CN115414124B - System, method and device for improving accuracy of surgical robot system - Google Patents
System, method and device for improving accuracy of surgical robot system Download PDFInfo
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- 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
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/17—Guides or aligning means for drills, mills, pins or wires
- A61B17/1703—Guides or aligning means for drills, mills, pins or wires using imaging means, e.g. by X-rays
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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Abstract
The invention provides a system, a method and a device for improving the precision of a surgical robot system, wherein the system for improving the precision of the surgical robot system comprises a mechanical arm trolley, a bone drill, an optical positioning ball, an optical tracker and a shock pad, wherein the mechanical arm trolley comprises a counterweight, a framework, a baffle and a mechanical arm, the baffle is positioned between the mechanical arm and the framework, the baffle is fixed on the framework, the mechanical arm is fixed on the baffle, and the counterweight is positioned at one end of the mechanical arm trolley, which is far away from the mechanical arm; the bone drill is detachably connected with the tail end of the mechanical arm; the optical positioning ball is fixed on the mechanical arm trolley; the optical tracker is used for acquiring the space coordinates of the optical positioning ball; the shock pad is used for filling a gap on the mechanical arm trolley. The invention improves the operation precision of the surgical robot by improving the determination of the scheme of the precision of the surgical robot system.
Description
Technical Field
The present invention relates to the field of medical treatment, and in particular, to a system, method and apparatus for improving the accuracy of a surgical robotic system.
Background
With the rapid development of science and technology, robots are applied to various fields, such as medical treatment, automation, service, etc., and as an example of a robot arm in the medical field, the existing robot arm has the following problems: in the medical field, the operation precision requirement on the mechanical arm robot is higher, and equipment such as a bone drill, a cutting knife and the like can be installed on the mechanical arm of the mechanical arm robot, and certain vibration can be generated by the equipment, and the vibration can influence the operation precision of the mechanical arm robot along with the time, so that how to improve the operation precision of the mechanical arm robot becomes a technical problem to be solved urgently.
Disclosure of Invention
The invention provides a system, a method and a device for improving the precision of a surgical robot system, which are used for solving the technical problem of low operation precision of the existing surgical robot.
The invention provides a system for improving the precision of a surgical robot system, which comprises a mechanical arm trolley, a bone drill, an optical positioning ball, an optical tracker and a shock pad;
the mechanical arm trolley comprises a counterweight, a framework, a baffle and a mechanical arm, wherein the baffle is positioned between the mechanical arm and the framework, the baffle is fixed on the framework, the mechanical arm is fixed on the baffle, and the counterweight is positioned at one end of the mechanical arm trolley, which is far away from the mechanical arm;
the bone drill is detachably connected with the tail end of the mechanical arm;
the optical positioning ball is fixed on the mechanical arm trolley;
the optical tracker is used for acquiring the space coordinates of the optical positioning ball;
the shock pad is used for filling a gap on the mechanical arm trolley.
According to the system for improving the precision of the surgical robot system, a first gap is formed between the mechanical arm and the partition board, and a second gap is formed between the framework and the partition board;
the shock pad is specifically used for filling the first gap and the second gap.
The present invention also provides a method for improving accuracy of a surgical robot system, the method for improving accuracy of a surgical robot system being applied to a system for improving accuracy of a surgical robot system, the method for improving accuracy of a surgical robot system comprising:
under the condition that the damping pad is not filled in the gap of the mechanical arm trolley and the bone drill is in an unoperated state, acquiring the static space coordinates of the optical positioning ball through the optical tracker;
under the condition that the damping pad is not filled in the gap of the mechanical arm trolley and the bone drill is in a working state, acquiring a first space coordinate set of the optical positioning ball through the optical tracker;
the damping pad is filled in the gap of the mechanical arm trolley, and the damping pad is adjusted under the condition that the bone drill is in a working state, and a target space coordinate set corresponding to the optical positioning ball after each adjustment of the damping pad is obtained through the optical tracker;
and determining a scheme for improving the accuracy of the surgical robot system according to the static space coordinates, the first space coordinate set and each target space coordinate set.
According to the method for improving the precision of the surgical robot system provided by the invention, the step of determining the scheme for improving the precision of the surgical robot system according to the static space coordinate, the first space coordinate set and each target space coordinate set comprises the following steps:
extracting each target space coordinate set as a second space coordinate set of a training sample, and calculating the score of each training sample according to the static space coordinate, the first space coordinate set and the second space coordinate set;
determining a loss function according to the score of each training sample;
model training is carried out on the loss function, and the thickness characteristics, hardness characteristics, filling position characteristics and scores of the training samples;
and determining a scheme for improving the accuracy of the surgical robot system according to the trained model.
