Security boundary verification tool and security boundary verification system
By designing safety boundary verification tooling and system, using sensing components and movable trays to record the cross-border distance of moving parts, the problem that virtual safety wall cannot detect its accuracy in the actual operation of orthopedic surgical robots is solved, and effective verification of the control system and action components of orthopedic surgical robots is achieved, and the safety of the surgery is improved.
Patent Information
- Application Number
- CN202422020051.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-20
- Publication Date
- 2025-06-03
- Estimated Expiration
- 2034-08-20
AI Technical Summary
In the prior art, virtual safety walls cannot effectively detect their accuracy in the actual operation of orthopedic surgical robots, resulting in control errors that may lead to the cutting of human tissue that should not be cut.
A safety boundary verification tooling and system is designed, including a base, a movable tray, a proof holder, a sensing component and a signal receiver. It forms a virtual verification plane through the sensing component, and records the cross-border distance of the moving parts through the movement of the movable tray to verify whether the control system and action components of the orthopedic surgical robot are qualified.
Through actual motion verification, we ensure that the virtual safety wall can play a precise role in actual operation, reduce control errors, and improve the safety of the surgery.
Smart Images
Figure CN222938768U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of medical devices, and particularly to a safety boundary verification tooling and a safety boundary verification system. Background Art
[0002] With the frequent occurrence of traffic accidents and the increase in sports injuries, trauma has become one of the reasons seriously threatening human health. Therefore, it is more important to develop orthopedic surgery techniques. Orthopedic surgery robots are a new application field that has developed relatively rapidly in the past decade or so. Most of them use computers to perform superimposed analysis and processing on the patient's imaging data such as X-ray films, CTs, and MRI images, and then control the robotic arm to complete some actions and steps that doctors cannot complete or cannot complete as well as the machine according to the analysis results. In addition, orthopedic surgery robots can also shorten the operation time, etc. In short, compared with human doctors, they have many advantages and will not be elaborated here.
[0003] In the prior art, in order to prevent the surgical knife of an orthopedic surgery robot from cutting the human tissue that should not be cut due to control errors, the concept of a virtual safety wall is set in the control system of the orthopedic surgery robot; before the operation, the spatial position of the virtual safety wall is preset first; after the surgical knife of the orthopedic surgery robot touches the virtual safety wall, it will immediately stop moving.
[0004] However, there is no effective detection method for whether the virtual safety wall can accurately play its role in actual operation. Utility Model Content
[0005] In view of this, the present application provides a safety boundary verification tooling and a safety boundary verification system to solve at least one problem in the background art.
[0006] To achieve the above object, the technical solution of the present application is realized as follows:
[0007] In a first aspect, an embodiment of the present application provides a safety boundary verification tooling, which is applied to verify an orthopedic surgery robot through a safety boundary verification system. The safety boundary verification system includes: a safety boundary verification device and the safety boundary verification tooling; the orthopedic surgery robot includes a moving member that moves in a first direction. The orthopedic surgery robot can preset a virtual safety wall in the safety boundary verification tooling and control the moving member to stop moving after the moving member touches the virtual safety wall. The safety boundary verification tooling includes:
[0008] A base, including a substrate and support columns below the substrate;
[0009] A movable tray, which is arranged on the base and can move in the first direction relative to the base;
[0010] The calibration support is installed on the movable tray and can move along with the movement of the movable tray; the calibration support is also configured with a blind hole for the positioning of the orthopedic surgical robot;
[0011] The sensing component is arranged on the calibration support and configured to form a virtual calibration plane;
[0012] The signal receiver is configured to receive the signals from the sensing component and the orthopedic surgical robot.
[0013] Optionally, the calibration support includes a support body, and the support body is provided with a through hole in a first direction. The through hole is configured to provide a moving space for the moving part of the orthopedic surgical robot before and after touching the virtual calibration plane; the sensing component is arranged on any one side or opposite sides of the through hole to form a virtual calibration plane disposed on at least a partial cross-section of the through hole.
[0014] Optionally, the sensing component is a grating, and the grating includes a light emitter and a light receiver; the light emitter and the light receiver are respectively arranged on opposite sides of the through hole.
