CN115469656A - Intelligent navigation obstacle avoidance method, system and device for orthopedic surgery robot - Google Patents
Intelligent navigation obstacle avoidance method, system and device for orthopedic surgery robot Download PDFInfo
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- 230000000399 orthopedic effect Effects 0.000 title claims abstract description 104
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 103
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000012829 orthopaedic surgery Methods 0.000 claims abstract description 52
- 230000007613 environmental effect Effects 0.000 claims abstract description 43
- 230000002159 abnormal effect Effects 0.000 claims description 16
- 238000013136 deep learning model Methods 0.000 claims description 14
- 210000000988 bone and bone Anatomy 0.000 claims description 8
- 230000005856 abnormality Effects 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 1
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention provides an intelligent navigation obstacle avoidance method and device for an orthopedic surgery robot and the orthopedic surgery robot, wherein the method comprises the following steps: receiving a navigation request of the orthopedic surgery robot, and determining a control instruction of the orthopedic surgery robot according to the navigation request; controlling an environmental information acquisition module to acquire environmental data of the orthopaedic surgery robot according to the control instruction; determining a moving path of the orthopaedic surgical robot according to the environment data; moving the orthopaedic surgical robot to a target position according to a moving path of the orthopaedic surgical robot. The invention determines the moving path according to the environmental data of the orthopedic surgery robot, and realizes the high-precision navigation and positioning of the robot.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to an intelligent navigation obstacle avoidance method, system and device for an orthopedic surgery robot and the orthopedic surgery robot.
Background
With the rapid development of scientific technology, robots are applied to various fields such as medical treatment, automation, service and the like, and taking surgical robots in the medical field as an example, existing surgical robots have at least the following two problems, the first: the surgical robot is used for delicate surgical work, and thus the parking position of the surgical robot needs to be very accurate; secondly, the method comprises the following steps: in order to ensure the stability of the operation work, the weight of the operation robot is generally larger, and the operation robot is not easy to push. Based on the above problems existing in the existing surgical robot, the automatic navigation of the surgical robot is realized, the robot is accurately moved while the labor is saved, and the technical problem to be solved urgently is solved.
Disclosure of Invention
The invention provides an intelligent navigation obstacle avoidance method and device for an orthopedic surgery robot and the orthopedic surgery robot, and aims to solve the technical problem of low navigation precision of the existing robot.
The invention provides an intelligent navigation obstacle avoidance method for an orthopedic surgery robot, which comprises the following steps:
receiving a navigation request of the orthopedic surgery robot, and determining a control instruction of the orthopedic surgery robot according to the navigation request;
controlling an environment information acquisition module to acquire environment data of the orthopaedic surgery robot according to the control instruction;
determining a moving path of the orthopaedic surgical robot according to the environment data;
moving the orthopaedic surgical robot to a target position according to a moving path of the orthopaedic surgical robot.
According to the intelligent navigation obstacle avoidance method for the bone surgery robot, the step of controlling an environment information acquisition module to acquire environment data of the bone surgery robot according to the control instruction comprises the following steps:
and starting a camera according to the control instruction, and acquiring a landmark image of the position where the orthopaedic surgery robot is located through the camera.
According to the intelligent navigation obstacle avoidance method for the orthopedic surgery robot provided by the invention, the step of determining the moving path of the orthopedic surgery robot according to the environment data comprises the following steps:
inputting the landmark image into a trained deep learning model, processing the landmark image through the deep learning model, and outputting a path label corresponding to the landmark image;
and determining the movement path of the orthopaedic surgical robot from a path database according to the path label.
According to the intelligent navigation obstacle avoidance method for the orthopedic surgery robot provided by the invention, before the orthopedic surgery robot moves, the method further comprises the following steps:
detecting whether the driving device of the orthopedic surgery robot has abnormality or not;
and if the driving device is abnormal, sending an early warning signal.