According to the method for improving accuracy of the surgical robot system provided by the invention, the step of calculating the score of each training sample according to the static space coordinate, the first space coordinate set and the second space coordinate set comprises the following steps:
calculating a first vibration coefficient corresponding to the first space coordinate set according to the distance between each space coordinate in the first space coordinate set and the static space coordinate;
calculating a second vibration coefficient corresponding to the second space coordinate set according to the distance between each space coordinate in the second space coordinate set and the static space coordinate;
and determining the score of each training sample according to the difference between the first vibration coefficient and the second vibration coefficient.
According to the method for improving the precision of the surgical robot system provided by the invention, the step of determining the score of each training sample according to the difference between the first vibration coefficient and the second vibration coefficient comprises the following steps:
calculating a difference between the first vibration coefficient and the second vibration coefficient;
in the case where the first vibration coefficient is greater than or equal to the second vibration coefficient, determining the score of the training sample is proportional to the difference.
According to the method for improving the precision of the surgical robot system provided by the invention, the steps for determining the scheme for improving the precision of the surgical robot system according to the static space coordinate, the first space coordinate set and each target space coordinate set comprise the following steps:
extracting a third space coordinate set of each target space coordinate set as a verification sample, and inputting the third space coordinate set into the trained model to obtain a verification result;
and adjusting parameters of the trained model according to the verification result, and updating the trained model.
The present invention also provides an apparatus for improving accuracy of a surgical robot system, comprising:
the static space coordinate acquisition module is used for acquiring the static space coordinate of the optical positioning ball through the optical tracker under the condition that the damping pad is not filled in a gap of the mechanical arm trolley and the bone drill is in an unoperated state;
the first space coordinate set acquisition module is used for acquiring a first space coordinate set of the optical positioning ball through the optical tracker under the condition that the damping pad is not filled in a gap of the mechanical arm trolley and the bone drill is in a working state;
the target space coordinate set acquisition module is used for adjusting the shock pad under the condition that the gap of the mechanical arm trolley is filled with the shock pad and the bone drill is in a working state, and acquiring a target space coordinate set corresponding to the optical positioning ball after each time of adjusting the shock pad through the optical tracker;
the scheme determining module is used for determining a scheme for improving the accuracy of the surgical robot system according to the static space coordinates, the first space coordinate set and each target space coordinate set.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method for improving the accuracy of a surgical robotic system as described in any of the above when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method for improving the accuracy of a surgical robotic system as described in any of the above.
The technical scheme of the invention has at least the following beneficial effects:
the invention provides a system, a method and a device for improving the precision of a surgical robot system, wherein the system for improving the precision of the surgical robot system comprises a mechanical arm trolley, a bone drill, an optical positioning ball, an optical tracker and a shock pad, wherein the mechanical arm trolley comprises a counterweight, a framework, a baffle and a mechanical arm, the baffle is positioned between the mechanical arm and the framework, the baffle is fixed on the framework, the mechanical arm is fixed on the baffle, and the counterweight is positioned at one end of the mechanical arm trolley, which is far away from the mechanical arm; the bone drill is detachably connected with the tail end of the mechanical arm; the optical positioning ball is fixed on the mechanical arm trolley; the optical tracker is used for acquiring the space coordinates of the optical positioning ball; the shock pad is used for filling the gap on the mechanical arm trolley. The invention improves the operation precision of the surgical robot by improving the determination of the scheme of the precision of the surgical robot system.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a system for improving the accuracy of a surgical robotic system provided by the present invention;
FIG. 2 is a schematic view of a robotic arm trolley in a system for improving accuracy of a surgical robotic system provided by the present invention;
FIG. 3 is one of the flow diagrams of the method for improving the accuracy of a surgical robotic system provided by the present invention;
FIG. 4 is a second flow chart of a method for improving accuracy of a surgical robotic system provided by the present invention;
FIG. 5 is a schematic view of a configuration of an apparatus for improving the accuracy of a surgical robotic system provided by the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided by the present invention.
