CN117671215B - Virtual safety wall constraint method and device for joint replacement surgical robot - Google Patents
Virtual safety wall constraint method and device for joint replacement surgical robot Download PDFInfo
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Abstract
The application provides a method and a device for restraining a virtual safety wall of a joint replacement surgical robot, wherein the method comprises the following steps: acquiring osteotomy parameters, and restraining a mechanical arm of the joint replacement surgery robot based on the osteotomy parameters to determine pose increment of a tail end tool on the mechanical arm; generating a virtual safety wall according to the osteotomy parameters, and updating the pose increment of the end tool according to the virtual safety wall; and according to the updated pose increment, performing operation control on the mechanical arm based on virtual safety wall constraint. According to the application, on the basis of the osteotomy parameter constraint, the constraint of the virtual safety wall is superimposed on the osteotomy parameter constraint in a mode of generating the pose increment of the virtual safety wall for updating the end tool, so that the end tool is prevented from contacting a key region of a human body.
Description
Technical Field
The application relates to the technical field of surgical robots, in particular to a virtual safety wall restraining method and device for a joint replacement surgical robot.
Background
The joint replacement operation robot is a comprehensive system integrating a plurality of modern high-tech means, has wide application and has a great deal of clinical and surgical application. Bone joint replacement operations such as hip joint replacement operation, knee joint replacement operation and the like can be completed through the joint replacement operation robot, so that pain and dysfunction caused by severe damage or diseases of joints can be treated, and the life quality of patients can be improved.
The passive man-machine interaction mechanical arm is a main form of a joint replacement operation robot, and performs operations such as bone cutting, grinding and rubbing by applying virtual constraint to the mechanical arm and utilizing the stability and the accuracy of the mechanical arm; however, in the osteotomy process, the important areas need to be protected, so that important protection areas such as: the patellar ligament, the femoral anterior condyle, etc. are contacted with a power tool.
Based on the above, a scheme for limiting the osteotomy safety area by means of the virtual safety wall under admittance man-machine interaction is provided.
Disclosure of Invention
The application solves the problem that important areas need to be protected in the process of osteotomy of a robot.
To solve the above problems, a first aspect of the present application provides a virtual safety wall constraint method for a joint replacement surgery robot, including:
acquiring osteotomy parameters, and restraining a mechanical arm of the joint replacement surgery robot based on the osteotomy parameters to determine pose increment of a tail end tool on the mechanical arm;
Generating a virtual safety wall according to the osteotomy parameters, and updating the pose increment of the end tool according to the virtual safety wall;
And according to the updated pose increment, performing operation control on the mechanical arm based on virtual safety wall constraint.
A second aspect of the present application provides a virtual safety wall restraint device for a joint replacement surgical robot, comprising:
the osteotomy constraint module is used for acquiring osteotomy parameters and constraining a mechanical arm of the joint replacement surgery robot based on the osteotomy parameters to determine the pose increment of a tail end tool on the mechanical arm;
An increment updating module for generating a virtual safety wall according to the osteotomy parameters and updating the pose increment of the end tool according to the virtual safety wall;
And the operation control module is used for performing operation control on the mechanical arm based on the virtual safety wall constraint according to the updated pose increment.
A third aspect of the present application provides an electronic device comprising: a memory and a processor;
the memory is used for storing programs;
The processor, coupled to the memory, is configured to execute the program for:
acquiring osteotomy parameters, and restraining a mechanical arm of the joint replacement surgery robot based on the osteotomy parameters to determine pose increment of a tail end tool on the mechanical arm;
Generating a virtual safety wall according to the osteotomy parameters, and updating the pose increment of the end tool according to the virtual safety wall;
And according to the updated pose increment, performing operation control on the mechanical arm based on virtual safety wall constraint.
A fourth aspect of the present application provides a computer readable storage medium having stored thereon a computer program for execution by a processor to implement the joint replacement surgical robot virtual safety wall constraint method described above.
According to the application, on the basis of the osteotomy parameter constraint, the constraint of the virtual safety wall is superimposed on the osteotomy parameter constraint in a mode of generating the pose increment of the virtual safety wall for updating the end tool, so that the end tool is prevented from contacting a key region of a human body.