[0015] Optionally, the calibration support further includes a sensor seat for mounting the sensing component; the sensor seat includes a first mounting surface for mounting the light emitter and a second mounting surface for mounting the light receiver, and the first mounting surface and the second mounting surface are formed by one-time machining of the same processing equipment.
[0016] Optionally, the calibration support further includes a movement reference block configured to provide a reference position for the moving part of the orthopedic surgical robot before moving, and the movement guiding block is installed in the middle area of the cross-section of the through hole.
[0017] Optionally, the safety boundary calibration tooling further includes a scale for recording the position of the movable tray, and the scale is made according to the principle of a micrometer; the scale includes a scale body fixed on the base and a measuring rod linked with the movable tray.
[0018] Optionally, the safety boundary calibration tooling further includes a moving guiding component, and the moving guiding component includes a guide rail and a slider; the guide rail is fixedly installed on the base, and the slider is installed on the movable tray.
[0019] Optionally, the safety boundary calibration tooling further includes: an optical tracer configured to enable the orthopedic surgical robot to establish a position association with the safety boundary calibration tooling to facilitate the formation of a virtual safety wall and the moving path of the moving part; the optical tracer is installed on the base.
[0020] Optionally, the base further includes:
[0021] A bottom plate, on which the support columns are installed on the bottom walls or side walls of the opposite sides of the bottom plate; the optical tracer is detachably installed on the outer side of the support columns; a storage groove for storing the movement reference block is further provided on the bottom plate.
[0022] Optionally, the signal receiver includes:
[0023] A first channel configured to receive the signal sent by the sensing component;
[0024] A second channel configured to receive the signal sent by the orthopedic surgical robot.
[0025] In a second aspect, an embodiment of the present application provides a safety boundary verification system, including:
[0026] The safety boundary verification tooling described above;
[0027] A safety boundary verification device configured to:
[0028] Obtain the first position of the movable tray when the moving part touches the virtual verification plane and triggers the sensing component;
[0029] Obtain the second position of the movable tray when the backward movement of the movable tray causes the moving part to release the trigger on the sensing component;
[0030] Obtain the moving distance of the movable tray in its own moving direction when the first position and the second position are generated, and determine it as the overrun distance of the orthopedic surgical robot in the safety boundary verification.
[0031] The safety boundary verification tooling and safety boundary verification system provided by the embodiments of the present application include: a base including a base plate and support columns below the base plate; a movable tray disposed on the base and capable of moving in a first direction relative to the base; a verification support mounted on the movable tray and capable of moving with the movement of the movable tray; the verification support is further configured with a blind hole for positioning an orthopedic surgical robot; a sensing component disposed on the verification support and configured to form a virtual verification plane; a signal receiver configured to receive signals from the sensing component and the orthopedic surgical robot. It can be seen that in the safety boundary verification tooling and safety boundary verification system of the embodiments of the present application, a sensing component for forming a virtual verification plane is configured on the verification tooling, a blind hole for positioning an orthopedic surgical robot is configured, and a movable tray capable of moving forward and backward in the same direction as the tool of the orthopedic surgical robot is provided. In this way, the first position of the movable tray when the moving part touches the virtual verification plane and triggers the sensing component can be obtained, and then the second position of the movable tray when the moving part releases the trigger of the sensing component due to the backward movement of the movable tray can be obtained. The distance between the two positions is determined as the overrun distance of the orthopedic surgical robot in the safety boundary verification to determine whether the control system and action components of the orthopedic surgical robot are qualified. Therefore, the safety boundary verification tooling and safety boundary verification system of the embodiments of the present application can verify whether the control system and action components of the orthopedic surgical robot are qualified.
[0032] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0033] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:
[0034] Figure 1 is a schematic diagram of the safety boundary verification tooling provided by the embodiments of the present application;
[0035] Figure 2 is Figure 1 an exploded view schematic diagram (exploded view);
[0036] Figure 3 is a schematic diagram of the safety boundary verification system provided by the embodiments of the present application;
[0037] Figure 4 is a schematic flowchart of the working process of the safety boundary verification system provided by the embodiments of the present application.
