Surgical robot control method and device, storage medium and electronic equipment

Abstract

The invention discloses a control method and device of a surgical robot, a storage medium and electronic equipment. The method comprises the following steps: determining a plurality of simulated osteotomy surfaces of a target object according to a preoperative plan of knee joint replacement; under each simulated osteotomy surface, calculating a working space of the surgical robot to obtain a plurality of first working spaces; and determining a target working space of the surgical robot according to the plurality of first working spaces, and controlling the surgical robot to execute actions based on the target working space. By means of the method and device, the problem that in the prior art, due to kinematics constraint, an under-degree-of-freedom surgical robot cannot be adjusted to all necessary operation postures, and the accuracy of surgical robot control is low is solved.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a control method and device for a surgical robot, a storage medium, and an electronic device. Background Art

[0002] In the field of total knee replacement surgery, traditional surgical methods face significant challenges. Over-reliance on the surgeon's manual skills and experience often leads to limited surgical precision, increased operational risks and the possibility of complications. In recent years, the introduction of robot-assisted surgery has significantly improved accuracy and repeatability, but the limitations of the workspace in low-degree-of-freedom robotic systems remain a difficult problem that needs to be overcome. In knee surgery, precise positioning and manipulation of the six key osteotomy planes of the femur and tibia are key to successful surgery. However, although the robot can reach the osteotomy surface, kinematic constraints limit its posture adjustment capabilities.

[0003] Currently, the low-DOF surgical robot system is constrained by its mechanical structure and kinematic model, and its posture adjustment flexibility is insufficient, making it difficult to cover all necessary operating postures, which poses challenges to the precise control of robot-assisted surgery.

[0004] Currently, no effective solution has been proposed to the problem that surgical robots with limited degrees of freedom cannot be adjusted to all necessary operating postures due to kinematic constraints, resulting in relatively low accuracy in controlling the surgical robots. Summary of the Invention

[0005] The main purpose of this application is to provide a control method and device for a surgical robot, a storage medium and an electronic device, so as to solve the problem in the related art that a surgical robot with limited degrees of freedom cannot be adjusted to all necessary operating postures due to kinematic constraints, resulting in relatively low accuracy in controlling the surgical robot.

[0006] To achieve the above objectives, according to one aspect of the present application, a method for controlling a surgical robot is provided. The method comprises: determining multiple simulated osteotomy planes of a target object based on preoperative planning for knee replacement; calculating the workspace of the surgical robot under each simulated osteotomy plane to obtain multiple first workspaces; determining a target workspace of the surgical robot based on the multiple first workspaces; and controlling the surgical robot to perform actions based on the target workspaces.

[0007] Furthermore, the multiple simulated osteotomy surfaces include at least: a femoral osteotomy surface and a tibial osteotomy surface. Determining the target workspace of the surgical robot based on the multiple first workspaces includes: judging whether the overlapping area of ​​the multiple first workspaces meets a preset condition; if the overlapping area does not meet the preset condition, determining the overlapping workspace based on the first workspace corresponding to the femoral osteotomy surface; determining the target workspace based on the overlapping workspace and the first workspace corresponding to the tibial osteotomy surface.

[0008] Furthermore, after determining whether the overlapping areas of the plurality of first workspaces satisfy a preset condition, the method further includes: if the overlapping areas satisfy the preset condition, performing a fitting calculation on the overlapping areas by a binary search method to obtain the target workspace.

[0009] Furthermore, under each simulated osteotomy surface, the working space of the surgical robot is calculated to obtain multiple first working spaces, including: for the target simulated osteotomy surface, the posture information of the target simulated osteotomy surface is determined in the robotic arm base coordinate system of the surgical robot; the working subspace corresponding to the target simulated osteotomy surface is obtained by fitting the robotic arm of the surgical robot to rotate around the first axis in the posture information; the first offset of the surgical robot along the first axis and the second offset along the third axis are calculated based on the target vector corresponding to the first axis direction in the posture information; the first working space corresponding to the target simulated osteotomy surface is obtained based on the working subspace, the first offset and the second offset; the multiple first working spaces are obtained based on the first working space corresponding to the target simulated osteotomy surface.

[0010] Furthermore, by fitting the rotation of the robotic arm of the surgical robot around the first axis in the posture information, the working subspace corresponding to the target simulated osteotomy surface is obtained, including: obtaining a target angle range by fitting the rotation of the robotic arm of the surgical robot around the first axis in the posture information; calculating based on the target angle range in the plane formed by the first axis and the third axis to obtain a first motion angle range of the first joint of the robotic arm of the surgical robot and a second operating angle range of the third joint of the robotic arm; obtaining the working subspace based on the first motion angle range and the second operating angle range.

[0011] Furthermore, calculation is performed based on the target vector corresponding to the first axis direction in the posture information to obtain the first offset of the surgical robot along the first axis direction and the second offset along the third axis direction, including: calculation is performed based on the target vector to obtain a first angle value and a second angle value, wherein the first angle value is the offset angle of the robotic arm rotating around the second axis in the posture information, and the second angle value is the pitch angle of the robotic arm rotating around the third axis in the posture information; calculation is performed based on the first angle value and a first fitting function to obtain the first offset, wherein the first fitting function is obtained based on the fitting of the robotic arm rotating around the second axis in the posture information; calculation is performed based on the second angle value and the second fitting function to obtain the second offset, wherein the second fitting function is obtained based on the fitting of the robotic arm rotating around the third axis in the posture information.

[0012] Furthermore, calculating based on the target vector to obtain the first angle value and the second angle value includes: calculating the first projection value of the target vector in the plane formed by the first axis and the second axis in the manipulator base coordinate system; calculating based on the first projection value and the first normal vector corresponding to the first axis in the manipulator base coordinate system to obtain the first angle value; calculating the second projection value of the target vector in the plane formed by the second axis and the third axis in the manipulator base coordinate system; calculating based on the second projection value and the second normal vector corresponding to the third axis in the manipulator base coordinate system to obtain the second angle value.

[0013] Furthermore, before fitting the overlapping area through the binary search method to obtain the target workspace, the method also includes: performing discretization sampling processing on each first workspace to obtain a discrete point set; performing geometric approximation processing on the discrete point set through a polygon fitting algorithm to obtain a polygon point set corresponding to each first workspace; and calculating the intersection area of ​​the polygon point set through a clipping method based on the polygon point set corresponding to each first workspace to obtain the overlapping area.

[0014] To achieve the above objectives, according to another aspect of the present application, a control device for a surgical robot is provided. The device comprises: a first determination unit for determining multiple simulated osteotomy planes of a target object based on preoperative planning for knee replacement; a first calculation unit for calculating the workspace of the surgical robot under each simulated osteotomy plane to obtain multiple first workspaces; and a second determination unit for determining a target workspace of the surgical robot based on the multiple first workspaces, and controlling the surgical robot to perform actions based on the target workspace.