Drawings
FIG. 1 is a schematic illustration of a virtual safety wall constraint process for a joint replacement surgical robot according to an embodiment of the present application;
FIG. 2 is a flow chart of a method of joint replacement surgery robot virtual safety wall constraint according to an embodiment of the present application;
FIG. 3 is a flow chart of a virtual safety wall constraint method osteotomy constraint for a joint replacement surgical robot according to an embodiment of the application;
FIG. 4 is a schematic illustration of plane constraints in a virtual safety wall constraint method for an arthroplasty surgical robot according to an embodiment of the present application;
FIG. 5 is a flow chart of incremental update of a virtual safety wall constraint method for a joint replacement surgical robot according to an embodiment of the present application;
FIG. 6 is a critical schematic diagram of a virtual safety wall constraint method for a joint replacement surgical robot according to an embodiment of the present application;
FIG. 7 is a schematic view of nearest neighbor point vectors in a virtual safety wall constraint method of a joint replacement surgical robot according to an embodiment of the present application;
FIG. 8 is a flow chart of the operation control of the virtual safety wall constraint method of the joint replacement surgical robot according to an embodiment of the present application;
FIG. 9 is a block diagram of a virtual safety wall restraint for an arthroplasty surgical robot according to an embodiment of the present application;
Fig. 10 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the application to those skilled in the art.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.
The joint replacement operation robot is a comprehensive system integrating a plurality of modern high-tech means, has wide application and has a great deal of clinical and surgical application. Bone joint replacement operations such as hip joint replacement operation, knee joint replacement operation and the like can be completed through the joint replacement operation robot, so that pain and dysfunction caused by severe damage or diseases of joints can be treated, and the life quality of patients can be improved.
The passive man-machine interaction mechanical arm is a main form of a joint replacement operation robot, and performs operations such as bone cutting, grinding and rubbing by applying virtual constraint to the mechanical arm and utilizing the stability and the accuracy of the mechanical arm; however, in the osteotomy process, the important areas need to be protected, so that important protection areas such as: the patellar ligament, the femoral anterior condyle, etc., is in contact with the power tool.
Aiming at the problems, the application provides a novel virtual safety wall constraint scheme of the joint replacement surgery robot, which can solve the problem that important areas need to be protected in the process of osteotomy of the robot by generating a mode of updating pose increment of the virtual safety wall on the basis of conventional constraint.
The embodiment of the application provides a virtual safety wall constraint method of a joint replacement surgery robot, and the specific scheme of the method is shown in fig. 1-8, the method can be executed by a virtual safety wall constraint device of the joint replacement surgery robot, and the virtual safety wall constraint device of the joint replacement surgery robot can be integrated in electronic equipment such as a computer, a server, a computer, a server cluster, a data center and the like. Referring to fig. 1 and 2, a flowchart of a method for constraining a virtual safety wall of a joint replacement surgical robot according to an embodiment of the present application is shown; the virtual safety wall constraint method of the joint replacement surgery robot comprises the following steps:
s100, acquiring osteotomy parameters, and determining pose increment of a tail end tool on a mechanical arm of the joint replacement surgery robot based on the osteotomy parameters;
In the present application, plane constraints are applied to the joint replacement surgical robot based on planar parameters of the osteotomy parameters to constrain the end tool to only move within the osteotomy plane.
As shown in fig. 1, the left side of fig. 1 is a mechanical arm part of the joint replacement surgery robot, and after an operator applies an external force to the mechanical arm, an in-mechanical arm control module controls the mechanical arm to move based on the applied external force; the osteotomy tool (pendulum saw) shown in the figure is the mechanical arm end tool, and through virtual constraint on the mechanical arm, the osteotomy tool is only moved on the osteotomy plane shown on the right side of fig. 1, so that the mechanical arm can move on the osteotomy plane after the operator applies force.
S200, generating a virtual safety wall according to the osteotomy parameters, and updating the pose increment of the end tool according to the virtual safety wall;
S300, performing operation control on the mechanical arm based on virtual safety wall constraint according to the updated pose increment.
According to the application, on the basis of the osteotomy parameter constraint, the constraint of the virtual safety wall is superimposed on the osteotomy parameter constraint in a mode of generating the pose increment of the virtual safety wall for updating the end tool, so that the end tool is prevented from contacting a key region of a human body.