[0038] DESCRIPTION OF THE REFERENCE NUMERALS:
[0039] 600. Safety boundary verification tooling; 610. Base; 611. Base plate; 6111. Storage groove; 612. Support column; 613. Substrate; 620. Movable tray; 630. Verification support; 631. Support body; 632. Through hole; 633. Blind hole; 634. Sensor seat; 640. Sensing component; 641. Virtual verification plane; 650. Motion reference block; 660. Scale; 670. Moving guiding component; 680. Optical tracer; 700. Safety boundary verification system; 701. Safety boundary verification device; 702. Dual-channel oscilloscope; 800. Orthopedic surgical robot; 801. Moving part. Detailed implementation manners
[0040] The exemplary embodiments disclosed in the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the specific embodiments set forth herein. On the contrary, these embodiments are provided so that the present application can be more thoroughly understood and the scope of the present application disclosed can be fully communicated to those skilled in the art.
[0041] In the following description, numerous specific details are given to provide a more thorough understanding of the present application. However, it is obvious to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present application, some well-known technical features are not described; that is, not all features of the actual embodiments are described here, and the well-known functions and structures are not described in detail.
[0042] To thoroughly understand the present application, detailed steps and detailed structures will be presented in the following description to explain the technical solution of the present application. The preferred embodiments of the present application are described in detail below. However, in addition to these detailed descriptions, the present application can also have other embodiments.
[0043] The inventors of the present application found in the research and development that the setting of the virtual safety wall is very necessary and theoretically very reliable. However, in the specific implementation of the virtual safety wall, whether it can accurately play its role involves multiple factors, such as whether there are defects in the software of the control system, whether the parameters set in the software are accurate, the accuracy of the moving parts, such as the robotic arm, whether it meets the requirements, and whether the moving parts and the software match, etc.
[0044] Therefore, it is necessary to let the orthopedic surgical robot perform verification through actual movement, rather than just checking the software program or the accuracy of the moving parts, etc. Therefore, under the further research and development of the inventors, the following technical solutions are proposed.
[0045] An embodiment of the present application provides a safety boundary verification tooling, which is applied to verify an orthopedic surgical robot through a safety boundary verification system. The safety boundary verification system includes a safety boundary verification device and the safety boundary verification tooling. The orthopedic surgical robot includes a moving member that moves in a first direction. The orthopedic surgical robot can preset a virtual safety wall in the safety boundary verification tooling and control the moving member to stop moving after the moving member touches the virtual safety wall. Refer to Figure 1 and Figure 2 , the safety boundary verification tooling 600 includes:
[0046] A base 610, including a substrate 613 and support columns 612 below the substrate 613;
[0047] A movable tray 620, disposed on the base 610, capable of moving in the first direction relative to the base 610;
[0048] A verification support 630, installed on the movable tray 620, capable of moving with the movement of the movable tray 620. The verification support is also configured with blind holes for positioning the orthopedic surgical robot;
[0049] A sensing component 640, disposed on the verification support 630, configured to form a virtual verification plane;
[0050] A signal receiver (not shown in the figure), configured to receive signals from the sensing component and the orthopedic surgical robot.
[0051] The support columns need to have a certain height. In this way, not only can a relatively stable verification support 630 be provided, but also the entire safety boundary verification tooling 600 has sufficient height for easy operation by staff.
[0052] The movement of the movable tray 620 relative to the base 610 can be in a sliding connection manner or a rolling connection manner, which is not limited.
[0053] As described above, the first direction can be the direction in which the moving member 801 approaches or moves away from the virtual safety wall.
[0054] The verification support 630 can be detachably installed on the movable tray 620 and is fixed relative to the movable tray 620 after installation. Therefore, it can move with the movement of the movable tray 620.
[0055] The blind holes are configured as position reference points for establishing a spatial connection between the verification support 630 and the orthopedic surgical robot 800 for establishing a virtual safety wall. The position reference points are generally also called registration points. Specifically, the number of blind holes can be 3 or more to establish a three-dimensional spatial connection.
[0056] The signal of the sensing component 640, which can be the signal of the moving part touching the virtual calibration plane. The signal received by the orthopedic surgical robot can be the signal for the orthopedic surgical robot to control the moving part to stop moving.
[0057] Specifically, the signal receiver may include:
[0058] A first channel configured to receive the signal sent by the sensing component;
[0059] A second channel configured to receive the signal sent by the orthopedic surgical robot.
[0060] In this way, the two signals do not interfere with each other, improving the working reliability.
