder. The top end of the support telescopic cylinder is rotatably connected to a spacer sleeve on the inner walls of the four sides of the moving bottom box. The bottom end of the support telescopic cylinder is fixedly connected to a support block. A support wheel is rotatably connected to the bottom of the support block. The axis of the support wheel is located on the side where the axis of the support telescopic cylinder faces the outside of the moving bottom box. A protruding portion is provided on the side of the bottom of the support block away from the support wheel and is provided with an anti-slip groove. When the support telescopic cylinder extends, the bottom end of the support telescopic cylinder is guided to deflect outward by the eccentrically arranged support wheel to unfold, and the ground is supported by the anti-slip groove.

[0007] Preferably, the robot head includes a rotating frame driven by a horizontal motor built into the top of the robot upper body. The head is rotatably connected inside the rotating frame, and the head is driven to rotate in a pitching motion by a pitching motor on one side of the rotating frame. An illuminating lamp, a voice module, a binocular stereo vision camera, and a touch display screen are sequentially arranged on the front of the head from top to bottom.

[0008] Preferably, the surgical arm includes a multi-axis robotic arm and a driving motor installed at the end thereof. The output end of the driving motor is connected to a tool assembly, and the driving motor is used to drive the angle of the tool assembly to switch different tools.

[0009] Preferably, the tool assembly includes an arm cylinder. Three sliding seats penetrate and slide on the side of the arm cylinder. A reciprocating saw, a drill, and a grinding drill are respectively installed outside the three sliding seats. Three telescopic push rods are fixedly connected inside the arm cylinder, and each telescopic push rod is connected to a sliding seat. An end cover is fixedly connected to the end of the arm cylinder by bolts. A through groove adapted to the sliding seat is formed on the side of the arm cylinder. A partition plate is arranged inside the arm cylinder and on the side of the through groove close to the upper arm to fix the telescopic push rods and isolate dust.

[0010] Preferably, three sockets are provided on the outside of the arm tube, branch electrodes are installed in the sockets, the outer ends of the branch electrodes are connected to the oscillating saw, electric drill and grinding drill through three wires, a main electrode is fixed to one end of the arm tube, the center of the main electrode is fixedly connected to the driving motor through an insulating sleeve, the top of the main electrode is connected to the three branch electrodes through three wires, and three circles of annular electrodes are provided on the side of the lower half of the main electrode, which are respectively connected to the three wires, and the three circles of annular electrodes are connected to different circuits to respectively control the oscillating saw, electric drill and grinding drill.

[0011] The present invention also discloses a control system of a humanoid orthopedic surgical robot, comprising: Bionic integrated perception and interaction system, including: Visual imaging module: Based on binocular stereo vision cameras, it uses deep learning algorithms to capture surgical markers in real time, build a three-dimensional surgical field model, and dynamically bind it to the motion trajectory of the operating robot arm for precise spatial positioning; Active lighting module: Based on lighting, it has built-in ray tracing sensors and adaptive adjustment algorithms to automatically adjust the lighting angle, brightness and color temperature according to the depth of the surgical field, tissue reflectivity and instrument position to ensure that the surgical area is clearly visible; Voice interaction module: Based on the voice module, voice is sent and received, and the operator's instructions are received through the noise reduction microphone array, and parsed into executable operation commands through natural language processing; feedback instructions are generated in combination with the surgical stage and safety rules, and are broadcast in real time through the speaker or the operator's headphones, forming an "ear-mouth" closed-loop interaction system; A multifunctional modular robotic arm system that controls the manipulator to grip and move tools, with built-in mechanical sensors to provide feedback on the actuator force and dynamically avoid key anatomical structures based on visual feedback; Bionic movement and stability control system: Navigation and drive control are performed through the built-in navigation module. During the operation, the robot moves autonomously to the required position according to the operating range of the robot arm, and controls the auxiliary support components for hydraulic auxiliary support. Emergency displacement: supports the operator's voice command to trigger rapid displacement; Intelligent central decision-making and collaborative control system, including: Multi-source information fusion module: real-time fusion of visual data, voice commands and force feedback signals to generate the robot arm motion path and safety boundary; Safety boundary monitoring: Real-time monitoring of the robot arm's motion trajectory and safety boundary.

