CN115486940A - Intelligent power control method, device and system for orthopedic surgery robot - Google Patents

Abstract

The invention provides an intelligent power control method, device and system for an orthopedic surgery robot. The control method comprises the following steps: determining bone cutting parameters according to the CT image of the bone, and determining bone parameters according to the bone image of the bone; determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters; and controlling the tail end power device to execute preoperative osteotomy test according to the control parameters of the tail end power device. The embodiment of the invention is used for solving the defect that the robot cannot be effectively controlled to cut bones in the prior art.

Description

Intelligent power control method, device and system for orthopedic surgical robot

technical field

The invention relates to the technical field of robots, in particular to an intelligent power control method, device and system for an orthopedic surgery robot.

Background technique

Surgical robot is a combination of many modern high-tech means. It has a wide range of uses and has a large number of clinical applications. With the vigorous development of medical robot technology, surgical robots have been widely used as intelligent assistants. Knee replacement by surgical robot is a new technology for the treatment of knee diseases that has gradually developed in modern times. It can effectively eradicate advanced knee pain and greatly improve the quality of life of patients. It is more popular in developed countries. It is currently in a stage of rapid development in China.

In knee replacement surgery, the key step is to use an oscillating saw to remove the original bad bone and install the corresponding prosthesis. ) according to the prompt of the planning software, and constantly change the angle to perform the operation according to the position, so as to achieve the best resection effect. Bones come in different shapes and sizes. The hard compact bone is on the outside, and the porous cancellous bone is also called spongy bone on the inside. Therefore, in the actual resection process, the torque of the pendulum is changing all the time, and the relationship between torque and current is proportional, which means that the current is also constantly changing. When encountering hard compact bone, it is necessary to output a large current at the control end to meet the requirements. Therefore, during the whole bone cutting process, the torque and current changes are in a passive state, and the robot control cannot be effectively realized.

Contents of the invention

The invention provides an intelligent power control method, device and system for an orthopedic surgery robot, which is used to solve the defect that the robot cannot be effectively controlled to perform surgery in the prior art.

The present invention provides an intelligent power control method for an orthopedic surgical robot, comprising:

According to the CT image of the bone, determine the bone cutting parameters, and determine the bone quality parameters according to the bone quality image of the bone;

determining control parameters of the terminal power device according to the osteotomy parameters and the bone quality parameters;

According to the control parameters of the terminal power device, the terminal power device is controlled to perform a preoperative osteotomy test.

The present invention also provides an intelligent power control device for an orthopedic surgical robot, including:

The first determination module is used to determine bone cutting parameters according to the CT image of the bone, and determine the bone quality parameter according to the bone quality image of the bone;

The second determination module is used to determine the control parameters of the terminal power device according to the osteotomy parameters and the bone quality parameters;

The test module is configured to control the terminal power device to perform a preoperative osteotomy test according to the control parameters of the terminal power device.

The present invention also provides an intelligent power control system for an orthopedic surgery robot, which includes an image analysis system and a control system for a robotic arm trolley;

The image analysis system is used for determining bone cutting parameters according to the CT image of the bone, and determining the bone quality parameter according to the bone quality image of the bone;

The mechanical arm trolley control system is configured to determine the control parameters of the terminal power device according to the bone cutting parameters and the bone quality parameters; and control the terminal power device to perform the operation according to the control parameters of the terminal power device. Preoperative osteotomy test.

The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, and the orthopedic surgery robot is realized when the processor executes the program The steps of intelligent power control.

The present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the intelligent power control of the orthopedic surgical robot are realized.

The present invention also provides a computer program product, including a computer program. When the computer program is executed by a processor, the step of intelligent power control of the orthopedic surgery robot is realized.

The intelligent power control method, device and system of the orthopedic surgery robot provided by the present invention determine the control parameters of the terminal power device through the osteotomy parameters determined by the CT image and the bone quality parameters determined by the bone quality image, and according to the control parameters of the terminal power device, Control the terminal power unit to perform a preoperative osteotomy test. Therefore, according to the embodiment of the present invention, control parameters of different sizes are output to drive the terminal power device to perform osteotomy according to the CT image and the bone quality image, thereby realizing a precisely controlled osteotomy process.

Description of drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the present invention. For some embodiments of the invention, those skilled in the art can also obtain other drawings based on these drawings without creative effort.

Fig. 1 is one of the structural schematic diagrams of the terminal power device of the orthopedic robot provided by the present invention;

Fig. 2 is one of the schematic flow charts of the intelligent power control method of the orthopedic surgical robot provided by the present invention;

Fig. 3 is the second structural schematic diagram of the terminal power device of the orthopedic robot provided by the present invention;

Fig. 4 is the third structural schematic diagram of the terminal power device of the orthopedic robot provided by the present invention;

Fig. 5 is the fourth structural schematic diagram of the terminal power device of the orthopedic robot provided by the present invention;

Fig. 6 is the second schematic flow diagram of the intelligent power control method for an orthopedic surgical robot provided by the present invention;

Fig. 7 is the third schematic flow chart of the intelligent power control method of the orthopedic surgical robot provided by the present invention;

Fig. 8 shows a schematic diagram of the output current comparison of the terminal power device of the orthopedic robot before and after using the intelligent power control method of the orthopedic surgical robot according to the embodiment of the present invention;

Fig. 9 is a schematic structural view of an intelligent power control device for an orthopedic surgical robot provided by the present invention;

Fig. 10 is a schematic structural diagram of an electronic device provided by the present invention.

detailed description

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

A terminal power device 100 of an orthopedic robot according to the present invention is described below with reference to FIG. 1 , including: a mechanical arm 10 , a bone cutter 20 and a processor.

The robotic arm 10, the robotic arm 10 of the embodiment of the present invention may be a robotic arm used in various medical fields for precise control of automated surgery.

Osteotomy 20 ; arranged on the mechanical arm 10 , used to cut the affected part of the target object under the driving action of the mechanical arm 10 . Specifically, the osteotomy 20 is provided at the end of the mechanical arm 10 close to the "palm". In other words, the osteotomy member 20 is arranged at the end of the mechanical arm 10 close to the patient, so as to be driven by the mechanical arm 10 to resect the affected part of the target object. The affected part of the target object may be various body parts of the patient. In the embodiment of the present invention, the affected part of the target object may refer to the patient's knee joint.

Wherein, the osteotomy 20 can be various components capable of cutting or cutting the patient's knee joint. For example, in one embodiment, the bone cutter 20 may be a medically used oscillating saw.