[0061] The safety boundary calibration tooling of the embodiment of the present application is configured with a sensing component for forming a virtual calibration plane, a blind hole for positioning the orthopedic surgical robot, and a movable tray that can move forward and backward in the same direction as the tool of the orthopedic surgical robot. In this way, the first position of the movable tray when the moving part touches the virtual calibration plane and triggers the sensing component can be obtained, and then the second position of the movable tray when the movable tray retreats and causes the moving part to release the trigger of the sensing component can be obtained. The distance between the two positions is determined as the overrun distance of the orthopedic surgical robot in the safety boundary calibration to determine whether the control system and the moving components of the orthopedic surgical robot are qualified.
[0062] In some other embodiments of the present application, the calibration support 630 includes a support body 631. The support body 631 is provided with a through hole 632 in a first direction. The through hole 632 is configured to provide a moving space for the moving part 801 of the orthopedic surgical robot 800 before and after touching the virtual calibration plane 641. The sensing component 640 is disposed on any one side or opposite sides of the through hole 632 to form a virtual calibration plane 641 disposed on at least a partial cross-section of the through hole 632.
[0063] That is, through the through hole 632, enough space can be provided for the moving part 801 to move in the first direction. Specifically, the through hole 632 can be a rectangular hole. In this way, corresponding to the outer shape of the support body 631, it is easier to process and it is also convenient to calibrate the movement trajectory of the moving part 801 by measuring the inner wall of the through hole 632.
[0064] The blind hole 633 can be disposed at three different positions on any surface of the support body 631. In this way, a safety wall can be formed based on the principle of three points determining a plane.
[0065] The type of the sensing component 640 can be a transmissive type, in which case it needs to be arranged on opposite sides of the through hole 632. The type of the sensing component 640 can also be a reflective type, in which case it only needs to be arranged on any one side of the through hole 632.
[0066] Specifically, the sensing component 640 is a grating, and the grating includes a light emitter and a light receiver; the light emitter and the light receiver are respectively arranged on opposite sides of the through hole 632.
[0067] That is, the grating is a transmissive grating, so that the detection is more accurate.
[0068] In some other embodiments of the present application, the calibration support 630 further includes a sensor seat 634 for mounting the sensing component 640; the sensor seat 634 includes a first mounting surface for mounting the light emitter and a second mounting surface for mounting the light receiver, and the first mounting surface and the second mounting surface are formed by one-time machining of the same processing equipment.
[0069] In this way, the first mounting surface and the second mounting surface are closer to being coincident in the same plane. The measurement accuracy of the sensing component 640 can be improved.
[0070] Specifically, the first mounting surface and the second mounting surface can be milled and processed at one time on a CNC milling machine.
[0071] In some other embodiments of the present application, the calibration support 630 further includes a motion reference block 650 configured to provide a reference position for the moving part 801 of the orthopedic surgical robot 800 before moving, and the motion guide block is installed in the middle area of the cross section of the through hole 632.
[0072] Since the cross-sectional area of the through hole 632 is relatively large, by providing the motion reference block 650, relatively more accurate motion guidance can be provided.
[0073] In some other embodiments of the present application, the safety boundary calibration tooling 600 further includes a scale 660 for recording the position of the movable tray 620, and the scale 660 is made according to the principle of a micrometer; the scale 660 includes a scale body fixed to the base 610 and a measuring rod linked to the movable tray 620.
[0074] Specifically, when the movable tray 620 needs to retreat, the adjusting nut at the tail of the scale 660 is rotated counterclockwise, so that the measuring rod moves along the first direction and away from the end of the moving part 801. The measuring rod is linked to the movable tray 620, and the movable tray 620 also moves accordingly to perform the retreat.
[0075] The principle of the micrometer has the characteristics of high measurement accuracy and is a pure mechanical structure, reliable and stable. Specifically, an ordinary micrometer can be simply modified and set on the safety boundary calibration tooling 600. It can be understood that a digital display grating ruler can also be used to record the position of the movable tray 620, so that the measurement result can be directly displayed without reading.
[0076] In some other embodiments of the present application, the safety boundary calibration tooling 600 further includes a moving guiding component 670, and the moving guiding component 670 includes a guide rail and a slider; the guide rail is fixedly installed on the base 610, and the slider is installed on the movable tray 620.
