WO2023197704A1 - Monitoring method and device for intelligent osteotomy system of surgical robot - Google Patents

Monitoring method and device for intelligent osteotomy system of surgical robot Download PDF

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Publication number
WO2023197704A1
WO2023197704A1 PCT/CN2023/071146 CN2023071146W WO2023197704A1 WO 2023197704 A1 WO2023197704 A1 WO 2023197704A1 CN 2023071146 W CN2023071146 W CN 2023071146W WO 2023197704 A1 WO2023197704 A1 WO 2023197704A1
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WIPO (PCT)
Prior art keywords
current
oscillating saw
control signal
oscillating
power supply
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PCT/CN2023/071146
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French (fr)
Chinese (zh)
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张逸凌
刘星宇
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北京长木谷医疗科技有限公司
张逸凌
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Publication of WO2023197704A1 publication Critical patent/WO2023197704A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/14—Surgical saws ; Accessories therefor
    • A61B17/142—Surgical saws ; Accessories therefor with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/372—Details of monitor hardware
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0204—Operational features of power management
    • A61B2560/0214—Operational features of power management of power generation or supply

Definitions

  • This application relates to the field of data processing technology, and specifically to a monitoring method and device for a surgical robot intelligent osteotomy system.
  • the surgical robot is usually equipped with an oscillating saw, and the movement of the oscillating saw can realize the cutting action of the surgical robot during the operation.
  • the main purpose of this application is to provide a monitoring method and device for a surgical robot intelligent osteotomy system.
  • a monitoring method for an intelligent osteotomy system of a surgical robot is provided.
  • the surgical robot is provided with an oscillating saw, and the oscillating saw can operate at different oscillating frequencies. Movement, the method includes: when the oscillating saw enters the working state, collecting the power supply current during the DC power supply process of the oscillating saw, wherein, as the oscillating frequency of the oscillating saw changes, the voltage does not change during the DC power supply process; Determine a control signal based on the power supply current; control the swing frequency of the oscillating saw based on the control signal;
  • determining the control signal includes determining, based on the power supply current, the heat production for the operation of the oscillating saw in the current working state; based on the heat production and the preset heat production threshold, Determine a control signal; or, determine the working current of the oscillating saw based on the power supply current; determine the control signal based on the working current and a preset working current threshold.
  • the supply current determines the control signal, including:
  • the control signal is a control signal for reducing the swing amplitude of the oscillating saw; if the working current is less than the preset working current threshold, then the control signal is determined is a control signal used to keep the swing amplitude of the oscillating saw unchanged; or, if the heat production is greater than or equal to the preset heat production threshold, it is determined that the control signal is a control signal used to reduce the swing amplitude of the oscillating saw; if If the heat generated is less than the preset heat generated threshold, it is determined that the control signal is a control signal used to keep the swing amplitude of the oscillating saw unchanged.
  • different models of oscillating saws have different heat generation thresholds or preset working current thresholds; or different surgical sites where the oscillating saw acts have different heat generating thresholds or preset working current thresholds.
  • a monitoring circuit for a surgical robot intelligent osteotomy system including: a current conversion module, a current transmission module and a closed-loop circuit connected in sequence; the current conversion module converts the AC current into DC current is used to power the oscillating saw through DC current. As the swing frequency of the oscillating saw changes, the voltage does not change during the DC power supply process; the current transmission module converts the DC current into a numerical value and maintains a constant current. Output; closed-loop circuit, receives the constant current output from the current transmission module, and sends the constant current information to the preset control module, so that the preset control module determines the oscillating saw based on the information. The amount of heat generated for work under the current working condition.
  • the relay circuit receives a preset closing action instruction of the control module, so that the relay circuit is closed and the oscillating saw is powered on.
  • an electronic device including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores information that can be used by the at least one processor.
  • a computer program is executed, and the computer program is executed by the at least one processor, so that the at least one processor executes the monitoring method for a surgical robot intelligent osteotomy system described in any implementation manner of the first aspect.
  • the monitoring method and device for the intelligent osteotomy system of the surgical robot in the embodiment of the present application, it includes collecting the power supply current during the DC power supply process of the oscillating saw after the oscillating saw enters the working state. As the oscillating saw swings, The frequency changes, and the voltage remains unchanged during the DC power supply process; based on the collected current, the working current of the oscillating saw is determined; based on the change in the working current, a control signal is determined to control the oscillating frequency of the oscillating saw through the control signal. Its working current is determined through the DC power supply circuit.
  • Figure 1 is a flow chart of a monitoring method for a surgical robot intelligent osteotomy system according to an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a monitoring circuit for a surgical robot intelligent osteotomy system according to an embodiment of the present application
  • Figure 3 is a schematic structural diagram of a closed circuit in a monitoring circuit for a surgical robot intelligent osteotomy system according to an embodiment of the present application.
  • Figure 4 is a structural diagram of a current transmission module for a monitoring circuit of a surgical robot intelligent osteotomy system according to an embodiment of the present application.
  • the terms “installed,” “set,” “provided,” “connected,” “connected to,” and “socketed” should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or between two devices, components or components. internal connectivity.
  • installed can be a fixed connection, a detachable connection, or an integral structure
  • it can be a mechanical connection or an electrical connection
  • it can be directly connected, or indirectly connected through an intermediate medium, or between two devices, components or components. internal connectivity.
  • a monitoring method for an intelligent osteotomy system of a surgical robot is provided.
  • the surgical robot is provided with an oscillating saw, and the oscillating saw can move at different swing frequencies.
  • Types of surgical robots include, but are not limited to, robots used in knee replacement surgeries or other surgeries that perform cutting actions by driving an oscillating saw.
  • the oscillating saw can be detachably installed on the robotic arm of the surgical robot (including but not limited to the end of the robotic arm).
  • the cutting action can be achieved through the movement of the oscillating saw.
  • the oscillating saw can move at different oscillating frequencies. (For example, the frequency can reach 5,000-20,000 times per minute), and the movement is about 3°-5° around the center point.
  • the movement method is not limited here.
  • the oscillating saw uses the above-mentioned movement method to remove the bad bone of the knee joint. After the removal, the prosthesis can be installed to complete the knee joint replacement.
  • the specifications of the oscillating saw may be different, such as the shape, size, maximum reachable oscillating frequency, etc. of the oscillating saw. Different types of oscillating saws are suitable for different types of surgeries.
  • the method includes the following steps 101 to 103:
  • collection can be carried out through the set collection circuit.
  • the current transmitter can convert the current in the circuit, for example, convert 2-30A into a current of 4-20mA.
  • the converted current can pass through a preset closed loop.
  • the analog quantity collection pin of the circuit is collected.
  • the closed-loop circuit can be used to collect current information and send the current information to the preset object; the closed-loop circuit can also automatically open and close the power supply circuit, thereby realizing the operation and suspension of the oscillating saw.
  • Step 102 Determine a control signal based on the supply current.
  • the working current can be determined based on the power supply current, and the control signal can be determined based on the working current; the heat production can also be determined based on the current power supply current, and the control signal can be determined based on the heat production.
  • determining the control signal based on the power supply current includes: based on the power supply current, determining the heat generated by the oscillating saw in the current working state; based on the power supply current The control signal is determined based on the heat generation and the preset heat generation threshold; or, the working current of the oscillating saw is determined based on the power supply current; the control signal is determined based on the working current and the preset working current threshold.
  • the power supply current and heat calculation formula can also be used to determine the heat production for work in the current working state, and the control signal is determined based on the difference between the heat production and the preset heat production threshold.
  • determining the heat production used for the operation of the oscillating saw in the current working state can be determined through the following steps: the power of the oscillating saw in the no-load state can be measured in advance, and then based on the power and The total power (the total power can be determined based on the working current) determines the power in the current working state, and then the heat generated for the work can be obtained, and the heat generated can be determined as the cutting heat in the surgical cutting process.
  • This optional implementation method can ensure that the oscillating saw moves within the heat threshold range to achieve cutting by determining the cutting heat, ensuring the safety of the surgery, avoiding the problem of surgical failure caused by excessive heat, and improving the success of the surgery. Rate.
  • determining a control signal based on the power supply current includes: if the operating current is greater than or equal to a preset operating current threshold, determining that the control signal is used to reduce the oscillation saw.
  • the control signal of the swing amplitude if the working current is less than the preset working current threshold, then the control signal is determined to be a control signal for keeping the swing amplitude of the oscillating saw unchanged; or, if the heat production is greater than or equal to the preset If the heat generation threshold is lower than the preset heat generation threshold, then the control signal is determined to be a control signal used to reduce the swing amplitude of the oscillating saw; if the heat generation is less than the preset heat generation threshold, then the control signal is determined to be a control signal used to maintain the swing amplitude of the oscillating saw. variable control signal.