The processor is used to determine osteotomy parameters according to the CT image of the bone, and determine the bone quality parameter according to the bone quality image of the bone; determine the control parameters of the terminal power device according to the osteotomy parameter and the bone quality parameter; According to the control parameters of the terminal power device, the terminal power device is controlled to perform a preoperative osteotomy test, that is, the mechanical arm 10 is controlled to operate the osteotomy member 20 to perform a preoperative osteotomy test.

Please refer to Fig. 2, the intelligent power control method of the orthopedic surgery robot includes:

Step 100, determine the osteotomy parameters according to the CT image of the bone, and determine the bone quality parameter according to the bone quality image of the bone;

In the embodiment of the present invention, before the operation is performed, after the control processor obtains the CT image and the bone image of the affected part of the patient, it analyzes the CT image and the bone image, determines the osteotomy parameters according to the CT image of the bone, and determines the osteotomy parameters according to the bone CT image. Bone quality images to determine bone quality parameters.

Specifically, the osteotomy parameters may include the osteotomy position, the osteotomy depth, and the osteotomy angle of the affected part of the patient's bone. Bone quality parameters include the bone density distribution of the skeleton. For example, the distribution of bone density is different in different positions of the bone, the hard compact bone is outside, and the porous cancellous bone is also called spongy bone inside.

Step 200: Determine control parameters of the terminal power device according to the osteotomy parameters and the bone quality parameters.

The terminal power unit of the orthopedic robot determines control parameters of the terminal power unit according to the osteotomy parameter and the bone quality parameter. Wherein, the control parameters include the swing frequency, current, and voltage of the end power device of the orthopedic robot for bone cutting. That is, the control parameters include the oscillating frequency, current, and voltage of the bone cutter for bone cutting.

Specifically, after analyzing the bone cutting parameters, the bone quality parameters, bone cutting marks, friction force, and cutting heat depth algorithm of the end power device of the orthopedic robot, it is concluded that the bone cutting parts cut different bone quality at different positions during the bone cutting process. The required swing frequency, control voltage, control current and other parameters.

Step 300: Control the terminal power device to perform a preoperative osteotomy test according to the control parameters of the terminal power device.

Specifically, the power unit at the end of the orthopedic robot controls the osteotomy member to perform a preoperative osteotomy test according to parameters such as swing frequency, control voltage, and control current required for cutting different bone qualities at different positions.

In the embodiment of the present invention, the control parameters of the terminal power device are determined through the osteotomy parameters determined by the CT image and the bone quality parameters determined by the bone quality image, and the terminal power device is controlled to perform surgery according to the control parameters of the terminal power device. Anterior osteotomy test. Therefore, according to the embodiment of the present invention, control parameters of different sizes are output to drive the terminal power device to perform osteotomy according to the CT image and the bone quality image. Allows for a precisely controlled bone cutting process.

In other aspects of the embodiment of the present invention, step 100, determining osteotomy parameters according to the CT image of the bone, and determining bone quality parameters according to the bone quality image of the bone include:

Step 110, according to the CT image, determine the osteotomy position, osteotomy depth, and osteotomy angle of the bone;

The power unit at the end of the orthopedic robot plans in advance the osteotomy position, the osteotomy depth, and the osteotomy angle for performing osteotomy on the patient's bone according to the CT images. It is convenient to determine the control parameters of the terminal power device.

Step 120. Determine the bone density distribution of the bone according to the bone mass image.

The end power device of the orthopedic robot determines the bone density distribution of the bone according to the bone quality image. For example, the bone density distribution corresponding to different bone cutting depths, or the bone density distribution corresponding to different bone cutting angles.

According to the CT image, determine the osteotomy position, osteotomy depth, and osteotomy angle of the bone, and then determine the bone density distribution of the bone according to the bone image, so as to facilitate according to the bone osteotomy position, osteotomy depth, and The bone cutting angle, and the bone density distribution of the bone, determine the control parameters of the end power device. So that the subsequent orthopedic robot terminal power unit can perform preoperative bone cutting test according to the control parameters, and realize precise control of bone cutting.

In other aspects of the embodiments of the present invention, step 200, determining the control parameters of the terminal power device according to the osteotomy parameters and the bone quality parameters, includes:

Step 210: Determine the bone density distribution corresponding to different osteotomy depths at the osteotomy position according to the osteotomy position, the osteotomy depth, and the bone density distribution of the bone.

The power unit at the end of the orthopedic robot determines the bone density distribution corresponding to different bone cutting depths at the bone cutting position according to the bone cutting position, bone cutting depth and bone density distribution of the bone. For example, the bone cutting depth of a certain bone cutting position in the patient's affected part is 3mm. The bone cutting depth of 3mm may be subdivided into 1mm of hard compact bone and 2mm of soft cancellous bone.

Step 220 , according to the osteotomy position of the bone, the osteotomy angle and the bone density distribution of the bone, determine the bone density distribution corresponding to the different osteotomy angles of the osteotomy position.

The power unit at the end of the orthopedic robot determines the bone density distribution corresponding to different osteotomy angles at the osteotomy position according to the osteotomy position, the osteotomy angle, and the bone density distribution of the bone. For example, the osteotomy angle of a certain osteotomy position on the patient's affected part is 45 degrees to the vertical direction and 60 degrees to the vertical direction. 45 degrees to the vertical corresponds to firm compact bone, and 60 degrees to the vertical corresponds to soft cancellous bone.

Step 230 , according to the bone density distribution corresponding to different bone cutting depths at the bone cutting position, determine different control parameters of the bone density distribution corresponding to different bone cutting depths of the terminal power device.

The terminal power unit of the orthopedic robot determines different control parameters of the bone density distribution corresponding to different bone cutting depths of the terminal power unit according to the bone density distribution corresponding to different bone cutting depths at the osteotomy position.

Due to the different bone density distributions corresponding to different bone cutting depths. Therefore, the control parameters corresponding to different bone densities are also correspondingly different. For example, the bone cutting depth of a certain bone cutting position in the patient's affected part is 3 mm. The bone cutting depth of 3mm may be subdivided into 1mm of hard compact bone and 2mm of soft cancellous bone. Compared with cancellous bone, compact bone requires a larger torque for cutting or cutting, and since the torque is proportional to the output current and voltage of the processor, the end power device of the orthopedic robot drives the bone cutter on the mechanical arm 10 Part 20 excises the electric current and the voltage of the 1mm hard compact bone of the patient's affected part, and is greater than the electric current and the voltage of the 2mm soft cancellous bone of the excised patient's affected part. Therefore, according to the bone density distribution corresponding to different bone cutting depths of the bone cutting position, different control parameters of the bone density distribution corresponding to different bone cutting depths of the terminal power device are determined.

