CN106725711A - Sclerotin grinding machine people, vertebral plate grinding surgery operation robot control system and method - Google Patents
Sclerotin grinding machine people, vertebral plate grinding surgery operation robot control system and method Download PDFInfo
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- CN106725711A CN106725711A CN201611144542.1A CN201611144542A CN106725711A CN 106725711 A CN106725711 A CN 106725711A CN 201611144542 A CN201611144542 A CN 201611144542A CN 106725711 A CN106725711 A CN 106725711A
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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
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
- A61B17/1671—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the spine
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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
- A61B17/1613—Component parts
- A61B17/1626—Control means; Display units
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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
- A61B2017/1602—Mills
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Abstract
The invention discloses a kind of sclerotin grinding machine people, it is included：One bone drill, for being ground focus sclerotin；One mechanical arm, for ordering about bone drill motion；One multi-dimension force sensor, for gathering active force produced during bone drill grinding focus sclerotin；One robot controller, the bone drill, mechanical arm and multi-dimension force sensor are electrically connected with robot controller, wherein：The Force decomposition that the robot controller is used to gather multi-dimension force sensor is along the tangential force and the axial force along bone drill axle center of focus sclerotin tangent plane, and for the athletic posture of control machinery arm, to make the tangential force be maintained at preset value, and grinding depth position of the bone drill to focus sclerotin is drawn according to the force value of axial force.The present invention can simplified operation processing procedure, can determine whether grinding depth, and then improve operation precision, and improve operation accuracy and security.
Description
Technical field
The present invention relates to vertebral plate grinding surgical apparatus, more particularly to a kind of sclerotin grinding machine people, vertebral plate grinding surgical engine
Device people control system and method.
Background technology
Titanium rete operation discharges the spinal nerve being oppressed by expansion space, recovers its function, is widely used to
Patient of the treatment with waist dish outstanding and lumbar spinal stenosis.How it is critical only that of titanium rete successful surgery ensures suitable
Vertebral plate surplus.The spinal nerve that too small vertebral plate surplus may be destroyed in canalis spinalis, and excessive it is unable to reach spinal nerve
The effect of decompression.In art, doctor needs to complete multiple operation techniques in narrow space for a long time, so general doctor is difficult
To realize.Be additionally, since the specific position of vertebral plate, thus titanium rete operation to perform the operation precision, security requirement it is very high.
Titanium rete operation is considered as always one of excessive risk bone surgery.
With the fast development of computer and microelectric technique and medical science, various computer aided medicine technologies and
Equipment is just increasingly widely applied in medical domain.Compared to doctor's manual operations, review of computer aided surgery system
There is great advantage in some aspects.The positioning of robot high precision can improve past doctor only according to subjective judgement and operation
Experience completes the situation of operation technique.Robot carries out operation and can avoid surgeon's prolonged operationses and band instead of doctor
The fatigue come, and it is likely to result in the vibration of surgeon's arm.And robot also have stablize property, not Keep away from radioactive and infection high
The features such as.Carrying out vertebra grinding action using high-precision review of computer aided surgery system can be effectively prevented from being operated because of doctor
Fatigue and cause operative failure so that improve operation precision and reduce operation risk
In the prior art, a kind of six degree of freedom neck bone grinding parallel manipulator is proposed in Chinese patent 201010557067.7
People, the positioning and mill of prosthese and bone mating surface in cervical artificial disc replacement are completed using the parallel robot of six degree of freedom
Operation is cut, but the system architecture is complicated, and parallel mechanical arm insufficient rigidity, error is larger.In foreign patent, patent US2002/
Involved guider a kind of in parallel and its area of computer aided alignment system in 0038118, play guide locating device provided volume
It is smaller, can be fixed on patient spine, but the device only possesses guide effect, it is impossible to independently it is operated, so as to limit
Its clinical practice is made.Existing operating robot control method is varied, and such as Chinese patent 201010577915.0 is a kind of
Titanium rete spinal surgery mechanical arm, it is by the mechanism that is connected, telescoping mechanism, cutter rotating mechanism, guiding protection support, annular
Water curtain mechanism etc. constitutes, and the configuration mechanical arm can automatically adapt to the change of vertebral plate lower surface convex-concave directly to carry out vertebral plate through thickness and cut
Remove, but this is a kind of semi-automatic excision mode, lacks Automated condtrol ability.