According to the intelligent navigation obstacle avoidance method for the orthopedic surgery robot provided by the invention, the method further comprises the following steps:
starting a radar sensor in the moving process of the orthopedic surgery robot, and determining whether an obstacle exists in the moving path through the radar sensor;
if no obstacle exists in the moving path, controlling the orthopedic surgery robot to move in an accelerated manner; or if an obstacle exists in the moving path, controlling the orthopedic surgery robot to move in a deceleration way.
The invention also provides an intelligent navigation obstacle avoidance device of the orthopedic surgery robot, which comprises:
the receiving module is used for receiving a navigation request of the orthopaedic surgical robot and determining a control instruction of the orthopaedic surgical robot according to the navigation request;
the control module is used for controlling the environmental information acquisition module to acquire environmental data of the orthopaedic surgery robot according to the control instruction;
the determining module is used for determining the moving path of the orthopaedic surgical robot according to the environment data;
and the moving module is used for moving the orthopaedic surgical robot to a target position according to the moving path of the orthopaedic surgical robot.
The invention also provides an intelligent navigation obstacle avoidance system of the orthopedic surgery robot, which comprises terminal equipment and the orthopedic surgery robot, wherein the orthopedic surgery robot comprises a wireless receiver, a signal processor, a central controller, a camera and a driving device;
the terminal equipment is used for sending a navigation request to the orthopedic robot;
the wireless receiver is used for receiving the navigation request;
the signal processor is used for processing the navigation request to obtain a control instruction of the orthopaedic surgical robot;
the central controller is used for starting the camera according to the control instruction and acquiring the environmental data of the orthopaedic surgery robot through the camera;
the central controller is further used for determining a moving path of the orthopaedic surgical robot according to the environment data;
the central controller is further used for controlling the driving device to move the orthopaedic surgery robot to a target position according to the movement path of the orthopaedic surgery robot.
The invention also provides an intelligent navigation obstacle avoidance system of the orthopedic surgery robot, wherein the orthopedic surgery robot comprises a speed detector which is used for detecting whether the driving device of the orthopedic surgery robot is abnormal or not, and if the driving device is abnormal, an early warning signal is sent.
The invention also provides an intelligent navigation obstacle avoidance system of the orthopedic surgery robot, and the orthopedic surgery robot further comprises a radar sensor;
the central controller is also used for starting the radar sensor in the moving process of the orthopedic surgery robot;
the radar sensor is used for detecting whether an obstacle exists in the moving path;
the central controller is also used for controlling the orthopedic surgery robot to move in an accelerated way if no obstacle exists in the moving path; or if an obstacle exists in the moving path, controlling the orthopedic surgery robot to move in a deceleration way.
The invention also provides an orthopedic surgery robot, which comprises a wireless receiver, a signal processor, a central controller, a camera and a driving device;
the wireless receiver is used for receiving a navigation request sent by the terminal equipment;
the signal processor is used for processing the navigation request to obtain a control instruction of the orthopaedic surgical robot;
the central controller is used for starting the camera according to the control instruction and acquiring the environmental data of the orthopaedic surgery robot through the camera;
the central controller is further used for determining a moving path of the orthopaedic surgical robot according to the environment data;
the central controller is further used for controlling the driving device to move the orthopaedic surgery robot to a target position according to the movement path of the orthopaedic surgery robot.
