WO2022257473A1

WO2022257473A1 - Control method and apparatus for reaming tool of surgical robot

Info

Publication number: WO2022257473A1
Application number: PCT/CN2022/073123
Authority: WO
Inventors: 张逸凌; 刘星宇
Original assignee: 北京长木谷医疗科技有限公司; 张逸凌
Priority date: 2021-06-07
Filing date: 2022-01-21
Publication date: 2022-12-15
Also published as: CN113400305B; CN113400305A

Abstract

A control method and apparatus for a reaming tool of a surgical robot. The control method for a reaming tool comprises: acquiring, in a base coordinate system, an initial posture of a reaming tool and the position coordinates of a key point thereof; on the basis of a preset transformation matrix, transforming the reaming tool from the initial posture to a movement posture; and fixing the position coordinates of the top end of the reaming tool, controlling, by means of a robotic arm, the reaming tool to perform reaming at the movement posture, and adjusting the pose of the reaming tool according to a movement trajectory of the origin of a flange of the robotic arm. The control method further comprises: when a coordinate difference between the current position coordinates of a spherical center of an inner spherical surface of an acetabular cup and the position coordinates of a reaming depth limiting point is less than or equal to a preset threshold value, controlling, by means of the robotic arm, the reaming tool to stop moving.

Description

Control method and device for grinding tool for surgical robot

Cross References to Related Applications

This application claims the priority of the Chinese patent application submitted to the China Patent Office on June 7, 2021 with the application number 202110633980.9. Incorporated in this application by reference.

technical field

The invention relates to the technical field of medical equipment, in particular to a control method and device for a grinding tool of a surgical robot.

Background technique

In automatic hip replacement using robots, the grinding tool needs to be limited to prevent it from going too deep and damaging the acetabulum. Secondly, the angle of the grinding tool also needs to be limited to prevent the grinding tool from misaligning the acetabulum. grind. But do not have the automatic control method of frustrating tool at present.

Contents of the invention

In view of this, embodiments of the present invention provide a method and device for controlling a grinding tool of a surgical robot, so as to automatically control the grinding process of the grinding tool.

According to the first aspect, an embodiment of the present invention provides a method for controlling a frustrating tool of a surgical robot, including: acquiring the initial posture of the frustrating tool in a base coordinate system and the position coordinates of key points, wherein the The position coordinates of the key points include the position coordinates of the top of the frustrating tool; based on the preset transformation matrix, the initial posture of the frustrating tool is transformed into a motion posture; the position coordinates of the top of the frustrating tool are fixed, and the machine The arm controls the frustrating tool to perform frustrating in the motion posture, and obtains the motion track of the origin of the flange of the manipulator; and adjusts the pose of the frustrating tool according to the motion track of the origin of the flange of the manipulator.

Optionally, adjusting the pose of the frustrating tool according to the motion track of the origin of the flange of the manipulator includes: determining the frustrating angle of the frustrating tool based on the motion track of the origin of the flange of the manipulator; if the frustrating angle is greater than Or equal to the set frustrating angle threshold, adjust the frustrating work from the motion posture to the initial posture.

Optionally, the method further includes: detecting in real time the current position of the preset frustrating position point in the grounded object; if the current position of the preset frustrating position point does not match the position of the preset limit point, the grinding The setback work is adjusted from the motion posture to the initial posture.

Optionally, based on a preset transformation matrix, transforming the frustrating tool from an initial posture to a motion posture includes: based on the coordinate system transformation matrix T, converting the first The coordinate system is converted into a second coordinate system with the top of the grinding tool as the origin of the coordinate system; the coordinate system conversion matrix T and the first rotation matrix M are subjected to matrix multiplication to obtain an MT matrix; based on the MT matrix, Transforming the frustrating tool from the initial posture to the motion posture.

Optionally, adjusting the pose of the frustrating tool according to the motion track of the origin of the flange of the manipulator includes: determining the frustrating angle of the frustrating tool according to the motion track of the origin of the flange of the manipulator When it is greater than or equal to the set frustrating angle threshold, the frustrating tool is transformed from the current motion posture to the initial posture through the inverse matrix and the reverse matrix of the coordinate system conversion matrix T; based on the second rotation Matrix M ₁ , correcting the initial pose of the frustrating tool; based on the transformation matrix, transforming the corrected initial pose of the frustrating tool into a corresponding motion pose.

