CN103654911A - Method and device for controlling robot for surgical grinding - Google Patents
Method and device for controlling robot for surgical grinding Download PDFInfo
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- CN103654911A CN103654911A CN201310676770.3A CN201310676770A CN103654911A CN 103654911 A CN103654911 A CN 103654911A CN 201310676770 A CN201310676770 A CN 201310676770A CN 103654911 A CN103654911 A CN 103654911A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1703—Guides or aligning means for drills, mills, pins or wires using imaging means, e.g. by X-rays
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
Abstract
The invention belongs to the field of automatic control, and provides a method and device for controlling a robot for surgical grinding. The method includes the steps of obtaining a CT image of an object to be ground and grinding position information on the CT image, generating a three-dimensional point cloud model according to the CT image of the object to be ground, generating a grinding section in the three-dimensional point cloud model according to the grinding position information on the CT image, loading a linear grid into the grinding section, recording the number of points contained in each grid unit, when the number of the points contained in the grid unit is larger than a preset value, marking the grid unit as a grid unit to be ground, and grinding the object to be ground according to the grid unit which is marked and is about to be ground. Therefore, the object is ground through the surgical robot according to the grid unit to be ground, the wear-out phenomenon can not happen to the object to be ground, and grinding accuracy and grinding safety are improved.
Description
Technical field
The invention belongs to medical instruments field, relate in particular to a kind of control method and device of the robot for the grinding of performing the operation.
Background technology
Bone surgery robot has become the study hotspot of Osteopathic Medicine and robot field's cross discipline in recent years.The bone surgery robot of various uses is just obtaining applying more and more widely in medical domain.Than doctor's manual operations, robot has great advantage in some aspects.The location of robot high precision can be improved doctor in the past and only according to subjective judgment and surgical experience, be completed the situation of operation technique.The fatigue that the replacement doctor of robot performs the operation and can avoid the operation of surgeon's prolonged operations and bring, and may cause the vibration of doctor's arm.And robot also has high property, the feature such as Keep away from radioactive and infection not stablized.Just, due to the above-mentioned advantage of robot, control method and the control appliance of the medical robot of performing the operation for difference also arise at the historic moment.Use high-precision spinal operation robot system to carry out vertebra grinding action and can effectively avoid because doctor's operation fatigue causes operative failure, thereby improve the precision of operation and reduce operation risk.
When existing operating robot carries out operation technique control; general by multiple adaptive mechanical structure; as telescoping mechanism, cutter rotating mechanism, guiding protection mechanism etc.; or by vision sensor, carry out the mode of operation of control; although control mode is comparatively flexible; but due to the planning lacking courses of action, be unfavorable for improving precision and the safety of grinding.
Summary of the invention
The object of the present invention is to provide a kind of control method of the robot for the grinding of performing the operation, to solve operating robot in prior art, when carrying out operation technique, because lacking the planning to courses of action, be unfavorable for improving the precision of grinding and the defect of safety.
The present invention is achieved in that a kind of control method of the robot for the grinding of performing the operation, and described method comprises:
Obtain the CT image of object to be ground and be positioned at the grinding position information on described CT image;
According to the CT image generating three-dimensional point cloud model of described object to be ground;
According to the grinding cross section in three-dimensional point cloud model described in the grinding position Information generation on described CT image;
In described grinding cross section, load rectilinear grid, record the number of the point that each grid cell comprises;
When the number of the point comprising is greater than preset value, this grid cell is labeled as to grid cell to be ground in described grid cell;
According to the grid to be ground of described labelling, described object to be ground is carried out to grinding action.
Another object of the present invention is to provide a kind of control device of the robot for the grinding of performing the operation, and it is characterized in that, described device comprises:
Acquiring unit, for obtaining the CT image of object to be ground and being positioned at the grinding position information on described CT image;
Three-dimensional point cloud model generation unit, for according to the CT image generating three-dimensional point cloud model of described object to be ground;
Grinding cross section generation unit, for according to the grinding cross section of three-dimensional point cloud model described in the grinding position Information generation on described CT image;
Record cell, for loading rectilinear grid in described grinding cross section, records the number of the point that each grid cell comprises;
Indexing unit, while being greater than preset value for the number of the point that comprises when described grid cell, is labeled as grid cell to be ground by this grid cell;
Grinding unit, for carrying out grinding action according to the grid to be ground of described labelling to described object to be ground.