Step 240 , according to the bone density distribution corresponding to different bone cutting angles of the bone cutting position, determine different control parameters of the bone density distribution corresponding to different bone cutting angles of the terminal power device.

The terminal power unit of the orthopedic robot determines different control parameters of the bone density distribution corresponding to different osteotomy angles of the terminal power unit according to the bone density distribution corresponding to different osteotomy angles at the osteotomy position.

Due to the different bone density distribution corresponding to different bone cutting angles. Therefore, the control parameters corresponding to different bone densities are also correspondingly different. For example, a certain osteotomy position in the patient's affected area is 45 degrees from the vertical direction. The bone cutting angle corresponds to a bone density distribution of firm compact bone. A certain osteotomy position in the patient's affected area is 60 degrees to the vertical direction. The bone cutting angle corresponds to the bone density distribution of soft cancellous bone. Compared with cancellous bone, compact bone requires a larger torque for cutting or cutting, and since the torque is proportional to the output current and voltage of the processor, the end power device of the orthopedic robot drives the bone cutter on the mechanical arm 10 Part 20 excises the electric current and the voltage of the osteotomy position of 45 degrees from the vertical direction of the patient's affected part, which is greater than the current and voltage of the osteotomy position of 60 degrees from the vertical direction of the patient's affected part. Therefore, according to the bone density distribution corresponding to different bone cutting angles of the bone cutting position, different control parameters of the bone density distribution corresponding to different bone cutting angles of the terminal power device are determined.

According to the bone density distribution corresponding to different bone cutting depths of the bone cutting position, different control parameters of the bone density distribution corresponding to different bone cutting depths of the terminal power device are determined. Alternatively, according to the bone density distribution corresponding to different bone cutting angles of the bone cutting position, different control parameters of the bone density distribution corresponding to different bone cutting angles of the terminal power device are determined. So that the subsequent orthopedic robot terminal power unit can perform preoperative bone cutting test according to the control parameters, and realize precise control of bone cutting.

In other aspects of the embodiment of the present invention, in step 230, according to the bone density distribution corresponding to different bone cutting depths at the bone cutting position, determine different controls for the bone density distribution corresponding to different bone cutting depths of the terminal power device The parameters specifically include:

According to the bone density distribution corresponding to different bone cutting depths at the bone cutting position, the swing frequency, current, and voltage corresponding to each bone density are queried from the mapping table of bone density and control parameters, and the swing frequency corresponding to each bone density , current, and voltage are used as different control parameters of the bone density distribution corresponding to different bone cutting depths of the terminal power device.

Specifically, in the embodiment of the present invention, a mapping table of bone density and control parameters is set to establish a mapping relationship of control parameters corresponding to different bone densities. For example, the bone density a corresponds to the oscillation frequency a1, the current a2, and the voltage a3; the bone density b corresponds to the oscillation frequency b1, the current b2, and the voltage b3. By setting the mapping table of bone density and control parameters, the oscillation frequency, current, and voltage corresponding to different bone cutting depths at the bone cutting position can be quickly and easily determined, so that the oscillation frequency, current, and voltage corresponding to each bone density can be quickly and easily determined. The voltage is used as different control parameters of the bone density distribution corresponding to different bone cutting depths of the terminal power device, so that the subsequent orthopedic robot terminal power device performs preoperative osteotomy tests according to the control parameters, realizes precise control of bone cutting, and improves bone cutting efficiency.

In other aspects of the embodiment of the present invention, step 240, according to the bone density distribution corresponding to different bone cutting angles of the bone cutting position, determine different controls of the bone density distribution corresponding to different bone cutting angles of the terminal power device Parameters include:

According to the bone density distribution corresponding to different bone cutting angles at the bone cutting position, query the swing frequency, current, and voltage corresponding to each bone density from the mapping table of bone density and control parameters, and calculate the swing frequency corresponding to each bone density , current, and voltage are used as different control parameters of the bone density distribution corresponding to different osteotomy angles of the terminal power device.

Specifically, in the embodiment of the present invention, a mapping table of bone density and control parameters is set to establish a mapping relationship of control parameters corresponding to different bone densities. For example, the bone density a corresponds to the oscillation frequency a1, the current a2, and the voltage a3; the bone density b corresponds to the oscillation frequency b1, the current b2, and the voltage b3. By setting the mapping table of bone density and control parameters, it is possible to quickly and easily determine the oscillation frequency, current, and voltage corresponding to different bone cutting angles at the bone cutting position, so that the oscillation frequency, current, and voltage corresponding to each bone density can be quickly and simply determined. The voltage is used as the different control parameters of the bone density distribution corresponding to the different osteotomy angles of the terminal power device, so that the subsequent orthopedic robot terminal power device performs preoperative osteotomy tests according to the control parameters, realizes precise control of osteotomy, and improves osteotomy efficiency.

Please refer to FIG. 3 , the end power device of the orthopedic robot further includes a displacement detector 30 , which is disposed on the osteotomy 20 and used to detect displacement information of the osteotomy 20 . The displacement information of the osteotomy 20 is detected by the displacement detector 30 , so as to obtain control parameters of the osteotomy 20 . It is convenient for the processor to adjust the osteotomy process of the osteotomy member 20 on the mechanical arm 10 in real time according to the control parameters. The displacement detector 30 may use various sensors capable of detecting displacement information of the osteotomy 20 . For example, please refer to FIG. 3 , the displacement detector 30 includes a tracker 31 communicated with the processor, and an infrared light emitter 32 arranged on the bone cutter 20 . The tracker 31 tracks the infrared light of the infrared light emitter 32 on the bone cutter 20 . Alternatively, please refer to FIG. 4 , the displacement detector 30 includes a shaking sensor 33 disposed on the osteotomy 20 and electrically connected to the processor. The shaking sensor 33 detects the shaking of the osteotomy 20 . Alternatively, referring to FIG. 5 , the displacement detector 30 includes a vibration sensor 34 disposed on the osteotomy 20 and electrically connected to the processor. The vibration sensor 34 and the vibration sensor 33 detect the vibration of the osteotomy 20 .

