CN115486940A

CN115486940A - Intelligent power control method, device and system for orthopedic surgery robot

Info

Publication number: CN115486940A
Application number: CN202211057488.2A
Authority: CN
Inventors: 张逸凌; 刘星宇
Original assignee: Longwood Valley Medtech Co Ltd
Current assignee: Longwood Valley Medtech Co Ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2022-12-20

Abstract

The invention provides an intelligent power control method, device and system for an orthopedic surgery robot. The control method comprises the following steps: determining bone cutting parameters according to the CT image of the bone, and determining bone parameters according to the bone image of the bone; determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters; and controlling the tail end power device to execute preoperative osteotomy test according to the control parameters of the tail end power device. The embodiment of the invention is used for solving the defect that the robot cannot be effectively controlled to cut bones in the prior art.

Description

Intelligent power control method, device and system for orthopedic surgery robot

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent power control method, device and system for an orthopedic surgery robot.

Background

The surgical robot is a complex integrating a plurality of modern high-tech means, has wide application and a large number of applications in clinic, and is widely used as an intelligent assistant with the vigorous development of medical robot technology. The knee joint replacement by the operation robot is a new technology for treating knee joint diseases which is gradually developed in modern times, can effectively eradicate late knee joint pains, greatly improves the life quality of patients, is popular in developed countries, and is at the rapid development stage in China at present.

In the knee joint replacement operation, the key step is to use a swing saw to cut the original bad bone to install the corresponding prosthesis, and in the cutting process, the doctor can continuously change the angle to perform the data swinging operation according to the actual cutting degree and the prompt of AI (Artificial Intelligence) planning software to achieve the optimal cutting effect. Bones come in different shapes and sizes. Hard compact bone is on the outside, and porous cancellous bone is also called spongy bone. Therefore, in the actual cutting process, the torque of the pendulum changes constantly, and the torque and the current are in a direct proportional relation, which means that the current changes constantly, and when a hard compact bone is encountered, a large current needs to be output at a control end to meet the use requirement, so that the torque and the current change are in a passive state in the whole bone cutting process, and the robot control cannot be effectively realized.

Disclosure of Invention

The invention provides an intelligent power control method, device and system for an orthopedic surgery robot, which are used for overcoming the defect that the control of the robot for performing surgery cannot be effectively realized in the prior art.

The invention provides an intelligent power control method for an orthopedic surgery robot, which comprises the following steps:

determining bone cutting parameters according to the CT image of the bone, and determining bone parameters according to the bone image of the bone;

determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters;

and controlling the tail end power device to execute preoperative osteotomy test according to the control parameters of the tail end power device.

The invention also provides an intelligent power control device of the orthopedic surgery robot, which comprises:

the first determining module is used for determining bone cutting parameters according to the CT image of the bone and determining bone parameters according to the bone image of the bone;

the second determination module is used for determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters;

and the testing module is used for controlling the tail end power device to execute preoperative osteotomy test according to the control parameters of the tail end power device.

The invention also provides an intelligent power control system of the orthopedic surgery robot, which comprises an image analysis system and a mechanical arm trolley control system;

the image analysis system is used for determining bone cutting parameters according to the CT image of the bone and determining bone parameters according to the bone image of the bone;

the mechanical arm trolley control system is used for determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters; and controlling the tail end power device to execute preoperative osteotomy test according to the control parameters of the tail end power device.

The invention also provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the step of intelligent power control of the orthopaedic surgical robot.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of intelligent power control of an orthopaedic surgical robot.

The invention also provides a computer program product comprising a computer program which when executed by a processor implements the steps of the intelligent power control of the orthopaedic surgical robot.

According to the intelligent power control method, device and system for the orthopedic surgery robot, the control parameters of the tail end power device are determined according to the bone cutting parameters determined by the CT image and the bone parameters determined by the bone image, and the tail end power device is controlled to execute the preoperative bone cutting test according to the control parameters of the tail end power device. Therefore, according to the embodiment of the invention, control parameters with different sizes are output to drive the tail end power device to cut bones according to the CT image and the bone image, and the precisely controlled bone cutting process is realized.

Drawings

In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of an orthopedic robot end power device provided by the invention;

FIG. 2 is a schematic flow chart of an intelligent power control method for an orthopaedic surgical robot according to the present invention;

fig. 3 is a second schematic structural view of the orthopedic robot end power device provided in the present invention;

FIG. 4 is a third schematic structural diagram of an orthopedic robot end power device provided by the present invention;

FIG. 5 is a fourth schematic structural diagram of an orthopedic robot end power device provided by the present invention;

FIG. 6 is a second flowchart of the intelligent power control method for an orthopedic surgical robot according to the present invention;

FIG. 7 is a third flowchart illustrating the intelligent power control method for an orthopedic surgical robot according to the present invention;

FIG. 8 is a schematic diagram showing the comparison of output currents of the orthopedic robot end power device before and after the orthopedic robot intelligent power control method according to the embodiment of the invention is used;

FIG. 9 is a schematic structural diagram of an intelligent power control device of an orthopedic surgery robot provided by the invention;

fig. 10 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

An orthopedic robotic end effector 100 of the present invention is described below in conjunction with fig. 1, comprising: a robotic arm 10, a bone cutting member 20, and a processor.

The robot arm 10, the robot arm 10 of the present embodiment may be a robot arm for a precision control automated surgery used in various medical fields.

A bone-cutting member 20; and the cutting device is arranged on the mechanical arm 10 and is used for cutting the affected part of the target object under the driving action of the mechanical arm 10. Specifically, the bone cutting member 20 is provided at the end of the robotic arm 10 near the "palm". In other words, the bone cutting member 20 is provided at an end portion of the robot arm 10 near the patient side, so as to cut the affected part of the target object by the driving of the robot arm 10. The affected part of the target object may be various body parts of the patient. In an embodiment of the present invention, the affected part of the target object may refer to a knee joint of the patient.

The bone cutting member 20 may be any member that can cut or incise the knee joint of the patient. For example, in one embodiment, bone cutting member 20 may be an oscillating saw for medical use.

The processor is used for determining bone cutting parameters according to the CT image of the bone and determining bone parameters according to the bone image of the bone; determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters; and controlling the tail end power device to perform preoperative osteotomy test according to the control parameters of the tail end power device, namely controlling the mechanical arm 10 to operate the osteotomy piece 20 to perform preoperative osteotomy test.