In the present invention, by obtaining the CT image of object to be ground and being positioned at the grinding position information on described CT image, according to the CT image generating three-dimensional point cloud model of described a plurality of views, grinding cross section according to described grinding position Information generation in described three-dimensional point cloud model, in described grinding cross section, load rectilinear grid, record the number of the point comprising in each grid, according to the number of described grinding cross section mid point, search grid cell to be ground, thereby make operating robot carry out grinding action according to described grid cell to be ground, can not cause object to be ground to occur worn out phenomenon, improve the accurate and safety of grinding.
Accompanying drawing explanation
Fig. 1 is the realization flow figure of the control method of the robot for the grinding of performing the operation that provides of first embodiment of the invention;
Fig. 2 is the realization flow figure of the control method of the robot for the grinding of performing the operation that provides of second embodiment of the invention;
Fig. 3 is the realization flow figure of the control method of the robot for the grinding of performing the operation that provides of third embodiment of the invention;
The structured flowchart of the control device of the robot for the grinding of performing the operation that Fig. 4 provides for fourth embodiment of the invention.
The specific embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The embodiment of the present invention mainly can be used for the operation of the existing robot for the grinding of performing the operation to be controlled, and for lacking in prior art the defining of grinding area, easily causes grinding accuracy not high, easily occurs grinding safety problem.The control method of the described robot for the grinding of performing the operation, comprising:
Obtain the CT image of object to be ground and be positioned at the grinding position information on described CT image;
According to the CT image generating three-dimensional point cloud model of described object to be ground;
According to the grinding cross section in three-dimensional point cloud model described in the grinding position Information generation on described CT image;
In described grinding cross section, load rectilinear grid, record the number of the point that each grid cell comprises;
When the number of the point comprising is greater than preset value, this grid cell is labeled as to grid cell to be ground in described grid cell;
According to the grid to be ground of described labelling, described object to be ground is carried out to grinding action.
By obtaining the CT image of object to be ground and being positioned at the grinding position information on described CT image, according to the CT image generating three-dimensional point cloud model of described a plurality of views, grinding cross section according to described grinding position Information generation in described three-dimensional point cloud model, in described grinding cross section, load rectilinear grid, record the number of the point comprising in each grid, according to the number of described grinding cross section mid point, search grid cell to be ground, thereby make operating robot carry out grinding action according to described grid cell to be ground, can not cause object to be ground to occur worn out phenomenon, improve the accurate and safety of grinding.
Embodiment mono-:
Fig. 1 shows the realization flow of the control method of the robot for the grinding of performing the operation that first embodiment of the invention provides, and details are as follows:
In step S101, obtain the CT image of object to be ground and be positioned at the grinding position information on described CT image.
Concrete, described object to be ground, the object that can implement for the robot for the grinding of performing the operation, as the grinding of the vertebral plate in vertebral plate operation etc.
Described CT can be that X ray CT, radionuclide CT, ultrasound computed tomography or nuclear magnetic resonance, NMR CT etc. scan the aspect of object to be ground, take X ray as example, by detector, received the X ray that sees through this aspect, change into after visible ray, from opto-electronic conversion, become the signal of telecommunication, through analog/digital converter (analog/digital converter), transfer numeral to again, input computer is processed.
Scanning gained information obtains X ray attenuation quotient or absorptance as calculated, then is arranged in matrix, i.e. character matrix (digital matrix), and character matrix can be stored in disk or CD.Through digital/analog converter (digital/analog converter), each numeral in character matrix is transferred to by the black blockage to the white gray scale such as not, i.e. pixel (pixel), and press matrix arrangement, form CT image.
Grinding position information on described CT image, can be by identifying by coordinate in the residing coordinate system of CT image, for comprising in the three-dimensional reconstruction of a plurality of CT views, and can be to recording accordingly the coordinate of grinding position information in each view.
In step S102, according to the CT image generating three-dimensional point cloud model of described object to be ground.
According to described CT image, two-dimensional ct image is drawn and is obtained three-dimensional point cloud model, for realizing more accurately, draws, a plurality of CT images of general employing, using the coordinate of CT image as the coordinate of 3-D view, according to the view direction of described CT image, set up three-dimensional point cloud model.
In step S103, according to the grinding cross section in three-dimensional point cloud model described in the grinding position Information generation on described CT image.
Object to be ground described in the embodiment of the present invention, can be vertebral plate bone, and its middle part comprises a through hole, and perisporium that must strict guarantee through hole is not worn through.
Preferably, on described CT image, generally comprise the labelling of the view that is arranged at a plurality of CT images, as being arranged at wire tag in front view, left view and right view etc. etc., obtain the location information of required grinding.