Reference numerals illustrate:
| reference numerals | Name of the name | Reference numerals | Name of the name | Reference numerals | Name of the |
| 101 | |
108 | |
115 | |
| 102 | |
109 | |
201 | |
| 103 | |
110 | |
202 | |
| 104 | |
111 | Grinding and |
203 | |
| 105 | |
112 | |
204 | Counterweight for |
| 106 | NDI |
113 | Grinding |
||
| 107 | |
114 | Prosthesis body |
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 and 2, the present invention provides a system for improving the accuracy of a surgical robot system, the system for improving the accuracy of a surgical robot system including a robot arm trolley 107, a bone drill 110, an optical locating ball 115, and an optical tracker 102; wherein: the mechanical arm trolley comprises a counterweight 204, a framework 203, a baffle 202 and a mechanical arm 108, wherein the baffle 202 is positioned between the mechanical arm 108 and the framework 203, the baffle 202 is fixed on the framework 203, the mechanical arm 108 is fixed on the baffle 202, and the counterweight 204 is positioned at one end of the mechanical arm trolley 107, which is away from the mechanical arm 108; the bone drill 110 is detachably connected with the mechanical arm 108; the optical positioning ball 115 is fixed on the mechanical arm trolley 107; the optical tracker 102 is configured to obtain spatial coordinates of the optical positioning ball 115; the shock pad is used to fill the void on the robotic arm trolley 107.
Specifically, the system for improving the precision of the surgical robot system comprises a mechanical arm trolley 107, a shock pad, a bone drill 110, an optical positioning ball 115 and an optical tracker 102, wherein the mechanical arm trolley 107 comprises a counterweight 204, a framework 203, a baffle 202 and a mechanical arm 108, the baffle 202 is positioned between the mechanical arm 108 and the framework 203, the mechanical arm 108 is fixed on the baffle 202 through a base, the baffle 202 is fixed at the upper end of the framework 203 as shown in fig. 2, the counterweight 204 is positioned at one end of the mechanical arm trolley 107, which is away from the mechanical arm 108, namely, the lower end as shown in fig. 2, the shock pad is used for filling a gap on the mechanical arm trolley 107 so as to achieve the purpose of reducing shock, the bone drill 110 is mounted on the mechanical arm 108, the bone drill 110 is detachably connected with the mechanical arm 108, the optical positioning ball 115 is fixed on the mechanical arm trolley 107, and the optical tracker 102 is used for acquiring the spatial coordinates of the optical positioning ball 115 so as to reflect the shock degree of the mechanical arm trolley 107 through the spatial coordinates of the optical positioning ball 115.
Specifically, the system for improving the accuracy of the surgical robot system further comprises a prosthesis 114, wherein the prosthesis 114 is ground through the bone drill 110, the bone drill 110 generates vibration in the process of grinding the prosthesis 114, the prosthesis 114 is independently fixed at a position outside the mechanical arm trolley 107, and a corresponding damping scheme of the bone drill 110 when grinding a certain prosthesis 114 is determined through replacing different prostheses 114.
In one embodiment, a first gap is formed between the mechanical arm 108 and the partition 202, and a second gap is formed between the skeleton 203 and the partition 202; the shock pad is specifically used for filling the first gap and the second gap.
Specifically, as shown in fig. 2, a first gap is formed between the mechanical arm 108 and the partition 202, a second gap is formed between the skeleton 203 and the partition 202, the shock pad is further used for filling the first gap and the second gap, the shock pad has different materials, thicknesses and hardness, the prosthesis 114 has different materials, and the system for improving the accuracy of the surgical robot system provided in this embodiment is illustrated by taking the prosthesis 114 of one material as an example.
Referring to fig. 3, the present invention provides a method for improving the accuracy of a surgical robotic system, comprising:
step S100, under the condition that the damping pad is not filled in the gap of the mechanical arm trolley and the bone drill is in an unoperated state, acquiring the static space coordinates of the optical positioning ball through the optical tracker;
specifically, under the condition that the mechanical arm trolley is not filled with the shock pad and the bone drill is in an unoperated state, the space coordinates of the optical positioning ball fixed on the mechanical arm trolley, namely the static space coordinates in the embodiment, are obtained through the optical tracker at a certain frequency in a certain time, wherein the operating state of the bone drill refers to the state of the bone drill grinding prosthesis. For example, the static space coordinates of 60 groups of optical positioning balls are obtained at a frequency of one second each time in one minute, and in the case that the mechanical arm trolley is not filled with the shock pad and the bone drill is in an inactive state, the obtained static space coordinates of the plurality of groups of optical positioning balls should be the same, and if different static space coordinates exist in the obtained static space coordinates of the plurality of groups of optical positioning balls, the static space coordinates of the plurality of groups of optical positioning balls are averaged to obtain a final static space coordinate.
