技术领域Technical Field
本发明涉及计算机辅助手术技术领域，具体而言，涉及一种截骨锯片防抖动的控制方法和系统、存储介质和处理器。The present invention relates to the technical field of computer-assisted surgery, and in particular to a control method and system for preventing a bone saw blade from shaking, a storage medium and a processor.
背景技术Background technique
目前，随着计算机技术的发展，由计算机辅助的外科手术系统也在迅速发展，在该类系统中，为便于移动等操作，通常设置协作机械臂。协作机械臂的远端通常会搭载末端执行器，末端执行器的远端根据不同的场景需要，会搭载不同的医用器械，例如：锯、钻、铣刀等(在本文中，以“近端”表示相对而言更靠近机械臂操作者、更远离患者的一端，以“远端”表示相对而言更远离机械臂操作者、更靠近患者的一端)。通过协作机械臂-末端执行器-医用器械三者之间的机械连接机构和控制操作，实现对目标的切割、钻、研磨等动作，以电锯为例，截骨电锯的锯片是末端执行器较常搭载的医用器械之一，电锯可以较为高效的对目标进行切割，适用于例如全膝关节置换手术等，为了保证操作的精准，锯片的最远端(也可称为前端或末端)位置的精准定位切割是非常重要的；所以在截骨手术这种场景中要求截骨锯片需要保持在特定的待切割的截骨平面内来进行切割，而这种特定的截骨手术场景下通常会存在以下两个问题：At present, with the development of computer technology, computer-assisted surgical systems are also developing rapidly. In such systems, collaborative robotic arms are usually set up to facilitate operations such as movement. The far end of the collaborative robotic arm is usually equipped with an end effector, and the far end of the end effector is equipped with different medical instruments according to different scene requirements, such as saws, drills, milling cutters, etc. (In this article, "proximal end" refers to the end that is relatively closer to the robotic arm operator and farther away from the patient, and "distal end" refers to the end that is relatively farther away from the robotic arm operator and closer to the patient). Through the mechanical connection mechanism and control operation between the collaborative robot arm, the end effector and the medical device, the cutting, drilling, grinding and other actions of the target are realized. Taking the electric saw as an example, the saw blade of the osteotomy electric saw is one of the medical devices commonly carried by the end effector. The electric saw can cut the target more efficiently and is suitable for total knee replacement surgery, etc. In order to ensure the accuracy of the operation, the precise positioning and cutting of the farthest end (also called the front end or the end) of the saw blade is very important; therefore, in the scenario of osteotomy surgery, the osteotomy saw blade needs to be kept in the specific osteotomy plane to be cut for cutting, and this specific osteotomy surgery scenario usually has the following two problems:
1、协作机械臂与其他类型机械臂的主要区别就是在操作使用协作机械臂时，需要通过人手扶机械臂，直接对机械臂进行推、拉、提、压等操作动作。这种半人工操作势必导致在截骨的时候截骨锯片会偏移待切割的截骨平面。1. The main difference between collaborative robotic arms and other types of robotic arms is that when operating a collaborative robotic arm, a person needs to hold the robotic arm by hand and directly push, pull, lift, press, etc. This semi-manual operation will inevitably cause the osteotomy saw blade to deviate from the osteotomy plane to be cut during osteotomy.
2、当用于骨科手术操作的特定场景时，由于截骨锯片通常具有较小的尺寸，且切割时协作机械臂本身需要保障一定的活动空间和自由度，无法做成刚性的，电锯锯片在手术过程中一直处于高速摆动状态(锯片的摆动速度高达8800次/分钟)，所以当进行骨科手术时，切割的锯片难以实时保证切割位置的精度。2. When used in the specific scenario of orthopedic surgery, since the osteotomy saw blade is usually small in size and the collaborative robot arm itself needs to ensure a certain amount of movement space and freedom during cutting, it cannot be made rigid. The electric saw blade is always in a high-speed swinging state during the operation (the swing speed of the saw blade is as high as 8,800 times/minute), so when performing orthopedic surgery, it is difficult for the cutting saw blade to ensure the accuracy of the cutting position in real time.