[0012] Preferably, before the oscillating saw, electric drill and grinding drill work, the ends of the saw blade of the oscillating saw and the drill bits of the electric drill and grinding drill are identified through image processing, and coordinates are established for marking and tracking.

[0013] The present invention provides a humanoid orthopedic surgical robot and its control system. Compared with the prior art, it has the following beneficial effects: 1. This humanoid orthopedic surgical robot can move flexibly and provide stable support. At the same time, it has a robotic arm to assist manual surgical operations. The robot is also integrated with an illuminating lamp, a binocular stereo vision camera, a touch display screen, a voice module, etc. At the same time, it provides the function of turning the head and pitching for the head, can freely track illumination and shooting, and also integrates a voice interaction system, which is convenient for doctors to input instructions for operation. In addition, a storage space and a tool storage space are provided, which are convenient for medical staff to access; the combination of multiple functions provides convenience for doctors' surgical work.

[0014] 2. This humanoid orthopedic surgical robot is driven by large-sized drive wheels on both sides, and auxiliary wheels that can be longitudinally elastically telescoped are arranged on the front and rear sides, which can provide auxiliary stability and can also pass well on uneven ground, automatically move to the most suitable surgical position, ensure the attitude adjustment and position accuracy during surgical operations, and thus adapt to changing surgical environments; at the same time, by using the auxiliary support component, during the operation, the support telescopic cylinder is extended and unfolded for support, so that the robot has strong stability and ensures the accuracy of the robotic arm operation.

[0015] 3. This humanoid orthopedic surgical robot integrates a reciprocating saw, an electric drill, and a burr on the robot arm, can perform three different surgical operations, and can separately control the elongation and contraction of the reciprocating saw, the electric drill, and the burr. Furthermore, the tools that need to be used can be independently extended, and the end of the tool can be located by means of visual image recognition. Combining the control of the elongation amount and the angle, the accurate positioning of the tool can be realized, and thus the accuracy of the surgical operation is ensured.

[0016] 4. The control system of this humanoid orthopedic surgical robot eliminates the collaborative error of multiple devices through multi-modal perception fusion and natural language interaction closed-loop, realizes a three-dimensional reconstruction accuracy ≤ 0.3 mm and a voice command parsing delay ≤ 200 ms, and significantly improves the intraoperative real-time response and decision-making ability. Based on the impedance control model, force control-position hybrid control is realized. By dynamically adjusting the inertia, damping, and stiffness matrices, the robotic arm has both high positioning accuracy and compliant interaction ability, avoiding tissue damage caused by excessive force application. At the same time, combined with collision detection and emergency stop, the surgical risk is greatly reduced. Through multi-source information fusion and MPC path planning, cross-modal association of visual, voice, and force feedback data and optimal trajectory generation are realized. Combining the functions of autonomous movement and emergency obstacle avoidance, the surgical efficiency and safety are significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the internal structure of the moving part of the present invention; Figure 3 Schematic diagram of the auxiliary support component of the present invention; Figure 4 Partial structural schematic diagram of the mobile wheel set of the present invention; Figure 5 Three-dimensional view of the partial structure of the surgical arm of the present invention; Figure 6 Internal structural schematic diagram of the partial structure of the surgical arm of the present invention; Figure 7 System module block diagram of the present invention.

[0018] In the figure: 1 - upper body of the robot, 11 - box door; 2 - moving part, 21 - moving bottom box, 22 - bottom plate, 23 - driving wheel, 24 - driving motor, 25 - guiding frame, 26 - wheel frame, 27 - auxiliary wheel, 28 - elastic member, 29 - limit bolt, 210 - limit groove, 211 - supporting telescopic cylinder, 212 - isolation sleeve, 213 - supporting block, 214 - supporting wheel, 215 - anti-slip groove; 3 - robot head, 31 - rotating frame, 32 - head, 33 - pitching motor, 34 - lighting lamp, 35 - binocular stereo vision camera, 36 - touch display screen, 37 - voice module; 4 - operating robotic arm; 5 - surgical arm, 51 - driving motor, 52 - arm cylinder, 53 - sliding seat, 54 - saw, 55 - electric drill, 56 - grinding drill, 57 - telescopic push rod, 58 - end cap, 59 - through groove, 510 - socket, 511 - branch electrode, 512 - main electrode. Specific embodiments