[0077] In this way, the moving resistance of the movable tray 620 is small and it moves more smoothly. Specifically, the guiding component can be a linear guide rail.
[0078] In some other embodiments of the present application, the safety boundary calibration tooling 600 further includes: an optical tracer 680, configured to enable the orthopedic surgical robot 800 to establish a position association with the safety boundary calibration tooling 600, so as to facilitate the formation of a virtual safety wall and the moving path of the moving part 801.
[0079] Similar to the previous registration points, at least 3 light-emitting points or reflective points are provided on the optical tracer 680. The orthopedic surgical robot 800 determines the position of the optical tracer 680 according to the light reflected by the 3 light-emitting points or reflective points, and thus can determine the position of the safety boundary calibration tooling 600. When the registration probe passes through the three registration points to establish the spatial connection between the orthopedic surgical robot 800 and the calibration support 630, it provides a position reference.
[0080] In some other embodiments of the present application, the base 610 further includes:
[0081] A bottom plate 611, and the support columns 612 are installed on the bottom walls or side walls on the opposite sides of the bottom plate 611; the optical tracer 680 is detachably installed on the outer side of the support columns 612;
[0082] A storage groove 6111 for storing the motion reference block 650 is further formed on the bottom plate 611 to store the motion reference block 650 when not in use.
[0083] An embodiment of the present application further provides a safety boundary calibration system 700. Refer to Figure 3 , the safety boundary calibration system 700 includes:
[0084] The safety boundary calibration tooling 600, as described above.
[0085] A safety boundary calibration device 701, configured to:
[0086] Obtain the first position of the movable tray when the moving part touches the virtual calibration plane and triggers the sensing component;
[0087] Obtain the second position of the movable tray when the backward movement of the movable tray causes the moving part to release the trigger on the sensing component;
[0088] Obtain the moving distance of the movable tray in its own moving direction when the first position and the second position are generated, and determine it as the overrun distance of the orthopedic surgical robot in the safety boundary calibration.
[0089] As described above, the safety boundary calibration system 700 is applied to calibrate the orthopedic surgical robot 800. The orthopedic surgical robot 800 includes a moving part 801 that moves along a first direction. The orthopedic surgical robot 800 can preset a virtual safety wall in the safety boundary calibration tooling 600 and control the moving part 801 to stop moving after the moving part 801 touches the virtual safety wall. The safety boundary calibration tooling 600 includes a movable tray 620 and a calibration support 630 installed on the movable tray 620. The calibration support 630 includes a sensing component 640 to form a virtual calibration plane 641.
[0090] Specifically, the safety boundary calibration device 701 receives the signal of the sensing component 640 in the safety boundary calibration tooling 600, such as a trigger signal, through the dual-channel oscilloscope 702. Synchronous display can also be performed through the oscilloscope.
[0091] Another channel of the dual-channel oscilloscope 702 is configured to receive the signal for the orthopedic surgical robot 800 to control the moving part 801 to stop moving. Here, the dual-channel oscilloscope 702 is a specific embodiment of the signal receiver described above.
[0092] To more clearly understand the safety boundary calibration system of the embodiments of the present application, the safety boundary calibration system will be further introduced below through the working process of the safety boundary calibration system. Refer to Figure 4 , the working process of the safety boundary calibration system may include:
[0093] Step 901: Obtain the first position of the movable tray when the moving part touches the virtual calibration plane and triggers the sensing component; the virtual calibration plane coincides with the virtual safety wall;
[0094] Step 902: Obtain the second position of the movable tray when the backward movement of the movable tray causes the moving part to release the trigger on the sensing component; the backward movement of the movable tray is the movement of the movable tray along the first direction and away from the moving part;
[0095] Step 903: Obtain the distance between the first position and the second position, and determine it as the out-of-bounds distance of the orthopedic surgical robot in the safety boundary check.
[0096] The above process can be implemented by a computer. The computer can be a computing device configured with a processor. The processor can be a general-purpose processor, a digital signal processor (DSP), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. In this embodiment, the method can be implemented by a safety boundary check device, and the safety boundary check device can include a computer.
