Surgical robot system with automatic position optimization and path planning functionality

Abstract

The utility model discloses a kind of surgical robot systems with automatic station optimization and path planning function, it is related to orthopedic surgical robot technical field.It includes: mechanical arm module, built-in with electric control module, and mechanical arm module assembly is equipped with electric walking mechanism, and the control output end of electric control module is connected with electric walking mechanism between through circuit setting;Multi-modal positioning module, and the control input end of electric control module is connected with through circuit setting.This system can monitor operation condition and demand in real time, and effectively realize obstacle avoidance and parking for mechanical arm module, so as to significantly improve the flexible adaptation degree of mechanical arm module function, more conducive to adapting operation needs, and reduce the risk of operation area pollution through sterile cover, enhance the functional practicability.

Description

Technical Field

[0001] This utility model relates to the field of orthopedic surgical robot technology, specifically to a surgical robot system with automatic positioning optimization and path planning functions, which is particularly suitable for medical robot-assisted surgical scenarios, such as robot-assisted hip and knee joint replacement surgery in orthopedics. Background Technology

[0002] Currently, surgical robots are widely used in various medical disciplines, especially in orthopedic surgery. Orthopedic surgery differs from general surgery in that it typically requires more frequent intraoperative movement to accommodate the patient's surgical side (left or right), surgical site (hip, knee, ankle), surgeon's preferred positioning, and limitations imposed by the surgical procedure and the safety wall of the end effector. This necessitates frequent and repeated movements of the robotic arm before, during, and after surgery.

[0003] Current surgical robots used in orthopedic surgery still have the following drawbacks:

[0004] 1) Traditional systems rely on manual adjustment of the robot's position, making it difficult to dynamically optimize the robot's position according to the surgical environment. During the operation, it is inconvenient to operate when repeated movements are required according to the surgical situation and needs.

[0005] 2) The robotic arm is not protected by a sterile cover. During the movement, it may accidentally come into contact with surgical personnel or objects, resulting in contamination of the end effector and surgical instruments, which further increases the risk of contamination of the surgical area.

[0006] 3) Inappropriate basic positioning of the robotic arm system leads to limited mechanical movement range, and inappropriate placement of the end-effectors results in them being too far or too close to the surgical site, affecting the surgical operation;

[0007] 4) Improper overall positioning of the robotic arm system can lead to singularities in the multi-axis robotic arm, which in turn restricts the operation of the robotic arm at the singularity and makes it difficult to meet the needs of surgery.

[0008] 5) When moving around in the operating room, one is easily interfered with by obstacles (such as medical staff and equipment), which can lead to reduced operational efficiency or increased surgical risks.

[0009] 6) The existing system lacks the function of adjusting the position according to the individual needs of the surgeon, which cannot fully meet the actual clinical needs. Utility Model Content

[0010] To address this, the present invention provides a surgical robot system with automatic positioning optimization and path planning functions, which can be personalized according to the operating preferences of medical staff, providing more efficient, safe and flexible robot-assisted operation for orthopedic surgery, thereby solving the technical problem that existing orthopedic surgical robots are difficult to adapt to surgical needs.

[0011] To achieve the above objectives, this utility model provides the following technical solution:

[0012] A surgical robot system with automatic positioning optimization and path planning functions includes:

[0013] The robotic arm module has a built-in electronic control module and is equipped with an electronically controlled walking mechanism. The control output terminal of the electronic control module is connected to the electronically controlled walking mechanism via a circuit.

[0014] The multimodal positioning module is connected to the control input terminal of the robotic arm module via a circuit.

[0015] As a further embodiment of this utility model, the multimodal positioning module includes an optical recognition module and / or a lidar module and / or a video recognition module and / or an infrared recognition module.

[0016] As a further embodiment of this utility model, the electronic control module includes an external power supply and a control module connected by a circuit;

[0017] The control input terminal of the control module is connected to the multimodal positioning module via a circuit.

[0018] As a further embodiment of this utility model, the robotic arm module is equipped with an end effector and an end effector.

[0019] The control output terminal of the control module is connected to a relay module via a circuit, and the output terminal of the relay module is connected to the end drive mechanism and the end actuator via a circuit.

[0020] As a further embodiment of this utility model, the robotic arm module is equipped with a positioning tracker;

[0021] The positioning tracker is connected to the control input terminal of the control module via a circuit, and the positioning tracker obtains the real-time position of the end effector.

[0022] As a further embodiment of this utility model, the robotic arm module is equipped with a built-in protective infrared monitoring module, and the protective infrared monitoring module is connected to the control input terminal of the control module via a circuit.

[0023] As a further embodiment of this utility model, the robotic arm module is equipped with a space path calculation module, and the output terminal of the relay module is connected to the space path calculation module via a circuit.

[0024] As a further embodiment of this utility model, the robotic arm module is equipped with a built-in voice prompt module, and the output terminal of the relay module is connected to the voice prompt module via a circuit.