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0020] Refer to Figures 1-6 , the present invention discloses a humanoid orthopedic surgical robot, including the upper body 1 of the robot and the moving part 2 arranged at the bottom thereof. The top of the upper body 1 of the robot is provided with a robot head 3. Function arms are arranged on both sides of the upper body 1 of the robot. The bottom of the moving part 2 is provided with a mobile wheel set, and the mobile wheel set is composed of a pair of large-size wheel sets responsible for driving the movement and a pair of small-size wheel sets for longitudinal elastic support; An auxiliary support assembly is arranged on the moving part 2 in a position offset from the moving wheel set. The auxiliary support assembly adopts a swing structure. When in use, it expands around to support, and rotates and retracts when retracted. A storage space is provided inside the upper body 1 of the robot for storing consumables in categories. A box door 11 is provided outside the storage space. The functional arms are the operating manipulator 4 on one side and the surgical arm 5 on the other side respectively. Different surgical tools are installed on the surgical arm 5, and a function of switching surgical tools is provided. The execution end of the operating manipulator arm 4 is a manipulator for clamping surgical instruments. The manipulator is a component of an existing robot and is prior art, and is held by pneumatic drive. The robot head 3 supports horizontal rotation and pitching rotation. The robot head 3 integrates functions of display, voice interaction, lighting and imaging. The robot head 3 captures the operation position of the operating manipulator 4 through the imaging function and controls the rotation of the robot head 3 through a program to perform tracking lighting. The robot head 3 includes a rotating frame 31 driven by a horizontal motor built in the top of the robot upper body 1. The inner side of the rotating frame 31 is rotatably connected with the head 32, and the head 32 is driven to rotate in pitch by a pitching motor 33 on one side of the rotating frame 31. From top to bottom on the front of the head 32, a lighting lamp 34, a voice module 37, a binocular stereo vision camera 35, and a touch display screen 36 are arranged in sequence.

[0021] This surgical robot can move flexibly and perform stable support. At the same time, it has manipulator arms to assist artificial surgical operations. The robot also integrates components such as a lighting lamp 34, a binocular stereo vision camera 35, a touch display screen 36 and a voice module 37. At the same time, it provides functions of turning the head and pitching for the head 32, can freely track lighting and take pictures, and also integrates a voice interaction system, which is convenient for doctors to input instructions for operation. In addition, a storage space and a tool storage space are provided, which are convenient for medical staff to access. The combination of multiple functions provides convenience for doctors' surgical work.

[0022] In this embodiment, the moving part 2 includes a moving bottom box 21 and a bottom plate 22 installed on its bottom through bolts. The moving wheel set includes driving wheels 23 penetrating through opposite sides of the bottom plate 22, and the driving wheels 23 are driven by a driving motor 24 installed on the top of the bottom plate 22. Guide frames 25 are arranged on the other two sides of the driving wheels 23. The moving wheel set further includes a wheel frame 26 slidably connected inside the guide frames 25. An auxiliary wheel 27 is rotatably connected to the bottom of the wheel frame 26. A resilient member 28 is arranged on the top of the wheel frame 26. The resilient member 28 is a spring. The top of the resilient member 28 abuts against the inside of the moving bottom box 21 to press down the wheel frame 26. Limit bolts 29 are threadedly connected to both sides of the wheel frame 26, and limit grooves 210 adapted to the limit bolts 29 are formed on both sides of the guide frames 25. The limit bolts 29 can prevent the wheel frame 26 from completely falling off from the bottom.