[0097] It can be understood that in addition to hardware in the safety boundary check system, such as the safety boundary check tooling, it also includes a software system for controlling the safety boundary check tooling and processing check data, etc. The software system in the safety boundary check system can be integrated into the software of the orthopedic surgical robot or set in an intelligent terminal independent of the orthopedic surgical robot, such as an industrial control computer or an ordinary personal computer (PC).
[0098] The virtual safety wall is not a wall with a physical entity, but a virtual wall preset by the orthopedic surgical robot in the associated space. The orthopedic surgical robot can establish a spatial connection with the associated space through a position tracking tool. In this way, after the moving part of the orthopedic surgical robot enters the associated space, it can accurately know the relative position of the moving part relative to the associated space, that is, it can be sensed when the moving part touches the virtual safety wall. In this embodiment, the associated space is located in the safety boundary check tooling.
[0099] Similarly, the virtual check plane is not a plane formed by a physical entity, but a virtual plane formed by the sensing signal of the sensor.
[0100] The moving part is a simulation tool that simulates a scalpel in a real operation.
[0101] It can be understood that the first direction can be the direction in which the moving part approaches or moves away from the virtual safety wall.
[0102] In step 901, the moving part touching the virtual verification plane is detected by the sensing component, that is, the sensing component is triggered, and it can be confirmed that the moving part touches the virtual verification plane. It should be noted that the triggering of the sensing component of this embodiment is directional. For example, after the sensing component is triggered, if the moving part continues to move along the original direction of movement, even if it passes through the virtual verification plane, the sensing component is still in a triggered state. Only when the moving part moves backward or the movable tray moves backward, causing the moving part to break away from the contact with the virtual verification plane from the opposite direction, the sensing component will release the trigger state. Specifically, when the sensing component is triggered, a sound will be emitted and / or an indicator light will be turned on. At the same time, the safety boundary verification device records the position of the movable tray in the first direction.
[0103] The first position is the position of the movable tray when the sensing component is just triggered. The position can be represented by coordinates. The coordinates are fixed in one direction and move in another direction. Therefore, it can be represented by a scale with scales in the first direction, or other electronic instruments that can represent the position. The coordinates of the position can be input into the safety boundary verification device by the staff, or obtained by capturing the scale value by the camera.
[0104] In step 902, it should be noted that, in the process of verifying the orthopedic surgical robot through the safety boundary verification system, the signal of the sensing component being triggered is earlier than the signal of the moving part stopping movement. On the one hand, the sensing component is directly triggered, and the signal that the moving part stops moving requires the moving part to touch the virtual safety wall and be received by the orthopedic surgical robot. The orthopedic surgical robot sends a stop signal, which increases the time for transmitting the signal. On the other hand, the setting of the virtual safety wall of the orthopedic surgical robot often presets a certain virtual thickness to ensure that the scalpel can remove more cleanly. Within the virtual thickness, the moving part does not need to stop.
[0105] As described above, since the signal of the sensing component being triggered is earlier than the signal of the moving part stopping movement, after the moving part stops, the position of the moving part in the first direction may have passed through the virtual calibration plane. During this process, the sensing component is always in a triggered state. Therefore, it is necessary to release the trigger state of the sensing component by retreating the movable tray.
[0106] In step 903, the distance between the first position and the second position is the retreat distance of the movable tray. This distance can be used to indicate the distance that the moving part continues to move after the sensing component is triggered, that is, the cross-boundary distance. The cross-boundary distance can illustrate the comprehensive accuracy of the control system and the action components of the orthopedic surgical robot.
[0107] In some other embodiments of the present application, before the first position of the movable tray when the sensing component is triggered by the moving part touching the virtual calibration plane, the process further includes:
[0108] Sending an instruction or prompt message to instruct the moving part of the orthopedic surgical robot to move towards the virtual safety wall at the fastest speed.
[0109] The fastest speed here can be the fastest option among the speed options set for the moving part of the orthopedic surgical robot. It can be understood that calibration requires extreme calibration, so the fastest option is selected. That is, by moving the moving part at the fastest speed, a more reliable calibration result can be obtained. If the software system in the safety boundary calibration system is integrated into the software of the orthopedic surgical robot, the safety boundary calibration device can directly send an instruction to control the operation of the orthopedic surgical robot. Otherwise, a prompt message can be sent.
