CN116269614B - Automatic bone grinding system - Google Patents
Automatic bone grinding system Download PDFInfo
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- CN116269614B CN116269614B CN202211485584.7A CN202211485584A CN116269614B CN 116269614 B CN116269614 B CN 116269614B CN 202211485584 A CN202211485584 A CN 202211485584A CN 116269614 B CN116269614 B CN 116269614B
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
- A61B17/1613—Component parts
- A61B17/1626—Control means; Display units
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B2017/00017—Electrical control of surgical instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/16—Instruments for performing osteoclasis; Drills or chisels for bones; Trepans
- A61B2017/1602—Mills
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Abstract
本文涉及医疗科技领域，尤其涉及一种自动骨磨削系统。包括，手动骨磨削工具，用于医生对历史患者进行骨磨削治疗；磨头定位部件，安装在所述手动骨磨削工具上，用于发出所述手动骨磨削工具的状态数据；数据获取装置，用于获取所述状态数据和磨削部位的图像数据；磨头控制装置，用于根据所述状态数据和图像数据进行模型训练，得到骨磨削模型，根据所述骨磨削模型以及目标患者的待磨削部位的图像数据计算自动骨磨削磨头的控制数据。通过本文实施例，解决现有技术中无法提取医生在进行骨磨削手术时操作骨磨削工具的力度和运动状态，无法生成精确的控制数据的问题。
This article relates to the field of medical technology, and in particular to an automatic bone grinding system. It includes a manual bone grinding tool, which is used by doctors to perform bone grinding treatment on historical patients; a grinding head positioning component, which is installed on the manual bone grinding tool and is used to issue status data of the manual bone grinding tool; a data acquisition device, which is used to acquire the status data and image data of the grinding part; a grinding head control device, which is used to perform model training based on the status data and image data to obtain a bone grinding model, and calculate the control data of the automatic bone grinding grinding head based on the bone grinding model and the image data of the target patient's part to be ground. Through the embodiments of this article, the problem that the existing technology cannot extract the force and movement state of the doctor operating the bone grinding tool during bone grinding surgery, and cannot generate accurate control data is solved.
Description
Technical Field
This document relates to the field of medical science and technology, and more particularly to an automatic bone grinding system.
Background
The traditional spine lamina milling operation has very high requirements on the capability of doctors due to the special operation part. The quality of the surgery depends to a large extent on the clinical experience and feel of the physician. Whether the operation is scientific and correct or not lacks the judgment basis of scientific and standard. This greatly increases the risk of surgery and patient injury. In addition, patients and doctors need to contact various medical imaging devices with relatively high radioactivity for a long time in the operation process, and the patients and doctors can receive relatively high-dose radiation. Can have a certain impact on the health of the patient and doctor and can also increase the risk of infection. Meanwhile, the operation with high concentration for a long time can cause the doctor to feel tired, thereby affecting the judgment of the doctor on the operation and the operation precision, and causing serious consequences.
With the rapid development of modern technology, medical surgical robots are increasingly involved in spine laminectomy. However, at present, in the tasks of drilling, grinding, cutting and the like, only skilled clinicians can control the interaction problem between the bone grinding tool and the bone tissue and soft tissue by adjusting the holding force between the hand and the tool and the angle and motion state of the tool in real time. For inexperienced doctors, knowledge and skill of how to avoid the interference of respiratory motion in bone grinding operation and how to reduce redundant operation in operation are all acquired through a large number of clinical operations. Thus, with the development of robotics, it is now desirable to move to bone grinding robots by extracting the grinding skills of experienced experts, so that the robots can adjust in a human-like intelligent manner in time with various problems occurring during the grinding operation, instead of grinding at a constant power rate. However, due to inconsistent hardness of bone tissue, the robot is difficult to adjust parameters such as grinding feed speed, bone cutting force and the like in real time according to the characteristics of the bone tissue in the grinding process, and the main reason for the problem is that the strength and the motion state of a doctor for operating a bone grinding tool during bone grinding operation cannot be extracted.
An automatic bone grinding system is needed at present, so that the problem that the strength and the motion state of a doctor for operating a bone grinding tool during bone grinding operation cannot be extracted and accurate control data cannot be generated in the prior art is solved.
Disclosure of Invention
In order to solve the problems in the prior art, the embodiment provides an automatic bone grinding system, realizes machine learning on the bone grinding operation experience of doctors, and solves the problems that the strength and the motion state of operating a bone grinding tool when the doctors perform the bone grinding operation cannot be extracted and accurate control data cannot be generated in the prior art.
In order to solve the technical problems, the specific technical scheme is as follows:
embodiments herein provide an automatic bone grinding system, comprising,
The manual bone grinding tool is used for a doctor to perform bone grinding treatment on a historical patient;
The grinding head positioning component is arranged on the manual bone grinding tool and used for sending out state data of the manual bone grinding tool;
the data acquisition device is used for acquiring the state data and the image data of the grinding part;
And the grinding head control device is used for performing model training according to the state data and the image data to obtain a bone grinding model, and calculating control data of the automatic bone grinding head according to the bone grinding model and the image data of the to-be-ground part of the target patient.