Referring to fig. 2, the intelligent power control method for the orthopaedic surgical robot includes:

step 100, determining bone cutting parameters according to a CT image of a bone, and determining bone parameters according to a bone image of the bone;

in the embodiment of the invention, before the operation is performed, the control processor acquires the CT image and the bone image of the affected part of the patient, analyzes the CT image and the bone image, determines the bone cutting parameter according to the CT image of the bone, and determines the bone parameter according to the bone image of the bone.

Specifically, the bone cutting parameters may include a bone cutting position, a bone cutting depth, and a bone cutting angle of the affected part of the patient's bone. The bone parameters include bone density distribution of the bone. For example, the density distribution of bones is different at different positions of the bone, hard compact bone is outside, and porous spongy bone is also called spongy bone.

And 200, determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters.

And determining the control parameters of the tail end power device of the orthopaedic robot according to the bone cutting parameters and the bone parameters. The control parameters comprise the swing frequency, the current and the voltage of the bone cutting of the orthopedic robot tail end power device. I.e. the control parameters include the swing frequency, current, and voltage of the osteotomy member osteotomy.

Specifically, after the depth algorithm analysis of the bone cutting parameters, the bone cutting traces, the friction force and the cutting heat is carried out by the orthopedic robot tail end power device, parameters such as the swing frequency, the control voltage, the control current and the like required by cutting different bones at different positions in the bone cutting process of the bone cutting piece are obtained.

And step 300, controlling the tail end power device to execute preoperative osteotomy test according to the control parameters of the tail end power device.

Specifically, the end power device of the orthopedic robot controls the bone cutting part to perform preoperative bone cutting test according to parameters such as swing frequency, control voltage and control current required by cutting different bones at different positions.

According to the embodiment of the invention, the control parameter of the tail end power device is determined according to the bone cutting parameter determined by the CT image and the bone parameter determined by the bone image, and the tail end power device is controlled to execute the preoperative bone cutting test according to the control parameter of the tail end power device. Therefore, according to the embodiment of the invention, control parameters with different sizes are output to drive the tail end power device to cut bones according to the CT image and the bone image. Realizing the precisely controlled bone cutting process.

In other aspects of embodiments of the present invention, determining 100 bone cutting parameters from a CT image of a bone and determining bone parameters from a bone image of the bone comprises:

step 110, determining the bone cutting position, the bone cutting depth and the bone cutting angle of the bone according to the CT image;

and planning the bone cutting position, the bone cutting depth and the bone cutting angle for cutting the bone of the patient in advance by the orthopedic robot tail end power device according to the CT image. Facilitating determination of control parameters of the end power-plant.

And 120, determining the bone density distribution of the bone according to the bone image.

And determining the bone density distribution of the bone by the orthopedic robot tail end power device according to the bone image. Such as bone density profiles corresponding to different bone cutting depths, or bone density profiles corresponding to different bone cutting angles.

And determining the bone cutting position, the bone cutting depth and the bone cutting angle of the bone according to the CT image, and determining the bone density distribution of the bone according to the bone image, so that the control parameters of the tail end power device can be determined conveniently according to the bone cutting position, the bone cutting depth, the bone cutting angle and the bone density distribution of the bone. So that the subsequent orthopedic robot tail end power device executes preoperative osteotomy test according to the control parameters, and precise control of osteotomy is realized.

In other aspects of embodiments of the present invention, determining 200 a control parameter of the tip power device based on the bone cutting parameter and the bone parameter comprises:

step 210, determining bone density distribution corresponding to different bone cutting depths of the bone cutting positions according to the bone cutting positions, the bone cutting depths and the bone density distribution of the bones.

And determining the bone density distribution corresponding to different bone cutting depths of the bone cutting position by the orthopedic robot tail end power device according to the bone cutting position, the bone cutting depth and the bone density distribution of the bone. For example, the depth of the cut bone at a certain bone cutting position of the affected part of the patient is 3mm. With a bone cut depth of 3mm possibly subdivided into 1mm hard compact bone on the outside and 2mm soft cancellous bone on the inside.

Step 220, determining bone density distribution corresponding to different bone cutting angles of the bone cutting positions according to the bone cutting positions, the bone cutting angles and the bone density distribution of the bones.

And determining the bone density distribution corresponding to different bone cutting angles of the bone cutting position by the orthopedic robot tail end power device according to the bone cutting position, the bone cutting angle and the bone density distribution of the bone. For example, the bone cutting angle at a certain bone cutting position of the affected part of the patient is 45 degrees from the vertical direction and 60 degrees from the vertical direction. 45 degrees relative to the vertical direction corresponds to hard compact bone, and 60 degrees relative to the vertical direction corresponds to soft cancellous bone.

And step 230, determining different control parameters of the terminal power device in the bone density distribution corresponding to different bone cutting depths according to the bone density distribution corresponding to the different bone cutting depths of the bone cutting position.

And determining different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting depths according to the bone density distribution of the bone cutting positions corresponding to the different bone cutting depths.

The bone density distribution is different due to different bone cutting depths. Therefore, the control parameters corresponding to different bone densities are correspondingly different. For example, the depth of the cut bone at a certain bone cutting position of the affected part of the patient is 3mm. With a 3mm bone cut depth possibly subdivided into 1mm hard compact bone on the outside and 2mm soft cancellous bone on the inside. Because compact bone needs a larger torque to cut or cut than cancellous bone, and the torque is proportional to the output current and voltage of the processor, the current and voltage of the 1mm hard compact bone of the affected part of the patient cut by the bone cutting member 20 driven by the power device at the end of the orthopedic robot 10 are larger than the current and voltage of the 2mm soft cancellous bone of the affected part of the patient cut. Therefore, different control parameters of the terminal power device in the bone density distribution corresponding to different bone cutting depths are determined according to the bone density distribution corresponding to the different bone cutting depths of the bone cutting position.

And 240, determining different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting angles according to the bone density distribution corresponding to different bone cutting angles of the bone cutting position.

And determining different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting angles according to the bone density distribution of the bone cutting positions corresponding to different bone cutting angles.