Optionally, the coordinate system transformation matrix T is: T=transl(0,-k,-q), wherein, the k represents the length of MN, the q represents the length of OM, and the N represents the The top position of the frustrating tool, the O represents the origin of the flange of the mechanical arm, and the M represents the vertical foot of the flange origin of the mechanical arm on the frustrating tool; the first rotation matrix M is: M=rotx(a); the rotx(a) indicates that the rotation angle of the grinding tool around the x-axis is a; the second rotation matrix M ₁ is: M ₁ =roty(β), and the roty(β) Indicates that the rotation angle of the grinding tool around the y-axis is β; the y-axis is the MN direction; the z-axis is the OM direction; the x-axis is determined according to the right-hand rule; the inverse matrix is: T _inverse = transl(0,k,q )*rotx(-a)).

Optionally, the method is used for abrasion of acetabular cups.

Optionally, the method further includes: according to the initial position coordinates of the inner spherical center of the acetabular cup, determining the limit point of the depth of the acetabular cup wear; according to the detected inner spherical center of the acetabular cup The current position coordinates of the acetabular cup and the bruising depth limit point determine the feedback resistance of the bruising tool to the acetabular cup.

Optionally, according to the detected current position coordinates of the center of the inner sphere of the acetabular cup and the limit point of the bruising depth, the feedback resistance of the bruising tool to the acetabular cup is determined , comprising: calculating the coordinate difference between the current position coordinates of the center of the inner spherical surface of the acetabular cup and the limit point of the depth of friction; according to the coordinate difference and the reaction of the mechanical sensor of the mechanical arm The mapping relationship between the thresholds is used to determine the feedback resistance of the abrading tool for abrading the acetabular cup.

Optionally, the method further includes: when the coordinate difference between the current position coordinates of the center of the inner spherical surface of the acetabular cup and the bruise depth limit point is less than or equal to a preset threshold, passing the The mechanical arm controls the grinding tool to stop moving.

According to the second aspect, an embodiment of the present invention provides a control device for a frustrating tool of a surgical robot, including: a first acquisition module configured to acquire the initial posture of the frustrating tool in the base coordinate system and the position of key points Coordinates, wherein the position coordinates of the key points include the position coordinates of the tip of the frustrating tool; the posture transformation module is configured to transform the frustrating tool from an initial posture to a motion based on a preset transformation matrix Attitude; the frustrating module, configured to fix the position coordinates of the top of the frustrating tool, control the frustrating tool to perform frustrating in the motion posture through the robot arm, and obtain the movement of the origin of the flange of the mechanical arm track, adjusting the pose of the frustrating tool according to the motion track of the origin of the flange of the manipulator.

Optionally, the device further includes: a detection unit configured to detect in real time the current position of a preset frustrating position point in the frustrating object; an adjusting unit configured to if the current position of the preset frustrating position point is different from the preset If the position of the limit point is inconsistent, adjust the frustrating work from the motion posture to the initial posture.

Optionally, the attitude transformation module is further configured to: based on the coordinate system transformation matrix T, convert the first coordinate system with the origin of the flange of the robot arm as the origin of the coordinate system to the top of the grinding tool as the origin of the coordinate system the second coordinate system; the coordinate system transformation matrix T and the first rotation matrix M are subjected to matrix multiplication to obtain the MT matrix; based on the MT matrix, the frustrating tool is transformed from the initial posture to the Athletic stance.

Optionally, the device is used for abrading of acetabular cups.

Optionally, the device further includes: according to the initial position coordinates of the inner spherical center of the acetabular cup, determining the limit point of the acetabular cup's wear depth; according to the detected inner spherical center of the acetabular cup The current position coordinates of the acetabular cup and the bruising depth limit point determine the feedback resistance of the bruising tool to the acetabular cup.

Optionally, the device further includes: a control unit configured to, when the coordinate difference between the current position coordinates of the center of the inner spherical surface of the acetabular cup and the bruise depth limit point is less than or equal to a predetermined When the threshold is set, the grinding tool is controlled by the mechanical arm to stop moving.

According to a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, the memory and the processor are connected to each other in communication, the memory stores computer instructions, and the processor passes Execute the computer instructions, so as to implement the control method for the grinding tool of the surgical robot described in the first aspect or any implementation manner of the first aspect.

According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to make the computer execute the first aspect or the first aspect. A method for controlling a grinding tool for a surgical robot described in any one of the implementations.