Further, the grinding head positioning component comprises a shell and an optical positioning assembly;
the manual bone grinding tool is located within the housing;
the optical positioning assembly is positioned outside the shell and is fixedly connected to one end of the shell, which is far away from the grinding head of the manual bone grinding tool.
Further, the state data comprise a motion track of the optical positioning assembly, a rotating speed of the grinding head, a grinding force of the grinding head and an electric control signal of a manual bone grinding tool;
The data acquisition device further includes:
The optical positioning component position acquisition module is used for acquiring the movement track of the optical positioning component;
the rotating speed acquisition module is used for acquiring the rotating speed;
The grinding force acquisition module is used for acquiring the grinding force;
The electric control signal acquisition module is used for acquiring the electric control signal;
and the image acquisition module is used for acquiring the image data of the grinding part.
Further, the optical positioning assembly position acquisition module includes:
An infrared light emitting sub-module for emitting infrared light to the optical positioning assembly;
the infrared light receiving sub-module is used for receiving the infrared light reflected by the optical positioning assembly;
And the motion track synthesis sub-module is used for determining the coordinates of the optical positioning assembly according to the infrared light reflected by the optical positioning assembly and synthesizing the motion track according to the coordinates.
Further, the grinding head control device is further used for controlling the grinding head,
The grinding head motion trail calculation module is used for calculating the motion trail of the grinding head according to the motion trail of the optical positioning assembly;
the model training module is used for carrying out model training according to the motion track of the grinding head, the rotating speed of the grinding head, the grinding force of the grinding head, the electric control signal of the manual bone grinding tool and the image data of the grinding part to obtain the bone grinding model;
and the control data calculation unit is used for calculating control data of the automatic bone grinding head according to the bone grinding model and the image data of the part to be ground of the target patient.
Further, the grinding head control device further includes:
the grinding head moving speed calculating module is used for calculating the moving speed of the grinding head according to the moving track of the grinding head and the corresponding time;
The grinding head moving acceleration calculating module is used for calculating the moving acceleration of the grinding head according to the motion track of the grinding head and the corresponding time;
The model training module is further used for carrying out model training according to the motion track of the grinding head, the moving speed of the grinding head, the moving acceleration of the grinding head, the rotating speed of the grinding head, the grinding force of the grinding head, the electric control signal of the manual bone grinding tool and the image data of the grinding part, so as to obtain the bone grinding model.
Further, the grinding head motion track calculation module is further used for converting the motion track of the grinding head according to the radius of the grinding head, and the converted motion track of the grinding head is the motion track of the contact point of the grinding head and the grinding part;
The model training module is further used for carrying out model training according to the converted motion track, the rotating speed of the grinding head, the grinding force of the grinding head, the electric control signal of the manual bone grinding tool and the image data of the grinding part, so as to obtain the bone grinding model.
Further, the optical positioning assembly comprises a plurality of reflective markers, and the reflective markers are fixedly connected with the shell through a bracket.
Further, the grinding head motion trail calculation module is further used for,
Establishing a coordinate system of the manual bone grinding tool according to the positions of the plurality of reflective markers;
Establishing a fitting relation between coordinates of a plurality of reflective markers and coordinates of a grinding head by using a least square method, wherein the fitting relation is used for calculating the coordinates of the grinding head according to the coordinates of the plurality of reflective markers in the coordinate system;
And calculating the motion trail of the grinding head according to the fitting relation and the motion trail of the reflecting markers.
Further, the housing comprises a plurality of sub-housings corresponding to the shapes of the parts of the manual bone grinding tool, and two adjacent sub-housings are connected through threads.
The state data of the grinding head and the image data of the grinding position can be considered as grinding operation experience of a doctor by using the embodiment, the embodiment realizes the extraction of the operation experience of the doctor by extracting the state data of the grinding head and the image data of the grinding position, then carries out model training according to the state data of the grinding head and the image data of the grinding position, and finally calculates the control data of the automatic bone grinding head according to the trained model and the image data of the to-be-ground position of a target patient. By the method of the text embodiment, machine learning is carried out on the bone grinding operation experience of a doctor, and the problem that the strength and the motion state of operating a bone grinding tool when the doctor performs the bone grinding operation cannot be extracted and accurate control data cannot be generated in the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments herein or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments herein and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of an automated bone grinding system according to an embodiment of the present disclosure;
FIG. 2 is a detailed construction diagram of the data acquisition device in the embodiment herein;
FIG. 3 is a detailed block diagram of an optical locating component position acquisition module in accordance with the implementations herein;
FIG. 4 is a detailed block diagram of the grinding head control device in the present embodiment;
FIG. 5 is a schematic view of the structure of the grinding head positioning member according to the embodiments herein;
FIG. 6 is a schematic diagram of an optical positioning assembly according to an embodiment herein;
FIG. 7 is a schematic diagram of an optical positioning assembly according to an embodiment herein;
FIG. 8 is a schematic view of a cross of an optical locating tool according to an embodiment herein;
FIG. 9 is a schematic diagram of a manual bone grinding tool according to an embodiment herein;
FIG. 10 is a schematic view of three dimensional points in space of a grinding head according to an embodiment herein;
FIG. 11 is a detailed block diagram of the grinding head control device of the present embodiment;
FIG. 12 is a schematic view showing the structure of a grinding force detecting section in the embodiment herein;
fig. 13 is a simplified force analysis schematic of a manual bone grinding tool of an embodiment herein.