As can be seen here, existing vertebral plate grinding surgical apparatus generally existing system complex, operation precision are low, lack automatic control
Performance processed so that the working strength of doctor is higher, meanwhile, grinding position of the bone drill in sclerotin is difficult to determine, thus cannot protect
Demonstrate,prove the accuracy and security of operation.
The content of the invention
The technical problem to be solved in the present invention is, in view of the shortcomings of the prior art, there is provided one kind can simplied system structure,
Can simplified operation processing procedure, can determine whether grinding depth, and then improve operation precision, reduce the working strength of doctor, and improve
Sclerotin grinding machine people of the operation accuracy with security, vertebral plate grinding surgery operation robot control system and method.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that.
A kind of sclerotin grinding machine people, it is included：One bone drill, for being ground focus sclerotin；One mechanical arm, for ordering about
Bone drill is moved；One multi-dimension force sensor, for gathering active force produced during bone drill grinding focus sclerotin；One robot is controlled
Device, the bone drill, mechanical arm and multi-dimension force sensor are electrically connected with robot controller, wherein：The robot control
The Force decomposition that device processed is used to gather multi-dimension force sensor is along the tangential force of focus sclerotin tangent plane and along bone drill axle center
Axial force, and for the athletic posture of control machinery arm, to make the tangential force be maintained at preset value, and according to axial force
Force value draws grinding depth position of the bone drill to focus sclerotin.
Preferably, the robot controller includes mechanics processing unit and fuzzy controller, the mechanics processing unit
Force decomposition for multi-dimension force sensor to be gathered is the tangential force along focus sclerotin tangent plane and the axial direction along bone drill axle center
Power；The fuzzy controller is used to for the tangential force that the decomposition of mechanics processing unit draws to carry out fuzzy operation, according to operation result
The athletic posture of real-time adjustment mechanical arm, to make the tangential force be maintained at preset value.
Preferably, the multi-dimension force sensor is six-dimension force sensor.
Preferably, a floating bracket is also included, on floating bracket, the floating bracket is to described for the mechanical arm
Mechanical arm is positioned and supported.
A kind of vertebral plate is ground surgery operation robot control system, and it is included：Sclerotin grinding machine people；One operation table, is located at
The mechanical arm lower section；Imaging apparatus are swept, CT images are obtained for being scanned to human spine, to present on human spine
Focus sclerotin；One target spot positioner, the spatial positional information for gathering bone drill and focus sclerotin；One image-guidance is controlled
Device, the sclerotin grinding machine people, scanning means and infrared optics position indicator are electrically connected with image-guidance controller, institute
Stating image-guidance controller is used to receive the CT images and spatial positional information, and generation is ground routing information and sends extremely
The sclerotin grinding machine people, the sclerotin grinding machine people is ground vertebral plate according to the grinding routing information.
Preferably, the scanning means is C-arm.
Preferably, the target spot positioner is infrared ray position indicator.
A kind of vertebral plate is ground operating robot control method, and the method realizes that the system includes one based on a system
Sclerotin grinding machine people, an operation table, sweep imaging apparatus, a target spot positioner and an image-guidance controller, the sclerotin
Grinding machine people includes a bone drill, a mechanical arm, a multi-dimension force sensor and a robot controller, and methods described is included such as
Lower step:Step S1, is scanned to the human body backbone on operation table using the scanning means and obtains CT images, with
The focus sclerotin on human spine is presented；Step S2, the locus of bone drill and focus sclerotin is gathered using target spot positioner
Information；Step S3, with reference to the CT images and the spatial positional information, generates grinding path letter on image-guidance controller
Breath；Step S4, described image navigation controller is sent routing information is ground to sclerotin grinding machine people；Step S5, the machine
Device people controller control control machinery arm is by the grinding routing information motion；Step S6, the multi-dimension force sensor gathers bone
Active force produced during grinding focus sclerotin is bored, and the active force is uploaded to robot controller；Step S7, the machine
The Force decomposition that multi-dimension force sensor is gathered is along the tangential force of focus sclerotin tangent plane and along bone drill axle center by people's controller
Axial force；Step S8, the athletic posture of the robot controller control machinery arm, to make the tangential force be maintained at default
Value, and grinding depth position of the bone drill to focus sclerotin is drawn according to the force value of axial force.
