A laser osteotomy control method, medium, and apparatus

Abstract

The application relates to the field of osteotomy apparatuses, and discloses a laser osteotomy control method, a medium and equipment, the method comprising the following steps: acquiring bone parameters of a to-be-cut bone and a complete cutting path, and selecting at least one pre-cutting point; generating pre-cutting parameters of a laser according to the bone parameters; controlling the laser to perform pre-cutting at the pre-cutting point according to the pre-cutting parameters, and calculating a current heat damage range of a pre-cutting seam position; adjusting the pre-cutting parameters according to the current heat damage range, and generating a target cutting scheme corresponding to the complete cutting path. The application can perform infrared detection on the cutting position of the laser, and simultaneously detect the depth and width of the cutting seam, so that the laser energy density, the laser movement speed and / or the cooling time length are adjusted according to the detection result, to prevent the problem of excessively high local temperature during laser cutting, thereby improving the adaptability of the laser osteotomy equipment to different cutting conditions, and improving the safety of the osteotomy operation.

Description

[Technical Field] This invention relates to the field of osteotomy instruments, and more particularly to a laser osteotomy control method, medium, and device. Background Technology

[0001] In current clinical applications, laser applications are primarily focused on the treatment of soft tissues. Compared to traditional cold scalpels, laser scalpels can achieve minimal or no bleeding; compared to high-frequency electrosurgical units, laser scalpels have stronger cutting capabilities, sharper incisions, and less thermal damage. The main principle of laser operation is that different tissues have different absorption coefficients for different wavelengths of laser light, resulting in different effects. When a specific wavelength of laser light is used to irradiate bone tissue, the bone tissue absorbs the laser energy and converts it into heat. As the internal temperature of the bone tissue rises, physical and chemical changes begin to occur. The high temperature causes the water in the bone tissue to evaporate, forming bubbles, which then produce a micro-explosion effect, gradually cutting and ablating the bone tissue. Existing laser osteotomy equipment typically uses fixed laser energy density and laser movement speed based on experience during surgery. However, different patients have different bone conditions or different surgical sites, which can easily lead to a large area of ​​thermal damage during the cutting process, affecting the surgical outcome. Summary of the Invention

[0002] This invention provides a laser osteotomy control method, medium, and device, which solves the technical problems mentioned above.

[0003] A first aspect of this invention provides a laser osteotomy control method, comprising the following steps: Step 1: Obtain the bone parameters and complete cutting path of the bone to be cut, and select at least one pre-cutting point in the complete cutting path; Step 2: Generate the pre-cutting parameters of the laser at the pre-cutting point based on the bone parameters; Step 3: Control the laser to pre-cut at the pre-cutting point according to the pre-cutting parameters, and calculate the current thermal damage range at the pre-cutting seam position; Step 4: Adjust the pre-cutting parameters according to the current thermal damage range to generate the target cutting scheme corresponding to the complete cutting path.

[0004] A second aspect of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the laser osteotomy control method described above.

[0005] A third aspect of the present invention provides a laser osteotomy device, including a control host and a robotic arm. The robotic arm is fixedly equipped with a laser, an infrared device, and a cutting kerf detection device. The infrared device is used to acquire infrared images of the cutting kerf location, and the cutting kerf detection device is used to detect the width and depth of the cutting kerf. The input ends of the infrared device and the cutting kerf detection device are connected to the control host, and the output end of the control host is connected to the laser. The control host includes a point selection module, a parameter generation module, a pre-cutting module, and a cutting scheme generation module. The point selection module is used to obtain the bone parameters of the bone to be cut and the complete cutting path, and select at least one pre-cutting point in the complete cutting path; The parameter generation module is used to generate pre-cutting parameters for the laser at the pre-cutting point based on the bone parameters; The pre-cutting module is used to control the laser to pre-cut at the pre-cutting point according to the pre-cutting parameters, and to calculate the current thermal damage range of the pre-cutting point position by using the infrared image collected by the infrared device and the width and depth of the cutting seam collected by the cutting seam detection device. The cutting scheme generation module is used to adjust the pre-cutting parameters according to the current thermal damage range to generate the target cutting scheme corresponding to the complete cutting path.