The intelligent navigation obstacle avoidance method and device for the orthopedic surgery robot and the orthopedic surgery robot provided by the invention receive a navigation request of the orthopedic surgery robot, and determine a control instruction of the orthopedic surgery robot according to the navigation request; controlling an environment information acquisition module to acquire environment data of the orthopaedic surgery robot according to the control instruction; determining a moving path of the orthopaedic surgical robot according to the environmental data; and moving the orthopaedic surgical robot to a target position according to the moving path of the orthopaedic surgical robot. The invention determines the moving path according to the environmental data of the orthopedic surgery robot, and realizes the high-precision navigation and positioning of the robot.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow chart of an intelligent navigation obstacle avoidance method for an orthopedic surgery robot according to the present invention;
FIG. 2 is a schematic diagram of an environmental information collection module provided by the present invention;
FIG. 3 is a schematic diagram of a self-fault detection module provided by the present invention;
FIG. 4 is a schematic diagram of the modules of the orthopaedic surgical robot provided by the present invention;
FIG. 5 is an interactive schematic view of the modules of the orthopaedic surgical robot provided by the present invention;
FIG. 6 is a schematic diagram of the navigation movement of the orthopaedic surgical robot provided by the present invention;
fig. 7 is a schematic structural diagram of the intelligent navigation obstacle avoidance device of the orthopedic surgery robot provided by the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present application provides an intelligent navigation obstacle avoidance method for an orthopedic surgery robot, where the intelligent navigation obstacle avoidance method for the orthopedic surgery robot includes:
specifically, an instruction is sent to the bone surgery robot through the user terminal, after the wireless receiver of the bone surgery robot receives the instruction, the content of the instruction is determined, if the sent instruction is a navigation request, a control instruction of the bone surgery robot is determined according to the navigation request, and the specific process is as follows: the method comprises the steps that a user terminal sends an instruction, a wireless receiver receives the instruction, a signal processor receives the instruction, a self fault detection module detects whether other modules of the orthopedic surgery robot are normal or not, the signal processor converts the instruction into a signal which can be identified by a central processing unit under the condition that the other modules of the orthopedic surgery robot are normal, a path memory module carries out path memory, an environment information acquisition module acquires environment data, and a terminal planning position is moved to drive the orthopedic surgery robot.
200, controlling an environment information acquisition module to acquire environment data of the orthopaedic surgery robot according to the control instruction;
specifically, as shown in fig. 2, in the case that the control instruction is to control the orthopaedic surgical robot to move to the end position, the path memory module calls out the stored navigation path, and in the process of driving the orthopaedic surgical robot to move, the environmental data needs to be collected, and the environmental information collection module is controlled to collect the environmental data of the orthopaedic surgical robot, where the environmental data includes environmental image data and radar data (obstacle distance data or environmental point cloud data).
specifically, after the environmental data of the orthopaedic surgical robot is determined, the position of the orthopaedic surgical robot can be determined according to the environmental data of the orthopaedic surgical robot, the movement path of the orthopaedic surgical robot is determined according to the end point position determined by the instruction sent by the user terminal, and a new navigation path can be determined by avoiding obstacles under the condition that the current environment of the orthopaedic surgical robot is determined to have obstacles, so that the orthopaedic surgical robot moves along the navigation path.
Specifically, after the movement path of the orthopaedic surgical robot is determined according to the environmental data collected by the environmental information collection module, the orthopaedic surgical robot is controlled to move to a target position along the movement path, in the process that the orthopaedic surgical robot moves along the movement path, the speed of the orthopaedic surgical robot can be detected through the speed detector, the environmental data detected by the radar sensor is fed back to the speed detector, and if the radar sensor detects that an obstacle exists in the environment where the orthopaedic surgical robot is located, the movement speed of the orthopaedic surgical robot is reduced to prevent collision. In this embodiment, the orthopaedic surgical robot may be a robotic arm trolley and/or a navigation trolley. The target position may be a position of the robot trolley and/or the navigation trolley and the medical bed, which is set in advance according to the type of the operation, that is, a final position to which the robot trolley and/or the navigation trolley is automatically navigated according to the moving path.
The embodiment determines a control instruction of the orthopaedic surgical robot according to a navigation request by receiving the navigation request of the orthopaedic surgical robot; controlling an environmental information acquisition module to acquire environmental data of the orthopaedic surgery robot according to the control instruction; determining a moving path of the orthopaedic surgical robot according to the environment data; moving the orthopaedic surgical robot to a target position according to a moving path of the orthopaedic surgical robot. The invention determines the moving path according to the environmental data of the orthopaedic surgical robot, and realizes the high-precision navigation and positioning of the orthopaedic surgical robot.
In an embodiment, the method for avoiding an obstacle through intelligent navigation of an orthopaedic surgical robot according to the embodiment of the present application, where the controlling an environmental information acquisition module to acquire environmental data of the orthopaedic surgical robot according to the control instruction includes:
and step 210, starting a camera according to the control instruction, and acquiring a landmark image of the position where the orthopedic surgery robot is located through the camera.
