CN111772727A

CN111772727A - Anti-shaking control method and system for osteotomy saw blade

Info

Publication number: CN111772727A
Application number: CN202010628902.5A
Authority: CN
Inventors: 李书纲
Original assignee: Beijing And Huaruibo Medical Technology Co ltd
Current assignee: Beijing And Huaruibo Medical Technology Co ltd
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2020-10-16
Anticipated expiration: 2040-07-01
Also published as: WO2022002090A1; CN111772727B

Abstract

The invention discloses a control method and device for preventing a saw blade from shaking, a storage medium and a processor. Wherein, the method comprises the following steps: acquiring coordinate information of the tail end of the saw blade; establishing a relation between the coordinate information of the tail end of the saw blade and a calibration graph, wherein the calibration graph is a graph with a reference line, and under the condition that the tail end of the saw blade is overlapped with a target cutting surface, an indication mark corresponding to the coordinate information of the tail end of the saw blade in a screen indicates the position of the reference line of the calibration graph, and the indication mark feeds back the coordinate information of the tail end of the saw blade in the calibration graph; and adjusting the position of the saw blade to keep the saw blade in the preset range of the datum line according to the change of the datum line position of the calibration graph and the indication mark corresponding to the tail end coordinate information of the saw blade. The invention solves the technical problem that the saw blade is difficult to ensure the cutting position precision in real time due to the characteristics of the cooperative mechanical arm in the prior art.

Description

Anti-shaking control method and system for osteotomy saw blade

Technical Field

The invention relates to the technical field of computer-assisted surgery, in particular to an anti-shaking control method and system for an osteotomy saw blade, a storage medium and a processor.

Background

At present, with the development of computer technology, computer-assisted surgical systems are rapidly developed, and in such systems, in order to facilitate operations such as movement, a cooperative mechanical arm is generally provided. The distal end of a cooperating robotic arm will typically carry an end effector, which, depending on the needs of different scenarios, will carry different medical instruments, such as: saws, drills, mills, etc. (herein "proximal" means the end relatively closer to the robot arm operator, further from the patient, and "distal" means the end relatively further from the robot arm operator, closer to the patient). The electric saw is taken as an example, a saw blade of the electric bone cutting saw is one of medical instruments which are often carried by the end effector, the electric saw can cut the target more efficiently, and the electric saw is suitable for the total knee joint replacement surgery and the like, and in order to ensure the accuracy of the operation, the accurate positioning cutting of the position of the farthest end (also called as the front end or the tail end) of the saw blade is very important; therefore, in the scenario of osteotomy, which requires the osteotomy saw blade to be maintained in a specific osteotomy plane to be cut, there are two general problems in the scenario of osteotomy:

1. the main difference between the cooperative mechanical arm and other types of mechanical arms is that when the cooperative mechanical arm is used in operation, a person needs to hold the mechanical arm by hand to directly perform operation actions such as pushing, pulling, lifting, pressing and the like on the mechanical arm. Such semi-manual operation tends to result in the osteotomy saw blade being displaced from the plane of the osteotomy to be cut during the osteotomy.

2. When the electric saw blade is used in a specific scene of an orthopedic operation, the osteotomy saw blade usually has a small size, and a certain movement space and degree of freedom need to be ensured by the cooperative mechanical arm during cutting, so that the electric saw blade cannot be made rigid, and the electric saw blade is always in a high-speed swing state (the swing speed of the saw blade is up to 8800 times/minute) in the operation process, so that the precision of a cutting position is difficult to ensure by the cut saw blade in real time when the orthopedic operation is performed.

Aiming at the technical problem that the osteotomy saw blade caused by the characteristics of the cooperative mechanical arm in the prior art cannot guarantee the precision of the cutting position in real time, an effective solution is not provided at present.

Disclosure of Invention

The embodiment of the invention provides a control method and system for preventing a saw blade from shaking, a storage medium and a processor, and aims to solve the technical problem that the saw blade is difficult to ensure the cutting position precision in real time due to the characteristics of a cooperative mechanical arm in the prior art.

According to an aspect of an embodiment of the present invention, there is provided a method for controlling anti-chatter of a saw blade, including: acquiring coordinate information of the tail end of the saw blade; establishing a relation between the coordinate information of the tail end of the saw blade and a calibration graph, wherein the calibration graph is a graph with a reference line, and under the condition that the tail end of the saw blade is overlapped with a target cutting surface, an indication mark corresponding to the coordinate information of the tail end of the saw blade in a screen indicates the position of the reference line of the calibration graph, and the indication mark feeds back the coordinate information of the tail end of the saw blade in the calibration graph; and adjusting the position of the saw blade to keep the saw blade in the preset range of the datum line to move according to the change of the position of the datum line of the calibration graph and the indicator corresponding to the coordinate information of the tail end of the saw blade.

Further, acquiring coordinate information of the end of the saw blade includes: acquiring a coordinate system position relation between a body positioning frame of an end effector and an end positioning frame of a saw blade under the condition that the tail end of the saw blade is close to the target cutting surface and reaches a preset alignment position, wherein the saw blade is arranged on the end effector; acquiring the pose information of the saw blade in real time according to the position relation of the coordinate system and the pose information of the body positioning frame; and obtaining the current coordinate information of the tail end of the saw blade according to the current pose information of the saw blade.

Further, adjusting the position of the saw blade according to the change of the position of the reference line of the calibration graph and the indicator corresponding to the saw blade end coordinate information comprises: and enabling the moving direction of the indicating mark in the calibration graph to correspond to the position of the coordinate information of the tail end of the saw blade on the target to be cut from the target cutting surface.

Further, the making the moving direction of the indicator in the calibration graph correspond to the position of the coordinate information of the saw blade tail end on the target to be cut from the target cutting surface comprises: and controlling the indication mark to move in the calibration graph in the positive and negative directions by taking the target cutting surface as a reference, wherein the moving directions are respectively in the upper and lower directions of the reference line of the calibration graph.

Further, controlling the indication mark to comprise after the indication mark moves in the positive direction and the negative direction which take the target cutting surface as the reference in the calibration graph; in the case that the indicator mark indicates an upper portion in the calibration pattern, controlling a position of an actual cut of the saw blade to be at a position close to an edge of a bone of a patient from a position of the target cutting plane; and in the case that the indicator mark indicates the lower part in the calibration graph, controlling the position of the actual cutting of the saw blade to be away from the position of the target cutting plane at a position far away from the edge of the bone of the patient.

Further, obtaining coordinate information of the blade tip may include: controlling the mechanical arm device to move by determining the position relation between the position of the tail end positioning frame and the target cutting surface, wherein the tail end actuator is arranged on the mechanical arm device; and judging whether the distance between the tail end positioning frame and the target cutting surface exceeds a threshold range, if so, updating the position relation between the position of the tail end positioning frame and the target cutting surface, and continuing to control the mechanical arm device to move until the tail end of the saw blade is close to the target cutting surface and reaches a preset alignment position, and stopping judgment.

Further, adjusting the position of the saw blade according to the change of the position of the reference line of the calibration graph and the indicator corresponding to the saw blade end coordinate information comprises: and when the positioning frame or the target reference frame on the flange on the mechanical arm device is blocked during osteotomy, changing the color of the calibration graph for prompting.

Further, adjusting the position of the saw blade to keep the saw blade moving within the predetermined range of the reference line according to the change of the position of the reference line of the calibration graph and the indication mark corresponding to the saw blade end coordinate information comprises: presetting the calibration graph into five different color regions, wherein each color region corresponds to a predetermined range with different sizes; and controlling the indicating mark corresponding to the tail end coordinate of the saw blade to keep moving in a small preset range around the reference line.

Further, associating the coordinate information of the blade tip with the calibration pattern includes: presetting that the unit distance moved by the indicator mark in the calibration graph corresponds to the coordinate information of the actual change of the tail end of the saw blade.

Further, the indication mark is a rectangular bar capable of indicating different positions through light and shade changes in the calibration graph, and/or the indication mark is a three-dimensional graph corresponding to the saw blade, and/or the indication mark is a two-dimensional graph corresponding to the saw blade.

Further, after acquiring the coordinate information of the end of the saw blade, the method further comprises: and displaying the actual angle of the plane of the saw blade and the target cutting plane through a first indication frame.

Further, the method for acquiring the coordinate information of the tail end of the saw blade further comprises the following steps: and displaying data of the actual change of the coordinate information of the tail end of the saw blade compared with the target cutting plane through a second indication frame.

According to another aspect of the embodiments of the present invention, there is also provided a saw blade anti-shake control system, including:

the acquisition unit is used for acquiring coordinate information of the tail end of the saw blade; the processing unit is used for establishing a relation between the coordinate information of the tail end of the saw blade and a calibration graph, wherein the calibration graph is a graph with a reference line, under the condition that the tail end of the saw blade is overlapped with a target cutting surface, an indication mark corresponding to the coordinate information of the tail end of the saw blade in a screen indicates the position of the reference line of the calibration graph, and the indication mark feeds back the coordinate information of the tail end of the saw blade in the calibration graph; and the first control unit is used for adjusting the position of the saw blade to keep the saw blade in a preset range of the datum line according to the change of the position of the datum line of the calibration graph and the indicator corresponding to the coordinate information of the tail end of the saw blade.

Further, the acquisition unit includes: the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the position relation of a coordinate system between a body positioning frame of an end effector and an end positioning frame of a saw blade under the condition that the tail end of the saw blade is close to the target cutting surface and reaches a preset alignment position, and the saw blade is arranged on the end effector; the second acquisition module is used for acquiring the pose information of the saw blade in real time according to the position relation of the coordinate system and the pose information of the body positioning frame; and the third acquisition module is used for acquiring the current coordinate information of the tail end of the saw blade according to the current pose information of the saw blade.