The bone density distribution is different due to different bone cutting angles. Therefore, the control parameters corresponding to different bone densities are correspondingly different. For example, a certain bone cutting position of the affected part of the patient is at 45 degrees to the vertical direction. The osteotomy angle corresponds to a distribution of bone density as hard cortical bone. The bone cutting position of the affected part of the patient is 60 degrees with the vertical direction. The bone cutting angle corresponds to cancellous bone with a soft bone density distribution. Because compact bone needs a larger torque to cut or cut than cancellous bone, and because the torque is proportional to the output current and voltage of the processor, the current and voltage of the bone cutting position of 45 degrees with the vertical direction, at which the bone cutting member 20 on the mechanical arm 10 cuts the affected part of the patient, driven by the power device at the end of the orthopedic robot is greater than the current and voltage of the bone cutting position of 60 degrees with the vertical direction, at which the affected part of the patient is cut. Therefore, different control parameters of the terminal power device in the bone density distribution corresponding to different bone cutting angles can be determined according to the bone density distribution corresponding to different bone cutting angles of the bone cutting position.

And determining different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting depths according to the bone density distribution corresponding to the different bone cutting depths of the bone cutting position. Or determining different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting angles according to the bone density distribution corresponding to different bone cutting angles of the bone cutting position. So that the subsequent orthopedic robot tail end power device executes preoperative osteotomy test according to the control parameters, and precise control of osteotomy is realized.

In another aspect of the embodiment of the present invention, in step 230, the determining different control parameters of the bone density distribution of the terminal power device at different bone cutting depths according to the bone density distribution corresponding to the different bone cutting depths at the bone cutting position specifically includes:

and according to the bone density distribution corresponding to different bone cutting depths of the bone cutting position, inquiring the swing frequency, the current and the voltage corresponding to each bone density from a mapping table of the bone density and the control parameter, and taking the swing frequency, the current and the voltage corresponding to each bone density as different control parameters of the bone density distribution corresponding to different bone cutting depths of the tail end power device.

Specifically, in the embodiment of the present invention, a mapping table of bone density and control parameters is set, so as to establish a mapping relationship of control parameters corresponding to different bone densities. For example, bone density a corresponds to swing frequency a1, current a2, and voltage a3; the bone density b corresponds to the swing frequency b1, the current b2, and the voltage b3. Through setting up the mapping table of bone density and control parameter, can confirm the swing frequency, electric current and the voltage that the different osteotomy degree of depth of osteotomy position corresponds fast simply to swing frequency, electric current and the voltage that each bone density corresponds are regarded as fast simply terminal power device is at the different control parameter of the bone density distribution that different osteotomy degree of depth correspond, so that follow-up orthopedics robot terminal power device carries out the osteotomy test before the art according to the control parameter, realizes accurate control osteotomy, improves osteotomy efficiency.

In another aspect of the embodiment of the present invention, the step 240 of determining different control parameters of the bone density distribution of the distal end power device at different bone cutting angles according to the bone density distribution corresponding to the different bone cutting angles at the bone cutting position includes:

and according to the bone density distribution corresponding to different bone cutting angles of the bone cutting position, inquiring the swing frequency, the current and the voltage corresponding to each bone density from a mapping table of the bone density and the control parameter, and taking the swing frequency, the current and the voltage corresponding to each bone density as different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting angles.

Specifically, in the embodiment of the present invention, a mapping table of bone density and control parameters is set, so as to establish a mapping relationship of control parameters corresponding to different bone densities. For example, bone density a corresponds to swing frequency a1, current a2, and voltage a3; the bone density b corresponds to the swing frequency b1, the current b2, and the voltage b3. Through setting a mapping table of bone mineral density and control parameters, the swing frequency, the current and the voltage corresponding to different bone cutting angles of a bone cutting position can be quickly and simply determined, so that the swing frequency, the current and the voltage corresponding to each bone mineral density can be quickly and simply used as different control parameters of bone mineral density distribution of the tail end power device corresponding to different bone cutting angles, a bone cutting test can be performed by the tail end power device of a subsequent orthopedic robot before operation according to the control parameters, precise control of bone cutting is realized, and the bone cutting efficiency is improved.

Referring to fig. 3, the orthopedic robot distal end power device further includes a displacement detector 30, and the displacement detector 30 is disposed on the bone-cutting member 20 and is used for detecting displacement information of the bone-cutting member 20. The displacement information of the bone-cutting member 20 is detected by the displacement detector 30, thereby obtaining the control parameters of the bone-cutting member 20. The processor can adjust the bone cutting process of the bone cutting piece 20 on the mechanical arm 10 in real time according to the control parameters. The displacement detector 30 may use various sensors capable of detecting displacement information of the bone-cutting member 20. For example, referring to fig. 3, the displacement detector 30 includes a tracker 31 communicatively coupled to the processor, and an infrared light emitter 32 disposed on the osteotomy member 20. A tracker 31 tracks the infrared light of an infrared light emitter 32 on the osteotomy member 20. Alternatively, referring to fig. 4, the displacement detector 30 includes a shake sensor 33 disposed on the bone cutting member 20 and electrically connected to the processor. The oscillation sensor 33 detects oscillation of the bone-cutting member 20. Alternatively, referring to fig. 5, the displacement detector 30 includes a vibration sensor 34 disposed on the bone-cutting member 20 and electrically connected to the processor. The vibration sensor 34 shakes the sensor 33 to detect the swing of the bone-cutting member 20.

And the processor is arranged on the mechanical arm 10, is electrically connected with the displacement detector 30, and is used for adjusting and driving the output current, the voltage and the wobble frequency of the affected part of the bone cutting member 20 on the mechanical arm 10 for cutting the target object according to the displacement information. Specifically, the processor is arranged in the mechanical arm 10 and used for adjusting and driving the output current, the voltage and the swing frequency of the affected part of the bone cutting member 20 for cutting the target object on the mechanical arm 10 according to the detected displacement information of the displacement detector 30 in real time, namely, the output current, the voltage and the swing frequency of the affected part of the bone cutting member 20 for cutting the target object on the mechanical arm 10 are adjusted and driven according to the control parameters of the bone cutting member 20, so that the bone cutting action of the bone cutting member 20 is compensated or corrected in time, the power output stability is ensured, and the smooth completion of the operation is ensured. In the embodiment of the invention, the displacement detector 30 and the processor are matched to realize closed-loop control of the output current, so that the phenomenon that the output current of the bone cutting part 20 (namely the pendulum saw) is unstable due to direct control of the switching power supply, so that the current is fluctuated and finally burnt out is avoided.