  • the control circuit of the oscillating saw may include a main control circuit, a motor, a transmission device, a saw blade, etc.
  • the movement of the oscillating saw can be realized under the control of a control circuit.
  • the control circuit generates a motor control signal based on the control instructions sent by the industrial computer.
  • the motor drives the oscillating saw to move through the transmission device. Different speeds of the motor can correspond to to different swing frequencies of the swing saw.
  • the above control method can ensure that the oscillating saw moves within a safe range of heat generation.
  • Step 103 Control the swing frequency of the swing saw based on the control signal.
  • control circuit can adjust the output pulse width signal to obtain AC signals of different frequencies, thereby controlling changes in the motor speed.
  • the rotor of the motor can control the swing frequency of the oscillating saw through the transmission device.
  • the maximum cutting heat (preset heat generation threshold) can be preset, and the maximum threshold of the working current can be calculated based on this heat; then the control signal can be determined by monitoring the heat or monitoring the working current, and the control signal The signal controls the speed of the motor to further achieve the purpose of controlling the swing frequency. By reducing the swing frequency and cutting heat, the risks during the osteotomy process are controlled and the safety of the operation is ensured.
  • Cutting heat can also be reduced by reducing the thrust of the surgical robot's robotic arm.
  • the reduced thrust can be calculated based on the structure of different robotic arms using mechanical principles, and the current thrust can be automatically adjusted to the target thrust.
  • different models of oscillating saws have different heat generation thresholds or preset working current thresholds; or different surgical sites where the oscillating saw acts have different heat generation thresholds or preset working current thresholds. different.
  • oscillating saws of different specifications have different load states when moving, so different heat generation thresholds can be set for different models of oscillating saws, and the thresholds can be used to further determine the operating current. threshold.
  • the maximum allowable cutting heat is also different for different surgical sites that the oscillating saw acts on. Therefore, the heat production threshold can be determined for different surgical sites, and then the threshold of the working current can be further determined. It should be understood that the basis for determining the maximum threshold value of heat production is only illustrative.
  • This embodiment uses constant voltage DC power supply to realize the current measurement of the oscillating saw in the working state. Based on the current, the cutting heat of the oscillating saw can be determined, thereby realizing the working status monitoring of the oscillating saw during the operation and improving the safety of the operation. sex.
  • the method further includes: determining the duration when the power supply current is not zero; and storing the duration correspondingly with preset clinical information.
  • different individuals have different bone densities. Different bone densities have different cutting times within a certain cutting heat range. Different cutting times can also be used to reversely determine the cutting time.
  • the thermal range based on which the maximum operating current can be determined, so that the motion state of the oscillating saw can be monitored in a targeted manner. Therefore, determining the working state of the oscillating saw and determining the required working time (operation time) based on clinical information such as different bone densities has an important impact on improving surgical accuracy.
  • the time of the oscillating saw movement process (corresponding to the surgical osteotomy process) can be determined by determining the magnitude of the working current; and then the time can be stored correspondingly with clinical information, which can include bone age and bone density.
  • clinical information can include bone age and bone density.
  • This embodiment monitors the working current to avoid excessive cutting heat and ensures the safety and accuracy of the surgical process.
  • a monitoring device for a surgical robot intelligent osteotomy system is also provided.
  • the surgical robot is provided with an oscillating saw, and the oscillating saw can move at different swing frequencies.
  • the device includes :
  • the current acquisition unit is configured to collect the power supply current during the DC power supply process of the oscillating saw after the oscillating saw enters the working state, wherein, as the swing frequency of the oscillating saw changes, the voltage does not change during the DC power supply process.
  • the determination unit is configured to determine the operating current of the oscillating saw based on the collected current, wherein the control signal is determined based on the change in the operating current to control the oscillating frequency of the oscillating saw through the control signal.
  • the determining unit when determining the control signal based on the power supply current, is specifically configured to:
  • the operating current of the oscillating saw is determined; based on the operating current and the preset operating current threshold, the control signal is determined.
  • the determining unit when determining the control signal based on the power supply current, is specifically configured to:
  • the control signal is a control signal for reducing the swing amplitude of the oscillating saw; if the working current is less than the preset working current threshold, then the control signal is determined is the control signal used to keep the swing amplitude of the oscillating saw unchanged; or,
  • the determining unit is also configured to:
  • the duration is stored in correspondence with preset clinical information.
  • different models of oscillating saws have different heat generation thresholds or preset operating current thresholds; or,
  • Different surgical sites used by the oscillating saw have different heat production thresholds or preset operating current thresholds.
  • a monitoring circuit for a surgical robot intelligent osteotomy system is also provided.
  • the surgical robot is equipped with an oscillating saw, and the oscillating saw can move at different swing frequencies.
  • the circuit includes: a current conversion module, a current transmission module and a closed-loop circuit connected in sequence.
  • the current conversion module converts AC current into DC current to power the oscillating saw through the DC current.
  • the swing frequency changes, and the voltage remains unchanged during the DC power supply process
  • the current transmission module converts the DC current into a numerical value and outputs a constant current
  • the closed-loop circuit receives the constant current output by the current transmission module and converts the constant current into a constant current.
  • the information about the current flowing is sent to the preset control module, so that the preset control module determines the heat production for the operation of the oscillating saw in the current working state based on the information.
  • the preset control module can be an industrial computer
  • the closed-loop circuit can also include a communication module through which the current information can be sent to the industrial computer.
  • the function of the industrial computer is the same as the above description and will not be repeated here.
  • Figure 3 the structure of the closed circuit can be referred to Figure 3.
  • the structure of the current transmission module can be referred to Figure 4.
  • 1 in Figure 4 is the power module
  • 2 in Figure 4 is the analog output module
  • 3 in Figure 4 is the current transformer.
  • the closed-loop circuit also includes a relay circuit.
  • the relay circuit includes a normally open contact. When the oscillating saw does not enter the working state, the normally open contact remains in a normally open state. powered by.
  • the relay circuit receives a preset closing action instruction of the control module, so that the relay circuit is closed and the oscillating saw is powered on.
  • the controller may also include: an input device 53 and an output device 54.
  • the processor 51, the memory 52, the input device 53 and the output device 54 may be connected through a bus or other means.
  • connection through a bus is taken as an example.
  • the processor 51 may be a central processing unit (Central Processing Unit, CPU).
  • the processor 51 can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete Chips such as gate or transistor logic devices, discrete hardware components, or combinations of these types of chips.
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the memory 52 can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions/modules corresponding to the control methods in the embodiments of the present application.
  • the processor 51 executes various functional applications and data processing of the server by running non-transitory software programs, instructions and modules stored in the memory 52, that is, the method of implementing the above method embodiments.
  • the memory 52 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of a processing device operated by the server, etc.
  • memory 52 may include high-speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device.
  • the memory 52 optionally includes memory located remotely relative to the processor 51 , and these remote memories may be connected to a network connection device through a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.
  • the input device 53 may receive input numeric or character information and generate key signal input related to user settings and function control of the server's processing device.
  • the output device 54 may include a display device such as a display screen.
  • One or more modules are stored in the memory 52, and when executed by one or more processors 51, perform the method shown in Figure 1.
  • the storage medium can be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive, abbreviation: HDD) or Solid-State Drive (SSD), etc.; the storage medium may also include a combination of the above types of memories.

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Abstract

Provided are monitoring method and device for an intelligent osteotomy system of a surgical robot. A swing saw is arranged on the surgical robot, and the swing saw can move at different swing frequencies. The method comprises: after the swing saw enters a working state, acquiring a power supply current in a direct current power supply process of the swing saw, wherein the voltage in the direct current power supply process is unchanged along with the change of the swing frequency of the swing saw (101); on the basis of the power supply current, determining a control signal (102); and on the basis of the control signal, controlling the swing frequency of the swing saw (103). A direct current power supply circuit is used to determine a working current of the swing saw, and on the basis of the working current, the motion state of the swing saw can be monitored, which improves the controllability of surgical procedures, so that the success rate of the surgery is guaranteed, and the technical problems in the prior art that the safety and success rate of robot surgery cannot be guaranteed are solved.

Description

用于手术机器人智能截骨***的监控方法及装置Monitoring method and device for surgical robot intelligent osteotomy system
相关申请的交叉引用Cross-references to related applications
本申请要求于2022年04月15日提交的申请号为202210396863.X，名称为“用于手术机器人智能截骨***的监控方法及装置”的中国专利申请的优先权，其通过引用方式全部并入本文。This application claims priority to the Chinese patent application with application number 202210396863. Enter this article.
技术领域Technical field
本申请涉及数据处理技术领域，具体涉及到一种用于手术机器人智能截骨***的监控方法及装置。This application relates to the field of data processing technology, and specifically to a monitoring method and device for a surgical robot intelligent osteotomy system.