A processor, arranged on the mechanical arm 10 and electrically connected to the displacement detector 30, is used to adjust and drive the osteotomy member 20 on the mechanical arm 10 to resect the affected part of the target object according to the displacement information. Output current, voltage and swing frequency. Specifically, the processor is set in the mechanical arm 10, and is used for the displacement information detected by the displacement detector 30 to adjust and drive the output current of the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object in real time. , voltage and swing frequency, that is, according to the control parameters of the bone cutter 20, adjust the output current, voltage and swing frequency that drive the bone cutter 20 on the mechanical arm 10 to remove the affected part of the target object, and compensate or correct the bone cut in time The bone cutting action of part 20 ensures stable power output and ensures that the operation can be successfully completed. In the embodiment of the present invention, the closed-loop control of the output current is realized through the cooperation of the displacement detector 30 and the processor, so as to avoid the current fluctuation of the bone cutter 20 (that is, the pendulum saw) due to the unstable output current caused by the direct control of the switching power supply, and eventually appear The phenomenon of burning out.

The embodiment of the present invention detects the displacement information of the osteotomy 20 through the displacement detector 30 provided on the osteotomy 20; The displacement information adjusts the output current, voltage and swing frequency of driving the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object. Therefore, the embodiment of the present invention realizes the real-time feedback of the control parameters of the osteotomy 20 through the displacement detector 30, and adjusts and drives the osteotomy 20 on the mechanical arm 10 according to the control parameters of the osteotomy 20 to resect the target object. The output current, voltage and swing frequency of the affected area compensate or correct the osteotomy of the bone cutter 20 in time, and realize the control of the orthopedic robot terminal power unit 100 to stably output current, voltage and swing frequency for surgery.

Specifically, in one embodiment, please refer to FIG. 3 , the displacement detector 30 in the embodiment of the present application includes a tracker 31 connected in communication with the processor, and an infrared infrared sensor provided on the bone cutter 20 . Light emitter 32; The tracker 31 is used for tracking the infrared light emitted by the infrared light emitter 32 and calculating the three-dimensional coordinates of the infrared light emitter 32; the processor is used for changing values according to the three-dimensional coordinates The calculated oscillation frequency of the osteotomy 20 is used to adjust the output current and voltage for driving the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object.

Specifically, the tracker 31 of the embodiment of the present invention can be based on the principle of the NDI positioning and navigation system, and use the linear array CCD lens that NDI company has accurately calibrated to form a tracker 31, and capture it from different angles through the linear array CCD lens. The near-infrared light actively emitted by the pilot point of the pendulum saw can be accurately calculated and analyzed by the software provided by NDI, and the three-dimensional space coordinates of each pilot point of the pendulum saw at different times can be accurately obtained in real time, so as to obtain the real-time information of the pendulum saw. With precise coordinates, the vibration frequency of the swing frequency in the pendulum saw can be calculated.

For example, the processor controls the output current to control the pendulum saw on the mechanical arm 10 to swing and cut the affected part of the patient, and the marking point of the infrared light emitter 32 on the pendulum saw emits infrared rays. Track and detect infrared rays by tracker 31 (line array CCD lens), tracker 31 measures mark points, calculates the change of position and direction attached to mark points, controls tracker 31 with the standard input ToolBox of converted data and information by system software software. The displacement information of the marking points of the pendulum saw can be obtained through the ToolBox software. The output current and voltage for driving the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object are adjusted by the processor according to the displacement information. According to an example: for example, the three-dimensional coordinates of Tx, Ty, and Tz of the current pendulum saw reciprocate between 100 and 120, then the number of swings of the pendulum saw in the directions of Tx, Ty, and Tz can be obtained, and the calculation unit The number of swings within a time (for example, 1 min) can be used to calculate the swing frequency.

On the basis of calculating and obtaining the swing frequency, since the swing frequency is inversely proportional to the torque of the pendulum saw; the torque of the pendulum saw is directly proportional to the output current of the processor. By comparing the relationship between the oscillating frequency and the set oscillating frequency threshold, the control processor adjusts the output current and voltage of the pendulum saw on the driving mechanical arm 10 for cutting the affected part.

For example, if the swing frequency is greater than the first set swing frequency threshold, and the first set swing frequency threshold is the upper limit of the swing frequency, it means that the torque of the pendulum saw is too small and the driving force needs to be adjusted. The output current and voltage of the bone cutter 20 on the mechanical arm 10 to resect the affected part of the target object increase. Specifically, through the EtherCat communication mode of NDI Company, the tracker 31 transmits the displacement information to the processor. After the processor receives the displacement information, it calculates the swing frequency, and adjusts the output current of the pendulum saw on the driving mechanical arm 10 to cut the affected part based on the swing frequency. , voltage, through the PID (full name Process Identification, translated as process identifier) adjustment link, the processor uses the digital PID incremental algorithm to calculate, and finally completes the PID closed-loop control steps, and realizes the real-time feedback through the displacement detector 30. The control parameters of the osteotomy 20, and according to the control parameters of the osteotomy 20, adjust and drive the output current and voltage of the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object, and compensate or correct the osteotomy 20 in time bone cutting, to realize the control of the terminal power device 100 of the orthopedic robot to stably output current for surgery.

Wherein, the tracker 31 is connected to the processor through an EtherCAT bus communication. The communication rate can reach 100M/bits. Therefore, the output current and voltage of the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object can be controlled and driven in a more timely manner, and the orthopedic robot terminal power device 100 can be controlled to output current and voltage stably and smoothly for surgery.

In other embodiments of the present invention, please refer to FIG. 4 , the displacement detector 30 includes a shaking sensor 33 arranged on the osteotomy 20 and electrically connected to the processor; the shaking sensor 33 is used for Detecting the swing information of the bone cutter 20; the processor is used to adjust and drive the bone cutter 20 on the mechanical arm 10 to resect the target according to the swing frequency of the bone cutter 20 calculated according to the swing information The output current and voltage of the affected part of the object.

Specifically, the shake sensor 33 in the embodiment of the present invention may be selected from various sensors capable of detecting shake information or swing information of an object. The swing sensor 33 detects the swing information of the bone cutter 20, and the shake sensor 33 sends the real-time swing information of the bone cutter 20 to the processor, and the processor calculates the swing information of the bone cutter 20 according to the swing information per unit time. swing frequency.

For example, the oscillation frequency of the bone cutter 20 is calculated according to the oscillation frequency of the oscillation sensor 33 within one minute. On the basis of calculating and obtaining the swing frequency, since the swing frequency is inversely proportional to the torque of the pendulum saw; the torque of the pendulum saw is directly proportional to the output current and voltage of the processor. By comparing the relationship between the oscillating frequency and the set oscillating frequency threshold, the control processor adjusts the output current and voltage of the pendulum saw on the driving mechanical arm 10 for cutting the affected part. After the processor receives the swing information, it calculates the swing frequency, and adjusts the output current and voltage of the pendulum saw on the driving mechanical arm 10 to cut the affected part based on the swing frequency. Through the PID (full name Process Identification, translated as process identifier) adjustment link, the processor Use the digital PID incremental algorithm to calculate, and finally complete the PID closed-loop control steps, realize the real-time feedback of the control parameters of the bone cutter 20 through the displacement detector 30, and adjust and drive the machine according to the control parameters of the bone cutter 20 The osteotomy 20 on the arm 10 cuts the output current and voltage of the affected part of the target object, compensates or corrects the osteotomy of the osteotomy 20 in time, and realizes controlling the stable output current and voltage of the orthopedic robot terminal power device 100 for surgery.