Specifically, under the condition that the control instruction is the planned path, the control environment information acquisition module acquires environment data of the orthopedic surgery robot, for example, a camera is started, a landmark image of the position of the orthopedic surgery robot is acquired through the camera, the landmark image acquired in the process of moving to the target position is stored, and the navigation path of the orthopedic surgery robot can be acquired; or, the radar sensor is started, the environment data of the position where the orthopaedic surgical robot is located is obtained through the radar sensor, the environment data collected in the process of moving to the target position is stored, and the navigation path of the orthopaedic surgical robot can also be obtained. Under the condition that the control instruction moves along the path, the control environment information acquisition module acquires environment data where the orthopaedic surgery robot is located, determines the current position of the orthopaedic surgery robot according to the environment data where the orthopaedic surgery robot is located, and controls the orthopaedic surgery robot to move by avoiding obstacles through the radar sensor.
According to the embodiment, the environmental data of the orthopaedic surgery robot is acquired through the environmental information acquisition module, and then the movement path of the orthopaedic surgery robot is determined according to the environmental data, so that the high-precision navigation and positioning of the orthopaedic surgery robot are realized.
In an embodiment, the method for avoiding obstacles through intelligent navigation of an orthopaedic surgical robot according to the embodiment of the present application, determining a moving path of the orthopaedic surgical robot according to the environment data may include:
step 310, inputting the landmark image into a trained deep learning model, processing the landmark image through the deep learning model, and outputting a path label corresponding to the landmark image;
and step 320, determining the moving path of the orthopaedic surgery robot from a path database according to the path label.
Specifically, after a landmark image of the position where the orthopaedic surgery robot is located is acquired through a camera, the landmark image is input into a trained deep learning model, the landmark image is processed through the trained deep learning model, a path label corresponding to the landmark image is output, the path label is used for representing and explaining a moving path, and finally the moving path of the orthopaedic surgery robot is determined from a path database according to the path label.
According to the embodiment, the landmark image is processed through the trained deep learning model, so that the movement path of the orthopaedic surgical robot is determined, and the high-precision navigation and positioning of the orthopaedic surgical robot are realized.
In an embodiment, before the movement of the orthopaedic surgical robot, the method for intelligently navigating and avoiding an obstacle of the orthopaedic surgical robot according to the embodiment of the present application may further include:
step 500, detecting whether a driving device of the orthopedic surgery robot is abnormal or not;
and step 600, if the driving device is abnormal, sending an early warning signal.
Specifically, after receiving an instruction sent by a client terminal to the orthopaedic surgery robot, detecting whether a driving device of the orthopaedic surgery robot is abnormal through a self-checking module, and if the driving device of the orthopaedic surgery robot is abnormal, outputting an early warning signal; and if the driving device of the orthopaedic surgery robot is not abnormal, responding to the command to complete the command control operation.
Whether the driving device of the orthopedic surgery robot is abnormal or not is detected through the self-checking module, and self-checking of the orthopedic surgery robot is achieved.
In an embodiment, the intelligent navigation obstacle avoidance method for the orthopaedic surgical robot provided by the embodiment of the present application may further include:
step 700, in the process of moving the orthopaedic surgery robot, starting a radar sensor, and determining whether an obstacle exists in the moving path through the radar sensor;
step 800, if no obstacle exists in the moving path, controlling the orthopedic surgery robot to move in an accelerated manner; or if an obstacle exists in the moving path, controlling the orthopedic surgery robot to move in a deceleration way.
Specifically, after the movement path of the orthopaedic surgical robot is determined and the orthopaedic surgical robot is controlled to move along the movement path, the radar sensor is started in the movement process of the orthopaedic surgical robot, and environmental data are collected through the radar sensor to determine whether an obstacle exists in the movement path. If no obstacle exists on the moving path of the orthopaedic surgery robot, controlling the orthopaedic surgery robot to move in an accelerated manner; or if the movement path of the orthopaedic surgical robot is provided with an obstacle, controlling the orthopaedic surgical robot to move in a deceleration way so as to avoid collision.