According to the application, the virtual restraint of the virtual safety wall is overlapped on the basis that the mechanical arm receives the external force applied by a user and performs virtual restraint on the external force, so that the protection of a key region of a human body is realized on the basis of ensuring the stability and the accuracy of the mechanical arm.
Referring to fig. 3 and 4, in one embodiment, S100 acquires an osteotomy parameter, and determines a pose increment of an end tool on a mechanical arm of the joint replacement surgery robot based on the osteotomy parameter, including:
S101, establishing an admittance model equation of a mechanical arm based on admittance control characteristics of the mechanical arm of the joint replacement surgery robot;
Admittance control, namely when the robot/mechanical arm is acted by external force, the robot/mechanical arm is offset on the original track to conform to the external force, the method is realized by generating a new expected position at an admittance controller, and realizing a control target from the current position to the expected position under the action of the controller.
In the application, the mechanical arm monitors six-dimensional force at the joint by arranging the six-dimensional force sensor at the joint; based on this, the correspondence between the six-dimensional force external force and the displacement is maintained by admittance control.
In one embodiment, the admittance model equation is:
Wherein F is a six-dimensional force signal of the end tool, M is virtual inertia in the form of a positive-definite diagonal parameter matrix, B is virtual damping in the form of a positive-definite diagonal parameter matrix, X e is a pose increment, For the first and second derivatives of X e over time, T is the transpose, f x,fy,fz is the force in three directions of the X-axis, y-axis, and z-axis, m x,my,mz is the moment about the X-axis, y-axis, and z-axis, X e,ye,ze is the increment in three directions of the X-axis, y-axis, and z-axis, and rx e,rye,rze is the increment about the X-axis, y-axis, and z-axis.
The six-dimensional force sensor is provided with three force shafts and three moment shafts, and the force f x,fy,fz and the moment m x,my,mz on the three shafts can be measured simultaneously.
Where rx is the angular increment about the x-axis.
Here, the specific winding direction of the moment about the x-axis, the y-axis, the z-axis, the increment (angle/displacement), and the like may be determined based on actual conditions, which is not limited in the present application.
S102, acquiring osteotomy parameters, and carrying out plane constraint on an end tool of the mechanical arm based on osteotomy plane parameters in the osteotomy parameters;
In the application, the osteotomy parameters comprise osteotomy plane parameters, namely the osteotomy plane planned on the bone to be osteotomized, and the end tool of the mechanical arm is limited to the osteotomy plane to move, so that osteotomy errors can be avoided.
In the present application, the method for obtaining the osteotomy parameter may be: the method comprises the steps of acquiring a preoperative CT two-dimensional/three-dimensional image, marking osteotomy planning data on the three-dimensional image, and carrying out image registration on the preoperative CT two-dimensional/three-dimensional image, an intraoperative human body image (which can be acquired through CT or X-ray) and a positioning frame fixed on a human body, so as to acquire osteotomy parameters under a mechanical arm coordinate system.
In the application, the osteotomy parameters can also be obtained in other modes, such as manual labeling by a user such as a doctor directly in the intra-operative human body image.
As shown in connection with fig. 4, the end tool is constrained to the osteotomy plane, only to move along that plane.
S103, determining pose increment of the end tool based on the plane constraint and the admittance model equation.
In one embodiment, the end tool pose increment is calculated as:
Wherein R is a plane constraint matrix of a working plane of the end tool, t is time, X e (t) is a pose increment of the end tool, and X e,ye,ze is an increment along three directions of an X axis, a y axis and a z axis.
In the application, R is a plane constraint matrix, and the increment of the end tool on a non-plane can be eliminated through the plane constraint matrix.
For example, if the end tool is to be constrained to a plane on the xy axis, the plane constraint matrix may be the following:
by means of the matrix described above, the end tool is made to have only increments in the xy-axis plane.
In the application, the matrix on the right side of R is set to be the full 0 matrix, so that the increment around the x axis, the y axis and the z axis in the pose increment of the end tool is eliminated, the rotation operation of the end tool is avoided, and better plane constraint is achieved.
In the application, [ x eyeze 0 0 0]T ] is the increment along the three directions of the x axis, the y axis and the z axis in the pose increment of the end tool calculated according to the admittance model equation. The specific calculation mode is not repeated in the present application.
