WO2023197704A1 - Procédé et dispositif de surveillance pour un système d'ostéotomie intelligent d'un robot chirurgical - Google Patents

Procédé et dispositif de surveillance pour un système d'ostéotomie intelligent d'un robot chirurgical 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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WO
WIPO (PCT)
Prior art keywords
current
oscillating saw
control signal
oscillating
power supply
Prior art date
Application number
PCT/CN2023/071146
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English (en)
Chinese (zh)
Inventor
张逸凌
刘星宇
Original Assignee
北京长木谷医疗科技有限公司
张逸凌
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Application filed by 北京长木谷医疗科技有限公司, 张逸凌 filed Critical 北京长木谷医疗科技有限公司
Publication of WO2023197704A1 publication Critical patent/WO2023197704A1/fr

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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

La présente invention concerne un procédé et un dispositif de surveillance pour un système d'ostéotomie intelligent d'un robot chirurgical. Une scie oscillante est disposée sur le robot chirurgical, et la scie oscillante peut se déplacer à différentes fréquences d'oscillation. Le procédé consiste à : après que la scie oscillante entre dans un état de travail, acquérir un courant d'alimentation électrique dans un processus d'alimentation électrique à courant continu de la scie oscillante, la tension dans le processus d'alimentation électrique à courant continu étant inchangée conjointement avec le changement de la fréquence d'oscillation de la scie oscillante (101) ; sur la base du courant d'alimentation électrique, déterminer un signal de commande (102) ; et, sur la base du signal de commande, commander la fréquence d'oscillation de la scie oscillante (103). Un circuit d'alimentation électrique à courant continu est utilisé pour déterminer un courant de travail de la scie oscillante, et, sur la base du courant de travail, l'état de mouvement de la scie oscillante peut être surveillé, ce qui améliore la capacité de commande des interventions chirurgicales, de telle sorte que le taux de réussite de la chirurgie est garanti, et les problèmes techniques de l'état antérieur de la technique selon lesquels la sécurité et le taux de réussite de la chirurgie robotisée ne peuvent pas être garantis, sont résolus.
PCT/CN2023/071146 2022-04-15 2023-01-08 Procédé et dispositif de surveillance pour un système d'ostéotomie intelligent d'un robot chirurgical WO2023197704A1 (fr)

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CN114831735B (zh) * 2022-04-15 2023-03-28 北京长木谷医疗科技有限公司 用于手术机器人智能截骨***的监控方法及装置

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