Preferably, the robot controller includes mechanics processing unit and fuzzy controller, the mechanics processing unit
Force decomposition for multi-dimension force sensor to be gathered is the tangential force along focus sclerotin tangent plane and the axial direction along bone drill axle center
Power；The fuzzy controller is used to for the non-linear tangential force that the decomposition of mechanics processing unit draws to carry out fuzzy operation, according to fortune
The athletic posture of result real-time adjustment mechanical arm is calculated, to make the tangential force be maintained at preset value.
Preferably, the robot controller presets axial force parameter, and the axial force parameter includes correspondence outer layer
The force value of the force value of cortex of bone, the force value of correspondence cancellous bone layer and correspondence internal layer cortical layer, the robot controller is by institute
State axial force parameter and the mechanics processing unit and decompose the axial force for drawing and compare, and then judge the grinding position of bone drill,
And when the bone drill is ground to internal layer cortical layer, control bone drill stops grinding.
In sclerotin grinding machine people disclosed by the invention, vertebral plate grinding surgery operation robot control system and method, using many
Produced active force during dimensional force sensor collection bone drill grinding focus sclerotin, robot controller can be realized based on the active force
Closed-loop control to mechanical arm, after the robot controller receives active force, i.e., the size direction according to active force, and
Geometrical relationship between bone drill and focus sclerotin, decomposition draws tangential force and axial force, and the robot controller is to mechanical arm
During being controlled, make the tangential force be maintained at preset value, only need to carry out computing, treatment for axial force, and only
The axial displacement for adjusting bone drill can control the grinding depth position of focus sclerotin, so as to complete sclerotin grinding operation.The present invention
Compared to existing technologies, it is to avoid directly carry out to multidimensional active force complex process, thus enormously simplify system architecture and
Calculating process so that the processing speed and control accuracy of robot controller are improved, simultaneously as sclerotin is in different layers
Secondary, position bone density is different, therefore produced during grinding axial force is also different, and based on the principle, the present invention is according only to axle
The grinding depth position of bone drill can be drawn to the force value of power so that operation precision is higher, so as to improve the accuracy of operation
With security.
Brief description of the drawings
Fig. 1 is the composition frame chart that vertebral plate of the present invention is ground surgery operation robot control system.
Fig. 2 is the structure chart of sclerotin grinding machine people in the preferred embodiment of the present invention.
Mechanical relationship schematic diagram when Fig. 3 is bone drill grinding focus sclerotin.
Fig. 4 is the flow chart that vertebral plate of the present invention is ground operating robot control method.
Specific embodiment
The present invention is described in more detail with reference to the accompanying drawings and examples.
The invention discloses a kind of sclerotin grinding machine people, with reference to shown in Fig. 1 to Fig. 3, it includes a bone drill 101,
Mechanical arm 102, a multi-dimension force sensor 103 and a robot controller 104, wherein：
The bone drill 101 is used to be ground focus sclerotin 110；
Bone drill 101 is arranged at the end of mechanical arm 102, and the mechanical arm 102 is moved for ordering about bone drill 101；
The multi-dimension force sensor 103 is used to gather active force produced during the grinding focus sclerotin 110 of bone drill 101；It is many
Dimensional force sensor 103 can be arranged on bone drill 101, or be arranged between bone drill 101 and mechanical arm 102 etc..
The bone drill 101, mechanical arm 102 and multi-dimension force sensor 103 are electrically connected with robot controller 104,
Wherein：
It is to be cut along focus sclerotin 110 that robot controller 104 is used for the Force decomposition that multi-dimension force sensor 103 is gathered
The tangential force F1 in face and the axial force F 2 along the axle center of bone drill 101；
The robot controller 104 is further used for the athletic posture of control machinery arm 102, to make the tangential force F1
Preset value is maintained at, and grinding depth position of the bone drill 101 to focus sclerotin 110 is drawn according to the force value of axial force F 2.
Grinding depth position includes outer osteoderm cortex, bone pine layer and internal layer bone cortex successively from outside to inside.