Step S200, under the condition that the damping pad is not filled in the gap of the mechanical arm trolley and the bone drill is in a working state, acquiring a first space coordinate set of the optical positioning ball through the optical tracker;
specifically, under the condition that the mechanical arm trolley is not filled with the shock pad and the bone drill is in a working state, the space coordinates of the optical positioning balls fixed on the mechanical arm trolley are acquired through the optical tracker at a certain frequency within a certain time, and the mechanical arm trolley has a vibration phenomenon because of the fact that the bone drill is in the working state, the space coordinates of the optical positioning balls acquired each time are different, namely, a first space coordinate set in the embodiment, the time length and the frequency for acquiring the space coordinates of the optical positioning balls are equal to the time length and the frequency for acquiring the space coordinates of the optical positioning balls when the bone drill is in the working state and the bone drill is in the non-working state, the first space coordinates of the 60 optical positioning balls are acquired at a frequency of each time within one minute, and the vibration degree of the mechanical arm trolley is reflected by the discrete degree of the first space coordinates relative to the static space coordinates.
Step S300, adjusting the shock pad under the condition that the gap of the mechanical arm trolley is filled with the shock pad and the bone drill is in a working state, and acquiring a target space coordinate set corresponding to the optical positioning ball after each adjustment of the shock pad through the optical tracker;
specifically, in the adjusted working state of the mechanical arm trolley, that is, the mechanical arm trolley fills the shock pad and the bone drill is in the working state, in this case, once the shock pad is adjusted, the space coordinates of the optical positioning balls fixed on the mechanical arm are obtained through the optical tracker at a certain frequency in a certain time, the target space coordinate set in this embodiment is obtained, in the adjusted working state of the mechanical arm trolley, the duration and the frequency of the space coordinates of the optical positioning balls are collected and are equal to the duration and the frequency of the space coordinates of the mechanical arm trolley in the static state and the working state, once the shock pad is adjusted, the target space coordinates of 60 optical positioning balls are obtained at a frequency of each time in one minute, the target space coordinate set is obtained, the thickness, the hardness and the filling position of the shock pad are adjusted, the corresponding target space coordinate set is obtained each time, if the shock is adjusted 100 times, the degree of the shock of the mechanical arm trolley after the shock pad is adjusted each time is reflected by the discrete degree of the target space coordinates relative to the static space coordinates.
Step S400, determining a scheme for improving the accuracy of the surgical robot system according to the stationary space coordinates, the first space coordinate set and each target space coordinate set.
Specifically, after a plurality of target space coordinate sets are obtained, the vibration degree of the mechanical arm trolley after each time of adjusting the shock pad is calculated according to the discrete degree of the target space coordinate in each target space coordinate set relative to the static space coordinate, the target space coordinate set with the minimum vibration degree and the maximum vibration degree difference with the first space coordinate set in each target space coordinate set is determined according to the vibration degree of each target space coordinate set and the vibration degree of the first space coordinate set, and the scheme of adjusting the shock pad corresponding to the target space coordinate set is used as the optimal shock absorption scheme under certain prosthesis materials. It can be understood that the relevant characteristics of the damping pad can be extracted through a model training mode, the loss function is determined through the association relation between the relevant characteristics of the damping pad and the vibration degree through training, a preset damping degree threshold value (namely a scoring threshold value), the trained damping model is converged, and finally the damping model is obtained.
The method for improving the precision of the surgical robot system provided by the embodiment is applied to a system for improving the precision of the surgical robot system, and the system for improving the precision of the surgical robot system comprises a mechanical arm trolley, a shock pad, a bone drill, an optical positioning ball and an optical tracker. Under the condition that a damping pad is not filled in a gap of the mechanical arm trolley and the bone drill is in an unoperated state, acquiring a static space coordinate of an optical positioning ball through an optical tracker; under the condition that a damping pad is not filled in a gap of the mechanical arm trolley and the bone drill is in a working state, acquiring a first space coordinate set of an optical positioning ball through an optical tracker; the method comprises the steps that under the condition that a damping pad is filled in a gap of a mechanical arm trolley and a bone drill is in a working state, the damping pad is adjusted, and a target space coordinate set corresponding to an optical positioning ball after each adjustment of the damping pad is obtained through an optical tracker; and determining a scheme for improving the accuracy of the surgical robot system according to the static space coordinates, the first space coordinate set and each target space coordinate set. By acquiring the scheme for improving the accuracy of the surgical robot system, the operation accuracy of the surgical robot is improved.