Further, the first control unit includes: and the direction control module is used for enabling the moving direction of the indicating mark in the calibration graph to correspond to the position of the coordinate information of the tail end of the saw blade on the target to be cut away from the target cutting surface.

Further, the direction control module includes: the first control module is used for controlling the indication mark to move in the calibration graph in the positive and negative directions based on the target cutting surface, wherein the moving directions are respectively located in the upper and lower directions of the reference line of the calibration graph.

Further, the direction control module further comprises; a second control module for controlling the position of the actual cutting of the saw blade to be at a position close to the edge of the patient's bone from the position of the target cutting plane in case the indicator indicates an upper portion in the calibration pattern; and the third control module is used for controlling the position of the actual cutting of the saw blade to be away from the position of the target cutting plane at a position far away from the edge of the bone of the patient under the condition that the indicator mark indicates the lower part in the calibration graph.

Further, the system further comprises: a second control unit configured to control the robot arm device to move by determining a positional relationship between a position of the end effector and the target cut surface, wherein the end effector is mounted on the robot arm device; and the judgment control unit is used for judging whether the distance between the tail end positioning frame and the target cutting surface exceeds a threshold range, updating the position relation between the position of the tail end positioning frame and the target cutting surface if the distance exceeds the threshold range, and continuously controlling the mechanical arm device to move until the tail end of the saw blade is close to the target cutting surface and reaches a preset alignment position, and stopping judgment.

Further, the first control unit further includes: and the prompting module is used for changing the color of the calibration graph to prompt under the condition that the positioning frame or the target reference frame on the flange on the mechanical arm device is blocked during osteotomy.

Further, the first control unit further includes: the first presetting module is used for presetting the calibration graph into five different color areas, wherein each color area corresponds to a preset range with different sizes; and the fourth control module is used for controlling the indication mark corresponding to the tail end coordinate of the saw blade to keep the indication mark moving in a small preset range around the datum line.

Further, the processing unit includes: and the second presetting module is used for presetting that the unit distance of the moving of the indicating mark in the calibration graph corresponds to the coordinate information of the actual change of the tail end of the saw blade.

Further, the system further comprises: and the first display module is used for displaying the actual angle between the plane where the saw blade is located and the target cutting plane through a first indication frame.

Further, the system further comprises: and the second display module is used for displaying the data of the actual change of the coordinate information of the tail end of the saw blade compared with the target cutting plane through a second indication frame.

According to another aspect of the embodiments of the present invention, there is also provided a storage medium having a program stored thereon, the program being operable to perform the method described above.

According to another aspect of the embodiments of the present invention, there is also provided a processor, which is executed with the program to perform the above-mentioned method.

According to the embodiment of the invention, the coordinate information of the tail end of the saw blade is obtained; establishing a relation between the coordinate information of the tail end of the saw blade and a calibration graph, wherein the calibration graph is a graph with a reference line, and under the condition that the tail end of the saw blade is overlapped with a target cutting surface, an indication mark corresponding to the coordinate information of the tail end of the saw blade in a screen indicates the position of the reference line of the calibration graph, and the indication mark feeds back the coordinate information of the tail end of the saw blade in the calibration graph; and adjusting the position of the saw blade to keep the saw blade in the preset range of the datum line to move according to the change of the position of the datum line of the calibration graph and the indicator corresponding to the coordinate information of the tail end of the saw blade. The invention solves the technical problem that the saw blade is difficult to ensure the cutting position precision in real time due to the characteristics of the cooperative mechanical arm in the prior art, so that the saw blade can be finely adjusted in real time in the process of operating the cooperative mechanical arm by a doctor, and the saw blade is ensured to be accurately kept in a target plane to be cut for cutting in the whole cutting process of the osteotomy.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a flow chart of a method of controlling anti-chatter of a saw blade according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a calibration graph according to an embodiment of the invention;

FIG. 3 is a schematic diagram of a calibration graph according to an embodiment of the invention;

FIG. 4 is a schematic diagram of a calibration graph according to an embodiment of the invention;

FIG. 5 is a schematic diagram of a relationship between a two-dimensional indicator pattern and a calibration pattern according to an embodiment of the invention;

FIG. 6 is a schematic diagram of a relationship between a two-dimensional indicator pattern and a calibration pattern according to an embodiment of the invention;

FIG. 7 is a schematic diagram of the relationship between a three-dimensional indicator graphic and a calibration graphic according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a cooperative arm arrangement in accordance with an embodiment of the present invention;

FIG. 9 is a schematic diagram of the structure of a host portion and an optical navigation device according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of an optical spacer according to an embodiment of the present invention;

FIG. 11 is a schematic structural diagram of an optical navigation device according to an embodiment of the present invention;

FIG. 12 is a schematic structural view of an end effector according to an embodiment of the present invention;

FIG. 13 is a schematic diagram of an end effector with an end positioner mounted thereon according to an embodiment of the present invention;

FIG. 14 is a schematic structural view of an end spacer according to an embodiment of the present invention;

FIG. 15 is a side view of an end spacer according to an embodiment of the present invention;

FIG. 16 is a schematic structural view of the ball mechanism portion of the end stop according to an embodiment of the present invention;

FIG. 17 is a schematic view of a reference frame in relation to a plane to be cut according to an embodiment of the present invention;

FIG. 18 is a schematic view of the end spacer and body spacer in position according to an embodiment of the present invention;

FIG. 19 is a schematic view of the positional relationship of the end effector to the object to be cut, according to an embodiment of the present invention;

FIG. 20 is a schematic view of a saw blade anti-chatter control system in accordance with an embodiment of the present invention.

Detailed Description

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

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In accordance with an embodiment of the present invention, there is provided an embodiment of a method for controlling anti-chatter of an osteotomy saw blade, wherein the steps illustrated in the flowchart of the figure may be performed in a computer system, such as a set of computer executable instructions, and wherein although a logical sequence is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in a sequence different than the sequence illustrated herein.

The noun meanings appearing in the following examples are explained below:

fig. 1 is a flowchart of a method for controlling anti-shaking of an osteotomy saw blade according to an embodiment of the present invention, as shown in fig. 1, the method comprising the steps of:

step S1002, obtaining coordinate information of the tail end of the osteotomy saw blade, wherein the coordinate information of the tail end of the saw blade is obtained through calculation according to position information of a certain point of the tail end of the saw blade, the specific calculation mode can be any point on the cross section of the tail end of the saw blade, and preferably, when the cross section of the tail end of the saw blade is a rectangle, the central point of the rectangle can be used as the position information of the tail end point of the saw blade;

step S1004, establishing a relation between the coordinate information of the tail end of the osteotomy saw blade and a calibration graph, wherein the calibration graph is a graph with a reference line, under the condition that the tail end of the osteotomy saw blade is overlapped with a target cutting surface, an indication mark corresponding to the coordinate information of the tail end of the osteotomy saw blade in a screen indicates the position of the reference line of the calibration graph, and the indication mark feeds back the coordinate information of the tail end of the osteotomy saw blade in the calibration graph;

the calibration graph can clearly identify any graph of positive and negative moving directions, can be a rectangle formed by different colored squares as shown in fig. 4, and can also be graphs of other forms, such as graphs and sector graphs as wifi radars shown in fig. 2 and 3, the graphs all have a central datum line and two directions taking the datum line as the standard, and the calibration graph can also be a graph which only has one datum line and only identifies the movement of the medical tool in one direction. The step is to feed back the micro-change of the osteotomy saw blade in the deviation of the plane to be osteotomy in the osteotomy process in real time through a calibration graph.

And step S1006, adjusting the position of the osteotomy saw blade to keep the osteotomy saw blade moving within the predetermined range of the datum line according to the change of the datum line position of the calibration graph and the indication mark corresponding to the osteotomy saw blade end coordinate information. The reference line represents the plane of the bone to be cut, and the indicator in the calibration graph indicates that the position of the cutting saw blade is offset from the plane of the bone to be cut when the indicator indicates that the reference line is offset. The predetermined range is an error range in which the osteotomy saw blade allows the offset when cutting the bone.

The method ingeniously utilizes visualization to ensure that the offset bone cutting plane of the bone cutting saw blade is in a preset range, real-time control fine adjustment can be carried out at any time according to a visual observation result, even if a cutter is continuously shaken to cut, the accuracy of the position to be cut can still be ensured, and the position to be cut is kept to move in the target plane to be cut, so that the technical problem that the bone cutting saw blade is difficult to ensure the precision of the cutting position in real time due to the characteristic of a cooperative mechanical arm in the prior art is solved.