[0015] Furthermore, the multiple simulated osteotomy surfaces include at least: a femoral osteotomy surface and a tibial osteotomy surface, and the second determination unit includes: a judgment subunit, used to judge whether the overlapping area of ​​the multiple first working spaces meets a preset condition; a first determination subunit, used to determine the overlapping working space based on the first working space corresponding to the femoral osteotomy surface if the overlapping area does not meet the preset condition; and a second determination subunit, used to determine the target working space based on the overlapping working space and the first working space corresponding to the tibial osteotomy surface.

[0016] Furthermore, the device also includes: a second calculation unit, which is used to determine whether the overlapping area of ​​the multiple first workspaces meets the preset conditions, and if the overlapping area meets the preset conditions, perform fitting calculation on the overlapping area through a binary search method to obtain the target workspace.

[0017] Furthermore, the calculation unit includes: a third determination subunit, used to determine the posture information of the target simulated osteotomy surface for the target simulated osteotomy surface in the robotic arm base coordinate system of the surgical robot; a rotation subunit, used to obtain the working subspace corresponding to the target simulated osteotomy surface by fitting the robotic arm of the surgical robot to rotate around the first axis in the posture information; a calculation subunit, used to calculate according to the target vector corresponding to the first axis direction in the posture information, to obtain the first offset of the surgical robot along the first axis direction and the second offset along the third axis direction; a fourth determination subunit, used to obtain the first working space corresponding to the target simulated osteotomy surface based on the working subspace, the first offset and the second offset; a fifth determination subunit, used to obtain the multiple first working spaces based on the first working space corresponding to the target simulated osteotomy surface.

[0018] Furthermore, the rotation subunit includes: a rotation module, used to obtain a target angle range by fitting the robotic arm of the surgical robot to rotate around the first axis in the posture information; a calculation module, used to perform calculations in the plane formed by the first axis and the third axis based on the target angle range to obtain a first motion angle range of the first joint of the robotic arm of the surgical robot and a second operating angle range of the third joint of the robotic arm; a determination module, used to obtain the working subspace based on the first motion angle range and the second operating angle range.

[0019] Furthermore, the calculation subunit includes: a first calculation module, used to perform calculations based on the target vector to obtain a first angle value and a second angle value, wherein the first angle value is an offset angle of the robotic arm rotating around the second axis in the posture information, and the second angle value is a pitch angle of the robotic arm rotating around the third axis in the posture information; a second calculation module, used to perform calculations based on the first angle value and a first fitting function to obtain the first offset, wherein the first fitting function is obtained based on the fitting of the robotic arm rotating around the second axis in the posture information; a second calculation module, used to perform calculations based on the second angle value and the second fitting function to obtain the second offset, wherein the second fitting function is obtained based on the fitting of the robotic arm rotating around the third axis in the posture information.

[0020] Furthermore, the first calculation module includes: a first calculation submodule, used to calculate the first projection value of the target vector in the plane formed by the first axis and the second axis in the manipulator base coordinate system; a second calculation submodule, used to calculate based on the first projection value and the first normal vector corresponding to the first axis in the manipulator base coordinate system to obtain the first angle value; a third calculation submodule, used to calculate the second projection value of the target vector in the plane formed by the second axis and the third axis in the manipulator base coordinate system; and a fourth calculation submodule, used to calculate based on the second projection value and the second normal vector corresponding to the third axis in the manipulator base coordinate system to obtain the second angle value.

[0021] Furthermore, the device also includes: a first processing unit, used to perform discretization sampling processing on each first workspace to obtain a discrete point set before performing fitting calculation on the overlapping area through a binary search method to obtain the target workspace; a second processing unit, used to perform geometric approximation processing on the discrete point set through a polygon fitting algorithm to obtain a polygon point set corresponding to each first workspace; a third calculation unit, used to calculate the intersection area of ​​the polygon point set through a clipping method based on the polygon point set corresponding to each first workspace to obtain the overlapping area.

[0022] According to another aspect of an embodiment of the present invention, an electronic device is provided, comprising: a memory storing an executable program; and a processor for running the program, wherein when the program is run, any one of the above-mentioned methods for controlling a surgical robot is executed.

[0023] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, which stores a program, wherein when the program runs, the device where the storage medium is located is controlled to execute any of the above-mentioned methods for controlling a surgical robot.

[0024] In an embodiment of the present application, the following steps are adopted: based on the preoperative planning of knee replacement, multiple simulated osteotomy surfaces of the target object are determined; under each simulated osteotomy surface, the workspace of the surgical robot is calculated to obtain multiple first workspaces; based on the multiple first workspaces, the target workspace of the surgical robot is determined, and based on the target workspace, the surgical robot is controlled to perform actions, which solves the technical problem in the related art that the surgical robot with insufficient degrees of freedom cannot be adjusted to all necessary operating postures due to kinematic constraints, resulting in relatively low accuracy in controlling the surgical robot.

[0025] In this approach, multiple simulated osteotomy surfaces for the target object's anatomical structure are determined through preoperative planning. For each simulated osteotomy surface, the surgical robot's first workspace, i.e., the reachable area of ​​the robotic arm's end effector in a specific posture, is calculated. This calculation allows for an intuitive understanding of the robot's operating range without self-collision constraints. After obtaining multiple first workspaces, the target workspace is determined through spatial set operations, ensuring that the surgical robot can cover the positioning requirements of all simulated osteotomy surfaces in a single position, and that the optimal workspace can simultaneously meet all osteotomy operation requirements. Through this target workspace, the surgical robot can effectively avoid kinematic limitations during posture adjustment, thereby achieving the technical effect of improving the accuracy of controlling the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0027] Figure 1 A hardware structure block diagram of a computer terminal for implementing a control method for a surgical robot is shown;

[0028] Figure 2 is a flowchart of a control method for a surgical robot provided in an embodiment of the present application;

[0029] Figure 3 This is a schematic diagram of a control method for a surgical robot according to an embodiment of the present application. Figure 1 ;

[0030] Figure 4 This is a schematic diagram of a control method for a surgical robot according to an embodiment of the present application. Figure 2 ;

[0031] Figure 5 This is a schematic diagram of a control method for a surgical robot according to an embodiment of the present application. Figure 3 ;

[0032] Figure 6This is a schematic diagram of a control method for a surgical robot according to an embodiment of the present application. Figure 4 ;

[0033] Figure 7 This is a schematic diagram of a control method for a surgical robot according to an embodiment of the present application. Figure 5 ;

[0034] Figure 8 This is a schematic diagram of a control method for a surgical robot according to an embodiment of the present application. Figure 6 ;

[0035] Figure 9 This is a schematic diagram of a control method for a surgical robot according to an embodiment of the present application. Figure 7 ;

[0036] Figure 10 This is a schematic diagram of a control method for a surgical robot according to an embodiment of the present application. Figure 8 ;

[0037] Figure 11 FIG9 is a ninth schematic diagram of a control method for a surgical robot according to an embodiment of the present application;

[0038] Figure 12 is a schematic diagram of a control device for a surgical robot provided according to an embodiment of the present application;

[0039] Figure 13 This is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0042] It should be noted that the collected information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display and analysis, etc.) involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure, and application of the relevant data comply with relevant laws, regulations, and standards, adopt necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation portals for users to choose to authorize or refuse. For example, an interface is set up between this system and relevant users or institutions, providing users with corresponding operation portals for users to choose to agree or refuse the automated decision results; if the user chooses to refuse, the expert decision-making process will be entered.