The embodiment controls the moving speed of the orthopaedic surgical robot through obstacle identification, and realizes obstacle avoidance of the orthopaedic surgical robot.
The intelligent navigation and obstacle avoidance system for the orthopedic surgery robot provided by the invention is described below, the intelligent navigation and obstacle avoidance system for the orthopedic surgery robot described below and the intelligent navigation and obstacle avoidance method for the orthopedic surgery robot described above can be correspondingly referred to each other, and the system can be used for realizing the steps of the method. Target
The invention also provides an intelligent navigation obstacle avoidance system of the orthopedic surgery robot, the intelligent navigation obstacle avoidance system of the orthopedic surgery robot comprises terminal equipment and the orthopedic surgery robot, and the orthopedic surgery robot comprises a wireless receiver, a signal processor, a central controller, a camera and a driving device; the terminal equipment is used for sending a navigation request to the orthopedic robot; a wireless receiver for receiving a navigation request; the signal processor is used for processing the navigation request to obtain a control instruction of the orthopaedic surgery robot; the central controller is used for starting the camera according to the control instruction and acquiring environmental data of the orthopaedic surgery robot through the camera; the central controller is also used for determining the moving path of the orthopaedic surgery robot according to the environmental data; and the central controller is also used for controlling the driving device to move the orthopaedic surgery robot to the target position according to the moving path of the orthopaedic surgery robot.
Specifically, as shown in fig. 3, the present invention further provides an intelligent navigation and obstacle avoidance system for an orthopedic surgery robot, and the intelligent navigation and obstacle avoidance system for an orthopedic surgery robot further includes a self-checking module, wherein the self-checking module includes a signal processor, an a/D converter, a central processing unit, a wireless receiver, and an UPS (Uninterruptible Power Supply) Power Supply.
The invention also provides an intelligent navigation obstacle avoidance system of the orthopedic surgery robot, wherein the orthopedic surgery robot comprises a speed detector which is used for detecting whether the driving device of the orthopedic surgery robot is abnormal or not, and if the driving device is abnormal, an early warning signal is sent.
Specifically, as shown in fig. 4, the invention further provides an intelligent navigation obstacle avoidance system for the orthopaedic surgical robot, wherein the orthopaedic surgical robot further comprises a radar sensor; the central controller is also used for starting the radar sensor in the moving process of the orthopaedic surgery robot; a radar sensor for detecting whether there is an obstacle in the moving path; if no obstacle exists in the moving path, the central controller is also used for controlling the bone surgery robot to move in an accelerated way; or if an obstacle exists in the moving path, controlling the orthopedic surgery robot to move in a deceleration way.
The orthopaedic surgical robot provided by the present invention is described below, and the orthopaedic surgical robot described below and the orthopaedic surgical robot intelligent navigation obstacle avoidance method described above may be referred to correspondingly.
Specifically, as shown in fig. 5, the present invention further provides an orthopedic surgical robot, which includes a wireless receiver, a signal processor, a self-fault detection module, a central controller, a path memory location identification module, a radar sensor, a camera, a driving caster (i.e., a driving device), a speed detector, and a UPS power supply; the wireless receiver is used for receiving a navigation request sent by a user terminal; the signal processor is used for processing the navigation request to obtain a control instruction of the orthopaedic surgery robot; the self fault detection module is used for detecting whether the functions of all modules of the orthopaedic surgery robot are normal or not; the central controller is used for starting the identification camera according to the control instruction and acquiring image data of the orthopedic surgery robot through the identification camera, or starting the radar sensor and acquiring environment data of the orthopedic surgery robot through the radar sensor; the speed detector is used for detecting the speed of the orthopaedic surgical robot and adjusting the speed of the orthopaedic surgical robot according to the environmental data acquired by the radar sensor; the central controller is also used for determining the moving path of the orthopaedic surgery robot according to the environmental data; and the central controller is also used for controlling and driving the caster wheels to move the orthopaedic surgery robot to a planned position according to the moving path of the orthopaedic surgery robot. In this embodiment, the orthopaedic surgical robot may be a robotic arm trolley and/or a navigation trolley. The path memory location identification module can be software or hardware containing a trained deep learning model.
