CN114831735B - Monitoring method and device for intelligent bone cutting system of surgical robot - Google Patents
Monitoring method and device for intelligent bone cutting system of surgical robot Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A61B17/142—Surgical saws ; Accessories therefor with reciprocating saw blades, e.g. with cutting edges at the distal end of the saw blades
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
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- A—HUMAN NECESSITIES
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Abstract
The embodiment of the disclosure is used for a monitoring method and a monitoring device of an intelligent bone cutting system of a surgical robot, wherein the surgical robot is provided with a pendulum saw which can move under different pendulum frequencies, and the method comprises the following steps: after the oscillating saw enters a working state, collecting power supply current in the direct current power supply process of the oscillating saw, wherein the voltage is unchanged in the direct current power supply process along with the change of the oscillating frequency of the oscillating saw; determining a control signal based on the supply current; controlling a wobble frequency of the wobble saw based on the control signal. The working current of the swing saw is determined through the direct current power supply circuit, the motion state of the swing saw can be monitored based on the working current, the controllability of the operation process is improved, the success rate of the operation is further ensured, and the technical problem that the safety and the success rate of the robot operation cannot be ensured in the related technology is solved.
Description
Technical Field
The disclosure relates to the technical field of data processing, in particular to a monitoring method and a monitoring device for an intelligent osteotomy system of a surgical robot.
Background
With the development of medical robot technology, in the field of clinical medical surgery, surgical robots are widely used as surgical auxiliary equipment. The surgical robot is usually provided with an oscillating saw, and the cutting action of the surgical robot during the surgical operation can be realized through the motion of the oscillating saw.
In the related art, the motion state of the oscillating saw cannot be monitored, and the safety and success rate of the robot operation cannot be guaranteed.
Disclosure of Invention
The main purpose of the present disclosure is to provide a monitoring method and device for an intelligent osteotomy system of a surgical robot.
In order to achieve the above object, according to a first aspect of the present disclosure, there is provided a monitoring method for an intelligent osteotomy system of a surgical robot, the surgical robot being provided with an oscillating saw, the oscillating saw being movable at different oscillation frequencies, the method comprising: after the oscillating saw enters a working state, collecting power supply current in the direct current power supply process of the oscillating saw, wherein the voltage is unchanged in the direct current power supply process along with the change of the oscillating frequency of the oscillating saw; determining a control signal based on the supply current; controlling a wobble frequency of the wobble saw based on a control signal;
optionally, determining a control signal based on the supply current, including determining an amount of heat generated by the oscillating saw in a current operating state based on the supply current; determining a control signal based on the heat production amount and a preset heat production amount threshold value; or, based on the supply current, determining the working current of the oscillating saw; determining the control signal based on the operating current and a preset operating current threshold.
Optionally, the supplying current, determining a control signal, includes:
if the working current is greater than or equal to a preset working current threshold, determining the control signal as a control signal for reducing the swing of the oscillating saw; if the working current is smaller than a preset working current threshold, determining the control signal as a control signal for keeping the swing amplitude of the oscillating saw unchanged; or if the heat generation amount is larger than or equal to a preset heat generation amount threshold value, determining the control signal as a control signal for reducing the swing amplitude of the oscillating saw; and if the heat generation amount is smaller than a preset heat generation amount threshold value, determining the control signal as a control signal for keeping the swing amplitude of the oscillating saw unchanged.
Optionally, the method further comprises: determining a time duration when the supply current is not zero; and correspondingly storing the duration and preset clinical information.
Optionally, the heat generation threshold or the preset working current threshold of the swing saws of different models are different; or the heat generation threshold or the preset working current threshold of different operation positions acted by the oscillating saw are different.
According to a second aspect of the present disclosure, there is provided a monitoring device for an intelligent osteotomy system of a surgical robot, the surgical robot having an oscillating saw disposed thereon, the oscillating saw being movable at different oscillation frequencies, the device comprising: the current acquisition unit is configured to acquire a power supply current in a direct current power supply process of the oscillating saw after the oscillating saw enters a working state, wherein the voltage in the direct current power supply process is unchanged along with the change of the oscillating frequency of the oscillating saw; a determination unit configured to determine an operating current of the oscillating saw based on the collected current, wherein a control signal is determined based on a change in the operating current to control an oscillation frequency of the oscillating saw by the control signal.