[0043] Example 1

[0044] According to an embodiment of the present application, an embodiment of a method for controlling a surgical robot is also provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0045] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 The hardware structure block diagram of a computer terminal (or mobile device) for implementing a control method for a surgical robot is shown. Figure 1As shown, the computer terminal 10 (or mobile device) may include one or more processors 102 (illustrated as 102a, 102b, ..., 102n in the figure) (the processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0046] It should be noted that the one or more processors 102 and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry." This data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be fully or partially integrated into any of the other components of the computer terminal 10 (or mobile device). As discussed in the embodiments of this application, this data processing circuitry functions as a processor control (e.g., selecting a variable resistor terminal path connected to an interface).

[0047] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the control method of the surgical robot in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, realizing the control method of the surgical robot mentioned above. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0048] Transmission device 106 is configured to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the communications provider of computer terminal 10. In one embodiment, transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, transmission device 106 may be a radio frequency (RF) module configured to communicate with the Internet wirelessly.

[0049] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 (or mobile device).

[0050] Under the above operating environment, this application provides Figure 2 The control method of the surgical robot shown. Figure 2 Flowchart of a control method for a surgical robot according to Embodiment 1 of the present application. The control method for a surgical robot includes:

[0051] Step S201 : determining a plurality of simulated osteotomy surfaces of a target subject according to a preoperative plan for knee replacement.

[0052] Optionally, high-resolution medical images of the patient's (i.e., the target object mentioned above) knee joint are acquired through imaging techniques such as CT (Computed Tomography) or MRI (Magnetic Resonance Imaging). The medical image provides three-dimensional anatomical structural information of the knee joint. The image is analyzed to identify the anatomical features of the femur and tibia. Preoperative planning is performed based on specific anatomical landmarks of the knee joint, such as the intercondylar notch, the internal and external condylar ridges, etc., and multiple simulated osteotomy surfaces are planned. For example, in a knee osteotomy operation, a single-plane osteotomy of the tibia is required, while a five-plane osteotomy of the femur is required, for example, Figure 3 The effect of knee osteotomy is shown.

[0053] Step S202 : calculating the working space of the surgical robot under each simulated osteotomy surface to obtain a plurality of first working spaces.

[0054] Optionally, the workspace refers to the set of all points that the end effector of the robotic arm can reach without self-collision or collision with external obstacles. For knee replacement surgery, the calculation of the workspace is particularly important because it is directly related to whether the robotic arm can operate at the required osteotomy position and posture. Therefore, based on each simulated osteotomy surface, the target position and posture that the robotic arm needs to reach when performing the osteotomy operation are analyzed, that is, the workspace of the surgical robot is calculated. The physical limitations of the robotic arm must be taken into account during the calculation process, including the range of motion of the joints and the self-collision avoidance of the robot body. By calculating the first workspace, the movement path of the robotic arm can be accurately planned to ensure that each osteotomy surface can be accurately reached and operated during surgery.

[0055] Step S203 : determining a target workspace of the surgical robot according to the plurality of first workspaces, and controlling the surgical robot to perform actions based on the target workspace.

[0056] Optionally, a spatial set operation is performed on the multiple first workspaces obtained in step S202. Specifically, an intersection operation is performed to find the common area of ​​all the first workspaces to obtain the target workspace of the surgical robot. This area is the point set where the robotic arm can reach all simulated osteotomy surfaces at the same time, and is the feasible space for the robotic arm to operate during surgery. Within the target workspace, the path planning of the surgical robot's robotic arm needs to take into account the continuity and accessibility of the surgical operation. The movement path of the robotic arm should ensure that all osteotomy surfaces can be covered while avoiding collisions with the patient's anatomical structure or other objects in the surgical environment.

[0057] In summary, multiple simulated osteotomy surfaces for the anatomical structure of the target object are determined through preoperative planning, and the first workspace of the surgical robot is calculated for each simulated osteotomy surface, that is, the reachable area of ​​the robotic arm end effector in a specific posture. Through this calculation, the operating range of the robot without self-collision constraints can be intuitively seen. After obtaining multiple first workspaces, the target workspace is determined through spatial set operations, ensuring that the surgical robot can cover the positioning requirements of all simulated osteotomy surfaces in a single position, and can simultaneously meet the optimal workspace requirements for all osteotomy operations. Through this target workspace, the surgical robot can effectively avoid the kinematic limitations in the posture adjustment process, thereby achieving the technical effect of improving the accuracy of controlling the surgical robot.

[0058] Optionally, in the control method of the surgical robot provided in an embodiment of the present application, the multiple simulated osteotomy surfaces include at least: a femoral osteotomy surface and a tibial osteotomy surface. Determining the target workspace of the surgical robot based on the multiple first workspaces includes: judging whether the overlapping area of ​​the multiple first workspaces meets the preset conditions; if the overlapping area does not meet the preset conditions, determining the overlapping workspace based on the first workspace corresponding to the femoral osteotomy surface; determining the target workspace based on the overlapping workspace and the first workspace corresponding to the tibial osteotomy surface.

[0059] In an optional embodiment, the overlapping areas of all first workspaces (i.e., the accessible working area of ​​the robotic arm under each osteotomy surface) are first evaluated to see if they meet a preset condition. The preset condition may be the size of the overlapping area, ensuring that it is sufficiently large and suitable to meet the requirements of all osteotomy operations. It should be noted that the simulated osteotomy surfaces include at least: femoral osteotomy surfaces and tibial osteotomy surfaces. Generally, there are five femoral osteotomy surfaces and one tibial osteotomy surface.

[0060] If the initial overlapping area does not meet the preset conditions, the osteotomy process is split into femoral osteotomy and tibial osteotomy. The femoral osteotomy surface usually involves more osteotomy operations. Therefore, an overlapping workspace is first determined based on the first workspace of the femoral osteotomy surface, and then the overlapping workspace and the first workspace corresponding to the tibial osteotomy surface are determined as the target workspace.