Compared with using the tracker 31 and the infrared light emitter 32 to form the displacement detector 30 to detect the displacement of the osteotomy 20, the embodiment of the present invention uses the shaking sensor 33 to detect the displacement (swing information) of the osteotomy 20. The components used are simpler, and cut costs.

In other aspects of the embodiment of the present invention, please refer to FIG. 5 , the displacement detector 30 includes a vibration sensor 34 arranged on the osteotomy 20 and electrically connected to the processor; the vibration sensor 34 is used for Detecting the swing information of the bone cutter 20; the processor is used to adjust and drive the bone cutter 20 on the mechanical arm 10 to resect the target according to the swing frequency of the bone cutter 20 calculated according to the swing information The output current and voltage of the affected part of the object.

Specifically, the vibration sensor 34 in the embodiment of the present invention may be selected from various sensors capable of detecting vibration information or swing information of an object. The vibration sensor 34 detects the swing information of the bone cutter 20, and the vibration sensor 34 sends the real-time swing information of the bone cutter 20 to the processor, and the processor calculates the swing information of the bone cutter 20 according to the swing information per unit time. swing frequency.

For example, the oscillation frequency of the bone cutter 20 is calculated according to the oscillation frequency of the vibration sensor 34 within one minute. The swing frequency at this time can be understood as a vibration frequency. On the basis of calculating and obtaining the swing frequency, since the swing frequency is inversely proportional to the torque of the pendulum saw; the torque of the pendulum saw is directly proportional to the output current and voltage of the processor. By comparing the relationship between the oscillating frequency and the set oscillating frequency threshold, the control processor adjusts the output current and voltage of the pendulum saw on the driving mechanical arm 10 for cutting the affected part. After the processor receives the swing information, it calculates the swing frequency, and adjusts the output current and voltage of the pendulum saw on the driving mechanical arm 10 to cut the affected part based on the swing frequency. Through the PID (full name Process Identification, translated as process identifier) adjustment link, the processor Use the digital PID incremental algorithm to calculate, and finally complete the PID closed-loop control steps, realize the real-time feedback of the control parameters of the bone cutter 20 through the displacement detector 30, and adjust and drive the machine according to the control parameters of the bone cutter 20 The osteotomy 20 on the arm 10 cuts the output current and voltage of the affected part of the target object, compensates or corrects the osteotomy of the osteotomy 20 in time, and realizes controlling the stable output current and voltage of the orthopedic robot terminal power device 100 for surgery.

Similarly, compared to using a tracker 31 and an infrared light emitter 32 to form a displacement detector 30 to detect the displacement of the osteotomy 20, the embodiment of the present invention uses a vibration sensor 34 to detect the displacement (swing information) of the osteotomy 20. The use of components is simpler , and reduce costs.

Through the displacement detector 30 arranged on the osteotomy 20, the displacement information of the osteotomy 20 is detected; then the control parameters of the osteotomy 20 during the operation are obtained, and then the processor according to the displacement information Adjust the output current and voltage for driving the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object. Therefore, the embodiment of the present invention realizes the real-time feedback of the control parameters of the osteotomy 20 through the displacement detector 30, and adjusts and drives the osteotomy 20 on the mechanical arm 10 according to the control parameters of the osteotomy 20 to resect the target object. The output current and voltage of the affected area compensate or correct the osteotomy of the osteotomy member 20 in time, and realize the control of the terminal power device 100 of the orthopedic robot to stably output current and voltage for surgery. Through the cooperation of the displacement detector 30 and the processor, the changes of the real-time output current and voltage are controlled, so that the output current and voltage for driving the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object are more stable, and no sudden changes will occur. to avoid damage to the oscillating saw.

Based on the above structure of the orthopedic robot terminal power device 100, please refer to FIG. 6, the intelligent power control method of the orthopedic surgical robot in the embodiment of the present invention includes:

Step 400, obtaining the displacement information of the terminal power device in real time;

The control processor outputs a current to drive the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object. Then control the displacement detector 30 to detect the displacement information of the osteotomy 20 . Wherein, the displacement detector 30 can use various sensors capable of detecting the displacement information of the osteotomy 20 . For example, the displacement detector 30 includes a tracker 31 communicatively connected with the processor, and an infrared light emitter 32 arranged on the osteotomy 20 . The tracker 31 tracks the infrared light of the infrared light emitter 32 on the osteotomy 20 to detect the displacement information of the osteotomy 20 . Alternatively, the displacement detector 30 includes a shaking sensor 33 provided on the osteotomy 20 and electrically connected to the processor. The shaking sensor 33 detects the swing of the osteotomy 20 to detect the displacement information of the osteotomy 20 . Alternatively, the displacement detector 30 includes a vibration sensor 34 disposed on the osteotomy 20 and electrically connected to the processor. The vibration sensor 34 and the shake sensor 33 detect the oscillation of the osteotomy 20 to detect the displacement information of the osteotomy 20 .

Step 500, adjust the control parameters of the terminal power device based on the displacement information.

By detecting the displacement information of the osteotomy 20; and then obtaining the control parameters of the osteotomy 20 during the operation, the processor adjusts and drives the osteotomy 20 on the mechanical arm 10 according to the displacement information Output current and voltage to remove the affected part of the target object.

The embodiments of the present invention achieve real-time acquisition of the displacement information of the terminal power device, adjust the control parameters of the terminal power device based on the displacement information, timely compensate or correct the osteotomy of the bone cutter, and realize the stable output of the control terminal power device current for surgery.

In other aspects of the embodiments of the present invention, step 500, the adjusting the control parameters of the terminal power device based on the displacement information includes:

Step 510, according to the change value of the displacement information within a preset time, calculate the oscillation frequency of the terminal power device for bone cutting;

In one embodiment, the displacement detector 30 includes a tracker 31 communicated with the processor, and an infrared light emitter 32 arranged on the bone cutter 20 .