[0006] The present invention has the following beneficial effects: The present invention provides a laser osteotomy control method, medium and setting, which can perform infrared detection on the cutting position of the laser, and simultaneously detect the depth and width of the cutting kerf. Based on the detection results, the laser energy density emitted by the laser, the laser movement speed and / or cooling time can be adjusted to prevent the problem of local overheating during laser cutting, thereby improving the adaptability of the laser osteotomy equipment to different cutting conditions and enhancing the safety of osteotomy surgery.

[0007] To make the above-mentioned objects, features and advantages of the invention more apparent and understandable, preferred embodiments of the invention are described below in detail with reference to the accompanying drawings. [Attached Image Description] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0008] Figure 1 This is a schematic diagram of the structure of a laser osteotomy device provided in one embodiment; Figure 2 This is a schematic diagram of the infrared device in a laser osteotomy device provided in one embodiment; Figure 3 This is a schematic flowchart of a laser osteotomy control method provided in one embodiment; Figure 4 This is a schematic diagram of the control host in a laser osteotomy device provided in one embodiment.

Detailed Implementation Methods

[0009] Figure 1 A schematic diagram of the structure of a laser osteotomy device provided in one embodiment, as shown below. Figure 2 This is a schematic diagram of the infrared device, such as... Figure 1 , Figure 2 As shown, the laser osteotomy device includes a control unit 1, a robotic arm 2, a laser 3, an infrared device 4, and a cutting kerf detection device (not shown in the figure). Specifically, the infrared device 4 includes a sensing module 5 and a mounting base 6. The sensing module 5 is rotatably mounted on the mounting base 6, thereby adjusting the orientation of the sensing module 5. In actual use, the infrared device can move synchronously with the laser, and it can be used to monitor the laser's cutting position in real time, such as acquiring infrared images of the cutting kerf.

[0010] Both the infrared device 4 and the cutting seam detection device are connected to the control host 1. The cutting seam detection device is used to detect the width and depth of the cutting seam formed during the cutting process. The control host can adjust the laser energy density and laser movement speed of the laser emitted by the laser according to the detection results of the infrared device and the cutting seam detection device to prevent the problem of excessive local temperature during laser cutting, thereby improving the adaptability of this laser osteotomy equipment to different cutting conditions and the safety of the surgery.

[0011] Those skilled in the art will know that, in the specific implementation process, the infrared device can be an infrared thermal imager, an infrared sensor, etc., and the cutting seam detection device can be a camera, etc. Combined with the corresponding image processing algorithm, the temperature value of each point at the cutting seam, as well as the width, depth and other parameters of the cutting seam, can be obtained, which will not be elaborated here.

[0012] It is worth noting that the laser osteotomy device in this embodiment also includes an auxiliary device and a display device (both not shown in the figure). The auxiliary device is used to navigate and position the movement path of the laser, i.e. the laser cutting path, and the display device is used to display the cutting results, thereby jointly assisting in completing the laser osteotomy surgery.

[0013] Figure 3 This is a flowchart illustrating a laser osteotomy control method provided in one embodiment, as shown below. Figure 3 As shown, it includes the following steps: Step 1: Obtain the bone parameters and complete cutting path of the bone to be cut, and select at least one pre-cutting point in the complete cutting path.

[0014] In a specific embodiment, the complete cutting path can be planned in advance according to the patient's surgical site, surgical goals, etc., and the starting point of the complete cutting path can be selected as the pre-cutting point. At the pre-cutting point, the laser can be controlled to cut a small straight line or arc, etc., and the subsequent cutting plan can be adjusted accordingly based on the pre-cutting results.

[0015] Step 2: Generate the pre-cutting parameters of the laser at the pre-cutting point based on the bone parameters.

[0016] As those skilled in the art know, bone parameters vary considerably among different patients, and even among the same patient, bone parameters differ significantly at different ages or in different bone locations within the same age group. The bone parameters in this technical solution include bone location, bone composition, porosity, water content, and bone density, all of which significantly influence the laser cutting state during laser osteotomy. Specifically, the inorganic and organic components in the bone affect the absorption and conduction of laser energy during laser cutting. For example, higher hydroxyapatite content results in greater bone hardness and brittleness, requiring higher energy for laser cutting, and the heat generated during cutting is more easily conducted within the bone, leading to a wider area of ​​thermal damage.