Referring to fig. 5, 6, and 7, in one embodiment, the step S200 of generating a virtual safety wall according to the osteotomy parameter, and updating the pose increment of the end tool according to the virtual safety wall includes:
S201, the osteotomy parameters further comprise osteotomy planning parameters, and a virtual safety wall is generated based on the osteotomy planning parameters;
In the present application, the osteotomy planning parameter may be osteotomy planning data marked in a preoperative CT two-dimensional/three-dimensional image, according to the osteotomy planning data, the shape, size, etc. of the bone to be osteotomized at the planned position may be seen, based on the osteotomy planning data and a redundancy threshold (the threshold may be determined according to the distance between the bone and the key area under the conventional condition), a virtual safety wall may be generated, for example, the osteotomy face (osteotomy section) of the bone to be osteotomized is approximately circular, the redundancy threshold is C, and the center of the osteotomy face may be regarded as the center of the circle, and the radius +c is regarded as a new radius, and the generated circle is regarded as the virtual safety wall.
In the application, if the osteotomy face of the bone to be osteotomy is an irregular figure, the irregular figure can be expanded by a distance C to be used as the virtual safety wall.
In the application, the osteotomy planning parameters can also be parameters obtained by manual labeling by users such as doctors and the like; for example, a plurality of points surrounding the osteotomy face can be obtained by a doctor in a mode of point-to-point on corresponding software, and a curve surrounding the osteotomy face is generated according to the points, wherein the curve is a virtual safety wall; it is also possible to insert dense spots by interpolating between adjacent spots after obtaining a plurality of spots, to form virtual safety walls (dense spot composition) around the osteotomy plane.
It should be noted that, the virtual safety wall does not completely encircle the osteotomy face of the bone to be osteotomized, but leaves a partial notch as an access passage for the mechanical arm and the end tool, as shown in fig. 6, wherein the safety zone virtual wall has a notch for the mechanical arm and the osteotomy swing saw to access.
S202, acquiring a center point of an end tool, and determining the nearest point of the center point on the virtual safety wall;
In the present application, the center point of the end tool may be data marked directly on the end tool, for example, as a departure parameter of the end tool; it may also be based on the specific movement of the end tool, for example by taking the center position of the front end of the pendulum saw near the saw tooth part as the center point, etc.
As shown in fig. 7, the point B is the tool center point of the osteotomy pendulum saw, the point a is the boundary point, i.e. the point on the virtual safety wall, and the point is closest to the point B (compared with the points on other virtual safety walls).
In the application, the tool center point of the osteotomy pendulum saw is not changed along with the normal swing of the pendulum saw (the pendulum saw cuts bones through quick swing/high-frequency swing), so that the accuracy of mechanical arm control is prevented from being reduced due to the swing of the tool center point.
S203, updating the pose increment of the end tool according to the center point and the nearest point;
in one embodiment, the updated formula of the pose increment is:
wherein t and t-1 are time, X e (t) is the pose increment of the end tool at the moment t, X e (t-1) is the pose increment of the end tool at the moment t-1, and ζ is the distance threshold, Is the vector from the nearest point A to the central point B, d is the vector length,/>Is a movement direction vector.
It can be seen that the pose increment is an updated pose increment, and after the length is smaller than the distance threshold, the drive far away from the nearest point A is overlapped, and the smaller the length is, the larger the drive is, so that the end tool is limited in the virtual safety wall, and the key area is protected.
In the application, the coordinates of the center point of the tool are acquired in real time, and the nearest point A is also determined in real time based on the coordinates of the center point acquired in real time, so that the end tool can be constrained in time.
In the application, by manually setting the distance threshold, when the distance between the tool and the virtual safety wall is smaller than the distance threshold, the virtual safety wall generates repulsive force on admittance control, so that the tool is forced to generate a speed far away from the virtual safety wall.
In connection with fig. 6, it can be seen that the tool center point of the pendulum saw is very close to the safety wall, where d→0, the robot arm will be constrained to no longer approach the nearest point.
Referring to fig. 8, in an embodiment, the step S300 of performing operation control on the mechanical arm based on the virtual safety wall constraint according to the updated pose increment includes:
S301, acquiring pose data of a mechanical arm, and determining the current pose of an end tool based on the pose data;
in the application, the pose data of the mechanical arm can be obtained by reading the data of the sensor of the mechanical arm, or can be obtained by obtaining the primary data of the sensor of the mechanical arm and then performing secondary treatment.
