Osteotomies volume safety monitoring system and storage medium

Abstract

The application relates to a bone grinding amount safety monitoring system and method, a storage medium and a program product. The system comprises an upper computer and a lower computer which are electrically connected with each other, and a motor connected with the lower computer; the motor is used for driving a motor bone grinding instrument to rotate; in a bone grinding process of a to-be-ground bone area in a hip bone of a to-be-tested object by using the bone grinding instrument, the upper computer performs first monitoring on a bone grinding amount corresponding to the to-be-ground bone area according to first bone grinding related data sent by the lower computer; the lower computer performs second monitoring on the bone grinding amount corresponding to the to-be-ground bone area according to second bone grinding related data sent by the upper computer; if the bone grinding amount monitored in at least one of the first monitoring and the second monitoring exceeds a set threshold value, the lower computer controls the motor to be powered off. The system can improve the accuracy of the monitoring result of the bone grinding amount.

Description

[0001] This application is a divisional application of application number 202210560746.2, filed on May 23, 2022, entitled "Bone Grinding Safety Monitoring System, Method, Storage Medium and Program Product". Technical Field

[0002] This application relates to the field of data processing technology, and in particular to a bone grinding volume safety monitoring system and storage medium. Background Technology

[0003] The hip joint is mainly composed of the femoral head and the acetabulum, and is a ball-and-socket joint, including the acetabular fossa. When a patient has a problem with the acetabulum and needs replacement, the size of the acetabular fossa is usually measured, and an acetabular file is used to grind the acetabular fossa to the required size for further treatment by the doctor or technician.

[0004] In related techniques, during the process of grinding the acetabulum of a patient, the doctor or technician usually observes the bone quality in the grinding area based on their experience, and manually releases the motor button when the acetabulum is ground to a certain position to ensure that too much bone is ground from the acetabulum.

[0005] However, the above-mentioned monitoring scheme for acetabular bone grinding has the problem of inaccurate monitoring results. Summary of the Invention

[0006] Therefore, it is necessary to provide a bone reduction safety monitoring system, method, storage medium, and program product that can improve the accuracy of the results of monitoring bone reduction volume in order to address the above-mentioned technical problems.

[0007] In a first aspect, this application provides a bone grinding volume safety monitoring system, which includes an upper computer and a lower computer that are electrically connected to each other, and a motor connected to the lower computer; the motor is used to drive the bone grinding instrument to rotate.

[0008] During the bone grinding process of the hip bone of the test subject using a bone grinding instrument, the host computer performs the first bone grinding amount corresponding to the bone grinding area based on the first bone grinding related data sent by the slave computer.

[0009] The lower-level machine performs a second monitoring of the amount of bone to be ground in the area to be ground, based on the second bone-grinding related data sent by the upper-level machine.

[0010] If the amount of bone grinding monitored by at least one of the first and second monitoring devices exceeds a set threshold, the lower-level machine controls the motor to power off.

[0011] In one embodiment, the host computer includes a display interface.

[0012] The host computer acquires a medical image of the pelvis containing the area to be ground, obtains the location information of the area to be ground, and segments the tissue in the medical image of the pelvis to obtain the location information of the hip bone.

[0013] The host computer performs image fitting processing on the hip bone and the area to be ground based on the location information of the area to be ground and the location information of the hip bone, and obtains a three-dimensional simulation image of the hip bone and the area to be ground, which is then displayed on the display interface.

[0014] In one embodiment, during the bone grinding process, the relative positional relationship between the area to be ground and the preset target contour area is displayed in real time on the display interface.

[0015] After the aforementioned motor loses power, the aforementioned host computer or the aforementioned slave computer determines the grinding direction of the aforementioned motor after the next power-on based on the aforementioned relative positional relationship.

[0016] In one embodiment, the host computer performs a first monitoring of the amount of bone to be ground in the area to be ground, based on the first bone-grinding related data sent by the slave computer, including:

[0017] The host computer determines the first bone-grinding amount corresponding to the bone-grinding area based on the first posture of the pelvis and the second posture of the bone-grinding instrument sent by the lower computer; the pelvis includes the hip bone.

[0018] The host computer determines whether there is over-grinding in the area to be ground based on the first amount of bone grinding and the set threshold.

[0019] In one embodiment, the host computer determines the first bone-grinding amount corresponding to the area to be ground based on the first orientation of the pelvis and the second orientation of the bone-grinding instrument sent by the slave computer, including:

[0020] The host computer performs coordinate system transformation on the first pose of the pelvis and the second pose of the bone grinding instrument to obtain the transformed first pose of the pelvis and the transformed second pose of the bone grinding instrument.

[0021] The host computer obtains the first pose of the hip bone and the first pose of the area to be ground based on the first pose of the pelvis after the conversion.