Referring to fig. 4, in an embodiment, the method for improving accuracy of a surgical robot system provided in an embodiment of the present application may further include:
step S410, extracting each of the target space coordinate sets as a second space coordinate set of the training samples, and calculating a score of each of the training samples according to the stationary space coordinate, the first space coordinate set and the second space coordinate set;
step S420, determining a loss function according to the scores of the training samples;
step S430, performing model training on the loss function, and thickness characteristics, hardness characteristics, filling position characteristics and scores of each training sample;
step S440, determining a scheme for improving the accuracy of the surgical robot system according to the trained model.
Specifically, a target space coordinate set of a part of each target space coordinate set is used as a training sample, for example, a target space coordinate set (namely, a second space coordinate set in the embodiment) of 90% of each target space coordinate set is used as a training sample, the other 10% is used as a verification sample, the score of each training sample is calculated according to the first space coordinate set and the second space coordinate set according to the static space coordinate, the score of each training sample is obtained, specifically, the score is calculated by taking the static space coordinate as a center, the degree of dispersion of the first space coordinate set relative to the static space coordinate and the degree of dispersion of the space coordinate of each space coordinate set relative to the static space coordinate in the second space coordinate set are calculated, the score of each training sample is inversely proportional to the degree of dispersion of each space coordinate set relative to the static space coordinate in the first space coordinate set and the second space coordinate set, and the score of each training sample is inversely proportional to the degree of dispersion of each space coordinate set relative to the static space coordinate set when the degree of dispersion of the first space coordinate set relative to the static space coordinate set is greater than or equal to the degree of dispersion of each space coordinate set relative to the second space coordinate set.
After the scores of the training samples are calculated, a score threshold is determined according to the scores of the training samples, for example, the score from the top 80% of the scores of the training samples to the bottom is used as the score threshold, a loss function is determined based on the determined score threshold, and the effect of the loss function is to converge the result output by the model towards the direction larger than the score threshold. And then, extracting thickness characteristics, hardness characteristics and filling position characteristics of each training sample, inputting a loss function, scores, thickness characteristics, hardness characteristics and filling position characteristics of each training sample into a damping model for training to obtain a trained model, and finally determining a scheme for improving the accuracy of the surgical robot system based on the trained model.
According to the embodiment, the trained damping model is obtained by calculating the scores of the training samples and the feature extraction and loss functions, so that the operation accuracy of the surgical robot is improved.
In one embodiment, the method for improving accuracy of the surgical robot system provided in the embodiment of the present application may further include:
step S411, calculating a first vibration coefficient corresponding to the first space coordinate set according to the distance between each space coordinate in the first space coordinate set and the static space coordinate set;
step S412, calculating a second vibration coefficient corresponding to the second space coordinate set according to the distance between each space coordinate in the second space coordinate set and the stationary space coordinate set;
step S413, determining a score of each training sample according to the difference between the first vibration coefficient and the second vibration coefficient.
Specifically, the degree of dispersion of the first space coordinate set with respect to the stationary space coordinate (represented by a first vibration coefficient corresponding to the first space coordinate set) and the degree of dispersion of the space coordinate of each space coordinate set with respect to the stationary space coordinate (represented by a second vibration coefficient corresponding to the second space coordinate set) are calculated by calculating the difference between the degree of vibration of each space coordinate set in the first space coordinate set and the second space coordinate set, the score of each training sample is inversely proportional to the degree of dispersion with respect to the stationary space coordinate, and in the case where the degree of dispersion of the first space coordinate set with respect to the stationary space coordinate is greater than or equal to the degree of dispersion of the space coordinate of each space coordinate set in the second space coordinate set with respect to the stationary space coordinate, the difference between the degree of vibration of each space coordinate set in the first space coordinate set and the second space coordinate set is inversely proportional to the score of the training sample.
According to the embodiment, the score of each training sample is determined through the static space coordinates, the first space coordinate set and the second space coordinate set, so that the operation accuracy of the surgical robot is improved.
In one embodiment, the method for improving accuracy of the surgical robot system provided in the embodiment of the present application may further include:
step S413a, calculating a difference value between the first vibration coefficient and the second vibration coefficient;
in step S413b, in the case that the first vibration coefficient is greater than or equal to the second vibration coefficient, it is determined that the score of the training sample is proportional to the difference value.