[0017] Porosity affects the absorption and scattering of laser energy. Higher porosity results in a more complex propagation path for laser energy, leading to a reduction in the energy actually applied to the bone tissue and decreasing cutting efficiency. Simultaneously, the water in the bone absorbs some laser energy and rapidly vaporizes during laser cutting, generating vapor pressure. While this can reduce thermal damage to some extent, excessive moisture content can lead to excessive vapor generation during cutting, interfering with laser beam propagation and focusing, and reducing cutting precision and efficiency.

[0018] Finally, different bone densities result in different laser absorption and reflection characteristics. High-density bone has a relatively strong ability to absorb laser light, requiring higher energy to achieve the same cutting depth and effect; while low-density bone has a weaker ability to absorb laser light, making it relatively easier to cut. In addition, bone density also affects thermal conductivity. High-density bone has a relatively fast thermal conductivity, requiring more precise temperature control during cutting to avoid the spread of thermal damage.

[0019] Therefore, this embodiment can collect historical laser osteotomy data of different patients in advance, and establish a corresponding relationship table after cleaning, sorting and analyzing the data. Different bone parameters in the table correspond to different pre-cutting parameters. The pre-cutting parameters include the initial laser energy density, initial laser movement speed and the preset width and preset depth of the pre-cutting suture, thereby increasing the universal adaptability of the pre-cutting operation.

[0020] Then, step 3 is executed, controlling the laser to pre-cut at the pre-cutting point according to the pre-cutting parameters, and calculating the current thermal damage range at the pre-cutting seam position. In this embodiment, the thermal damage range during laser cutting refers to the area where the microstructure and properties of human bones change due to high temperature during laser cutting. The size and severity of the thermal damage range are affected by various factors, including bone parameters, laser parameters, and cutting methods.

[0021] In a preferred embodiment, step 3 calculates the current thermal damage range at the pre-cut seam location, specifically as follows: Step 301: Obtain the pre-cutting result, which includes the actual width and actual depth of the pre-cut seam and an infrared image of the pre-cut seam position; Step 302: Obtain temperature distribution data of the pre-cut seam location in the infrared image, and based on the actual width of the pre-cut seam, obtain multiple target neighboring points that meet preset temperature conditions, such as being within a preset temperature range, from the temperature distribution data. These target neighboring points are all distributed close to the pre-cut seam.

[0022] Step 303: Fit the plurality of target neighbor points to generate a first thermal damage boundary located on the left side of the pre-cut seam and a second thermal damage boundary located on the right side of the pre-cut seam; Step 304: Obtain the distance between the first thermal damage boundary and the second thermal damage boundary, and generate the current thermal damage range at the pre-cut seam location.

[0023] Of course, other methods can be used to obtain the current thermal damage range in other embodiments, such as using an optical coherence tomography (OCT) instrument, all of which are within the protection scope of this invention.

[0024] Finally, step 4 is executed, adjusting the pre-cutting parameters according to the current thermal damage range to generate the target cutting scheme corresponding to the complete cutting path.

[0025] In one preliminary embodiment, step 4 specifically involves: Step 401: Obtain the thermal damage threshold corresponding to the bone to be cut; Step 402: Determine whether the current thermal damage range is greater than the thermal damage threshold. If not, it indicates that the pre-cutting parameters used in the pre-cutting process can meet the surgical requirements. Therefore, target cutting parameters can be directly generated. In these target cutting parameters, the laser energy density, laser movement speed, and kerf width are consistent with the pre-cutting parameters. Only the kerf depth needs to be adjusted to the target cutting depth, which is usually 2-3 times the pre-cutting depth. This is because, in order to improve the efficiency of pre-cutting, it is usually not necessary to cut to the actual surgical target cutting depth. Cutting to half or 1 / 3 of the target depth is sufficient. The specific preset depth of pre-cutting can also be reasonably set according to the selected pre-cutting points, bone parameters, and pre-cutting efficiency.

[0026] In other embodiments, if the current thermal damage range is greater than the thermal damage threshold, then step 403 is executed, in which one or more preset adjustment schemes are used to adjust the pre-cutting parameters, and the predicted cutting time of the complete cutting path under each adjustment scheme is calculated, and the adjustment scheme with the shortest predicted cutting time is selected as the target cutting scheme.