背景技术Background technique
随着医疗机器人技术的发展，在临床医学手术领域，手术机器人作为手术辅助设备被广泛使用。手术机器人上通常设置有摆锯，通过该摆锯的运动可实现手术机器人在手术过程中的切削动作。With the development of medical robot technology, surgical robots are widely used as surgical auxiliary equipment in the field of clinical medical surgery. The surgical robot is usually equipped with an oscillating saw, and the movement of the oscillating saw can realize the cutting action of the surgical robot during the operation.
相关技术中，无法对摆锯的运动状态进行监控，进而无法保证机器人手术的安全性和成功率。In the related technology, the motion status of the oscillating saw cannot be monitored, and the safety and success rate of robotic surgery cannot be guaranteed.
发明内容Contents of the invention
本申请的主要目的在于提供一种用于手术机器人智能截骨***的监控方法及装置。The main purpose of this application is to provide a monitoring method and device for a surgical robot intelligent osteotomy system.
为了实现上述目的，根据本申请的第一方面，提供了一种用于手术机器人智能截骨***的监控方法，所述手术机器人上设置有摆锯，所述摆锯可在不同的摆频下运动，所述方法包括：当摆锯进入工作状态后，对摆锯直流供电过程中的供电电流进行采集，其中，随着摆锯的摆频的变化，所述直流供电过程中电压不变；基于所述供电电流，确定控制信号；基于控制信号控制所述摆锯的摆频；In order to achieve the above object, according to the first aspect of the present application, a monitoring method for an intelligent osteotomy system of a surgical robot is provided. The surgical robot is provided with an oscillating saw, and the oscillating saw can operate at different oscillating frequencies. Movement, the method includes: when the oscillating saw enters the working state, collecting the power supply current during the DC power supply process of the oscillating saw, wherein, as the oscillating frequency of the oscillating saw changes, the voltage does not change during the DC power supply process; Determine a control signal based on the power supply current; control the swing frequency of the oscillating saw based on the control signal;
可选地，基于所述供电电流，确定控制信号，包括基于所述供电电流，确定所述摆锯在当前工作状态下的工作用的产热量；基于所述产热量和预设产热量阈值，确定控制信号；或，基于供电电流，确定所述摆锯的工作电流；基于所述工作电流和预设工作电流阈值，确定所述控制信号。Optionally, based on the power supply current, determining the control signal includes determining, based on the power supply current, the heat production for the operation of the oscillating saw in the current working state; based on the heat production and the preset heat production threshold, Determine a control signal; or, determine the working current of the oscillating saw based on the power supply current; determine the control signal based on the working current and a preset working current threshold.
可选地，所述供电电流，确定控制信号，包括：Optionally, the supply current determines the control signal, including:
若所述工作电流大于或等于预设工作电流阈值，则确定所述控制信号为用于降低摆锯摆幅的控制信号；若所述工作电流小于预设工作电流阈值，则确定所述控制信号为用于保持摆锯摆幅不变的控制信号；或，若所述产热量大于或等于预设产热量阈值，则确定所述控制信号为用于降低摆锯的摆幅的控制信号；若所述产热量小于预设产热量阈值，则确定所述控制信号为用于保持摆锯摆幅不变的控制信号。If the working current is greater than or equal to the preset working current threshold, it is determined that the control signal is a control signal for reducing the swing amplitude of the oscillating saw; if the working current is less than the preset working current threshold, then the control signal is determined is a control signal used to keep the swing amplitude of the oscillating saw unchanged; or, if the heat production is greater than or equal to the preset heat production threshold, it is determined that the control signal is a control signal used to reduce the swing amplitude of the oscillating saw; if If the heat generated is less than the preset heat generated threshold, it is determined that the control signal is a control signal used to keep the swing amplitude of the oscillating saw unchanged.
可选地，方法还包括：确定所述供电电流不为零时的时长；将所述时长与预设的临床信息对应存储。Optionally, the method further includes: determining a duration when the power supply current is not zero; and storing the duration in correspondence with preset clinical information.
可选地，不同型号的摆锯，产热量阈值或预设工作电流阈值不同；或，摆锯所作用的不同的手术部位，产热量阈值或预设工作电流阈值不同。Optionally, different models of oscillating saws have different heat generation thresholds or preset working current thresholds; or different surgical sites where the oscillating saw acts have different heat generating thresholds or preset working current thresholds.
根据本申请的第二方面，提供了一种用于手术机器人智能截骨***的监控装置，所述手术机器人上设置有摆锯，所述摆锯可在不同的摆频下运动，所述装置包括：电流采集单元，被配置成当摆锯进入工作状态后，对摆锯直流供电过程中的供电电流进行采集，其中，随着摆锯的摆频的变化，所述直流供电过程中电压不变；确定单元，被配置成基于采集的电流，确定摆锯的工作电流，其中，基于工作电流的变化，确定控制信号，以通过控制信号控制所述摆锯的摆频。According to a second aspect of the present application, a monitoring device for a surgical robot intelligent osteotomy system is provided. The surgical robot is provided with an oscillating saw, and the oscillating saw can move at different swing frequencies. The device It includes: a current acquisition unit configured to collect the power supply current during the DC power supply process of the oscillation saw after the oscillation saw enters the working state, wherein, as the swing frequency of the oscillation saw changes, the voltage during the DC power supply process does not change. change; the determination unit is configured to determine the operating current of the oscillating saw based on the collected current, wherein the control signal is determined based on the change in the operating current to control the oscillating frequency of the oscillating saw through the control signal.
根据本申请的第三方面，提供了一种用于手术机器人智能截骨***的监控电路，包括：依次连接的电流转换模块、电流变送模块和闭环电路；电流转换模块，将交流电流转换为直流电流，以通过直流电流对摆锯进行供电，其中，随着摆锯的摆频的变化，所述直流供电过程中电压不变；电流变送模块，对直流电流进行转数值转换并恒流输出；闭环电路，接收电流变送模块输出的恒流电流，并将该恒流电流的信息发送至预设的控制模组，以使预设的控制模组基于所述信息确定所述摆锯在当前工作状态下的工作用的产热量。According to the third aspect of the present application, a monitoring circuit for a surgical robot intelligent osteotomy system is provided, including: a current conversion module, a current transmission module and a closed-loop circuit connected in sequence; the current conversion module converts the AC current into DC current is used to power the oscillating saw through DC current. As the swing frequency of the oscillating saw changes, the voltage does not change during the DC power supply process; the current transmission module converts the DC current into a numerical value and maintains a constant current. Output; closed-loop circuit, receives the constant current output from the current transmission module, and sends the constant current information to the preset control module, so that the preset control module determines the oscillating saw based on the information. The amount of heat generated for work under the current working condition.
可选地，闭环电路还包括继电器电路，所述继电器电路包括常开触点， 在摆锯未进入工作状态时，常开触点保持常开状态，不对摆锯供电。Optionally, the closed-loop circuit also includes a relay circuit, and the relay circuit includes a normally open contact. When the oscillating saw does not enter the working state, the normally open contact remains in a normally open state and does not provide power to the oscillating saw.
可选地，所述继电器电路接收预设的控制模组的闭合动作指令，以使继电器电路闭合，摆锯上电。Optionally, the relay circuit receives a preset closing action instruction of the control module, so that the relay circuit is closed and the oscillating saw is powered on.
根据本申请的第四方面，提供了一种电子设备，包括：至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器执行第一方面任意一项实现方式所述的用于手术机器人智能截骨***的监控方法。According to a fourth aspect of the present application, an electronic device is provided, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores information that can be used by the at least one processor. A computer program is executed, and the computer program is executed by the at least one processor, so that the at least one processor executes the monitoring method for a surgical robot intelligent osteotomy system described in any implementation manner of the first aspect.
在本申请实施例用于手术机器人智能截骨***的监控方法及装置中，包括当摆锯进入工作状态后，对摆锯直流供电过程中的供电电流进行采集，其中，随着摆锯的摆频的变化，直流供电过程中电压不变；基于采集的电流，确定摆锯的工作电流；其中基于工作电流的变化，确定控制信号，以通过控制信号控制所述摆锯的摆频。通过直流供电电路确定其工作电流，基于该工作电流便可实现对摆锯运动状态的监控，提高了手术过程的可控性，进而保证了手术的成功率，克服了相关技术中，无法保证机器人手术的安全性和成功率的技术问题。In the monitoring method and device for the intelligent osteotomy system of the surgical robot in the embodiment of the present application, it includes collecting the power supply current during the DC power supply process of the oscillating saw after the oscillating saw enters the working state. As the oscillating saw swings, The frequency changes, and the voltage remains unchanged during the DC power supply process; based on the collected current, the working current of the oscillating saw is determined; based on the change in the working current, a control signal is determined to control the oscillating frequency of the oscillating saw through the control signal. Its working current is determined through the DC power supply circuit. Based on this working current, the motion status of the oscillating saw can be monitored, which improves the controllability of the surgical process, thereby ensuring the success rate of the surgery and overcoming the inability to guarantee the robot in related technologies. Technical issues regarding the safety and success rate of surgery.