Embodiments of the present invention provide a control method and device for a frustrating tool of a surgical robot. The control method of the frustrating tool obtains the initial posture of the frustrating tool in the base coordinate system and the position coordinates of key points, wherein , the position coordinates of the key points include the position coordinates of the top of the frustrating tool; based on the transformation matrix, transform the frustrating tool from an initial posture to a motion posture; fix the position coordinates of the top of the frustrating tool, and pass the machine The arm controls the grinding tool to perform grinding under the motion posture, and obtains the motion track of the origin of the flange of the manipulator; adjusts the pose of the grinding tool according to the motion track of the origin of the flange of the manipulator, Therefore, the rotation of the grinding tool can be controlled according to the motion trajectory, and the initial position coordinates of the inner spherical center of the acetabular cup are also included to determine the limit point of the grinding depth of the acetabular cup. When the coordinate difference between the current position coordinates of the heart and the frustrating depth limit point is less than or equal to a preset threshold, the mechanical arm is used to control the frustrating tool to stop moving. Therefore, the operator can control the movement angle and depth of the grinding tool during the grinding of the acetabulum, avoiding damage to the acetabulum, thereby improving the safety of the grinding tool and the surgical effect of the patient.

Description of drawings

The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the invention in any way. In the accompanying drawings:

1 is a schematic flowchart of a control method for a grinding tool of a surgical robot according to Embodiment 1 of the present invention;

Fig. 2 is a schematic diagram of the first pose during the movement of the grinding tool used in the surgical robot;

Fig. 3 is a schematic diagram of the second pose during the movement of the grinding tool used in the surgical robot;

Fig. 4 is a schematic diagram of the conical movement of the frustrating tool for the surgical robot;

Fig. 5 is a schematic structural diagram of a grinding tool control device for a surgical robot according to Embodiment 2 of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

Example 1

Embodiment 1 of the present invention provides a control method for a grinding tool of a surgical robot, and FIG. 1 is a schematic flowchart of a control method for a grinding tool of a surgical robot according to Embodiment 1 of the present invention. Fig. 2 is a schematic diagram of the initial attitude during the motion of the grinding tool used in the surgical robot, and Fig. 3 is a schematic diagram of the motion posture of the grinding tool used in the surgical robot during the motion, as shown in Fig. 1, the embodiment 1 of the present invention A control method for a grinding tool for a surgical robot includes the following steps:

S101: Obtain the initial posture of the frustrating tool in the base coordinate system and the position coordinates of the key points, wherein the position coordinates of the key points include the position coordinates of the tip of the frustrating tool.

In Embodiment 1 of the present invention, a ball-type bruising tool is installed at the top position N of the bruising tool, the center of which is located at point N, and the acetabulum is bruised by the bruising tool.

In Embodiment 1 of the present invention, the frustrating tool is a frustrating rod.

S102: Transform the frustrating tool from an initial posture to a motion posture based on a preset transformation matrix.

As an optional implementation of this embodiment, based on the transformation matrix, the following technical solution can be adopted to transform the frustrating tool from the initial posture to the motion posture: based on the coordinate system transformation matrix T, the mechanical arm flange The first coordinate system whose origin is the origin of the coordinate system is transformed into the second coordinate system whose origin is the coordinate system at the top of the grinding tool; the matrix multiplication operation is performed on the coordinate system conversion matrix T and the first rotation matrix M to obtain MT matrix; transforming the frustrating tool from the initial pose to the motion pose based on the MT matrix.

Exemplarily, when the top position N of the frustrating tool reaches the preset current rotation position, it is in the initial posture shown in FIG. 2 . In Fig. 2, point N represents the top position of the grinding tool, point O represents the origin of the flange of the manipulator, and point M represents the projection of point O on the grinding tool. The OM direction is the z-axis, the MN direction is the y-axis, and the x-axis is determined according to the right-hand rule.

As an example, the coordinate system transformation matrix T can be in the following form: T=transl(0,-k,-q), wherein k represents the length of MN (the length of MN represents the length of the grinding tool), and q represents the length of OM ( The length of OM represents the vertical distance from the origin point O of the flange of the mechanical arm to the grinding tool), the N represents the top position of the grinding tool, the O represents the origin of the flange of the mechanical arm, and the M represents The vertical foot of the origin O of the flange of the mechanical arm on the grinding tool.

The first rotation matrix M can be in the following form: M=rotx (a), wherein as shown in Figure 3, the angle formed by PN and MN is angle a, that is, angle MNP is angle a, and rotx (a) represents friction The rotation matrix required by the tool to rotate angle a around the x-axis.