[0027] In a preferred embodiment, the various preset adjustment schemes that can be selected specifically include: First, calculate the first difference between the current thermal damage range and the thermal damage threshold; Then, in Scheme 1 and Scheme 2, the initial laser energy density is reduced and / or the initial laser moving speed is increased based on the first difference, and the cutting depth is predicted. The number of cuts is increased according to the predicted cutting depth until the target cutting depth is reached. To ensure the cutting depth, reducing the laser energy density will result in a longer dwell time in one place, thereby reducing the cutting speed; while increasing the laser running speed will also lead to a decrease in cutting depth, and the number of cuts also needs to be increased.

[0028] Alternatively, Option 3 can be adopted, which sets a target cooling time based on the first difference. When the cutting reaches the preset point or the continuous cutting time reaches the preset time, the operation is paused and continues for the target cooling time. The subsequent cutting operation is then started after the temperature drops to a safe value. Although this increases the operation time, it improves the safety of the operation.

[0029] As those skilled in the art know, in specific embodiments, any of the above-described schemes or a combination of multiple schemes can be used, and the predicted cutting time of the complete cutting path under each scheme can be calculated, thereby selecting the cutting method with the highest efficiency.

[0030] In a preferred embodiment, when using the multiple cutting scheme of Scheme 1 or Scheme 2 described above, the specific steps include: Calculate the first difference between the current thermal damage range and the thermal damage threshold; The initial laser energy density is reduced and / or the initial laser moving speed is increased based on the first difference, and the predicted cutting depth for the first cut is generated. This predicted cutting depth can also be generated based on a prediction model established from historical data. The second difference between the predicted cutting depth and the target cutting depth is calculated. Based on the second difference, the target number of cuts and the target cutting depth for each cut are generated. Based on the target cutting depth, the laser energy density and / or laser movement speed for subsequent cuts are generated, further improving surgical efficiency and safety.

[0031] For example, the time calculation method for completing the entire cutting path using subsequent cutting methods is as follows: The predicted cutting time for the entire cutting path is: Cutting time per cut * number of cuts.

[0032] For Scheme 1 and Scheme 2, the duration of one cut = length of the cutting trajectory / laser moving speed; the number of cuts = target cutting depth / predicted cutting depth; For Option 3, the duration of each cut needs to be increased by the cooling process. This is because although cooling is required during laser cutting in Options 1 and 2, the cooling process is carried out simultaneously with the laser cutting and does not cause the laser to stop. However, in Option 3, the laser needs to stop and continue cooling for the target duration before the next cut. In other words, in Option 3, the laser needs to stop for a period of time after each cut to the target point, the set distance, or after the continuous cutting time is reached before the subsequent cutting process can be carried out, thereby ensuring the safety of the surgery.

[0033] The above embodiments all use the pre-cutting effect at a pre-cutting point to adjust parameters for the subsequent cutting process of the complete path. In specific application scenarios, different pre-cutting points will result in different pre-cutting effects, even with the same pre-cutting parameters. In such cases, relying solely on the pre-cutting effect at a single pre-cutting point to achieve subsequent control is insufficient to meet the cutting precision required by the surgery.

[0034] Therefore, in addition to adjusting the length of the pre-cutting trajectory of the pre-cutting points, in a preferred embodiment, in order to improve the surgical effect, a first optimization step is also included. The first optimization step sets multiple pre-cutting points, specifically: selecting multiple pre-cutting points in the complete cutting path, obtaining the current thermal damage range corresponding to each pre-cutting point, calculating the average thermal damage value, and adjusting the pre-cutting parameters according to the average thermal damage value to generate the target cutting scheme corresponding to the complete cutting path.

[0035] Alternatively, in another preferred embodiment, multiple pre-cutting points are also set in the complete cutting path. The complete cutting path is segmented according to the pre-cutting points to ensure that each segment has a corresponding pre-cutting point. Then, the current thermal damage range corresponding to each pre-cutting point is calculated, and the pre-cutting parameters of each segment are adjusted according to the current thermal damage range to generate the target cutting scheme corresponding to the complete cutting path.

[0036] For example, other preferred embodiments include a second optimization step, which sets only one pre-cutting point, specifically as follows: Obtain the skeletal influence coefficient of the pre-cutting point relative to the complete cutting path. For example, the pre-cutting point is selected at the beginning of the complete cutting path, while the complete cutting path contains another target point with the highest bone density or the highest porosity. Compare the skeletal parameters of the pre-cutting point and the target point, and generate the skeletal influence coefficient by looking up the table based on the comparison result.