FIG. 14 is a schematic view of a bone grinding tool including a grinding head rotational speed detection member according to an embodiment herein;
Fig. 15 is a schematic view showing the structure of a bone grinding tool including an electric control signal detecting part in the embodiment herein;
FIG. 16 is a schematic view of a bone grinding tool including a plurality of sub-shells according to embodiments herein;
Fig. 17 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure.
[ Reference numerals description ]:
101. a manual bone grinding tool;
102. a grinding head positioning component;
103. A data acquisition device;
1031. an optical positioning assembly position acquisition module;
10311. an infrared light emitting sub-module;
10312. an infrared light receiving sub-module;
10313. a motion trail synthesis submodule;
1032. a rotation speed acquisition module;
1033. A grinding force acquisition module;
1034. An electric control signal acquisition module;
1035. an image acquisition module;
104. A grinding head control device;
1041. a grinding head motion trail calculation module;
1042. A model training module;
1043. A control data calculation unit;
1044. A grinding head moving speed calculating module;
1045. the grinding head moving acceleration calculating module;
1. A housing;
11. A sub-housing;
2.A manual bone grinding tool;
3. An optical positioning assembly;
31. a retroreflective marker;
32. A bracket;
321. A cross;
322. a connecting rod;
4. Grinding head;
5. Grinding force detecting means;
51. a connecting cylinder;
52. A force sensor;
6. a grinding head rotation speed detection component;
7. an electric control signal detecting part.
1702. A computer device;
1704. a processing device;
1706. Storing the resource;
1708. a driving mechanism;
1710. an input/output module;
1712. an input device;
1714. An output device;
1716. A presentation device;
1718. a graphical user interface;
1720. A network interface;
1722. A communication link;
1724. A communication bus.
Detailed Description
The following description of the embodiments of the present disclosure will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the disclosure. All other embodiments, based on the embodiments herein, which a person of ordinary skill in the art would obtain without undue burden, are within the scope of protection herein.
It should be noted that the terms "first," "second," and the like in the description and claims herein and in the foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or device.
It should be noted that, in the technical scheme of the application, the acquisition, storage, use, processing and the like of the data all conform to the relevant regulations of national laws and regulations.
In order to solve the problems in the prior art, embodiments herein provide an automatic bone grinding system that enables machine learning of a doctor's bone grinding surgical experience to generate control data. Fig. 1 is a schematic diagram of an automatic bone grinding system according to an embodiment of the present disclosure. The basic structure of an automatic bone grinding system is depicted in this figure, and may include more or fewer units or components based on conventional or non-inventive labor. The units or modules listed in the embodiments are merely units or components divided by function. The units and components may be adjusted as the actual system or device product executes. As shown in fig. 1, the system may include:
A manual bone grinding tool 101 for doctor's bone grinding treatment of historic patients;
A grinding head positioning member 102 mounted on the manual bone grinding tool for transmitting status data of the manual bone grinding tool;
A data acquisition device 103 for acquiring the state data and image data of the grinding site;
And the grinding head control device 104 is used for performing model training according to the state data and the image data to obtain a bone grinding model, and calculating control data of the automatic bone grinding head according to the bone grinding model and the image data of the part to be ground of the target patient.
The state data of the grinding head and the image data of the grinding position can be considered as grinding operation experience of a doctor by using the embodiment, the embodiment realizes the extraction of the operation experience of the doctor by extracting the state data of the grinding head and the image data of the grinding position, then carries out model training according to the state data of the grinding head and the image data of the grinding position, and finally calculates the control data of the automatic bone grinding head according to the trained model and the image data of the to-be-ground position of a target patient. By the method of the text embodiment, machine learning is performed on the bone grinding operation experience of a doctor, control data are generated, and the problem that the strength and the motion state of a bone grinding tool operated by the doctor during bone grinding operation cannot be extracted and accurate control data cannot be generated in the prior art is solved.
In this embodiment, the bone grinding tool operated by the doctor may include a handle, a motor and a grinding head, the doctor observes the bone grinding position of the patient through experience, then manually controls the handle of the bone grinding tool to contact the bone grinding position, then controls the rotation speed of the motor to drive the grinding head to perform the grinding operation on the bone grinding position according to the speed experienced by the doctor, because the color, shape and other characteristics of the bone grinding position gradually change along with the grinding process, the doctor needs to apply grinding force according to the change of the color and shape of the bone grinding position in the grinding process and adjust the grinding track and rotation speed of the grinding head, if the control data of the grinding head is to be generated, the state data of the grinding head and the image data of the grinding position when the doctor operates the manual bone grinding tool to perform bone grinding treatment on the patient need to be obtained, and then model training is performed according to the state data and the image data of the grinding head, so as to obtain the bone grinding model. When the automatic bone grinding robot performs grinding operation, the image acquisition module is used for shooting the to-be-ground part of the target patient, then the processor of the automatic bone grinding robot inputs the shot image of the to-be-ground part into the bone grinding model, control data corresponding to the image is calculated, and the control data is used for controlling the grinding track, the rotating speed and the grinding force of the automatic bone grinding head to automatically grind the to-be-ground part. It should be noted that, the grinding head of the bone grinding robot is only one application scenario of the bone grinding system described in the embodiments herein, and should not be construed as the scope of protection of the embodiments herein, and those skilled in the art can perform other operations according to the control data of the bone grinding system described in the embodiments herein, for example, research on grinding experience of a doctor using the control data, etc., and the embodiments herein are not limited.