Specifically, as shown in fig. 6, fig. 6 is a schematic navigation movement diagram of the orthopaedic surgical robot provided by the present invention, a user terminal sends an instruction to the orthopaedic surgical robot (for example, a mechanical trolley or a navigation trolley), a wireless receiver of the orthopaedic surgical robot receives the instruction and determines the content of the instruction, if the sent instruction is a navigation request, a control instruction of the orthopaedic surgical robot is determined according to the navigation request, a camera is controlled according to the control instruction to obtain a landmark image (i.e., a ground identification icon) where the orthopaedic surgical robot is currently located, the landmark image is input to a trained deep learning model, the landmark image is processed by the deep learning model to obtain a movement path (i.e., a regular path) of the orthopaedic surgical robot, and the orthopaedic surgical robot is moved to an end point position along the movement path (e.g., a planned path in fig. 6) by controlling a driving foot according to the movement path, so as to implement high-precision navigation positioning of the orthopaedic surgical robot.
The following describes the intelligent navigation obstacle avoidance device for the orthopaedic surgical robot provided by the present invention, and the intelligent navigation obstacle avoidance device for the orthopaedic surgical robot described below and the intelligent navigation obstacle avoidance method for the orthopaedic surgical robot described above can be referred to correspondingly.
Referring to fig. 7, the present invention further provides an intelligent navigation obstacle avoidance device for an orthopedic surgery robot, including:
a receiving module 701, configured to receive a navigation request of the orthopaedic surgical robot, and determine a control instruction of the orthopaedic surgical robot according to the navigation request;
the control module 702 is configured to control the environmental information acquisition module to acquire environmental data of the orthopaedic surgical robot according to the control instruction;
a determining module 703, configured to determine a moving path of the orthopaedic surgical robot according to the environment data;
a moving module 704 for moving the orthopaedic surgical robot to a target position according to the moving path of the orthopaedic surgical robot.
Optionally, the control module comprises:
and the landmark image acquisition unit is used for starting a camera according to the control instruction and acquiring a landmark image of the position where the orthopedic surgery robot is located through the camera.
Optionally, the determining module includes:
a path label output unit, configured to input the landmark image into a trained deep learning model, process the landmark image through the deep learning model, and output a path label corresponding to the landmark image;
and the moving path determining unit is used for determining the moving path of the orthopedic surgery robot from a path database according to the path label.
Optionally, the intelligent navigation obstacle avoidance device of the orthopaedic surgery robot further comprises:
the detection module is used for detecting whether the driving device of the orthopedic surgery robot is abnormal or not;
and the early warning signal sending module is used for sending an early warning signal if the driving device is abnormal.
Optionally, the intelligent navigation obstacle avoidance device of the orthopaedic surgery robot further comprises:
the obstacle determining module is used for starting a radar sensor in the moving process of the orthopedic surgery robot and determining whether an obstacle exists in the moving path through the radar sensor;
the speed control module is used for controlling the orthopedic surgery robot to move in an accelerated way if no obstacle exists in the moving path; or if an obstacle exists in the moving path, controlling the orthopedic surgery robot to move in a deceleration way.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An intelligent navigation obstacle avoidance method for an orthopedic surgery robot is characterized by comprising the following steps:
receiving a navigation request of the orthopedic surgery robot, and determining a control instruction of the orthopedic surgery robot according to the navigation request;
controlling an environment information acquisition module to acquire environment data of the orthopaedic surgery robot according to the control instruction;
determining a moving path of the orthopaedic surgical robot according to the environment data;
moving the orthopaedic surgical robot to a target position according to a moving path of the orthopaedic surgical robot.
2. The intelligent navigation obstacle avoidance method for the orthopaedic surgical robot according to claim 1, wherein controlling an environmental information acquisition module to acquire environmental data of the orthopaedic surgical robot according to the control instruction comprises:
and according to the control instruction, starting a camera, and acquiring a landmark image of the position where the orthopaedic surgery robot is located through the camera.