[0022] The host computer uses a preset collision detection method to perform collision detection on the first pose of the hip bone, the first pose of the bone-grinding area, and the second pose of the converted bone-grinding instrument, and determines the first bone-grinding amount corresponding to the bone-grinding area; the preset collision detection method includes at least one of the first model calculation method, the second model calculation method, and the numerical calculation method based on surface data.

[0023] In one embodiment, the lower-level machine controls the motor to power off, including:

[0024] If the host computer determines that there is over-wearing in the bone area to be ground, the host computer sends a control command to the slave computer; the control command is used to instruct the slave computer to power off the motor.

[0025] In one embodiment, the lower-level machine performs a second monitoring of the amount of bone to be ground in the area to be ground, based on the second bone-grinding related data sent by the upper-level machine, including:

[0026] The lower-level machine determines the second bone-grinding amount corresponding to the bone-grinding area based on the size information of the bone-grinding instrument, the position information of the bone-grinding area, and the position information of the preset target contour area sent by the upper-level machine.

[0027] The lower-level machine determines whether there is over-grinding in the area to be ground based on the second bone grinding amount and the set threshold.

[0028] In one embodiment, the lower-level machine determines the second bone-grinding amount corresponding to the bone-grinding area based on the size information of the bone-grinding instrument, the position information of the bone-grinding area, and the position information of a preset target contour area sent by the upper-level machine, including:

[0029] The lower-level machine acquires the second position of the bone-grinding instrument.

[0030] The aforementioned lower-level machine performs coordinate system transformation on the position information of the bone-to-grind area to obtain the transformed position information of the bone-to-grind area;

[0031] The aforementioned lower-level machine uses a preset collision detection method to perform collision detection on the size information of the aforementioned bone grinding instrument, the position information of the aforementioned converted bone-grinding area, the position information of the preset target contour area, and the second pose of the aforementioned bone grinding instrument, and determines the second bone grinding amount corresponding to the aforementioned bone-grinding area; the aforementioned preset collision detection method includes at least one of the following: a first model calculation method, a second model calculation method, and a numerical calculation method based on surface data.

[0032] In one embodiment, if the lower-level machine determines that there is over-wearing in the bone area to be ground, the lower-level machine controls the motor to power off and sends a power-off message to the upper-level machine.

[0033] Secondly, this application also provides a method for monitoring the safety of bone reduction volume, applied to the bone reduction volume safety monitoring system of the first aspect above, the method comprising:

[0034] During the bone grinding process of the hip bone of the test subject using a bone grinding instrument, the host computer performs the first bone grinding amount corresponding to the bone grinding area based on the first bone grinding related data sent by the slave computer.

[0035] The lower-level machine performs a second monitoring of the amount of bone to be ground in the area to be ground, based on the second bone-grinding related data sent by the upper-level machine.

[0036] If the amount of bone grinding monitored by at least one of the first and second monitoring devices exceeds a set threshold, the lower-level machine controls the motor to power off.

[0037] Thirdly, this application also provides a computer-readable storage medium. This computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the method described in the second aspect.

[0038] Fifthly, this application also provides a computer program product. This computer program product includes a computer program that, when executed by a processor, implements the steps of the method described in the second aspect.

[0039] The aforementioned bone grinding volume safety monitoring system, method, storage medium, and program product include an upper computer and a lower computer electrically connected to each other, and a motor connected to the lower computer for driving the rotation of the bone grinding instrument. During bone grinding of the hip bone region of the test subject using the bone grinding instrument, the upper computer performs a first monitoring of the bone grinding volume corresponding to the region to be ground based on first bone grinding-related data sent by the lower computer, and the lower computer performs a second monitoring of the bone grinding volume corresponding to the region to be ground based on second bone grinding-related data sent by the upper computer. If the bone grinding volume monitored by at least one of the two monitoring methods exceeds a set threshold, the lower computer controls the motor to power off. In this method, since the bone grinding volume of the region to be ground can be monitored simultaneously by the upper and lower computers, and the motor can be controlled to power off when either exceeds the threshold, bidirectional monitoring effectively ensures that the monitored bone grinding volume does not exceed the threshold, thus improving the accuracy of bone grinding volume monitoring. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the structure of a bone reduction safety monitoring system in one embodiment;

[0041] Figure 2 This is a schematic diagram of the process for monitoring the safety of bone reduction in another embodiment;

[0042] Figure 3 This is a flowchart illustrating the bone-grinding process in another embodiment;

[0043] Figure 4This is a flowchart illustrating the next power-on operation in another embodiment;

[0044] Figure 5 This is a flowchart illustrating the first monitoring process in another embodiment;

[0045] Figure 6 This is a flowchart illustrating the second monitoring process in another embodiment;

[0046] Figure 7 This is a flowchart illustrating the bone reduction safety monitoring method in another embodiment. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0048] Before introducing specific embodiments of this application, the bone grinding volume safety monitoring system of this application will be described first. See [link to relevant documentation]. Figure 1 As shown, the system includes an upper computer 102 and a lower computer 104 that are electrically connected to each other, and a motor 106 connected to the lower computer. The motor 106 is used to drive the bone grinding instrument to rotate.