In order to more accurately obtain the coordinate information of the tail end of the osteotomy saw blade in the step in real time, firstly, after repeated recursive calibration of the cutter and the target cutting surface, when the cutter confirms to be aligned with the target cutting surface, NDRecording the coordinate system relationship between the body positioning frame positioned on the end effector and the blade tip positioning frame, and correcting the coordinate system of the body positioning frame of the end effector through the coordinate system relationship, wherein the space pose of the body positioning frame of the end effector shot by NDI represents the space pose information of the saw blade, and the coordinate of the tail end of the saw blade can be represented by the coordinate system of the body positioning frame of the end effector. And finally, obtaining the coordinate information of the saw blade through the coordinate information of the body positioning frame, and calculating the coordinate information of the tail end point of the saw blade through the coordinate information of the saw blade. In an alternative embodiment, in a case where the distal end of the osteotomy saw blade approaches the target cutting surface and reaches a predetermined alignment position, a coordinate system positional relationship between a body positioning frame of the end effector and a distal end positioning frame of the osteotomy saw blade is acquired, wherein the osteotomy saw blade is mounted on the end effector; acquiring the pose information of the osteotomy saw blade in real time according to the position relation of the coordinate system and the pose information of the body positioning frame; and obtaining the coordinate information of the tail end of the current osteotomy saw blade through the pose information of the current osteotomy saw blade. For example, when the distance between the end point of the saw blade and the plane to be cut is calculated in real time, the position relationship between the coordinate system corresponding to the plane where the saw blade is located and the coordinate system where the plane to be cut is located is actually calculated, the posture angle is calculated by calculating the angle between the plane where the saw blade is located and the plane to be cut, and the coordinate system C where the end point of the saw blade is located is calculated in real time_FCoordinate system C of the plane to be cut_PA positional relationship between C_PAnd C_TThe position relation of the cutting target is fixed from beginning to end, can be coincident or has a fixed position relation, and is determined according to a coordinate system C of a reference frame of the target to be cut_TAnd determining the coordinate system C of the plane to be cut according to the known position relationship between the coordinate system of the reference frame and the coordinate system of the plane to be cut_P. Coordinate information of the end of the osteotomy saw blade is obtained by calculating these positional relationships.

The direction in which the indicator moves in the calibration pattern indicates the coordinate information of the blade tip on the target to be cut as it is oriented away from the target cutting surface. In an alternative embodiment, that is, firstly, adjusting the position of the osteotomy saw blade according to the change of the position of the reference line of the calibration graph and the indicator corresponding to the end coordinate information of the osteotomy saw blade comprises; secondly, the moving direction of the indicating mark in the calibration graph corresponds to the position of the coordinate information of the tail end of the saw blade on the target to be cut away from the cutting surface of the target.

The moving direction of the indicating mark in the calibration graph corresponds to the position of the coordinate information of the tail end of the saw blade on the target to be cut away from the cutting surface of the target.

The saw blade is controlled to correspond to the visual calibration graph, the visual calibration graph feeds back the position relation, the direction and the distance of the saw blade and the offset to-be-cut target plane in real time, the calibration graph feeds back the two directions of the saw blade to be offset to-be-cut target plane, interference in other directions is avoided, the saw blade can be finely adjusted better and more intuitively in real time to be kept within a preset deviation range from top to bottom of the to-be-cut plane, and therefore the surgical cutting precision of the saw blade is better guaranteed to be cut.

After the control indicator moves in the calibration pattern in the forward and reverse directions with reference to the target cutting plane, in an alternative embodiment, when the indicator indicates the upper part in the calibration pattern, the actual cutting position of the osteotomy saw blade is controlled to be at a position close to the bone edge of the patient from the position of the target cutting plane; in the case where the indicator mark indicates a lower portion in the calibration graph, the position of the actual cut of the osteotomy saw blade is controlled to be a position away from the edge of the patient's bone from the position of the target cutting plane. The depth of the osteotomy can be detected in real time through the method, and the deviation of the osteotomy position caused by misoperation during osteotomy is avoided. When the indicator indicates the upper representation in the calibration graph, the position of the actual cutting is shallower from the position of the target cutting plane or is at a position close to the bone edge of the patient; when the indicator indicates a lower representation in the calibration graph, the actual cut is located deeper from the target cutting plane or closer to the edge of the patient's bone.

In an alternative embodiment, obtaining the coordinate information of the end of the osteotomy saw blade comprises: controlling the mechanical arm device to move by determining the position relation between the position of the tail end positioning frame and the target cutting surface, wherein the tail end actuator is arranged on the mechanical arm device; and judging whether the distance between the tail end positioning frame and the target cutting surface exceeds a threshold range, if so, updating the position relation between the position of the tail end positioning frame and the target cutting surface, and continuously controlling the mechanical arm device to move until the tail end of the osteotomy saw blade is close to the target cutting surface and reaches a preset alignment position, and stopping judgment. The mechanical arm is controlled to move to the target position in a cooperation mode, the tail end of the osteotomy saw blade is close to the target cutting surface, the plane where the osteotomy saw blade is located is also overlapped with the target cutting surface, and therefore preparation is made for subsequent visual fine adjustment.

When a positioning frame or a target reference frame on a flange on a mechanical arm device is shielded during osteotomy, the coordinate information of the tail end of the saw blade can be obtained untimely, so that large deviation can be caused, and whether the coordinate information of the tail end is obtained timely or not can be fed back visually in real time. In an alternative embodiment, adjusting the position of the osteotomy saw blade according to the change of the position of the reference line of the calibration pattern and the indicator corresponding to the coordinate information of the end of the osteotomy saw blade comprises: when the positioning frame or the target reference frame on the flange on the mechanical arm device is shielded during osteotomy, the color of the calibration graph is changed for prompting.

In an alternative embodiment, adjusting the position of the osteotomy saw blade to maintain the position of the osteotomy saw blade within the predetermined range of the reference line according to the change of the position of the reference line of the calibration graph and the indicator corresponding to the distal end coordinate information of the osteotomy saw blade comprises: presetting a calibration pattern into five different color regions, wherein each color region corresponds to a predetermined range of different sizes; the indication mark corresponding to the coordinate of the tail end of the osteotomy saw blade is controlled to keep moving in a small preset range around the reference line. Preferably, the total amount of the calibration pattern may be preset to be 5mm, and the upper part to the lower part of the calibration pattern are divided into 5 color regions, which are: red, yellow, green, yellow and red, the measuring range of each area is 1mm, each color area is divided into 5 unit grids, each unit grid represents the unit distance moved by the indicating mark in the calibration graph and also represents that the coordinate information of the tail end of the saw blade is actually changed by 0.2 mm. The third unit grid of the green area represents the position of the datum line, the third grid of the green area correspondingly represents that the relative relation between the tail end of the real saw blade and the target osteotomy plane is shifted +/-0.1 mm, and the rest grids are analogized. The third unit grid (datum line) of the green area divides the calibration graph into two parts, and when the osteotomy of the saw blade is shallow, the indicator mark moves towards the upper part of the calibration graph; when the saw blade osteotomy is deep, the indicator mark moves downward under the calibration pattern. When the distance between the real osteotomy saw blade and the osteotomy plane exceeds the total measuring range +/-2.5 mm, the rainbow strip displays the red top grid or the red bottom grid. In an alternative embodiment, associating the coordinate information of the end of the osteotomy saw blade with the calibration pattern comprises: the unit distance that the preset indicating mark moves in the calibration pattern corresponds to the coordinate information of the actual change of the blade tip.

In an alternative embodiment: the indication mark is a rectangular strip capable of indicating different positions through light and shade change in the calibration graph, and/or the indication mark is a three-dimensional graph corresponding to the osteotomy saw blade, and/or the indication mark is a two-dimensional graph corresponding to the osteotomy saw blade. The indicating mark is under the condition that the rectangular strips at different positions can be indicated through light and shade changes in the calibration graph, when the saw blade is confirmed to be aligned with the target cutting surface and is approximately overlapped with the target cutting surface, the coordinate information of the tail end of the saw blade, namely the coordinate information (pose information) of the positioning frame of the body of the end effector is sent to the host, the host establishes connection between the coordinate information and the calibration graph, when the tail end of the saw blade is overlapped with the target cutting surface, the rectangular strip corresponding to the coordinate information is lightened at the reference line position (the third grid of the green area) of the calibration graph, when the coordinate information is changed, the position of the rectangular strip in the calibration graph is correspondingly changed, and the unit distance of the rectangular strip in the calibration graph represents that the coordinate information of the tail end of the saw blade is actually changed by 0.2 mm. The change in the coordinate information indicates a spatial distance of the blade tip on the cutting target from the target cutting plane. The rectangular bar may be an indication mark having another shape, or may be an indication by displaying a unit cell of a color region divided in the calibration pattern in a bright manner.

As shown in fig. 7, when the indication mark is a three-dimensional indication pattern corresponding to the osteotomy saw blade, the three-dimensional indication pattern represents data of the three-dimensional pattern of the actual saw blade, and the corresponding information between the three-dimensional indication pattern and the actual osteotomy saw blade can be obtained by using a reference frame on the end effector and a navigator in a similar obtaining manner according to the data information at the end of the saw blade.

The middle one of the solid rectangles on the left represents the osteotomy target location. When the blade is perfectly aligned with the planar target of the osteotomy to be planned, the blade is aligned against the middle rectangular block in the three-dimensional view. During the osteotomy process, the navigation device captures the position and the posture of a positioning frame (an end effector positioning frame) in real time and synchronously displays the position and the posture in real time in a three-dimensional view. The specific method is that the positioning frame 500 represents a coordinate system, the solid rectangle (the target position of the osteotomy) also represents a coordinate system 801, and the pose relationship of the two coordinate systems is the pose relationship of the solid rectangle and the saw blade.

One end of the three-dimensional indication graph close to the calibration graph is used as an indication end, and the indication end represents the tail end of the saw blade; no matter how the three-dimensional indication pattern changes, the indication end of the three-dimensional indication pattern is always positioned in the preset range of the calibration pattern, for example, the preset range can be an edge which can indicate a unit distance along the indication pattern. When the tail end of the saw blade is overlapped with the target cutting surface, the indicating end corresponding to the coordinate information indicates the position of the datum line of the calibration graph, when the coordinate information changes, the position of the indicating end in the calibration graph changes correspondingly, and the unit distance of the indicating end moving in the calibration graph represents that the coordinate information of the tail end of the saw blade actually changes by 0.2 mm. The change in the coordinate information indicates a spatial distance of the blade tip on the cutting target from the target cutting plane. The angle change between the plane of the whole saw blade and the to-be-cut surface of the to-be-cut object can be observed in real time through the three-dimensional graph, and the adjustment is facilitated.