In this embodiment, the type of the state data of the grinding head required to be acquired when training the bone grinding model may be set according to actual needs. In order to obtain status data of the grater, according to one embodiment herein, as shown in fig. 5, the grater positioning means 102 comprises a housing 1 and an optical positioning assembly 3;
the manual bone grinding tool is located within the housing 1;
The optical positioning assembly 3 is located outside the housing 1, and the optical positioning assembly 3 is fixedly connected to one end of the housing 1 away from the grinding head 4 of the manual bone grinding tool 2.
The bone grinding tool can acquire the positioning signal sent by the optical positioning component 3 outside the manual bone grinding tool, so that the motion state of the grinding head of the manual bone grinding tool is determined by the positioning signal of the optical positioning component 3, the influence on the normal operation of a doctor is avoided, and the motion information of the grinding head of the manual bone grinding tool is acquired under the condition that the operation of the doctor is not influenced.
According to one embodiment herein, the status data includes a motion profile of the optical positioning assembly, a rotational speed of the grinding head, a grinding force of the grinding head, and an electrical control signal of a manual bone grinding tool;
in this embodiment, the motion track of the grinding head represents a part to be ground in the grinding process, the rotation speed of the grinding head represents the grinding speed of the bone in the grinding process, the grinding force represents the force applied by the doctor to the bone by operating the manual bone grinding tool by the grinding head, and the electric control signal can be a current value or a voltage value applied by the doctor to the motor of the automatic bone grinding tool. For example, when grinding a hard bone, a doctor may apply a larger grinding force and increase the current or voltage value of the motor, but because the bone is hard, the rotational speed of the grinding head may not increase with the increase of the current or voltage value of the motor, and the grinding speed may be slow at this time, and the movement speed of the grinding head may be slow, for example, when grinding a hard bone, the doctor needs to continuously adjust the applied grinding force and the position of the grinding head in the horizontal and vertical directions. Therefore, the embodiment of the invention trains the bone grinding model by combining the motion track, the rotating speed, the grinding force and the electric control signals of the grinding head with the acquired image data, and can omnidirectionally learn the bone grinding experience of doctors.
According to one embodiment herein, as shown in fig. 2, the data acquisition device 103 further includes:
the optical positioning component position obtaining module 1031 is configured to obtain a motion track of the optical positioning component;
a rotation speed acquisition module 1032 for acquiring the rotation speed;
a grinding force acquisition module 1033 for acquiring the grinding force;
An electric control signal acquisition module 1034 for acquiring the electric control signal;
an image acquisition module 1035 is configured to acquire image data of the grinding location.
In the embodiment herein, as shown in fig. 6, the optical positioning assembly 3 includes a plurality of reflective markers 31, and the plurality of reflective markers 31 are fixedly connected with the housing through a bracket 32.
In this embodiment, the reflective marker may be a reflective marker ball, and the plurality of reflective marker balls are fixedly connected to the housing, and the movement of the reflective marker ball is driven along with the operation of the manual bone grinding tool by a doctor, so that the movement track of the grinding head of the manual bone grinding tool can be determined only by acquiring the movement track of the reflective marker ball.
Thus, according to one embodiment herein, as shown in fig. 3, the optical positioning assembly position acquisition module 1031 includes:
an infrared light emitting sub-module 10311 for emitting infrared light to the optical positioning assembly 3;
an infrared light receiving sub-module 10312 for receiving the infrared light reflected by the optical positioning assembly 3;
a motion trajectory synthesis submodule 10313, configured to determine coordinates of the optical positioning component 3 according to the infrared light reflected by the optical positioning component 3, and synthesize the motion trajectory according to the coordinates.
Further, according to one embodiment herein, as shown in fig. 4, the grinding head control device 104 further includes,
The grinding head motion trail calculation module 1041 is configured to calculate a motion trail of the grinding head according to a motion trail of the optical positioning assembly;
The model training module 1042 is used for performing model training according to the motion track of the grinding head, the rotating speed of the grinding head, the grinding force of the grinding head, the electric control signal of the manual bone grinding tool and the image data of the grinding part to obtain the bone grinding model;
A control data calculating unit 1043 for calculating control data of the automatic bone grinding head according to the bone grinding model and image data of the portion to be ground of the target patient.
