CN103654911B - A kind of control method of the robot for grinding of performing the operation and device - Google Patents
A kind of control method of the robot for grinding of performing the operation and device Download PDFInfo
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- CN103654911B CN103654911B CN201310676770.3A CN201310676770A CN103654911B CN 103654911 B CN103654911 B CN 103654911B CN 201310676770 A CN201310676770 A CN 201310676770A CN 103654911 B CN103654911 B CN 103654911B
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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
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- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Dentistry (AREA)
- Radiology & Medical Imaging (AREA)
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- Oral & Maxillofacial Surgery (AREA)
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention is applicable to automation field, and provide a kind of control method and device of the robot for grinding of performing the operation, the method comprises: the CT image obtaining object to be ground and the grinding position information be positioned on described CT image; According to the CT Computer image genration three-dimensional point cloud model of described object to be ground; The grinding cross section in described three-dimensional point cloud model is generated according to the grinding position information 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 comprised in described grid cell is greater than preset value, this grid cell is labeled as grid cell to be ground; Grid to be ground according to described labelling carries out grinding action to described object to be ground, makes operating robot carry out grinding action according to described grid cell to be ground, object to be ground can not be caused to occur worn out phenomenon, improves the accurate of grinding and safety.
Description
Technical field
The invention belongs to medical instruments field, particularly relate to a kind of control method and device of the robot for grinding of performing the operation.
Background technology
Robot for orthopaedic surgery has become the study hotspot of Osteopathic Medicine and robot field's cross discipline in recent years.The robot for orthopaedic surgery of various uses is just obtaining applying more and more widely in medical domain.Compared to doctor's manual operations, robot has great advantage in some aspects.The location of robot high precision can improve in the past doctor only according to subjective judgment and surgical experience to complete the situation of operation technique.Robot replaces doctor to carry out performing the operation surgeon's prolonged operations can be avoided to operate and the fatigue brought, and doctor's arm may be caused to tremble.And robot also has and stablizes high property, the not feature such as Keep away from radioactive and infection.Just due to the above-mentioned advantage of robot, also arising at the historic moment for the control method of medical robot of difference operation and control appliance.Use high-precision spinal operation robot system to carry out vertebra grinding action can effectively avoid causing operative failure because of doctor's operation fatigue, thus 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 the mode of operation of control is carried out by vision sensor; although control mode is comparatively flexible; but owing to lacking the planning to courses of action, be unfavorable for the precision and the safety that improve grinding.
Summary of the invention
The object of the present invention is to provide a kind of control method of the robot for grinding of performing the operation, when carrying out operation technique, because lacking the planning to courses of action, being unfavorable for improving the precision of grinding and the defect of safety to solve operating robot in prior art.
The present invention is achieved in that a kind of control method of the robot for grinding of performing the operation, and described method comprises:
The CT image obtaining object to be ground and the grinding position information be positioned on described CT image;
According to the CT Computer image genration three-dimensional point cloud model of described object to be ground;
The grinding cross section in described three-dimensional point cloud model is generated according to the grinding position information 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 comprised in described grid cell is greater than preset value, this grid cell is labeled as grid cell to be ground;
Grid to be ground according to described labelling carries out grinding action to described object to be ground.
Another object of the present invention is the control device providing a kind of robot for grinding of performing the operation, and it is characterized in that, described device comprises:
Acquiring unit, for the CT image that obtains object to be ground and the grinding position information be positioned on described CT image;
Three-dimensional point cloud model generation unit, for the CT Computer image genration three-dimensional point cloud model according to described object to be ground;
Grinding cross section generation unit, for generating the grinding cross section in described three-dimensional point cloud model according to the grinding position information 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, for when the number of the point comprised in described grid cell is greater than preset value, is labeled as grid cell to be ground by this grid cell;
Grinding unit, carries out grinding action for the grid to be ground according to described labelling to described object to be ground.
In the present invention, by the CT image that obtains object to be ground and the grinding position information be positioned on described CT image, according to the CT Computer image genration three-dimensional point cloud model of described multiple view, the grinding cross section in described three-dimensional point cloud model is created on according to described grinding position information, rectilinear grid is loaded in described grinding cross section, record the number of the point comprised in each grid, number according to described grinding cross section mid point searches grid cell to be ground, thus make operating robot carry out grinding action according to described grid cell to be ground, object to be ground can not be caused to occur worn out phenomenon, improve the accurate of grinding and safety.