针对现有技术无法中针对协作机械臂特性导致的截骨锯片难以实时保证切割位置精度的技术问题，目前尚未提出有效的解决方案。With regard to the technical problem that the existing technology is unable to address the characteristics of the collaborative robot arm, which makes it difficult for the osteotomy saw blade to ensure the cutting position accuracy in real time, no effective solution has been proposed so far.
发明内容Summary of the invention
本发明实施例提供了一种锯片防抖动的控制方法和系统、存储介质和处理器，以解决现有技术中协作机械臂特性导致的锯片难以实时保证切割位置精度的技术问题。The embodiments of the present invention provide a control method and system for preventing saw blade from shaking, a storage medium and a processor, so as to solve the technical problem in the prior art that it is difficult for the saw blade to ensure the cutting position accuracy in real time due to the characteristics of the collaborative robot arm.
根据本发明实施例的一个方面，提供了一种锯片防抖动的控制方法，包括：获取锯片末端的坐标信息；将所述锯片末端的坐标信息与校准图形建立联系，其中，所述校准图形是带有基准线的图形，在锯片末端与目标切割面重叠的情况下，所述锯片末端的坐标信息在屏幕中所对应的指示标志指示在所述校准图形的基准线位置处，所述指示标志在所述校准图形中反馈所述锯片末端的坐标信息；根据所述锯片末端坐标信息所对应的指示标志与所述校准图形的基准线位置的变化来调整所述锯片的位置使其保持在基准线的预定范围内移动。According to one aspect of an embodiment of the present invention, a control method for anti-shake of a saw blade is provided, comprising: acquiring coordinate information of the end of the saw blade; establishing a connection between the coordinate information of the end of the saw blade and a calibration figure, wherein the calibration figure is a figure with a baseline, and when the end of the saw blade overlaps with a target cutting surface, an indicator mark corresponding to the coordinate information of the end of the saw blade on the screen indicates the position of the baseline of the calibration figure, and the indicator mark feeds back the coordinate information of the end of the saw blade in the calibration figure; adjusting the position of the saw blade according to changes in the indicator mark corresponding to the coordinate information of the end of the saw blade and the position of the baseline of the calibration figure so that it moves within a predetermined range of the baseline.
进一步地，获取所述锯片末端的坐标信息包括：在所述锯片的末端靠近所述目标切割面并到达预定对准位置的情况下，获取末端执行器的本体定位架与所述锯片的末端定位架之间的坐标系位置关系，其中，所述锯片安装在末端执行器上；根据所述坐标系位置关系和所述本体定位架的位姿信息实时获取所述锯片的位姿信息；通过当前所述锯片的位姿信息得到当前所述锯片末端的坐标信息。Furthermore, obtaining the coordinate information of the end of the saw blade includes: when the end of the saw blade approaches the target cutting surface and reaches a predetermined alignment position, obtaining the coordinate system position relationship between the body positioning frame of the end effector and the end positioning frame of the saw blade, wherein the saw blade is mounted on the end effector; obtaining the posture information of the saw blade in real time according to the coordinate system position relationship and the posture information of the body positioning frame; and obtaining the coordinate information of the current end of the saw blade through the current posture information of the saw blade.
进一步地，根据所述锯片末端坐标信息所对应的指示标志与所述校准图形的基准线位置的变化来调整所述锯片的位置包括：使所述指示标志在所述校准图形中的移动方向与所述锯片末端在待切割目标上时的坐标信息距离目标切割面的方位相对应。Furthermore, adjusting the position of the saw blade according to the change in the position of the indicator mark corresponding to the coordinate information of the saw blade end and the baseline of the calibration figure includes: making the moving direction of the indicator mark in the calibration figure correspond to the orientation of the coordinate information of the saw blade end on the target to be cut from the target cutting surface.
进一步地，使所述指示标志在所述校准图形中的移动方向与所述锯片末端在所述待切割目标上时的坐标信息距离目标切割面的方位相对应包括：控制所述指示标志在所述校准图形中以所述目标切割面为基准的正反两个方向进行移动，其中，所述移动方向分别为位于所述校准图形基准线的上部和下部两个方向。Furthermore, making the moving direction of the indicator mark in the calibration figure correspond to the orientation of the coordinate information of the end of the saw blade when it is on the target to be cut from the target cutting surface includes: controlling the indicator mark to move in the calibration figure in both positive and negative directions based on the target cutting surface, wherein the moving directions are respectively located in the upper and lower directions of the baseline of the calibration figure.