Controlling the rotation of the grinding tool according to the rotation track can make the grinding tool perform conical motion, as shown in Figure 4, for example, in Figure 4, R is equivalent to PN in Figure 3, a indicates the rotation angle, and 116b indicates that it is mounted on the grinding tool. The frustrating tool at the top of the tool, such as the spherical rub used for bone grinding, P represents the rotation position, and C represents the depth limit point of the frustrating tool. The depth limit point of the frustrating tool can be determined by extending n millimeters along the axial distance according to the center of the acetabular cup planned before operation. For example, n can take a value of 1, 2, etc. Do limited.

Perform matrix multiplication on the coordinate system conversion matrix T and the first rotation matrix M to obtain the MT matrix; based on the MT matrix, transform the frustrating tool from the initial posture in FIG. 2 to the motion posture in FIG. 3 .

S103: Fix the position coordinates of the top end of the grinding tool, control the grinding tool to perform grinding in the motion posture through the robot arm, and obtain the movement track of the origin of the flange of the robot arm.

S104: Adjust the pose of the grinding tool according to the motion track of the origin of the flange of the manipulator.

As an optional implementation of this embodiment, adjusting the pose of the grinding tool according to the motion track of the origin of the flange of the manipulator includes: determining the grinding position of the grinding tool based on the track of the origin of the flange of the manipulator Frustration angle; if the frustration angle is greater than or equal to the set frustration angle threshold, adjust the frustration work from the motion posture to the initial posture.

As an optional implementation of this embodiment, according to the motion trajectory of the origin of the flange of the manipulator, the following technical solution may be adopted for adjusting the pose of the grinding tool: When the trajectory determines that the frustrating angle of the frustrating tool is greater than or equal to the set frustrating angle threshold value, the inverse matrix and the _inverse matrix T of the coordinate system conversion matrix T =transl(0,k,q)* rotx(-a)), transforming the frustrating tool from the current motion posture to the initial posture; based on the second rotation matrix M ₁ , correcting the initial posture of the frustrating tool; based on the transformation matrix , transforming the corrected initial pose of the frustrating tool into a corresponding motion pose.

Exemplarily, the second rotation matrix M ₁ may be in the following form: M ₁ =roty(β), and the roty(β) indicates that the rotation angle of the grinding tool around the y-axis is β. In this way, the initial posture of the frustrating tool can be adjusted according to the preset angle adjustment amount, and the robot motion matrix of each tiny component of the conical motion can be obtained.

Through the above steps S101-S104, the angle of the frustrating tool can be controlled, and successive repetitions of different steps S101-S104 can make the frustrating tool move out of a complete conical trajectory.

As an optional implementation of this embodiment, the method further includes: detecting in real time the current position of the preset frustrating position point in the frustrating object; if the current position of the preset frustrating position point is different from the preset limit point If the position of the tool does not match, adjust the frustrating tool from the motion posture to the initial posture.

In this optional implementation, the preset frustrating position point can be a real-time detected position point during the frustrating process, and the position point can represent the frustrating depth, for example, in the continuous frustrating process, the depth is continuously deepened , the position of the location point is constantly changing. The real-time position of the position point can be compared with the position of the depth limit point. If the position point exceeds the depth limit point, the attitude of the grinding tool can be adjusted.

As an optional implementation of this embodiment, the method is used for grinding of acetabular cups.

The control method of the frustrating tool can be applied to any frustrating objects, for example, the frustrating parts of the frustrating tool can be replaced, so as to be applicable to frustrating objects of different frustrating objects. The abraded object may include, but is not limited to, an acetabular cup.

As an optional implementation of this embodiment, the movement of the frustrating tool also needs to control the depth, so the control method of the frustrating tool further includes the following steps: according to the initial position coordinates of the inner spherical center of the acetabular cup, determine the hip The limit point of the depth of the acetabular cup; according to the detected current position coordinates of the center of the inner sphere of the acetabular cup and the limit point of the depth of the acetabular, determine the impact of the acetabular tool on the acetabular cup Feedback resistance for frustrating.

