An osteotomy control method, an osteotomy device, and a computer program product

Abstract

The embodiment of the application is suitable for the technical field of orthopedic surgery, and provides an osteotomy control method, an osteotomy device and a computer program product. The method is applied to the osteotomy device, and the osteotomy device is provided with an osteotomy tool. The method comprises the following steps: in an osteotomy process, the position and speed of the osteotomy tool are determined; based on the position and speed of the tool, a target osteotomy boundary is determined from a plurality of preset osteotomy boundaries; the speed of the tool is decomposed into a first normal speed perpendicular to the target osteotomy boundary and a first tangential speed perpendicular to the first normal speed; and in the case that the osteotomy tool and the target osteotomy boundary meet a collision condition, the first normal speed is adjusted. The embodiment of the application can ensure that the trajectory of the osteotomy tool changes smoothly without colliding with the target osteotomy boundary, and ensures the accuracy, safety and fluency of the osteotomy surgery.

Description

Technical Field

[0001] This application belongs to the field of orthopedic surgery technology, and in particular relates to an osteotomy control method, osteotomy equipment and computer program product. Background Technology

[0002] In orthopedic robot-assisted osteotomy, the osteotomy operation must strictly limit the range of motion of the osteotomy tools in the robot to the pre-planned bone surface area. Once the osteotomy tools exceed this range, it will lead to irreversible soft tissue damage or failure of prosthesis installation.

[0003] However, existing technologies mostly employ distance-based virtual walls or potential field methods, setting boundaries in the near-surface region of the bone and applying repulsive forces or attenuation rates near the boundaries. However, these methods rely on empirical thresholds, and osteotomy tools are prone to overshooting, making it difficult to meet the "zero penetration" requirements of high-risk scenarios such as medical procedures. Summary of the Invention

[0004] In view of this, embodiments of this application provide an osteotomy control method, an osteotomy device, and a computer program product to prevent the osteotomy tool from crossing the osteotomy boundary during the osteotomy process, thereby improving the accuracy of the osteotomy and ensuring the safety of the osteotomy surgery.

[0005] A first aspect of this application provides a method for controlling osteotomy, applied to an osteotomy device, the osteotomy device being provided with osteotomy tools; the method includes:

[0006] During osteotomy, the tool position and speed of the osteotomy tool are determined;

[0007] Based on the tool position and the tool speed, the target osteotomy boundary is determined among multiple preset osteotomy boundaries;

[0008] The tool velocity is decomposed into a first normal velocity perpendicular to the target osteotomy boundary and a first tangential velocity perpendicular to the first normal velocity.

[0009] When the osteotomy tool and the target osteotomy boundary meet the collision conditions, the first normal velocity is adjusted.

[0010] In some implementations of the first aspect, the method also includes:

[0011] Determine the stopping distance of the osteotomy tool in the direction of the first normal velocity;

[0012] Determine a first distance between the osteotomy tool and the target osteotomy boundary;

[0013] If the braking distance is greater than the first distance, it is determined that the osteotomy tool and the target osteotomy boundary meet the collision condition;

[0014] If the braking distance is not greater than the first distance, it is determined that the osteotomy tool and the target osteotomy boundary do not meet the collision condition.

[0015] In some implementations of the first aspect, adjusting the first normal velocity includes:

[0016] The first collision rate is determined based on the maximum deceleration of the osteotomy tool, the first distance between the two points, and the target osteotomy boundary.

[0017] The rate of the first normal velocity is adjusted to be no greater than the first collision rate.

[0018] In some implementations of the first aspect, twice the product of the maximum deceleration and the first distance is equal to the square of the first collision rate.

[0019] In some implementations of the first aspect, determining the target osteotomy boundary among multiple preset osteotomy boundaries based on the tool position and the tool speed includes:

[0020] The velocity projection vector of the osteotomy tool on the osteotomy plane is determined based on the tool velocity.

[0021] Starting from the tool position, in the direction of the velocity projection vector, determine the target osteotomy boundary as one of the multiple preset osteotomy boundaries that intersects with the velocity projection vector.

[0022] In some implementations of the first aspect, the osteotomy boundary is a line segment; the method further includes:

[0023] The endpoint position of the nearest osteotomy boundary endpoint is determined based on the tool position;

[0024] If the second distance between the tool position and the endpoint position is less than a preset distance value, a second normal velocity toward the endpoint position and a second tangential velocity perpendicular to the second normal velocity are determined.