In above-mentioned sclerotin grinding machine people, during using the collection grinding focus sclerotin 110 of bone drill 101 of multi-dimension force sensor 103
Produced active force, robot controller 104 can realize the closed-loop control to mechanical arm 102, the machine based on the active force
After device people controller 104 receives active force, it is decomposed, refer to Fig. 3, i.e., the size direction according to active force, with
And the geometrical relationship between bone drill 101 and focus sclerotin 110, decompose and draw tangential force F1 and axial force F 2, the robot control
During device processed 104 is controlled to mechanical arm 102, make the tangential force F1 be maintained at preset value, only need to be directed to axial force
F2 carries out computing, treatment, and the axial displacement of only adjustment bone drill 101 can control the grinding depth of focus sclerotin 110, so that
Complete sclerotin grinding operation.The present invention is compared to existing technologies, it is to avoid directly carry out complex process to multidimensional active force, because
And enormously simplify system architecture and calculating process so that the processing speed and control accuracy of robot controller 104 are carried
Height, axial force simultaneously as sclerotin is different in different levels, the bone density of position therefore produced during grinding is also different, base
In the principle, the present invention can draw the grinding depth position of bone drill 101 according only to the force value of axial force F 2 so that operation precision
It is higher, so as to improve the accuracy and security of operation.
In data handling procedure, because the active force real-time change of the collection of multi-dimension force sensor 103, thus robot are controlled
Device 104 needs to carry out computing to a large amount of nonlinear tangential force F1 values, can realize the constant force control to tangential force, is transported to simplify
Calculation process, the present embodiment preferably uses fuzzy control method, specifically refers to, and the robot controller 104 is built-in with Fuzzy Control
Device processed 106, the fuzzy controller 106 is used to for the non-linear tangential force F1 that the decomposition of mechanics processing unit 105 draws to carry out mould
Paste computing, according to the athletic posture of operation result real-time adjustment mechanical arm 102, to make the tangential force F1 be maintained at preset value.
Above-mentioned mechanics processing unit 105 and fuzzy controller 106 are the program module of the programming of robot controller 104,
It is used to realize above-mentioned calculation function.
Used as a kind of preferred embodiment, the multi-dimension force sensor 103 is six-dimension force sensor.Six direction can be gathered
Moment components.
In the present embodiment, sclerotin grinding machine people 100 also includes floating bracket 107 and motor driver (is not marked
Show), on floating bracket 107, the floating bracket 107 enters to mechanical arm 102 for the mechanical arm 102 and motor driver
Row positioning and support, motor driver impart power to mechanical arm 102 by driving steel wire rope.In other words, bone drill
101st, mechanical arm 102, motor-driven mechanism and the composition grinding mechanism 108 of multi-dimension force sensor 103, the grinding mechanism 108 are installed
In floating bracket 107, floating bracket 107 is slideably positioned on operation table, for carrying out coarse positioning to grinding mechanism 108；Enter one
Step ground, the end of sliding support 107 sets spinous process (sign), and spinous process is clamping to be used for exhaling with patient on the spinous process of patient
The physiological movements such as suction, heartbeat realize the self-control of floating installation；It is arranged at the motor driver on floating bracket 107
Grinding mechanism 108 can be ordered about to move integrally, when mechanical arm 102 reaches target location, then bone drill 101 is ordered about by mechanical arm 102 entered
Row grinding action.Wherein：
Mechanical arm 102 is the series connection grinding mechanical arm of 4DOF electricity, and wherein 4DOF series connection grinding mechanical arm is by one
One-movement-freedom-degree and 3 rotary freedom compositions.
The sclerotin grinding machine people of said structure can be applied in vertebral plate grinding operation, the machinery of sclerotin grinding machine people
It is 2016.10.12, a kind of entitled spinal lamina mill that structure division can be found in Application No. 201610268677.2, publication date
Cut the application for a patent for invention specification of mechanism.
In order to improve the control process of sclerotin grinding machine people, invention additionally discloses a kind of grinding operating robot control of vertebral plate
System processed, with reference to shown in Fig. 1 to Fig. 3, the system includes a sclerotin grinding machine people 100, an operation table 200, one scan dress
300, one target spot positioner 400 and an image-guidance controller 500 are put, wherein：
The operation table 200 is located at the lower section of the mechanical arm 102；
The scanning means 300 is used to be scanned human spine and obtain CT images, to present on human spine
Focus sclerotin 110；
The target spot positioner 400 is used to gather the spatial positional information of bone drill 101 and focus sclerotin 110；
The sclerotin grinding machine people 100, scanning means 300 and infrared optics position indicator 400 are electrically connected with figure
As navigation controller 500, described image navigation controller 500 is used to receive the CT images and spatial positional information, Yi Jisheng
Into being ground routing information and sending to the sclerotin grinding machine people 100, the sclerotin grinding machine people 100 is according to the grinding road
Footpath information and be ground vertebral plate.