Accompanying drawing explanation
Fig. 1 is the realization flow figure of the control method of the robot for grinding of performing the operation that first embodiment of the invention provides;
Fig. 2 is the realization flow figure of the control method of the robot for grinding of performing the operation that second embodiment of the invention provides;
Fig. 3 is the realization flow figure of the control method of the robot for grinding of performing the operation that third embodiment of the invention provides;
The structured flowchart of the control device of the robot for grinding of performing the operation that Fig. 4 provides for fourth embodiment of the invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, 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, be not intended to limit the present invention.
The operation that the embodiment of the present invention mainly can be used for the existing robot for grinding of performing the operation controls, and lacks defining grinding area, easily cause grinding accuracy not high, easily occur grinding safety problem in prior art.The control method of the described robot for grinding of performing the operation, comprising:
The CT image obtaining object to be ground and the grinding position information be positioned on described CT image;
According to the CT Computer image genration three-dimensional point cloud model of described object to be ground;
The grinding cross section in described three-dimensional point cloud model is generated according to the grinding position information 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 comprised in described grid cell is greater than preset value, this grid cell is labeled as grid cell to be ground;
Grid to be ground according to described labelling carries out grinding action to described object to be ground.
By the CT image that obtains object to be ground and the grinding position information be positioned on described CT image, according to the CT Computer image genration three-dimensional point cloud model of described multiple view, the grinding cross section in described three-dimensional point cloud model is created on according to described grinding position information, rectilinear grid is loaded in described grinding cross section, record the number of the point comprised in each grid, number according to described grinding cross section mid point searches grid cell to be ground, thus make operating robot carry out grinding action according to described grid cell to be ground, object to be ground can not be caused to occur worn out phenomenon, improve the accurate of grinding and safety.
Embodiment one:
Fig. 1 shows the realization flow of the control method of the robot for grinding of performing the operation that first embodiment of the invention provides, and details are as follows:
In step S101, the CT image obtaining object to be ground and the grinding position information be positioned on described CT image.
Concrete, described object to be ground, can for the object implemented for the robot of grinding of performing the operation, as vertebral plate perform the operation in the grinding etc. of vertebral plate.
Described CT can be X ray CT, radionuclide CT, ultrasound computed tomography or nuclear magnetic resonance, NMR CT etc. scan the aspect of object to be ground, for X-ray, the X-ray through this aspect is received by detector, after changing visible ray into, the signal of telecommunication is become from opto-electronic conversion, numeral is transferred to again, input computer disposal through analog/digital converter (analog/digitalconverter).
Scanning gained information obtains X-ray attenuation coefficient or absorptance as calculated, and rearrange into matrix, i.e. character matrix (digitalmatrix), character matrix can be stored in disk or CD.Through digital/analog converter (digital/analogconverter), 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, i.e. formation CT image.
Grinding position information on described CT image, can by identifying by coordinate in the coordinate system residing for CT image, for comprising in the three-dimensional reconstruction of multiple CT view, and can to the coordinate of record grinding position information corresponding in each view.
In step s 102, according to the CT Computer image genration three-dimensional point cloud model of described object to be ground.
According to described CT image, namely two-dimensional ct image is drawn and is obtained three-dimensional point cloud model, for realizing drawing more accurately, the multiple CT image 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 s 103, the grinding cross section in described three-dimensional point cloud model is generated according to the grinding position information on described CT image.
Object to be ground described in the embodiment of the present invention, can be vertebral plate bone, comprise a through hole in the middle part of it, must the perisporium of strict guarantee through hole not be worn through.
Preferably, on described CT image, generally comprise the labelling of the view being arranged at multiple CT image, as the wire tag etc. in front view, left view and right view etc. can be arranged at, obtain the location information of required grinding.
According to the labelling of the view of described multiple CT image, obtain the location information of required grinding;
The grinding cross section of the radial direction of described object to be ground is generated according to described location information.
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.The section of described grinding cross section for doing along the radial direction of 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 made up of the point that multiple closeness is different, and cross section can show as different dot densities, by the function expression in cross section, can search the number being positioned at described grinding cross section mid point.One preferably embodiment is, arrange described grinding cross section parallel with the plane that wherein two coordinate axess in coordinate axes are formed, the function expression in the described grinding cross section of statement that like this can be convenient, searches also convenient.
In step S105, when the number of the point comprised in described grid cell is greater than preset value, this grid cell is labeled as grid cell to be ground.
Described preset value, according to the grinding depth requirement of object to be ground, can set flexibly.In general grinding operation, the object of institute's grinding, it is maximum that density as bone is generally intermediate layer, both sides are less, and when the number of the point determining to comprise in 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 being less than the number of default point being positioned at outer surface to be carried out grinding action, this is the understandable basic operations of persons skilled in the art.