In this embodiment, the grinding head motion trail calculation module 1041 may establish a coordinate system of a manual bone grinding tool according to the orientations of the plurality of reflective markers, establish a fitting relationship between the coordinates of the plurality of reflective markers and the coordinates of the grinding head using a least square method, wherein the fitting relationship is used for calculating the coordinates of the grinding head according to the coordinates of the plurality of reflective markers in the coordinate system, and calculate the motion trail of the grinding head according to the fitting relationship and the motion trail of the plurality of reflective markers.
Specifically, according to one embodiment herein, as shown in fig. 6, 7 or 8, the number of the reflective markers 31 is 4.
Further, as shown in fig. 7 and 8, the bracket 32 includes a cross 321 and a connecting rod 322 having a cross-shaped structure;
four of the reflective markers 31 are located at the end points of the cross 321, respectively;
One end of the connecting rod 322 is fixedly connected with the center of the cross 321, and the other end is fixedly connected with the housing 1.
In the embodiment herein, 4 reflective markers 31 are fixed through the cross 321, so that the 4 reflective markers 31 are guaranteed to be on the same horizontal plane, the calculation amount of calculating the motion trail of the grinding head 4 according to the motion trail of the reflective markers 31 can be reduced, in addition, one end of the connecting rod 322 is fixedly connected with the center of the cross 321, the motion trail of the grinding head 4 can be better fitted according to the motion trail of each reflective marker 31, and the calculation accuracy of the motion state of the grinding head 4 is improved.
Specifically, as shown in fig. 9, the vertical direction of the cross 321 is parallel to the axial direction of the manual bone grinding tool, the reflective markers 31 in the vertical direction of the cross 321 are a and b, respectively, and the reflective marker balls in the horizontal direction of the cross 321 are c and d, respectively. The distance between a and b, and the distance between c and d can be set according to actual needs.
In this embodiment, a coordinate system of a manual bone grinding tool is first required to be established according to the orientations of four reflective markers, specifically, as shown in fig. 9, a reflective marker a far from the grinding head 4 in the vertical direction of the cross 321 is taken as a first reference point, a reflective marker b near the grinding head 4 in the vertical direction of the cross 321 is taken as a second reference point, any one reflective marker (c or d) in the horizontal direction of the cross 321 is taken as a third reference point, a direction V1 of the first reference point pointing to the second reference point is taken as an X-axis positive direction, a direction obtained by cross-multiplying the direction V1 and the direction V2 of the first reference point pointing to the third reference point is taken as a Z-axis positive direction, and the X-axis positive direction and the Z-axis positive direction are cross-multiplied as a Y-axis positive direction, so as to establish the coordinate system.
Then, a fitting relation between coordinates of the four reflective markers and coordinates of the grinding head is established by using a least square method, specifically, as shown in fig. 10, a distance matrix is established in a static state, a pen holder is controlled to rotate and shake by a standard conical base (for example, a pen tip contacts a table and is fixed, if a pen cap of the pen can be marked, a point marked by the pen cap is on a three-dimensional space sphere with the pen tip as a center and the pen tip as a radius by the rotation and the shake), and a manual bone grinding tool is rotated by using the grinding head as a fulcrum to obtain a series of three-dimensional space points on surfaces of the four reflective markers, wherein the three-dimensional space points are located on the tool space three-dimensional point fitting sphere, namely the three-dimensional space sphere. The grinding head, i.e. the tail end of the manual bone grinding tool, is the sphere center of the three-dimensional space sphere, and the distance from each reflective marker to the grinding head is the radius of each sphere.
Assuming that the tool space fitting sphere has a center of sphere coordinate (a, b, c) and a radius R, it can be calculated by the spherical equation (x-a) 2+(y-b)2+(z-c)2＝R2, and the coordinates of the reflective markers are all the inputs of x, y, z. The cost function of the least square method is E= Σ (x 2+y2+z2-Ax-By-Cz+D)2. The sphere center position and the sphere radius can be calculated by using the least square method, so that the cost function E is minimum (a method of solving a first order bias of parameters to be equal to 0 can be adopted, a matrix solving method can also be adopted, and the embodiment is not limited).
If a matrix solving mode is adopted, a matrix is constructed through the obtained mark point coordinates, and the method specifically comprises the following steps:
Two sides are simultaneously multiplied by left Formulae (2-18) can be obtained.
The two sides are simultaneously multiplied by the inverse of the left matrix to obtain the formula (2-19).
The center coordinates and the radius R of the tool space fitting sphere can be obtained through A, B, C, D solving, and in order to reduce errors, the four obtained sets of center positions are subjected to averaging processing, so that the position of the tail end (grinding head) of the final tool is obtained.
After the fitting relation between the coordinates of the four reflective markers and the coordinates of the grinding head is adopted, the motion trail of the grinding head can be calculated according to the motion trail of the four reflective markers.
According to one embodiment of the present disclosure, since the grinding head is spherical, the grinding head track calculated by the fitting relation is actually the movement track of the center of the grinding head, but in an actual scene, the surface of the grinding head is in contact with bone, so in order to improve the accuracy of automatic grinding, the grinding head movement track calculation module 1041 is further configured to convert the movement track of the grinding head according to the radius of the grinding head, where the converted movement track of the grinding head is the movement track of the contact point between the grinding head and the grinding part;
The model training module 1042 is further configured to perform model training according to the converted motion track, the rotation speed of the grinding head, the grinding force of the grinding head, the electric control signal of the manual bone grinding tool, and the image data of the grinding part, so as to obtain the bone grinding model.