S302, determining the expected pose of the end tool according to the updated pose increment and the current pose;
In one embodiment, the desired pose of the end tool is determined as:
Where X r is the desired pose of the end tool, X d is the current pose of the end tool, and X e is the pose increment of the end tool.
S303, carrying out inverse kinematics solution on the expected pose of the end tool according to the kinematics parameters of the mechanical arm, and determining an expected joint angle;
In one embodiment, the kinematic parameters of the robotic arm include a robotic arm link length and a rotational joint pitch angle.
When the mechanical arm is analyzed, the mechanical arm is formed by connecting a plurality of rods (joints are arranged at the positions where the two rods are connected), the rods are called connecting rods in the mechanical arm, each connecting rod can rotate around a certain axis on the basis of a connecting rod (a last connecting rod) (the connecting rod is driven to rotate by the rotation of a motor), and the axis is only forbidden relatively to the connecting rod, so that once the connecting rods move, the connecting rods can only perform direct space conversion relation with a last-stage connecting rod and a next-stage connecting rod, namely, when the rotation angle (the pitching angle of the rotating joint) of the first connecting rod is determined, the specific position of the first connecting rod can be calculated according to the space coordinates of a base, and then the position of the final mechanical arm can be obtained by one-stage backward calculation, namely, the terminal position of the connection-disconnection ratio.
From the above, it can be seen that in the motion state of the manipulator, the coordinates of the manipulator end tool can be determined by knowing the pose of the manipulator (corresponding data/rotation data of each joint). Conversely, if the coordinates (desired pose) of the end-of-arm tool are known, the pose (desired joint angle of each joint) of the arm can be determined by means of an inverse kinematics solution.
It should be noted that, the mechanical arm may enable the end tool to reach the corresponding coordinate through more than one gesture, and the feasible gesture may be screened according to the actual situation during specific solution, for example, the gesture may be realized fastest relative to the current state, the gesture may be saved most energy-conserving relative to the current state, and the obstacle may be avoided as a screening condition, so that one of the gesture and the gesture may be screened out, and the specific inverse kinematics solution mode is not limited in the present application (the specific solution process is not repeated in the present application).
The expected joint angle is an expected joint angle of each joint on the mechanical arm; and the mechanical arm posture of the inverse kinematics solution can be realized by controlling the mechanical arm to adjust each joint to a corresponding expected joint angle, so that the movement of the tail end tool to an expected position is realized.
S304, outputting joint angle increment of each joint angle through a PID controller, and performing operation control on the mechanical arm based on virtual safety wall constraint.
In the present application, a PID controller (Proportion Integration Differentiation, proportional-integral-derivative controller) is composed of a proportional unit (P), an integral unit (I) and a derivative unit (D).
In one embodiment, the PID controller behaves as:
Wherein, delta theta is the joint angle output increment, theta d is the joint angle parameter of the current mechanical arm, theta r is the expected joint angle, and K p、Kd is the controller parameter.
On the basis, the mechanical arm can carry out constraint based on the virtual safety wall by controlling each joint to execute joint angle output increment.
The embodiment of the application provides a virtual safety wall restraint device of a joint replacement surgery robot, which is used for executing the virtual safety wall restraint method of the joint replacement surgery robot, and the virtual safety wall restraint device of the joint replacement surgery robot is described in detail below.
As shown in fig. 9, the joint replacement surgery robot virtual safety wall restraining device includes:
The osteotomy constraint module 101 is used for acquiring osteotomy parameters and constraining a mechanical arm of the joint replacement surgery robot based on the osteotomy parameters to determine the pose increment of a tail end tool on the mechanical arm;
an increment updating module 102 for generating a virtual safety wall according to the osteotomy parameters, and updating the pose increment of the end tool according to the virtual safety wall;
And the operation control module 103 is used for performing operation control on the mechanical arm based on the virtual safety wall constraint according to the updated pose increment.