[0061] In an alternative embodiment, the Figure 4 The schematic diagram shown in the figure realizes the determination of the working space: the robotic arm of the surgical robot is adjusted to the preset distance in the horizontal direction of the knee joint, and the position of the required knee osteotomy plane in the robotic arm base coordinate system is obtained. For example, the position relationship of the positioning target plane (i.e., multiple simulated osteotomy planes) in the optical positioning system coordinate system is obtained through the matrix transformation relationship. The position relationship of the surgical robot, optical positioning system and patient is shown in the figure. Figure 5 As shown in the figure, the position and orientation of the robotic arm trolley are tracked by the optical positioning system (NDI) to determine its relative relationship with the patient's knee joint in space. The position of the robotic arm base coordinate system in the optical navigation coordinate system is obtained in real time by using the tracer device installed at the end of the robotic arm in combination with the robotic arm kinematic model. At the same time, the position relationship of the knee joint in NDI is obtained through the tracer device on the patient's femur and tibia. , thus obtaining the relationship between the patient's knee joint and the robot arm base coordinate system. Figure 5 As shown in the figure, {Base} is the base coordinate system of the robotic arm, {Body} is the coordinate system of the knee osteotomy plane, {NDI} is the coordinate system of the optical positioning system, and d is the distance between the knee osteotomy plane and the base coordinate system of the robotic arm in the Y direction. is the conversion relationship between the knee osteotomy plane and the coordinate system of the optical positioning system, is the conversion relationship between the robot base coordinate system and the optical positioning system coordinate system.

[0062] After obtaining the position of the knee osteotomy plane in the robot arm base coordinate system, Figure 4 As shown, it is determined whether there is an optimal working space for the six osteotomy surfaces. If so, the robotic arm is moved so that the osteotomy surfaces are within the plane space and the osteotomy operation is performed. If not, the positions of the five femoral osteotomy planes in the robotic arm base coordinate system are obtained, and the optimal working space of the five femoral osteotomy planes is obtained, as well as the position of the tibial osteotomy plane in the robotic arm base coordinate system, and the optimal working space of the tibial osteotomy plane is obtained, thereby achieving accurate control of the surgical robot.

[0063] Decomposing the osteotomy process into femoral osteotomy and tibial osteotomy allows for more precise control of the surgical robot's operation, reduces the number of repositioning of the robotic arm during surgery, and improves the accuracy of control over the surgical robot.

[0064] Optionally, in the control method of the surgical robot provided in an embodiment of the present application, after determining whether the overlapping areas of multiple first workspaces meet the preset conditions, the method also includes: if the overlapping areas meet the preset conditions, performing fitting calculations on the overlapping areas through a binary search method to obtain the target workspace.

[0065] In an optional embodiment, if a preliminary assessment finds that the overlapping areas of the first workspaces (i.e., the accessible working areas of the robotic arm) under all simulated osteotomy surfaces meet the preset conditions, a binary search method is used to perform fitting calculations on the overlapping areas to obtain the optimized target workspace. The binary search method is an efficient search algorithm used to find the position of the target value in an ordered list. In this scenario, its application is to find the optimal circular workspace, i.e., the target workspace, within the overlapping area. By continuously narrowing the search range, the algorithm gradually approaches the optimal solution until the coordinates and radius of the center of the circle that meet the preset conditions are found, thereby determining the target workspace. The goal of the fitting calculation is to find a circular workspace that can completely contain all key osteotomy positions within the overlapping area, while ensuring the maximum radius or minimum constraint of the circle to meet the requirements of surgical accuracy and efficiency.

[0066] By fitting the overlapping areas using a binary search method, the resulting target workspace not only covers all necessary osteotomy positions but also optimizes the operating range of the robotic arm, ensuring maximum freedom of movement and minimum physical constraints.

[0067] Optionally, in the control method of the surgical robot provided in the embodiment of the present application, the working space of the surgical robot is calculated under each simulated osteotomy surface to obtain multiple first working spaces including: for the target simulated osteotomy surface, the posture information of the target simulated osteotomy surface is determined in the robotic arm base coordinate system of the surgical robot; the working subspace corresponding to the target simulated osteotomy surface is obtained by fitting the robotic arm of the surgical robot to rotate around the first axis in the posture information; the first offset of the surgical robot along the first axis and the second offset along the third axis are calculated based on the target vector corresponding to the first axis direction in the posture information; the first working space corresponding to the target simulated osteotomy surface is obtained based on the working subspace, the first offset and the second offset; based on the first working space corresponding to the target simulated osteotomy surface, multiple first working spaces are obtained.

[0068] In an optional embodiment, for the target simulated osteotomy surface, that is, any one of the simulated osteotomy surfaces, the posture information of the osteotomy surface is determined in the robotic arm base coordinate system of the surgical robot, including its position and orientation in space. Figure 6 As shown, xyz is the robotic arm base coordinate system of the surgical robot, and x1y1z1 is the target simulated osteotomy surface.

[0069] It should be noted that the surgical robot in the embodiment of the present application is a robot with three joints, and the physical limits of each joint of the robotic arm are Based on the Monte Carlo method and the positive solution, the working space of the robot arm can be obtained as The workspace where the three-degree-of-freedom robot arm joints are physically limited.

[0070] In order to ensure the safety of the robot and meet the requirements of the workspace constraints, the range of motion of each joint needs to be reasonably restricted, including the following two constraints: the robot's body self-collision avoidance and the work environment adaptability constraint. , , and Represent the upper and lower limits of the joint, respectively, , , .

[0071] In the control method of the surgical robot provided in an embodiment of the present application, the working subspace corresponding to the target simulated osteotomy surface is obtained by fitting the rotation of the surgical robot's robotic arm around the first axis in the posture information, including: obtaining the target angle range by fitting the rotation of the surgical robot's robotic arm around the first axis in the posture information; obtaining the first motion angle range of the first joint of the surgical robot's robotic arm and the second operating angle range of the third joint of the robotic arm based on the target angle range; obtaining the working subspace based on the first motion angle range and the second operating angle range.

[0072] According to the geometric topology of the robotic arm, the target simulated osteotomy surface x1 axis is rotated, that is, the robotic arm of the surgical robot rotates around the first axis in the posture information, and the corresponding plane range angle (that is, the target angle range mentioned above) is α. The range of and The angle range is determined by hour, ,like Figure 7 shown.