进一步地，控制所述指示标志在所述校准图形中以目标切割面为基准的正反两个方向进行移动之后包括；当所述指示标志指示在所述校准图形中的上部的情况下，控制所述锯片的实际切割的位置距离所述目标切割平面的位置在靠近患者骨骼边缘的位置；当所述指示标志指示在所述校准图形中的下部的情况下，控制所述锯片的实际切割的位置距离所述目标切割平面的位置在远离患者骨骼边缘的位置。Furthermore, controlling the indicator mark to move in both positive and negative directions based on the target cutting plane in the calibration figure includes: when the indicator mark indicates the upper part of the calibration figure, controlling the actual cutting position of the saw blade to be close to the edge of the patient's bone from the position of the target cutting plane; when the indicator mark indicates the lower part of the calibration figure, controlling the actual cutting position of the saw blade to be far away from the edge of the patient's bone from the position of the target cutting plane.
进一步地，获取所述锯片末端的坐标信息之前包括：通过确定所述末端定位架的位置与所述目标切割面之间的位置关系控制所述机械臂装置进行运动，其中，所述末端执行器安装在所述机械臂装置上；判断所述末端定位架与所述目标切割面的距离是否超出阈值范围，如果超出所述阈值范围，则更新所述末端定位架的位置与所述目标切割面之间的位置关系，继续控制所述机械臂装置进行运动，直至在所述锯片的末端靠近所述目标切割面并到达预定对准位置的情况下，则停止判断。Furthermore, before obtaining the coordinate information of the end of the saw blade, it includes: controlling the movement of the robotic arm device by determining the positional relationship between the position of the end positioning frame and the target cutting surface, wherein the end actuator is mounted on the robotic arm device; judging whether the distance between the end positioning frame and the target cutting surface exceeds a threshold range, and if so, updating the positional relationship between the position of the end positioning frame and the target cutting surface, and continuing to control the movement of the robotic arm device until the end of the saw blade approaches the target cutting surface and reaches a predetermined alignment position, then stopping the judgment.
进一步地，根据所述锯片末端坐标信息所对应的指示标志与所述校准图形的基准线位置的变化来调整所述锯片的位置包括：当所述机械臂装置上的法兰上的定位架或目标参考架在截骨时被遮挡的情况下，则改变所述校准图形的颜色进行提示。Furthermore, adjusting the position of the saw blade according to the change in the position of the indicator mark corresponding to the saw blade end coordinate information and the baseline of the calibration figure includes: when the positioning frame or the target reference frame on the flange of the robotic arm device is blocked during osteotomy, the color of the calibration figure is changed to provide a prompt.
进一步地，根据所述锯片末端坐标信息所对应的指示标志与所述校准图形的基准线位置的变化来调整所述锯片的位置使其保持在基准线的预定范围内移动包括：将所述校准图形预设为五个不同的颜色区域，其中，每个颜色区域与不同大小的预定范围相对应；控制所述锯片末端坐标所对应的指示标志使其保持在所述基准线周围小的预定范围内移动。Furthermore, adjusting the position of the saw blade so that it moves within a predetermined range of the baseline according to changes in the position of the indicator mark corresponding to the saw blade end coordinate information and the baseline of the calibration figure includes: presetting the calibration figure into five different color areas, wherein each color area corresponds to a predetermined range of different sizes; and controlling the indicator mark corresponding to the saw blade end coordinate so that it moves within a small predetermined range around the baseline.
进一步地，将所述锯片末端的坐标信息与所述校准图形建立联系包括：预设所述指示标志在所述校准图形中移动的单位距离与所述锯片末端的实际变化的坐标信息相对应。Furthermore, establishing a connection between the coordinate information of the end of the saw blade and the calibration pattern includes: presetting a unit distance of movement of the indicator mark in the calibration pattern to correspond to the coordinate information of the actual change of the end of the saw blade.