In step s 106, according to the grid to be ground of described labelling, grinding action is carried out to described object to be ground.
After getting described grinding path, the robot for 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 make to carry out grinding according to predetermined grid in grinding process, thus effectively can ensure that it can carry out safe grinding to object to be ground, precision and the safety of grinding can be improved.
Embodiment two:
Fig. 2 shows the realization flow of the control method of the robot for grinding of performing the operation that second embodiment of the invention provides, and details are as follows:
In step s 201, the CT image obtaining object to be ground and the grinding position information be positioned on described CT image.
In step S202, according to the CT Computer image genration three-dimensional point cloud model of described object to be ground.
In step S203, generate the grinding cross section in described three-dimensional point cloud model according to the grinding position information 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 comprised in described grid cell is greater than preset value, this grid cell is labeled as grid cell to be ground.
Step S201 to step S205 is identical with step S101 to S105 described in embodiment one, does not repeat at this.
In step S206, according to the number of the point comprised in described grid cell to be ground, described grid cell to be ground is sorted.
According to the density characteristic of described object to be ground, described sequence comprises the sequencer procedure increased gradually and the sequencer procedure reduced 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 reduce to sort mutually to obscure, first needing to find out the demarcation line of density maxima in described grinding cross section, then sorting according to demarcation line.
In step S207, generate grinding path according to the grid cell to be ground after described sequence.
The to be ground grid cell good according to described sequence, connects successively and can form grinding path.For ease of grinding action, the connected mode in described grinding path, for the situation of the number of identical point, connects in the mode that same aspect is nearby preferential, is convenient to reciprocal grinding action, improves grinding efficiency.
In step S208, according to the grinding path generated by described grid cell to be ground, described object to be ground carries out grinding.
In step S209, when the number of the point comprised in described grid cell is less than or equal to preset value, this grid cell is labeled as reservation grid cell.
Described reservation grid cell is the grid cell stopping grinding, is labeled as reservation grid cell to it, when being ground to the boundary retaining grid cell and grid cell to be ground, namely sending the instruction stopped this position grinding, improving the safety of grinding.
The difference part of the embodiment of the present invention and embodiment one is, on the basis of grid cell to be ground described in embodiment one, further described grid cell is sorted, can effectively ensure to carry out equivalent grinding to described object to be ground, improve the safety of the precision of grinding further.
Embodiment three:
Fig. 3 shows the realization flow of the control method of the robot for grinding of performing the operation that third embodiment of the invention provides, and details are as follows:
In step S301, the CT image obtaining object to be ground and the grinding position information be positioned on described CT image.
In step s 302, according to the CT Computer image genration three-dimensional point cloud model of described object to be ground.
In step S303, generate the grinding cross section in described three-dimensional point cloud model according to the grinding position information on described CT image.
In step s 304, grinding path is generated according to the density data sequence of the point in the grinding cross section in described three-dimensional point cloud model.
Step S301 to step S304 is identical with step S101 to S104 described in embodiment one, does not repeat at this.
In step S305, according to the target spot being arranged at described object to be ground and robot end's apparatus, when carrying out grinding action according to described grinding path to described object to be ground, the distance between the reservation grid cell of object to be ground described in Real-Time Monitoring and robot end's apparatus.
In step S306, the distance between the reservation grid cell and robot end's apparatus of described object to be ground is less than preset value, completes 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 be monitored in real time the distance between the reservation grid cell of described object to be ground and robot end's apparatus 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 one is, by monitoring the target spot of object to be ground and robot end's apparatus, thus the safety of grinding can be ensured further, persons skilled in the art can be understood, distinguishing characteristics described in the embodiment of the present invention may be used for embodiment two equally, obtains identical technique effect.
Embodiment four:
What Fig. 4 showed the control device of the robot for grinding of performing the operation that fourth embodiment of the invention provides realizes block diagram, and details are as follows:
For the control device of the robot of grinding of performing the operation described in the embodiment of the present invention, comprising:
Acquiring unit 401, for the CT image that obtains object to be ground and the grinding position information be positioned on described CT image;
Three-dimensional point cloud model generation unit 402, for the CT Computer image genration three-dimensional point cloud model according to described object to be ground;
Grinding cross section generation unit 403, for generating the grinding cross section in described three-dimensional point cloud model according to the grinding position information 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, for when the number of the point comprised in described grid cell is greater than preset value, is labeled as grid cell to be ground by this grid cell;
Grinding unit 406, carries out grinding action for the grid to be ground according to described labelling to described object to be ground.