As shown in fig. 5 and 6, the indication mark is a two-dimensional indication graph corresponding to the osteotomy saw blade, the two-dimensional indication graph represents two-dimensional data of the actual saw blade, and the corresponding information of the two-dimensional indication graph and the actual saw blade can be obtained by a similar obtaining mode of a reference frame on the end effector and a navigator according to the data information at the end of the saw blade. The three-dimensional rectangular block shown on the left side of fig. 7 represents a target cutting surface, and the rectangular block is fixed on a software interface and is projected to the back of the rectangular block, which is perpendicular to the cutting surface, to form a two-dimensional rectangular strip; the center line of the blade is also projected toward the "back" plane. The reference line position at the center of the three-dimensional rectangular block represents a target cutting surface, and the angle between the projected target cutting surface (which becomes a line after projection) and the two lines of the center line of the right saw blade represents the angle between the actual saw blade and the target cutting surface.

One end of the indication graph close to the calibration graph is used as an indication end, and the indication end represents the tail end of the saw blade; the indicating end of the indicating pattern is always located within the preset range of the calibration pattern regardless of the variation of the indicating pattern, for example, the preset range may be an edge along which the indicating pattern can indicate a unit distance. When the tail end of the saw blade is overlapped with the target cutting surface, the indicating end corresponding to the coordinate information indicates the position of the datum line of the calibration graph, when the coordinate information changes, the position of the indicating end in the calibration graph changes correspondingly, and the unit distance of the indicating end moving in the calibration graph represents that the coordinate information of the tail end of the saw blade actually changes by 0.2 mm. The change in the coordinate information indicates a spatial distance of the blade tip on the cutting target from the target cutting plane. The angle change of the whole saw blade and the target cutting surface can be observed in real time through the two-dimensional graph, and the adjustment is facilitated.

In an alternative embodiment, the obtaining of the coordinate information of the end of the osteotomy saw blade further comprises: and displaying the actual angle of the plane of the osteotomy saw blade and the target cutting plane through the first indicating frame.

In an alternative embodiment, the obtaining of the coordinate information of the end of the osteotomy saw blade further comprises: and displaying the data of the actual change of the coordinate information of the tail end of the osteotomy saw blade compared with the target cutting plane through the second indication frame.

The embodiment establishes and tracks the relation between a target cutting (osteotomy) surface and the saw blade in real time, guides a user to adjust visually to obtain the best osteotomy effect, improves the success rate of osteotomy, and displays intuitive and understandable parameters and a smooth learning curve.

The process of obtaining coordinate information of the end of the osteotomy saw blade is described in an alternative embodiment with reference to the figures:

the medical instrument referred to in the present application is an instrumental device that can be used medically to assist a doctor in performing an examination or a surgical operation, and may be, for example, an electric saw or a saw blade thereof used in a total knee replacement operation, but is not limited thereto, and may be, for example, a forceps, a drill, a milling cutter, a screwdriver, a dilator, an implant inserter, or the like.

As shown in fig. 8, the robot arm device includes a control cabinet 100, a cooperative robot arm 200, an end effector 300, a medical instrument 400, and an optical positioner 500 mounted on the body of the end effector 300.

The control cabinet 100 is provided with a control Unit 103, and the control Unit 103 has signal Processing capability, and may be, but is not limited to, any chip or device having data Processing and control capabilities, including a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and the like. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed.

The control unit 103 may be connected to a host part (not shown) of the system through the interface 101 of the control cabinet 100, so as to communicate with the host of the system, and the control unit 103 may receive a control signal from the host of the system and convert the control signal into an operation command for controlling the movement of the cooperative arm 200.

The cooperative arm 200 may receive a command from the control unit 103 and move according to a motion pattern defined by the command, or may be pushed, pulled, lifted, pressed, or the like by an operator applying an external force to the cooperative arm under manual control of the operator.

The top end surface of the control cabinet 100 is a base part 102, and the base part 102 of the control cabinet 100 is fixedly connected with a base end 201 of the cooperative mechanical arm 200. The cooperating robot 200 is a multi-axis robot having a proximal end, a base end 201, fixedly mounted at the base portion 102 of the control cabinet 100. The distal end of the cooperative mechanical arm 200 is a flange end 202, and the cooperative mechanical arm 200 can receive an instruction from the control unit 103, so that the flange end 202 performs rotation, translation and the like according to a motion mode defined by the instruction and moves to a certain spatial position defined by the instruction.

The flange end 202 of the cooperative mechanical arm 200 is fixedly connected with the end effector 300, and the end of the end effector 300 carries the medical instrument 400, for example, the medical instrument 400 carried on the end effector 300 provided by the embodiment is a saw blade of an electric saw, the saw blade is driven by an electric saw motor, and the saw blade can keep a high-speed swing state during operation. As an example, an optical positioner 500 may also be mounted on the body of the end effector 300.

As shown in fig. 9, the optical navigation device further includes a host portion 1000, which may be a computer or similar device with storage, computing, and communication functions. In fig. 9, the optical navigation device and the system main unit 1000 are integrated into one device as an example, but it is to be understood that they may be provided separately or the system main unit and the robot arm device shown in fig. 8 may be integrated as long as secure connection and stable communication between the respective devices can be ensured.

The optical navigation device 600 may be, for example, a binocular navigation camera, and tracks the positions of the tracking markers (usually, but not limited to, the respective reflective balls) on the optical positioning frame, so as to determine the spatial pose information of the optical positioning frame.

In the embodiment shown in FIG. 9, the optical navigation device 600 is fixed to one end of the suspension 700, the other end of the suspension 700 is fixed to the top of the column 800, and the bottom of the column 800 is connected to the compartment portion housing the host 1000, wherein cables for data transmission, communication, and power supply are passed through the inner cavities of the column 800, the suspension 700, and the compartment portion. The cantilever 700 can be lifted and rotatably and fixedly connected to the position of the upright 800 close to the top end.

A display unit 900 is also fixedly installed at an upper portion of the middle of the column 800. The display unit may be a liquid crystal display unit, a cathode ray tube display unit, a neon display unit, a vacuum fluorescent display unit, an electronic mobile information display unit, a gas discharge display unit, a plasma display unit, or may employ light emitting diodes, electroluminescent materials, fiber optic technology, laser technology, holographic technology, or any other technology that displays information on the display unit. Further, the display unit may display still or moving information, and the displayed information may be different languages. The display unit 900 is preferably fixed at a height convenient for the operator to observe.

The host part 1000 receives data from the optical navigation device 600, performs calculation of the spatial relationship according to the method steps provided in the present application, generates a motion control command, and sends the motion control command to the control unit 103 of the robot arm device, and the control unit 103 controls the motion of the cooperative robot arm 200 in the space according to the motion control command.

As an example of the optical pointing device 500, as shown in FIG. 10, the main body of the optical pointing device 500 is a flat plate structure, and the outer contour thereof is generally crescent-shaped; three or more reflective balls are provided at regular intervals along the edge portion of the main body for tracking. As a preferable example, four

light reflecting balls

501, 502, 503, 504 are provided at substantially uniform intervals at the edge portion of the main body of the spacer, and the surface of each light reflecting ball is provided with a coating layer capable of efficiently reflecting infrared light.

As an example of the optical navigation device 600, as shown in fig. 11, the optical navigation device 600 includes

binocular cameras

601 and 602, and an infrared light emitter is further integrated inside (not shown) the optical navigation device 600, the infrared light emitter actively emits infrared light outwards, the emitted infrared light irradiates 4 reflective balls on the positioning frame 500, is reflected by the reflective balls and is captured by the binocular cameras, and the optical navigation device 600 can calculate the spatial pose information of the optical positioning frame 500 by the principle of triangulation.

As an example of the end effector 300, as shown in fig. 12, the end effector 300 includes a body portion 301, and a flange interface end 302 extends from the body portion 301 in one direction, and the flange interface end 302 is fixedly connected to the flange end 202 of the aforementioned cooperative mechanical arm 200.

A retainer end 305 extending from the body portion in a direction opposite the flange interface end 302, on which the optical retainer 500 is fixedly mounted; hereinafter referred to as the "body positioner" to indicate that the positioner is mounted on the body portion of the end effector, the coordinate system in which the body positioner is located is designated C_F。

The body portion has a handle end 303 and an output end 304 extending from both sides thereof in a direction substantially perpendicular to the extending direction of the flange interface end 302. The handle end 303 is held by the operator to facilitate the operator's direct application of force to the cooperating mechanical arms to manipulate the movement of the mechanical arms, end effector, and medical instrument. The output end 304 serves as a mounting part of the medical instrument, as an example, an electric saw blade 400 is mounted on the output end 304, the saw blade 400 is fixed in a manner of being capable of being inserted and pulled, when the electric saw works, the electric saw motor (not shown) arranged in the inner cavity of the body part 301 of the end effector drives the saw blade 400 to move according to a preset track, and the saw blade 400 keeps a high-speed swing motion within a certain range in the horizontal direction of the sheet body during the process of moving according to the preset track.