The tracker 31 of the embodiment of the present invention can be based on the principle of the NDI positioning and navigation system, and use the linear array CCD lens accurately calibrated by NDI company to form a tracker 31, and capture the pendulum saw mark from different angles through the linear array CCD lens The near-infrared light emitted by the pilot point can be accurately calculated and analyzed by the software provided by NDI, and the three-dimensional space coordinates of each pendulum saw’s pilot point at different times can be accurately obtained in real time, so as to obtain the real-time precise coordinates of the pendulum saw. The swing frequency of the swing frequency in the pendulum saw can be calculated.

For example, the processor controls the output current to control the pendulum saw on the mechanical arm 10 to swing and cut the affected part of the patient, and the marking point of the infrared light emitter 32 on the pendulum saw emits infrared rays. Track and detect infrared rays by tracker 31 (line array CCD lens), tracker 31 measures mark points, calculates the change of position and direction attached to mark points, controls tracker 31 with the standard input ToolBox of converted data and information by system software software. The displacement information of the marking points of the pendulum saw can be obtained through the ToolBox software. The output current for driving the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object is adjusted by the processor according to the displacement information. According to an example: for example, the three-dimensional coordinates of Tx, Ty, and Tz of the current oscillating saw reciprocate between 100 and 120, then the number of swings of the oscillating saw in the directions of Tx, Ty, and Tz can be obtained, and the calculation unit The number of swings within a time (for example, 1 min) can be used to calculate the swing frequency.

In another embodiment, the displacement detector 30 includes a shaking sensor 33 disposed on the bone cutting member 20 and electrically connected to the processor.

Specifically, the shake sensor 33 in the embodiment of the present invention may be selected from various sensors capable of detecting shake information or swing information of an object. The swing sensor 33 detects the swing information of the bone cutter 20, and the shake sensor 33 sends the real-time swing information of the bone cutter 20 to the processor, and the processor calculates the swing information of the bone cutter 20 according to the swing information per unit time. swing frequency.

In another embodiment, the displacement detector 30 includes a vibration sensor 34 disposed on the osteotomy 20 and electrically connected to the processor. Specifically, the vibration sensor 34 in the embodiment of the present invention may be selected from various sensors capable of detecting vibration information or swing information of an object. The vibration sensor 34 detects the swing information of the bone cutter 20, and the vibration sensor 34 sends the real-time swing information of the bone cutter 20 to the processor, and the processor calculates the swing information of the bone cutter 20 according to the swing information per unit time. swing frequency.

Step 520, adjust the working current and working voltage of the terminal power device according to the swing frequency.

On the basis of calculating and obtaining the swing frequency, since the swing frequency is inversely proportional to the torque of the pendulum saw; the torque of the pendulum saw is directly proportional to the output current and voltage of the processor. By comparing the relationship between the oscillating frequency and the set oscillating frequency threshold, the control processor adjusts the output current and voltage of the pendulum saw on the driving mechanical arm 10 for cutting the affected part.

Specifically, the embodiment of the present invention can adjust the output of driving the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object according to the oscillation frequency, the first set oscillation frequency threshold, and the second set oscillation frequency threshold. Current and voltage.

The intelligent power control method of the orthopedic surgical robot in the embodiment of the present invention further includes: step 530, when the swing frequency is greater than the first set swing frequency threshold, adjust the control parameter of the terminal power device to increase the bone cutting.

For example, if the swing frequency is greater than the first set swing frequency threshold, and the first set swing frequency threshold is the upper limit of the swing frequency, it means that the torque of the pendulum saw is too small and the driving force needs to be adjusted. The output current and voltage of the bone cutter 20 on the mechanical arm 10 to resect the affected part of the target object increase. The processor adjusts the output current and voltage according to the swing frequency, compensates or corrects the osteotomy of the osteotomy member 20 in time, and realizes controlling the stable output current of the terminal power device 100 of the orthopedic robot for surgery. Avoid the current fluctuation caused by the unstable output of the pendulum saw due to the direct control of the switching power supply, and finally the phenomenon that the pendulum saw burns out.

Step 540 , if the swing frequency is lower than the second set swing frequency threshold, adjust the control parameter of the terminal power device to perform bone cutting to decrease.

For example, if the control processor is under the condition that the oscillating frequency is less than the second set oscillating frequency threshold, the second set oscillating frequency threshold is the lower limit value of the oscillating frequency. At this time, it means that the torque of the oscillating saw is too large and the driving force needs to be adjusted. The output current and voltage of the osteotomy unit 20 on the mechanical arm 10 to resect the affected part of the target object decrease. The processor adjusts the output current and voltage according to the swing frequency, compensates or corrects the osteotomy of the osteotomy member 20 in time, and realizes controlling the stable output current of the orthopedic robot terminal power device 100 for surgery. Avoid the current fluctuation caused by the unstable output of the pendulum saw due to the direct control of the switching power supply, and finally the phenomenon that the pendulum saw burns out.

Please refer to Fig. 7, the intelligent power control method of the orthopedic surgery robot in the embodiment of the present invention also includes:

Step 600: Determine new osteotomy parameters according to the CT image of the new patient's skeleton, and determine new bone quality parameters according to the bone quality image of the new patient's skeleton;

Step 700. When the new bone cutting parameters are the same or similar to the historical bone cutting parameters, and the new bone quality parameters are the same or similar to the historical bone quality parameters, control the terminal power unit to directly call the The bone cutting test is performed according to the historical bone cutting parameters and the historical control parameters corresponding to the historical bone quality parameters.

The end power device of the orthopedic robot determines new bone cutting parameters according to the CT image of the new patient's bone, and determines the new bone quality parameter according to the bone quality image of the new patient's bone. In the case that the new bone cutting parameters are the same or similar to the historical bone cutting parameters, and the new bone quality parameters are the same or similar to the historical bone quality parameters, specify the new bone cutting parameters and the new bone cutting parameters for the new patient. The new bone quality parameters are the same or similar to the historical bone cutting parameters and historical bone quality parameters. In order to improve data processing efficiency, the terminal power device is controlled to directly call the historical control parameters corresponding to the historical osteotomy parameters and the historical bone quality parameters to perform an osteotomy test. Therefore, it is no longer necessary to determine new control parameters according to new bone cutting parameters and new bone quality parameters, thereby improving data processing efficiency.

Please refer to FIG. 8 . FIG. 8 shows the comparison of the output current of the orthopedic robot terminal power device before and after using the intelligent power control method of the orthopedic surgical robot according to the embodiment of the present invention. Fig. 8 (a) shows the output current of the orthopedic robot terminal power device before using the orthopedic surgery robot intelligent power control method of the embodiment of the present invention; Fig. 8 (b) shows the orthopedic surgery robot after using the orthopedic surgery robot intelligent power control method The output current of the power device at the end of the robot; it can be seen that the fluctuation of the output current of the power device at the end of the orthopedic robot is smaller and the output current is more stable after using the intelligent power control method for the orthopedic surgical robot according to the embodiment of the present invention. Therefore, in the embodiment of the present invention, the displacement detector 30 and the processor cooperate to control the change of the real-time output current, so that the output current for driving the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object is more stable, and no In case of sudden change, avoid damage to the pendulum saw.