According to a third aspect of the present disclosure, there is provided a monitoring circuit for a surgical robotic intelligent osteotomy system, comprising: the current conversion module, the current transmission module and the closed-loop circuit are connected in sequence; the current conversion module is used for converting alternating current into direct current so as to supply power to the oscillating saw through the direct current, wherein the voltage is unchanged in the direct current power supply process along with the change of the oscillating frequency of the oscillating saw; the current transmission module is used for converting the direct current into a numerical value and outputting the numerical value at a constant current; the closed loop circuit receives the constant current output by the current transmission module and transmits the information of the constant current to a preset control
And the module is used for enabling a preset control module to determine the heat generation amount of the swing saw in the working state based on the information.
Optionally, the closed loop circuit further comprises a relay circuit, the relay circuit comprises a normally open contact, and when the oscillating saw does not enter the working state, the normally open contact keeps a normally open state, and power is not supplied to the oscillating saw.
Optionally, the relay circuit receives a preset closing action instruction of the control module, so that the relay circuit is closed, and the swing saw is powered on.
According to a fourth aspect of the present disclosure, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the monitoring method for a surgical robotic intelligent osteotomy system of any one of the implementations of the first aspect.
The monitoring method and the monitoring device for the intelligent osteotomy system of the surgical robot in the embodiment of the disclosure comprise the steps of collecting power supply current in the direct current power supply process of the oscillating saw after the oscillating saw enters a working state, wherein the voltage is unchanged in the direct current power supply process along with the change of the oscillating frequency of the oscillating saw; determining the working current of the oscillating saw based on the collected current; wherein a control signal is determined based on the change of the working current to control the swing frequency of the swing saw through the control signal. The working current of the swing saw is determined through the direct current power supply circuit, the motion state of the swing saw can be monitored based on the working current, the controllability of the operation process is improved, the success rate of the operation is further ensured, and the technical problem that the safety and the success rate of the robot operation cannot be ensured in the related technology is solved.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a monitoring method for a surgical robotic intelligent osteotomy system in accordance with an embodiment of the present disclosure;
FIG. 2 is a schematic block diagram of a monitoring circuit for a surgical robotic intelligent osteotomy system in accordance with an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a closed circuit in a monitoring circuit for a surgical robotic intelligent osteotomy system in accordance with an embodiment of the present disclosure; and
fig. 4 is a current transfer module diagram of a monitoring circuit for a surgical robotic intelligent osteotomy system in accordance with an embodiment of the present disclosure.
Fig. 5 is a schematic diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
In order to make the technical solutions of the present disclosure better understood by those skilled in the art, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present disclosure without making creative efforts shall fall within the protection scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure may be 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 the present disclosure, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the present disclosure and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used in other meanings besides orientation or positional relationship, for example, the term "upper" may also be used in some cases to indicate a certain attaching or connecting relationship. The specific meaning of these terms in this disclosure can be understood by one of ordinary skill in the art as a matter of context.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.
It should be noted that, in the present disclosure, the embodiments and the features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
According to the embodiment of the disclosure, a monitoring method for an intelligent osteotomy system of a surgical robot is provided, wherein the surgical robot is provided with a pendulum saw, and the pendulum saw can move at different pendulum frequencies. Types of surgical robots include, but are not limited to, robots used in knee replacement surgery, or in other surgeries where the cutting action is accomplished by moving an oscillating saw. The oscillating saw can be detachably arranged on the mechanical arm of the surgical robot (including but not limited to the tail end of the mechanical arm), the cutting action can be realized through the movement of the oscillating saw, the movement of the oscillating saw can be a movement of swinging around a central point by an angle of about 3-5 degrees at different oscillating frequencies (for example, the frequency can reach 5000-20000 times in 1 minute), and the movement mode is not limited here. For example, during the knee joint replacement operation, the oscillating saw realizes the resection of the knee joint broken bone through the movement mode, and the prosthesis can be installed after the resection to realize the knee joint replacement.
It will be appreciated that the size of the oscillating saw may vary for different surgical types, for example the shape, size, maximum oscillation frequency achievable, etc. Different types of oscillating saws may be suitable for different types of procedures.