In this embodiment, the center point O (a, b, c) of the grinding head of the tool can be obtained by the above formula, and then a three-dimensional rectangular coordinate system is established by taking the center point O (a, b, c) as the origin coordinate, and if the point on the surface of the small ball of the grinding head is P (x, y, z), the point can be obtained by conversion between the spherical coordinate system and the rectangular coordinate system, and the formula is as follows:
Wherein ρ is the radius of the grinding head small sphere, and the deflection angle from the positive half axis of the z axis to ρ is on the ρz plane The angle of deflection from the x-axis to the plane is θ, 0≤θ≤2π, as shown in FIG. 7, these three numbers ρ, θ,Spherical coordinates called point P
According to one embodiment herein, in order to learn the grinding experience of the doctor more omnidirectionally, the speed and acceleration of the grinding head can also be obtained, so that the doctor can quickly move the grinding head under what condition, and the automatic bone grinding efficiency is improved. Accordingly, as shown in fig. 11, the grinding head control device 104 further includes:
the grinding head moving speed calculating module 1044 is configured to calculate a moving speed of the grinding head according to a motion track and a corresponding time of the grinding head;
The grinding head moving acceleration calculating module 1045 is configured to calculate a moving acceleration of the grinding head according to a motion track and a corresponding time of the grinding head;
The model training module 1042 is further configured to perform model training according to the motion track of the grinding head, the moving speed of the grinding head, the moving acceleration of the grinding head, the rotating speed of the grinding head, the grinding force of the grinding head, the electric control signal of the manual bone grinding tool, and the image data of the grinding part, so as to obtain the bone grinding model.
In this embodiment, a first derivative may be obtained for a formula of a motion trajectory of the grinding head to obtain a speed of the grinding head, and a second derivative may be obtained for a formula of a motion trajectory of the grinding head to obtain an acceleration of the grinding head. In addition, the speed and the acceleration of the grinding head can be obtained by other methods, for example, an acceleration sensor is deployed on a manual bone grinding tool, and the speed and the acceleration of the grinding head are calculated according to the distance between the acceleration sensor and the grinding head, the acceleration value obtained by the acceleration sensor and the like, and the embodiment is not limited herein.
According to one embodiment herein, in order to obtain the grinding force applied by the doctor, as shown in fig. 12, the grinding head positioning member further includes a grinding force detecting member 5 located in the housing 1;
the grinding force detecting means 5 is for acquiring a grinding force of the grinding head 4 and a bone mass of a patient in an axial direction of the manual bone grinding tool 2.
In the present embodiment, a force sensor may be provided at the tip of the manual bone grinding tool 2 to obtain the grinding force with which the doctor operates the manual bone grinding tool 2. Specifically, as shown in fig. 12, one end of the grinding force detecting member 5 is fixedly connected to one end of the housing 1 away from the grinding head 4 of the manual bone grinding tool 2, and the other end is fixedly connected to the manual bone grinding tool 2. It is known from newton's third law that the forces and reactions between two interacting objects are always equal in magnitude and opposite in direction and act on the same straight line. Therefore, as shown in fig. 13 (ignoring the shape of the tool itself and considering it as a particle), when the force analysis is performed on the manual bone grinding tool 2, it is known that the force of the hand acts on the manual bone grinding tool 2, and the force is transmitted to the bone surface through the end of the manual bone grinding tool 2, and the bone surface has a reaction force to the end of the manual bone grinding tool 2, and the reaction forces are equal and opposite. The force sensor detects the reaction force at the moment, so that the grinding force of a doctor during grinding operation is obtained. The force sensor has a certain moment at the tail end of the manual bone grinding tool and the stress condition of the tail end of the manual bone grinding tool 2. The length of the manual bone grinding tool 2 is short so that the force signal detected by the force sensor may be approximately equal to the force signal at the end of the manual bone grinding tool 2.
Specifically, according to one embodiment herein, as shown in fig. 12, the grinding force detection part 5 includes a connection cylinder 51 and a force sensor 52;
The edge of the first end of the connecting cylinder 51 is L-shaped, the L-shaped short side of the first end of the connecting cylinder 51 is fixedly connected with the force sensor 52, and the second end of the connecting cylinder 51 is fixedly sleeved at one end, far away from the grinding head 4, of the manual bone grinding tool 2.
In this embodiment, the force sensor 52 may be disposed at the end of the manual bone grinding tool 2, the connecting cylinder 51 in the manual bone grinding tool 2 is in contact with the force sensor 52, the connecting cylinder 51 is located between the housing 1 and the manual bone grinding tool 2, the edge of the first end of the connecting cylinder 51 is L-shaped, the short side of the connecting cylinder 51 is in contact with the force sensor 52 and fixedly connects the two by the screw, at the same time, the connecting cylinder is fixed on the surface of the manual bone grinding tool 2 by six screws, so that the force applied by the manual bone grinding tool 2 during operation can be well transferred to the force sensor 52 through the connecting cylinder 51. The force sensor 52 may be an ATI Nano43 hollow six-dimensional force sensor. As can be seen from fig. 6, the upper part of the force sensor 52 is fixedly connected to the connecting tube 51, and the lower part is fixedly connected to the housing 1, and the connection is made by using screws and nuts, thereby ensuring that the grinding force during operation can be well detected.