[0049] The host computer 102 can be, but is not limited to, various personal computers, laptops, industrial control computers, smartphones, and tablets. The slave computer 104 can be, but is not limited to, various circuit boards, chips, and processors with data processing functions, such as FPGAs (Field Programmable Gate Arrays), DSPs (Digital Signal Processing), and PLCs (Programmable Logic Controllers). The host computer and slave computer can be electrically connected via a communication bus, such as RS232 or RS485 for serial communication. The motor 106 can be an asynchronous motor or a synchronous motor. The motor-driven bone grinding instrument can also be called a bone grinding instrument. Taking the acetabulum as an example, the bone grinding instrument can be an acetabular reamer, but it can also be other types of grinding instruments. In addition, the system may also include a robotic arm, which can be used to hold the motor-driven bone grinding instrument or for the user to hold the motor. The robotic arm can be connected to the slave computer, and its movements can be controlled by the slave computer.

[0050] Based on the aforementioned bone reduction volume safety monitoring system, the following describes the bone reduction volume safety monitoring process of this application. (See attached document.) Figure 2As shown, the process may include the following steps:

[0051] S202, during the bone grinding process of the hip bone of the test subject using a bone grinding instrument, the host computer performs the first monitoring of the amount of bone grinding corresponding to the bone grinding area based on the first bone grinding related data sent by the slave computer.

[0052] The bone grinding volume safety monitoring system includes multiple coordinate systems: the patient coordinate system, the array coordinate system, the world coordinate system, and the optical tracking system (OTS) coordinate system. The patient coordinate system is the coordinate system of the object being measured, while the array coordinate system is the coordinate system of the bone grinding instruments, motors, etc.

[0053] The first bone-grinding related data may include the pose of the subject's pelvis and the pose of the bone-grinding instrument, transmitted in real time by the lower-level computer. The subject's pelvis includes the hip bone, which in turn includes the acetabulum and the area within it to be ground. The first bone-grinding related data may also include transformation matrices, such as those from the array coordinate system to the OTS coordinate system, from the OTS coordinate system to the patient coordinate system, and from the patient coordinate system to the world coordinate system.

[0054] The host computer can receive the first bone grinding related data sent by the slave computer in real time. At the same time, it can also combine the relevant bone grinding data collected by the host computer to calculate the amount of bone grinding in the area to be ground. That is, the host computer monitors the amount of bone grinding in the area to be ground, which is recorded as the first monitoring.

[0055] S204, the lower-level machine performs a second monitoring of the amount of bone grinding corresponding to the area to be ground, based on the second bone grinding-related data sent by the upper-level machine.

[0056] The second bone-grinding related data includes the size information of the bone-grinding instrument pre-planned by the host computer, the location information of the area to be ground, and the target contour information corresponding to the area to be ground. Of course, the second bone-grinding related data may also include transformation matrices, such as the transformation matrix from the patient coordinate system to the array coordinate system, and the transformation matrix from the array coordinate system to the world coordinate system.

[0057] Specifically, the lower-level machine can receive the second bone-grinding related data sent by the upper-level machine in real time. At the same time, it can also combine some bone-grinding related data collected in real time by the lower-level machine to calculate the amount of bone to be ground in the area to be ground. That is, the lower-level machine monitors the amount of bone to be ground in the area to be ground, which is called the second monitoring.

[0058] S206, if the amount of bone grinding monitored by at least one of the first monitoring and the second monitoring exceeds the set threshold, the lower computer controls the motor to power off.

[0059] In this step, it should be noted that the first monitoring performed by the host computer and the second monitoring performed by the slave computer can be performed simultaneously, so that the amount of bone removed in the area to be removed can be monitored at the same time.

[0060] The threshold value can be determined based on the radius or diameter of the target contour corresponding to the area to be ground, and the specific value is not specifically limited here.

[0061] If the amount of bone grinding exceeds a set threshold in either the first monitoring by the host computer or the second monitoring by the slave computer, or if both monitoring results show the amount of bone grinding exceeding the set threshold simultaneously, then it can be considered that over-grinding may exist, and the motor needs to be powered off. Since the slave computer is generally connected to the motor, the motor can be powered off by controlling the slave computer in this case. This prevents the motor-driven bone grinding instrument from excessively grinding the bone-grinding area, which could lead to irreversible damage.