When the oscillating saw performs cutting through movement, the work done by the blade surface against friction is converted into heat, and the bone tissue and the bone nerves can be damaged by the excessive cutting heat. Therefore, the monitoring of the motion state of the oscillating saw reduces the excessive cutting heat brought by the saw blade and/or the driving system, and is a key factor for ensuring the success of the operation or improving the success rate and the accuracy rate of the operation.
As shown in fig. 1, the method includes steps 101 to 103 as follows:
step 101: when the oscillating saw enters a working state, collecting power supply current in the direct current power supply process of the oscillating saw, wherein voltage is unchanged in the direct current power supply process along with the change of oscillating frequency of the oscillating saw.
In this embodiment, the oscillating saw used in the surgical robot may be powered by a DC power supply circuit, and AC/DC conversion may be performed to convert AC power into DC power for the oscillating saw.
When collecting, can gather through the collection circuit who sets up. For example, when the oscillating saw enters the working state, the current transducer can convert the current in the circuit, for example, 2-30A to 4-20mA, and the converted current can be collected through an analog quantity collecting pin of a preset closed-loop circuit. The closed-loop circuit can be used for collecting current information and sending the current information to a preset object; the closed loop circuit can also automatically realize the opening and closing of the power supply circuit, thereby realizing the work and suspension of the swing saw.
Step 102: based on the supply current, a control signal is determined.
In this embodiment, the operating current may be determined by the supply current, the control signal being determined based on the operating current; the heat production may also be determined based on the present supply current, the control signal being determined based on the heat production.
As an optional implementation manner of this embodiment, determining a control signal based on the supply current includes: determining the heat generation amount of the oscillating saw in the current working state based on the power supply current; determining a control signal based on the heat production amount and a preset heat production amount threshold value; or, based on the supply current, determining the working current of the oscillating saw; determining the control signal based on the operating current and a preset operating current threshold.
In this alternative implementation, when the current of the power supply circuit is collected, the current can be collected through a closed loop circuit, which is provided and is transmitted by the current transducer, so that the working current can be determined through the collected current, and the collected current is, for example, a milliamp signal, so that the working current can be converted into an amp signal through Y =1.875 (X-4), and the working current is converted into a 2-30A signal through Y =1.875 (X-4) taking a 4-20mA signal as an example. The control signal is determined by determining the operating current and a preset operating current threshold, and may be determined, for example, by determining a difference between the operating current and the preset operating current threshold.
The heat generation amount of work in the current working state can be determined through the power supply current and a heat calculation formula, and the control signal is determined based on the difference between the heat generation amount and a preset heat generation amount threshold value.
For example, based on the operating current, determining the heat generation amount of the operation of the pendulum saw in the current operating state may be determined by: the power of the oscillating saw in the idle state can be measured in advance, and then the power in the current working state is determined based on the power and the total power (the total power can be determined based on the working current), so that the heat generation quantity for the work can be obtained, and the heat generation quantity can be determined as the cutting heat of the surgical cutting process.
Further, from the power consumption perspective, the active power consumed by the oscillating saw is converted into the loss inside the oscillating saw and the frictional heat loss during the bone cutting, P = U × I = P (internal loss) + P (frictional heat), wherein the internal loss is the idling power.
According to the optional implementation mode, the cutting heat is determined, the pendulum saw can be guaranteed to move within the range of the heat threshold value to achieve cutting, the safety of the operation is guaranteed, the problem that the operation fails due to overhigh heat is solved, and the success rate of the operation is improved.
It can be understood that the control signal may be determined by the execution main body of the embodiment, or may be determined by the industrial personal computer, and after the control signal is determined, the instruction information included in the control signal is sent to the control circuit of the oscillating saw.
As an optional implementation manner of this embodiment, determining a control signal based on the supply current includes: if the working current is greater than or equal to a preset working current threshold, determining the control signal as a control signal for reducing the swing of the oscillating saw; if the working current is smaller than a preset working current threshold, determining the control signal as a control signal for keeping the swing amplitude of the oscillating saw unchanged; or if the heat generation amount is larger than or equal to a preset heat generation amount threshold value, determining the control signal as a control signal for reducing the swing amplitude of the oscillating saw; and if the heat generation amount is smaller than a preset heat generation amount threshold value, determining the control signal as a control signal for keeping the swing amplitude of the oscillating saw unchanged.