According to one embodiment herein, as shown in fig. 14, the grinding head positioning member 102 further includes a grinding head rotation speed detecting member 6 for detecting the rotation speed of the grinding head 4.
According to one embodiment herein, as shown in fig. 15, the grinding head positioning member 102 further comprises an electrical control signal detecting member 7 for detecting an electrical control signal of the motor of the manual bone grinding tool 2.
In this embodiment, the grinding head rotation speed detecting part 6 and the electric control signal detecting part 7 may be mounted on a motor of the bone grinding tool, and acquire the rotation speed of the grinding head and a control signal of the motor.
In order to improve the adaptability of the grinding head positioning member 102 to manual bone grinding tools of different shapes, according to one embodiment herein, as shown in fig. 16, the housing 1 includes a plurality of sub-housings 11 corresponding to the shapes of the respective portions of the manual bone grinding tool 2, and two adjacent sub-housings 11 are connected by threads.
In this embodiment, two adjacent sub-shells can be connected through threads, when the manual bone grinding tool is replaced, the manual bone grinding tool can be taken out only by unscrewing the adjacent sub-shells in threaded connection, then a new manual bone grinding tool is replaced, and after the new manual bone grinding tool is replaced, a plurality of sub-shells are screwed on, so that the operation is convenient, the adaptability of the grinding head positioning component 102 is improved, and the problem that the cost is increased due to the fact that the new grinding head positioning component 102 is required to be produced due to different shapes of the manual bone grinding tools is solved.
In this embodiment, at the threaded connection of two adjacent sub-housings 11, external threads may be disposed on the outer surface of one sub-housing 11, and internal threads may be disposed on the inner surface of the other sub-housing 11, so that the two sub-housings 11 are screwed together by the internal and external threads.
Fig. 17 is a schematic structural diagram of a computer device according to an embodiment of the present invention, and the grinding head control device according to the present invention may be the computer device according to the embodiment of the present invention, so as to execute the method according to the present invention. The computer device 1702 may include one or more processing devices 1704, such as one or more Central Processing Units (CPUs), each of which may implement one or more hardware threads. The computer device 1702 may also include any storage resource 1706 for storing any kind of information such as code, settings, data, etc. By way of non-limiting example, the storage resources 1706 may comprise any one or more combinations of any type of RAM, any type of ROM, flash memory devices, hard disks, optical disks, and the like. More generally, any storage resource may store information using any technology. Further, any storage resource may provide volatile or non-volatile retention of information. Further, any storage resources may represent fixed or removable components of the computer device 1702. In one case, the computer device 1702 may perform any of the operations of the associated instructions when the processing device 1704 executes the associated instructions stored in any storage resource or combination of storage resources. The computer device 1702 also includes one or more drive mechanisms 1708, such as a hard disk drive mechanism, an optical disk drive mechanism, and the like, for interacting with any storage resources.
The computer device 1702 may also include an input/output module 1710 (I/O) for receiving various inputs (via input devices 1712) and for providing various outputs (via output devices 1714). One particular output mechanism may include a presentation device 1716 and an associated Graphical User Interface (GUI) 1718. In other embodiments, input/output modules 1710 (I/O), input devices 1712, and output devices 1714 may not be included as only one computer device in a network. The computer device 1702 may also include one or more network interfaces 1720 for exchanging data with other devices via one or more communication links 1722. One or more communication buses 1724 couple the above-described components together.
Communication link 1722 may be implemented in any manner, e.g., through a local area network, a wide area network (e.g., the internet), a point-to-point connection, etc., or any combination thereof. Communication link 1722 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc., governed by any protocol or combination of protocols.
It should be understood that, in the various embodiments herein, the sequence number of each process described above does not mean the sequence of execution, and the execution sequence of each process should be determined by its functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments herein.
It should also be understood that in embodiments herein, the term "and/or" is merely one relationship that describes an associated object, meaning that three relationships may exist. For example, A and/or B may mean that A alone, both A and B, and B alone are present. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided herein, it should be understood that the disclosed systems, devices, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the elements may be selected according to actual needs to achieve the objectives of the embodiments herein.
In addition, each functional unit in the embodiments herein may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions herein are essentially or portions contributing to the prior art, or all or portions of the technical solutions may be embodied in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments herein. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.
While specific examples have been set forth herein to illustrate the principles and embodiments of the present invention, the above examples are provided to assist in understanding the methods and concepts of the present invention and are intended to be limited in scope by the principles and embodiments of the present invention, as will be apparent to those of ordinary skill in the art in light of the teachings of the present invention.