[0025] As a further embodiment of this utility model, the robotic arm module is equipped with a placement position calculation module, and the output terminal of the relay module is connected to the placement position calculation module via a circuit.

[0026] As a further embodiment of this utility model, the robotic arm module is equipped with an operation path calculation module, and the output terminal of the relay module is connected to the operation path calculation module via a circuit.

[0027] This utility model has the following beneficial effects:

[0028] The system can monitor the surgical situation and needs in real time, and effectively achieve obstacle avoidance, positioning and parking for the robotic arm module, thereby significantly improving the flexibility and adaptability of the robotic arm module's functions, making it more suitable for surgical needs. In addition, the use of sterile sheaths reduces the risk of surgical area contamination and enhances the practicality of the function. Attached Figure Description

[0029] To more clearly illustrate the embodiments of this utility model or the technical solutions in the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. The structures, proportions, sizes, etc., drawn in this specification are only used to complement the content disclosed in the specification, so that those skilled in the art can understand and read them. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0030] Figure 1 This is a schematic diagram of the application state structure of a surgical robot system with automatic positioning optimization and path planning functions provided in an embodiment of this utility model.

[0031] Figure 2 A schematic diagram of the control principle of a surgical robot system with automatic positioning optimization and path planning functions provided in this embodiment of the present invention.

[0032] The attached diagram lists the components represented by each number as follows:

[0033] Robotic arm module 1, electrically controlled walking mechanism 11, end effector drive mechanism 12, end effector 13;

[0034] Multimodal positioning module 2;

[0035] Operating bed a. Detailed Implementation

[0036] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0037] The terms "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity of description and are not intended to limit the scope of implementation of this utility model. Any changes or adjustments to their relative relationships, without substantially altering the technical content, shall also be considered within the scope of implementation of this utility model.

[0038] like Figures 1 to 2 As shown, this utility model embodiment provides a surgical robot system with automatic positioning optimization and path planning functions, including a robotic arm module and a multimodal positioning module. The multimodal positioning module monitors the surgical situation and needs in real time, and effectively enables obstacle avoidance, positioning, and parking for the robotic arm module. This significantly improves the flexibility and adaptability of the robotic arm module, making it more suitable for surgical needs. Furthermore, the use of a sterile sheath reduces the risk of surgical area contamination, enhancing the overall functionality and practicality. Specific settings are as follows:

[0039] The robotic arm module 1 has a built-in electronic control module, which includes an external power supply and a control module connected by a circuit. The control module can be selected, but is not limited to, a single-chip microcontroller control board of model AT80C51 and a microcontroller of model STM32. The control input terminal of the control module is connected by a circuit to a multimodal positioning module 2, which includes an optical recognition module and / or a lidar module and / or a video recognition module and / or an infrared recognition module.

[0040] The robotic arm module 1 is equipped with a built-in protective infrared monitoring module, which is connected to the control input terminal of the control module via a circuit.

[0041] The robotic arm module 1 is equipped with a voice prompt module. The control output terminal of the control module is connected to a relay module via a circuit. The relay module can be selected, but is not limited to, an 8-pin relay of model UD2-4.5NU. The output terminal of the relay module is connected to the voice prompt module via a circuit.

[0042] The robotic arm module 1 is also equipped with an electric walking mechanism 11. The output terminal of the relay module is connected to the electric walking mechanism 11 via a circuit. The electric walking mechanism 11 is a four-wheel electric walking mechanism, which provides 360-degree flexible turning capability.

[0043] The robotic arm module 1 is equipped with an end effector 12 and an end effector 13. The output terminal of the relay module is connected to the end effector 12 and the end effector 13 via circuits.

[0044] The robotic arm module 1 is equipped with a positioning tracker, which is connected to the control input terminal of the control module via a circuit to obtain the real-time position of the end effector.

[0045] The robotic arm module 1 is equipped with a space path calculation module, and the output terminal of the relay module is connected to the space path calculation module via a circuit.

[0046] The robotic arm module 1 is equipped with a placement position calculation module, and the output terminal of the relay module is connected to the placement position calculation module via a circuit.

[0047] The robotic arm module 1 has a built-in operation path calculation module, and the output terminal of the relay module is connected to the operation path calculation module through a circuit.

[0048] The method of using the above-mentioned surgical robot system with automatic positioning optimization and path planning functions includes the following steps:

[0049] S1: Multimodal recognition and localization based on personnel and instruments in the operating room;

[0050] The multimodal positioning module 2 identifies and calibrates the coordinates of the robotic arm module 1 itself in the operating room, the coordinates of the operating bed a in the operating room, the patient's position and surgical site and side, the coordinates of the surgical personnel and their range of motion in the operating room, and the coordinates of the surgical instruments in the operating room.