[0025] The second normal velocity is controlled based on the second phase distance.

[0026] In some implementations of the first aspect, controlling the second normal velocity based on the second phase distance includes:

[0027] The current second collision rate is determined based on the maximum deceleration and the second distance.

[0028] If the rate of the second normal velocity is greater than the second collision rate, the rate of the second normal velocity is adjusted to be no greater than the second collision rate.

[0029] In some implementations of the first aspect, determining the second normal velocity toward the endpoint position includes:

[0030] A circular region located on the osteotomy plane is defined with the endpoint position as the center;

[0031] The radial direction passing through the tool position and toward the endpoint position is determined as the second normal.

[0032] The component in the second normal direction is determined as the second normal velocity based on the tool velocity.

[0033] A second aspect of this application provides an osteotomy control device located within an osteotomy apparatus, the osteotomy apparatus being provided with osteotomy tools. The device includes:

[0034] The tool motion determination module is used to determine the tool position and tool speed of the osteotomy tool during the osteotomy process;

[0035] The target osteotomy boundary determination module is used to determine the target osteotomy boundary among multiple preset osteotomy boundaries based on the tool position and the tool speed;

[0036] The velocity decomposition module is used to decompose the tool velocity into a first normal velocity perpendicular to the target osteotomy boundary and a first tangential velocity perpendicular to the first normal velocity.

[0037] The first normal velocity adjustment module is used to adjust the first normal velocity when the osteotomy tool and the target osteotomy boundary meet the collision conditions.

[0038] A third aspect of this application provides an osteotomy device, including a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the osteotomy device implements the osteotomy control method as described in the first aspect above.

[0039] A fourth aspect of this application provides a computer program product including a computer program that, when run, causes the osteotomy control method described in the first aspect above to be executed.

[0040] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the osteotomy control method as described in the first aspect above.

[0041] Compared with the prior art, the embodiments of this application have the following beneficial effects:

[0042] In this embodiment, during osteotomy, the tool position and speed of the osteotomy tool are determined; based on the tool position and speed, a target osteotomy boundary is determined among multiple preset osteotomy boundaries; the tool speed is decomposed into a first normal speed perpendicular to the target osteotomy boundary and a first tangential speed perpendicular to the first normal speed; when the osteotomy tool and the target osteotomy boundary meet the collision conditions, the first normal speed is adjusted to determine the target osteotomy boundary in the direction of movement of the osteotomy tool; when the osteotomy tool and the target osteotomy boundary meet the collision conditions, it is determined that the osteotomy tool and the target osteotomy boundary are about to collide, and the first normal speed is adjusted and the first tangential speed is maintained, so that the osteotomy tool can smoothly change its trajectory without colliding with the target osteotomy boundary, thus ensuring the accuracy, safety, and smoothness of the osteotomy surgery. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram of an osteotomy control method provided in an embodiment of this application;

[0045] Figure 2 This is a schematic diagram of an osteotomy boundary provided in an embodiment of this application;

[0046] Figure 3 This is an exploded schematic diagram of the speed of a tool provided in an embodiment of this application;

[0047] Figure 4 This is an exploded view of the speed of another tool provided in an embodiment of this application;

[0048] Figure 5 This is an exploded view of the speed of another tool provided in the embodiments of this application;

[0049] Figure 6 This is a schematic diagram of an osteotomy control device provided in an embodiment of this application;

[0050] Figure 7 This is a schematic diagram of an osteotomy device provided in an embodiment of this application. Detailed Implementation

[0051] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0052] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0053] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0054] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0055] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0056] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0057] One of the inventive concepts of this application is to perform preoperative planning before osteotomy surgery, determining the osteotomy plane and osteotomy boundary. By analyzing the relationship between the movement direction of the osteotomy tool and the osteotomy boundary, the velocity of the osteotomy tool is decomposed, and the specified velocity components are controlled. This reduces lateral oscillations of the osteotomy tool on both sides of the osteotomy boundary and prevents the osteotomy tool from running out of the osteotomy boundary. This prevents overcutting or bone fracture during osteotomy surgery, improving the accuracy and safety of osteotomy. This application can be applied to osteotomy equipment, enabling automated, high-precision, and high-safety automatic / semi-automatic osteotomy operations.