[0062] The aforementioned bone-grinding volume safety monitoring system includes an upper computer and a lower computer electrically connected to each other, and a motor connected to the lower computer to drive the rotation of the bone-grinding instrument. During the bone-grinding process of the hip bone of the test subject, the upper computer performs a first monitoring of the bone-grinding volume corresponding to the area to be ground based on the first bone-grinding related data sent by the lower computer, and the lower computer performs a second monitoring of the bone-grinding volume corresponding to the area to be ground based on the second bone-grinding related data sent by the upper computer. If the bone-grinding volume monitored by at least one of the two monitoring methods exceeds a set threshold, the lower computer controls the motor to shut down. In this method, since the bone-grinding volume of the area to be ground can be monitored simultaneously by the upper and lower computers, and the motor can be controlled to shut down when either exceeds the threshold, this bidirectional monitoring effectively ensures that the monitored bone-grinding volume does not exceed the threshold, thus improving the accuracy of bone-grinding volume monitoring.

[0063] The above embodiments mention that the amount of bone reshaping can be safely monitored simultaneously by both upper and lower computers. To further facilitate observation of the bone reshaping process during monitoring, it is proposed that the upper computer may also include a display interface to show the bone reshaping status. The following is a detailed description of this process. Based on the above embodiments, see... Figure 3 As shown, the above process of demonstrating bone reshaping may include the following steps:

[0064] S302, the host computer acquires a medical image of the pelvis containing the area to be ground, obtains the location information of the area to be ground, and performs segmentation processing on the tissue in the medical image of the pelvis to obtain the location information of the hip bone.

[0065] In this step, the pelvic position of the subject is scanned, and image reconstruction is performed on the scanned data to obtain a medical image of the subject's pelvis. This medical image of the pelvis may include the area to be treated. This medical image of the pelvis may be a CT image, or it may be a two-dimensional image, a three-dimensional image, etc.; the pelvis may include the hip bone.

[0066] The host computer can connect to a scanning device to obtain pelvic scanning data and perform image reconstruction to obtain a pelvic medical image. Then, the host computer can use image segmentation algorithms and neural network segmentation models to segment the pelvic medical image, extracting the hip bone and obtaining its location information. It can also segment other bone tissues and obtain their information. Finally, a preset delineation tool / software can be used to delineate the area to be removed on the pelvic medical image to obtain the location information of that area.

[0067] S304, the host computer performs image fitting processing on the hip bone and the area to be ground based on the location information of the area to be ground and the location information of the hip bone, and obtains a three-dimensional simulation image of the hip bone and the area to be ground, and displays it on the display interface.

[0068] In this step, the host computer can use image fitting algorithms or related image processing software to fit a three-dimensional simulation image based on the obtained position information of the bone to be ground, the position information of the hip bone, and the position information of the bone grinding instrument. The three-dimensional image can include the hip bone, the bone to be ground, and the bone grinding instrument, as well as the position information of each of the three and the relative positional relationship between them.

[0069] Afterwards, the fitted 3D image can be displayed on the display interface. Of course, a preset target contour area can also be displayed on the hip bone and the area to be ground, so that users can view the bone grinding situation in real time.

[0070] In this embodiment, by fitting a three-dimensional image of the area to be ground and the hip bone and displaying it on the display interface, doctors or technicians can promptly know the status of the ground bone, make it easier to determine the next step of the operation, and avoid the problem of misoperation.

[0071] The above embodiments mention that the host computer may include a display interface and can display the bone grinding status on the display interface. Therefore, how to perform operations after the motor loses power, based on the content displayed on the display interface, is explained in the following embodiments. Figure 4 As shown, based on the above embodiment, the operation process after the next power-on may include the following steps:

[0072] S402, during the bone grinding process, displays the relative positional relationship between the area to be ground and the preset target contour area on the display interface in real time.

[0073] In this step, during the bone-grinding process, different colors can be used to identify the hip bone, the area to be ground, and the grinding instruments on the display interface, allowing doctors or technicians to distinguish different tissue structures and monitor the bone-grinding progress in real time. Simultaneously, a preset target contour can be displayed on the interface. This preset target contour is the pre-planned contour corresponding to the area to be ground, i.e., the contour that the area to be ground will form after the bone-grinding process.

[0074] The host computer can display the process of the bone grinding instrument grinding the bone area in real time on the display interface, as well as the distance between each point in the bone area to be ground and the preset target contour during the bone grinding process. This distance can indicate whether each point in the bone area to be ground has been ground to the appropriate position, that is, it shows the relative positional relationship between the bone area to be ground and the preset target contour.

[0075] S404, after the motor loses power, the host computer or slave computer determines the grinding direction of the motor after the next power-on based on the above relative position relationship.