进一步地，所述指示标志是在所述校准图形中能够通过明暗变化指示不同位置的矩形条，和/或所述指示标志是所述锯片对应的三维图形，和/或所述指示标志是所述锯片对应的二维图形。Furthermore, the indicator mark is a rectangular bar in the calibration figure that can indicate different positions by changing light and dark, and/or the indicator mark is a three-dimensional figure corresponding to the saw blade, and/or the indicator mark is a two-dimensional figure corresponding to the saw blade.
进一步地，获取所述锯片末端的坐标信息之后还包括：通过第一指示框显示所述锯片所在平面与所述目标切割平面的实际角度。Furthermore, after acquiring the coordinate information of the end of the saw blade, the method further includes: displaying the actual angle between the plane where the saw blade is located and the target cutting plane through a first indicator frame.
进一步地，获取锯片末端的坐标信息之后还包括：通过第二指示框显示所述锯片末端与所述目标切割平面相比的坐标信息实际变化的数据。Furthermore, after acquiring the coordinate information of the saw blade end, the method further includes: displaying data of actual changes in the coordinate information of the saw blade end compared with the target cutting plane through a second indicator frame.
根据本发明实施例的另一方面，还提供了一种锯片防抖动的控制系统，包括：According to another aspect of an embodiment of the present invention, a control system for preventing saw blade vibration is provided, comprising:
获取单元，用于获取锯片末端的坐标信息；处理单元，用于将所述锯片末端的坐标信息与校准图形建立联系，其中，所述校准图形是带有基准线的图形，在锯片末端与目标切割面重叠的情况下，所述锯片末端的坐标信息在屏幕中所对应的指示标志指示在所述校准图形的基准线位置处，所述指示标志在所述校准图形中反馈所述锯片末端的坐标信息；第一控制单元，用于根据所述锯片末端坐标信息所对应的指示标志与所述校准图形的基准线位置的变化来调整所述锯片的位置使其保持在基准线的预定范围内移动。An acquisition unit is used to acquire the coordinate information of the end of the saw blade; a processing unit is used to establish a connection between the coordinate information of the end of the saw blade and a calibration figure, wherein the calibration figure is a figure with a baseline, and when the end of the saw blade overlaps with the target cutting surface, the coordinate information of the end of the saw blade is indicated by an indicator mark on the screen at the position of the baseline of the calibration figure, and the indicator mark feeds back the coordinate information of the end of the saw blade in the calibration figure; a first control unit is used to adjust the position of the saw blade according to the change of the indicator mark corresponding to the coordinate information of the end of the saw blade and the baseline position of the calibration figure so that it keeps moving within a predetermined range of the baseline.
进一步地，所述获取单元包括：第一获取模块，用于在所述锯片的末端靠近所述目标切割面并到达预定对准位置的情况下，获取末端执行器的本体定位架与所述锯片的末端定位架之间的坐标系位置关系，其中，所述锯片安装在末端执行器上；第二获取模块，用于根据所述坐标系位置关系和所述本体定位架的位姿信息实时获取所述锯片的位姿信息；第三获取模块，用于通过当前所述锯片的位姿信息得到当前所述锯片末端的坐标信息。Furthermore, the acquisition unit includes: a first acquisition module, used to acquire the coordinate system position relationship between the body positioning frame of the end effector and the end positioning frame of the saw blade when the end of the saw blade approaches the target cutting surface and reaches a predetermined alignment position, wherein the saw blade is installed on the end effector; a second acquisition module, used to acquire the posture information of the saw blade in real time according to the coordinate system position relationship and the posture information of the body positioning frame; and a third acquisition module, used to obtain the coordinate information of the current end of the saw blade through the current posture information of the saw blade.
进一步地，所述第一控制单元包括：方向控制模块，用于使所述指示标志在所述校准图形中的移动方向与所述锯片末端在所述待切割目标上时的坐标信息距离所述目标切割面的方位相对应。Furthermore, the first control unit includes: a direction control module for making the moving direction of the indicator mark in the calibration figure correspond to the position of the coordinate information of the end of the saw blade when it is on the target to be cut, from the target cutting surface.
进一步地，所述方向控制模块包括：第一控制模块，用于控制所述指示标志在所述校准图形中以所述目标切割面为基准的正反两个方向进行移动，其中，所述移动方向分别为位于所述校准图形基准线的上部和下部两个方向。Furthermore, the direction control module includes: a first control module, used to control the indicator mark to move in positive and negative directions based on the target cutting surface in the calibration figure, wherein the moving directions are respectively located in the upper and lower directions of the calibration figure reference line.