[0058] The technical solution of this application will be described below through specific embodiments.

[0059] Reference Figure 1 The diagram shows a schematic of an osteotomy control method provided in an embodiment of this application. This embodiment can be applied to an osteotomy device, which can be equipped with osteotomy tools.

[0060] As an example, an osteotomy device can be a device with storage and computing resources. The osteotomy device is equipped with a robotic arm and an osteotomy tool (such as an oscillating saw) at the end of the robotic arm. The osteotomy device controls the movement of the osteotomy tool to perform osteotomy on the surgical object (including but not limited to the tibia, anterior condyle, and posterior condyle).

[0061] The specific steps included in this application embodiment are as follows:

[0062] Step 101: During the osteotomy, determine the tool position and speed of the osteotomy tool.

[0063] The position, speed, and external contact force of the osteotomy tool can be obtained in each control cycle.

[0064] Medical staff can operate osteotomy equipment to perform osteotomy surgery, during which the osteotomy tool needs to be moved. Force sensors can be installed in the osteotomy equipment to acquire external contact forces, and these forces can be used to control the movement of the osteotomy tool. For example, a six-dimensional force / torque sensor can be configured to output external contact forces for the osteotomy tool. This sensor can collect three-dimensional force and three-dimensional torque, which can fully reflect the action applied by the human hand to the oscillating saw, including complex operations such as pushing, pulling, and twisting. The movement and attitude control of the oscillating saw can be achieved through three-dimensional force and torque to perform the osteotomy operation.

[0065] The osteotomy equipment may be equipped with an optical positioning system. During the osteotomy process, the optical positioning system can acquire three-dimensional images of the osteotomy tool and the surgical object, and analyze and process the three-dimensional images to determine the speed of the osteotomy tool (hereinafter referred to as the tool position) and the speed of the osteotomy tool (hereinafter referred to as the tool speed).

[0066] As an example, the tool position and / or tool speed output by the optical positioning system can be input to a filter (e.g., a Kalman filter, a low-pass filter, or a mean filter) for processing to obtain a high-precision tool position and a high-precision tool speed output by the filter, thereby improving the control precision of the osteotomy tool and enhancing the accuracy and safety of osteotomy surgery.

[0067] Since osteotomy tools have a certain volume, the tool position can be represented by a certain position on the osteotomy tool according to preset rules. For example, the tool position can be the end of the osteotomy tool (the end used to cut the bone body), or a designated mark point of the osteotomy tool, or the position of the point closest to the osteotomy boundary of the osteotomy tool.

[0068] Step 102: Determine the target osteotomy boundary among multiple preset osteotomy boundaries based on the tool position and tool speed.

[0069] Pre-defined osteotomy boundaries can be determined based on the patient's preoperative examination data. For example, preoperative planning can be performed using the patient's CT images to determine multiple osteotomy boundaries. These boundaries characterize the areas that the osteotomy tool cannot cross during the procedure. The osteotomy tool is confined to one side of the osteotomy boundary and is located on the same side as the bone body to be osteotomized. During the osteotomy, the osteotomy boundary closest to the tool in the tool's direction is designated as the target osteotomy boundary.

[0070] Multiple preset osteotomy boundaries can be represented as an array of three-dimensional line segments connected end to end, with each osteotomy boundary being a line segment. The osteotomy boundary is determined by the coordinates of its starting point. End point coordinates This facilitates engineering implementation. This boundary structure is suitable for semi-closed osteotomy scenarios (e.g., only the bottom and side boundaries need to be constrained, while the top is open). It is understood that the tool position and the osteotomy boundary are relative to the same coordinate system (e.g., the world coordinate system).

[0071] Reference Figure 2 This illustration shows a schematic diagram of an osteotomy boundary provided in an embodiment of this application. Figure 2 As an example, the green line consists of multiple preset osteotomy boundaries. The bone body 201 and the osteotomy tool 202 are located on the same side of the multiple preset osteotomy boundaries. V is the direction of the tool velocity, and the osteotomy boundary L where point P is located is the target osteotomy boundary.

[0072] Step 103: Decompose the tool velocity into a first normal velocity perpendicular to the target osteotomy boundary and a first tangential velocity perpendicular to the first normal velocity.