附图说明Description of the drawings
为了更清楚地说明本申请具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly explain the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description The drawings illustrate some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.
图1是根据本申请实施例的用于手术机器人智能截骨***的监控方法的流程图；Figure 1 is a flow chart of a monitoring method for a surgical robot intelligent osteotomy system according to an embodiment of the present application;
图2是根据本申请实施例的用于手术机器人智能截骨***的监控电路的结构示意图；Figure 2 is a schematic structural diagram of a monitoring circuit for a surgical robot intelligent osteotomy system according to an embodiment of the present application;
图3是根据本申请实施例的用于手术机器人智能截骨***的监控电路中闭合电路的结构示意图；以及Figure 3 is a schematic structural diagram of a closed circuit in a monitoring circuit for a surgical robot intelligent osteotomy system according to an embodiment of the present application; and
图4是根据本申请实施例的用于手术机器人智能截骨***的监控电路的 电流变送模块结构图。Figure 4 is a structural diagram of a current transmission module for a monitoring circuit of a surgical robot intelligent osteotomy system according to an embodiment of the present application.
图5是根据本申请实施例的电子设备的示意图。FIG. 5 is a schematic diagram of an electronic device according to an embodiment of the present application.
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。In order to enable those in the technical field to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only These are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of protection of this application.
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、***、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that data so used may be interchanged where appropriate for the embodiments of the application described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus that encompasses a series of steps or units and need not be limited to those explicitly listed. Those steps or elements may instead include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.
在本申请中，术语“上”、“下”、“左”、“右”、“前”、“后”、“顶”、“底”、“内”、“外”、“中”、“竖直”、“水平”、“横向”、“纵向”等指示的方位或位置关系为基于附图所示的方位或位置关系。这些术语主要是为了更好地描述本申请及其实施例，并非用于限定所指示的装置、元件或组成部分必须具有特定方位，或以特定方位进行构造和操作。In this application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", The orientations or positional relationships indicated by "vertical", "horizontal", "horizontal", "longitudinal", etc. are based on the orientations or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to having a specific orientation, or to be constructed and operated in a specific orientation.
并且，上述部分术语除了可以用于表示方位或位置关系以外，还可能用于表示其他含义，例如术语“上”在某些情况下也可能用于表示某种依附关系或连接关系。对于本领域普通技术人员而言，可以根据具体情况理解这些术语在本申请中的具体含义。Moreover, some of the above terms may also be used to express other meanings in addition to indicating orientation or positional relationships. For example, the term "upper" may also be used to express a certain dependence relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.
此外，术语“安装”、“设置”、“设有”、“连接”、“相连”、“套接”应做广义理解。例如，可以是固定连接，可拆卸连接，或整体式 构造；可以是机械连接，或电连接；可以是直接相连，或者是通过中间媒介间接相连，又或者是两个装置、元件或组成部分之间内部的连通。对于本领域普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。In addition, the terms "installed," "set," "provided," "connected," "connected to," and "socketed" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or between two devices, components or components. internal connectivity. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。It should be noted that, as long as there is no conflict, the embodiments and features in the embodiments of this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.
根据本申请实施例，提供了一种用于手术机器人智能截骨***的监控方法，手术机器人上设置有摆锯，所述摆锯可在不同的摆频下运动。手术机器人的类型包括但是不限于用于膝关节置换手术中、或者用于其他手术中，通过带动摆锯运动实现切削动作的机器人。摆锯可以通过可拆卸的方式设置在手术机器人的机械臂上(包括但是不是限于机械臂的末端)，通过摆锯的运动可以实现切削动作，摆锯运动的方式可以是在不同的摆频下(例如，频率1分钟可达5000-20000次)，围绕中心点做大约3°-5°角度摆动的运动，运动方式在此不做限定。例如，在膝关节置换手术过程中，摆锯通过上述运动方式实现膝关节坏骨的切除，在切除后便可安装假体实现膝关节置换。According to an embodiment of the present application, a monitoring method for an intelligent osteotomy system of a surgical robot is provided. The surgical robot is provided with an oscillating saw, and the oscillating saw can move at different swing frequencies. Types of surgical robots include, but are not limited to, robots used in knee replacement surgeries or other surgeries that perform cutting actions by driving an oscillating saw. The oscillating saw can be detachably installed on the robotic arm of the surgical robot (including but not limited to the end of the robotic arm). The cutting action can be achieved through the movement of the oscillating saw. The oscillating saw can move at different oscillating frequencies. (For example, the frequency can reach 5,000-20,000 times per minute), and the movement is about 3°-5° around the center point. The movement method is not limited here. For example, during knee replacement surgery, the oscillating saw uses the above-mentioned movement method to remove the bad bone of the knee joint. After the removal, the prosthesis can be installed to complete the knee joint replacement.
可以理解的是对于不同的手术类型，摆锯的规格可以是不同，例如摆锯的形状、大小、可达的最大摆频等等有所不同。不同类型的摆锯可适用于不同手术类型中。It is understandable that for different types of surgeries, the specifications of the oscillating saw may be different, such as the shape, size, maximum reachable oscillating frequency, etc. of the oscillating saw. Different types of oscillating saws are suitable for different types of surgeries.
当摆锯通过运动实现切削的过程中，锯片刀面克服摩擦所做的功转换为热量，而过高的切削热可能会损伤骨组织以及骨神经。因此监控摆锯的运动状态，减少由锯片和/或驱动***带来过高的切削热量，是保证手术能否成功、或者提高手术成功率、准确率的关键因素。When the oscillating saw achieves cutting through motion, the work done by the saw blade surface to overcome friction is converted into heat, and excessive cutting heat may damage bone tissue and bone nerves. Therefore, monitoring the motion status of the oscillating saw and reducing excessive cutting heat caused by the saw blade and/or drive system are key factors to ensure the success of the operation, or to improve the success rate and accuracy of the operation.
如图1所示，该方法包括如下的步骤101至步骤103：As shown in Figure 1, the method includes the following steps 101 to 103:
步骤101：当摆锯进入工作状态后，对摆锯直流供电过程中的供电电流进行采集，其中，随着摆锯的摆频的变化，所述直流供电过程中电压不变。Step 101: After the oscillating saw enters the working state, collect the power supply current during the DC power supply process of the oscillating saw. As the swing frequency of the oscillating saw changes, the voltage does not change during the DC power supply process.
在本实施例中，手术机器人中使用的摆锯可以通过直流供电电路进行供电，可通过AC/DC转换将交流电转换为直流电，供摆锯使用，由于摆 锯摆频可以是变化的，因此需要该供电电路AC/DC提供足够的功率，以保证电路中的电压稳定不变。In this embodiment, the oscillating saw used in the surgical robot can be powered by a DC power supply circuit, and the alternating current can be converted into direct current through AC/DC conversion for use by the oscillating saw. Since the oscillating frequency of the oscillating saw can change, it is necessary to The power supply circuit AC/DC provides sufficient power to ensure that the voltage in the circuit is stable.
在采集时，可以通过设置的采集电路进行采集。示例性地，当摆锯进入工作状态后，电流变送器可将电路中的电流进行转换，例如，将2-30A转换为4-20mA的电流，转换后的电流可以通过预设设置的闭环电路的模拟量收集引脚进行采集。其中，闭环电路可用于采集电流信息，并将电流信息发送至预设对象；闭环电路还可以自动实现供电电路的开合，进而实现摆锯的工作和暂停。During collection, collection can be carried out through the set collection circuit. For example, when the oscillating saw enters the working state, the current transmitter can convert the current in the circuit, for example, convert 2-30A into a current of 4-20mA. The converted current can pass through a preset closed loop. The analog quantity collection pin of the circuit is collected. Among them, the closed-loop circuit can be used to collect current information and send the current information to the preset object; the closed-loop circuit can also automatically open and close the power supply circuit, thereby realizing the operation and suspension of the oscillating saw.
步骤102：基于所述供电电流，确定控制信号。Step 102: Determine a control signal based on the supply current.
在本实施例中，可通过供电电流确定工作电流，基于该工作电流确定控制信号；还可以基于当前供电电流确定产热量，基于产热量确定控制信号。In this embodiment, the working current can be determined based on the power supply current, and the control signal can be determined based on the working current; the heat production can also be determined based on the current power supply current, and the control signal can be determined based on the heat production.