In this alternative implementation, the control circuitry of the oscillating saw may include a main control circuit, a motor, a transmission, a saw blade, and the like. The motion of the pendulum saw can be realized under the control of the control circuit, a motor control signal is generated in the control circuit based on a control instruction sent by the industrial personal computer, the motor drives the pendulum saw to move through the transmission device under the control of the motor control signal, and different rotating speeds of the motor can correspond to different pendulum frequencies of the pendulum saw. The control mode can ensure that the oscillating saw moves within the safe range of heat generation.
Step 103: controlling a wobble frequency of the wobble saw based on the control signal.
In this embodiment, the control circuit may adjust the output pulse width signal to obtain ac signals with different frequencies during control, so as to control the change of the rotation speed of the motor, and the rotor of the motor may control the oscillating frequency of the oscillating saw through the transmission device.
Poor bone cutting during surgery can generate high stress in the bone tissue and cutting heat, and if the cutting heat is too high, the vitality of the bone tissue of the saw cutting surface cannot be guaranteed. Therefore, the upper limit temperature in the cutting process needs to be controlled, for example, to 50 ℃ to 60 ℃.
Therefore, the maximum cutting heat (preset heat generation threshold) can be preset, and the maximum threshold of the working current can be calculated according to the heat; and then the control signal can be determined by monitoring the heat or the working current, and the control signal controls the rotating speed of the motor, so that the aim of controlling the wobble frequency is further fulfilled. Through reducing the pendulum frequency, reduce the cutting heat, and then the risk that control cuts the bone in-process and appear has guaranteed the security of operation.
It can be understood that, in the sawing process of the pendulum saw, along with the increase of cutting force or thrust and pendulum frequency, the cutting heat is increased in a linear relation, so when the cutting heat is too large, except the adjustment of controllable pendulum frequency, the cutting heat can be reduced by reducing the thrust of the mechanical arm of the surgical robot, the size of the reduced thrust can be calculated based on the structures of different mechanical arms by utilizing the mechanical principle, and then the current thrust can be automatically adjusted to the size of the target thrust.
As an optional implementation manner of this embodiment, the heat generation threshold or the preset working current threshold of different types of swing saws are different; or the heat generation threshold value or the preset working current threshold value of different operation positions acted by the oscillating saw is different.
In this alternative implementation, the load states of the oscillating saws of different specifications during movement are different, so that different heat generation thresholds can be set for different models of oscillating saws, and the threshold of the working current can be further determined through the thresholds.
Further, the maximum allowable heat of cutting is different for different surgical sites on which the oscillating saw is applied, so that the threshold of the heat generation amount and further the threshold of the working current can be determined for different surgical sites. It will be appreciated that the maximum threshold determination of heat production is by way of illustration only.
The current measurement of the oscillating saw in the working state is realized by constant-voltage direct current power supply, the cutting heat of the oscillating saw can be determined based on the current, the working state monitoring of the oscillating saw in the operation process is realized, and the safety of the operation process is improved.
As an optional implementation manner of this embodiment, the method further includes: determining a time duration when the supply current is not zero; and correspondingly storing the duration and preset clinical information.
In this optional implementation, the bone density corresponding to different individuals is different, and the cutting time is different when the bone density is within a certain cutting heat range; the different cutting times can also be used to determine the range of the cutting heat in the opposite direction, on the basis of which the maximum operating current can be determined, so that the movement state of the pendulum saw can be monitored in a targeted manner. Therefore, determining the working time (operation time) required by the oscillating saw in a working state according to different clinical information such as bone density has an important influence on improving the operation precision.
In the operation process, the cutting may need to be stopped temporarily to stop the motion of the oscillating saw due to the requirement of the operation process, or the cutting may need to be stopped temporarily to stop the motion of the oscillating saw due to the abnormality in the operation process. Therefore, the time of the oscillating saw motion process (corresponding to the operative osteotomy process) can be determined through the determined working current; the time is then stored in correspondence with clinical information, which may include bone age, bone density. When the same type of oscillating saw is preoperatively prepared for any similar or identical clinical information, the time required for the procedure, the maximum heat of cut allowed, and the maximum operating current allowed can be directly determined.