[0073] To prevent the osteotomy tool from crossing the osteotomy boundary and to smooth the movement trajectory of the osteotomy tool, the tool velocity can be decomposed into a first normal velocity and a first tangential velocity that are perpendicular to each other, wherein the first normal velocity is the direction toward the target osteotomy boundary.

[0074] Reference Figure 3 The diagram shows a decomposition diagram of a tool velocity provided in an embodiment of this application, in which the tool velocity Vref can be decomposed into a first normal velocity V11 and a first tangential velocity V12.

[0075] Step 104: If the osteotomy tool and the target osteotomy boundary meet the collision conditions, adjust the first normal velocity.

[0076] If the osteotomy tool and the target osteotomy boundary meet the collision conditions, it means that if the osteotomy tool continues to move with its current first normal velocity unchanged, it will cross the target osteotomy boundary, thus causing a safety risk in the osteotomy surgery. Therefore, it is necessary to adjust the first normal velocity and maintain the first tangential velocity until the osteotomy tool and the target osteotomy boundary no longer meet the collision conditions. This ensures that the osteotomy tool will not cross the target osteotomy boundary during the osteotomy process. Furthermore, by maintaining the first tangential velocity unchanged, a smooth trajectory change can be achieved without the osteotomy tool crossing the target osteotomy boundary. This ensures the smoothness of the osteotomy surgery while guaranteeing its accuracy and safety.

[0077] In this embodiment, during the osteotomy process, the tool position and speed of the osteotomy tool are determined; based on the tool position and speed, a target osteotomy boundary is determined among multiple preset osteotomy boundaries; the tool speed is decomposed into a first normal speed perpendicular to the target osteotomy boundary and a first tangential speed perpendicular to the first normal speed; when the osteotomy tool and the target osteotomy boundary meet the collision conditions, the first normal speed is adjusted to determine the target osteotomy boundary in the direction of movement of the osteotomy tool; when the osteotomy tool and the target osteotomy boundary meet the collision conditions, it is determined that the osteotomy tool and the target osteotomy boundary are about to collide, and the first normal speed is adjusted and the first tangential speed is maintained, so that the osteotomy tool does not collide with the target osteotomy boundary while ensuring a smooth change in the trajectory of the osteotomy tool, thus ensuring the accuracy, safety, and smoothness of the osteotomy surgery.

[0078] In some implementations of the embodiments of this application, the steps of the embodiments of this application further include: determining the stopping distance of the osteotomy tool in the direction of the first normal velocity; determining the first separation distance between the osteotomy tool and the target osteotomy boundary; if the stopping distance is greater than the first separation distance, determining that the osteotomy tool and the target osteotomy boundary meet the collision condition; if the stopping distance is not greater than the first separation distance, determining that the osteotomy tool and the target osteotomy boundary do not meet the collision condition.

[0079] The maximum deceleration of the osteotomy tool can be determined. And calculate the minimum distance required for the osteotomy to stop at maximum deceleration, i.e., the stopping distance. . This is the first normal velocity.

[0080] Since the target osteotomy boundary is a line segment, the distance between the osteotomy tool and the target osteotomy boundary can be calculated as the first distance based on the tool position and the starting and ending coordinates of the target osteotomy boundary. It is understandable that a perpendicular line passing through the tool position and perpendicular to the line containing the target osteotomy boundary can be determined, and the distance between the tool position and the foot of this perpendicular line can be defined as the first distance.

[0081] When the braking distance is greater than the first phase distance (i.e.) In the case of ), it means that if the first normal velocity is not reduced, the osteotomy tool will cross the target osteotomy boundary, thus determining that the osteotomy tool and the target osteotomy boundary satisfy the collision condition; the braking distance is not greater than the first distance (i.e., In the case of ), it means that after the first normal can decelerate at a certain deceleration, the osteotomy tool will not cross the target osteotomy boundary. Therefore, it can be determined that the osteotomy tool and the target osteotomy boundary do not meet the collision condition.

[0082] In some implementations of this application, adjusting the first normal velocity includes: determining the first collision rate based on the maximum deceleration of the osteotomy tool, the first distance between the two objects, and the target osteotomy boundary; and adjusting the rate of the first normal velocity to be no greater than the first collision rate.