Further, the scanning means 300 is C-arm.The target spot positioner 400 is infrared ray position indicator.
Above-mentioned vertebral plate is ground surgery operation robot control system：Using C-arm for surgical object scanned in preoperative and art
Generation CT images；Grinding mechanism 108 is positioned using floating bracket 107, is supported and position adjustment；Positioned using infrared ray
Instrument determines the locus of grinding mechanism 108, floating bracket 107 and surgical object, and spatial positional information is sent into image
In navigation controller 500；CT images are read using image-guidance controller 500 and combine grinding mechanism 108, floating bracket 107
Three-dimensional reconstruction, space orientation registration and surgery planning are carried out with the spatial positional information of surgical object；Using sclerotin grinding machine
The robot controller 104 of people 100 obtains locus and surgery planning information, is instructed so as to be sent to grinding mechanism, grinding
Mechanism realizes location of operation and vertebral plate grinding action under instruction control.In vertebral plate grinding process, using the side of fuzzy control
Method makes bone drill end keep constant force griding in the horizontal direction, and axial force is then different and of different sizes due to sclerotin, and with this
Carry out the security control in grinding process.
In order to preferably describe technical scheme, with reference to shown in Fig. 1 to Fig. 4, the invention also discloses a kind of vertebra
Plate is ground operating robot control method, and the method realizes that the system includes a sclerotin grinding machine people based on a system
100th, an operation table 200, sweep imaging apparatus 300, a target spot positioner 400 and an image-guidance controller 500, the sclerotin
Grinding machine people 100 includes a bone drill 101, a mechanical arm 102, a multi-dimension force sensor 103 and a robot controller
104, methods described comprises the following steps:
Step S1, is scanned to the human body backbone on operation table 200 using the scanning means 300 and obtains CT
Image, so that the focus sclerotin 110 on human spine is presented；
Step S2, the spatial positional information of bone drill 101 and focus sclerotin 110 is gathered using target spot positioner 400；
Step S3, with reference to the CT images and the spatial positional information, generates grinding on image-guidance controller 500
Routing information；
Step S4, described image navigation controller 500 is sent routing information is ground to sclerotin grinding machine people 100；
Step S5, the control control machinery of the robot controller 104 arm 102 is by the grinding routing information motion；
Step S6, produced active force during the collection grinding focus sclerotin 110 of bone drill 101 of the multi-dimension force sensor 103,
And the active force is uploaded to robot controller 104；
The Force decomposition that multi-dimension force sensor 103 is gathered is along focus bone by step S7, the robot controller 104
The tangential force F1 of the tangent plane of matter 110 and the axial force F 2 along the axle center of bone drill 101；
Step S8, the athletic posture of the control machinery arm 102 of the robot controller 104, to make the tangential force F1 protect
Hold in preset value, and grinding depth position of the bone drill 101 to focus sclerotin 110 is drawn according to the force value of axial force F 2.
In order to realize the accurate judgement to grinding depth position, the Density Distribution of each bone bed of present invention correspondence is provided with phase
Related parameter, specifically refers to, and the robot controller 104 presets axial force parameter, and the axial force parameter includes correspondence
The force value of the force value, the force value of correspondence cancellous bone layer 112 and correspondence internal layer cortical layer 113 of outer cortical bone 111, the machine
People's controller 104 the axial force parameter and the mechanics processing unit 105 is decomposed the axial force F 2 for drawing and compared, and then
Judge the grinding position of bone drill 101, and when the bone drill 101 is ground to internal layer cortical layer 113, control bone drill 101 stops
Only it is ground.