Exemplarily, if the abrading object is an acetabular cup, it can be determined that the abrading tool is suitable for the acetabular cup according to the detected current position coordinates of the center of the inner sphere of the acetabular cup and the abrading depth limit point. The feedback resistance of the acetabular cup for grinding can adopt the following technical scheme: calculate the coordinate difference between the current position coordinates of the inner spherical center of the acetabular cup and the limit point of the grinding depth; according to the The mapping relationship between the coordinate difference and the response threshold of the mechanical sensor of the mechanical arm determines the feedback resistance of the grinding tool for grinding the acetabular cup. As a result, the feedback resistance of the mechanical sensor can be set to be larger as it gets closer to the limit point of the friction depth, so that the setting of the feedback resistance is more reasonable and humanized.

Exemplarily, when the coordinate difference between the current position coordinates of the center of the inner spherical surface of the acetabular cup and the fretting depth limit point is less than or equal to a preset threshold, the mechanical arm controls the The frustrating tool stops moving. The depth of the grinding tool can thus be controlled.

Exemplarily, the limit point of the bruising depth of the bruising tool can be determined according to the limit point C of the acetabular cup introduced into the system by the planning structure, so that the center of the inner spherical surface of the acetabular cup can be The C limit point will not be exceeded. For example, the position of the mechanical arm is detected in real time. The closer the mechanical arm is to the limit point, the greater the response threshold of the mechanical sensor is set, so that when the mechanical arm is pushed by hand, the resistance is greater, and the push will not move. Once the limit is reached At point C, the grinding tool is powered off, and the response threshold of the force sensor of the manipulator is set to infinity. The definition of the response threshold of the mechanical arm force sensor: We set a threshold for the mechanical arm sensor, such as a force of 10N. If the force applied to the mechanical arm is less than 10N, the mechanical arm will not move, and if the force is greater than 10N, the mechanical arm will move.

The embodiments of the present application can control the movement angle and depth of the abrading tool during the acetabular abrading process, avoiding acetabular abrasion, thereby improving the safety of the adebrosis tool and the patient's surgical effect.

Example 2

Corresponding to Embodiment 1 of the present invention, Embodiment 2 of the present invention provides a control device for a grinding tool of a surgical robot. 5 is a schematic structural diagram of a control device for a grinding tool for a surgical robot according to Embodiment 2 of the present invention. As shown in FIG. 2 , the control device for a grinding tool for a surgical robot according to Embodiment 2 of the present invention includes an acquisition module 20 , attitude transformation module 22 and friction module 24.

Exemplarily, the obtaining module 20 is configured to obtain the initial posture of the frustrating tool in the base coordinate system and the position coordinates of the key points, wherein the position coordinates of the key points include the position coordinates of the tip of the frustrating tool;

The posture transformation module 22 is configured to transform the frustrating tool from an initial posture to a motion posture based on a preset transformation matrix;

The frustrating module 24 is configured to fix the position coordinates of the top end of the frustrating tool, control the frustrating tool to be frustrated in the motion posture through the robot arm, and obtain the motion track of the origin of the flange of the mechanical arm, according to The motion track of the origin of the flange of the manipulator adjusts the pose of the grinding tool. The control of the grinding tool is optional. The pose of the grinding tool is adjusted according to the motion track of the origin of the flange of the mechanical arm. It includes: determining the frustrating angle of the frustrating tool based on the motion trajectory of the origin of the flange of the manipulator; if the frustrating angle is greater than or equal to the set frustrating angle threshold, adjusting the frustrating work from the motion posture to the initial posture.

As an optional implementation of this embodiment, the device further includes: a detection unit configured to detect in real time the current position of a preset frustrating point in the frustrated object; an adjustment unit configured to The current position of the frustrating point does not match the position of the preset limit point, and the frustrating work is adjusted from the motion posture to the initial posture.

As an optional implementation of this embodiment, the posture transformation module is further configured to: based on the coordinate system transformation matrix T, transform the first coordinate system with the origin of the coordinate system at the origin of the manipulator flange into the The top of the frustrating tool is the second coordinate system of the origin of the coordinate system; the coordinate system transformation matrix T and the first rotation matrix M are subjected to matrix multiplication to obtain the MT matrix; based on the MT matrix, the frustrating tool is formed by The initial pose is transformed into the motion pose.

As an optional implementation of this embodiment, adjusting the pose of the grinding tool according to the motion track of the origin of the flange of the manipulator includes: When the frustrating angle of the frustrating tool is greater than or equal to the set frustrating angle threshold, the frustrating tool is transformed from the current motion posture to the desired one through the inverse matrix and reverse matrix of the coordinate system transformation matrix T the initial pose; based on the second rotation matrix M ₁ , correct the initial pose of the frustrating tool; based on the transformation matrix, transform the corrected initial pose of the frustrating tool into a corresponding motion pose .