According to the labelling of the view of described a plurality of CT images, obtain the location information of required grinding;
According to described location information, generate the grinding cross section radially of described object to be ground.
The original position of described grinding is determined by the grinding position information on described CT image, as in vertebral plate grinding operation, can be determined the position of the vertebral plate of required grinding by grinding position information.Described grinding cross section is the section radially done along object to be ground.
In step S104, in described grinding cross section, load rectilinear grid, record the number of the point that each grid cell comprises.
Concrete, for described three-dimensional point cloud model, it is consisted of the different point of a plurality of closenesses, can show as different dot densities on cross section, by the function expression in cross section, can search the number that is positioned at described grinding cross section mid point.A kind of preferably embodiment is, wherein two plane parallel that coordinate axes forms in described grinding cross section and coordinate axes are set, and the function expression in the described grinding of statement cross section that like this can be convenient, searches also convenient.
In step S105, when the number of the point comprising is greater than preset value, this grid cell is labeled as to grid cell to be ground in described grid cell.
Described preset value, can, according to the grinding depth requirement of object to be ground, set flexibly.In general grinding operation, the object of institute's grinding, as the density of bone is generally intermediate layer maximum, both sides are less, and when the number of the point comprising in determining grid cell is greater than preset value, selected grid cell to be ground is generally the grid cell at middle part, now, according to grinding needs, need first the object to be ground that is positioned at the number of the default point of being less than of outer surface to be carried out to grinding action, this is the understandable basic operations of persons skilled in the art.
In step S106, according to the grid to be ground of described labelling, described object to be ground is carried out to grinding action.
After getting described grinding path, for the robot of the grinding of performing the operation, can carry out grinding according to described grid cell to be ground.By the setting of grid cell to be ground, can be so that carry out grinding according to predetermined grid in grinding process, thus can effectively guarantee that it can carry out safe grinding to object to be ground, can improve precision and the safety of grinding.
Embodiment bis-:
Fig. 2 shows the realization flow of the control method of the robot for the grinding of performing the operation that second embodiment of the invention provides, and details are as follows:
In step S201, obtain the CT image of object to be ground and be positioned at the grinding position information on described CT image.
In step S202, according to the CT image generating three-dimensional point cloud model of described object to be ground.
In step S203, according to the grinding cross section in three-dimensional point cloud model described in the grinding position Information generation on described CT image.
In step S204, in described grinding cross section, load rectilinear grid, record the number of the point that each grid cell comprises.
In step S205, when the number of the point comprising is greater than preset value, this grid cell is labeled as to grid cell to be ground in described grid cell.
Step S201 is identical with step S101 to S105 described in embodiment mono-to step S205, at this, does not repeat.
In step S206, according to the number of the point comprising in described grid cell to be ground, described grid cell to be ground is sorted.
According to the density feature of described object to be ground, described sequence comprises the sequencer procedure increasing gradually and the sequencer procedure reducing gradually.The boundary line of two sequencer procedures is the density maximum position place, middle part of described object to be ground.For avoiding increasing sequence and reducing sequence, mutually obscure, first need to find out the demarcation line of density maximum in described grinding cross section, then according to demarcation line, sort.
In step S207, according to the grid cell to be ground after described sequence, generate grinding path.
The to be ground grid cell good according to described sequence, connects and can form grinding path successively.For ease of grinding action, the connected mode in described grinding path, for the situation of the number of identical point, connects in the preferential mode of same aspect nearby, is convenient to reciprocal grinding action, improves grinding efficiency.
In step S208, according to the grinding path being generated by described grid cell to be ground, on described object to be ground, carry out grinding.
In step S209, when the number of the point comprising is less than or equal to preset value, this grid cell is labeled as to reservation grid cell in described grid cell.
Described reservation grid cell, for stopping the grid cell of grinding, is labeled as reservation grid cell to it, when being ground to the boundary that retains grid cell and grid cell to be ground, sends the instruction stopping this position grinding, improves the safety of grinding.
The difference part of the embodiment of the present invention and embodiment mono-is, on the basis of grid cell to be ground described in embodiment mono-, further described grid cell is sorted, can effectively guarantee described object to be ground to carry out equivalent grinding, further improve the safety of the precision of grinding.
Embodiment tri-:
Fig. 3 shows the realization flow of the control method of the robot for the grinding of performing the operation that third embodiment of the invention provides, and details are as follows:
In step S301, obtain the CT image of object to be ground and be positioned at the grinding position information on described CT image.
In step S302, according to the CT image generating three-dimensional point cloud model of described object to be ground.
In step S303, according to the grinding cross section in three-dimensional point cloud model described in the grinding position Information generation on described CT image.