In surgical procedure, preoperative CT scan is carried out to patient spine first, obtain SCT image and determine lesions position, then
Grinding mechanism and floating bracket are carried out disinfection, the medical treatments such as position are put, then grinding mechanism initialization, in surgical object spinous process
Upper installation spinous process folder, and arrange index point on spinous process folder.Infrared ray position indicator obtain grinding mechanism 108, floating bracket 107 and
The locus of surgical object, image-guidance controller 500 according to the CT images obtained after scanning, to the backbone 3D rendering of patient
Rebuild.Based on backbone 3D rendering model, doctor carries out diagnostic analysis so as to make operation pathway planning.Robot controller is according to doctor
Raw operation pathway planning information and the spatial positional information of grinding mechanism 108, floating bracket 107 and surgical object are to milling drum
Structure sends instruction, and grinding mechanism realizes location of operation and vertebral plate grinding action under instruction control.In art, robot controller leads to
The force signal of analysis multi-dimension force sensor feedback is crossed, perception judgement is carried out to grinding status in real time, and make corresponding control
Treatment, until vertebral plate grinding operation technique terminates.
In above-mentioned vertebral plate grinding operating robot control method, Fig. 3 is refer to, tangential force refers to the tangential power that will be obtained
Signal is imported in fuzzy controller in real time, makes bone drill that a tangential force for constant magnitude can be kept in grinding process.It is logical
Grinding depth of the adjustment bone drill in vertebral plate is crossed, horizontal tangential power is controlled in the range of a fluctuation very little, so not only
The efficiency of grinding can be improved, while simplifying the treatment of force signal during grinding status is perceived.On axial force, due to tangential force
Be regarded as a steady state value, and axial force is different due to the density degree of sclerotin, it is larger in the power of compact bone substance, cancellous bone compared with
It is small.By determining one in grinding experiment respectively in compact bone substance and the axial force scope of cancellous bone, make to pass through in operation
The difference of axial force determines the grinding status of bone drill end in grinding.Or when in outer cortical bone cancellous bone layer, make
Bone drill continues to be ground；And in internal layer cortical layer, then stop immediately.
In sclerotin grinding machine people disclosed by the invention, vertebral plate grinding surgery operation robot control system and method, system knot
Structure is simple and function is easily achieved, and whole development cost is relatively low, is easy to clinical answering.Meanwhile, the present invention uses the side of fuzzy control
Tangential force is constant during formula ensures grinding process, and ensures grinding efficiency.Additionally, by the distribution of contact forces in grinding process,
Only needed in grinding process monitor axial force it may determine that grinding state so that security control be more easy to realize.
The above is preferred embodiments of the present invention, is not intended to limit the invention, all in technology model of the invention
Interior done modification, equivalent or improvement etc. are enclosed, be should be included in the range of of the invention protection.
Claims (10)
1. a kind of sclerotin grinding machine people, it is characterised in that include：
One bone drill (101), for being ground focus sclerotin (110)；
One mechanical arm (102), for ordering about bone drill (101) motion；
One multi-dimension force sensor (103), for gathering active force produced during bone drill (101) grinding focus sclerotin (110)；
One robot controller (104), the bone drill (101), mechanical arm (102) and multi-dimension force sensor (103) are electrical respectively
It is connected to robot controller (104) wherein：
The robot controller (104) is along focus sclerotin for the Force decomposition for gathering multi-dimension force sensor (103)
(110) tangential force (F1) of tangent plane and the axial force (F2) along bone drill (101) axle center, and for control machinery arm (102)
Athletic posture, to make the tangential force (F1) be maintained at preset value, and show that bone drill (101) is right according to the force value of axial force (F2)
The grinding depth position of focus sclerotin (110).
2. sclerotin grinding machine people as claimed in claim 1, it is characterised in that, the robot controller (104) is including power
Learn processing unit (105) and fuzzy controller (106), the mechanics processing unit (105) is for by multi-dimension force sensor (103)
The Force decomposition of collection is along the tangential force (F1) and the axial force along bone drill (101) axle center of focus sclerotin (110) tangent plane
(F2)；The fuzzy controller (106) carries out mould for mechanics processing unit (105) to be decomposed into the tangential force (F1) for drawing
Paste computing, according to the athletic posture of operation result real-time adjustment mechanical arm (102), to make the tangential force (F1) be maintained at default
Value.
3. sclerotin grinding machine people as claimed in claim 1, it is characterised in that the multi-dimension force sensor (103) is 6 DOF
Force snesor.