[0076] In this step, after the amount of bone removed at a certain point in the bone-removing area exceeds a set threshold and the motor is powered off, the relative positional relationship between the bone-removing area and the preset target contour displayed on the screen can be used to determine whether each point in the bone-removing area exceeds the set threshold. For example, if the amount of bone removed at another point does not exceed the set threshold, then the bone-removing direction of the motor after the next power-on can be the direction for removing bone at that other point. In short, the bone-removing direction after the next power-on can be continuously obtained through the relative positional relationship, thus completing the bone removal of all points in the bone-removing area.

[0077] In this embodiment, by displaying the relative positional relationship between the area to be ground and the preset target contour on the display interface, the grinding direction of the motor after the next power-on can be determined. This allows doctors or technicians to quickly know the current and next grinding situation, improving the efficiency and accuracy of grinding the area to be ground.

[0078] The above embodiments mention that the host computer can perform initial monitoring of the amount of bone to be removed in the area to be removed based on the data sent by the slave computer. The following will describe in detail the process of this initial monitoring based on the specific data sent by the slave computer. Based on the above embodiments, such as Figure 5 As shown, the above-mentioned first monitoring process may include the following steps:

[0079] S502, the host computer determines the first bone-grinding amount corresponding to the area to be ground based on the first position of the pelvis and the second position of the bone-grinding instrument sent by the slave computer; the pelvis includes the hip bone.

[0080] In this step, as can be seen from the first bone-grinding data in S202 above, the data sent from the lower-level machine to the upper-level machine includes the real-time pose of the pelvis of the test subject and the real-time pose of the bone-grinding instrument. For ease of explanation, the real-time pose of the pelvis is denoted as the first pose of the pelvis, and the real-time pose of the bone-grinding instrument is denoted as the second pose of the bone-grinding instrument. Of course, the lower-level machine can also send the upper-level machine transformation matrices from the array coordinate system to the OTS coordinate system, the OTS coordinate system to the patient coordinate system, and the patient coordinate system to the world coordinate system, etc.

[0081] At the same time, the host computer can also obtain in real time the transformation matrix from the patient coordinate system to the array coordinate system, the pre-planned range of bone grinding (i.e., the preset threshold), the size information of the bone grinding instrument, the center position of the acetabulum, and the position of the relevant physiological feature points of the subject.

[0082] After the host computer obtains the data related to calculating the bone reduction amount, optionally, the host computer can calculate the bone reduction amount corresponding to the area to be reduced by following the steps A1-A3:

[0083] Step A1: The host computer can perform coordinate system transformation on the first position of the pelvis and the second position of the bone grinding instrument to obtain the transformed first position of the pelvis and the transformed second position of the bone grinding instrument.

[0084] After obtaining the first pose of the pelvis and the second pose of the bone grinding instrument, the host computer, which is a pose in the array coordinate system, can use the transformation matrix from the patient coordinate system to the array coordinate system obtained in real time in the host computer to transform the first pose of the pelvis and the second pose of the bone grinding instrument into the patient coordinate system. Then, the host computer can transform both the first pose of the pelvis and the second pose of the bone grinding instrument in the patient coordinate system into the world coordinate system, or the first pose of the pelvis and the second pose of the bone grinding instrument in the world coordinate system.

[0085] Step A2: The host computer obtains the first pose of the hip bone and the first pose of the area to be shaved from the converted first pose of the pelvis.

[0086] In this step, after obtaining the first pose of the pelvis in the world coordinate system, the host computer can segment the pelvis to obtain the hip bone and its pose, which is denoted as the first pose of the hip bone. Simultaneously, the pose of the area to be ground in the pelvis can be obtained by delineating the region to be ground, which is denoted as the first pose of the region to be ground. Both the first pose of the hip bone and the first pose of the region to be ground are poses in the world coordinate system.

[0087] Step A3: The host computer uses a preset collision detection method to perform collision detection on the first pose of the hip bone, the first pose of the bone-grinding area, and the second pose of the converted bone-grinding instrument to determine the first bone-grinding amount corresponding to the bone-grinding area; the preset collision detection method includes at least one of the first model calculation method, the second model calculation method, and the numerical calculation method based on surface data.

[0088] The first model approach can be a real-time computation method based on the model, such as AABB (Axis-Aligned Bounding Box) or OBB (Oriented Bounding Box). Here, AABB corresponds to a collision detection algorithm based on axis-aligned bounding boxes, and OBB corresponds to a collision detection algorithm based on oriented bounding boxes. Both algorithms are derived through optimization based on bounding boxes. The second model approach differs from the first approach and can be, for example, SAT (Separating Axis Theorem) or GJK (Gilbert-Johnson-Keerthi Distance Algorithm, an algorithm for calculating collision detection and nearest-distance collision detection between two convex polyhedra).