作为本实施例一种可选的实现方式，基于所述供电电流，确定控制信号，包括：基于所述供电电流，确定所述摆锯在当前工作状态下的工作用的产热量；基于所述产热量和预设产热量阈值，确定控制信号；或，基于供电电流，确定所述摆锯的工作电流；基于所述工作电流和预设工作电流阈值，确定所述控制信号。As an optional implementation method of this embodiment, determining the control signal based on the power supply current includes: based on the power supply current, determining the heat generated by the oscillating saw in the current working state; based on the power supply current The control signal is determined based on the heat generation and the preset heat generation threshold; or, the working current of the oscillating saw is determined based on the power supply current; the control signal is determined based on the working current and the preset working current threshold.
在本可选的实现方式中，在采集供电电路的电流时，可以通过设置的闭环电路进行采集，该闭环电路是由电流变送器传输的，因此可通过采集的电流确定的工作电流，示例性的，采集的电流为毫安信号，因此可通过Y＝1.875*(X-4)转换为安培信号，以4-20mA信号为例，通过Y＝1.875*(X–4)转换为2-30A信号。通过确定工作电流、以及预设的工作电流阈值，确定控制信号，示例性地，可以通过确定工作电流与预设的工作电流的阈值之间的差量确定控制信号。In this optional implementation, when collecting the current of the power supply circuit, it can be collected through the set closed-loop circuit. The closed-loop circuit is transmitted by the current transmitter, so the working current can be determined by the collected current. Example Characteristically, the collected current is a milliamp signal, so it can be converted into an ampere signal through Y=1.875*(X-4). Taking the 4-20mA signal as an example, it can be converted into 2- through Y=1.875*(X–4). 30A signal. The control signal is determined by determining the working current and the preset working current threshold. For example, the control signal may be determined by determining the difference between the working current and the preset working current threshold.
还可以通过供电电流以及热量计算公式确定当前工作状态下的工作用的产热量，基于该产热量与预设的产热量阈值的差量确定控制信号。The power supply current and heat calculation formula can also be used to determine the heat production for work in the current working state, and the control signal is determined based on the difference between the heat production and the preset heat production threshold.
示例性地，基于所述工作电流，确定所述摆锯在当前工作状态下的工作用的产热量可以通过如下步骤确定：可预先测定摆锯在空载状态下的功率，而后基于该功率和总功率(该总功率可基于所述工作电流，确定 总功率)确定当前工作状态下的功率，进而可以得到该工作用的产热量，该产热量可以确定为手术切削过程的切削热。For example, based on the operating current, determining the heat production used for the operation of the oscillating saw in the current working state can be determined through the following steps: the power of the oscillating saw in the no-load state can be measured in advance, and then based on the power and The total power (the total power can be determined based on the working current) determines the power in the current working state, and then the heat generated for the work can be obtained, and the heat generated can be determined as the cutting heat in the surgical cutting process.
进一步地，从功率消耗角度分析，摆锯消耗的有功功率分别转换为摆锯内部的损耗和骨切削时的摩擦热量损耗，P＝U*I＝P(内部损耗)+P(摩擦热量)，其中，内部损耗即空载功率。Further, from the perspective of power consumption, the active power consumed by the oscillating saw is converted into the internal loss of the oscillating saw and the friction heat loss during bone cutting, P=U*I=P (internal loss) + P (friction heat), Among them, the internal loss is the no-load power.
本可选的实现方式，通过确定切削热，能够保证摆锯在热量阈值范围内进行运动实现切削，保证了手术的安全性、以及避免了热量过高导致手术失败的问题，提高了手术的成功率。This optional implementation method can ensure that the oscillating saw moves within the heat threshold range to achieve cutting by determining the cutting heat, ensuring the safety of the surgery, avoiding the problem of surgical failure caused by excessive heat, and improving the success of the surgery. Rate.
可以理解的是，确定控制信号的可以是本实施例的执行主体，也可以是工控机，在确定控制信号后，将该控制信号包含的指令信息发送至摆锯的控制电路。It can be understood that the person who determines the control signal may be the execution subject of this embodiment, or it may be an industrial computer. After determining the control signal, the instruction information contained in the control signal is sent to the control circuit of the oscillating saw.
作为本实施例一种可选的实现方式，基于所述供电电流，确定控制信号，包括：若所述工作电流大于或等于预设工作电流阈值，则确定所述控制信号为用于降低摆锯摆幅的控制信号；若所述工作电流小于预设工作电流阈值，则确定所述控制信号为用于保持摆锯摆幅不变的控制信号；或，若所述产热量大于或等于预设产热量阈值，则确定所述控制信号为用于降低摆锯的摆幅的控制信号；若所述产热量小于预设产热量阈值，则确定所述控制信号为用于保持摆锯摆幅不变的控制信号。As an optional implementation of this embodiment, determining a control signal based on the power supply current includes: if the operating current is greater than or equal to a preset operating current threshold, determining that the control signal is used to reduce the oscillation saw. The control signal of the swing amplitude; if the working current is less than the preset working current threshold, then the control signal is determined to be a control signal for keeping the swing amplitude of the oscillating saw unchanged; or, if the heat production is greater than or equal to the preset If the heat generation threshold is lower than the preset heat generation threshold, then the control signal is determined to be a control signal used to reduce the swing amplitude of the oscillating saw; if the heat generation is less than the preset heat generation threshold, then the control signal is determined to be a control signal used to maintain the swing amplitude of the oscillating saw. variable control signal.
在本可选的实现方式中，摆锯的控制电路可以包括主控制电路、电机、传动装置和锯片等。摆锯的运动可在控制电路控制下实现，控制电路中基于工控机发送的控制指令生成电机控制信号，在电机控制信号的控制下电机通过传动装置带动摆锯进行运动，电机不同的转速可对应至摆锯不同的摆频。通过上述控制方式可以保证摆锯在产热量安全的范围内运动。In this optional implementation, the control circuit of the oscillating saw may include a main control circuit, a motor, a transmission device, a saw blade, etc. The movement of the oscillating saw can be realized under the control of a control circuit. The control circuit generates a motor control signal based on the control instructions sent by the industrial computer. Under the control of the motor control signal, the motor drives the oscillating saw to move through the transmission device. Different speeds of the motor can correspond to to different swing frequencies of the swing saw. The above control method can ensure that the oscillating saw moves within a safe range of heat generation.
步骤103：基于所述控制信号控制所述摆锯的摆频。Step 103: Control the swing frequency of the swing saw based on the control signal.
在本实施例中，控制电路在控制时可以是调整输出的脉宽信号，以得到不同频率交流信号，进而控制电机转速的变化，电机的转子可通过传动装置控制摆锯的摆频。In this embodiment, the control circuit can adjust the output pulse width signal to obtain AC signals of different frequencies, thereby controlling changes in the motor speed. The rotor of the motor can control the swing frequency of the oscillating saw through the transmission device.
在手术中不良骨切削会在骨组织中产生较高的应力，同时会产生切削 热，如果切削热过大会无法保证锯切面骨组织活力。因此需要控制切削过程中的上限温度，例如为50℃-60℃等。Poor bone cutting during surgery will produce high stress in the bone tissue and will also generate cutting heat. If the cutting heat is too high, the vitality of the bone tissue on the saw surface will not be guaranteed. Therefore, it is necessary to control the upper limit temperature during the cutting process, such as 50℃-60℃, etc.
由此，可预先设定最大的切削热(预设产热量阈值)，根据该热量可以计算出工作电流的最大阈值；进而可通过监测热量或者监测工作电流的方式，确定控制信号，由该控制信号控制电动机的转速，进一步实现控制摆频的目的。通过减小摆频，减小切削热，进而控制截骨过程中出现的风险，保证了手术的安全性。From this, the maximum cutting heat (preset heat generation threshold) can be preset, and the maximum threshold of the working current can be calculated based on this heat; then the control signal can be determined by monitoring the heat or monitoring the working current, and the control signal The signal controls the speed of the motor to further achieve the purpose of controlling the swing frequency. By reducing the swing frequency and cutting heat, the risks during the osteotomy process are controlled and the safety of the operation is ensured.
可以理解的是，在摆锯锯切过程中，随着切削力或推力、摆频的增大，切削热呈线性关系增大，因此当切削热过大时，除可控制摆频调整外，还可通过减少手术机器人机械臂推力的方式减少切削热，减少推力的大小可基于不同的机械臂的结构，利用力学原理计算出来，进而可将当前推力自动调整至目标推力的大小。It can be understood that during the cutting process of an oscillating saw, as the cutting force or thrust and the swing frequency increase, the cutting heat increases in a linear relationship. Therefore, when the cutting heat is too large, in addition to controlling the swing frequency adjustment, Cutting heat can also be reduced by reducing the thrust of the surgical robot's robotic arm. The reduced thrust can be calculated based on the structure of different robotic arms using mechanical principles, and the current thrust can be automatically adjusted to the target thrust.