[0073] pass , The obtained workspace plane (i.e. the target angle range is on the plane formed by the first axis and the third axis) is as follows Figure 8 As shown, Figure 8 The semicircle in the figure is the working subspace of the reachable positions, and the posture is limited to the (i.e. the first motion angle range) and (i.e. the second operating angle range), in the position subspace formed by the semicircle below, any position point in the subspace rotates around the x1 axis The attitude plane can be reached. Figure 8 At the middle point c, take any lower left direction vector (at Within the range), the reverse extension line of the direction vector intersects the semicircle at point b, and the value of point b and the center o of the circle are connected. Then, through the geometric relationship, we can get The value of , The value of , and satisfies , . That is, the robot arm rotates around the x1 axis The semi-arc working space (i.e. the working subspace mentioned above) is .

[0074] After obtaining the above working subspace, we need to determine the working space of the manipulator when it rotates around the y1 axis (i.e. the second axis) and the z1 axis (i.e. the third axis). It should be noted that the angle of rotation around the plane z1 axis is the pitch angle, which is set to , the angle of rotation around the plane y1 axis is the deflection angle, set as When the deflection angle When changing, the workspace The relative base coordinate system is translated left and right, that is, it moves along the first axis (x1). When changing, the workspace The robot moves up and down relative to the base coordinate system, i.e., moves along the third axis (z1). Therefore, the first offset of the surgical robot along the first axis (x1) is calculated based on the target vector corresponding to the first axis (x1) in the posture information. and a second offset along the third axis (z1) .

[0075] Finally, the working subspace, the first offset and the second offset are used to obtain the first working space corresponding to the target simulated osteotomy surface. For example, the first working space is .

[0076] By calculating the first working space under each osteotomy surface, surgical planning can be more precise, ensuring that the robotic arm can accurately reach each osteotomy position during the operation.

[0077] Optionally, in the control method of the surgical robot provided in an embodiment of the present application, calculation is performed based on the target vector corresponding to the first axis direction in the posture information to obtain the first offset of the surgical robot along the first axis direction and the second offset along the third axis direction, including: calculation based on the target vector to obtain a first angle value and a second angle value, wherein the first angle value is the offset angle of the rotation of the robotic arm around the second axis in the posture information, and the second angle value is the pitch angle of the rotation of the robotic arm around the third axis in the posture information; calculation is performed based on the first angle value and a first fitting function to obtain the first offset, wherein the first fitting function is obtained by fitting based on the rotation of the robotic arm around the second axis in the posture information; calculation is performed based on the second angle value and the second fitting function to obtain the second offset, wherein the second fitting function is obtained by fitting based on the rotation of the robotic arm around the third axis in the posture information.

[0078] In an optional embodiment, the offset angle of the robot arm rotating around y1 in the posture information is calculated based on the x1 vector (i.e., the target vector mentioned above). (i.e. the first angle value mentioned above), and the pitch angle of the robot arm rotating around z1 in the posture information (i.e. the second angle value mentioned above).

[0079] For example, calculating based on the target vector to obtain the first angle value and the second angle value includes: calculating the first projection value of the target vector in the plane formed by the first axis and the second axis in the robot base coordinate system; calculating based on the first projection value and the first normal vector corresponding to the first axis in the robot base coordinate system to obtain the first angle value; calculating the second projection value of the target vector in the plane formed by the second axis and the third axis in the robot base coordinate system; calculating based on the second projection value and the second normal vector corresponding to the third axis in the robot base coordinate system to obtain the second angle value.

[0080] In an optional embodiment, the base coordinates (i.e. the first normal vector mentioned above), (i.e. the second normal vector mentioned above), the projection value of the x1 vector on the base coordinate XOY plane (i.e. the plane formed by the first axis and the second axis mentioned above) is , the projection value of the x1 vector on the base coordinate YOZ plane (that is, the plane formed by the second and third axes mentioned above) is The corresponding first angle value and second angle value are calculated using the following formula:

[0081]

[0082]

[0083] When the deflection angle When changing, the workspace Move left and right relative to the base coordinate system. When changing, the workspace The robot is translated up and down relative to the base coordinate system. In order to quantify the relationship between the first angle value, the second angle value and the offset, a first fitting function and a second fitting function are used for calculation respectively. The first fitting function can be obtained based on the experimental data or theoretical model fitting of the robot arm rotating around the second axis, and describes the functional relationship between the offset angle and the first offset in the horizontal direction. Through this function, the horizontal displacement value of the robot arm base at a certain offset angle can be accurately predicted. The second fitting function is also obtained based on the data fitting of the robot arm rotating around the third axis, and it reveals the functional relationship between the pitch angle and the second offset in the vertical direction. Using this function, the vertical displacement of the robot arm base can be calculated given the pitch angle.

[0084] In an alternative embodiment, the Figure 9 The schematic diagram shown in FIG. 1 realizes the determination of the workspace, specifically including: , Get the semi-arc workspace, then get the deflection angle between the plane attitude and the base coordinate system , calculate the reachable workspace corresponding to the deflection angle (i.e. the amount of up and down translation); obtain the pitch angle of the plane attitude and the base coordinate system , find the reachable workspace corresponding to the pitch angle (i.e. the left and right translation) to get the final workspace.

[0085] By establishing a mathematical model of angle values ​​and offsets (a first fitting function and a second fitting function), changes in the workspace can be accurately evaluated, thereby improving the accuracy of determining the first workspace.

[0086] Optionally, in the control method of the surgical robot provided in the embodiment of the present application, before fitting the overlapping area through the binary search method to obtain the target workspace, the method also includes: discretizing and sampling each first workspace to obtain a discrete point set; geometrically approximating the discrete point set through a polygon fitting algorithm to obtain a polygon point set corresponding to each first workspace; and calculating the intersection area of ​​the polygon point set through a clipping method based on the polygon point set corresponding to each first workspace to obtain the overlapping area.

[0087] In an optional embodiment, the target arc-shaped workspace (i.e., the first workspace described above) is discretized and sampled, and then a polygon fitting algorithm is used to geometrically approximate the discrete point set. Increasing the number of polygon sides significantly improves fitting accuracy, with the approximation error decreasing exponentially with the number of sides.

[0088] Parameterize the semi-arc subspace as a continuous curve ,in is the polar angle parameter, and is spaced at equal angles. Perform discrete sampling to generate a point set, where N is the number of points:

[0089]

[0090] For discrete point sets , n-gon optimization approximation is performed by minimizing the Hausdorff distance:

[0091]

[0092] in, are the coordinates of the polygon vertices, so that the error The value of is the smallest. Hausdorff distance is a method to measure the distance between two non-empty subsets. It is often used in image processing, shape analysis, pattern recognition and other fields. It can also be applied to computational geometry and robot workspace optimization.