[0023] The auxiliary support assembly includes a support telescopic cylinder 211. The support telescopic cylinder 211 is a hydraulic cylinder. The top end of the support telescopic cylinder 211 is rotatably connected to the isolation sleeves 212 on the four sides of the inner wall of the moving bottom box 21. Magnets are arranged inside the isolation sleeves 212 to magnetically attract the support telescopic cylinder 211 to prevent it from swinging randomly during movement. The bottom end of the support telescopic cylinder 211 is fixedly connected with a support block 213. A support wheel 214 is rotatably connected to the bottom of the support block 213. The axis of the support wheel 214 is located on the side where the axis of the support telescopic cylinder 211 faces the outside of the moving bottom box 21. One side of the bottom of the support block 213 away from the support wheel 214 protrudes and is provided with an anti-slip groove 215. A rubber pad or the like can be arranged at the anti-slip groove 215 to increase the friction. When the support telescopic cylinder 211 extends, the bottom end of the support telescopic cylinder 211 is guided by the eccentrically arranged support wheel 214 to deflect outward to unfold, and the ground is supported by the anti-slip groove 215.

[0024] The driving motor 24 is driven by a program control to drive the driving wheel 23 to rotate, which can drive the robot to move. When stable support is required, the support telescopic cylinder 211 is driven to extend, and the support block 213 is pressed down. When the support wheel 214 is pressed down to the ground, since its axis deviates from the axis of the telescopic cylinder 211 to the outside, the support wheel 214 will roll outward, causing the whole support telescopic cylinder 211 to swing until it is blocked by the side wall of the moving bottom box 21 and cannot rotate. At this time, the anti-slip groove 215 of the support wheel 214 will contact the ground for stable support.

[0025] The driving is carried out by setting large-sized driving wheels 23 on both sides, and auxiliary wheels 27 that can perform longitudinal elastic expansion and contraction are arranged on the front and rear sides, which can provide auxiliary stability and can also pass well on uneven ground, automatically moving to the most suitable surgical position to ensure the posture adjustment and position accuracy during the surgical operation, so as to adapt to the changing surgical environment. At the same time, by using the auxiliary support assembly, during the operation, the support telescopic cylinder 211 is extended and unfolded for support, making the robot have strong stability and ensuring the accuracy of the manipulator operation. After contraction, it can automatically fit and hide inside the moving bottom box 21, which is more beautiful and will not cause obstruction due to protrusion.

[0026] In this embodiment, the surgical arm 5 includes a multi-axis robotic arm and a driving motor 51 mounted at its end. The output end of the driving motor 51 is connected to the tool assembly. The driving motor 51 is used to drive the angle of the tool assembly to switch different tools. The tool assembly includes an arm cylinder 52. Three sliding seats 53 penetrate and slide through the side of the arm cylinder 52. A saw 54, a drill 55, and a burr 56 are respectively installed outside the three sliding seats 53. The saw 54, the drill 55, and the burr 56 can be detached for disinfection. Three telescopic push rods 57 are fixedly connected inside the arm cylinder 52, and the three telescopic push rods 57 are respectively connected to a sliding seat 53. The end of the arm cylinder 52 is fixedly connected with an end cover 58 by bolts. A through groove 59 adapted to the sliding seat 53 is formed on the side of the arm cylinder 52. A partition is arranged inside the arm cylinder 52 and on the side of the through groove 59 close to the upper arm to fix the telescopic push rod 57 and isolate dust. Three sockets 510 are also arranged outside the arm cylinder 52. A branch electrode 511 is installed in the socket 510. The outer end of the branch electrode 511 is connected to the saw 54, the drill 55, and the burr 56 through three wires. A main electrode 512 is fixed at one end of the arm cylinder 52. The center of the main electrode 512 is fixedly connected to the driving motor 51 through an insulating sleeve. The top of the main electrode 512 is connected to the three branch electrodes 511 through three wires. Three circular electrodes are arranged on the lower half side of the main electrode 512 and are respectively connected to the three wires. The three circular electrodes are connected to different circuits to respectively control the saw 54, the drill 55, and the burr 56.

[0027] By integrating the saw 54, the drill 55, and the burr 56 on the robotic arm, three different surgical operations can be performed, and the elongation and contraction of the saw 54, the drill 55, and the burr 56 can be respectively controlled. Furthermore, the tool that needs to be used can be independently extended. The end of the tool can be positioned by means of visual image recognition. Combining the control of the elongation amount and the angle, the accurate positioning of the tool can be realized, and the accuracy of the surgical operation is guaranteed.