[0083] The first collision rate can be determined based on the maximum deceleration of the osteotomy tool, the first distance between the two points, and the target osteotomy boundary. The first collision rate characterizes the critical rate at which the osteotomy tool will not cross the target osteotomy boundary in the direction of the current first normal velocity. By adjusting the first normal velocity to be no greater than the first collision rate, the osteotomy tool will not cross the target osteotomy boundary even when the first normal velocity decelerates at a rate no greater than the maximum deceleration, thereby improving surgical safety.

[0084] In some implementations of this application, twice the product of the maximum deceleration and the first distance is equal to the square of the first collision rate.

[0085] Maximum deceleration Distance from the first The product of twice the value of the first collision rate The square values ​​are equal, that is ,Right now If the braking distance is greater than the first phase distance, the speed of the first normal velocity can be adjusted to be no less than... This prevents the osteotomy tool from crossing the target osteotomy boundary.

[0086] Reference Figure 4 This illustrates an exploded view of the speed of another tool provided in an embodiment of this application. Figure 3 As shown in the example, the tool velocity Vref can be decomposed into a first normal velocity V11 and a first tangential velocity V12, and the first normal velocity is reduced to V`11 so that the direction of adjusting the tool velocity is adjusted from Vref to V`ref.

[0087] Since osteotomy involves cutting the bone body according to the pre-planned osteotomy plane, this plane is where the surgical tools need to move back and forth and side to side. The osteotomy boundary lies within the osteotomy plane to protect the osteotomy tools from exceeding the pre-planned area and to avoid damaging other tissues.

[0088] In some implementations of this application, the osteotomy boundary is a line segment; the steps of this application further include: determining the endpoint position of the nearest osteotomy boundary endpoint based on the tool position; when the second phase distance between the tool position and the endpoint position is less than a preset distance value, determining a second normal velocity toward the endpoint position and a second tangential velocity perpendicular to the second normal velocity; and controlling the second normal velocity based on the second phase distance.

[0089] As can be seen from the above, the direction of the first normal velocity (first normal) is perpendicular to and points towards the target osteotomy boundary. Therefore, when the tool position is close to the endpoint of the target osteotomy boundary, the osteotomy tool may slip out from the angle formed by the two osteotomy boundaries. Therefore, the endpoint position of the nearest osteotomy boundary endpoint can be determined based on the tool position. If the second distance between the tool position and the endpoint position is less than a preset distance value (e.g., 3 mm to 5 mm), the tool velocity is decomposed again into a second normal velocity towards the endpoint position and a second tangential velocity perpendicular to the second normal velocity. The second normal velocity is controlled based on the second distance to prevent the osteotomy tool from slipping out from the boundary endpoint.

[0090] In some implementations of the embodiments of this application, controlling the second normal velocity based on the second phase distance includes: determining the current second collision rate based on the maximum deceleration and the second phase distance; and adjusting the rate of the second normal velocity to be no greater than the second collision rate if the rate of the second normal velocity is greater than the second collision rate.

[0091] Similar to the first collision rate, the second collision rate can be determined based on the maximum deceleration of the osteotomy tool and the second phase distance. The second collision rate characterizes the critical rate at which the osteotomy tool will not cross the nearest osteotomy boundary endpoint in the direction of the current second normal velocity. By adjusting the second normal velocity to be no greater than the second collision rate, the osteotomy tool will not cross the nearest osteotomy boundary endpoint when the second normal velocity decelerates at a rate no greater than the maximum deceleration, thereby improving surgical safety.

[0092] As an example, the second collision rate .

[0093] In some implementations of the embodiments of this application, determining the second normal velocity toward the endpoint position includes: determining a circular region on the osteotomy plane with the endpoint position as the center; determining the radial direction passing through the tool position and toward the endpoint position as the second normal; and determining the component in the second normal direction as the second normal velocity based on the tool velocity.

[0094] Reference Figure 5 This illustration shows another decomposed schematic diagram of tool speed provided in an embodiment of this application. When the second distance between the tool position and the endpoint position is less than a preset distance value, a circular area located on the osteotomy plane can be determined with the endpoint position O as the center (the blue dashed circle represents the boundary of the circular area). The radial direction passing through the tool position and toward the endpoint position is determined as the second normal direction. The component in the second normal direction is determined as the second normal speed V21 based on the tool speed, and the speed perpendicular to the radial direction is the second tangential speed V22. The black dashed line is the radius R, which passes through the tool position and coincides with the line containing the second tangential speed V22.