进一步地，所述方向控制模块还包括；第二控制模块，用于当所述指示标志指示在所述校准图形中的上部的情况下，控制所述锯片的实际切割的位置距离所述目标切割平面的位置在靠近患者骨骼边缘的位置；第三控制模块，用于当所述指示标志指示在所述校准图形中的下部的情况下，控制所述锯片的实际切割的位置距离所述目标切割平面的位置在远离患者骨骼边缘的位置。Furthermore, the direction control module also includes: a second control module, which is used to control the actual cutting position of the saw blade to be close to the edge of the patient's bone from the target cutting plane when the indicator mark indicates the upper part of the calibration figure; and a third control module, which is used to control the actual cutting position of the saw blade to be far away from the edge of the patient's bone from the target cutting plane when the indicator mark indicates the lower part of the calibration figure.
进一步地，所述系统还包括：第二控制单元，用于通过确定所述末端定位架的位置与所述目标切割面之间的位置关系控制所述机械臂装置进行运动，其中，所述末端执行器安装在所述机械臂装置上；判断控制单元，用于判断所述末端定位架与所述目标切割面的距离是否超出阈值范围，如果超出所述阈值范围，则更新所述末端定位架的位置与所述目标切割面之间的位置关系，继续控制所述机械臂装置进行运动，直至在所述锯片的末端靠近所述目标切割面并到达预定对准位置的情况下，则停止判断。Furthermore, the system also includes: a second control unit, used to control the movement of the robotic arm device by determining the positional relationship between the position of the end positioning frame and the target cutting surface, wherein the end actuator is installed on the robotic arm device; a judgment control unit, used to judge whether the distance between the end positioning frame and the target cutting surface exceeds a threshold range, and if it exceeds the threshold range, update the positional relationship between the position of the end positioning frame and the target cutting surface, and continue to control the movement of the robotic arm device until the end of the saw blade approaches the target cutting surface and reaches a predetermined alignment position, then stop judging.
进一步地，所述第一控制单元还包括：提示模块，用于当所述机械臂装置上的法兰上的定位架或目标参考架在截骨时被遮挡的情况下，则改变所述校准图形的颜色进行提示。Furthermore, the first control unit also includes: a prompt module, which is used to change the color of the calibration figure to provide a prompt when the positioning frame or the target reference frame on the flange of the robotic arm device is blocked during osteotomy.
进一步地，所述第一控制单元还包括：第一预设模块，用于将所述校准图形预设为五个不同的颜色区域，其中，每个颜色区域与不同大小的预定范围相对应；第四控制模块，用于控制所述锯片末端坐标所对应的指示标志使其保持在所述基准线周围小的预定范围内移动。Furthermore, the first control unit also includes: a first preset module, used to preset the calibration figure into five different color areas, wherein each color area corresponds to a predetermined range of different sizes; a fourth control module, used to control the indicator mark corresponding to the saw blade end coordinate so that it keeps moving within a small predetermined range around the baseline.
进一步地，所述处理单元包括：第二预设模块，用于预设所述指示标志在所述校准图形中移动的单位距离与所述锯片末端的实际变化的坐标信息相对应。Furthermore, the processing unit includes: a second preset module for presetting the unit distance moved by the indicator mark in the calibration graph to correspond to the coordinate information of the actual change of the end of the saw blade.
进一步地，所述系统还包括：第一显示模块，用于通过第一指示框显示所述锯片所在平面与所述目标切割平面的实际角度。Furthermore, the system also includes: a first display module, used to display the actual angle between the plane where the saw blade is located and the target cutting plane through a first indication frame.
进一步地，所述系统还包括：第二显示模块，用于通过第二指示框显示所述锯片末端与所述目标切割平面相比的坐标信息实际变化的数据。Furthermore, the system also includes: a second display module, which is used to display data of actual changes in coordinate information of the end of the saw blade compared with the target cutting plane through a second indication frame.
根据本发明实施例的另一个方面，还提供给了一种存储介质，所述存储介质上保存有程序，所述程序被运行时执行上所述的方法。According to another aspect of the embodiments of the present invention, a storage medium is provided, on which a program is stored. When the program is executed, the method described above is executed.