[0093] The optimal workspace determination method based on polygon space intersection is expressed as , For the The vertices corresponding to the polygons are calculated by clipping to obtain the intersection area (the overlapping area mentioned above). In the obtained intersection area, a mathematical programming model with the circle radius as the optimization target is established, and the binary search method is combined with linear programming to solve the maximum feasible radius. Finally, the coordinates of the circle center that is completely contained in the intersection area are determined, such as Figure 10 shown.

[0094] In an optional embodiment, the schematic diagram of finding the optimal area (i.e., the target workspace) is as follows: Figure 11 As shown, it includes: obtaining a workspace corresponding to an osteotomy plane, fitting the workspace with polygons, finding the variability of the workspace fitting of multiple osteotomy planes, finding the corresponding intersection area, and finally fitting the intersection area through a circle to obtain the final target workspace.

[0095] In an embodiment of the present application, the reachable workspace of the robotic arm under six specific osteotomy planes is calculated to form a posture-related workspace set; the spatial set operation method is used to perform an intersection operation on the workspace subsets corresponding to the six osteotomy planes; finally, the optimal positioning area of ​​the robotic arm is determined based on the intersection operation result, so that the positioning requirements of all six osteotomy surfaces can be fully covered without multiple adjustments to the position of the robotic arm.

[0096] The control method of a surgical robot provided in an embodiment of the present application determines multiple simulated osteotomy surfaces of a target object based on the preoperative planning of knee replacement; calculates the workspace of the surgical robot under each simulated osteotomy surface to obtain multiple first workspaces; determines the target workspace of the surgical robot based on the multiple first workspaces, and controls the surgical robot to perform actions based on the target workspace, thereby solving the technical problem in the related art that a surgical robot with insufficient degrees of freedom cannot be adjusted to all necessary operating postures due to kinematic constraints, resulting in relatively low accuracy in controlling the surgical robot.

[0097] In this approach, multiple simulated osteotomy surfaces for the target object's anatomical structure are determined through preoperative planning. For each simulated osteotomy surface, the surgical robot's first workspace, i.e., the reachable area of ​​the robotic arm's end effector in a specific posture, is calculated. This calculation allows for an intuitive understanding of the robot's operating range without self-collision constraints. After obtaining multiple first workspaces, the target workspace is determined through spatial set operations, ensuring that the surgical robot can cover the positioning requirements of all simulated osteotomy surfaces in a single position, and that the optimal workspace can simultaneously meet all osteotomy operation requirements. Through this target workspace, the surgical robot can effectively avoid kinematic limitations during posture adjustment, thereby achieving the technical effect of improving the accuracy of controlling the surgical robot.

[0098] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0099] Example 2

[0100] The present application also provides a control device for a surgical robot. It should be noted that the control device for a surgical robot according to the present application can be used to execute the control method for a surgical robot according to the present application. The following describes the control device for a surgical robot according to the present application.

[0101] According to an embodiment of the present application, a device for implementing the control method of the above-mentioned surgical robot is also provided, such as Figure 12 As shown, the device includes: a first determining unit 1201, a first calculating unit 1202 and a second determining unit 1203.

[0102] A first determining unit 1201 is configured to determine a plurality of simulated osteotomy surfaces of a target object according to a preoperative plan for knee replacement;

[0103] A first calculation unit 1202 is configured to calculate the working space of the surgical robot at each simulated osteotomy surface to obtain a plurality of first working spaces;

[0104] The second determining unit 1203 is configured to determine a target workspace of the surgical robot according to the plurality of first workspaces, and control the surgical robot to perform actions based on the target workspace.

[0105] The control device of the surgical robot provided in the embodiment of the present application determines multiple simulated osteotomy surfaces of the target object according to the preoperative planning of knee replacement through the first determination unit 1201; the first calculation unit 1202 calculates the working space of the surgical robot under each simulated osteotomy surface to obtain multiple first working spaces; the second determination unit 1203 determines the target workspace of the surgical robot based on the multiple first workspaces, and controls the surgical robot to perform actions based on the target workspace, thereby solving the technical problem in the related art that the surgical robot with insufficient degrees of freedom cannot be adjusted to all necessary operating postures due to kinematic constraints, resulting in relatively low accuracy in controlling the surgical robot.

[0106] In this approach, multiple simulated osteotomy surfaces for the target object's anatomical structure are determined through preoperative planning. For each simulated osteotomy surface, the surgical robot's first workspace, i.e., the reachable area of ​​the robotic arm's end effector in a specific posture, is calculated. This calculation allows for an intuitive understanding of the robot's operating range without self-collision constraints. After obtaining multiple first workspaces, the target workspace is determined through spatial set operations, ensuring that the surgical robot can cover the positioning requirements of all simulated osteotomy surfaces in a single position, and that the optimal workspace can simultaneously meet all osteotomy operation requirements. Through this target workspace, the surgical robot can effectively avoid kinematic limitations during posture adjustment, thereby achieving the technical effect of improving the accuracy of controlling the surgical robot.

[0107] Optionally, in the control device of the surgical robot provided in an embodiment of the present application, the multiple simulated osteotomy surfaces include at least: a femoral osteotomy surface and a tibial osteotomy surface, and the second determination unit includes: a judgment subunit, used to judge whether the overlapping area of ​​the multiple first workspaces meets the preset conditions; a first determination subunit, used to determine the overlapping workspace based on the first workspace corresponding to the femoral osteotomy surface if the overlapping area does not meet the preset conditions; and a second determination subunit, used to determine the target workspace based on the overlapping workspace and the first workspace corresponding to the tibial osteotomy surface.

[0108] Optionally, in the control device of the surgical robot provided in the embodiment of the present application, the device also includes: a second calculation unit, which is used to determine whether the overlapping area of ​​multiple first workspaces meets the preset conditions, and if the overlapping area meets the preset conditions, perform fitting calculation on the overlapping area through a binary search method to obtain the target workspace.

[0109] Optionally, in the control device of the surgical robot provided in the embodiment of the present application, the calculation unit includes: a third determination subunit, used to determine the posture information of the target simulated osteotomy surface for the target simulated osteotomy surface in the robotic arm base coordinate system of the surgical robot; a rotation subunit, used to obtain the working subspace corresponding to the target simulated osteotomy surface by fitting the robotic arm of the surgical robot to rotate around the first axis in the posture information; a calculation subunit, used to calculate according to the target vector corresponding to the first axis direction in the posture information, to obtain the first offset of the surgical robot along the first axis direction and the second offset along the third axis direction; a fourth determination subunit, used to obtain the first working space corresponding to the target simulated osteotomy surface based on the working subspace, the first offset and the second offset; a fifth determination subunit, used to obtain multiple first working spaces based on the first working space corresponding to the target simulated osteotomy surface.