[0028] Refer to Figure 7 , the present invention also discloses a control system for a humanoid orthopedic surgical robot, including: 1. Bionic integrated perception and interaction system, which eliminates the traditional multi-device cooperation error and improves the intraoperative real-time response and decision-making ability through multi-modal perception fusion and natural language interaction closed-loop. Specifically, it includes: 1.1 Visual imaging module: Based on a binocular stereo vision camera 35 with a baseline length b = 120 mm and a resolution of 1920×1080@60fps for shooting, using structured light encoding pattern decoding, and adopting a deep learning algorithm for point cloud registration to capture surgical markers in real time, construct a three-dimensional surgical field model, and dynamically bind it to the motion trajectory of the operating robotic arm for accurate spatial positioning; Parallax map generation formula: D(x, y)= [C SGM(x, y, d) + λ·C struct (x, y, d)]; where C SGM is the SGM cost function; C struct is the structured light phase matching cost; λ is the weight coefficient with a default value of 0.8; x and y represent the column coordinate (horizontal direction) and row coordinate (vertical direction) of the pixel in the image, used to locate a specific pixel point in the image; d represents the disparity value, that is, the horizontal coordinate difference of the same scene point in the left view and the right view. The calculation formula for the disparity value is: d = x 左 − x 右 , where: x 左 is the column coordinate of this point in the left view, x 右 is the column coordinate of this point in the right view. The disparity value d is in pixel units, reflecting the position difference of the scene point in the horizontal direction, and is inversely proportional to the depth distance of the scene point to the camera; Performance indicators: 3D reconstruction accuracy ≤ 0.3 mm, latency ≤ 50 ms, support for the dynamic update frequency of the surgical field ≥ 10 Hz; 1.2 Active illumination module: Based on the illumination of the 34LED ring light source with adjustable color temperature of 2700K - 6500K + the light tracing sensor with a sampling rate of 1 kHz, and built - in light tracing sensor and adaptive adjustment algorithm, automatically adjust the illumination angle, brightness and color temperature according to the surgical field depth, tissue reflectivity and instrument position to ensure that the surgical area is clearly visible; The adaptive adjustment algorithm dynamically adjusts the illumination parameters based on the light transport equation Render Equation and the reinforcement learning PPO algorithm. The objective function for optimizing the target light distribution is: [α·MSE(I obs , I target ) + β·Entropy(I obs )]; where I target is the actual observed light intensity, I target is the target light distribution generated by the tissue reflectivity model, and α = 0.7, β = 0.3 are the weight coefficients; Real - time control: Drive the LED light source through the PID controller with proportional gain Kp = 0.8, integral gain Ki = 0.1, and derivative gain Kd = 0.05, and the response time ≤ 30 ms; 1.3 Voice interaction module: It transmits and receives voices based on the voice module 37, receives the operator's instructions through the noise-canceling microphone array, and parses them into executable operation commands through natural language processing; combines the surgical stage and safety rules to generate feedback instructions, and broadcasts them in real time through the speaker or the operator's earphone to form an "ear-mouth" closed-loop interaction system, reducing the risks of operation interruption and human misjudgment; Noise reduction and instruction parsing: High-precision voice recognition is achieved based on the beamforming algorithm MVDR - Minimum Variance Distortionless Response and the pre-trained language model Whisper-Large-V3. The beamforming weight calculation formula is: w opt = ; where R is the noise covariance matrix and d is the target direction steering vector; Natural language processing: Generates executable commands through the instruction parsing tree Syntax Tree and the surgical rule library such as "osteotomy depth ≥ 5mm requires secondary confirmation", and the feedback instruction generation delay ≤ 200ms; 2. Multifunctional modular robotic arm system, used to control the operation robotic arm 4, preferably a 7-degree-of-freedom serial robotic arm, with a repeat positioning accuracy of ±0.02mm for tool clamping and moving operations, and built-in mechanical sensors to feedback the force on the execution end, and dynamically avoid key anatomical structures based on visual feedback to achieve safe and efficient collaborative operation of the dual robotic arms; Force control-position hybrid control: Achieves compliant operation based on the impedance control model Impedance Control, and the dynamic equation is: M b +B b +K b e=F ext ; where e = x d -x, representing the deviation vector between the actual position x of the robotic arm end effector and the target position x d ; by controlling the convergence of e, the robotic arm can accurately track the target trajectory; M d is the target inertia matrix set by the user, used to define the motion inertia characteristics of the robotic arm end in free space, in the form of a diagonal matrix: M b =diag(m b1 , m b2 , m b3 ), where m bi i belongs to 1 to 3 are the target mass parameters of each axis. By adjusting M b , the response speed of the robotic arm to external interference or instruction changes can be changed: a larger m biwill make the robotic arm move more "slowly", suitable for operations that require high stability such as fine cutting; a smaller m bi will make the robotic arm move more "agilely", suitable for operations that require quick response such as emergency obstacle avoidance; B b is the target damping matrix set by the user, used to define the energy dissipation characteristics of the end of the robotic arm during movement, in the form of a diagonal matrix: B b =diag(b b1 , b b2 , b b3 ), where b bi is the target damping coefficient of each axis; by adjusting B b , the vibration suppression and movement smoothness of the robotic arm can be controlled: a larger b bi will make the robotic arm move more "softly", reducing overshoot and oscillation; a smaller b bi will make the robotic arm move more "directly", but may increase the risk of overshoot; K b is the target stiffness matrix set by the user, used to define the compliance of the end of the robotic arm when contacting the environment, in the form of a diagonal matrix: K b =diag(k b1 , k b2 , k b3 ), where k bi is the target stiffness coefficient of each axis, by adjusting K b , the response characteristics of the robotic arm to the contact force can be controlled: a larger k bi will make the robotic arm more "rigid", suitable for operations that require high positioning accuracy such as drilling; a smaller k bi will make the robotic arm more "compliant", suitable for operations that require interaction with tissues such as pulling muscles; F ext is the external force vector sensed when the end of the robotic arm interacts with the surgical environment, measured in real time by a force sensor such as a six-axis force / torque sensor. In compliant operation, F ext will be introduced into the impedance control model, enabling the robotic arm to automatically adjust its position or trajectory according to the external force, achieving "force-position" hybrid control. For example: when the end of the robotic arm contacts the bone, the change of F ext will trigger position compensation to avoid tissue damage caused by excessive force application; Before the oscillating saw 54, electric drill 55, and grinding drill 56 work, the end of the saw blade 54 of the oscillating saw, the drill bit of the electric drill 55, and the grinding drill 56 are identified through image processing, and coordinates are established for marking and tracking; 2.1 Autonomous mode path planning: Hybrid path planning based on the A algorithm and the RRT algorithm, with the path smoothness index curvature variance ≤ 0.001 rad² / m; 3. Bionic Movement and Stability Control System: It conducts navigation and drive control through the built-in navigation module, autonomously moves to the required position according to the operation range requirements of the operating robotic arm 4 during the operation, and controls the auxiliary support component to perform hydraulic auxiliary support; 3.1 Emergency Displacement: Based on the voice command trigger keyword recognition accuracy rate ≥ 98% and the pure pursuit algorithm PurePursuit to achieve rapid obstacle avoidance, with a response time ≤ 300 ms, improving surgical safety; 4. Intelligent Central Decision-making and Cooperative Control System, specifically including: 4.1 Multi-source Information Fusion Module: It fuses visual data, voice commands, and force feedback signals in real time to generate the robotic arm movement path and safety boundary, including: Heterogeneous Data Alignment: Based on timestamp synchronization and feature-level fusion such as visual feature + force feature splicing, extracting cross-modal associations through the Transformer network; Path Generation: Based on the MPC (Model Predictive Control) model predictive control, the prediction time domain N p = 10, the control time domain N c = 3, generating the optimal robotic arm movement trajectory; 4.2 Safety Boundary Monitoring: It monitors the robotic arm movement trajectory and safety boundary in real time to ensure surgical safety, including: Collision Detection: Based on the signed distance field (SDF) and collision prediction model, the detection threshold ≤ 0.1 mm; Real-time Response: Triggering emergency shutdown through the event-driven mechanism Event-Driven, with a response time ≤ 10 ms.