In the embodiment of the present invention, the displacement detector 30 disposed on the bone-cutting member 20 is used to detect the displacement information of the bone-cutting member 20; and then acquiring control parameters of the bone cutting member 20 in the operation process, and adjusting and driving the output current, the voltage and the wobble frequency of the affected part of the target object cut by the bone cutting member 20 on the mechanical arm 10 according to the displacement information by a processor. Therefore, the embodiment of the present invention realizes real-time feedback of the control parameters of the bone cutting member 20 by the displacement detector 30, adjusts and drives the output current, the voltage and the swing frequency of the affected part of the target object cut by the bone cutting member 20 on the mechanical arm 10 according to the control parameters of the bone cutting member 20, compensates or corrects the bone cutting of the bone cutting member 20 in time, and realizes control of the orthopedic robot end power device 100 to stably output the current, the voltage and the swing frequency for surgery.

Specifically, in one embodiment, referring to fig. 3, the displacement detector 30 of the present embodiment includes a tracker 31 communicatively connected to the processor, and an infrared emitter 32 disposed on the bone-cutting member 20; the tracker 31 is used for tracking the infrared light emitted by the infrared light emitter 32 and calculating the three-dimensional coordinates of the infrared light emitter 32; the processor is used for adjusting and driving the output current and voltage of the bone cutting member 20 on the mechanical arm 10 to cut the affected part of the target object according to the swing frequency of the bone cutting member 20 calculated according to the change value of the three-dimensional coordinate.

Specifically, the tracker 31 of the embodiment of the present invention may be based on the principle of an NDI positioning navigation system, and utilize a linear CCD lens calibrated accurately by an NDI company to form a tracker 31, and capture near infrared light actively emitted from a saw calibration point from different angles through the linear CCD lens, and through accurate calculation and analysis of software provided by the NDI company, three-dimensional space coordinates of each saw calibration point at different times may be obtained accurately in real time, so as to obtain real-time accurate coordinates of the saw, and thus, the vibration frequency of the saw in the saw may be calculated.

For example, the processor controls the output current to control the oscillating saw on the mechanical arm 10 to oscillate to cut the affected part of the patient, and the identification point of the infrared emitter 32 on the oscillating saw emits infrared rays. The infrared rays are tracked and detected by a tracker 31 (a linear array CCD lens), the tracker 31 measures the identification points, the change of the positions and the directions of the identification points is calculated, and the tracker 31 is controlled by system software to input the converted data and the standard of information into ToolBox software. The ToolBox software can be used for acquiring the displacement information of the identification point of the oscillating saw. And adjusting and driving the output current and voltage of the bone cutting member 20 on the mechanical arm 10 to cut the affected part of the target object according to the displacement information through a processor. According to an illustration: for example, when the three-dimensional coordinates of Tx, ty, and Tz of the current oscillating saw reciprocate between 100 to 120, the oscillating times of the oscillating saw in the directions of Tx, ty, and Tz can be obtained, and the oscillating times within a unit time (e.g., 1 min) can be calculated, i.e., the oscillating frequency can be calculated.

On the basis of obtaining the swing frequency by calculation, the swing frequency is in inverse proportion to the moment of the swing saw; the torque of the oscillating saw is proportional to the output current of the processor. By comparing the relationship between the swing frequency and the set swing frequency threshold, the control processor adjusts the output current and voltage for driving the saw on the mechanical arm 10 to cut the affected part.

For example, when the swing frequency is greater than a first set swing frequency threshold, which is an upper limit of the swing frequency, the control processor needs to adjust the output current and voltage for driving the bone cutting member 20 on the robot arm 10 to cut the affected part of the target object, which means that the torque of the swing saw is too small. Specifically, through an EtherCat communication mode of NDI corporation, the tracker 31 transmits displacement information to the processor, after the processor receives the displacement information, the processor calculates the swing frequency, adjusts and drives the output current and voltage of the saw cutting affected part on the mechanical arm 10 based on the swing frequency, and through a PID (Process Identification, which is translated into a Process identifier) adjusting link, the processor calculates by using a digital PID incremental algorithm, and finally completes a PID closed-loop control step, so as to realize the real-time feedback of control parameters of the bone cutting member 20 through the displacement detector 30, adjust and drive the output current and voltage of the bone cutting member 20 on the mechanical arm 10 to cut the affected part of the target object according to the control parameters of the bone cutting member 20, timely compensate or correct the bone cutting of the bone cutting member 20, and realize the control of the power device 100 at the end of the orthopaedic robot to stably output current for surgery.

Wherein, the tracker 31 and the processor are connected through EtherCAT bus communication. The communication speed can reach 100M/bits. Thereby controlling and driving the output current and voltage of the affected part of the bone cutting member 20 on the mechanical arm 10 to cut the target object more timely, and realizing controlling the distal end power device 100 of the orthopedic robot to stably and smoothly output the current and voltage for surgery.

In another embodiment of the present invention, referring to fig. 4, the displacement detector 30 includes a shake sensor 33 disposed on the bone-cutting member 20 and electrically connected to the processor; the shake sensor 33 is used for detecting the swing information of the bone cutting member 20; the processor is used for adjusting and driving the output current and voltage of the bone cutting member 20 on the mechanical arm 10 to cut the affected part of the target object according to the swing frequency of the bone cutting member 20 calculated by the swing information.

Specifically, the shake sensor 33 in the embodiment of the present invention may be a variety of sensors capable of detecting shake information or swing information of an object. The swing sensor 33 detects the swing information of the bone cutting member 20, the swing sensor 33 sends the real-time swing information of the bone cutting member 20 to the processor, and the processor calculates the swing frequency of the bone cutting member 20 according to the swing information in unit time.