[0089] Specifically, after obtaining the first pose of the hip bone, the first pose of the area to be ground, and the second pose of the grinding instrument in the world coordinate system, the host computer, in conjunction with the pre-planned grinding amount range (i.e., the preset threshold), the size information of the grinding instrument, the center position of the acetabulum, and the position of the relevant physiological feature points of the test object obtained by the host computer, can preferentially use the first model calculation method to perform collision detection on these relevant data to obtain the real-time grinding amount of the area to be ground, which is recorded as the first grinding amount.

[0090] S504, the host computer determines whether there is over-grinding in the area to be ground based on the first amount of bone grinding and the set threshold.

[0091] In this step, the host computer can calculate the first grinding amount corresponding to each point in the area to be ground using the collision detection described above, and compare the first grinding amount of each point with a set threshold. If the first grinding amount of at least one point is greater than the set threshold, it is determined that there is over-grinding in the area to be ground. When over-grinding is found, the lower-level computer can control the motor to shut down.

[0092] Optionally, the specific process for the lower-level computer to control the motor power-off may include: if the upper-level computer determines that there is over-wearing in the area to be ground, the upper-level computer sends a control command to the lower-level computer; this control command is used to instruct the lower-level computer to control the motor power-off. In other words, if the upper-level computer detects that there is over-wearing in the area to be ground, it can send a control command to the lower-level computer via wired or wireless means to instruct the motor to power off, thereby achieving power-off control of the motor.

[0093] In this embodiment, the host computer performs initial monitoring using specific bone-grinding data sent by the slave computer, which improves the accuracy of the host computer's monitoring of the amount of bone to be ground in the area to be ground. Furthermore, the host computer can obtain the amount of bone grinding by performing coordinate system transformation on the pose transmitted from the slave computer and collision detection on the transformed data, thus further improving the accuracy of the calculated amount of bone grinding.

[0094] The above embodiments also mention that the lower-level computer can perform a second monitoring of the amount of bone to be removed in the area to be removed based on the data sent by the upper-level computer. The following will describe in detail the process of this second monitoring based on the specific data sent by the upper-level computer. On the basis of the above embodiments, such as Figure 6 As shown, the second monitoring process described above may include the following steps:

[0095] S602, the lower computer determines the second bone grinding amount corresponding to the bone grinding area based on the size information of the bone grinding instrument, the position information of the bone grinding area and the position information of the preset target contour area sent by the upper computer.

[0096] In this step, as can be seen from the second bone grinding data in S204 above, the data sent from the host computer to the slave computer may include the size information of the bone grinding instrument pre-planned and simulated by the host computer, the position information of the area to be ground, and the position information of the preset target contour area. Of course, it may also include the transformation matrix from the patient coordinate system to the array coordinate system, etc.

[0097] After the host computer sends data to the slave computer, optionally, the process by which the slave computer calculates the bone reduction amount based on the data may include the following steps B1-B3:

[0098] Step B1: The lower-level machine acquires the second position of the aforementioned bone-grinding instrument.

[0099] In this step, the lower-level machine can obtain the pose of the bone grinding instrument and the pose of the pelvis in real time, which are denoted as the first pose of the pelvis and the second pose of the bone grinding instrument. Both the first pose of the pelvis and the second pose of the bone grinding instrument are poses in the array coordinate system.

[0100] Step B2: The lower-level machine performs coordinate system transformation on the position information of the area to be ground to obtain the transformed position information of the area to be ground.

[0101] In this step, the position information of the bone-grinding area and the position information of the preset target contour area are both position information in the patient coordinate system. The lower computer can use the transformation matrix from the patient coordinate system to the array coordinate system sent by the upper computer to transform these position information to obtain the position information of the bone-grinding area and the position information of the preset target contour in the array coordinate system.

[0102] Step B3: The lower-level machine uses a preset collision detection method to perform collision detection on the size information of the bone grinding instrument, the position information of the converted bone-grinding area, the position information of the preset target contour area, and the second pose of the bone grinding instrument, and determines the second bone grinding amount corresponding to the bone-grinding area; the preset collision detection method includes at least one of the first model calculation method, the second model calculation method, and the numerical calculation method based on surface data.

[0103] For an explanation of the calculation methods for the first and second models, please refer to the explanation in step A3 above, which will not be repeated here.

[0104] Specifically, after obtaining the position information of the bone-grinding area in the array coordinate system and the position information of the preset target contour in the array coordinate system, the lower-level computer can combine the size information of the bone-grinding instrument, the first pose of the pelvis, the second pose of the bone-grinding instrument, and other relevant bone-grinding data sent by the upper-level computer. It can then use a second model calculation method to perform collision detection on this relevant data to obtain the real-time bone-grinding amount of the bone-grinding area, which is recorded as the second bone-grinding amount. Alternatively, it can use a numerical calculation method based on surface data to perform collision detection on this relevant data to obtain the real-time bone-grinding amount of the bone-grinding area, also recorded as the second bone-grinding amount.