The embodiment avoids the occurrence of overhigh cutting heat by monitoring the working current, and ensures the safety and the accuracy of the operation process.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
According to an embodiment of the present disclosure, there is also provided a monitoring device for an intelligent osteotomy system of a surgical robot, the surgical robot being provided with a pendulum saw, the pendulum saw being movable at different pendulum frequencies, the device including: the current acquisition unit is configured to acquire a power supply current in a direct current power supply process of the oscillating saw after the oscillating saw enters a working state, wherein the voltage in the direct current power supply process is unchanged along with the change of the oscillating frequency of the oscillating saw; a determination unit configured to determine an operating current of the oscillating saw based on the collected current, wherein a control signal is determined based on a change in the operating current to control an oscillation frequency of the oscillating saw by the control signal.
According to an embodiment of the present disclosure, there is also provided a monitoring circuit for an intelligent osteotomy system of a surgical robot, as shown in fig. 2, the surgical robot is provided with an oscillating saw, the oscillating saw can move at different oscillating frequencies, the monitoring circuit includes: the current conversion module converts alternating current into direct current so as to supply power to the oscillating saw through the direct current, wherein the voltage is unchanged in the direct current power supply process along with the change of the oscillating frequency of the oscillating saw; the current transmission module is used for converting the direct current into a numerical value and outputting the numerical value at a constant current; and the closed loop circuit is used for receiving the constant current output by the current transmission module and sending the information of the constant current to the preset control module so that the preset control module can determine the heat generation amount of the oscillating saw in the working state based on the information.
Illustratively, the current conversion module may be composed of a current conversion circuit AC/DC circuit, such as 1 in fig. 2; the current transformer module may be composed of a current transformer, such as 3 in fig. 2; the closed-loop circuit can contain two ways of intermediate relays, can insert the normally open contact of relay with the power cord, and in non-operating condition, the pendulum saw is in the outage state promptly, guarantees that it can not appear extra injury, for example, refer to in fig. 2, and supply circuit 5 supplies power to closed-loop circuit. The closed loop circuit can also comprise a 4-20mA analog quantity collecting pin communication module which can complete communication with an industrial personal computer and receive and send commands. 4 in fig. 2 is used for power supply of the oscillating saw circuit; the reference 6 in fig. 2 is used to power the current transfer module.
Furthermore, the preset control module can be an industrial personal computer, the closed-loop circuit can further comprise a communication module, and current information can be sent to the industrial personal computer through the communication module. The function of the industrial personal computer is the same as that described above, and the detailed description is omitted here.
Further, the closed loop circuit may further include an analog quantity collecting pin (e.g., 4-20mA analog quantity collecting pin) through which a constant current signal may be collected; in addition, the system also can comprise a communication module which can complete the communication with the industrial personal computer and receive and send commands.
For example, the structure of the closed circuit can refer to fig. 3, where 1 in fig. 3 is a power supply module; 2 is a communication module; 3 is an analog quantity collecting module; 4 is an intermediate relay 1; and 5 is an intermediate relay.
For example, the structure of the current transformer module may refer to fig. 4, where 1 in fig. 4 is a power supply module, 2 in fig. 4 is an analog output module, and 3 in fig. 4 is a current transformer.
As an optional implementation manner of this embodiment, the closed-loop circuit further includes a relay circuit, where the relay circuit includes a normally open contact, and when the oscillating saw does not enter the operating state, the normally open contact maintains a normally open state, and does not supply power to the oscillating saw.
In this optional implementation, the closed-loop circuit includes two intermediate relays, and the power line is connected to the normally open contact (2 in fig. 2) of the relay, that is, in the non-operating state, the pendulum saw is in the power-off state, so that the potential safety hazard is prevented.
As an optional implementation manner of this embodiment, the relay circuit receives a preset closing action instruction of the control module, so that the relay circuit is closed, and the pendulum saw is powered on.