For example, the oscillation frequency of the osteotomy member 20 is calculated based on the number of oscillations of the oscillation sensor 33 within 1 minute. On the basis of calculating and obtaining the swing frequency, the swing frequency is inversely proportional to the moment of the swing saw; the torque of the oscillating saw is in direct proportion to the output current and voltage of the processor. By comparing the relationship between the swing frequency and the set swing frequency threshold, the control processor adjusts the output current and voltage of the saw on the driving mechanical arm 10 for cutting the affected part. After the processor receives the swing information, the swing frequency is calculated, the output current and voltage of the saw on the driving mechanical arm 10 for cutting the affected part are regulated and driven based on the swing frequency, the processor utilizes a digital PID incremental algorithm to calculate through a PID (proportional integral derivative) regulation link, and finally the closed-loop control step of PID is completed, so that the control parameters of the bone cutting member 20 fed back by the displacement detector 30 in real time are realized, the output current and voltage of the affected part of the target object cut by the bone cutting member 20 on the driving mechanical arm 10 are regulated according to the control parameters of the bone cutting member 20, the bone cutting of the bone cutting member 20 is compensated or corrected in time, and the end power device 100 of the orthopedic robot is controlled to stably output the current and voltage for surgery.

Compared with the displacement detector 30 consisting of the tracker 31 and the infrared light emitter 32 for detecting the displacement of the bone cutting member 20, the embodiment of the invention has the advantages that the components for detecting the displacement (swing information) of the bone cutting member 20 by the shake sensor 33 are simpler, and the cost is reduced.

In another aspect of the embodiment of the present invention, referring to fig. 5, the displacement detector 30 includes a vibration sensor 34 disposed on the bone-cutting member 20 and electrically connected to the processor; the vibration sensor 34 is used for detecting the swing information of the bone cutting member 20; the processor is used for adjusting and driving the output current and voltage of the bone cutting member 20 on the mechanical arm 10 to cut the affected part of the target object according to the swing frequency of the bone cutting member 20 calculated by the swing information.

Specifically, the vibration sensor 34 in the embodiment of the present invention may be implemented by various sensors capable of detecting vibration information or swing information of an object. The oscillation information of the osteotomy member 20 is detected by the oscillation sensor 34, the oscillation sensor 34 sends the real-time oscillation information of the osteotomy member 20 to the processor, and the processor calculates the oscillation frequency of the osteotomy member 20 according to the oscillation information per unit time.

For example, the oscillation frequency of the osteotomy member 20 is calculated based on the number of oscillations of the vibration sensor 34 in 1 minute. The wobble frequency in this case can be understood as a vibration frequency. On the basis of obtaining the swing frequency by calculation, the swing frequency is in inverse proportion to the moment of the swing saw; the torque of the oscillating saw is in direct proportion to the output current and voltage of the processor. By comparing the relationship between the swing frequency and the set swing frequency threshold, the control processor adjusts the output current and voltage of the saw on the driving mechanical arm 10 for cutting the affected part. After the processor receives the swing information, the swing frequency is calculated, the output current and voltage of the swing saw on the driving mechanical arm 10 for cutting the affected part are regulated and driven based on the swing frequency, the processor utilizes a digital PID incremental algorithm to calculate through a PID (proportional integral derivative) regulation link, finally, the closed-loop control step of PID is completed, the control parameter of the bone cutting member 20 fed back in real time through the displacement detector 30 is realized, the output current and voltage of the affected part of the bone cutting member 20 on the driving mechanical arm 10 for cutting the target object are adjusted according to the control parameter of the bone cutting member 20, the bone cutting of the bone cutting member 20 is compensated or corrected in time, and the end power device 100 of the orthopedic robot is controlled to stably output the current and the voltage for performing the operation.

Also, the embodiment of the present invention uses simpler components and reduces costs for detecting the displacement (oscillation information) of the bone-cutting member 20 using the vibration sensor 34, as compared to using the tracker 31 and the infrared light emitter 32 constituting the displacement detector 30 for detecting the displacement of the bone-cutting member 20.

Detecting displacement information of the bone-cutting member 20 by a displacement detector 30 provided on the bone-cutting member 20; and then control parameters of the bone cutting member 20 in the operation process are obtained, and the processor adjusts and drives the output current and voltage of the affected part of the target object cut by the bone cutting member 20 on the mechanical arm 10 according to the displacement information. Therefore, the embodiment of the present invention realizes real-time feedback of the control parameters of the bone-cutting member 20 by the displacement detector 30, adjusts and drives the output current and voltage of the affected part of the target object cut by the bone-cutting member 20 on the mechanical arm 10 according to the control parameters of the bone-cutting member 20, compensates or corrects the bone-cutting of the bone-cutting member 20 in time, and realizes control of the distal end power device 100 of the orthopaedic robot to stably output the current and voltage for surgery. Through the change of real-time output current of displacement detector 30 and the cooperation control of treater, make the drive on the arm 10 cut the output current of bone part 20 excision target object's affected part, voltage more stable, the condition of sudden change can not appear, avoids leading to the pendulum saw to damage.

Based on the structure of the orthopedic robot end power device 100, referring to fig. 6, the method for controlling the intelligent power of the orthopedic surgical robot according to the embodiment of the present invention includes:

step 400, acquiring displacement information of the tail end power device in real time;

the control processor outputs current to drive the bone cutting piece 20 on the mechanical arm 10 to cut the affected part of the target object. And then controls the displacement detector 30 to detect the displacement information of the osteotomy member 20. Among them, the displacement detector 30 may use various sensors capable of detecting displacement information of the bone cutting member 20. For example, the displacement detector 30 includes a tracker 31 communicatively connected to the processor, and an infrared light emitter 32 provided on the osteotomy member 20. The tracker 31 tracks the infrared light of the infrared light emitter 32 on the bone-cutting member 20 to enable detection of displacement information of the bone-cutting member 20. Alternatively, the displacement detector 30 includes a shake sensor 33 disposed on the bone-cutting member 20 and electrically connected to the processor. The wobble sensor 33 detects the wobble of the bone-cutting element 20 and thus detects the displacement information of the bone-cutting element 20. Alternatively, the displacement detector 30 includes a vibration sensor 34 disposed on the osteotomy member 20 and electrically connected to the processor. The vibration sensor 34 shakes the sensor 33 to detect the swing of the osteotomy member 20, thereby realizing the detection of the displacement information of the osteotomy member 20.

And 500, adjusting the control parameters of the tail end power device based on the displacement information.