作为本实施例一种可选的实现方式，不同型号的摆锯，产热量阈值或预设工作电流阈值不同；或，摆锯所作用的不同的手术部位，产热量阈值或预设工作电流阈值不同。As an optional implementation of this embodiment, different models of oscillating saws have different heat generation thresholds or preset working current thresholds; or different surgical sites where the oscillating saw acts have different heat generation thresholds or preset working current thresholds. different.
在本可选的实现方式中，不同规格的摆锯其在运动时的负载状态是不同的，因此可以针对不同型号的摆锯设置不同的产热量阈值，而通过该阈值可以进一步确定工作电流的阈值。In this optional implementation, oscillating saws of different specifications have different load states when moving, so different heat generation thresholds can be set for different models of oscillating saws, and the thresholds can be used to further determine the operating current. threshold.
进一步地，摆锯所作用的不同手术部位，所允许的最大切削热也是不同的，因此，针对不同的手术部位可以确定产热量阈值，进而进一步确定工作电流的阈值。可以理解的是产热量的最大阈值确定依据仅仅是示意性地。Furthermore, the maximum allowable cutting heat is also different for different surgical sites that the oscillating saw acts on. Therefore, the heat production threshold can be determined for different surgical sites, and then the threshold of the working current can be further determined. It should be understood that the basis for determining the maximum threshold value of heat production is only illustrative.
本实施例通过，恒压直流供电，实现摆锯在工作状态下的电流测定，基于该电流可以确定摆锯的切削热，实现了手术过程中摆锯的工作状态监控，提高了手术过程的安全性。This embodiment uses constant voltage DC power supply to realize the current measurement of the oscillating saw in the working state. Based on the current, the cutting heat of the oscillating saw can be determined, thereby realizing the working status monitoring of the oscillating saw during the operation and improving the safety of the operation. sex.
作为本实施例一种可选的实现方式，方法还包括：确定所述供电电流不为零时的时长；将所述时长与预设的临床信息对应存储。As an optional implementation manner of this embodiment, the method further includes: determining the duration when the power supply current is not zero; and storing the duration correspondingly with preset clinical information.
在本可选的实现方式中，不同的个体对应的骨密度是不同，不同的骨 密度在一定切削热范围内，其切削时间也是不同的；而不同的切削时间也可以用于反向确定切削热的范围，基于该范围便可以确定最大的工作电流，从而便可以对摆锯的运动状态进行针对性地监控。因此确定摆锯在工作状态下，针对不同的骨密度等临床信息确定所需的工作时间(手术时间)，对于提高手术精度具有重要的影响。In this optional implementation, different individuals have different bone densities. Different bone densities have different cutting times within a certain cutting heat range. Different cutting times can also be used to reversely determine the cutting time. The thermal range, based on which the maximum operating current can be determined, so that the motion state of the oscillating saw can be monitored in a targeted manner. Therefore, determining the working state of the oscillating saw and determining the required working time (operation time) based on clinical information such as different bone densities has an important impact on improving surgical accuracy.
手术过程中可能存在因手术流程的需要，需暂时停止切削，以停止摆锯运动的情形、或者因手术过程存在异常，需暂时停止切削以停止摆锯运动的情形。因此可以通过确定的工作电流的大小，确定摆锯运动过程(对应手术截骨过程)的时间；而后将该时间与临床信息进行对应存储，该临床信息可以包括骨龄、骨密度。当同一类型的摆锯针对任一相似或相同的临床信息进行术前准备时，便可以直接确定该次手术所需的时间、所允许的最大切削热、以及所允许的最大工作电流。During the operation, it may be necessary to temporarily stop cutting to stop the movement of the oscillating saw due to the needs of the surgical process, or there may be situations where it is necessary to temporarily stop cutting to stop the movement of the oscillating saw due to abnormalities during the surgical process. Therefore, the time of the oscillating saw movement process (corresponding to the surgical osteotomy process) can be determined by determining the magnitude of the working current; and then the time can be stored correspondingly with clinical information, which can include bone age and bone density. When the same type of oscillating saw is prepared for any similar or identical clinical information, the time required for the operation, the maximum allowable cutting heat, and the maximum allowable operating current can be directly determined.
本实施例通过监控工作电流，避免出现过高的切削热，保证了手术过程的安全性和精准性。This embodiment monitors the working current to avoid excessive cutting heat and ensures the safety and accuracy of the surgical process.
需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机***中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and, although a logical sequence is shown in the flowchart, in some cases, The steps shown or described may be performed in a different order than here.
根据本申请实施例，还提供了一种用于手术机器人智能截骨***的监控装置，所述手术机器人上设置有摆锯，所述摆锯可在不同的摆频下运动，所述装置包括：电流采集单元，被配置成当摆锯进入工作状态后，对摆锯直流供电过程中的供电电流进行采集，其中，随着摆锯的摆频的变化，所述直流供电过程中电压不变；确定单元，被配置成基于采集的电流，确定摆锯的工作电流，其中，基于工作电流的变化，确定控制信号，以通过控制信号控制所述摆锯的摆频。According to an embodiment of the present application, a monitoring device for a surgical robot intelligent osteotomy system is also provided. The surgical robot is provided with an oscillating saw, and the oscillating saw can move at different swing frequencies. The device includes : The current acquisition unit is configured to collect the power supply current during the DC power supply process of the oscillating saw after the oscillating saw enters the working state, wherein, as the swing frequency of the oscillating saw changes, the voltage does not change during the DC power supply process. ; The determination unit is configured to determine the operating current of the oscillating saw based on the collected current, wherein the control signal is determined based on the change in the operating current to control the oscillating frequency of the oscillating saw through the control signal.
可选地，所述确定单元，在基于所述供电电流，确定控制信号时，具体被配置为：Optionally, when determining the control signal based on the power supply current, the determining unit is specifically configured to:
基于所述供电电流，确定所述摆锯在当前工作状态下的工作用的产热量；基于所述产热量和预设产热量阈值，确定控制信号；或，Based on the power supply current, determine the heat production for the operation of the oscillating saw in the current working state; determine a control signal based on the heat production and a preset heat production threshold; or,
基于供电电流，确定所述摆锯的工作电流；基于所述工作电流和预设工 作电流阈值，确定所述控制信号。Based on the supply current, the operating current of the oscillating saw is determined; based on the operating current and the preset operating current threshold, the control signal is determined.
可选地，所述确定单元，在基于所述供电电流，确定控制信号时，具体被配置为：Optionally, when determining the control signal based on the power supply current, the determining unit is specifically configured to:
若所述工作电流大于或等于预设工作电流阈值，则确定所述控制信号为用于降低摆锯摆幅的控制信号；若所述工作电流小于预设工作电流阈值，则确定所述控制信号为用于保持摆锯摆幅不变的控制信号；或，If the working current is greater than or equal to the preset working current threshold, it is determined that the control signal is a control signal for reducing the swing amplitude of the oscillating saw; if the working current is less than the preset working current threshold, then the control signal is determined is the control signal used to keep the swing amplitude of the oscillating saw unchanged; or,
若所述产热量大于或等于预设产热量阈值，则确定所述控制信号为用于降低摆锯的摆幅的控制信号；若所述产热量小于预设产热量阈值，则确定所述控制信号为用于保持摆锯摆幅不变的控制信号。If the heat production is greater than or equal to the preset heat production threshold, it is determined that the control signal is a control signal for reducing the swing amplitude of the oscillating saw; if the heat production is less than the preset heat production threshold, it is determined that the control signal is used to reduce the swing amplitude of the oscillating saw. The signal is a control signal used to keep the swing amplitude of the oscillating saw unchanged.
所述确定单元还被配置为：The determining unit is also configured to:
确定所述供电电流不为零时的时长；Determine the duration during which the supply current is not zero;
将所述时长与预设的临床信息对应存储。The duration is stored in correspondence with preset clinical information.
可选地，不同型号的摆锯，产热量阈值或预设工作电流阈值不同；或，Optionally, different models of oscillating saws have different heat generation thresholds or preset operating current thresholds; or,
摆锯所作用的不同的手术部位，产热量阈值或预设工作电流阈值不同。Different surgical sites used by the oscillating saw have different heat production thresholds or preset operating current thresholds.
根据本申请实施例，还提供了一种用于手术机器人智能截骨***的监控电路，如图2所示，手术机器人上设置有摆锯，所述摆锯可在不同的摆频下运动，所述电路包括：依次连接的电流转换模块、电流变送模块和闭环电路，其中电流转换模块，将交流电流转换为直流电流，以通过直流电流对摆锯进行供电，其中，随着摆锯的摆频的变化，所述直流供电过程中电压不变；电流变送模块，对直流电流进行转数值转换并恒流输出；闭环电路，接收电流变送模块输出的恒流电流，并将该恒流电流的信息发送至预设的控制模组，以使预设的控制模组基于所述信息确定所述摆锯在当前工作状态下的工作用的产热量。According to an embodiment of the present application, a monitoring circuit for a surgical robot intelligent osteotomy system is also provided. As shown in Figure 2, the surgical robot is equipped with an oscillating saw, and the oscillating saw can move at different swing frequencies. The circuit includes: a current conversion module, a current transmission module and a closed-loop circuit connected in sequence. The current conversion module converts AC current into DC current to power the oscillating saw through the DC current. As the oscillating saw rotates, The swing frequency changes, and the voltage remains unchanged during the DC power supply process; the current transmission module converts the DC current into a numerical value and outputs a constant current; the closed-loop circuit receives the constant current output by the current transmission module and converts the constant current into a constant current. The information about the current flowing is sent to the preset control module, so that the preset control module determines the heat production for the operation of the oscillating saw in the current working state based on the information.