Concrete, described device also comprises:
Sequencing unit, for the number according to the point comprised in described grid cell to be ground, sorts to described grid cell to be ground;
Coordinates measurement 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 generated by described grid cell to be ground, described object to be ground carries out grinding.
Concrete, in described acquiring unit, the grinding position information on described CT image comprises the labelling of the view being arranged at multiple CT image;
Described grinding cross section generation unit 403 comprises:
Obtain subelement, for the labelling of the view according to described multiple CT image, obtain the location information of required grinding;
Grinding cross section generates subelement, generates the grinding cross section of the radial direction of described object to be ground according to described location information.
Optionally, described device also comprises:
Second indexing unit, for when the number of the point comprised in described grid cell is less than or equal to preset value, is labeled as reservation grid cell by this grid cell.
Optionally, described grinding unit 405 comprises:
Monitoring subelement, the target spot of described object to be ground and robot end's apparatus is arranged at for basis, when carrying out grinding action according to described grinding path to described object to be ground, the distance between the reservation grid cell of object to be ground described in Real-Time Monitoring and robot end's apparatus;
Stop grinding subelement, the distance between the reservation grid cell and robot end's apparatus of described object to be ground is less than preset value, stops the grinding to described object to be ground.
The embodiment of the present invention is device embodiment corresponding with method described in embodiment one to embodiment three, does not repeat at this.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (5)
1. for a control device for the robot of grinding of performing the operation, it is characterized in that, described device comprises:
Acquiring unit, for the CT image that obtains object to be ground and the grinding position information be positioned on described CT image;
Three-dimensional point cloud model generation unit, for the CT Computer image genration three-dimensional point cloud model according to described object to be ground;
Grinding cross section generation unit, for generating the grinding cross section in described three-dimensional point cloud model according to the grinding position information 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, for when the number of the point comprised in described grid cell is greater than preset value, is labeled as grid cell to be ground by this grid cell;
Grinding unit, carries out grinding action for the grid to be ground according to described labelling to described object to be ground.
2. device according to claim 1, it is characterized in that, described device also comprises:
Sequencing unit, for the number according to the point comprised in described grid cell to be ground, sorts to described grid cell to be ground;
Coordinates measurement unit, for generating grinding path according to the grid cell to be ground after described sequence;
Described grinding unit is used for, according to the grinding path generated by described grid cell to be ground, described object to be ground carrying out grinding.
3. device according to claim 1, it is characterized in that, in described acquiring unit, the grinding position information on described CT image comprises the labelling of the view being arranged at multiple CT image;
Described grinding cross section generation unit comprises:
Obtain subelement, for the labelling of the view according to described multiple CT image, obtain the location information of required grinding;
Grinding cross section generates subelement, generates the grinding cross section of the radial direction of described object to be ground according to described location information.
4. device according to claim 1, it is characterized in that, described device also comprises:
Second indexing unit, for when the number of the point comprised in described grid cell is less than or equal to preset value, is labeled as reservation grid cell by this grid cell.
5. device according to claim 4, it is characterized in that, described grinding unit comprises:
Monitoring subelement, the target spot of described object to be ground and robot end's apparatus is arranged at for basis, when carrying out grinding action according to grinding path to described object to be ground, the distance between the reservation grid cell of object to be ground described in Real-Time Monitoring and robot end's apparatus;
Stop grinding subelement, be less than preset value for the distance between the reservation grid cell and robot end's apparatus of described object to be ground, 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 |
| CN110181402B (en) * | 2019-07-18 | 2021-02-19 | 佛山市高明金石建材有限公司 | Floating grinding device and grinding method |
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| CN102151161A (en) * | 2011-03-08 | 2011-08-17 | 江苏大学 | Cutting navigator of femoral cavity medullary cavity file |
| CN102429726A (en) * | 2011-08-03 | 2012-05-02 | 哈尔滨工业大学 | Image navigation-based parallel robot-assisted artificial cervical intervertebral disc replacement surgery positioning method |
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| WO2007003436A1 (en) * | 2005-07-06 | 2007-01-11 | Copf Franz Jun | System for aligning a material-abrading tool relative to an intervertebral-disc compartment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102151161A (en) * | 2011-03-08 | 2011-08-17 | 江苏大学 | Cutting navigator of femoral cavity medullary cavity file |
| CN102429726A (en) * | 2011-08-03 | 2012-05-02 | 哈尔滨工业大学 | Image navigation-based parallel robot-assisted artificial cervical intervertebral disc replacement surgery positioning method |
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