In one embodiment, the osteotomy constraint module 101 is further configured to:
Based on the admittance control characteristics of the mechanical arm of the joint replacement surgery robot, establishing an admittance model equation of the mechanical arm; acquiring osteotomy parameters, and performing plane constraint on an end tool of the mechanical arm based on osteotomy plane parameters in the osteotomy parameters; based on the plane constraints and the admittance model equations, pose increments of an end tool are determined.
In one embodiment, the admittance model equation is:
Wherein F is a six-dimensional force signal of the end tool, M is virtual inertia in the form of a positive-definite diagonal parameter matrix, B is virtual damping in the form of a positive-definite diagonal parameter matrix, X e is a pose increment, For the first and second derivatives of X e over time, T is the transpose, f x,fy,fz is the force in three directions of the X-axis, y-axis, and z-axis, m x,my,mz is the moment about the X-axis, y-axis, and z-axis, X e,ye,ze is the increment in three directions of the X-axis, y-axis, and z-axis, and rx e,rye,rze is the increment about the X-axis, y-axis, and z-axis.
In one embodiment, the end tool pose increment is calculated as:
Wherein R is a plane constraint matrix of a working plane of the end tool, t is time, X e (t) is a pose increment of the end tool, and X e,ye,ze is an increment along three directions of an X axis, a y axis and a z axis.
In one embodiment, the delta update module 102 is further configured to:
The osteotomy parameters further comprise osteotomy planning parameters, and a virtual safety wall is generated based on the osteotomy planning parameters; acquiring a center point of an end tool, and determining a nearest point of the center point on the virtual safety wall; updating the pose increment of the end tool according to the center point and the nearest point.
In one embodiment, the updated formula of the pose increment is:
wherein t and t-1 are time, X e (t) is the pose increment of the end tool at the moment t, X e (t-1) is the pose increment of the end tool at the moment t-1, and ζ is the distance threshold, Is the vector from the nearest point A to the central point B, d is the vector length,/>Is a movement direction vector.
In one embodiment, the operation control module 103 is further configured to:
acquiring pose data of a mechanical arm, and determining the current pose of an end tool based on the pose data; determining the expected pose of the end tool according to the updated pose increment and the current pose; carrying out inverse kinematics solution on the expected pose of the end tool according to the kinematics parameters of the mechanical arm, and determining an expected joint angle; and outputting joint angle increment of each joint angle through a PID controller, and performing operation control on the mechanical arm based on virtual safety wall constraint.
In one embodiment, the kinematic parameters of the robotic arm include a robotic arm link length and a rotational joint pitch angle.
In one embodiment, the PID controller behaves as:
Wherein, delta theta is the joint angle output increment, theta d is the joint angle parameter of the current mechanical arm, theta r is the expected joint angle, and K p、Kd is the controller parameter.
The virtual safety wall constraint device for the joint replacement surgery robot provided by the embodiment of the application has a corresponding relation with the virtual safety wall constraint method for the joint replacement surgery robot provided by the embodiment of the application, so that specific content in the device has a corresponding relation with the virtual safety wall constraint method for the joint replacement surgery robot, and the specific content can refer to records in the virtual safety wall constraint method for the joint replacement surgery robot, which is not repeated in the application.
The virtual safety wall restraining device of the joint replacement surgery robot provided by the embodiment of the application and the virtual safety wall restraining method of the joint replacement surgery robot provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the application program stored by the virtual safety wall restraining device of the joint replacement surgery robot according to the embodiment of the application due to the same inventive concept.
The above describes the internal functions and structure of the joint replacement surgical robot virtual safety wall restraining apparatus, as shown in fig. 10, which may be implemented as an electronic device in practice, including: memory 301 and processor 303.
The memory 301 may be configured to store a program.
In addition, the memory 301 may also be configured to store other various data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phonebook data, messages, pictures, videos, and the like.
The memory 301 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
A processor 303 coupled to the memory 301 for executing programs in the memory 301 for:
acquiring osteotomy parameters, and restraining a mechanical arm of the joint replacement surgery robot based on the osteotomy parameters to determine pose increment of a tail end tool on the mechanical arm;
Generating a virtual safety wall according to the osteotomy parameters, and updating the pose increment of the end tool according to the virtual safety wall;
And according to the updated pose increment, performing operation control on the mechanical arm based on virtual safety wall constraint.