The specific implementation of the embodiment of the present invention is as follows: first, according to the preoperative planning software, the bone cutting position is planned, and then the bone quality (bone density), bone cutting trace, friction force, and cutting heat are analyzed by the depth algorithm of the bone cutting position. Obtain the different swing frequency, control voltage, control current and other parameters required for bone cutting at different positions during the pendulum saw bone cutting process, import them into the processor, and after calculation by the processor, obtain precise control PID parameters and generate firmware programs. to perform the final bone cutting action.

In the embodiment of the present invention, after obtaining the CT image and the bone image of the patient's affected area before the operation, the CT image and the bone image are analyzed to obtain the bone cutting depth and the bone density distribution, and output currents of different sizes to drive the mechanical arm The osteotomy 20 on the 10 resects the affected part of the target object. Realize precise control of the different output currents of the pendulum saw during the bone cutting process, and realize the precise control of the bone cutting process.

To sum up, the embodiment of the present invention acquires the CT images and bone images of the patient's affected area before operation, analyzes the CT images and bone images to obtain the bone cutting depth, bone cutting angle, and the bone density distribution, and outputs different sizes of bones. Current, voltage and swing frequency drive the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object. Realize precise control of the current, voltage and swing frequency of the different outputs of the pendulum saw during the bone cutting process. Allows for a precisely controlled bone cutting process. The control parameters of the osteotomy 20 are detected by the displacement detector 30, and the output current and voltage for driving the osteotomy 20 on the mechanical arm 10 to resect the affected part of the target object are adjusted according to the control parameters of the osteotomy 20, The osteotomy of the osteotomy member 20 is compensated or corrected in time, and the terminal power device 100 of the orthopedic robot is controlled to stably output current for surgery. Form an overall closed-loop control process to ensure the safety and effectiveness of the bone cutting process. At the same time, the output current and voltage are more stable, and there will be no sudden changes that will cause damage to related components.

An intelligent power control device for an orthopedic surgical robot provided by the present invention is described below. The intelligent power control device for an orthopedic surgical robot described below and the intelligent power control method for an orthopedic surgical robot described above can be referred to in correspondence.

Please refer to Figure 9, an intelligent power control device for an orthopedic surgical robot, including:

The first determining module 201 is configured to determine osteotomy parameters according to the CT image of the bone, and determine the bone quality parameter according to the bone quality image of the bone;

The second determination module 202 is configured to determine the control parameters of the terminal power device according to the osteotomy parameters and the bone quality parameters;

The testing module 203 is configured to control the terminal power device to perform a preoperative osteotomy test according to the control parameters of the terminal power device.

Determine the control parameters of the terminal power device through the osteotomy parameters determined from the CT image and the bone quality parameters determined from the bone quality image, and control the terminal power device to perform a preoperative osteotomy test according to the control parameters of the terminal power device . Therefore, according to the embodiment of the present invention, control parameters of different sizes are output to drive the terminal power device to perform osteotomy according to the CT image and the bone quality image. Allows for a precisely controlled bone cutting process.

In one embodiment, the first determination module includes:

The first sub-determining module is used to determine the osteotomy position, osteotomy depth, and osteotomy angle of the bone according to the CT image;

The second sub-determining module is used to determine the bone density distribution of the bone according to the bone mass image.

In one embodiment, the second determination module includes:

The first bone density distribution determining module is used to determine the bone density distribution corresponding to different bone cutting depths at the bone cutting position according to the bone cutting position, bone cutting depth and bone density distribution of the bone;

The second bone density distribution determining module is used to determine the bone density distribution corresponding to different bone cutting angles of the bone cutting position according to the bone cutting position, bone cutting angle and bone density distribution of the bone;

The first control parameter determination module is configured to determine different control parameters of the bone density distribution corresponding to different bone cutting depths of the terminal power device according to the bone density distribution corresponding to different bone cutting depths at the bone cutting position;

The second control parameter determination module is configured to determine different control parameters of the bone density distribution corresponding to different osteotomy angles of the terminal power device according to the bone density distribution corresponding to different osteotomy angles of the osteotomy position.

In one embodiment, the first bone density distribution determination module is specifically used for:

According to the bone density distribution corresponding to different bone cutting depths at the bone cutting position, the swing frequency, current, and voltage corresponding to each bone density are queried from the mapping table of bone density and control parameters, and the swing frequency corresponding to each bone density , current, and voltage are used as different control parameters of the bone density distribution corresponding to different bone cutting depths of the terminal power device.

In one embodiment, the second bone density distribution determining module is specifically configured to: according to the bone density distribution corresponding to different bone cutting angles of the bone cutting position, query the bone density and control parameter mapping table for each bone density distribution. The oscillation frequency, current, and voltage corresponding to each bone density are used as different control parameters of the bone density distribution corresponding to different osteotomy angles of the terminal power device.

In one embodiment, the intelligent power control device for orthopedic surgery robot also includes:

a displacement information acquisition module, configured to acquire displacement information of the terminal power device in real time;

A control parameter adjustment module, configured to adjust a control parameter of the terminal power device based on the displacement information.

In one embodiment, the control parameter adjustment module includes:

The swing frequency calculation module is used to calculate the swing frequency of the terminal power device for bone cutting according to the change value of the displacement information within a preset time;

A specific adjustment module is configured to adjust the operating current and operating voltage of the terminal power device according to the swing frequency.

In one embodiment, the intelligent power control device for orthopedic surgery robot also includes:

The new bone parameter determination module is used to determine new bone cutting parameters according to the CT image of the new patient's bone, and to determine the new bone quality parameter according to the bone quality image of the new patient's bone;

The calling module is used to control the terminal power device to directly call the new bone cutting parameter and the historical bone cutting parameter when the new bone quality parameter is the same or similar to the historical bone quality parameter. A historical control parameter corresponding to the historical osteotomy parameter and the historical bone quality parameter performs an osteotomy test.