根据本发明实施例的另一个方面，还提供给了一种处理器，所述程序被运行时执行上述的方法。According to another aspect of the embodiments of the present invention, a processor is provided, and the above method is executed when the program is executed.
根据本发明实施例，采用了获取锯片末端的坐标信息；将所述锯片末端的坐标信息与校准图形建立联系，其中，所述校准图形是带有基准线的图形，在锯片末端与目标切割面重叠的情况下，所述锯片末端的坐标信息在屏幕中所对应的指示标志指示在所述校准图形的基准线位置处，所述指示标志在所述校准图形中反馈所述锯片末端的坐标信息；根据所述锯片末端坐标信息所对应的指示标志与所述校准图形的基准线位置的变化来调整所述锯片的位置使其保持在基准线的预定范围内移动。通过本发明解决了现有技术中协作机械臂特性导致的锯片难以实时保证切割位置精度的技术问题，使得在医生操作协作机械臂的过程中可以实时对锯片进行微调，从而保证在整个截骨手术切割过程中，锯片均较精准的保持在待截目标平面内进行切割。According to an embodiment of the present invention, the coordinate information of the end of the saw blade is obtained; the coordinate information of the end of the saw blade is linked to a calibration figure, wherein the calibration figure is a figure with a baseline, and when the end of the saw blade overlaps with the target cutting surface, the coordinate information of the end of the saw blade is indicated by an indicator mark on the screen corresponding to the coordinate information of the end of the saw blade at the position of the baseline of the calibration figure, and the indicator mark feeds back the coordinate information of the end of the saw blade in the calibration figure; the position of the saw blade is adjusted according to the change of the indicator mark corresponding to the coordinate information of the end of the saw blade and the position of the baseline of the calibration figure so that it moves within a predetermined range of the baseline. The present invention solves the technical problem in the prior art that it is difficult for the saw blade to ensure the cutting position accuracy in real time due to the characteristics of the collaborative robot arm, so that the saw blade can be fine-tuned in real time during the doctor's operation of the collaborative robot arm, thereby ensuring that the saw blade is kept more accurately within the target plane to be cut during the entire osteotomy operation.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
构成本申请的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:
图1是根据本发明实施例的一种锯片防抖动的控制方法的流程图；FIG1 is a flow chart of a method for controlling saw blade anti-shake according to an embodiment of the present invention;
图2是根据本发明实施例的校准图形示意图；FIG2 is a schematic diagram of a calibration graph according to an embodiment of the present invention;
图3是根据本发明实施例的校准图形示意图；FIG3 is a schematic diagram of a calibration graph according to an embodiment of the present invention;
图4是根据本发明实施例的校准图形示意图；FIG4 is a schematic diagram of a calibration graph according to an embodiment of the present invention;
图5是根据本发明实施例二维指示图形和校准图形的关系示意图；5 is a schematic diagram showing the relationship between a two-dimensional indication pattern and a calibration pattern according to an embodiment of the present invention;
图6是根据本发明实施例二维指示图形和校准图形的关系示意图；6 is a schematic diagram showing the relationship between a two-dimensional indication pattern and a calibration pattern according to an embodiment of the present invention;
图7是根据本发明实施例三维指示图形和校准图形的关系示意图；7 is a schematic diagram showing the relationship between a three-dimensional indication graphic and a calibration graphic according to an embodiment of the present invention;
图8为根据本发明实施例一种协作机械臂装置的结构示意图；FIG8 is a schematic structural diagram of a collaborative robot arm device according to an embodiment of the present invention;
图9是根据本发明实施例主机部分和光学导航装置的结构示意图；9 is a schematic diagram of the structure of a host part and an optical navigation device according to an embodiment of the present invention;
图10是根据本发明实施例的光学定位架的结构示意图；FIG10 is a schematic diagram of the structure of an optical positioning frame according to an embodiment of the present invention;
图11是根据本发明实施例光学导航装置的结构示意图；11 is a schematic diagram of the structure of an optical navigation device according to an embodiment of the present invention;
图12是根据本发明实施例末端执行器的结构示意图；12 is a schematic structural diagram of an end effector according to an embodiment of the present invention;
图13是根据本发明实施例在末端执行器上安装末端定位架的结构示意图；13 is a schematic structural diagram of installing an end positioning frame on an end effector according to an embodiment of the present invention;