In step S304, according to the density data sequence of the point in the grinding cross section in described three-dimensional point cloud model, generate grinding path.
Step S301 is identical with step S101 to S104 described in embodiment mono-to step S304, at this, does not repeat.
In step S305, according to the target spot that is arranged at described object to be ground and robot end's apparatus, when described object to be ground being carried out to grinding action according to described grinding path, the reservation grid cell of object to be ground and the distance between robot end's apparatus described in Real-Time Monitoring.
In step S306, when the reservation grid cell of described object to be ground and the distance between robot end's apparatus are less than preset value, complete the grinding to described object to be ground.
By being arranged at the target spot on robot end's apparatus and object to be ground, can to the distance between the reservation grid cell of described object to be ground and robot end's apparatus, monitor in real time by monitoring equipment, when monitored distance departs from default safety value scope, stop the grinding action to described object to be ground.Wherein, the distance between described reservation grid cell and robot end's apparatus, refers to the distance between robot end's apparatus and its nearest reservation grid cell.
The difference part of the embodiment of the present invention and embodiment mono-is, by the target spot of object to be ground and robot end's apparatus is monitored, thereby can further guarantee the safety of grinding, persons skilled in the art can be understood, described in the embodiment of the present invention, distinguishing characteristics can, for embodiment bis-, be obtained identical technique effect equally.
Embodiment tetra-:
Fig. 4 show the robot for the grinding of performing the operation that fourth embodiment of the invention provides control device realize block diagram, details are as follows:
Described in the embodiment of the present invention, for the control device of the robot of the grinding of performing the operation, comprising:
Acquiring unit 401, for obtaining the CT image of object to be ground and being positioned at the grinding position information on described CT image;
Three-dimensional point cloud model generation unit 402, for according to the CT image generating three-dimensional point cloud model of described object to be ground;
Grinding cross section generation unit 403, for according to the grinding cross section of three-dimensional point cloud model described in the grinding position Information generation on described CT image;
Record cell 404, for loading rectilinear grid in described grinding cross section, records the number of the point that each grid cell comprises;
Indexing unit 405, while being greater than preset value for the number of the point that comprises when described grid cell, is labeled as grid cell to be ground by this grid cell;
Grinding unit 406, for carrying out grinding action according to the grid to be ground of described labelling to described object to be ground.
Concrete, described device also comprises:
Sequencing unit, the number for the point that comprises according to described grid cell to be ground, sorts to described grid cell to be ground;
Path generation unit, for generating grinding path according to the grid cell to be ground after described sequence;
Described grinding unit 406, for according to the grinding path being generated by described grid cell to be ground, carries out grinding on described object to be ground.
Concrete, in described acquiring unit, the grinding position information on described CT image comprises the labelling of the view that is arranged at a plurality of CT images;
Described grinding cross section generation unit 403 comprises:
Obtain subelement, for according to the labelling of the view of described a plurality of CT images, obtain the location information of required grinding;
Grinding cross section generates subelement, generates the grinding cross section radially of described object to be ground according to described location information.
Optionally, described device also comprises:
The second indexing unit, while being less than or equal to preset value for the number of the point that comprises when described grid cell, is labeled as reservation grid cell by this grid cell.
Optionally, described grinding unit 405 comprises:
Monitoring subelement, for basis, be arranged at the target spot of described object to be ground and robot end's apparatus, when described object to be ground being carried out to grinding action according to described grinding path, the reservation grid cell of object to be ground and the distance between robot end's apparatus described in Real-Time Monitoring;
Stop grinding subelement, when the reservation grid cell of described object to be ground and the distance between robot end's apparatus are less than preset value, the grinding of termination to described object to be ground.
The embodiment of the present invention is and the corresponding device embodiment of method described in embodiment mono-to embodiment tri-, at this, does not repeat.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (10)
1. for a control method for the robot of the grinding of performing the operation, it is characterized in that, described method comprises:
Obtain the CT image of object to be ground and be positioned at the grinding position information on described CT image;
According to the CT image generating three-dimensional point cloud model of described object to be ground;
According to the grinding cross section in three-dimensional point cloud model described in the grinding position Information generation on described CT image;
In described grinding cross section, load rectilinear grid, record the number of the point that each grid cell comprises;
When the number of the point comprising is greater than preset value, this grid cell is labeled as to grid cell to be ground in described grid cell;
According to the grid to be ground of described labelling, described object to be ground is carried out to grinding action.