As an optional implementation of this embodiment, the coordinate system transformation matrix T is: T=transl(0,-k,-q), where the k represents the length of the MN, and the q represents the length of the OM length, the N represents the top position of the frustrating tool, the O represents the origin of the flange of the mechanical arm, and the M represents the vertical foot of the flange origin of the mechanical arm on the frustrating tool; The first rotation matrix M is: M=rotx(a); the rotx(a) indicates that the rotation angle of the grinding tool around the x-axis is α; the second rotation matrix M ₁ is: M ₁ =roty(β ), the roty (β) represents that the rotation angle of the grinding tool around the y-axis is β; the y-axis is the MN direction; the z-axis is the OM direction; the x-axis is determined according to the right-hand rule direction; the reverse matrix is: T _inverse =transl(0,k,q)*rotx(-a)).

As an optional implementation of this embodiment, the device is used for grinding of acetabular cups.

As an optional implementation of this embodiment, the device further includes: according to the initial position coordinates of the center of the inner spherical surface of the acetabular cup, determining the limit point of the acetabular cup's wear depth; according to the detected The current position coordinates of the center of the inner spherical surface of the acetabular cup and the limit point of the bruising depth determine the feedback resistance of the bruising tool to the acetabular cup.

As an optional implementation of this embodiment, according to the detected current position coordinates of the center of the inner spherical surface of the acetabular cup and the limit point of the bruising depth, determine the impact of the bruising tool on the hip. The feedback resistance of the acetabular cup for grinding includes: calculating the coordinate difference between the current position coordinates of the inner spherical center of the acetabular cup and the limit point of the grinding depth; The mapping relationship between the response thresholds of the mechanical sensors of the mechanical arm is used to determine the feedback resistance of the grinding tool for grinding the acetabular cup.

As an optional implementation of this embodiment, the device further includes: a control unit configured to, when the current position coordinates of the center of the inner sphere of the acetabular cup and the limit point of the bruise depth, When the coordinate difference is less than or equal to a preset threshold, the grinding tool is controlled by the mechanical arm to stop moving.

The specific details of the device can be understood by correspondingly referring to the corresponding descriptions and effects in the embodiments shown in FIG. 1 to FIG. 4 , and will not be repeated here.

Example 3

An embodiment of the present invention also provides an electronic device, which may include a processor and a memory, where the processor and the memory may be connected through a bus or in other ways.

The processor may be a central processing unit (Central Processing Unit, CPU). The processor can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application-specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate array (Field-Programmable Gate Array, FPGA) or other Chips such as programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above-mentioned types of chips.

As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as the control method for the grinding tool of the surgical robot in the embodiment of the present invention. Program instructions/modules (for example, the acquisition module 20, the attitude transformation module 22 and the friction module 24 shown in FIG. 5). The processor executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory, that is, to realize the control method for the grinding tool of the surgical robot in the above method embodiment .

The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created by the processor, and the like. In addition, the memory 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 devices. In some embodiments, the memory may optionally include memory located remotely from the processor, and such remote memory may be connected to the processor via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The one or more modules are stored in the memory, and when executed by the processor, the method for controlling a grinding tool for a surgical robot in the embodiment shown in FIGS. 1-3 is executed.

The specific details of the above electronic device can be understood by correspondingly referring to the corresponding descriptions and effects in the embodiments shown in FIG. 1 to FIG. 5 , and will not be repeated here.

Those skilled in the art can understand that all or part of the processes in the methods of the above-mentioned embodiments can be completed by instructing related hardware through computer programs, and the programs can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods. Wherein, the storage medium can be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard Disk) Disk Drive, abbreviation: HDD) or solid-state hard drive (Solid-State Drive, SSD) etc.; The storage medium can also include the combination of above-mentioned types of memory.

Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall into the scope of the appended claims. within the limited range.