FIG. 10 illustrates a schematic diagram of the physical structure of an electronic device. As shown in FIG. 10 , the electronic device may include: a processor (processor) 1010, a communication interface (Communications Interface) 1020, a memory (memory) 1030 and a communication bus 1040, Wherein, the processor 1010 , the communication interface 1020 , and the memory 1030 communicate with each other through the communication bus 1040 . The processor 1010 can call the logic instruction in the memory 1030 to execute the intelligent power control method of the orthopedic surgery robot, the method includes: determining bone cutting parameters according to the CT image of the bone, and determining the bone quality parameter according to the bone quality image of the bone; According to the osteotomy parameter and the bone quality parameter, a control parameter of the terminal power device is determined; according to the control parameter of the terminal power device, the terminal power device is controlled to perform a preoperative osteotomy test.

In addition, the above-mentioned logic instructions in the memory 1030 may be implemented in the form of software functional units and be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

On the other hand, the present invention also provides an intelligent power control system for an orthopedic surgical robot, which includes an image analysis system and a control system for a robotic arm trolley;

The image analysis system is used for determining bone cutting parameters according to the CT image of the bone, and determining the bone quality parameter according to the bone quality image of the bone;

The mechanical arm trolley control system is configured to determine the control parameters of the terminal power device according to the bone cutting parameters and the bone quality parameters; and control the terminal power device to perform the operation according to the control parameters of the terminal power device. Preoperative osteotomy test.

In this embodiment, the above intelligent power control system for the orthopedic surgical robot can implement each step of the above intelligent power control method for the orthopedic surgical robot, which will not be repeated here. Wherein, the image analysis system may be a main control trolley, and the control system of the manipulator trolley may be a manipulator trolley and a navigation trolley.

On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can The intelligent power control method for an orthopedic surgical robot provided by performing the above-mentioned methods, the method includes: determining bone cutting parameters according to the CT image of the bone, and determining bone quality parameters according to the bone quality image of the bone; according to the bone cutting parameters and The bone quality parameter is used to determine the control parameters of the terminal power device; according to the control parameters of the terminal power device, the terminal power device is controlled to perform a preoperative osteotomy test.

In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to perform the intelligent power control method for an orthopedic surgical robot provided by the above-mentioned methods, The method includes: determining osteotomy parameters according to the CT image of the bone, and determining the bone quality parameter according to the bone quality image of the bone; determining the control parameters of the terminal power device according to the bone cutting parameter and the bone quality parameter ; According to the control parameters of the terminal power device, control the terminal power device to perform a preoperative osteotomy test.

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.

Through the above description of the implementations, those skilled in the art can clearly understand that each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (10)

1. An intelligent power control method for an orthopedic surgery robot is characterized by comprising the following steps:

determining bone cutting parameters according to the CT image of the bone, and determining bone parameters according to the bone image of the bone;

determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters;

and controlling the tail end power device to execute preoperative osteotomy test according to the control parameters of the tail end power device.

2. The intelligent power control method for the orthopaedic surgery robot according to claim 1, wherein the determining bone cutting parameters according to the CT image of the bone and determining bone parameters according to the bone image of the bone comprise:

determining the bone cutting position, the bone cutting depth and the bone cutting angle of the bone according to the CT image;

and determining the bone density distribution of the bone according to the bone image.

3. The intelligent power control method for the orthopaedic surgical robot according to claim 2, wherein determining the control parameters of the distal power device according to the bone cutting parameters and the bone parameters comprises:

determining bone density distribution corresponding to different bone cutting depths of the bone cutting positions according to the bone cutting positions, the bone cutting depths of the bones and the bone density distribution of the bones;

determining bone density distribution corresponding to different bone cutting angles of the bone cutting positions according to the bone cutting positions, the bone cutting angles and the bone density distribution of the bones;

determining different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting depths according to the bone density distribution of the bone cutting positions corresponding to the different bone cutting depths;

and determining different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting angles according to the bone density distribution corresponding to different bone cutting angles of the bone cutting position.

4. The intelligent power control method for the orthopaedic surgical robot according to claim 3, wherein the determining different control parameters of the bone density distribution of the distal end power device at different bone cutting depths according to the bone density distribution corresponding to the different bone cutting depths of the bone cutting position comprises:

and according to the bone density distribution corresponding to different bone cutting depths of the bone cutting position, inquiring the swing frequency, the current and the voltage corresponding to each bone density from a mapping table of the bone density and the control parameter, and taking the swing frequency, the current and the voltage corresponding to each bone density as different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting depths.

5. The intelligent power control method for the orthopaedic surgical robot according to claim 3, wherein the determining different control parameters of the bone density distribution of the distal end power device at different bone cutting angles according to the bone density distribution corresponding to the different bone cutting angles at the bone cutting position comprises:

and according to the bone density distribution corresponding to different bone cutting angles of the bone cutting position, inquiring the swing frequency, the current and the voltage corresponding to each bone density from a mapping table of the bone density and the control parameter, and taking the swing frequency, the current and the voltage corresponding to each bone density as different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting angles.

6. The intelligent power control method for an orthopaedic surgical robot according to claim 1, further comprising:

acquiring displacement information of the tail end power device in real time;

adjusting a control parameter of the terminal power device based on the displacement information.

7. The intelligent power control method for an orthopaedic surgical robot according to claim 6, wherein the adjusting the control parameter of the tip power means based on the displacement information comprises:

calculating the swing frequency of the tail end power device for bone cutting according to the change value of the displacement information within the preset time;

and adjusting the working current and the working voltage of the tail end power device according to the swing frequency.

8. The intelligent power control method for an orthopaedic surgical robot according to claim 1, further comprising:

determining new bone cutting parameters according to the CT image of the new patient's bone, and determining new bone parameters according to the bone image of the new patient's bone;

and under the condition that the new bone cutting parameters are the same as or similar to the historical bone cutting parameters and the new bone parameters are the same as or similar to the historical bone parameters, controlling the tail end power device to directly call the historical control parameters corresponding to the historical bone cutting parameters and the historical bone parameters to execute the bone cutting test.

9. An intelligent power control device of an orthopedic surgery robot is characterized by comprising:

the first determining module is used for determining bone cutting parameters according to the CT image of the bone and determining bone parameters according to the bone image of the bone;

the second determination module is used for determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters;

and the testing module is used for controlling the tail end power device to execute preoperative osteotomy test according to the control parameters of the tail end power device.

10. An intelligent power control system of an orthopedic surgery robot is characterized by comprising an image analysis system and a mechanical arm trolley control system;

the image analysis system is used for determining bone cutting parameters according to the CT image of the bone and determining bone parameters according to the bone image of the bone;

the mechanical arm trolley control system is used for determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters; and controlling the tail end power device to execute preoperative osteotomy test according to the control parameters of the tail end power device.

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