[0037] Then, the mapping relationship table is queried, and the adjustment coefficient is generated based on the bone influence coefficient. This mapping relationship table can also be established using historical data.

[0038] Finally, the adjustment coefficient is used to optimize the target cutting parameters of the complete cutting path, so that the optimized target cutting parameters better meet the overall skeletal state of the complete cutting path.

[0039] It should be understood 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 the present invention.

[0040] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the laser osteotomy control method described above.

[0041] Figure 4 This is a schematic diagram of the control host in a laser osteotomy device provided in one embodiment, as shown below. Figure 4As shown, the control host includes a point selection module 100, a parameter generation module 200, a pre-cutting module 300, and a cutting scheme generation module 400. The point selection module 100 is used to obtain the bone parameters of the bone to be cut and the complete cutting path, and select at least one pre-cutting point in the complete cutting path; The parameter generation module 200 is used to generate pre-cutting parameters for the laser at the pre-cutting point based on the bone parameters. The pre-cutting module 300 is used to control the laser to pre-cut at the pre-cutting point according to the pre-cutting parameters, and to calculate the current thermal damage range of the pre-cutting point position by using the infrared image collected by the infrared device and the width and depth of the cutting seam collected by the cutting seam detection device. The cutting scheme generation module 400 is used to adjust the pre-cutting parameters according to the current thermal damage range to generate the target cutting scheme corresponding to the complete cutting path.

[0042] In a preferred embodiment, the control host further includes a first optimization module, configured to select multiple pre-cutting points in the complete cutting path, obtain the current thermal damage range corresponding to each pre-cutting point, calculate the average thermal damage value, and adjust the pre-cutting parameters according to the average thermal damage value to generate a target cutting scheme corresponding to the complete cutting path.

[0043] In another preferred embodiment, the control host further includes a second optimization module, used to segment the complete cutting path according to the pre-cutting points to ensure that each segment of the cutting path has a corresponding pre-cutting point; and used to calculate the current thermal damage range corresponding to each pre-cutting point, and to adjust the pre-cutting parameters of each segment of the cutting path according to the current thermal damage range, thereby generating the target cutting scheme corresponding to the complete cutting path.

[0044] For example, in a preferred embodiment, the control host further includes a third optimization module, which is used to obtain the skeletal influence coefficient of the pre-cutting point relative to the complete cutting path; and to query the mapping relationship table, generate adjustment coefficients based on the skeletal influence coefficients, and optimize the target cutting parameters of the complete cutting path using the adjustment coefficients.

[0045] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0046] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0047] Those skilled in the art will recognize that the units and method steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0048] In the embodiments provided by this invention, it should be understood that the disclosed apparatus / terminal devices and methods can be implemented in other ways. For example, the apparatus / terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0049] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0050] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0051] The present invention is not limited to the description in the specification and embodiments, and thus other advantages and modifications can be readily realized by those skilled in the art. Therefore, the present invention is not limited to the specific details, representative devices and illustrated examples shown and described herein without departing from the spirit and scope of the general concept as defined by the claims and their equivalents.

Claims

1. A laser osteotomy control method, characterized in that, Includes the following steps: Step 1: Obtain the bone parameters and complete cutting path of the bone to be cut, and select at least one pre-cutting point in the complete cutting path; Step 2: Generate the pre-cutting parameters of the laser at the pre-cutting point based on the bone parameters; Step 3: Control the laser to pre-cut at the pre-cutting point according to the pre-cutting parameters, and calculate the current thermal damage range at the pre-cutting seam position; Step 4: Adjust the pre-cutting parameters according to the current thermal damage range to generate the target cutting scheme corresponding to the complete cutting path.

2. The laser osteotomy control method according to claim 1, characterized in that, The pre-cutting parameters include the initial laser energy density, initial laser moving speed, and the preset width and preset depth of the pre-cut seam corresponding to the pre-cutting.

3. The laser osteotomy control method according to claim 2, characterized in that, Step 3 calculates the current thermal damage range at the pre-cut seam location, specifically: Step 301: Obtain the pre-cutting result, which includes the actual width and actual depth of the pre-cut seam and an infrared image of the pre-cut seam position; Step 302: Obtain temperature distribution data of the pre-cut seam location in the infrared image, and obtain multiple target neighboring points that meet the preset temperature conditions from the temperature distribution data based on the actual width of the pre-cut seam; Step 303: Fit the plurality of target neighbor points to generate a first thermal damage boundary located on the left side of the pre-cut seam and a second thermal damage boundary located on the right side of the pre-cut seam; Step 304: Obtain the distance between the first thermal damage boundary and the second thermal damage boundary, and generate the current thermal damage range at the pre-cut seam location.