[0105] S604, the lower-level machine determines whether there is over-grinding in the area to be ground based on the second grinding amount and the set threshold.

[0106] In this step, the lower-level machine can calculate the second bone grinding amount corresponding to each point in the bone grinding area through the above collision detection, and compare the second bone grinding amount of each point with the set threshold. If the second bone grinding amount of at least one point is greater than the set threshold, it is determined that there is over-grinding in the bone grinding area.

[0107] Of course, the lower-level machine uses two calculation methods to calculate the second bone grinding amount. Therefore, when comparing the second bone grinding amount with the preset threshold, there must be two comparison processes. If over-grinding occurs in either comparison process, it is determined that the lower-level machine has detected over-grinding in the area to be ground.

[0108] Optionally, if the lower-level machine determines that there is excessive grinding in the area to be ground, the lower-level machine can control the motor to power off and send a power-off message to the upper-level machine so that the upper-level machine can know the current status of the motor in a timely manner and inform the doctor or technician.

[0109] In this embodiment, the lower-level machine performs a second monitoring based on the specific bone-grinding data sent by the upper-level machine, which can improve the accuracy of the lower-level machine in monitoring the amount of bone to be ground in the area to be ground. Furthermore, the lower-level machine employs two calculation methods to calculate the amount of bone to be ground, thereby further ensuring the accuracy of the calculated amount and effectively avoiding over-grinding during the bone-grinding process. Moreover, the lower-level machine obtains the amount of bone to be ground by performing coordinate system transformation on the data sent by the upper-level machine and collision detection on the transformed data, which further improves the accuracy of the calculated amount of bone to be ground.

[0110] Based on the same inventive concept, this application also provides a method for monitoring the safety of bone reduction volume, applied to the aforementioned bone reduction volume safety monitoring system, such as... Figure 7 As shown, the method includes:

[0111] S702, during the bone grinding process of the hip bone of the test subject using a bone grinding instrument, the host computer performs the first monitoring of the amount of bone grinding corresponding to the bone grinding area based on the first bone grinding related data sent by the slave computer.

[0112] S704, the lower-level machine performs a second monitoring of the amount of bone to be ground in the area to be ground, based on the second bone-grinding related data sent by the upper-level machine.

[0113] S706, if the amount of bone grinding monitored by at least one of the first monitoring and the second monitoring exceeds the set threshold, the lower-level machine controls the motor to power off.

[0114] The solution provided by this method is similar to the solution described in the above-mentioned bone reduction safety monitoring system. Therefore, the specific limitations of each method step in this embodiment can be found in the limitations of the bone reduction safety monitoring system in S202-S206 above, and will not be repeated here.

[0115] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0116] During the bone-grinding process of the hip bone of the test subject using a bone-grinding instrument, the host computer performs a first monitoring of the amount of bone grinding corresponding to the area to be ground based on the first bone-grinding related data sent by the slave computer; the slave computer performs a second monitoring of the amount of bone grinding corresponding to the area to be ground based on the second bone-grinding related data sent by the host computer; if the amount of bone grinding monitored by at least one of the first and second monitoring exceeds a set threshold, the slave computer controls the motor to power off.

[0117] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0118] During the bone-grinding process of the hip bone of the test subject using a bone-grinding instrument, the host computer performs a first monitoring of the amount of bone grinding corresponding to the area to be ground based on the first bone-grinding related data sent by the slave computer; the slave computer performs a second monitoring of the amount of bone grinding corresponding to the area to be ground based on the second bone-grinding related data sent by the host computer; if the amount of bone grinding monitored by at least one of the first and second monitoring exceeds a set threshold, the slave computer controls the motor to power off.

[0119] It should be noted that all data involved in this application (including but not limited to data used for analysis, data stored, data displayed, etc.) are data authorized by the user or fully authorized by all parties.

[0120] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0121] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0122] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A safety monitoring system for bone grinding volume, characterized in that, The system includes an upper computer and a lower computer that are electrically connected to each other, and a motor connected to the lower computer; the motor is used to drive the bone grinding instrument to rotate. During the bone-grinding process of the hip bone of the test subject using a bone-grinding instrument, the host computer monitors the amount of bone grinding corresponding to the bone-grinding area based on the first bone-grinding related data sent by the slave computer. The host computer includes a display interface, which displays the relative positional relationship between the bone-grinding area and the preset target contour area in real time during the bone-grinding process. The first bone-grinding related data includes the pelvic pose of the test subject and the pose of the bone-grinding instrument. The lower-level machine performs a second monitoring of the amount of bone to be ground in the area to be ground, based on the second bone-grinding related data sent by the upper-level machine; wherein, the second bone-grinding related data includes pre-planned data; If the amount of bone grinding monitored by at least one of the first and second monitoring exceeds a set threshold, the lower-level machine controls the motor to power off.