In the optional implementation mode, when the oscillating saw does not enter the cutting step, the industrial personal computer does not send a relay action command, the relay is in a disconnection state, and the oscillating saw is in a power-off state; when the oscillating saw enters a working state, the industrial personal computer sends an instruction, the relay is closed, and therefore the oscillating saw is powered on to carry out normal bone cutting operation. When the swing saw is not used for the cutting step, unnecessary injury of a patient caused by misoperation is avoided by disconnecting power supply of the swing saw.
An embodiment of the present disclosure provides an electronic device, as shown in fig. 5, the electronic device includes one or more processors 51 and a memory 52, where one processor 51 is taken as an example in fig. 5.
The controller may further include: an input device 53 and an output device 54.
The processor 51, the memory 52, the input device 53 and the output device 54 may be connected by a bus or other means, and the bus connection is exemplified in fig. 5.
The processor 51 may be a Central Processing Unit (CPU). The processor 51 may also be other general purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any combination thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 52, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the control methods in the embodiments of the present disclosure. The processor 51 executes various functional applications of the server and data processing by running non-transitory software programs, instructions and modules stored in the memory 52, i.e. implements the method of the above-described method embodiment.
The memory 52 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a processing device operated by the server, and the like. Further, the memory 52 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 52 may optionally include memory located remotely from the processor 51, which may be connected to a network connection device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 53 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the processing device of the server. The output device 54 may include a display device such as a display screen.
One or more modules are stored in the memory 52, which when executed by the one or more processors 51 perform the method as shown in fig. 1.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program to instruct related hardware, and the program can be stored in a computer readable storage medium, and when executed, the program can include the processes of the embodiments of the motor control methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a Random Access Memory (RAM), a flash memory (FlashMemory), a hard disk (hard disk drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations fall within the scope defined by the appended claims.
Claims (6)
1. A monitoring device for an intelligent osteotomy system of a surgical robot, wherein the surgical robot is provided with a pendulum saw which can move at different pendulum frequencies, the device comprising:
the current acquisition unit is used for acquiring the power supply current in the direct current power supply process of the oscillating saw after the oscillating saw enters a working state, wherein the voltage is unchanged in the direct current power supply process along with the change of the oscillating frequency of the oscillating saw;
a determination unit for determining a control signal based on the supply current;
the control unit is used for controlling the oscillating frequency of the oscillating saw based on the control signal;
determining the heat generation quantity of the oscillating saw in the current working state based on the power supply current; determining a control signal based on the heat production amount and a preset heat production amount threshold value;
if the heat generation amount is larger than or equal to a preset heat generation amount threshold value, determining the control signal as a control signal for reducing the swing amplitude of the oscillating saw; if the heat generation amount is smaller than a preset heat generation amount threshold value, determining the control signal as a control signal for keeping the swing amplitude of the oscillating saw unchanged;
the heat production amount of the work in the current working state can be determined through the following steps: the power of the oscillating saw in an idle state is measured in advance, the power in the current working state is determined based on the power and the total power, the heat production quantity for working is obtained, the heat production quantity for working is determined as the cutting heat in the surgical cutting process, and the total power is determined based on the working current;
the active power consumed by the oscillating saw is respectively converted into the loss in the oscillating saw and the friction heat loss in the bone cutting process, and P = U + I = P (internal loss) +P (Heat of friction) Wherein the internal loss is no-load power.
2. The monitoring device for a surgical robotic intelligent osteotomy system of claim 1, said device further comprising:
determining a time duration when the supply current is not zero;
and correspondingly storing the duration and preset clinical information.
3. The monitoring device for a surgical robotic intelligent osteotomy system of claim 2,
different models of oscillating saws have different heat generation threshold values; or the like, or, alternatively,
different operation parts acted by the oscillating saw have different heat generation threshold values.