In one embodiment, the processor 303 is further configured to:
Based on the admittance control characteristics of the mechanical arm of the joint replacement surgery robot, establishing an admittance model equation of the mechanical arm; acquiring osteotomy parameters, and performing plane constraint on an end tool of the mechanical arm based on osteotomy plane parameters in the osteotomy parameters; based on the plane constraints and the admittance model equations, pose increments of an end tool are determined.
In one embodiment, the admittance model equation is:
Wherein F is a six-dimensional force signal of the end tool, M is virtual inertia in the form of a positive-definite diagonal parameter matrix, B is virtual damping in the form of a positive-definite diagonal parameter matrix, X e is a pose increment, For the first and second derivatives of X e over time, T is the transpose, f x,fy,fz is the force in three directions of the X-axis, y-axis, and z-axis, m x,my,mz is the moment about the X-axis, y-axis, and z-axis, X e,ye,ze is the increment in three directions of the X-axis, y-axis, and z-axis, and rx e,rye,rze is the increment about the X-axis, y-axis, and z-axis.
In one embodiment, the end tool pose increment is calculated as:
Wherein R is a plane constraint matrix of a working plane of the end tool, t is time, X e (t) is a pose increment of the end tool, and X e,ye,ze is an increment along three directions of an X axis, a y axis and a z axis.
In one embodiment, the processor 303 is further configured to:
The osteotomy parameters further comprise osteotomy planning parameters, and a virtual safety wall is generated based on the osteotomy planning parameters; acquiring a center point of an end tool, and determining a nearest point of the center point on the virtual safety wall; updating the pose increment of the end tool according to the center point and the nearest point.
In one embodiment, the updated formula of the pose increment is:
wherein t and t-1 are time, X e (t) is the pose increment of the end tool at the moment t, X e (t-1) is the pose increment of the end tool at the moment t-1, and ζ is the distance threshold, Is the vector from the nearest point A to the central point B, d is the vector length,/>Is a movement direction vector.
In one embodiment, the processor 303 is further configured to:
acquiring pose data of a mechanical arm, and determining the current pose of an end tool based on the pose data; determining the expected pose of the end tool according to the updated pose increment and the current pose; carrying out inverse kinematics solution on the expected pose of the end tool according to the kinematics parameters of the mechanical arm, and determining an expected joint angle; and outputting joint angle increment of each joint angle through a PID controller, and performing operation control on the mechanical arm based on virtual safety wall constraint.
In one embodiment, the kinematic parameters of the robotic arm include a robotic arm link length and a rotational joint pitch angle.
In one embodiment, the PID controller behaves as:
Wherein, delta theta is the joint angle output increment, theta d is the joint angle parameter of the current mechanical arm, theta r is the expected joint angle, and K p、Kd is the controller parameter.
In the present application, the processor is further specifically configured to execute all the processes and steps of the above-mentioned virtual safety wall constraint method of the joint replacement surgery robot, and specific content may refer to a record in the virtual safety wall constraint method of the joint replacement surgery robot, which is not described in detail in the present application.
In the present application, only some of the components are schematically shown in fig. 10, and it is not meant that the electronic device includes only the components shown in fig. 10.
The electronic device provided by the embodiment of the application has the same beneficial effects as the method adopted, operated or realized by the application program stored by the electronic device and the method for restraining the virtual safety wall of the joint replacement surgery robot provided by the embodiment of the application are the same in inventive concept.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or Flash memory (Flash RAM), among others, in a computer readable medium. Memory is an example of computer-readable media.
The present application also provides a computer readable storage medium corresponding to the method for constraining a virtual safety wall of a joint replacement surgical robot provided in the foregoing embodiment, on which a computer program (i.e., a program product) is stored, which when executed by a processor, performs the method for constraining a virtual safety wall of a joint replacement surgical robot provided in any of the foregoing embodiments.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (Transitory Media), such as modulated data signals and carrier waves.