By detecting displacement information of the osteotomy member 20; and then acquiring control parameters of the bone cutting member 20 in the operation process, and adjusting and driving the output current and voltage of the affected part of the target object cut by the bone cutting member 20 on the mechanical arm 10 according to the displacement information through a processor.

According to the embodiment of the invention, the displacement information of the tail end power device is obtained in real time, the control parameter of the tail end power device is adjusted based on the displacement information, the bone cutting of the bone is compensated or corrected in time, and the tail end power device is controlled to stably output current for surgery.

In other aspects of embodiments of the present invention, the adjusting 500 the control parameter of the end power device based on the displacement information comprises:

step 510, calculating the swing frequency of the tail end power device for bone cutting according to the change value of the displacement information within preset time;

in one embodiment, the displacement detector 30 includes a tracker 31 communicatively coupled to the processor, and an infrared light emitter 32 disposed on the bone-cutting member 20.

The tracker 31 of the embodiment of the invention can be based on the principle of an NDI positioning navigation system, utilizes a linear array CCD lens accurately calibrated by an NDI company to form the tracker 31, captures near infrared light actively emitted by a marking point of the oscillating saw from different angles through the linear array CCD lens, and can accurately obtain three-dimensional space coordinates of the marking point of each oscillating saw at different moments in real time through accurate calculation and analysis of software provided by the NDI company, thereby obtaining the real-time accurate coordinates of the oscillating saw and calculating the oscillating frequency of the oscillating saw.

For example, the processor controls the output current to control the oscillating saw on the mechanical arm 10 to oscillate to cut the affected part of the patient, and the identification point of the infrared emitter 32 on the oscillating saw emits infrared rays. The infrared rays are tracked and detected by a tracker 31 (a linear array CCD lens), the tracker 31 measures the identification points, the change of the positions and the directions of the identification points is calculated, and the tracker 31 is controlled by system software to input the converted data and the standard of information into ToolBox software. The ToolBox software can be used for acquiring the displacement information of the identification point of the oscillating saw. And adjusting the output current for driving the bone cutting member 20 on the mechanical arm 10 to cut the affected part of the target object according to the displacement information by a processor. According to an illustration: for example, when the three-dimensional coordinates of Tx, ty, and Tz of the current oscillating saw reciprocate between 100 to 120, the oscillating times of the oscillating saw in the directions of Tx, ty, and Tz can be obtained, and the oscillating times within a unit time (e.g., 1 min) can be calculated, i.e., the oscillating frequency can be calculated.

In another embodiment, the displacement detector 30 includes a wobble sensor 33 disposed on the bone-cutting element 20 and electrically connected to the processor.

In another embodiment, the displacement detector 30 includes a vibration sensor 34 disposed on the bone-cutting element 20 and electrically connected to the processor. Specifically, the vibration sensor 34 in the embodiment of the present invention may be implemented by various sensors capable of detecting vibration information or oscillation information of an object. The oscillation information of the osteotomy member 20 is detected by the oscillation sensor 34, the oscillation sensor 34 sends the real-time oscillation information of the osteotomy member 20 to the processor, and the processor calculates the oscillation frequency of the osteotomy member 20 according to the oscillation information per unit time.

And 520, adjusting the working current and the working voltage of the tail end power device according to the swing frequency.

On the basis of calculating and obtaining the swing frequency, the swing frequency is inversely proportional to the moment of the swing saw; the torque of the oscillating saw is in direct proportion to the output current and voltage of the processor. By comparing the relationship between the swing frequency and the set swing frequency threshold, the control processor adjusts the output current and voltage for driving the saw on the mechanical arm 10 to cut the affected part.

Specifically, according to the embodiment of the present invention, the output current and the voltage for driving the bone-cutting member 20 on the mechanical arm 10 to cut the affected part of the target object can be adjusted according to the swing frequency, the first set swing frequency threshold and the second set swing frequency threshold.

The intelligent power control method of the orthopedic surgery robot in the embodiment of the invention also comprises the following steps: and step 530, adjusting the control parameter of the tail end power device for bone cutting to increase when the swing frequency is larger than a first set swing frequency threshold value.

For example, when the swing frequency is greater than a first set swing frequency threshold, which is an upper limit of the swing frequency, the control processor needs to adjust the output current and voltage for driving the bone cutting member 20 on the robot arm 10 to cut the affected part of the target object, which means that the torque of the swing saw is too small. The processor adjusts the output current and voltage according to the swing frequency, timely compensates or corrects the bone cutting of the bone cutting part 20, and controls the orthopedic robot tail end power device 100 to stably output current for surgery. The phenomenon that the swinging saw is burnt out finally due to current fluctuation caused by unstable output of the swinging saw due to direct control of the switching power supply is avoided.

And 540, under the condition that the swing frequency is smaller than a second set swing frequency threshold value, adjusting a control parameter of the tail end power device for bone cutting to be reduced.

For example, when the swing frequency is smaller than a second set swing frequency threshold, which is a lower limit of the swing frequency, the control processor needs to adjust the output current and voltage for driving the bone cutting member 20 of the robot arm 10 to cut the affected part of the target object to decrease due to an excessively large moment of the swing saw. The processor adjusts the output current and voltage according to the swing frequency, timely compensates or corrects the bone cutting of the bone cutting part 20, and controls the orthopedic robot tail end power device 100 to stably output current for surgery. The phenomenon that the swinging saw is burnt out finally due to current fluctuation caused by unstable output of the swinging saw due to direct control of the switching power supply is avoided.

Referring to fig. 7, the method for controlling the intelligent power of the orthopaedic surgical robot according to the embodiment of the present invention further includes:

step 600, determining new bone cutting parameters according to the CT image of the new patient's bone, and determining new bone parameters according to the bone image of the new patient's bone;

and 700, controlling the tail end power device to directly call historical control parameters corresponding to the historical bone cutting parameters and the historical bone parameters to execute a bone cutting test under the condition that the new bone cutting parameters are the same as or similar to the historical bone cutting parameters and the new bone parameters are the same as or similar to the historical bone parameters.