[0110] Optionally, in the control device of the surgical robot provided in an embodiment of the present application, the rotation subunit includes: a rotation module, used to obtain a target angle range by fitting the robotic arm of the surgical robot to rotate around the first axis in the posture information; a calculation module, used to calculate in the plane formed by the first axis and the third axis based on the target angle range to obtain a first motion angle range of the first joint of the robotic arm of the surgical robot and a second operating angle range of the third joint of the robotic arm; a determination module, used to obtain a working subspace based on the first motion angle range and the second operating angle range.

[0111] Optionally, in the control device of the surgical robot provided in the embodiment of the present application, the computing subunit includes: a first computing module, used to perform calculations based on the target vector to obtain a first angle value and a second angle value, wherein the first angle value is the offset angle of the rotation of the robotic arm around the second axis in the posture information, and the second angle value is the pitch angle of the rotation of the robotic arm around the third axis in the posture information; a second computing module, used to perform calculations based on the first angle value and a first fitting function to obtain a first offset, wherein the first fitting function is obtained by fitting the rotation of the robotic arm around the second axis in the posture information; a second computing module, used to perform calculations based on the second angle value and the second fitting function to obtain a second offset, wherein the second fitting function is obtained by fitting the rotation of the robotic arm around the third axis in the posture information.

[0112] Optionally, in the control device of the surgical robot provided in the embodiment of the present application, the first calculation module includes: a first calculation submodule, used to calculate the first projection value of the target vector in the plane formed by the first axis and the second axis in the robot arm base coordinate system; a second calculation submodule, used to calculate based on the first projection value and the first normal vector corresponding to the first axis in the robot arm base coordinate system to obtain a first angle value; a third calculation submodule, used to calculate the second projection value of the target vector in the plane formed by the second axis and the third axis in the robot arm base coordinate system; and a fourth calculation submodule, used to calculate based on the second projection value and the second normal vector corresponding to the third axis in the robot arm base coordinate system to obtain a second angle value.

[0113] Optionally, in the control device of the surgical robot provided in the embodiment of the present application, the device also includes: a first processing unit, used to perform discretization sampling processing on each first workspace to obtain a discrete point set before performing fitting calculation on the overlapping area through a binary search method to obtain the target workspace; a second processing unit, used to perform geometric approximation processing on the discrete point set through a polygon fitting algorithm to obtain a polygon point set corresponding to each first workspace; a third calculation unit, used to calculate the intersection area of ​​the polygon point set through a clipping method based on the polygon point set corresponding to each first workspace to obtain the overlapping area.

[0114] It should be noted that the first determination unit 1201, the first calculation unit 1202, and the second determination unit 1203 described above correspond to steps S201 to S203 in the first embodiment. The examples and application scenarios implemented by the three units and the corresponding steps are the same, but are not limited to the contents disclosed in the first embodiment. It should be noted that the above modules or units can be hardware components or software components stored in a memory (e.g., memory 104) and processed by one or more processors (e.g., processors 102a, 102b, ..., 102n). The above units can also be part of an apparatus and can be run in the computer terminal 10 provided in the first embodiment.

[0115] Example 3

[0116] An embodiment of the present application may provide an electronic device, Figure 13 This is a structural block diagram of an electronic device according to an embodiment of the present application. Figure 13 As shown, the electronic device may include: one or more ( Figure 13 Only one is shown) processor 1302, memory 1304, storage controller, and peripheral interface, wherein the peripheral interface is connected to the radio frequency module, audio module and display.

[0117] Among them, the memory can be used to store software programs and modules, such as program instructions / modules corresponding to the methods and devices in the embodiments of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, implementing the above-mentioned method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0118] The processor can call the information and application programs stored in the memory through the transmission device to perform the following steps: determine multiple simulated osteotomy surfaces of the target object based on the preoperative planning of knee replacement; calculate the working space of the surgical robot under each simulated osteotomy surface to obtain multiple first working spaces; determine the target working space of the surgical robot based on the multiple first working spaces, and control the surgical robot to perform actions based on the target workspace.

[0119] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: multiple simulated osteotomy surfaces include at least: femoral osteotomy surface and tibial osteotomy surface, and determine the target workspace of the surgical robot based on multiple first workspaces, including: judging whether the overlapping area of ​​multiple first workspaces meets the preset conditions; if the overlapping area does not meet the preset conditions, determining the overlapping workspace based on the first workspace corresponding to the femoral osteotomy surface; determining the target workspace based on the overlapping workspace and the first workspace corresponding to the tibial osteotomy surface.

[0120] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: After determining whether the overlapping areas of multiple first workspaces meet the preset conditions, the method also includes: if the overlapping areas meet the preset conditions, the overlapping areas are fitted and calculated by a binary search method to obtain the target workspace.

[0121] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: under each simulated osteotomy surface, the working space of the surgical robot is calculated to obtain multiple first working spaces including: for the target simulated osteotomy surface, the posture information of the target simulated osteotomy surface is determined in the robotic arm base coordinate system of the surgical robot; the working subspace corresponding to the target simulated osteotomy surface is obtained by fitting the robotic arm of the surgical robot to rotate around the first axis in the posture information; according to the target vector corresponding to the first axis direction in the posture information, the first offset of the surgical robot along the first axis direction and the second offset along the third axis direction are calculated; according to the working subspace, the first offset and the second offset, the first working space corresponding to the target simulated osteotomy surface is obtained; according to the first working space corresponding to the target simulated osteotomy surface, multiple first working spaces are obtained.

[0122] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: by fitting the rotation of the surgical robot's robotic arm around the first axis in the posture information, a working subspace corresponding to the target simulated osteotomy surface is obtained, including: by fitting the rotation of the surgical robot's robotic arm around the first axis in the posture information, a target angle range is obtained; based on the target angle range, calculation is performed in the plane formed by the first axis and the third axis to obtain the first motion angle range of the first joint of the surgical robot's robotic arm and the second operating angle range of the third joint of the robotic arm; based on the first motion angle range and the second operating angle range, a working subspace is obtained.

[0123] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: calculating based on the target vector corresponding to the first axis direction in the posture information to obtain the first offset of the surgical robot along the first axis direction and the second offset along the third axis direction, including: calculating based on the target vector to obtain a first angle value and a second angle value, wherein the first angle value is the offset angle of the robot arm rotating around the second axis in the posture information, and the second angle value is the pitch angle of the robot arm rotating around the third axis in the posture information; calculating based on the first angle value and the first fitting function to obtain the first offset, wherein the first fitting function is obtained based on the fitting of the robot arm rotating around the second axis in the posture information; calculating based on the second angle value and the second fitting function to obtain the second offset, wherein the second fitting function is obtained based on the fitting of the robot arm rotating around the third axis in the posture information.