4. The laser osteotomy control method according to any one of claims 1-3, characterized in that, Step 4 adjusts the pre-cutting parameters according to the current thermal damage range to generate the target cutting scheme corresponding to the complete cutting path, specifically as follows: Step 401: Obtain the thermal damage threshold corresponding to the bone to be cut; Step 402: Determine whether the current thermal damage range is greater than the thermal damage threshold. If yes, proceed to step 403. If no, generate target cutting parameters. The laser energy density, laser moving speed, and kerf width in the target cutting parameters are consistent with the pre-cutting parameters, and the depth of the kerf is 2-3 times the pre-cutting depth. Step 403: Adjust the pre-cutting parameters using one or more preset adjustment schemes, calculate the predicted cutting time of the complete cutting path under each adjustment scheme, and select the adjustment scheme with the shortest predicted cutting time as the target cutting scheme.

5. The laser osteotomy control method according to claim 4, characterized in that, The adjustment of the pre-cutting parameters using one or more preset adjustment schemes specifically includes: Calculate the first difference between the current thermal damage range and the thermal damage threshold; Based on the first difference, decrease the initial laser energy density and / or increase the initial laser moving speed, predict the cutting depth, and increase the number of cuts based on the predicted cutting depth until the target cutting depth is reached; Alternatively, a target cooling time can be set based on the first difference. When the cutting reaches a preset point or the continuous cutting time reaches the preset time, the target cooling time can be paused to perform cooling processing.

6. The laser osteotomy control method according to claim 5, characterized in that, When using a multiple-cutting scheme, the specific steps are as follows: Calculate the first difference between the current thermal damage range and the thermal damage threshold; Based on the first difference, the initial laser energy density is reduced and / or the initial laser moving speed is increased, and the predicted cutting depth for the first cut is generated; Calculate the second difference between the predicted cutting depth and the target cutting depth, generate the target number of cuts and the target cutting depth for each cut based on the second difference, and generate the laser energy density and / or laser movement speed for subsequent cuts based on the target cutting depth.

7. The laser osteotomy control method according to claim 4, characterized in that, It also includes a first optimization step, which is as follows: select multiple pre-cutting points in the complete cutting path, obtain the current thermal damage range corresponding to each pre-cutting point, calculate the average thermal damage value, and adjust the pre-cutting parameters according to the average thermal damage value to generate the target cutting scheme corresponding to the complete cutting path.

8. The laser osteotomy control method according to claim 4, characterized in that, It also includes a second optimization step, specifically: Obtain the skeletal influence coefficient of the pre-cutting point relative to the complete cutting path; Query the mapping table and generate adjustment coefficients based on the bone influence coefficients; The target cutting parameters of the complete cutting path are optimized using the adjustment coefficient.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the laser osteotomy control method described in any one of claims 1-8 above.

10. A laser osteotomy device, based on the laser osteotomy control method according to any one of claims 1-8, characterized in that, The system includes a control host and a robotic arm. The robotic arm is equipped with a laser, an infrared device, and a cutting seam detection device. The infrared device is used to acquire infrared images of the cutting seam location, and the cutting seam detection device is used to detect the width and depth of the cutting seam. The input ends of the infrared device and the cutting seam detection device are connected to the control host, and the output end of the control host is connected to the laser. The control host includes a point selection module, a parameter generation module, a pre-cutting module, and a cutting scheme generation module. The point selection module is used to obtain the bone parameters of the bone to be cut and the complete cutting path, and select at least one pre-cutting point in the complete cutting path; The parameter generation module is used to generate pre-cutting parameters for the laser at the pre-cutting point based on the bone parameters; The pre-cutting module is used to control the laser to pre-cut at the pre-cutting point according to the pre-cutting parameters, and to calculate the current thermal damage range of the pre-cutting point position by using the infrared image collected by the infrared device and the width and depth of the cutting seam collected by the cutting seam detection device. The cutting scheme generation module is used to adjust the pre-cutting parameters according to the current thermal damage range to generate the target cutting scheme corresponding to the complete cutting path.

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