[0051] S2: Calculate the empty walking path of the robotic arm module 1 based on the multimodal recognition and positioning data information, and complete the sterile protective suit installation of the robotic arm module 1 based on the empty walking path;

[0052] The protective infrared monitoring module monitors the aseptic protective suit installation status of the robotic arm module 1 in real time and sends the monitoring results to the control module. The control module sends a command signal to the relay module to control the voice prompt module to output an avoidance voice alarm to reduce collisions between medical staff and the target location. The control module also sends a command signal to the relay module to control the empty path calculation module to calculate the empty walking path that allows the robotic arm module 1 to move to an open location. Furthermore, the control module sends a command signal to the relay module to control the walking mechanism of the robotic arm module 1 to move along the empty walking path to the selected open location, thereby completing the aseptic protective suit installation based on the robotic arm module.

[0053] S3: Calculate the optimal placement range of the robotic arm module based on multimodal recognition and positioning data;

[0054] Based on the coordinates of the surgical site and the coordinates of the safety wall movement range corresponding to the robotic arm module 1 in the acquired multimodal recognition and positioning data, the control module sends a command signal to the relay module to control the placement position calculation module to calculate the coordinates and obtain the first optimal placement position range coordinate set in which the robotic arm module 1 can effectively assist in completing the surgery.

[0055] Continuing to use the coordinates of the robotic arm module itself, the surgeon's position and range of motion, the surgical instrument, and the measured first optimal placement range coordinate set from the acquired multimodal recognition and positioning data, the control module sends a command signal to the relay module to control the placement position calculation module to perform coordinate calculations, thereby obtaining a second optimal placement range coordinate set that enables the robotic arm module 1 to have several placement and displacement paths that can flexibly switch placement positions. The second optimal placement range coordinate set is included in the first optimal placement range coordinate set.

[0056] The control module then sends a command signal to the relay module to control the placement position calculation module to calculate the coordinates and obtain the placement path from the selected open location to the second optimal placement position range coordinate point set. Based on the path's brevity, the optimal placement path is then optimized and determined.

[0057] S4: Based on the multimodal recognition and positioning data, continue to calculate the optimal operation path of the robotic arm module 1 within the optimal placement range.

[0058] Based on the patient's surgical site and its side in the acquired multimodal recognition and positioning data, the surgical progress of the robotic arm module, and the real-time position of the end effector 13 obtained by the positioning tracker, the control module sends a command signal to the relay module to control the operation path calculation module to calculate the optimal operation path for the end effector 13 of the robotic arm module 1 at the current placement point to extend to the surgical area. The optimal operation path is further obtained according to the changed placement point.

[0059] Although the present invention has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A surgical robot system with automatic positioning optimization and path planning functions, characterized in that, include: The robotic arm module has a built-in electronic control module and is equipped with an electronically controlled walking mechanism. The control output terminal of the electronic control module is connected to the electronically controlled walking mechanism via a circuit. The multimodal positioning module is connected to the control input terminal of the electronic control module via a circuit. The electronic control module includes an external power supply and a control module connected by a circuit; The control input terminal of the control module is connected to the multimodal positioning module via a circuit. The robotic arm module is equipped with an end-effector drive mechanism and an end-effector execution mechanism; The control output terminal of the control module is connected to a relay module via a circuit, and the output terminal of the relay module is connected to the end drive mechanism and the end actuator via a circuit.

2. The surgical robot system with automatic positioning optimization and path planning functions according to claim 1, characterized in that, The multimodal positioning module includes an optical recognition module and / or a lidar module and / or a video recognition module and / or an infrared recognition module.

3. The surgical robot system with automatic positioning optimization and path planning functions according to claim 1, characterized in that, The robotic arm module is equipped with a positioning tracker; The positioning tracker is connected to the control input terminal of the control module via a circuit, and the positioning tracker obtains the real-time position of the end effector.

4. The surgical robot system with automatic positioning optimization and path planning functions according to claim 1, characterized in that, The robotic arm module is equipped with a built-in protective infrared monitoring module, which is connected to the control input terminal of the control module via a circuit.

5. The surgical robot system with automatic positioning optimization and path planning functions according to claim 1, characterized in that, The robotic arm module has a built-in empty path calculation module, and the output terminal of the relay module is connected to the empty path calculation module through a circuit.

6. The surgical robot system with automatic positioning optimization and path planning functions according to claim 1, characterized in that, The robotic arm module has a built-in voice prompt module, and the output terminal of the relay module is connected to the voice prompt module via a circuit.

7. The surgical robot system with automatic positioning optimization and path planning functions according to claim 1, characterized in that, The robotic arm module has a built-in placement position calculation module, and the output terminal of the relay module is connected to the placement position calculation module via a circuit.

8. The surgical robot system with automatic positioning optimization and path planning functions according to claim 1, characterized in that, The robotic arm module has a built-in operation path calculation module, and the output terminal of the relay module is connected to the operation path calculation module via a circuit.

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