2. The system according to claim 1, characterized in that, The process of displaying the relative positional relationship between the area to be ground and the preset target contour area in real time on the display interface during the bone grinding process includes: the host computer acquiring a pelvic medical image containing the area to be ground, obtaining the positional information of the area to be ground, and performing segmentation processing on the tissue in the pelvic medical image to obtain the positional information of the hip bone. The host computer performs image fitting processing on the hip bone and the area to be ground based on the location information of the area to be ground and the location information of the hip bone, and obtains a three-dimensional simulation image of the hip bone and the area to be ground, which is then displayed on the display interface.

3. The system according to claim 1, characterized in that, After the motor loses power, the host computer or the slave computer determines the grinding direction of the motor after the next power-on based on the relative position relationship.

4. The system according to claim 1, characterized in that, The host computer performs a first monitoring of the amount of bone to be ground in the area to be ground, based on the first bone-grinding related data sent by the slave computer, including: The host computer determines the first bone-grinding amount corresponding to the area to be ground based on the first posture of the pelvis and the second posture of the bone-grinding instrument sent by the slave computer; the pelvis includes the hip bone; The host computer determines whether there is over-grinding in the area to be ground based on the first amount of bone grinding and the set threshold.

5. The system according to claim 4, characterized in that, The host computer determines the first bone-removing amount corresponding to the area to be removed from the bone based on the first posture of the pelvis and the second posture of the bone-removing instrument sent by the slave computer, including: The host computer performs coordinate system transformation on the first pose of the pelvis and the second pose of the bone grinding instrument to obtain the transformed first pose of the pelvis and the transformed second pose of the bone grinding instrument. The host computer obtains the first pose of the hip bone of the test subject and the first pose of the area to be shaved based on the first pose of the converted pelvis. The host computer uses a preset collision detection method to perform collision detection on the first pose of the hip bone, the first pose of the bone-grinding area, and the second pose of the converted bone-grinding instrument, and determines the first bone-grinding amount corresponding to the bone-grinding area; the preset collision detection method includes at least one of the first model calculation method, the second model calculation method, and the numerical calculation method based on surface data.

6. The system according to claim 5, characterized in that, The lower-level machine controls the motor to power off, including: If the host computer determines that there is over-wearing in the bone area to be ground, the host computer sends a control command to the slave computer; the control command is used to instruct the slave computer to power off the motor.

7. The system according to claim 2, characterized in that, The lower-level machine performs a second monitoring of the amount of bone removed corresponding to the area to be removed, based on the second bone-removal related data sent by the upper-level machine, including: The lower-level machine determines the second bone-grinding amount corresponding to the bone-grinding area based on the size information of the bone-grinding instrument, the position information of the bone-grinding area, and the position information of the preset target contour area sent by the upper-level machine. The lower-level machine determines whether there is over-grinding in the area to be ground based on the second bone grinding amount and the set threshold.

8. The system according to claim 7, characterized in that, The lower-level machine determines the second bone-removing amount corresponding to the bone-removing area based on the size information of the bone-removing instrument, the position information of the area to be removed, and the position information of the preset target contour area sent by the upper-level machine, including: The lower-level machine acquires the second position of the bone grinding instrument; The lower-level machine performs coordinate system transformation on the position information of the area to be ground to obtain the transformed position information of the area to be ground. The lower-level machine uses a preset collision detection method to perform collision detection on the size information of the bone grinding instrument, the position information of the converted bone-grinding area, the position information of the preset target contour area, and the second pose of the bone grinding instrument, and determines the second bone grinding amount corresponding to the bone-grinding area; the preset collision detection method includes at least one of the first model calculation method, the second model calculation method, and the numerical calculation method based on surface data.

9. The system according to claim 8, characterized in that, If the lower-level machine determines that there is over-wearing in the bone area to be ground, the lower-level machine controls the motor to power off and sends a power-off message to the upper-level machine.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it performs the following steps: During the bone grinding process in the hip bone of the test subject using a bone grinding instrument, the host computer performs the first bone grinding amount corresponding to the bone grinding area based on the first bone grinding related data sent by the slave computer. During the bone grinding process, the relative positional relationship between the area to be ground and the preset target contour area is displayed in real time on the display interface of the host computer; wherein, the first bone grinding related data includes the pelvic pose of the test object and the pose of the bone grinding instrument. The lower-level machine performs a second monitoring of the amount of bone to be ground in the area to be ground, based on the second bone-grinding related data sent by the upper-level machine; wherein, the second bone-grinding related data includes pre-planned data; If the amount of bone grinding monitored by at least one of the first and second monitoring exceeds a set threshold, the lower-level machine controls the motor to power off.

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