The orthopedic robot end power device determines new bone cutting parameters according to the CT image of the new patient's bone and determines new bone parameters according to the bone image of the new patient's bone. And under the condition that the new bone cutting parameters are the same as or similar to the historical bone cutting parameters and the new bone parameters are the same as or similar to the historical bone parameters, the new bone cutting parameters and the new bone parameters of the new patient for bone cutting are explained to be the same as or similar to the historical bone cutting parameters and the historical bone parameters. And in order to improve the data processing efficiency, controlling the tail end power device to directly call historical control parameters corresponding to the historical bone cutting parameters and the historical bone parameters to execute a bone cutting test. Therefore, new control parameters do not need to be determined according to the new bone cutting parameters and the new bone parameters, and the data processing efficiency is improved.

Referring to fig. 8, fig. 8 shows a comparison of output currents of the orthopedic robot end power device before and after the orthopedic robot intelligent power control method according to the embodiment of the invention is used. Fig. 8 (a) shows the output current of the orthopedic robot end power device before the orthopedic surgical robot intelligent power control method of the embodiment of the invention is used; fig. 8 (b) shows the output current of the orthopaedic robot end power device after the orthopaedic robot intelligent power control method according to the embodiment of the present invention is used; therefore, the fluctuation of the output current of the orthopedic robot tail end power device is smaller and the output current is more stable after the orthopedic robot intelligent power control method provided by the embodiment of the invention is used. Therefore, in the embodiment of the invention, the displacement detector 30 and the processor are matched to control the change of the real-time output current, so that the output current for driving the bone cutting member 20 on the mechanical arm 10 to cut the affected part of the target object is more stable, the sudden change is avoided, and the damage to the swing saw is avoided.

The embodiment of the invention is implemented as follows: firstly, planning a bone cutting position according to preoperative planning software, then carrying out depth algorithm analysis on the bone cutting position on bone quality (bone density), bone cutting trace, friction force and cutting heat to obtain different parameters such as different swing frequencies, control voltages, control currents and the like required by cutting bones at different positions in the bone cutting process of swing sawing, leading the parameters into a processor, obtaining accurate control PID (proportion integration differentiation) parameters after calculation of the processor, generating a firmware program and executing final bone cutting action.

According to the embodiment of the invention, after the CT image and the bone image of the affected part of the patient are obtained before operation, the CT image and the bone image are analyzed to obtain the bone cutting depth and the bone density distribution, and currents with different sizes are output to drive the bone cutting piece 20 on the mechanical arm 10 to cut the affected part of the target object. The current of different outputs of the pendulum saw is controlled in the process of precisely controlling the bone cutting, and the precisely controlled bone cutting process is realized.

To sum up, in the embodiment of the present invention, after the CT image and the bone image of the affected part of the patient are obtained before the operation, the CT image and the bone image are analyzed to obtain the bone cutting depth, the bone cutting angle and the bone density distribution, and the bone cutting member 20 on the mechanical arm 10 is driven to cut the affected part of the target object by outputting the current, the voltage and the swing frequency with different magnitudes. The current, the voltage and the swing frequency which are output by controlling the swing saw in different ways in the process of precisely controlling the bone cutting are realized. Realizing the precisely controlled bone cutting process. And the control parameters of the bone cutting member 20 are detected by the displacement detector 30, the output current and voltage of the affected part of the target object cut by the bone cutting member 20 on the mechanical arm 10 are adjusted and driven according to the control parameters of the bone cutting member 20, the bone cutting of the bone cutting member 20 is compensated or corrected in time, and the end power device 100 of the orthopedic robot is controlled to stably output the current for surgery. An integral closed-loop control flow is formed, and the safety and the effectiveness of the bone cutting process are ensured. Meanwhile, the output current and the output voltage are more stable, and the condition of sudden change cannot occur, so that related parts are damaged.

The following describes an intelligent power control device for an orthopedic surgery robot according to the present invention, and the following description of the intelligent power control device for an orthopedic surgery robot and the above-described intelligent power control method for an orthopedic surgery robot may be referred to with each other.

Referring to fig. 9, an intelligent power control device for an orthopedic surgery robot includes:

a first determining module 201, configured to determine a bone cutting parameter according to a CT image of a bone, and determine a bone parameter according to a bone image of the bone;

a second determining module 202, configured to determine a control parameter of the distal power device according to the bone cutting parameter and the bone parameter;

and the testing module 203 is used for controlling the tail end power device to execute the preoperative osteotomy test according to the control parameters of the tail end power device.

And determining a control parameter of the tail end power device according to the bone cutting parameter determined by the CT image and the bone parameter determined by the bone image, and controlling the tail end power device to execute a preoperative bone cutting test according to the control parameter of the tail end power device. Therefore, according to the embodiment of the invention, control parameters with different sizes are output to drive the tail end power device to cut bones according to the CT image and the bone image. Realizing the precisely controlled bone cutting process.

In one embodiment, the first determining module includes:

the first sub-determination module is used for determining the bone cutting position, the bone cutting depth and the bone cutting angle of the bone according to the CT image;

and the second sub-determination module is used for determining the bone density distribution of the bone according to the bone image.

In one embodiment, the second determining module includes:

the first bone density distribution determining module is used for determining bone density distributions corresponding to different bone cutting depths of the bone cutting positions according to the bone cutting positions, the bone cutting depths of the bones and the bone density distributions of the bones;

the second bone density distribution determining module is used for determining bone density distributions corresponding to different bone cutting angles of the bone cutting positions according to the bone cutting positions, the bone cutting angles and the bone density distribution of the bone;

the first control parameter determining module is used for determining different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting depths according to the bone density distribution of the bone cutting positions corresponding to the different bone cutting depths;

and the second control parameter determining module is used for determining different control parameters of the bone density distribution of the tail end power device at different bone cutting angles according to the bone density distribution corresponding to the different bone cutting angles of the bone cutting position.

In one embodiment, the first bone density distribution determination module is specifically configured to:

In one embodiment, the second bone density distribution determination module is specifically configured to: and according to the bone density distribution corresponding to different bone cutting angles of the bone cutting position, inquiring the swing frequency, the current and the voltage corresponding to each bone density from a mapping table of the bone density and the control parameter, and taking the swing frequency, the current and the voltage corresponding to each bone density as different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting angles.

In one embodiment, the intelligent power control device for an orthopaedic surgical robot further comprises:

the displacement information acquisition module is used for acquiring the displacement information of the tail end power device in real time;

and the control parameter adjusting module is used for adjusting the control parameters of the tail end power device based on the displacement information.