[0110] It can be understood that moving towards the virtual safety wall is moving along the first direction.
[0111] In some other embodiments of the present application, before the second position of the movable tray when the triggering of the sensing component by the moving part is released due to the backward movement of the movable tray, the process further includes:
[0112] Sending an instruction or prompt message to instruct the movable tray to move backward in a direction away from the moving part.
[0113] It can be understood that the direction away from the moving part can be the moving direction of the moving part before it stops moving.
[0114] If the safety boundary calibration system is provided with components coupling the software system and the safety boundary calibration tooling, such as a driver, etc., an instruction can be directly sent. Otherwise, a prompt message can be sent.
[0115] In some other embodiments of the present application, the process further includes:
[0116] Sending an instruction or prompt message to instruct the orthopedic surgical robot to establish a spatial connection with at least three registration points on the calibration support through a registration probe and perform software compensation to form a virtual safety wall that coincides with the virtual calibration plane.
[0117] It should be noted that the registration probe is provided with parts for establishing a position association with the orthopedic surgical robot. The calibration support includes an associated space for establishing a spatial connection with the orthopedic surgical robot, and the associated space is the space where the calibration support establishes a spatial connection with the orthopedic surgical robot through the aforementioned position tracking tool. Therefore, the position of the virtual safety wall can be constructed by successively touching at least three registration points on the calibration support with the registration probe. Here, the position can be the coordinate values in the three-dimensional space. The process of establishing a spatial connection by touching the registration points with the through-hole of the registration probe is called spatial registration in the industry.
[0118] In some other embodiments of the present application, the process further includes:
[0119] Obtaining the first time point when the moving part touches the virtual calibration plane and triggers the sensing component;
[0120] Obtaining the second time point of the movement stop instruction sent by the orthopedic surgical robot for the moving part;
[0121] Determining the difference between the first time point and the second time point as the response time of the orthopedic surgical robot in the safety boundary calibration.
[0122] As described above, the touching of the moving part on the virtual calibration plane is detected by the sensing component. That is, when the sensing component is triggered, it can be confirmed that the moving part touches the virtual calibration plane. Specifically, when the sensing component is triggered, it will emit a sound and / or turn on an indicator light. At the same time, the safety boundary calibration device records the first time point when the sensing component is triggered.
[0123] It can be understood that the safety boundary calibration device itself has the function of recording time. It can be understood that a separate time recorder can also be set to record time.
[0124] As described above, during the process of calibrating the orthopedic surgical robot by the safety boundary calibration system, the signal of the triggered sensing component is earlier than the signal of the stop of the movement of the moving part.
[0125] Since the signal of the triggered sensing component is earlier than the signal of the stop of the movement of the moving part. Therefore, the difference between them can be obtained through the time points generated by the two signals. And the difference is used as the response time of the orthopedic surgical robot in the safety boundary calibration. To evaluate the reaction speed of the tool of the orthopedic surgical robot after touching the virtual safety wall.
[0126] In some other embodiments of the present application, before the obtaining the first time point when the moving part touches the virtual calibration plane and triggers the sensing component, the process further includes:
[0127] Issuing an instruction or prompt message to direct the moving part of the orthopedic surgical robot to move towards the virtual safety wall at the fastest speed.
[0128] As described above, the fastest speed can be the fastest option among the speed options set for the moving part of the orthopedic surgical robot. It can be understood that the verification needs to be an extreme verification, so the fastest option is selected.
[0129] In the above description, the terms "first / second / ..." involved are only used to distinguish similar objects and do not represent a specific order for the objects. It can be understood that "first / second / third" can be interchanged with a specific order or sequence when permitted.
[0130] It should be noted that in this article, the term "comprise", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including that element.
[0131] In the description of the embodiments of the present application, unless otherwise specified and limited, the term "connection" should be understood in a broad sense. For example, it can be an electrical connection, or the connection inside two components. It can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above terms can be understood according to specific circumstances.
[0132] It should be understood that the "one embodiment" or "some embodiments" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, the "in one embodiment" or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in various embodiments of the present application, the size of the serial numbers of the above processes does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The serial numbers of the embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.