To solve the problems of the background art, the present application contemplates a spacer 6 for the end of a saw blade, hereinafter referred to as the end spacer 6, the positional relationship of the end spacer 6 to the end effector 300 is shown in fig. 13,it can be seen that in fig. 13, a body positioner 500 is fixedly mounted to the positioner end 305 of the end effector 300, and represents a coordinate system C_FA saw blade 400 is fixedly mounted to the output end 304 of the end effector 300, and an end positioning frame 6, which represents a coordinate system C, is mounted to the end or a portion near the end of the saw blade 400_V。

As an example, fig. 14 and 15 show a detailed structure of the distal end positioning frame 6, wherein fig. 7 is a front view of the distal end positioning frame, fig. 15 is a side view of the distal end positioning frame, the distal end positioning frame 6 is designed according to the distal end characteristics (generally having a small volume) of the medical instrument, and the distal end positioning frame includes a positioning frame body 61, a card slot 62, a locking mechanism 63, and a plurality of light reflecting balls 7. The tail end positioning frame body and the tail end of the medical instrument can be easily clamped and fixed through the clamping groove 62 and the locking mechanism 63, and the optical navigation device can track the positions of the plurality of light reflecting balls 7 so as to be used for establishing a coordinate system C of the tail end positioning frame_V。

The positioning frame body 61 is flat, and the whole positioning frame body is in a roughly inverted triangle shape with an arc edge; the clamping grooves 62 and the locking mechanisms 63 are located on one side face of the positioning frame body 61, the plurality of reflective balls 7 are located on the other side face of the positioning frame body 61, the number of the reflective balls can be set to be 3-5, and as an example, the reflective balls are set to be 3 in the embodiment and are respectively arranged near the positions of three vertexes of the positioning frame body 61 in a roughly triangular shape.

The notch 62 is formed as a long groove having two side walls, the locking mechanism 63 is provided on one side wall forming the notch 62, and the other side wall forming the notch 62 is a plane which is precisely machined and has a high hardness, and is used as a reference surface for positioning. The locking groove 62 is used for inserting the saw blade 400, and the locking mechanism 63 is used for abutting and fixing the saw blade 400 to the reference surface for positioning after the saw blade 400 is inserted, and further clamping and fixing the saw blade 400 in the locking groove 62. The locking mechanism is arranged on one side wall of the clamping groove, necessary pressure required by locking the saw blade in the clamping groove can be provided, the saw blade in the clamping groove is abutted to the other side wall of the clamping groove, and the positioning precision is ensured by the machining precision of the other side wall, so that the position of the saw blade can be accurately calculated.

The end of the saw blade 400 near the end effector is provided with a blade stop block 401, and when the saw blade 400 is inserted into the slot 62 of the end positioning frame 6, the blade stop block 401 provides a limiting function to limit the relative position of the two along the length direction of the saw blade.

The locking mechanism 63 includes a ball mechanism 631 for providing an elastic force for abutting and fixing the saw blade 400 to the reference surface for positioning; the number of the ball mechanism 631 may be one or more, and it is preferable that the ball mechanism is provided in two. When the saw blade 400 is not inserted into the slot, the marble mechanism can retract into the side wall of the slot, and when the saw blade 400 is inserted into the slot, the marble mechanism extends out of the side wall and abuts against the saw blade with larger pressure, so that the saw blade is fixed.

As shown in fig. 16, a schematic structural view of a hoodle mechanism 631 is provided as an example, and the hoodle mechanism 631 includes a receiving cylinder 6311, a spring 6312, and a hoodle 6313; a through hole is formed in the side wall part of the clamping groove 62, where the locking mechanism is arranged, and the accommodating barrel 6311 is fixed in the through hole; one end of a spring 6312 is fixed to the bottom of the accommodating barrel 6311, and the other end of the spring 6312 is connected to a ball 6313. Through the mode that spring and marble connect, can provide great pressure for joint saw bit. One end of the accommodating barrel 6311 close to the marble 6313 is provided with a marble stopper 63111. The marble stopper 63111 can limit the position of the marble 6313 in the accommodating barrel 6311, and prevent the marble 6313 from leaving the accommodating barrel 6311 under the action of the spring force of the spring.

When the saw blade 400 is not inserted, the spring 6312 is compressed in the accommodating cylinder 6311, the elastic force of the spring 6312 can press the marble 6313 against the side opposite to the side where the through hole is located, i.e., the reference surface for positioning, and the marble stopper 63111 restricts the marble 6313 from falling off the accommodating cylinder 6311. When clamping the end positioning frame to the saw blade 400, align the draw-in groove 62 of the end positioning frame to the saw blade 400, and insert the saw blade 400 into the draw-in groove 62, in the process that the saw blade 400 is inserted into the draw-in groove 62, because of the effect of elasticity, the spring 6312 can compress to the containing cylinder, thereby leave the gap in the draw-in groove 62, make the saw blade 400 insert into the draw-in groove 62, after confirming that the saw blade 400 clamps in place (namely saw blade 400 butt saw blade stopper 401 in the length direction, saw blade 400 butt elongated slot bottom surface of draw-in groove 62 in the depth direction), through the combined action of spring 6312, and marble 6313, press the saw blade 400 tightly on the reference surface for positioning of the draw-in groove 62.

The other side surface of the end positioning frame body 61 is provided with 3-5 reflecting balls 7, as shown in fig. 15, the top corner part of the end positioning frame body 61 is provided with an end reflecting ball 71, after the end positioning frame 6 is clamped to the saw blade 400, the position of the end reflecting ball 71 is close to the end part of the saw blade 400, the extension line of the central longitudinal axis of the saw blade 400 passes through the center of the end reflecting ball 71, and the position of the reflecting ball 71 is set, so that the position of the separate end reflecting ball 71 can be tracked by using an optical navigation device, the accurate positioning of the end part of the saw blade 400 can be assisted, and the positioning accuracy is improved.

Through the above arrangement, on the one hand, the end positioning frame 6 has a small size suitable for being mounted on the saw blade, and on the other hand, the end position of the saw blade can be accurately determined when the end positioning frame is mounted on the saw blade by precise machining and position layout. More importantly, the end positioning frame 6 is very convenient to use and disassemble, and when the end positioning frame 6 is needed, the saw blade 400 can be easily clamped into the clamping groove 62 of the end positioning frame 6 due to the arrangement of the marble mechanism 631; after the saw blade 400 is clamped in place, the optical navigation device 600 can determine the position of the coordinate system where the tail end positioning frame 6 is located by tracking the plurality of reflective balls on the tail end positioning frame 6, so as to accurately determine the tail end position of the saw blade 400. The end positioner 6 can be easily removed from the saw blade 400 when the end positioner 6 is not used.

The method steps of how the end of the saw blade 400 is positioned and located using the end positioning frame 6 will be described in detail below.

A coordinate system where the plurality of light reflecting balls on the end positioning frame 6 are located is defined as C_VSince the relative positional relationship of the positioning reference plane forming the card slot 62 and the coordinate system is known. In use, the saw blade 400 is clamped in the clamping slot 62 of the end positioning frame, the central plane of the saw blade 400 and the coordinate system C of the end positioning frame_VSo that the end positioning frame 6 is clamped in placeThen, the position of the coordinate system of the reflective balls on the end positioning frame 6 can accurately express the position of the plane of the saw blade 400, and the optical navigation device 600 can determine the position of the coordinate system of the end positioning frame by tracking the position information of the plurality of reflective balls on the end positioning frame, and accurately determine the plane of the saw blade, that is, the position information of the end point of the saw blade.

As shown in fig. 17, a reference frame (structure not shown) is further provided in the system, the reference frame is fixedly mounted on the surface of the target object to be cut, also called a target reference frame, a rigid connection is formed between the target reference frame and the target object, and the coordinate system C of the reference frame is set as_T. The optical navigation device scans the target object to complete registration, and the spatial relative position of the coordinate system of the reference frame and the cut target object can be obtained by scanning the reference frame.

As shown in fig. 19, a cutting plane of the target object to be cut is set in the main machine, and a coordinate system C of the cutting plane is set_P. Since the relative position of the cutting plane on the target object to be cut is known and the relative positions of the target object to be cut and the reference frame are known, the coordinate system C of the reference frame can be determined_TAnd a coordinate system C of the plane to be cut_PRelative spatial position relationship of [ RT ]]_TPIn which C is_T＝[RT]_TPC_P，[RT]_TPRepresenting a "rotational translation matrix". Suppose the coordinate system C of the reference frame_TFirstly rotating psi degree around Z axis, then rotating theta degree around Y axis, finally rotating phi degree around Z axis, then translating a along X axis, translating b along Y axis and translating Z along Z axis, so that a uniquely determined 'rotation translation matrix' C can be obtained_T。

As shown in FIG. 18, let the coordinate system C of the end positioning frame 6_VThe coordinate system of the body positioning frame 500 is C_F。C_VAnd C_FIs [ RT ] in relation to the relative position]_FVWhen the end spacer 6 and the body spacer 500 are simultaneously mounted, the relative positional relationship therebetween [ RT]_FVCan be calculated by reading the tracking information of both from the optical navigation device 600.

The method for carrying out real-time and accurate positioning on the tail end of the medical instrument by adopting the accurate positioning device at least comprises two stages, namely a pre-positioning stage and a navigation positioning stage for convenient expression. In describing the method steps, the "initial position" used herein refers to: the cooperating robotic arms have undergone a large range of movement and have been brought closer to the target object to be cut, but are still at a distance from the target object that at least ensures that sufficient space is provided for the removal and attachment of the aforementioned end spacers 6. It will be appreciated that the initial position may be any position close to the target object to be cut and at a distance from the target object.