Specifically, the first vibration coefficient is represented by the degree of dispersion of the first space coordinate set relative to the stationary space coordinate with the stationary space coordinate as a center, and the larger the degree of dispersion is, the larger the first vibration coefficient is; the second vibration coefficient is represented by the degree of dispersion of the spatial coordinates of each of the second sets of spatial coordinates with respect to the stationary spatial coordinates, the greater the degree of dispersion, the greater the second vibration coefficient. Under the condition that the first vibration coefficient is smaller than the second vibration coefficient, the degree of dispersion of the corresponding space coordinate set can be determined to be higher, and the score of the corresponding training sample is lower; the lower the degree of dispersion of the corresponding spatial coordinate set is in the case that the first vibration coefficient is greater than or equal to the second vibration coefficient, the greater the difference between the first vibration coefficient and the second vibration coefficient is, and the higher the score of the corresponding training sample is, that is, in the case that the first vibration coefficient is greater than or equal to the second vibration coefficient, the difference between the first vibration coefficient and the second vibration coefficient is determined to be in direct proportion to the score of the training sample.
According to the embodiment, the score of the training sample is calculated through the difference value between the vibration coefficients, and the objective reality of the score of the training sample is reflected better.
In one embodiment, the method for improving accuracy of the surgical robot system provided in the embodiment of the present application may further include:
step S500, extracting a third space coordinate set which is used as a verification sample from each target space coordinate set, and inputting the third space coordinate set into the trained model to obtain a verification result;
and step S600, adjusting parameters of the trained model according to the verification result, and updating the trained model.
Specifically, after a trained model is obtained, extracting a third space coordinate set of each target space coordinate set as a verification sample, inputting thickness characteristics, hardness characteristics and filling position characteristics of each verification sample into the trained model to obtain verification results of each verification sample, and adjusting parameters (such as iteration times) of the trained model through the verification results to achieve the purpose of updating the trained model, so that the model can achieve a better effect.
According to the embodiment, parameters of the trained model are adjusted through verification samples, so that the model can achieve a better effect.
The apparatus for improving accuracy of a surgical robot system provided by the present invention will be described below, and the apparatus for improving accuracy of a surgical robot system described below and the method for improving accuracy of a surgical robot system described above may be referred to correspondingly with each other.
Referring to fig. 5, the present invention further provides an apparatus for improving accuracy of a surgical robot system, including:
the static space coordinate acquisition module 501 is configured to acquire, by using the optical tracker, a static space coordinate of the optical positioning ball when the gap of the mechanical arm trolley is not filled with the shock pad and the bone drill is in an inactive state;
the first space coordinate set obtaining module 502 is configured to obtain, by using the optical tracker, a first space coordinate set of the optical positioning ball when the space of the mechanical arm trolley is not filled with the shock pad and the bone drill is in a working state;
a target space coordinate set obtaining module 503, configured to adjust the shock pad when the gap of the mechanical arm trolley is filled with the shock pad and the bone drill is in a working state, and obtain, by using the optical tracker, a target space coordinate set corresponding to the optical positioning ball after each adjustment of the shock pad;
a solution determining module 504, configured to determine a solution for improving accuracy of the surgical robot system according to the stationary space coordinate, the first space coordinate set, and each of the target space coordinate sets.
Optionally, the scheme determining module includes:
a scoring calculation unit, configured to extract a second spatial coordinate set of each of the target spatial coordinate sets as a training sample, and calculate a score of each of the training samples according to the stationary spatial coordinate, the first spatial coordinate set, and the second spatial coordinate set;
a loss function determining unit, configured to determine a loss function according to the score of each training sample;
the model training unit is used for training the model by the loss function, the thickness characteristic, the hardness characteristic, the filling position characteristic and the score of each training sample;
and the scheme determining unit is used for determining a scheme for improving the accuracy of the surgical robot system according to the trained model.
Optionally, the score calculating unit includes:
a first vibration coefficient calculating unit, configured to calculate a first vibration coefficient corresponding to the first space coordinate set according to a distance between each space coordinate in the first space coordinate set and the stationary space coordinate set;
a second vibration coefficient calculating unit, configured to calculate a second vibration coefficient corresponding to the second space coordinate set according to a distance between each space coordinate in the second space coordinate set and the stationary space coordinate set;
and the grading determining unit is used for determining grading of each training sample according to the difference between the first vibration coefficient and the second vibration coefficient.
Optionally, the scoring unit further includes:
a difference calculating unit for calculating a difference between the first vibration coefficient and the second vibration coefficient;
and the score determining unit is used for determining that the score of the training sample is proportional to the difference value under the condition that the first vibration coefficient is larger than or equal to the second vibration coefficient.