The computer readable storage medium provided by the above embodiment of the present application has the same beneficial effects as the method adopted, operated or implemented by the application program stored in the computer readable storage medium, because the same inventive concept is adopted by the virtual safety wall constraint method of the joint replacement surgery robot provided by the embodiment of the present application.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (7)
1. A method of virtual safety wall restraint for a joint replacement surgical robot, comprising:
acquiring osteotomy parameters, and restraining a mechanical arm of the joint replacement surgery robot based on the osteotomy parameters to determine pose increment of a tail end tool on the mechanical arm;
Generating a virtual safety wall according to the osteotomy parameters, and updating the pose increment of the end tool according to the virtual safety wall;
According to the updated pose increment, performing operation control on the mechanical arm based on virtual safety wall constraint;
The acquiring osteotomy parameters and constraining the mechanical arm of the joint replacement surgery robot based on the osteotomy parameters, determining the pose increment of the end tool on the mechanical arm, comprising:
Based on the admittance control characteristics of the mechanical arm of the joint replacement surgery robot, establishing an admittance model equation of the mechanical arm;
acquiring osteotomy parameters, and performing plane constraint on an end tool of the mechanical arm based on osteotomy plane parameters in the osteotomy parameters;
Determining pose increments of an end tool based on the plane constraints and the admittance model equations;
the generating a virtual safety wall according to the osteotomy parameters, and updating the pose increment of the end tool according to the virtual safety wall, comprises:
The osteotomy parameters further comprise osteotomy planning parameters, and a virtual safety wall is generated based on the osteotomy planning parameters;
acquiring a center point of an end tool, and determining a nearest point of the center point on the virtual safety wall;
updating the pose increment of the end tool according to the center point and the nearest point;
The updating formula of the pose increment is as follows:
wherein t and t-1 are time, X e (t) is the pose increment of the end tool at the moment t, X e (t-1) is the pose increment of the end tool at the moment t-1, and ζ is the distance threshold, Is the vector from the nearest point A to the central point B, d is the vector length,/>Is a movement direction vector.
2. The joint replacement surgical robot virtual safety wall constraint method of claim 1, wherein the admittance model equation is:
F＝(fx,fy,fz,mx,my,mz)T
Xe＝(xe,ye,ze,rxe,rye,rze)T
Wherein F is a six-dimensional force signal of the end tool, M is virtual inertia in the form of a positive-definite diagonal parameter matrix, B is virtual damping in the form of a positive-definite diagonal parameter matrix, X e is a pose increment, For the first and second derivatives of X e over time, T is the transpose, f x,fy,fz is the force in three directions of the X-axis, y-axis, and z-axis, m x,my,mz is the moment about the X-axis, y-axis, and z-axis, X e,ye,ze is the increment in three directions of the X-axis, y-axis, and z-axis, and rx e,rye,rze is the increment about the X-axis, y-axis, and z-axis.
3. The method of claim 1, wherein the end tool pose increment calculation formula is:
Wherein R is a plane constraint matrix of a working plane of the end tool, t is time, X e (t) is a pose increment of the end tool, and X e,ye,ze is an increment along three directions of an X axis, a y axis and a z axis.
4. A method of virtual safety wall restraint for a joint replacement surgical robot according to any one of claims 1 to 3, wherein said operating control of the robotic arm based on the virtual safety wall restraint according to the updated pose increment comprises:
Acquiring pose data of a mechanical arm, and determining the current pose of an end tool based on the pose data;
Determining the expected pose of the end tool according to the updated pose increment and the current pose;
Carrying out inverse kinematics solution on the expected pose of the end tool according to the kinematics parameters of the mechanical arm, and determining an expected joint angle;
and outputting joint angle increment of each joint angle through a PID controller, and performing operation control on the mechanical arm based on virtual safety wall constraint.
5. A joint replacement surgical robot virtual safety wall restraint apparatus for use in the joint replacement surgical robot virtual safety wall restraint method of any one of claims 1 to 4, comprising:
the osteotomy constraint module is used for acquiring osteotomy parameters and constraining a mechanical arm of the joint replacement surgery robot based on the osteotomy parameters to determine the pose increment of a tail end tool on the mechanical arm;
An increment updating module for generating a virtual safety wall according to the osteotomy parameters and updating the pose increment of the end tool according to the virtual safety wall;
And the operation control module is used for performing operation control on the mechanical arm based on the virtual safety wall constraint according to the updated pose increment.
6. An electronic device, comprising: a memory and a processor;
the memory is used for storing programs;
The processor, coupled to the memory, for executing the program for implementing the joint replacement surgical robot virtual safety wall constraint method of any one of claims 1-4.
7. A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the joint replacement surgical robot virtual safety wall constraint method of any of claims 1-4.
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