First, pre-positioning stage

The pre-positioning stage comprises the following steps:

step one, assembling the medical instrument and approaching an initial position. In this step, the end effector 300 is mounted at the end flange 202 of the cooperative arm 200, the saw blade 400 is mounted at the blade end of the end effector 300, and the end effector 300 is further provided with a body positioning frame 500, so that the cooperative arm 200 is moved by manual dragging or machine command control, and the saw blade 400 approaches the position of the object to be cut, that is, reaches the initial position.

And step two, mounting a tail end positioning frame. In this step, the end positioning frame 6 is clamped to the saw blade 400, so as to ensure that the saw blade 400 is clamped in place to the clamping groove 62 of the end positioning frame 6, one end of the saw blade 400 should abut against the saw blade limiting block 401 in the length direction, and the saw blade 400 should abut against the bottom surface of the long groove of the clamping groove 62 in the depth direction.

It will be appreciated by those skilled in the art that the end positioning frame 6 may be snapped onto the saw blade 400 before moving the cooperating robotic arm 200 to bring the saw blade 400 close to the location of the object to be cut, i.e., the initial position. That is, step S101 and step S102 are interchangeable in step order.

And step three, tracking and positioning the tail end positioning frame. In this step, the optical navigation device tracks the positions of the plurality of light-reflecting balls on the end positioning frame 6, and calculates and obtains position information of a coordinate system where the end positioning frame 6 is located.

And step four, calculating the position relation between the tail end positioning frame and the plane to be cut. In the step, the host part processes the position information acquired by the optical navigation device, and calculates and obtains the position relation between the coordinate system of the tail end positioning frame and the coordinate system of the plane to be cut.

In particular, the optical navigation device can simultaneously view the blade end spacer 6 and the target reference frame, as previously described, in the coordinate system C of the end spacer_VThe coordinate system of the target reference frame is C_TRelative positional relationship of the two [ RT ]]_VTCan be obtained by calculation based on the pose information of the optical navigation device and the pose information of the optical navigation device.

A coordinate system C of the tail end positioning frame 6 is arranged_VAnd a coordinate system C of the plane to be cut_PThe positional relationship between the two is [ RT]_VPThen [ RT ]]_VPCan be obtained by the following calculation method:

∵C_V＝[RT]_VPC_P

∴[RT]_VP＝C_VC_P ^-1

∵C_T＝[RT]_TPC_P

∴[RT]_TP ^-1C_T＝C_P

∴[RT]_VP＝C_V([RT]_TP ^-1C_T)^-1

that is, the end positioning frame 6 can be positioned according to the coordinate system C_VCoordinate system C of the reference frame_TAnd obtaining the coordinate system C of the tail end positioning frame 6 according to the known position relation between the reference frame and the plane to be cut_VAnd a coordinate system C of the plane to be cut_PPositional relationship of [ RT ]]_VP。

And step five, generating a control instruction and sending the control instruction to a control unit. In this step, the obtained [ RT ] is calculated according to step 104]_VPAnd generating a control instruction for controlling the movement route of the mechanical arm and sending the control instruction to the control unit.

And step six, controlling the mechanical arm to move according to the instruction. In this step, the robot arm moves according to the instruction.

In an ideal state, in step six, after the cooperative mechanical arm completes the movement according to the instruction, the coordinate system C of the tail end positioning frame 6 is located_VAnd a coordinate system C of the plane to be cut_PCan be completely overlapped, at this time, [ RT]_VPThe unit fourth order matrix E, the end of the saw blade is precisely aligned with the position of the plane to be cut.

However, due to errors caused by design of a robot arm control system, etc., it is difficult for the robot arm 200 to actually move according to the planned route, so after step six, the distal end position of the medical instrument usually does not reach the position of the planned cutting plane precisely, and therefore, the method further includes the following steps:

and step seven, updating the tracking position information of the tail end positioning frame 6. In this step, after the mechanical arm 200 completes the movement according to the control instruction in the sixth step, the optical navigation device continues to track the positions of the plurality of reflective balls on the terminal positioning frame 6, and calculates to obtain the position information of the coordinate system where the terminal positioning frame 6 is located, so as to obtain the updated position information.

And step eight, updating and calculating the position relation between the tail end positioning frame and the plane to be cut. In this step, the current coordinate system C in which the end positioner 6 is located is calculated and updated based on the updated tracking position information of the end positioner 6_VAnd a coordinate system C of the plane to be cut_PNew positional relationship of [ RT ]]_VP′；

And step nine, judging whether the position relation between the tail end positioning frame and the plane to be cut exceeds a threshold value. In this step, a new positional relationship [ RT ] is calculated]_VP' and the difference value of the unit fourth-order matrix E, and comparing the difference value of the unit fourth-order matrix E and the difference value of the unit fourth-order matrix E with a preset threshold value to judge whether the difference value exceeds the range of the threshold value.

And if the difference value exceeds the threshold value range as a result of judgment in the step nine, returning to execute the step five, generating a control instruction and sending the control instruction to the control unit as shown in the figure. Except that in this fifth step, [ RT ] obtained by calculation according to eighth step]_VP' a control command for controlling the movement path of the robot arm is generated and sent to the control unit. Step S106, controlling the mechanical arm to finish the operation according to the instructionTo move. And after the movement, continuing to execute the seventh step to the ninth step.

Step ten, if the difference value is smaller than the threshold range as a result of judgment in the step nine, the system considers that the tail end of the medical instrument moves in place, generates and sends a command for stopping movement, ends the pre-positioning stage and prepares to enter a navigation positioning stage.

With the method, on one hand, the position of the tail end of the saw blade can be more accurately positioned by tracking the position of the tail end positioning frame; on the other hand, according to the position relation of the tracked coordinate system of the tail end of the saw blade and the target cutting plane, a command for controlling the movement of the mechanical arm is generated to control the mechanical arm to complete the movement, so that the mechanical arm can be moved to a position close to an ideal target position; and after each movement of the mechanical arm, updating and monitoring the position of the tail end of the saw blade and the position relation with the target cutting plane, and if the mechanical arm does not move to the ideal target position or the movement error is large, controlling the mechanical arm to move again, wherein the process is a convergence process, and repeating the process in the way, so that the mechanical arm can approach the ideal target position in a successive approximation manner, and the accurate alignment at the end of the pre-positioning stage is realized.

To accomplish the above steps, the present application designs the host and control system to provide the following units:

a locating rack information reading unit including a unit for reading the end locating rack information and a unit for reading the reference rack information, which are respectively used for reading the coordinate system C of the end locating rack 6 from the optical navigation device_VAnd a coordinate system C of the reference frame_T；

A position relation calculating unit based on the coordinate system C of the end positioning frame 6_VCoordinate system C of the reference frame_TCalculating the coordinate system C of the end positioning frame_VCoordinate system C of the plane to be cut_PPosition relationship between [ RT ]]_VP；

The command generation unit generates a control command and sends the control command to control the movement of the mechanical arm based on the position relation calculated by the position relation calculation unit;

a positional relationship updating unit for moving [ RT ] on the robot arm]_VPPost-update calculation of coordinate system C of end positioning frame_VCoordinate system C of the plane to be cut_PPosition relationship between [ RT ]]_VP′；

A judging unit for judging [ RT]_VP' whether or not it is less than a predetermined threshold value, and if it is greater than the predetermined threshold value, the calculated positional relationship is updated according to a positional relationship updating unit [ RT]_VP' generating a control command and transmitting a command for controlling the movement of the robot arm, and if less than a predetermined threshold, generating a command for stopping the movement.

Second, navigation positioning stage

And after the pre-positioning is finished, the system starts to enter a navigation positioning stage.

The navigation positioning stage comprises the following steps:

step a, calculating and storing the position relation between the coordinate system of the body positioning frame and the coordinate system of the tail end positioning frame. After the pre-positioning stage is completed, the coordinate system C of the body positioning frame 500 obtained by tracking the optical navigation device 600 is used_FAnd a coordinate system C in which the end positioning frame 6 is located_VPosition information of (2), calculating C_VAnd C_FIs [ RT ] in relation to the relative position]_FVAnd will [ RT ]]_FVStored as a first calibration parameter.

And b, calculating the position relation between the coordinate system of the body positioning frame and the coordinate system of the plane to be cut according to the first calibration parameter. Wherein, the coordinate system C of the body positioning frame 500 is calculated according to the following formula_FCoordinate system C of the plane to be cut_PRelation between [ RT]_FPAnd will [ RT ]]_FPStoring as second calibration parameters:

∵[RT]_FP＝[RT]_FV[RT]_VP

∵[RT]_VP＝C_V([RT]_TP ^-1C_T)^-1

∴[RT]_FP＝[RT]_FVC_V([RT]_TP ^-1C_T)^-1

and c, removing the tail end positioning frame 6 clamped at the tail end of the saw blade.

And d, setting a blocking force parameter. In this step, the blocking force parameter of the cooperative mechanical arm 200 during the movement process is set, wherein the blocking force in the same plane direction as the plane of the saw blade 400 is set to be 0, the blocking force in the direction perpendicular to the plane of the saw blade 400 is set to be F ═ kx, wherein the blocking force coefficient k is 4000 + 6000N/mm, preferably 5000N/mm, x is the movement distance, and F is the blocking force, and the blocking force is set to ensure that the saw blade 400 can move only in the direction perpendicular to the plane of the saw blade 400, so that the movement range of the cooperative mechanical arm 200 is limited and controlled to move in a plane to be cut, and the error caused by the shake or misoperation of the saw blade to leave the target plane can be prevented.