4. A monitoring circuit for an intelligent osteotomy system of a surgical robot, wherein the surgical robot is provided with a pendulum saw which can move at different pendulum frequencies, the circuit comprising: the current conversion module, the current transmission module and the closed-loop circuit are connected in sequence;
the current conversion module converts alternating current into direct current to supply power to the oscillating saw through the direct current, wherein the voltage of the direct current in the process of supplying power to the oscillating saw is unchanged along with the change of the oscillating frequency of the oscillating saw;
the current transmission module is used for performing conversion value conversion and constant current output on the direct current;
the closed-loop circuit is used for receiving the constant current output by the current transmission module and sending the information of the constant current to the preset control module so that the preset control module can determine the heat generation amount of the pendulum saw in the working state based on the information;
determining the heat generation amount of the oscillating saw in the current working state based on the current of the power supply; determining a control signal based on the heat production amount of the work and a preset heat production amount threshold value;
if the heat generation amount of the work is larger than or equal to a preset heat generation amount threshold value, determining the control signal as a control signal for reducing the swing amplitude of the oscillating saw; if the heat generation amount of the work is smaller than a preset heat generation amount threshold value, determining that the control signal is a control signal for keeping the swing amplitude of the oscillating saw unchanged;
the heat production amount of the work in the current working state can be determined through the following steps: the power of the oscillating saw in an idle state is measured in advance, the power in the current working state is determined based on the power and the total power, the heat production quantity for working is obtained, the heat production quantity for working is determined as the cutting heat in the surgical cutting process, and the total power is determined based on the working current;
the active power consumed by the oscillating saw is respectively converted into the oscillating sawLoss of part and frictional heat loss during bone cutting, P = U × I = P (internal loss) +P (Heat of Friction) Wherein the internal loss is no-load power.
5. A monitoring circuit for a surgical robotic intelligent osteotomy system as defined in claim 4, wherein said closed loop circuit further includes a relay circuit including a normally open contact that remains normally open without powering the oscillating saw when the oscillating saw is not in an operative state.
6. A monitoring circuit for a surgical robotic intelligent osteotomy system as defined in claim 5, wherein said relay circuit receives a preset control module closing action command to close the relay circuit to power up the pendulum saw.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210396863.XA CN114831735B (en) | 2022-04-15 | 2022-04-15 | Monitoring method and device for intelligent bone cutting system of surgical robot |
| PCT/CN2023/071146 WO2023197704A1 (en) | 2022-04-15 | 2023-01-08 | Monitoring method and device for intelligent osteotomy system of surgical robot |
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| CN202210396863.XA CN114831735B (en) | 2022-04-15 | 2022-04-15 | Monitoring method and device for intelligent bone cutting system of surgical robot |
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| CN114831735A CN114831735A (en) | 2022-08-02 |
| CN114831735B true CN114831735B (en) | 2023-03-28 |
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| US20060206100A1 (en) * | 2005-03-09 | 2006-09-14 | Brasseler Usa Medical Llc | Surgical apparatus and power module for same, and a method of preparing a surgical apparatus |
| AU2018324075A1 (en) * | 2017-08-31 | 2020-02-20 | Smith & Nephew, Inc. | Computer-controlled remote power module for use with battery-controlled surgical tools |
| CN108577926B (en) * | 2018-05-17 | 2019-11-12 | 杭州电子科技大学 | A kind of biological tissue's saw cutting device and its sawing method |
| CN110707659B (en) * | 2019-09-10 | 2022-01-11 | 中国船舶工业集团公司第七0八研究所 | Shore power cable overload protection system of marine shore power box |
| US11890066B2 (en) * | 2019-09-30 | 2024-02-06 | Globus Medical, Inc | Surgical robot with passive end effector |
| CN111308954A (en) * | 2020-02-28 | 2020-06-19 | 鞍山紫竹科技型钢有限公司 | Constant power control system of hot sawing machine |
| CN112716559A (en) * | 2021-01-18 | 2021-04-30 | 南京凌华微电子科技有限公司 | Method and apparatus for variable speed osteotomy |
| CN215817968U (en) * | 2021-08-24 | 2022-02-11 | 中节能（北京）节能环保工程有限公司 | Small-sized DC motor |
| CN114831735B (en) * | 2022-04-15 | 2023-03-28 | 北京长木谷医疗科技有限公司 | Monitoring method and device for intelligent bone cutting system of surgical robot |
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Address after: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee after: Beijing Changmugu Medical Technology Co.,Ltd. Patentee after: Zhang Yiling Address before: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Patentee before: BEIJING CHANGMUGU MEDICAL TECHNOLOGY Co.,Ltd. Patentee before: Zhang Yiling |
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