Optionally, the device for improving the precision of the surgical robot system further comprises:
the verification result determining module is used for extracting a third space coordinate set which is taken as a verification sample from each target space coordinate set, and inputting the third space coordinate set into the trained model to obtain a verification result;
and the model updating module is used for adjusting parameters of the trained model according to the verification result and updating the trained model.
Fig. 6 illustrates a physical schematic diagram of an electronic device, as shown in fig. 6, which may include: processor 610, communication interface (Communications Interface) 620, memory 630, and communication bus 640, wherein processor 610, communication interface 620, and memory 630 communicate with each other via communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform a method for improving the accuracy of the surgical robotic system.
Further, the logic instructions in the memory 630 may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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 removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of performing the method for improving the accuracy of a surgical robot system provided by the methods described above.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the methods provided by the above methods for improving the accuracy of a surgical robotic system.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A method for improving the accuracy of a surgical robotic system, the method comprising:
under the condition that a damping pad is not filled in a gap of the mechanical arm trolley and the bone drill is in an unoperated state, acquiring a static space coordinate of an optical positioning ball through an optical tracker;
under the condition that the damping pad is not filled in the gap of the mechanical arm trolley and the bone drill is in a working state, acquiring a first space coordinate set of the optical positioning ball through the optical tracker;
the damping pad is filled in the gap of the mechanical arm trolley, and the damping pad is adjusted under the condition that the bone drill is in a working state, and a target space coordinate set corresponding to the optical positioning ball after each adjustment of the damping pad is obtained through the optical tracker;
determining a surgical robot scheme for improving the precision of a surgical robot system according to the static space coordinates, the first space coordinate set and each target space coordinate set;
the step of determining a scheme for improving the accuracy of the surgical robot system according to the static space coordinates, the first space coordinate set and each target space coordinate set comprises the following steps:
extracting each target space coordinate set as a second space coordinate set of a training sample, and calculating the score of each training sample according to the static space coordinate, the first space coordinate set and the second space coordinate set;
determining a loss function according to the score of each training sample;
model training is carried out on the loss function, and the thickness characteristics, hardness characteristics, filling position characteristics and scores of the training samples;
and determining a scheme for improving the accuracy of the surgical robot system according to the trained model.
2. The method for improving accuracy of a surgical robotic system of claim 1, wherein the step of calculating a score for each of the training samples from the stationary spatial coordinates, the first set of spatial coordinates, and the second set of spatial coordinates comprises:
calculating a first vibration coefficient corresponding to the first space coordinate set according to the distance between each space coordinate in the first space coordinate set and the static space coordinate;
calculating a second vibration coefficient corresponding to the second space coordinate set according to the distance between each space coordinate in the second space coordinate set and the static space coordinate;
and determining the score of each training sample according to the difference between the first vibration coefficient and the second vibration coefficient.
3. The method for improving accuracy of a surgical robotic system of claim 2, wherein determining the score of each of the training samples based on the difference between the first and second vibration coefficients comprises:
calculating a difference between the first vibration coefficient and the second vibration coefficient;
in the case where the first vibration coefficient is greater than or equal to the second vibration coefficient, determining the score of the training sample is proportional to the difference.
4. The method for improving accuracy of a surgical robotic system of claim 1, wherein the step of determining a solution for improving accuracy of a surgical robotic system based on the stationary spatial coordinates, the first set of spatial coordinates, and each of the target sets of spatial coordinates, comprises, after:
extracting a third space coordinate set of each target space coordinate set as a verification sample, and inputting the third space coordinate set into the trained model to obtain a verification result;
and adjusting parameters of the trained model according to the verification result, and updating the trained model.
5. A system for improving the accuracy of a surgical robotic system, characterized in that the system employs a method for improving the accuracy of a surgical robotic system as claimed in any one of claims 1 to 4;
the system comprises a mechanical arm trolley, a bone drill, an optical positioning ball, an optical tracker and a shock pad;
the mechanical arm trolley comprises a counterweight, a framework, a baffle and a mechanical arm, wherein the baffle is positioned between the mechanical arm and the framework, the baffle is fixed on the framework, the mechanical arm is fixed on the baffle, and the counterweight is positioned at one end of the mechanical arm trolley, which is far away from the mechanical arm;
the bone drill is detachably connected with the tail end of the mechanical arm;
the optical positioning ball is fixed on the mechanical arm trolley;
the optical tracker is used for acquiring the space coordinates of the optical positioning ball;
the shock pad is used for filling a gap on the mechanical arm trolley.