And e, controlling the saw blade to move according to a preset track and tracking in real time. In this step, the process is carried out,

the host part sends out an instruction to make the cooperative mechanical arm 200 drive the saw blade 400 to move according to a predetermined track, and the optical navigation device 600 tracks and reads the position information of the coordinate system where the body positioning frame 500 is located in real time during the movement of the saw blade and according to a second calibration parameter [ RT ]]_FPThe real time position of the end of the saw blade 400 is calculated.

And f, calculating the position relation between the coordinate system of the tail end point of the saw blade and the coordinate system of the plane to be cut in real time. According to the coordinate system C of the reference frame of the target to be cut_TAnd determining the coordinate system C of the plane to be cut according to the known position relationship between the coordinate system of the reference frame and the coordinate system of the plane to be cut_PThe plane position of the end of the saw blade 400 and the coordinate system C of the plane to be cut can be calculated in real time_PThe positional relationship therebetween.

And g, judging whether the distance between the tail end of the saw blade and the plane to be cut deviates from a preset range or not and alarming. In this step, if the distance between the end of the saw blade and the plane to be cut is judged to be deviated beyond the preset range, an alarm is sent out in various modes such as sound, color display and the like, an operator is prompted to perform intervention adjustment, or the system automatically responds to adjustment until all cutting operations in the plane to be cut are completed.

In order to accomplish the above steps, the present application designs the host and the control system to further provide the following units:

a body positioning frame information reading unit, configured to read position information of a coordinate system where the body positioning frame 500 is located from the optical navigation device;

a calibration parameter calculation unit based on the coordinate system C of the end positioning frame 6_VCoordinate system C of the body positioning frame 500_FCalculating the positional relationship [ RT ] between the two]_FV；

A position relation calculating unit based on the position information of the coordinate system of the body positioning frame 500 and the coordinate system C of the reference frame_TPosition information of (3), calibration parameter [ RT]_FVAnd the known position relation between the coordinate system of the reference frame and the coordinate system of the cutting surface to be cut, and calculating to obtain the coordinate system C of the body positioning frame 500_FCoordinate system C of the plane to be cut_PPosition relationship between [ RT ]]_FP；

A real-time computing unit for obtaining the position information and the position relationship [ RT ] of the coordinate system where the body positioning frame 500 is located according to the real-time]_FPCalculating to obtain the real-time position of the tail end of the medical instrument;

and the deviation judging unit is used for calculating the distance between the plane position of the tail end of the medical instrument and the coordinate system where the plane to be cut is located and judging whether the deviation exceeds a preset range.

For a scene involving a plurality of virtual cutting planes, after the navigation positioning stage is finished, for this embodiment, that is, after the medical instrument completes the operation on one virtual cutting plane, the method provided by the present application further includes the step h: and controlling the tail end of the medical instrument to return to the initial position. In this step, the robot arm 200 is controlled by the control unit to move so as to retract the saw blade 400 to a position at a distance from the object to be cut, for example, an initial position of the previous pre-positioning stage, or a position different from the initial position of the previous pre-positioning stage, as long as the position is closer to the object to be cut and keeps a certain safe distance from the object.

After the step h, the tail end positioning frame 6 is clamped on the saw blade 400 again, namely, the pre-positioning stage is returned to the step two, and the pre-positioning stage and the navigation positioning stage are continuously executed until the cutting operation of the second cutting plane is completed. In the fourth step, the eighth step, the b step and the f step, the position relation is calculated by utilizing the coordinate system where the second cutting plane is positioned.

And after the cutting operation of the second cutting plane is finished, the system judges whether a third cutting plane exists or not, if so, the step h is continuously executed, and the steps are repeated until the operation on all the cutting planes is finished.

Since in surgery, such as total knee arthroplasty, multiple planes need to be cut, generally at least 5 different cutting planes are needed. For such a situation, the present embodiment provides a solution that after the cutting operation of one cutting plane is completed, the medical instrument is returned to the initial position, and the pre-positioning and navigation positioning steps are performed again for the next cutting plane, so as to ensure that the navigation can be accurately positioned for each cutting plane. Compared with the prior art, the scheme provided by the embodiment carries out accurate pre-positioning before cutting operation is carried out on the target plane to be cut each time, records the calibration parameters after the pre-positioning, and continues navigation and positioning, so that the positioning error generated by the medical instrument in each movement process can be eliminated, the whole positioning process is more precise, and higher precision is provided. In addition, the scheme provided by the embodiment is completed based on the real-time calculation of the position relation of the medical instrument, the end effector and the to-be-cut target, so that excessive time is not consumed while accurate positioning of each to-be-cut plane is ensured, and the positioning speed and accuracy are considered.

The embodiment of the invention also provides a control system for preventing the osteotomy saw blade from shaking, and the system can realize the functions through the acquisition unit, the processing unit and the control unit. It should be noted that the control system for preventing the blade from shaking of the osteotomy saw according to the embodiment of the present invention can be used for executing the control method for preventing the blade from shaking of the osteotomy saw according to the embodiment of the present invention, and another control method for preventing the blade from shaking of the osteotomy saw according to the embodiment of the present invention can also be executed by the control system for preventing the blade from shaking of the osteotomy saw according to the embodiment of the present invention.

FIG. 20 is a schematic view of a control system for anti-wobble of an osteotomy saw blade in accordance with an embodiment of the present invention. As shown in fig. 20, a control system for anti-shaking of an osteotomy saw blade includes:

an acquisition unit 212 for acquiring coordinate information of the end of the osteotomy saw blade;

the processing unit 214 is configured to associate coordinate information of the end of the osteotomy saw blade with a calibration graph, where the calibration graph is a graph with a reference line, and when the end of the osteotomy saw blade overlaps with the target cutting surface, an indication mark corresponding to the coordinate information of the end of the osteotomy saw blade in a screen indicates the position of the reference line of the calibration graph, and the indication mark feeds back the coordinate information of the end of the osteotomy saw blade in the calibration graph;

and a first control unit 216 for adjusting the position of the osteotomy saw blade to keep the osteotomy saw blade moving within the predetermined range of the reference line according to the change of the reference line position of the calibration graph and the indication mark corresponding to the osteotomy saw blade end coordinate information.

In an alternative embodiment, the obtaining unit comprises: the bone cutting device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the position relation of a coordinate system between a body positioning frame of an end effector and a tail end positioning frame of a bone cutting saw blade under the condition that the tail end of the bone cutting saw blade is close to a target cutting surface and reaches a preset alignment position, and the bone cutting saw blade is arranged on the end effector; the second acquisition module is used for acquiring the pose information of the osteotomy saw blade in real time according to the position relation of the coordinate system and the pose information of the body positioning frame; and the third acquisition module is used for acquiring the coordinate information of the tail end of the current osteotomy saw blade according to the pose information of the current osteotomy saw blade.

In an alternative embodiment, the first control unit comprises: and the direction control module is used for enabling the moving direction of the indication mark in the calibration graph to correspond to the position of the coordinate information of the tail end of the saw blade on the target to be cut from the target cutting surface.

In an alternative embodiment, the direction control module comprises: the first control module is used for controlling the indication mark to move in the front direction and the back direction of the calibration graph by taking the target cutting surface as a reference, wherein the moving directions are respectively the upper direction and the lower direction of a reference line of the calibration graph.

In an alternative embodiment, the direction control module further comprises; a second control module for controlling the position of the actual cutting of the osteotomy saw blade to be at a position near the patient's bone edge from the position of the target cutting plane, in case the indicator indicates an upper portion in the calibration pattern; and a third control module for controlling the position of the actual cutting of the osteotomy saw blade to be at a position away from the edge of the patient's bone from the position of the target cutting plane, in a case where the indicator indicates a lower portion in the calibration pattern.

In an alternative embodiment, the system further comprises: the second control unit is used for controlling the mechanical arm device to move by determining the position relation between the position of the tail end positioning frame and the target cutting surface, wherein the tail end actuator is arranged on the mechanical arm device; and the judgment control unit is used for judging whether the distance between the tail end positioning frame and the target cutting surface exceeds a threshold range, updating the position relation between the position of the tail end positioning frame and the target cutting surface if the distance exceeds the threshold range, and continuously controlling the mechanical arm device to move until the tail end of the osteotomy saw blade is close to the target cutting surface and reaches a preset alignment position, and stopping judgment.

In an alternative embodiment, the first control unit further comprises: and the prompting module is used for changing the color of the calibration graph for prompting under the condition that the positioning frame or the target reference frame on the flange on the mechanical arm device is shielded during osteotomy.

In an alternative embodiment, the first control unit further comprises: the calibration device comprises a first presetting module, a second presetting module and a control module, wherein the first presetting module is used for presetting a calibration graph into five different color areas, and each color area corresponds to a preset range with different sizes; and the fourth control module is used for controlling the indication mark corresponding to the terminal coordinates of the osteotomy saw blade to keep moving in a small preset range around the datum line.

In an alternative embodiment, the processing unit comprises: and the second presetting module is used for presetting that the unit distance of the moving of the indicating mark in the calibration graph corresponds to the coordinate information of the actual change of the tail end of the saw blade.

In an alternative embodiment, the system further comprises: the first display module is used for displaying the actual angle between the plane of the osteotomy saw blade and the target cutting plane through the first indication frame.

In an alternative embodiment, the system further comprises: and the second display module is used for displaying the data of the actual change of the coordinate information of the tail end of the osteotomy saw blade compared with the target cutting plane through the second indication frame.