示例性地，电流转换模块可以由电流转换电路AC/DC电路组成，如图2中的1；电流变送模块可以由电流变送器组成，如图2中的3；闭环电路可以包含两路中间继电器，可以将电源线接入继电器的常开触点，即在非工作状态，摆锯处于断电状态，保证其不会出现额外伤害，例如，参考图2中，供电电路5对闭环电路进行供电。闭环电路还可包括4-20mA模拟量收集引脚通讯模块，能够完成与工控机的通讯，接收与发送命令。图2中的4用于摆锯电路供电；图2中的6用于对电流变送模块供电。For example, the current conversion module can be composed of a current conversion circuit AC/DC circuit, as shown in 1 in Figure 2; the current conversion module can be composed of a current transmitter, as shown in 3 in Figure 2; the closed-loop circuit can include two circuits. Intermediate relay, you can connect the power cord to the normally open contact of the relay, that is, in the non-working state, the oscillating saw is in a power-off state to ensure that it will not cause additional damage. For example, refer to Figure 2, 5 pairs of closed-loop circuits in the power supply circuit Provide power. The closed-loop circuit can also include a 4-20mA analog collection pin communication module, which can complete communication with the industrial computer and receive and send commands. 4 in Figure 2 is used to power the oscillating saw circuit; 6 in Figure 2 is used to power the current transmission module.
进一步地，预设的控制模组可以是工控机，闭环电路还可以包括通讯模块，通过该通讯模块可以将电流信息发送至工控机。工控机的作用与上述描述相同，在此不再赘述。Further, the preset control module can be an industrial computer, and the closed-loop circuit can also include a communication module through which the current information can be sent to the industrial computer. The function of the industrial computer is the same as the above description and will not be repeated here.
进一步地，闭环电路还可包括模拟量收集引脚(例如，4-20mA模拟量收集引脚)，通过该引脚可采集恒流电流信号；此外还可包括一个通讯模块，能够完成与工控机的通讯，接收与发送命令。Further, the closed-loop circuit can also include an analog quantity collection pin (for example, a 4-20mA analog quantity collection pin), through which the constant current signal can be collected; in addition, it can also include a communication module that can complete the communication with the industrial computer. Communication, receiving and sending commands.
示例性地，闭合电路的结构可参考图3，图3中的1为电源模块；2为通讯模块；3为模拟量收集模块；4为中间继电器1；5为中间继电器。For example, the structure of the closed circuit can be referred to Figure 3. In Figure 3, 1 is the power module; 2 is the communication module; 3 is the analog quantity collection module; 4 is the intermediate relay 1; and 5 is the intermediate relay.
示例性地，电流变送模块的结构可参考图4，图4中的1为电源模块，图4中的2为模拟量输出模块，图4中的3为电流互感器。For example, the structure of the current transmission module can be referred to Figure 4. 1 in Figure 4 is the power module, 2 in Figure 4 is the analog output module, and 3 in Figure 4 is the current transformer.
作为本实施例一种可选的实现方式，闭环电路还包括继电器电路，所述继电器电路包括常开触点，在摆锯未进入工作状态时，常开触点保持常开状态，不对摆锯供电。As an optional implementation of this embodiment, the closed-loop circuit also includes a relay circuit. The relay circuit includes a normally open contact. When the oscillating saw does not enter the working state, the normally open contact remains in a normally open state. powered by.
在本可选的实现方式中，闭环电路中包含两路中间继电器，将所述的电源线接入继电器的常开触点(图2中的2)，即在非工作状态，摆锯处于断电状态，保证其不会出现安全隐患。In this optional implementation, the closed-loop circuit contains two intermediate relays, and the power cord is connected to the normally open contact of the relay (2 in Figure 2), that is, in the non-working state, the oscillating saw is off. power status to ensure that there will be no safety hazards.
作为本实施例一种可选的实现方式，继电器电路接收预设的控制模组的闭合动作指令，以使继电器电路闭合，摆锯上电。As an optional implementation method of this embodiment, the relay circuit receives a preset closing action instruction of the control module, so that the relay circuit is closed and the oscillating saw is powered on.
在本可选的实现方式中，摆锯在未进入切削步骤时，工控机不发送继电器动作命令，继电器处于断开状态，摆锯处于断电状态；当摆锯进入到工作状态时，工控机发出指令，继电器吸合，从而使摆锯上电，进行正常的截骨操作。摆锯在未执行到切削步骤时，通过断开摆锯供电，避免误操作造成患者不必要的伤害。In this optional implementation, when the oscillating saw does not enter the cutting step, the industrial computer does not send a relay action command, the relay is in a disconnected state, and the oscillating saw is in a power-off state; when the oscillating saw enters the working state, the industrial computer When a command is issued, the relay is closed, thereby powering on the oscillating saw and performing normal osteotomy operations. When the oscillating saw does not perform the cutting step, the power supply of the oscillating saw is cut off to avoid unnecessary injuries to the patient caused by misoperation.
本申请实施例提供了一种电子设备，如图5所示，该电子设备包括一个或多个处理器51以及存储器52，图5中以一个处理器51为例。An embodiment of the present application provides an electronic device, as shown in FIG. 5 . The electronic device includes one or more processors 51 and a memory 52 . In FIG. 5 , one processor 51 is taken as an example.
该控制器还可以包括：输入装置53和输出装置54。The controller may also include: an input device 53 and an output device 54.
处理器51、存储器52、输入装置53和输出装置54可以通过总线或者其他方式连接，图5中以通过总线连接为例。The processor 51, the memory 52, the input device 53 and the output device 54 may be connected through a bus or other means. In Figure 5, connection through a bus is taken as an example.
处理器51可以为中央处理器(Central Processing Unit，CPU)。处理器51还可以为其他通用处理器、数字信号处理器(DigitalSignalProcessor，DSP)、专用集成电路(ApplicationSpecificIntegratedCircuit，ASIC)、现场可编程门阵列(Field-ProgrammableGateArray，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等芯片，或者上述各类芯片的组合。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。The processor 51 may be a central processing unit (Central Processing Unit, CPU). The processor 51 can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete Chips such as gate or transistor logic devices, discrete hardware components, or combinations of these types of chips. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
存储器52作为一种非暂态计算机可读存储介质，可用于存储非暂态软件程序、非暂态计算机可执行程序以及模块，如本申请实施例中的控制方法对应的程序指令/模块。处理器51通过运行存储在存储器52中的非暂态软件程序、指令以及模块，从而执行服务器的各种功能应用以及数据处理，即实现上述方法实施例的方法。As a non-transitory computer-readable storage medium, the memory 52 can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions/modules corresponding to the control methods in the embodiments of the present application. The processor 51 executes various functional applications and data processing of the server by running non-transitory software programs, instructions and modules stored in the memory 52, that is, the method of implementing the above method embodiments.
存储器52可以包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需要的应用程序；存储数据区可存储根据服务器操作的处理装置的使用所创建的数据等。此外，存储器52可以包括高速随机存取存储器，还可以包括非暂态存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态固态存储器件。在一些实施例中，存储器52可选包括相对于处理器51远程设置的存储器，这些远程存储器可以通过网络连接至网络连接装置。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The memory 52 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of a processing device operated by the server, etc. In addition, memory 52 may include high-speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 52 optionally includes memory located remotely relative to the processor 51 , and these remote memories may be connected to a network connection device through a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.
输入装置53可接收输入的数字或字符信息，以及产生与服务器的处理装置的用户设置以及功能控制有关的键信号输入。输出装置54可包括显示屏等显示设备。The input device 53 may receive input numeric or character information and generate key signal input related to user settings and function control of the server's processing device. The output device 54 may include a display device such as a display screen.
一个或者多个模块存储在存储器52中，当被一个或者多个处理器51执行时，执行如图1所示的方法。One or more modules are stored in the memory 52, and when executed by one or more processors 51, perform the method shown in Figure 1.