6. The system of claim 5, wherein a first void is formed between the robotic arm and the partition, and a second void is formed between the frame and the partition;
the shock pad is specifically used for filling the first gap and the second gap.
7. An apparatus for improving accuracy of a surgical robotic system, comprising:
the static space coordinate acquisition module is used for acquiring the static space coordinate of the optical positioning ball through the optical tracker under the condition that the damping pad is not filled in the gap of the mechanical arm trolley and the bone drill is in an unoperated state;
the first space coordinate set acquisition module is used for acquiring a first space coordinate set of the optical positioning ball through the optical tracker under the condition that the damping pad is not filled in a gap of the mechanical arm trolley and the bone drill is in a working state;
the target space coordinate set acquisition module is used for adjusting the shock pad under the condition that the gap of the mechanical arm trolley is filled with the shock pad and the bone drill is in a working state, and acquiring a target space coordinate set corresponding to the optical positioning ball after each time of adjusting the shock pad through the optical tracker;
the scheme determining module is used for determining a scheme for improving the accuracy of the surgical robot system according to the static space coordinates, the first space coordinate set and each target space coordinate set;
the scheme determination module comprises:
a scoring calculation unit, configured to extract a second spatial coordinate set of each of the target spatial coordinate sets as a training sample, and calculate a score of each of the training samples according to the stationary spatial coordinate, the first spatial coordinate set, and the second spatial coordinate set;
a loss function determining unit, configured to determine a loss function according to the score of each training sample;
the model training unit is used for training the model by the loss function, the thickness characteristic, the hardness characteristic, the filling position characteristic and the score of each training sample;
and the scheme determining unit is used for determining a scheme for improving the accuracy of the surgical robot system according to the trained model.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and running on the processor, characterized in that the processor implements the method for improving the accuracy of a surgical robotic system according to any one of claims 1 to 4 when executing the program.
9. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements a method for improving the accuracy of a surgical robotic system according to any one of claims 1 to 4.
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| CN202211007314.5A CN115414124B (en) | 2022-08-22 | 2022-08-22 | System, method and device for improving accuracy of surgical robot system |
| PCT/CN2023/082722 WO2024040953A1 (en) | 2022-08-22 | 2023-03-21 | System, method and apparatus for improving system accuracy of surgical robot |
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| CN202211007314.5A CN115414124B (en) | 2022-08-22 | 2022-08-22 | System, method and device for improving accuracy of surgical robot system |
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| CN115414124A CN115414124A (en) | 2022-12-02 |
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| CN115414124B (en) * | 2022-08-22 | 2023-05-05 | 北京长木谷医疗科技有限公司 | System, method and device for improving accuracy of surgical robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10058395B2 (en) * | 2014-08-01 | 2018-08-28 | Intuitive Surgical Operations, Inc. | Active and semi-active damping in a telesurgical system |
| CN107920799B (en) * | 2015-09-04 | 2021-06-15 | 马科外科公司 | Bracket for portable surgical robot |
| EP3773300A1 (en) * | 2018-04-12 | 2021-02-17 | Eindhoven Medical Robotics B.V. | Robotic instrument for bone removal |
| CN109452975A (en) * | 2018-12-07 | 2019-03-12 | 杭州法博激光科技有限公司 | Surgical assistant system suitable for soft lens |
| US11382549B2 (en) * | 2019-03-22 | 2022-07-12 | Globus Medical, Inc. | System for neuronavigation registration and robotic trajectory guidance, and related methods and devices |
| CN211213363U (en) * | 2019-11-27 | 2020-08-11 | 枣庄市立医院 | Bone drill assembly for medical robot |
| CN110897717B (en) * | 2019-12-09 | 2021-06-18 | 苏州微创畅行机器人有限公司 | Navigation operation system, registration method thereof and electronic equipment |
| CN112603498A (en) * | 2020-12-29 | 2021-04-06 | 南京佗道医疗科技有限公司 | Automatic puncture needle placing system |
| CN112869878B (en) * | 2021-02-26 | 2024-03-22 | 北京信达五域科技有限公司 | Mechanical arm for medical operation |
| CN113855154A (en) * | 2021-10-27 | 2021-12-31 | 周口师范学院 | Medical robot pneumatic bone drill |
| CN114494430A (en) * | 2021-12-24 | 2022-05-13 | 北京罗克维尔斯科技有限公司 | Display adjustment and model calibration method, device, apparatus and storage medium |
| CN115414124B (en) * | 2022-08-22 | 2023-05-05 | 北京长木谷医疗科技有限公司 | System, method and device for improving accuracy of surgical robot system |
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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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