In the present embodiment, a storage medium is provided, which includes a stored program, wherein, when the program runs, a device on which the storage medium is controlled to execute the method.

In this embodiment, a processor is provided, the processor comprising a program of the processor, wherein the program controls a device in which the processor is located to perform the above method when the program runs.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

The embodiment of the control system for preventing the bone cutting saw blade from shaking corresponds to a control method for preventing the bone cutting saw blade from shaking, so the beneficial effects are not described again.

In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.

Claims

1. A control method for preventing a saw blade from shaking is characterized by comprising the following steps:

acquiring coordinate information of the tail end of the saw blade;

establishing a relation between the coordinate information of the tail end of the saw blade and a calibration graph, wherein the calibration graph is a graph with a reference line, and under the condition that the tail end of the saw blade is overlapped with a target cutting surface, an indication mark corresponding to the coordinate information of the tail end of the saw blade in a screen indicates the position of the reference line of the calibration graph, and the indication mark feeds back the coordinate information of the tail end of the saw blade in the calibration graph;

and adjusting the position of the saw blade to keep the saw blade in the preset range of the datum line to move according to the change of the position of the datum line of the calibration graph and the indicator corresponding to the coordinate information of the tail end of the saw blade.

2. The method of claim 1, wherein obtaining coordinate information of the blade tip comprises:

acquiring a coordinate system position relation between a body positioning frame of an end effector and an end positioning frame of a saw blade under the condition that the tail end of the saw blade is close to the target cutting surface and reaches a preset alignment position, wherein the saw blade is arranged on the end effector;

acquiring the pose information of the saw blade in real time according to the position relation of the coordinate system and the pose information of the body positioning frame;

and obtaining the current coordinate information of the tail end of the saw blade according to the current pose information of the saw blade.

3. The method of claim 1, wherein adjusting the position of the saw blade according to the change of the position of the reference line of the calibration pattern and the indicator corresponding to the saw blade tip coordinate information comprises:

and enabling the moving direction of the indicating mark in the calibration graph to correspond to the position of the coordinate information of the tail end of the saw blade on the target to be cut from the target cutting surface.

4. The method of claim 3, wherein the causing the direction of movement of the indicator in the calibration pattern to correspond to the location of the coordinate information of the blade tip on the target to be cut from the target cutting surface comprises:

and controlling the indication mark to move in the calibration graph in the positive and negative directions by taking the target cutting surface as a reference, wherein the moving directions are respectively in the upper and lower directions of the reference line of the calibration graph.

5. The method of claim 4, wherein controlling the indicator comprises after moving in both forward and reverse directions in the calibration pattern relative to the target cutting surface;

in the case that the indicator mark indicates an upper portion in the calibration pattern, controlling a position of an actual cut of the saw blade to be at a position close to an edge of a bone of a patient from a position of the target cutting plane; and in the case that the indicator mark indicates the lower part in the calibration graph, controlling the position of the actual cutting of the saw blade to be away from the position of the target cutting plane at a position far away from the edge of the bone of the patient.

6. The method of claim 2, wherein obtaining coordinate information of the blade tip comprises, prior to:

controlling the mechanical arm device to move by determining the position relation between the position of the tail end positioning frame and the target cutting surface, wherein the tail end actuator is arranged on the mechanical arm device;

and judging whether the distance between the tail end positioning frame and the target cutting surface exceeds a threshold range, if so, updating the position relation between the position of the tail end positioning frame and the target cutting surface, and continuing to control the mechanical arm device to move until the tail end of the saw blade is close to the target cutting surface and reaches a preset alignment position, and stopping judgment.

7. The method of claim 1, wherein adjusting the position of the saw blade according to the change of the position of the reference line of the calibration pattern and the indicator corresponding to the saw blade tip coordinate information comprises:

and when the positioning frame or the target reference frame on the flange on the mechanical arm device is blocked during osteotomy, changing the color of the calibration graph for prompting.

8. The method of claim 1, wherein adjusting the position of the saw blade to maintain the saw blade within the predetermined range of the reference line according to the change of the position of the reference line of the calibration graph and the indicator corresponding to the saw blade tip coordinate information comprises:

presetting the calibration graph into five different color regions, wherein each color region corresponds to a predetermined range with different sizes;

and controlling the indicating mark corresponding to the tail end coordinate of the saw blade to keep moving in a small preset range around the reference line.

9. The method of claim 1, wherein associating the coordinate information of the blade tip with the calibration pattern comprises: presetting that the unit distance moved by the indicator mark in the calibration graph corresponds to the coordinate information of the actual change of the tail end of the saw blade.

10. The method of claim 1, wherein: the indication mark is a rectangular strip capable of indicating different positions through light and shade changes in the calibration graph, and/or the indication mark is a three-dimensional graph corresponding to the saw blade, and/or the indication mark is a two-dimensional graph corresponding to the saw blade.

11. The method of claim 1, wherein obtaining coordinate information of the blade tip further comprises: and displaying the actual angle of the plane of the saw blade and the target cutting plane through a first indication frame.

12. The method of claim 1, wherein obtaining coordinate information of the blade tip further comprises: and displaying data of the actual change of the coordinate information of the tail end of the saw blade compared with the target cutting plane through a second indication frame.

13. A control system for preventing blade chatter, said system comprising:

the acquisition unit is used for acquiring coordinate information of the tail end of the saw blade;

the processing unit is used for establishing a relation between the coordinate information of the tail end of the saw blade and a calibration graph, wherein the calibration graph is a graph with a reference line, under the condition that the tail end of the saw blade is overlapped with a target cutting surface, an indication mark corresponding to the coordinate information of the tail end of the saw blade in a screen indicates the position of the reference line of the calibration graph, and the indication mark feeds back the coordinate information of the tail end of the saw blade in the calibration graph;

and the first control unit is used for adjusting the position of the saw blade to keep the saw blade in a preset range of the datum line according to the change of the position of the datum line of the calibration graph and the indicator corresponding to the coordinate information of the tail end of the saw blade.

14. The system of claim 13, wherein the obtaining unit comprises:

the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring the position relation of a coordinate system between a body positioning frame of an end effector and an end positioning frame of a saw blade under the condition that the tail end of the saw blade is close to the target cutting surface and reaches a preset alignment position, and the saw blade is arranged on the end effector;

the second acquisition module is used for acquiring the pose information of the saw blade in real time according to the position relation of the coordinate system and the pose information of the body positioning frame;

and the third acquisition module is used for acquiring the current coordinate information of the tail end of the saw blade according to the current pose information of the saw blade.

15. The system of claim 13, wherein the first control unit comprises:

and the direction control module is used for enabling the moving direction of the indicating mark in the calibration graph to correspond to the position of the coordinate information of the tail end of the saw blade on the target to be cut away from the target cutting surface.

16. The system of claim 15, wherein the direction control module comprises:

the first control module is used for controlling the indication mark to move in the calibration graph in the positive and negative directions based on the target cutting surface, wherein the moving directions are respectively located in the upper and lower directions of the reference line of the calibration graph.

17. The system of claim 16, wherein the direction control module further comprises;

a second control module for controlling the position of the actual cutting of the saw blade to be at a position close to the edge of the patient's bone from the position of the target cutting plane in case the indicator indicates an upper portion in the calibration pattern;

and the third control module is used for controlling the position of the actual cutting of the saw blade to be away from the position of the target cutting plane at a position far away from the edge of the bone of the patient under the condition that the indicator mark indicates the lower part in the calibration graph.

18. The system of claim 13, further comprising:

a second control unit configured to control the robot arm device to move by determining a positional relationship between a position of the end effector and the target cut surface, wherein the end effector is mounted on the robot arm device;

and the judgment control unit is used for judging whether the distance between the tail end positioning frame and the target cutting surface exceeds a threshold range, updating the position relation between the position of the tail end positioning frame and the target cutting surface if the distance exceeds the threshold range, and continuously controlling the mechanical arm device to move until the tail end of the saw blade is close to the target cutting surface and reaches a preset alignment position, and stopping judgment.

19. The system of claim 13, wherein the first control unit further comprises:

and the prompting module is used for changing the color of the calibration graph to prompt under the condition that the positioning frame or the target reference frame on the flange on the mechanical arm device is blocked during osteotomy.

20. The system of claim 13, wherein the first control unit further comprises:

the first presetting module is used for presetting the calibration graph into five different color areas, wherein each color area corresponds to a preset range with different sizes;

and the fourth control module is used for controlling the indication mark corresponding to the tail end coordinate of the saw blade to keep the indication mark moving in a small preset range around the datum line.

21. The system of claim 13, wherein the processing unit comprises:

and the second presetting module is used for presetting that the unit distance of the moving of the indicating mark in the calibration graph corresponds to the coordinate information of the actual change of the tail end of the saw blade.

22. The system of claim 13, wherein: the indication mark is a rectangular strip capable of indicating different positions through light and shade changes in the calibration graph, and/or the indication mark is a three-dimensional graph corresponding to the saw blade, and/or the indication mark is a two-dimensional graph corresponding to the saw blade.

23. The system of claim 1, further comprising: and the first display module is used for displaying the actual angle between the plane where the saw blade is located and the target cutting plane through a first indication frame.

24. The system of claim 1, further comprising: and the second display module is used for displaying the data of the actual change of the coordinate information of the tail end of the saw blade compared with the target cutting plane through a second indication frame.

25. A storage medium having a program stored thereon, the program when executed performing the method of any of claims 1 to 12.

26. A processor, characterized in that the program is run to perform the method of any of claims 1 to 12.