[0095] In its implementation, the osteotomy device is equipped with an admittance controller. This controller controls the operating speed of the osteotomy tool. During the osteotomy process, an adjusted first normal velocity or a second normal velocity can be input to the admittance controller, thereby controlling the robotic arm to move along the direction of the applied force while ensuring the saw blade remains on the osteotomy plane. By inputting the adjusted first or second normal velocity to the admittance controller, the osteotomy tool maintains a first or second tangential velocity, achieving a compliant response. By accurately identifying the effective boundary constraints (osteotomy boundary) under the current direction of motion, dynamic speed limiting is applied only to the first or second normal velocity, seamlessly integrated with the admittance controller, ensuring that the osteotomy boundary is not exceeded and maintaining a natural and compliant interaction with the osteotomy tool's trajectory.

[0096] In practical applications, it is desirable to limit the movement of the osteotomy tool within the osteotomy plane. However, the force (provided by the osteotomy device) that limits the osteotomy tool to the osteotomy plane is always limited. In three-dimensional space, the osteotomy tool may fluctuate up and down in non-osteotomy planes. For ease of understanding, the above tool velocity can be regarded as the velocity component of the osteotomy tool on the osteotomy screen.

[0097] In some implementations of this application, step 102 may include: determining the velocity projection vector of the osteotomy tool on the osteotomy plane based on the tool velocity; taking the tool position as the starting point, determining one of the multiple preset osteotomy boundaries that intersects with the velocity projection vector as the target osteotomy boundary in the direction of the velocity projection vector.

[0098] To improve the accuracy of osteotomy tool control, the tool velocity can be defined as its velocity in three-dimensional space, and the projection of the tool velocity onto the osteotomy plane can be defined as the velocity projection vector. All preset osteotomy boundaries are traversed, and it is calculated whether the current velocity projection vector intersects with each osteotomy boundary. When the intersection point falls on the osteotomy boundary body (rather than the extension line of the osteotomy boundary), the intersection is considered successful (e.g., ...). Figure 2 The intersection point P shown is located on the osteotomy boundary L, which is determined as the effective osteotomy boundary, and it is then determined whether the effective osteotomy boundary is the target osteotomy boundary. Specifically, for each effective osteotomy boundary, a unit normal vector perpendicular to the effective edge from the tool position can be determined. This allows us to determine the first normal velocity along the unit normal vector. .if This indicates that the osteotomy tool is moving away from or parallel to the osteotomy boundary, and that the osteotomy boundary is not being used as the target osteotomy boundary. If This indicates that the osteotomy tool is approaching the osteotomy boundary, therefore this osteotomy boundary is taken as the target osteotomy boundary.

[0099] It is understandable that the first normal velocity and the first tangential velocity are velocities located on the osteotomy plane.

[0100] It should be noted that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0101] Reference Figure 6 This illustration shows a schematic diagram of an osteotomy control device provided in an embodiment of this application. Located within an osteotomy apparatus, the osteotomy apparatus is equipped with osteotomy tools. The osteotomy control device may specifically include, wherein:

[0102] The tool motion determination module 601 is used to determine the tool position and tool speed of the osteotomy tool during the osteotomy process;

[0103] The target osteotomy boundary determination module 602 is used to determine the target osteotomy boundary among multiple preset osteotomy boundaries based on the tool position and the tool speed;

[0104] The velocity decomposition module 603 is used to decompose the tool velocity into a first normal velocity perpendicular to the target osteotomy boundary and a first tangential velocity perpendicular to the first normal velocity.

[0105] The first normal velocity adjustment module 604 is used to adjust the first normal velocity when the osteotomy tool and the target osteotomy boundary meet the collision conditions.

[0106] In some implementations of the embodiments of this application, the steps of the embodiments of this application further include:

[0107] The braking distance determination module is used to determine the braking distance of the osteotomy tool in the direction of the first normal velocity;

[0108] The first distance determination module is used to determine the first distance between the osteotomy tool and the target osteotomy boundary;

[0109] The collision condition determination module is used to determine that the osteotomy tool and the target osteotomy boundary meet the collision condition when the braking distance is greater than the first distance; and to determine that the osteotomy tool and the target osteotomy boundary do not meet the collision condition when the braking distance is not greater than the first distance.