[0029] Through the multi-modal perception to fuse vision, lighting, voice, and natural language interaction in a closed loop, the collaborative errors of multiple devices are eliminated, achieving a three-dimensional reconstruction accuracy ≤ 0.3 mm and a voice command parsing delay ≤ 200 ms, significantly enhancing the intraoperative real-time response and decision-making capabilities. Based on the impedance control model, force control-position hybrid control is realized. By dynamically adjusting the inertia, damping, and stiffness matrices, the robotic arm has both high positioning accuracy (repeated positioning accuracy ± 0.02 mm) and compliant interaction capabilities, avoiding tissue damage caused by excessive force application. At the same time, combined with the collision detection threshold ≤ 0.1 mm and the emergency shutdown response ≤ 10 ms, the surgical risk is greatly reduced. Through multi-source information fusion and MPC path planning, cross-modal associations of visual, voice, and force feedback data and optimal trajectory generation are achieved. Combined with the autonomous movement and emergency obstacle avoidance functions with a response ≤ 300 ms, the surgical efficiency and safety are significantly improved.

[0030] Meanwhile, the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used.

[0031] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0032] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A humanoid orthopedic surgical robot, comprising an upper body of the robot and a moving part arranged at the bottom thereof, a robot head is arranged at the top of the upper body of the robot, and functional arms are arranged on both sides of the upper body of the robot, and is characterized in that: The bottom of the moving part is provided with a moving wheel set, and the moving wheel set is composed of a pair of large-sized wheel sets responsible for driving the movement and a pair of small-sized wheel sets for longitudinal elastic support; An auxiliary support assembly is arranged on the moving part in a staggered manner with the moving wheel set, and the auxiliary support assembly adopts a swing structure, which expands around to support when in use and rotates and stores when retracted; A storage space is arranged inside the upper body of the robot for classifying and storing consumables, and a box door is arranged outside the storage space. The functional arms are respectively an operating manipulator on one side and a surgical arm on the other side. Different surgical tools are installed on the surgical arm, and a surgical tool switching function is provided. The execution end of the operating manipulator is a manipulator for clamping surgical instruments; The robot head supports horizontal rotation and pitching rotation. The robot head integrates display, voice interaction, lighting and camera functions. The robot head captures the operation position of the operating manipulator through the camera function and controls the rotation of the robot head through a program to perform tracking lighting.

2. The humanoid orthopedic surgical robot according to claim 1, wherein: The moving part includes a moving bottom box and a bottom plate bolted to the bottom thereof. The moving wheel set includes driving wheels penetrating through opposite sides of the bottom plate, and the driving wheels are driven by a driving motor installed on the top of the bottom plate. Guide frames are arranged on the other two sides of the driving wheels. The moving wheel set further includes a wheel frame slidably connected inside the guide frames. An auxiliary wheel is rotatably connected to the bottom of the wheel frame. An elastic member is arranged on the top of the wheel frame, and the top of the elastic member abuts against the inner side of the moving bottom box to press down the wheel frame. Limiting bolts are threadedly connected to both sides of the wheel frame, and limiting grooves adapted to the limiting bolts are formed on both sides of the guide frames.

3. The humanoid orthopedic surgical robot according to claim 2, wherein: The auxiliary support assembly includes a support telescopic cylinder. The top end of the support telescopic cylinder is rotatably connected to the isolation sleeve on the inner walls of the four sides of the moving bottom box. The bottom end of the support telescopic cylinder is fixedly connected to a support block. A support wheel is rotatably connected to the bottom of the support block. The axis of the support wheel is located on the side where the axis of the support telescopic cylinder faces the outside of the moving bottom box. A protrusion is arranged on the bottom of the support block on the side away from the support wheel and is provided with an anti-slip groove. When the support telescopic cylinder extends, the bottom end of the support telescopic cylinder is guided to deflect outwards through the eccentrically arranged support wheel to expand, and the ground is supported by using the anti-slip groove.