2. method according to claim 1, is characterized in that, when the number of the described point comprising in described grid cell is greater than preset value, after this grid cell is labeled as to grid cell step to be ground, described method also comprises:
According to the number of the point comprising in described grid cell to be ground, described grid cell to be ground is sorted;
According to the grid cell to be ground after described sequence, generate grinding path;
Describedly according to the grid to be ground of described labelling, described object to be ground is carried out to grinding action step and is specially:
According to the grinding path being generated by described grid cell to be ground, on described object to be ground, carry out grinding.
3. method according to claim 1, it is characterized in that, describedly obtain the CT image of object to be ground and be arranged in the grinding position information step on described CT image, the grinding position information on described CT image comprises the labelling of the view that is arranged at a plurality of CT images;
Describedly according to the grinding cross section step in three-dimensional point cloud model described in the grinding position Information generation on described CT image, be specially:
According to the labelling of the view of described a plurality of CT images, obtain the location information of required grinding;
According to described location information, generate the grinding cross section radially of described object to be ground.
4. method according to claim 1, is characterized in that, describedly in described grinding cross section, loads rectilinear grid, and after recording the number step of the point that each grid cell comprises, described method also comprises:
When the number of the point comprising is less than or equal to preset value, this grid cell is labeled as to reservation grid cell in described grid cell.
5. method according to claim 4, is characterized in that, described, according to the grid to be ground of described labelling, described object to be ground carried out to grinding action step and comprises:
According to the target spot that is arranged at described object to be ground and robot end's apparatus, when described object to be ground being carried out to grinding action according to described grinding path, the reservation grid cell of object to be ground and the distance between robot end's apparatus described in Real-Time Monitoring;
When the reservation grid cell of described object to be ground and the distance between robot end's apparatus are less than preset value, stop the grinding to described object to be ground.
6. for a control device for the robot of the grinding of performing the operation, it is characterized in that, described device comprises:
Acquiring unit, for obtaining the CT image of object to be ground and being positioned at the grinding position information on described CT image;
Three-dimensional point cloud model generation unit, for according to the CT image generating three-dimensional point cloud model of described object to be ground;
Grinding cross section generation unit, for according to the grinding cross section of three-dimensional point cloud model described in the grinding position Information generation on described CT image;
Record cell, for loading rectilinear grid in described grinding cross section, records the number of the point that each grid cell comprises;
Indexing unit, while being greater than preset value for the number of the point that comprises when described grid cell, is labeled as grid cell to be ground by this grid cell;
Grinding unit, for carrying out grinding action according to the grid to be ground of described labelling to described object to be ground.
7. install according to claim 6, it is characterized in that, described device also comprises:
Sequencing unit, the number for the point that comprises according to described grid cell to be ground, sorts to described grid cell to be ground;
Path generation unit, for generating grinding path according to the grid cell to be ground after described sequence;
Described grinding unit, for according to the grinding path being generated by described grid cell to be ground, carries out grinding on described object to be ground.
8. install according to claim 6, it is characterized in that, in described acquiring unit, the grinding position information on described CT image comprises the labelling of the view that is arranged at a plurality of CT images;
Described grinding cross section generation unit comprises:
Obtain subelement, for according to the labelling of the view of described a plurality of CT images, obtain the location information of required grinding;
Grinding cross section generates subelement, generates the grinding cross section radially of described object to be ground according to described location information.
9. install according to claim 6, it is characterized in that, described device also comprises:
The second indexing unit, while being less than or equal to preset value for the number of the point that comprises when described grid cell, is labeled as reservation grid cell by this grid cell.
10. install according to claim 6, it is characterized in that, described grinding unit comprises:
Monitoring subelement, for basis, be arranged at the target spot of described object to be ground and robot end's apparatus, when described object to be ground being carried out to grinding action according to described grinding path, the reservation grid cell of object to be ground and the distance between robot end's apparatus described in Real-Time Monitoring;
Stop grinding subelement, for the reservation grid cell when described object to be ground and the distance between robot end's apparatus, be less than preset value, stop the grinding to described object to be ground.
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| CN107584375A (en) * | 2017-09-13 | 2018-01-16 | 中国电子科技集团公司第十三研究所 | Ceramic package grinding and polishing method and device |
| CN110181402A (en) * | 2019-07-18 | 2019-08-30 | 佛山市高明金石建材有限公司 | A kind of floating grinding device and method for grinding |
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| CN107584375A (en) * | 2017-09-13 | 2018-01-16 | 中国电子科技集团公司第十三研究所 | Ceramic package grinding and polishing method and device |
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| CN103654911B (en) | 2015-12-30 |
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