[0133] It should be understood that the above embodiments are all exemplary and do not cover all possible implementation manners included in the claims. Without departing from the scope of the disclosure of the present application, various deformations and changes can also be made on the basis of the above embodiments. Similarly, various technical features of the above embodiments can also be arbitrarily combined to form additional embodiments of the present application that may not be explicitly described. Therefore, the above embodiments only represent several implementation manners of the present application and do not limit the protection scope of the patent of the present application.
Claims
1. A safety boundary verification tool, characterized in that: The invention is applied to verify an orthopedic surgical robot through a safety boundary verification system, wherein the safety boundary verification system comprises: a safety boundary verification device and the safety boundary verification tooling; the orthopedic surgical robot comprises a moving part moving along a first direction, the orthopedic surgical robot can preset a virtual safety wall in the safety boundary verification tooling, and control the moving part to stop moving after the moving part touches the virtual safety wall; The safety boundary verification tool comprises: A base, including a base plate and a support column below the base plate; A movable tray is disposed on the base and can move in a first direction relative to the base; A verification support is installed on the movable tray and can move with the movement of the movable tray; the verification support is also configured with a blind hole for positioning the orthopedic surgical robot; A sensing component, disposed on the calibration support and configured to form a virtual calibration plane; A signal receiver is configured to receive signals from the sensing component and the orthopedic surgical robot.
2. The safety boundary verification tool according to claim 1, characterized in that: The verification support includes a support body, which is provided with a through hole in a first direction, and the through hole is configured to provide a moving space for the moving parts of the orthopedic surgical robot before and after touching the virtual verification plane; the sensing component is arranged on any one side or two opposite sides of the through hole to form a virtual verification plane arranged on at least a partial cross-section of the through hole.
3. The safety boundary verification tool according to claim 2, characterized in that: The sensing component is a grating, and the grating includes a light emitter and a light receiver; the light emitter and the light receiver are respectively arranged on two opposite sides of the through hole.
4. The safety boundary verification tool according to claim 3, characterized in that: The calibration support also includes a sensor seat for mounting the sensing component; the sensor seat includes a first mounting surface for mounting the light emitter and a second mounting surface for mounting the light receiver, and the first mounting surface and the second mounting surface are formed by one-time processing by the same processing equipment.
5. The safety boundary verification tool according to claim 2, characterized in that: The verification support also includes a motion reference block configured to provide a reference position for the moving part of the orthopedic surgery robot before moving, and the motion guide block is installed in the middle area of the cross section of the through hole.
6. The safety boundary verification tool according to claim 1, characterized in that: The safety boundary verification tool also includes a ruler for recording the position of the movable tray, and the ruler is made according to the principle of a micrometer screw; the ruler includes a ruler body fixed to the base and a measuring rod linked to the movable tray.
7. The safety boundary verification tool according to claim 1, characterized in that: The safety boundary verification tool also includes a movable guide assembly, which includes a guide rail and a slider; the guide rail is fixedly installed on the base, and the slider is installed on the movable tray.
8. The safety boundary verification tool according to claim 1, characterized in that: The safety boundary verification tooling also includes: an optical tracer configured to allow the orthopedic surgical robot to establish a position association with the safety boundary verification tooling to facilitate the formation of a virtual safety wall and a moving path of the moving part; the optical tracer is installed on a base.
9. The safety boundary verification tool according to claim 8, characterized in that: The base also includes: The base plate, the support column is installed on the bottom wall or side wall on the two opposite sides of the base plate; the optical tracer is detachably installed on the outward side of the support column; and the base plate is also provided with a storage groove for storing the motion reference block.
10. The safety boundary verification tool according to claim 1, characterized in that: The signal receiver comprises: A first channel configured to receive a signal sent by the sensing component; The second channel is configured to receive the signal sent by the orthopedic surgical robot.
11. A security boundary verification system, characterized in that: include: The safety boundary verification tool as described in any one of claims 1 to 10; The safety boundary verification device is configured as follows: Acquiring a first position of the movable tray when the moving part touches the virtual calibration plane and triggers the sensing component; Acquire a second position of the movable tray when the movable tray retreats and causes the moving member to release the trigger on the sensing component; The moving distance of the movable tray in its own moving direction when the first position and the second position are generated is obtained, and is determined as the crossing distance in the safety boundary check of the orthopedic surgical robot.