图14是根据本发明实施例末端定位架的结构示意图；14 is a schematic structural diagram of an end positioning frame according to an embodiment of the present invention;
图15是根据本发明实施例末端定位架的侧视图；15 is a side view of an end positioning frame according to an embodiment of the present invention;
图16是根据本发明实施例末端定位架的弹珠机构部分的结构示意图；16 is a schematic structural diagram of a marble mechanism portion of an end positioning frame according to an embodiment of the present invention;
图17是根据本发明实施例参考架与拟切割平面的位置关系示意图；FIG17 is a schematic diagram showing the positional relationship between a reference frame and a simulated cutting plane according to an embodiment of the present invention;
图18是根据本发明实施例末端定位架与本体定位架的位置关系示意图；18 is a schematic diagram showing the positional relationship between the end positioning frame and the main body positioning frame according to an embodiment of the present invention;
图19是根据本发明实施例末端执行器与被切割目标的位置关系示意图；FIG19 is a schematic diagram showing the positional relationship between the end effector and the object to be cut according to an embodiment of the present invention;
图20是根据本发明实施例的一种锯片防抖动的控制系统的示意图。FIG. 20 is a schematic diagram of a control system for preventing saw blade vibration according to an embodiment of the present invention.
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
根据本发明实施例，提供了一种截骨锯片防抖动的控制方法实施例，需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。According to an embodiment of the present invention, an embodiment of a control method for preventing a bone cutting saw blade from shaking is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.
下面对下列实施例中出现的名词含义进行说明:The meanings of the nouns appearing in the following embodiments are described below:
图1是根据本发明实施例的一种截骨锯片防抖动的控制方法的流程图，如图1所示，该方法包括如下步骤：FIG. 1 is a flow chart of a method for controlling anti-shake of an osteotomy saw blade according to an embodiment of the present invention. As shown in FIG. 1 , the method comprises the following steps:
步骤S1002，获取截骨锯片末端的坐标信息，该锯片末端的坐标信息是根据锯片末端某个点的位置信息所计算得到的，具体计算方式可以是从锯片末端的横截面上任意点，优选地，当锯片末端的截面是矩形的情况下，矩形的中心点可以作为锯片末端点的位置信息；Step S1002, obtaining coordinate information of the end of the osteotomy saw blade, the coordinate information of the end of the saw blade is calculated based on the position information of a certain point of the end of the saw blade, and the specific calculation method can be from any point on the cross section of the end of the saw blade. Preferably, when the cross section of the end of the saw blade is a rectangle, the center point of the rectangle can be used as the position information of the end point of the saw blade;
步骤S1004，将截骨锯片末端的坐标信息与校准图形建立联系，其中，校准图形是带有基准线的图形，在截骨锯片末端与目标切割面重叠的情况下，截骨锯片末端的坐标信息在屏幕中所对应的指示标志指示在校准图形的基准线位置处，指示标志在校准图形中反馈截骨锯片末端的坐标信息；Step S1004, establishing a connection between the coordinate information of the end of the osteotomy saw blade and the calibration figure, wherein the calibration figure is a figure with a reference line, and when the end of the osteotomy saw blade overlaps with the target cutting surface, the coordinate information of the end of the osteotomy saw blade is indicated by an indicator mark on the screen at the position of the reference line of the calibration figure, and the indicator mark feeds back the coordinate information of the end of the osteotomy saw blade in the calibration figure;
校准图形可以清楚的标识正反两个移动方向的任意图形，可以是如图4所示的带有不同彩色方块组成的矩形，也可以是其他形式的图形，如图2、3所示wifi雷达一样的图形和扇形图，这些图形均有中心基准线和以基准线为准的两个方向，校准图形也可以是只有一个基准线只在一个方向上标识医疗工具的运动。该步骤是通过校准图形实时反馈截骨锯片在截骨过程中偏移待截骨平面的微变化。The calibration graph can clearly identify any graph in both positive and negative moving directions, which can be a rectangle composed of different colored blocks as shown in FIG4, or other forms of graphs, such as the wifi radar-like graph and fan graph as shown in FIG2 and 3. These graphs all have a central reference line and two directions based on the reference line. The calibration graph can also be a reference line that identifies the movement of the medical tool in only one direction. This step is to use the calibration graph to provide real-time feedback on the micro-changes of the osteotomy saw blade offsetting the plane to be osteotomized during the osteotomy process.