Claims

A method for controlling a grinding tool for a surgical robot, comprising:

Obtaining the initial posture of the frustrating tool in the base coordinate system and the position coordinates of the key points, wherein the position coordinates of the key points include the position coordinates of the top of the frustrating tool;

Transforming the frustrating tool from an initial posture to a motion posture based on a preset transformation matrix;

Fixing the position coordinates of the top of the grinding tool, controlling the grinding tool to perform grinding in the motion posture through the robot arm, and obtaining the motion track of the origin of the flange of the mechanical arm;

According to the motion trajectory of the origin of the flange of the mechanical arm, the pose of the grinding tool is adjusted.
The method according to claim 1, wherein, according to the motion trajectory of the origin of the flange of the manipulator, adjusting the pose of the grinding tool comprises:

Determine the frustrating angle of the frustrating tool based on the motion track of the origin of the flange of the manipulator;

If the frustrating angle is greater than or equal to the set frustrating angle threshold, adjust the frustrating work from the motion posture to the initial posture.
The method according to claim 1, further comprising:

Real-time detection of the current position of the preset frustrating position point in the frustrating object;

If the current position of the preset frustrating point does not match the position of the preset limit point, adjust the frustrating work from the motion posture to the initial posture.
The method according to claim 1, wherein, based on a preset transformation matrix, transforming the frustrating tool from an initial posture to a motion posture comprises:

Based on the coordinate system transformation matrix T, the first coordinate system with the origin of the flange of the robot arm as the origin of the coordinate system is converted into a second coordinate system with the top of the grinding tool as the origin of the coordinate system;

Carrying out matrix multiplication operation with described coordinate system conversion matrix T and first rotation matrix M, obtains MT matrix;

Transforming the frustrating tool from the initial pose to the motion pose based on the MT matrix.
The method according to claim 4, wherein adjusting the pose of the grinding tool according to the motion track of the origin of the flange of the manipulator comprises:

When it is determined according to the motion trajectory of the origin of the flange of the manipulator that the frustrating angle of the frustrating tool is greater than or equal to the set frustrating angle threshold, through the inverse matrix and reverse matrix of the coordinate system transformation matrix T, transforming the frustrating tool from the current motion posture to the initial posture;

Correcting the initial attitude of the frustrating tool based on the second rotation matrix M 1 ;

Based on the transformation matrix, the corrected initial pose of the frustrating tool is transformed into a corresponding motion pose.
The method according to claim 5, wherein the coordinate system transformation matrix T is: T=transl(0,-k,-q), wherein the k represents the length of the MN, and the q represents the length of the OM , the N represents the top position of the frustrating tool, the O represents the origin of the flange of the manipulator, and the M represents the vertical foot of the flange origin of the manipulator on the frustrating tool;

The first rotation matrix M is: M=rotx(a); the rotx(a) indicates that the rotation angle of the frustrating tool around the x-axis is a;

The second rotation matrix M 1 is: M 1 =roty(β), and the roty(β) indicates that the rotation angle of the grinding tool around the y-axis is β;

The y-axis is the MN direction; the z-axis is the OM direction; the x-axis is determined according to the right-hand rule;

The inverse matrix is: T inverse =transl(0,k,q)*rotx(-a)).
The method according to any one of claims 1-6, wherein the method is used for abrasion of an acetabular cup.
The method according to claim 7, said method further comprising:

According to the initial position coordinates of the center of the inner spherical surface of the acetabular cup, the limit point of the depth of the acetabular cup is determined;

According to the detected current position coordinates of the center of the inner sphere of the acetabular cup and the limit point of the bruising depth, the feedback resistance of the bruising tool to the acetabular cup is determined.
The method according to claim 7, wherein, according to the detected current position coordinates of the center of the inner spherical surface of the acetabular cup and the limit point of the bruising depth, it is determined whether the bruising tool is suitable for the acetabulum. The feedback resistance of the cup for grinding, including:

calculating the coordinate difference between the current position coordinates of the center of the inner spherical surface of the acetabular cup and the limit point of the bruising depth;

According to the mapping relationship between the coordinate difference and the response threshold of the mechanical sensor of the mechanical arm, the feedback resistance of the grinding tool for grinding the acetabular cup is determined.
The method according to claim 8, wherein the method further comprises:

When the coordinate difference between the current position coordinates of the inner spherical center of the acetabular cup and the frustrating depth limit point is less than or equal to a preset threshold, the frustrating tool is controlled by the mechanical arm to stop sports.
A control device for a grinding tool of a surgical robot, comprising:

The obtaining module is configured to obtain the initial posture of the frustrating tool in the base coordinate system and the position coordinates of the key points, wherein the position coordinates of the key points include the position coordinates of the top of the frustrating tool;

The posture transformation module is configured to transform the frustrating tool from an initial posture to a motion posture based on a preset transformation matrix;