In one embodiment, the control parameter adjustment module comprises:

the swing frequency calculation module is used for calculating the swing frequency of the tail end power device for bone cutting according to the change value of the displacement information within the preset time;

and the specific adjusting module is used for adjusting the working current and the working voltage of the tail end power device according to the swing frequency.

In one embodiment, the intelligent power control device for an orthopedic surgery robot further comprises:

the new bone parameter determining module is used for determining a new bone cutting parameter according to the CT image of the new patient bone and determining a new bone parameter according to the bone image of the new patient bone;

and the calling module is used for controlling the tail end power device to directly call the historical control parameters corresponding to the historical bone cutting parameters and the historical bone parameters to execute the bone cutting test under the condition that the new bone cutting parameters are the same as or similar to the historical bone cutting parameters and the new bone parameters are the same as or similar to the historical bone parameters.

Fig. 10 illustrates a physical structure diagram of an electronic device, and as shown in fig. 10, the electronic device may include: a processor (processor) 1010, a communication Interface (Communications Interface) 1020, a memory (memory) 1030, and a communication bus 1040, wherein the processor 1010, the communication Interface 1020, and the memory 1030 communicate with each other via the communication bus 1040. Processor 1010 may invoke logic instructions in memory 1030 to perform a method of intelligent power control for an orthopaedic surgical robot, the method comprising: determining bone cutting parameters according to the CT image of the bone, and determining bone parameters according to the bone image of the bone; determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters; and controlling the tail end power device to execute preoperative osteotomy test according to the control parameters of the tail end power device.

Furthermore, the logic instructions in the memory 1030 can be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

On the other hand, the invention also provides an intelligent power control system of the orthopedic surgery robot, which comprises an image analysis system and a mechanical arm trolley control system;

the mechanical arm trolley control system is used for determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters; and controlling the tail end power device to execute a preoperative osteotomy test according to the control parameters of the tail end power device.

In this embodiment, the intelligent power control system for an orthopedic surgical robot can implement the steps of the intelligent power control method for an orthopedic surgical robot, which are not described herein again. The image analysis system can be a main control trolley, and the mechanical arm trolley control system can be a mechanical arm trolley and a navigation trolley.

In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being stored on a non-transitory computer readable storage medium, wherein when the computer program is executed by a processor, the computer is capable of executing the intelligent power control method for an orthopaedic surgical robot provided by the above methods, the method comprising: determining bone cutting parameters according to the CT image of the bone, and determining bone parameters according to the bone image of the bone; determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters; and controlling the tail end power device to execute preoperative osteotomy test according to the control parameters of the tail end power device.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program being implemented by a processor to perform the intelligent power control method for an orthopaedic surgical robot provided by the above methods, the method comprising: determining bone cutting parameters according to the CT image of the bone, and determining bone parameters according to the bone image of the bone; determining control parameters of the tail end power device according to the bone cutting parameters and the bone parameters; and controlling the tail end power device to execute preoperative osteotomy test according to the control parameters of the tail end power device.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An intelligent power control method for an orthopedic surgery robot is characterized by comprising the following steps:

2. The intelligent power control method for the orthopaedic surgery robot according to claim 1, wherein the determining bone cutting parameters according to the CT image of the bone and determining bone parameters according to the bone image of the bone comprise:

determining the bone cutting position, the bone cutting depth and the bone cutting angle of the bone according to the CT image;

and determining the bone density distribution of the bone according to the bone image.

3. The intelligent power control method for the orthopaedic surgical robot according to claim 2, wherein determining the control parameters of the distal power device according to the bone cutting parameters and the bone parameters comprises:

determining bone density distribution corresponding to different bone cutting depths of the bone cutting positions according to the bone cutting positions, the bone cutting depths of the bones and the bone density distribution of the bones;

determining bone density distribution corresponding to different bone cutting angles of the bone cutting positions according to the bone cutting positions, the bone cutting angles and the bone density distribution of the bones;

determining different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting depths according to the bone density distribution of the bone cutting positions corresponding to the different bone cutting depths;

and determining different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting angles according to the bone density distribution corresponding to different bone cutting angles of the bone cutting position.

4. The intelligent power control method for the orthopaedic surgical robot according to claim 3, wherein the determining different control parameters of the bone density distribution of the distal end power device at different bone cutting depths according to the bone density distribution corresponding to the different bone cutting depths of the bone cutting position comprises:

and according to the bone density distribution corresponding to different bone cutting depths of the bone cutting position, inquiring the swing frequency, the current and the voltage corresponding to each bone density from a mapping table of the bone density and the control parameter, and taking the swing frequency, the current and the voltage corresponding to each bone density as different control parameters of the bone density distribution of the tail end power device corresponding to different bone cutting depths.

5. The intelligent power control method for the orthopaedic surgical robot according to claim 3, wherein the determining different control parameters of the bone density distribution of the distal end power device at different bone cutting angles according to the bone density distribution corresponding to the different bone cutting angles at the bone cutting position comprises:

6. The intelligent power control method for an orthopaedic surgical robot according to claim 1, further comprising:

acquiring displacement information of the tail end power device in real time;

adjusting a control parameter of the terminal power device based on the displacement information.

7. The intelligent power control method for an orthopaedic surgical robot according to claim 6, wherein the adjusting the control parameter of the tip power means based on the displacement information comprises:

calculating the swing frequency of the tail end power device for bone cutting according to the change value of the displacement information within the preset time;

and adjusting the working current and the working voltage of the tail end power device according to the swing frequency.

8. The intelligent power control method for an orthopaedic surgical robot according to claim 1, further comprising:

determining new bone cutting parameters according to the CT image of the new patient's bone, and determining new bone parameters according to the bone image of the new patient's bone;

and under the condition that the new bone cutting parameters are the same as or similar to the historical bone cutting parameters and the new bone parameters are the same as or similar to the historical bone parameters, controlling the tail end power device to directly call the historical control parameters corresponding to the historical bone cutting parameters and the historical bone parameters to execute the bone cutting test.

9. An intelligent power control device of an orthopedic surgery robot is characterized by comprising:

10. An intelligent power control system of an orthopedic surgery robot is characterized by comprising an image analysis system and a mechanical arm trolley control system;