4. The humanoid orthopedic surgical robot according to claim 1, characterized in that: The robot head includes a rotating frame driven by a horizontal motor built in the top of the robot upper body. The head is rotatably connected to the inside of the rotating frame, and the head is driven to rotate in pitch by a pitch motor on one side of the rotating frame. A lighting lamp, a voice module, a binocular stereo vision camera and a touch display screen are sequentially arranged on the front of the head from top to bottom.

5. The humanoid orthopedic surgical robot according to claim 1, characterized in that: The surgical arm includes a multi-axis manipulator and a driving motor installed at the end thereof. The output end of the driving motor is connected to a tool assembly, and the driving motor is used to drive the angle of the tool assembly to switch different tools.

6. The humanoid orthopedic surgical robot according to claim 5, characterized in that: The tool assembly includes an arm cylinder, and three sliding seats penetrate and slide on the side surface of the arm cylinder. A hacksaw, a drill, and a grinding drill are respectively installed on the outer parts of the three sliding seats. Three telescopic push rods are fixedly connected inside the arm cylinder, and each of the three telescopic push rods is connected to a sliding seat. The end of the arm cylinder is fixedly connected with an end cover through bolts. A through groove adapted to the sliding seat is opened on the side surface of the arm cylinder. A partition is arranged inside the arm cylinder on the side close to the upper arm of the through groove to fix the telescopic push rod and isolate dust.

7. A humanoid orthopedic surgical robot according to claim 6, characterized in that: Three sockets are further arranged on the outer side of the arm cylinder, and a branch electrode is installed in each socket. The outer ends of the branch electrodes are connected to the hacksaw, the drill, and the grinding drill through three wires. A main electrode is fixed at one end of the arm cylinder. The center of the main electrode is fixedly connected with the drive motor through an insulating sleeve. The top end of the main electrode is connected to the three branch electrodes through three wires, and three circular electrodes are arranged on the lower half side of the main electrode and are respectively connected to the three wires. The three circular electrodes are connected to different circuits to respectively control the hacksaw, the drill, and the grinding drill.

8. A control system for a humanoid orthopedic surgical robot according to any one of claims 1-7, characterized in that: Comprising: Bionic integrated perception and interaction system, specifically including: Visual imaging module: Shooting is carried out based on a binocular stereo vision camera, and deep learning algorithms are used to capture surgical markers in real time, construct a three-dimensional surgical field model, and dynamically bind it to the motion trajectory of the operating robotic arm for precise spatial positioning; Active lighting module: Lighting is carried out based on a lighting lamp, and a light tracking sensor and an adaptive adjustment algorithm are built in. The lighting angle, brightness, and color temperature are automatically adjusted according to the surgical field depth, tissue reflectivity, and instrument position to ensure that the surgical area is clearly visible; Voice interaction module: Voice is received and sent based on a voice module. Instructions from the surgeon are received through a noise reduction microphone array and parsed into executable operation commands through natural language processing; Feedback instructions are generated in combination with the surgical stage and safety rules and are broadcast in real time through a speaker or the surgeon's earphone to form an "ear-mouth" closed-loop interaction system; Multifunctional modular robotic arm system, used to control the operating robotic arm for tool clamping and moving operations, and a force sensor is built in to feedback the force on the execution end, and key anatomical structures are dynamically avoided based on visual feedback; Bionic movement and stability control system: Navigation and drive control are carried out through a built-in navigation module. During the operation, it autonomously moves to the required position according to the operation range requirements of the operating robotic arm, and controls the auxiliary support component to perform hydraulic auxiliary support; Emergency displacement: Support rapid displacement triggered by the surgeon's voice command; Intelligent central decision-making and coordination control system, specifically including: Multi-source information fusion module: Real-time fuse visual data, voice instructions, and force feedback signals to generate the motion path and safety boundary of the robotic arm; Safety boundary monitoring: Real-time monitor the motion trajectory of the robotic arm and the safety boundary.

9. The control system of the humanoid orthopedic surgical robot according to claim 8, wherein: Before the hacksaw, the drill, and the grinding drill work, the ends of the saw blade of the hacksaw, the drill, and the drill bit of the grinding drill are identified through image processing, and coordinates are established for marking and tracking.

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