[0124] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: calculating based on the target vector to obtain the first angle value and the second angle value, including: calculating the first projection value of the target vector in the plane formed by the first axis and the second axis in the robot arm base coordinate system; calculating based on the first projection value and the first normal vector corresponding to the first axis in the robot arm base coordinate system to obtain the first angle value; calculating the second projection value of the target vector in the plane formed by the second axis and the third axis in the robot arm base coordinate system; calculating based on the second projection value and the second normal vector corresponding to the third axis in the robot arm base coordinate system to obtain the second angle value.

[0125] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: before fitting the overlapping area through the binary search method to obtain the target workspace, the method also includes: discretizing and sampling each first workspace to obtain a discrete point set; geometrically approximating the discrete point set through a polygon fitting algorithm to obtain a polygon point set corresponding to each first workspace; and calculating the intersection area of ​​the polygon point set through a clipping method based on the polygon point set corresponding to each first workspace to obtain the overlapping area.

[0126] It can be understood by those skilled in the art that Figure 13 The structure shown is for illustration only, and the electronic device may also be a terminal device such as a smart phone, a tablet computer, a PDA, a mobile Internet device (MID), or a PAD. Figure 13 It does not limit the structure of the above electronic device. For example, the electronic device may also include Figure 13 More or fewer components (such as network interfaces, display devices, etc.) shown in, or with Figure 13 Different configurations shown.

[0127] A person skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0128] Example 4

[0129] The embodiment of the present application further provides a computer-readable storage medium. Optionally, in this embodiment, the storage medium can be used to store the program code executed by the control method of the surgical robot provided in the first embodiment.

[0130] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0131] The present application also provides a computer program product which, when executed on a data processing device, is suitable for executing the program steps of the control method of a surgical robot.

[0132] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0133] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0134] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0135] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0136] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0137] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the existing technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program code.

[0138] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A control method for a surgical robot, characterized in that: include: According to the preoperative planning of knee replacement, multiple simulated osteotomy surfaces of the target subject are determined; Under each simulated osteotomy surface, the working space of the surgical robot is calculated to obtain a plurality of first working spaces; A target workspace of the surgical robot is determined according to the plurality of first workspaces, and the surgical robot is controlled to perform an action based on the target workspace.

2. The method according to claim 1, characterized in that The plurality of simulated osteotomy surfaces include at least a femoral osteotomy surface and a tibial osteotomy surface. Determining the target workspace of the surgical robot based on the plurality of first workspaces includes: Determining whether overlapping areas of the plurality of first workspaces meet a preset condition; If the overlapping area does not meet the preset condition, determining the overlapping working space according to the first working space corresponding to the femoral osteotomy surface; The target working space is determined according to the overlapping working space and the first working space corresponding to the tibial osteotomy surface.

3. The method according to claim 2, characterized in that After determining whether the overlapping areas of the plurality of first workspaces meet a preset condition, the method further includes: If the overlapping area meets the preset condition, a fitting calculation is performed on the overlapping area using a binary search method to obtain the target workspace.

4. The method according to claim 1, wherein Under each simulated osteotomy surface, the working space of the surgical robot is calculated to obtain multiple first working spaces including: For a target simulated osteotomy surface, determining posture information of the target simulated osteotomy surface in a robotic arm base coordinate system of the surgical robot; Obtaining a working subspace corresponding to the target simulated osteotomy surface by fitting the rotation of the robotic arm of the surgical robot around the first axis in the posture information; Calculating according to the target vector corresponding to the first axis direction in the posture information to obtain a first offset of the surgical robot along the first axis direction and a second offset along the third axis direction; Obtaining a first working space corresponding to the target simulated osteotomy surface according to the working subspace, the first offset, and the second offset; The multiple first working spaces are obtained according to the first working space corresponding to the target simulated osteotomy surface.

5. The method according to claim 4, characterized in that The working subspace corresponding to the target simulated osteotomy surface is obtained by fitting the rotation of the robotic arm of the surgical robot around the first axis in the posture information, including: Obtaining a target angle range by fitting the rotation of the robotic arm of the surgical robot around the first axis in the posture information; Calculating in a plane formed by the first axis and the third axis based on the target angle range to obtain a first motion angle range of a first joint of the robotic arm of the surgical robot and a second operating angle range of a third joint of the robotic arm; The working subspace is obtained according to the first motion angle range and the second operation angle range.

6. The method according to claim 4, characterized in that Calculating according to the target vector corresponding to the first axis direction in the posture information to obtain a first offset of the surgical robot along the first axis direction and a second offset along the third axis direction includes: Calculating based on the target vector to obtain a first angle value and a second angle value, wherein the first angle value is an offset angle of the robotic arm rotating around the second axis in the posture information, and the second angle value is a pitch angle of the robotic arm rotating around the third axis in the posture information; performing calculation according to the first angle value and a first fitting function to obtain the first offset, wherein the first fitting function is obtained by fitting the rotation of the robotic arm around the second axis in the posture information; The second offset is obtained by performing calculation according to the second angle value and a second fitting function, wherein the second fitting function is obtained by fitting the rotation of the robotic arm around a third axis in the posture information.

7. The method according to claim 6, characterized in that Calculating according to the target vector to obtain the first angle value and the second angle value includes: Calculating a first projection value of the target vector on a plane formed by a first axis and a second axis in the manipulator base coordinate system; Calculating the first angle value based on the first projection value and a first normal vector corresponding to a first axis in the robotic arm base coordinate system; Calculating a second projection value of the target vector on a plane formed by the second axis and the third axis in the manipulator base coordinate system; The second angle value is obtained by performing calculation based on the second projection value and a second normal vector corresponding to the third axis in the robot arm base coordinate system.

8. The method according to claim 3, characterized in that Before performing fitting calculation on the overlapping area by a binary search method to obtain the target workspace, the method further includes: Performing discretization sampling processing on each first workspace to obtain a discrete point set; Performing geometric approximation processing on the discrete point set by a polygon fitting algorithm to obtain a polygon point set corresponding to each first workspace; According to the polygon point sets corresponding to each first workspace, the intersection area of ​​the polygon point sets is calculated by a clipping method to obtain the overlapping area.

9. A control device for a surgical robot, characterized in that: include: A first determining unit is configured to determine a plurality of simulated osteotomy surfaces of a target object according to a preoperative plan for knee replacement; A first calculation unit is used to calculate the working space of the surgical robot under each simulated osteotomy surface to obtain a plurality of first working spaces; The second determining unit is configured to determine a target workspace of the surgical robot according to the plurality of first workspaces, and control the surgical robot to perform an action based on the target workspace.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the computer-readable storage medium is located is controlled to execute the control method of the surgical robot according to any one of claims 1 to 8.

11. An electronic device, characterized in that: include: a memory storing an executable program; A processor is used to run the program, wherein the program executes the control method of the surgical robot according to any one of claims 1 to 8 when running.

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