3. The intelligent navigation obstacle avoidance method for the orthopaedic surgical robot according to claim 2, wherein determining the movement path of the orthopaedic surgical robot according to the environmental data comprises:
inputting the landmark image into a trained deep learning model, processing the landmark image through the deep learning model, and outputting a path label corresponding to the landmark image;
and determining the movement path of the orthopaedic surgical robot from a path database according to the path label.
4. The intelligent navigation obstacle avoidance method for the orthopaedic surgical robot of claim 1, wherein before the movement of the orthopaedic surgical robot, the method further comprises:
detecting whether the driving device of the orthopedic surgery robot has abnormality or not;
and if the driving device is abnormal, sending an early warning signal.
5. The intelligent navigation obstacle avoidance method for the orthopedic surgery robot as claimed in claim 1, characterized in that the method further comprises:
starting a radar sensor in the moving process of the orthopedic surgery robot, and determining whether an obstacle exists in the moving path through the radar sensor;
controlling the orthopedic surgery robot to move in an accelerated way if no obstacle exists in the moving path; or if an obstacle exists in the moving path, controlling the orthopedic surgery robot to move in a deceleration way.
6. The utility model provides an intelligent navigation of bone surgery robot keeps away barrier device which characterized in that includes:
the receiving module is used for receiving a navigation request of the orthopaedic surgical robot and determining a control instruction of the orthopaedic surgical robot according to the navigation request;
the control module is used for controlling the environmental information acquisition module to acquire environmental data of the orthopaedic surgery robot according to the control instruction;
the determining module is used for determining the moving path of the orthopaedic surgical robot according to the environment data;
the moving module is used for moving the orthopedic surgery robot to a target position according to the moving path of the orthopedic surgery robot.
7. The utility model provides an intelligent navigation of bone surgery robot keeps away barrier system which characterized in that, this system includes: the robot comprises a terminal device and an orthopedic surgery robot, wherein the orthopedic surgery robot comprises a wireless receiver, a signal processor, a central controller, a camera and a driving device;
the terminal equipment is used for sending a navigation request to the orthopedic robot;
the wireless receiver is used for receiving the navigation request;
the signal processor is used for processing the navigation request to obtain a control instruction of the orthopaedic surgical robot;
the central controller is used for starting the camera according to the control instruction and acquiring the environmental data of the orthopaedic surgery robot through the camera;
the central controller is further used for determining a moving path of the orthopaedic surgical robot according to the environment data;
the central controller is further used for controlling the driving device to move the orthopaedic surgery robot to a target position according to the movement path of the orthopaedic surgery robot.
8. The intelligent navigation obstacle avoidance system of the orthopedic surgical robot as claimed in claim 7, wherein the orthopedic surgical robot comprises a speed detector for detecting whether the driving device of the orthopedic surgical robot is abnormal or not, and if the driving device is abnormal, sending an early warning signal.
9. The intelligent navigation obstacle avoidance system of an orthopedic surgical robot as claimed in claim 7, wherein the orthopedic surgical robot further comprises a radar sensor;
the central controller is also used for starting the radar sensor in the moving process of the orthopedic surgery robot;
the radar sensor is used for detecting whether an obstacle exists in the moving path;
the central controller is also used for controlling the orthopedic surgery robot to move in an accelerated way if no obstacle exists in the moving path; or if an obstacle exists in the moving path, controlling the orthopedic surgery robot to move in a deceleration way.
10. The orthopedic surgery robot is characterized by comprising a wireless receiver, a signal processor, a central controller, a camera and a driving device;
the wireless receiver is used for receiving a navigation request sent by the terminal equipment;
the signal processor is used for processing the navigation request to obtain a control instruction of the orthopaedic surgical robot;
the central controller is used for starting the camera according to the control instruction and acquiring the environmental data of the orthopaedic surgery robot through the camera;
the central controller is further used for determining a moving path of the orthopaedic surgical robot according to the environment data;
the central controller is also used for controlling the driving device to move the orthopaedic surgery robot to a target position according to the moving path of the orthopaedic surgery robot.
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