[0110] In some implementations of the embodiments of this application, the first normal velocity adjustment module 604 includes:

[0111] The first collision rate determination submodule is used to determine the first collision rate based on the maximum deceleration of the osteotomy tool, the first distance between the two objects, and the target osteotomy boundary.

[0112] The first normal velocity adjustment submodule is used to adjust the rate of the first normal velocity to be no greater than the first collision rate.

[0113] In some implementations of this application, twice the product of the maximum deceleration and the first distance is equal to the square of the first collision rate.

[0114] In some implementations of this application, the target osteotomy boundary determination module 602 includes:

[0115] The velocity projection vector determination submodule is used to determine the velocity projection vector of the osteotomy tool on the osteotomy plane based on the tool velocity;

[0116] The target osteotomy boundary determination submodule is used to determine, starting from the tool position, one of the multiple preset osteotomy boundaries that intersects with the velocity projection vector as the target osteotomy boundary in the direction of the velocity projection vector.

[0117] In some implementations of this application, the osteotomy boundary is a line segment; the device further includes:

[0118] An endpoint location determination module is used to determine the endpoint location of the nearest osteotomy boundary endpoint based on the tool location;

[0119] The second tangential velocity determination module is used to determine a second normal velocity toward the endpoint position and a second tangential velocity perpendicular to the second normal velocity when the second distance between the tool position and the endpoint position is less than a preset distance value.

[0120] The second tangential velocity adjustment module is used to control the second normal velocity based on the second phase distance.

[0121] In some implementations of the embodiments of this application, the second tangential speed adjustment module includes:

[0122] The second collision rate determination submodule is used to determine the current second collision rate based on the maximum deceleration and the second distance.

[0123] The second tangential velocity adjustment module submodule is used to adjust the rate of the second normal velocity to be no greater than the second collision rate when the rate of the second normal velocity is greater than the second collision rate.

[0124] In some implementations of this application, the second tangential velocity determination module includes:

[0125] A circular region division submodule is used to determine a circular region located on the osteotomy plane with the endpoint position as the center.

[0126] The second normal direction determination submodule is used to determine the radial direction passing through the tool position and toward the endpoint position as the second normal direction;

[0127] The second normal velocity determination submodule is used to determine the component in the second normal direction as the second normal velocity based on the tool velocity.

[0128] This application provides an osteotomy control device, which can be used to implement the steps in the aforementioned method embodiments.

[0129] As the apparatus embodiments are basically similar to the method embodiments, they are described in a relatively simple manner. For relevant details, please refer to the description in the method embodiment section.

[0130] Reference Figure 7 The diagram illustrates a schematic representation of an osteotomy device provided in an embodiment of this application. Figure 7 As shown, the osteotomy device 700 in this embodiment includes: a processor 710, a memory 720, and a computer program 721 stored in the memory 720 and executable on the processor 710. When the processor 710 executes the computer program 721, it implements the steps in the various embodiments of the osteotomy control method described above, for example... Figure 1 Steps 101 to 104 are shown. Alternatively, when the processor 710 executes the computer program 721, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 6 The functions of modules 601 to 604 are shown.

[0131] For example, the computer program 721 can be divided into one or more modules / units, which are stored in the memory 720 and executed by the processor 710 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which can be used to describe the execution process of the computer program 721 in the osteotomy device 700. For example, the computer program 721 can be divided into a tool motion determination module, a target osteotomy boundary determination module, a velocity decomposition module, and a first normal velocity adjustment module, with the specific functions of each module as follows:

[0132] The tool motion determination module is used to determine the tool position and tool speed of the osteotomy tool during the osteotomy process;

[0133] The target osteotomy boundary determination module is used to determine the target osteotomy boundary among multiple preset osteotomy boundaries based on the tool position and the tool speed;

[0134] The velocity decomposition module is used to decompose the tool velocity into a first normal velocity perpendicular to the target osteotomy boundary and a first tangential velocity perpendicular to the first normal velocity.

[0135] The first normal velocity adjustment module is used to adjust the first normal velocity when the osteotomy tool and the target osteotomy boundary meet the collision conditions.