4. sclerotin grinding machine people as claimed in claim 1, it is characterised in that also include a floating bracket (107), it is described
On floating bracket (107), the floating bracket (107) is positioned and is supported mechanical arm (102) to the mechanical arm.
5. a kind of vertebral plate is ground surgery operation robot control system, it is characterised in that include：
Sclerotin grinding machine people (100) as described in any one of claims 1 to 3；
One operation table (200), located at the mechanical arm (102) lower section；
Imaging apparatus (300) are swept, CT images are obtained for being scanned to human spine, so that the focus on human spine is presented
Sclerotin (110)；
One target spot positioner (400), the spatial positional information for gathering bone drill (101) and focus sclerotin (110)；
One image-guidance controller (500), the sclerotin grinding machine people (100), scanning means (300) and infrared optics positioning
Instrument (400) is electrically connected with image-guidance controller (500), and described image navigation controller (500) is described for receiving
CT images and spatial positional information, and generation are ground routing information and send to the sclerotin grinding machine people (100), described
Sclerotin grinding machine people (100) is ground vertebral plate according to the grinding routing information.
6. vertebral plate as claimed in claim 5 is ground surgery operation robot control system, it is characterised in that the scanning means
(300) it is C-arm.
7. vertebral plate as claimed in claim 5 is ground surgery operation robot control system, it is characterised in that the target spot positioner
(400) it is infrared ray position indicator.
8. a kind of vertebral plate is ground operating robot control method, it is characterised in that the method is based on system realization, the system
Include a sclerotin grinding machine people (100), an operation table (200), sweep imaging apparatus (300), a target spot positioner (400)
And an image-guidance controller (500), the sclerotin grinding machine people (100) includes a bone drill (101), a mechanical arm
(102), a multi-dimension force sensor (103) and a robot controller (104), methods described comprises the following steps:
Step S1, is scanned using the scanning means (300) and obtained to the human body backbone on the operation table (200)
CT images are obtained, so that the focus sclerotin (110) on human spine is presented；
Step S2, the spatial positional information of bone drill (101) and focus sclerotin (110) is gathered using target spot positioner (400)；
Step S3, with reference to the CT images and the spatial positional information, generates grinding road on image-guidance controller (500)
Footpath information；
Step S4, described image navigation controller (500) is sent routing information is ground to sclerotin grinding machine people (100)；
Step S5, the robot controller (104) controls control machinery arm (102) to be moved by the grinding routing information；
Step S6, the multi-dimension force sensor (103) gathers effect produced during bone drill (101) grinding focus sclerotin (110)
Power, and the active force is uploaded to robot controller (104)；
Step S7, the Force decomposition that the robot controller (104) gathers multi-dimension force sensor (103) is along focus bone
The tangential force (F1) of matter (110) tangent plane and the axial force (F2) along bone drill (101) axle center；
Step S8, the athletic posture of the robot controller (104) control machinery arm (102), to make the tangential force (F1)
Preset value is maintained at, and grinding depth position of the bone drill (101) to focus sclerotin (110) is drawn according to the force value of axial force (F2)
Put.
9. vertebral plate as claimed in claim 8 is ground operating robot control method, it is characterised in that the robot controller
(104) including mechanics processing unit (105) and fuzzy controller (106), the mechanics processing unit (105) is for by multi-dimensional force
The Force decomposition of sensor (103) collection is along the tangential force (F1) of focus sclerotin (110) tangent plane and along bone drill (101) axle center
Axial force (F2)；The fuzzy controller (106) is entered for mechanics processing unit (105) to be decomposed into the tangential force (F1) for drawing
Row fuzzy operation, according to the athletic posture of operation result real-time adjustment mechanical arm (102), to make the tangential force (F1) be maintained at
Preset value.
10. vertebral plate as claimed in claim 9 is ground operating robot control method, it is characterised in that the robot control
Device (104) presets axial force parameter, and the axial force parameter includes the force value of correspondence outer cortical bone (111), correspondence bone
The force value of spongiosa layer (112) and the force value of correspondence internal layer cortical layer (113), the robot controller (104) is by the axle
The axial force (F2) for drawing is decomposed to force parameter and the mechanics processing unit (105) to compare, and then judges bone drill (101)
Grinding position, and when the bone drill (101) is ground to internal layer cortical layer (113), control bone drill (101) stops grinding.
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