The frustrating module is configured to fix the position coordinates of the top of the frustrating tool, control the frustrating tool to perform frustrating in the motion posture through the robot arm, and obtain the motion track of the origin of the flange of the mechanical arm, according to the The trajectory of the origin of the flange of the manipulator is adjusted to adjust the pose of the grinding tool.
The device according to claim 11, wherein, according to the motion trajectory of the origin of the flange of the manipulator, adjusting the pose of the grinding tool comprises:

Determine the frustrating angle of the frustrating tool based on the motion track of the origin of the flange of the manipulator;

If the frustrating angle is greater than or equal to the set frustrating angle threshold, adjust the frustrating work from the motion posture to the initial posture.
The device according to claim 11, further comprising:

The detection unit is configured to detect in real time the current position of the preset frustrating position point in the frustrating object;

The adjustment unit is configured to adjust the frustrating work from the motion posture to the initial posture if the current position of the preset frustrating position point does not match the preset limit point.
The apparatus according to claim 11, wherein the pose transformation module is further configured to:

Based on the coordinate system transformation matrix T, the first coordinate system with the origin of the flange of the robot arm as the origin of the coordinate system is converted into a second coordinate system with the top of the grinding tool as the origin of the coordinate system;

Carrying out matrix multiplication operation with described coordinate system conversion matrix T and first rotation matrix M, obtains MT matrix;

Transforming the frustrating tool from the initial pose to the motion pose based on the MT matrix.
The device according to claim 14, wherein adjusting the pose of the frustrating tool according to the motion track of the origin of the flange of the mechanical arm comprises:

When it is determined according to the motion trajectory of the origin of the flange of the manipulator that the frustrating angle of the frustrating tool is greater than or equal to the set frustrating angle threshold, through the inverse matrix and reverse matrix of the coordinate system transformation matrix T, transforming the frustrating tool from the current motion posture to the initial posture;

Correcting the initial attitude of the frustrating tool based on the second rotation matrix M 1 ;

Based on the transformation matrix, the corrected initial pose of the frustrating tool is transformed into a corresponding motion pose.
The device according to claim 15, wherein the coordinate system transformation matrix T is: T=transl(0,-k,-q), wherein the k represents the length of the MN, and the q represents the length of the OM , the N represents the top position of the frustrating tool, the O represents the origin of the flange of the manipulator, and the M represents the vertical foot of the flange origin of the manipulator on the frustrating tool;

The first rotation matrix M is: M=rotx(a); the rotx(a) indicates that the rotation angle of the grinding tool around the x-axis is α;

The second rotation matrix M 1 is: M 1 =roty(β), and the roty(β) indicates that the rotation angle of the grinding tool around the y-axis is β;

The y-axis is the MN direction; the z-axis is the OM direction; the x-axis is determined according to the right-hand rule;

The inverse matrix is: T inverse =transl(0,k,q)*rotx(-a)).
The device according to any one of claims 11-16, wherein the device is used for abrading an acetabular cup.
The apparatus of claim 17, further comprising:

According to the initial position coordinates of the center of the inner spherical surface of the acetabular cup, the limit point of the depth of the acetabular cup is determined;

According to the detected current position coordinates of the center of the inner sphere of the acetabular cup and the limit point of the bruising depth, the feedback resistance of the bruising tool to the acetabular cup is determined.
The device according to claim 17, wherein, according to the detected current position coordinates of the center of the inner spherical surface of the acetabular cup and the limit point of the bruising depth, it is determined that the bruising tool has a greater impact on the acetabulum. The feedback resistance of the cup for grinding, including:

calculating the coordinate difference between the current position coordinates of the center of the inner spherical surface of the acetabular cup and the limit point of the bruising depth;

According to the mapping relationship between the coordinate difference and the response threshold of the mechanical sensor of the mechanical arm, the feedback resistance of the grinding tool for grinding the acetabular cup is determined.
The apparatus of claim 18, further comprising:

The control unit is configured to control the acetabular cup through the mechanical arm when the coordinate difference between the current position coordinates of the inner spherical center of the acetabular cup and the bruise depth limit point is less than or equal to a preset threshold. The frustrating tool stops moving.
An electronic device comprising:

A memory and a processor, the memory and the processor are connected in communication with each other, computer instructions are stored in the memory, and the processor performs any one of claims 1-10 by executing the computer instructions The control method for the frustrating tool of the surgical robot.
A computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to make the computer perform the grinding setback for a surgical robot according to any one of claims 1-10 Tool control method.