[0136] The osteotomy device 700 may include computing devices such as desktop computers and cloud servers, a robotic arm, and osteotomy tools mounted on the robotic arm. The osteotomy device 700 may include, but is not limited to, a processor 710 and a memory 720. Those skilled in the art will understand that... Figure 7 This is merely one example of the osteotomy device 700 and does not constitute a limitation on the osteotomy device 700. It may include more or fewer components than shown, or combine certain components, or different components. For example, the osteotomy device 700 may also include input / output devices, network access devices, buses, etc.

[0137] The processor 710 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0138] The memory 720 can be an internal storage unit of the osteotomy device 700, such as a hard disk or RAM of the osteotomy device 700. The memory 720 can also be an external storage device of the osteotomy device 700, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the osteotomy device 700. Furthermore, the memory 720 can include both internal and external storage units of the osteotomy device 700. The memory 720 is used to store the computer program 721 and other programs and data required by the osteotomy device 700. The memory 720 can also be used to temporarily store data that has been output or will be output.

[0139] This application also discloses a computer-readable storage medium storing a computer program that, when executed by a processor, implements the osteotomy control method as described in the foregoing embodiments.

[0140] This application also discloses a computer program product, including a computer program that, when run, causes the osteotomy control method as described in the foregoing embodiments to be executed.

[0141] The embodiments described above are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. An osteotomy device, characterized in that, The osteotomy device is equipped with osteotomy tools; the following method is implemented using the osteotomy device: During osteotomy, the tool position and speed of the osteotomy tool are determined; Based on the tool position and the tool speed, the target osteotomy boundary is determined among multiple preset osteotomy boundaries; The tool velocity is decomposed into a first normal velocity perpendicular to the target osteotomy boundary and a first tangential velocity perpendicular to the first normal velocity. If the osteotomy tool and the target osteotomy boundary meet the collision conditions, adjust the first normal velocity and maintain the first tangential velocity until the osteotomy tool and the target osteotomy boundary no longer meet the collision conditions. The osteotomy boundary is a line segment; The method further includes: The endpoint position of the nearest osteotomy boundary endpoint is determined based on the tool position; If the second distance between the tool position and the endpoint position is less than a preset distance value, a second normal velocity toward the endpoint position and a second tangential velocity perpendicular to the second normal velocity are determined. The second normal velocity is controlled based on the second phase distance to prevent the osteotomy tool from slipping out from the osteotomy boundary endpoint; The determination of the second normal velocity toward the endpoint position includes: A circular region located on the osteotomy plane is defined with the endpoint position as the center; The radial direction passing through the tool position and toward the endpoint position is determined as the second normal. The component in the second normal direction is determined as the second normal velocity based on the tool velocity.

2. The device according to claim 1, characterized in that, The method further includes: Determine the stopping distance of the osteotomy tool in the direction of the first normal velocity; Determine a first distance between the osteotomy tool and the target osteotomy boundary; If the braking distance is greater than the first distance, it is determined that the osteotomy tool and the target osteotomy boundary meet the collision condition; If the braking distance is not greater than the first distance, it is determined that the osteotomy tool and the target osteotomy boundary do not meet the collision condition.

3. The device according to claim 2, characterized in that, The adjustment of the first normal velocity includes: The first collision rate is determined based on the maximum deceleration of the osteotomy tool, the first distance between the two points, and the target osteotomy boundary. The rate of the first normal velocity is adjusted to be no greater than the first collision rate.

4. The device according to claim 3, characterized in that, The product of the maximum deceleration and the first distance is twice the value of the square of the first collision rate.

5. The device according to claim 1, characterized in that, The step of determining the target osteotomy boundary among multiple preset osteotomy boundaries based on the tool position and the tool speed includes: The velocity projection vector of the osteotomy tool on the osteotomy plane is determined based on the tool velocity. Starting from the tool position, in the direction of the velocity projection vector, determine the target osteotomy boundary as one of the multiple preset osteotomy boundaries that intersects with the velocity projection vector.

6. The device according to claim 1, characterized in that, The control of the second normal velocity based on the second phase distance includes: The current second collision rate is determined based on the maximum deceleration and the second distance. If the rate of the second normal velocity is greater than the second collision rate, the rate of the second normal velocity is adjusted to be no greater than the second collision rate.

7. An osteotomy device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it causes the osteotomy device to perform the method as described in any one of claims 1-6.

8. A computer program product, characterized in that, Includes a computer program, which, when run, causes the method as described in any one of claims 1-6 to be performed.

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