本领域技术人员可以理解，实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各电机控制方法的实施例的流程。其中，存储介质可为磁碟、光盘、只读存储记忆体 (Read-OnlyMemory，ROM)、随机存储记忆体(RandomAccessMemory，RAM)、快闪存储器(FlashMemory)、硬盘(HardDiskDrive，缩写：HDD)或固态硬盘(Solid-StateDrive，SSD)等；存储介质还可以包括上述种类的存储器的组合。Those skilled in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium, and the program can be executed when executed. When the method is used, it may include the processes of the embodiments of each motor control method mentioned above. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive, abbreviation: HDD) or Solid-State Drive (SSD), etc.; the storage medium may also include a combination of the above types of memories.
虽然结合附图描述了本申请的实施方式，但是本领域技术人员可以在不脱离本申请的精神和范围的情况下作出各种修改和变型，这样的修改和变型均落入由所附权利要求所限定的范围之内。Although the embodiments of the present application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present application. Such modifications and variations all fall within the scope of the appended claims. within the limited scope.

Claims (10)

  1. 一种用于手术机器人智能截骨***的监控方法，所述手术机器人上设置有摆锯，所述摆锯可在不同的摆频下运动，所述方法包括：A monitoring method for an intelligent osteotomy system of a surgical robot. The surgical robot is provided with an oscillating saw, and the oscillating saw can move at different swing frequencies. The method includes:
    当摆锯进入工作状态后，对摆锯直流供电过程中的供电电流进行采集，其中，随着摆锯的摆频的变化，所述直流供电过程中电压不变；When the oscillating saw enters the working state, the power supply current during the DC power supply process of the oscillating saw is collected. As the swing frequency of the oscillating saw changes, the voltage does not change during the DC power supply process;
    基于所述供电电流，确定控制信号；determining a control signal based on the supply current;
    基于所述控制信号控制所述摆锯的摆频。The oscillating frequency of the oscillating saw is controlled based on the control signal.
  2. 根据权利要求1所述的用于手术机器人智能截骨***的监控方法，其中，基于所述供电电流，确定控制信号，包括：The monitoring method for a surgical robot intelligent osteotomy system according to claim 1, wherein determining a control signal based on the power supply current includes:
    基于所述供电电流，确定所述摆锯在当前工作状态下的工作用的产热量；基于所述产热量和预设产热量阈值，确定控制信号；或，Based on the power supply current, determine the heat production for the operation of the oscillating saw in the current working state; determine a control signal based on the heat production and a preset heat production threshold; or,
    基于供电电流，确定所述摆锯的工作电流；基于所述工作电流和预设工作电流阈值，确定所述控制信号。The operating current of the oscillating saw is determined based on the supply current; the control signal is determined based on the operating current and a preset operating current threshold.
  3. 根据权利要求2所述的用于手术机器人智能截骨***的监控方法，其中，基于所述供电电流，确定控制信号，包括：The monitoring method for a surgical robot intelligent osteotomy system according to claim 2, wherein determining a control signal based on the power supply current includes:
    若所述工作电流大于或等于预设工作电流阈值，则确定所述控制信号为用于降低摆锯摆幅的控制信号；若所述工作电流小于预设工作电流阈值，则确定所述控制信号为用于保持摆锯摆幅不变的控制信号；或，If the working current is greater than or equal to the preset working current threshold, it is determined that the control signal is a control signal for reducing the swing amplitude of the oscillating saw; if the working current is less than the preset working current threshold, then the control signal is determined is the control signal used to keep the swing amplitude of the oscillating saw unchanged; or,
    若所述产热量大于或等于预设产热量阈值，则确定所述控制信号为用于降低摆锯的摆幅的控制信号；若所述产热量小于预设产热量阈值，则确定所述控制信号为用于保持摆锯摆幅不变的控制信号。If the heat production is greater than or equal to the preset heat production threshold, it is determined that the control signal is a control signal for reducing the swing amplitude of the oscillating saw; if the heat production is less than the preset heat production threshold, it is determined that the control signal is used to reduce the swing amplitude of the oscillating saw. The signal is a control signal used to keep the swing amplitude of the oscillating saw unchanged.
  4. 根据权利要求1所述的用于手术机器人智能截骨***的监控方法，其中，所述方法还包括：The monitoring method for a surgical robot intelligent osteotomy system according to claim 1, wherein the method further includes:
    确定所述供电电流不为零时的时长；Determine the duration during which the supply current is not zero;
    将所述时长与预设的临床信息对应存储。The duration is stored in correspondence with preset clinical information.
  5. 根据权利要求2所述的用于手术机器人智能截骨***的监控方法，其中，The monitoring method for a surgical robot intelligent osteotomy system according to claim 2, wherein,
    不同型号的摆锯，产热量阈值或预设工作电流阈值不同；或，Different models of oscillating saws have different heat generation thresholds or preset operating current thresholds; or,
    摆锯所作用的不同的手术部位，产热量阈值或预设工作电流阈值不同。Different surgical sites used by the oscillating saw have different heat production thresholds or preset operating current thresholds.
  6. 一种用于手术机器人智能截骨***的监控装置，所述手术机器人上设 置有摆锯，所述摆锯可在不同的摆频下运动，所述装置包括：A monitoring device for an intelligent osteotomy system of a surgical robot. The surgical robot is equipped with an oscillating saw. The oscillating saw can move at different swing frequencies. The device includes:
    电流采集单元，被配置成当摆锯进入工作状态后，对摆锯直流供电过程中的供电电流进行采集，其中，随着摆锯的摆频的变化，所述直流供电过程中电压不变；The current acquisition unit is configured to collect the power supply current during the DC power supply process of the oscillating saw after the oscillating saw enters the working state, wherein the voltage does not change during the DC power supply process as the swing frequency of the oscillating saw changes;
    确定单元，被配置成基于采集的电流，确定摆锯的工作电流，其中，基于工作电流的变化，确定控制信号，以通过控制信号控制所述摆锯的摆频。The determining unit is configured to determine the operating current of the oscillating saw based on the collected current, wherein a control signal is determined based on changes in the operating current to control the oscillating frequency of the oscillating saw through the control signal.
  7. 一种用于手术机器人智能截骨***的监控电路，所述手术机器人上设置有摆锯，所述摆锯可在不同的摆频下运动，所述电路包括：依次连接的电流转换模块、电流变送模块和闭环电路；A monitoring circuit for an intelligent osteotomy system of a surgical robot. The surgical robot is provided with an oscillating saw. The oscillating saw can move at different swing frequencies. The circuit includes: a current conversion module, a current conversion module, and a current conversion module connected in sequence. Transmission module and closed-loop circuit;
    其中，电流转换模块，将交流电流转换为直流电流，以通过直流电流对摆锯进行供电，其中，随着摆锯的摆频的变化，所述直流供电过程中电压不变；Wherein, the current conversion module converts AC current into DC current to power the oscillating saw through the DC current, wherein, as the oscillating frequency of the oscillating saw changes, the voltage does not change during the DC power supply process;
    电流变送模块，对直流电流进行转数值转换并恒流输出；The current transmission module converts DC current into numerical value and outputs constant current;
    闭环电路，接收电流变送模块输出的恒流电流，并将该恒流电流的信息发送至预设的控制模组，以使预设的控制模组基于所述信息确定所述摆锯在当前工作状态下的工作用的产热量。The closed-loop circuit receives the constant current output by the current transmission module, and sends the constant current information to the preset control module, so that the preset control module determines the current state of the oscillating saw based on the information. The amount of heat produced for work under working conditions.
  8. 根据权利要求7所述的用于手术机器人智能截骨***的监控电路，其中，所述闭环电路还包括继电器电路，所述继电器电路包括常开触点，在摆锯未进入工作状态时，常开触点保持常开状态，不对摆锯供电。The monitoring circuit for a surgical robot intelligent osteotomy system according to claim 7, wherein the closed-loop circuit further includes a relay circuit, the relay circuit includes a normally open contact, and when the oscillating saw does not enter the working state, the The open contact remains open and no power is supplied to the oscillating saw.
  9. 根据权利要求8所述的用于手术机器人智能截骨***的监控电路，其中，所述继电器电路接收预设的控制模组的闭合动作指令，以使继电器电路闭合，摆锯上电。The monitoring circuit for a surgical robot intelligent osteotomy system according to claim 8, wherein the relay circuit receives a preset closing action instruction of the control module to close the relay circuit and power on the oscillating saw.
  10. 一种电子设备，包括：至少一个处理器；以及与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的计算机程序，所述计算机程序被所述至少一个处理器执行，以使所述至少一个处理器执行权利要求1-5任意一项所述的用于手术机器人智能截骨***的监控方法。An electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program that can be executed by the at least one processor, and the computer program is The at least one processor executes, so that the at least one processor executes the monitoring method for a surgical robot intelligent osteotomy system described in any one of claims 1-5.
PCT/CN2023/071146 2022-04-15 2023-01-08 Monitoring method and device for intelligent osteotomy system of surgical robot WO2023197704A1 (en)

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