Claims (7)
1. An automatic bone grinding system, comprising:
The manual bone grinding tool is used for a doctor to perform bone grinding treatment on a historical patient;
The grinding head positioning component is arranged on the manual bone grinding tool and used for sending out state data of the manual bone grinding tool;
the data acquisition device is used for acquiring the state data and the image data of the grinding part;
the grinding head control device is used for performing model training according to the state data and the image data to obtain a bone grinding model, and calculating control data of the automatic bone grinding head according to the bone grinding model and the image data of a part to be ground of a target patient;
The grinding head positioning component comprises a shell and an optical positioning assembly;
the manual bone grinding tool is located within the housing;
The optical positioning assembly is positioned outside the shell and is fixedly connected to one end of the shell, which is far away from the grinding head of the manual bone grinding tool;
the state data comprise a motion track of the optical positioning assembly, a rotating speed of the grinding head, a grinding force of the grinding head and an electric control signal of a manual bone grinding tool;
The data acquisition device further includes:
The optical positioning component position acquisition module is used for acquiring the movement track of the optical positioning component;
the rotating speed acquisition module is used for acquiring the rotating speed;
The grinding force acquisition module is used for acquiring the grinding force;
The electric control signal acquisition module is used for acquiring the electric control signal;
The image acquisition module is used for acquiring the image data of the grinding part;
The grinding head control device further comprises a grinding head control device,
The grinding head motion trail calculation module is used for calculating the motion trail of the grinding head according to the motion trail of the optical positioning assembly;
the model training module is used for carrying out model training according to the motion track of the grinding head, the rotating speed of the grinding head, the grinding force of the grinding head, the electric control signal of the manual bone grinding tool and the image data of the grinding part to obtain the bone grinding model;
and the control data calculation unit is used for calculating control data of the automatic bone grinding head according to the bone grinding model and the image data of the part to be ground of the target patient.
2. The system of claim 1, wherein the optical locating component position acquisition module comprises:
An infrared light emitting sub-module for emitting infrared light to the optical positioning assembly;
the infrared light receiving sub-module is used for receiving the infrared light reflected by the optical positioning assembly;
And the motion track synthesis sub-module is used for determining the coordinates of the optical positioning assembly according to the infrared light reflected by the optical positioning assembly and synthesizing the motion track according to the coordinates.
3. The system of claim 1, wherein the grinding head control device further comprises:
the grinding head moving speed calculating module is used for calculating the moving speed of the grinding head according to the moving track of the grinding head and the corresponding time;
The grinding head moving acceleration calculating module is used for calculating the moving acceleration of the grinding head according to the motion track of the grinding head and the corresponding time;
The model training module is further used for carrying out model training according to the motion track of the grinding head, the moving speed of the grinding head, the moving acceleration of the grinding head, the rotating speed of the grinding head, the grinding force of the grinding head, the electric control signal of the manual bone grinding tool and the image data of the grinding part, so as to obtain the bone grinding model.
4. The system of claim 1, wherein the grinding head motion trajectory calculation module is further configured to convert a motion trajectory of the grinding head according to a radius of the grinding head, the converted motion trajectory of the grinding head being a motion trajectory of a contact point between the grinding head and the grinding location;
The model training module is further used for carrying out model training according to the converted motion track, the rotating speed of the grinding head, the grinding force of the grinding head, the electric control signal of the manual bone grinding tool and the image data of the grinding part, so as to obtain the bone grinding model.
5. The system of claim 1, wherein the optical positioning assembly comprises a plurality of retroreflective markers fixedly coupled to the housing by a bracket.
6. The system of claim 5, wherein the grinding head motion profile calculation module is further configured to,
Establishing a coordinate system of the manual bone grinding tool according to the positions of the plurality of reflective markers;
Establishing a fitting relation between coordinates of a plurality of reflective markers and coordinates of a grinding head by using a least square method, wherein the fitting relation is used for calculating the coordinates of the grinding head according to the coordinates of the plurality of reflective markers in the coordinate system;
And calculating the motion trail of the grinding head according to the fitting relation and the motion trail of the reflecting markers.
7. The system of claim 1, wherein said housing comprises a plurality of sub-housings corresponding in shape to portions of said manual bone grinding tool, adjacent ones of said sub-housings being threadably connected.
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| CN112641486A (en) * | 2020-12-23 | 2021-04-13 | 北京航空航天大学 | Bone grinding dynamic safety control system, equipment and medium |
| CN115279294A (en) * | 2020-01-13 | 2022-11-01 | 史赛克公司 | System for monitoring offset during navigation-assisted surgery |
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| US11007013B2 (en) * | 2018-05-02 | 2021-05-18 | Intellijoint Surgical Inc. | System, method and apparatus for automatic registration in computer assisted bone milling surgery |
| EP3843652A1 (en) * | 2018-08-28 | 2021-07-07 | Smith & Nephew, Inc. | Robotic assisted ligament graft placement and tensioning |
| CN113473936A (en) * | 2019-02-05 | 2021-10-01 | 史密夫和内修有限公司 | Robotic surgical data for long term care periods |
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| CN115279294A (en) * | 2020-01-13 | 2022-11-01 | 史赛克公司 | System for monitoring offset during navigation-assisted surgery |
| CN112641486A (en) * | 2020-12-23 | 2021-04-13 | 北京航空航天大学 | Bone grinding dynamic safety control system, equipment and medium |
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