步骤S1006，根据截骨锯片末端坐标信息所对应的指示标志与校准图形的基准线位置的变化来调整截骨锯片的位置使其保持在基准线的预定范围内移动。，以基准线代表了待截骨的平面，当校准图形中的指示标指示偏移基准线时代表截骨锯片的位置偏移了所要截骨的平面。上述预定范围就是截骨锯片在截骨时允许偏移的误差范围。Step S1006, adjust the position of the osteotomy saw blade according to the change of the indicator mark corresponding to the coordinate information of the end of the osteotomy saw blade and the position of the reference line of the calibration figure so that the osteotomy saw blade moves within the predetermined range of the reference line. The reference line represents the plane to be cut. When the indicator mark in the calibration figure indicates the deviation from the reference line, it means that the position of the osteotomy saw blade is offset from the plane to be cut. The above predetermined range is the error range allowed for the osteotomy saw blade to deviate during osteotomy.
上述方法巧妙的利用可视化来保证截骨锯片的偏移待截骨平面处在预定范围内，可以随时根据可视化的观察结果来进行实时控制的微调，即使刀具在一直不停地抖动切割，依然可以保证所要切割位置的准确度，使其保持在待截目标平面内移动，从而解决了现有技术中协作机械臂特性导致的截骨锯片难以实时保证切割位置精度的技术问题。The above method cleverly uses visualization to ensure that the offset of the osteotomy saw blade to the osteotomy plane is within a predetermined range, and real-time control fine-tuning can be performed at any time according to the visualization observation results. Even if the tool is constantly shaking while cutting, the accuracy of the desired cutting position can still be guaranteed, so that it can keep moving within the target plane to be cut, thereby solving the technical problem in the prior art that it is difficult for the osteotomy saw blade to ensure the cutting position accuracy in real time due to the characteristics of the collaborative robot arm.
为了更加实时准确获得上述步骤中截骨锯片末端的坐标信息，首先经过对刀与目标切割面的多次递归校准后，当刀确认对准目标切割面时，NDI记录位于末端执行器的本体定位架与刀片尖端定位架的坐标系关系，并通过该坐标系关系修正末端执行器本体定位架的坐标系，此时使用NDI拍摄的末端执行器本体定位架的空间位姿代表锯片的空间位姿信息，锯片末端的坐标可以用末端执行器本体定位架所在坐标系表示。最后是通过本体定位架的坐标信息得到锯片的坐标信息，通过锯片的坐标信息计算锯片末端点的坐标信息。在一种可选的实施方式中，即，在截骨锯片的末端靠近目标切割面并到达预定对准位置的情况下，获取末端执行器的本体定位架与截骨锯片的末端定位架之间的坐标系位置关系，其中，截骨锯片安装在末端执行器上；根据坐标系位置关系和本体定位架的位姿信息实时获取截骨锯片的位姿信息；通过当前截骨锯片的位姿信息得到当前截骨锯片末端的坐标信息。例如，当实时计算锯片末端点与拟切割平面的距离时，实际是计算锯片所在平面对应的坐标系与拟切割平面所在坐标系的位置关系，而计算位姿角度是计算锯片所在平面和拟切割平面之间的角度，实时计算锯片末端点所在坐标系CF与拟切割平面所在坐标系CP之间的位置关系，CP和CT的位置关系至始至终都是固定的，可以是重合也可以具有固定的位置关系，根据待切割目标参考架所在坐标系CT、以及已知的参考架所在坐标系与拟切割平面所在坐标系的位置关系，可确定拟切割平面所在坐标系CP。通过计算这些位置关系获得截骨锯片末端的坐标信息。In order to obtain the coordinate information of the end of the osteotomy saw blade in the above steps more accurately and in real time, firstly, after multiple recursive calibrations between the knife and the target cutting surface, when the knife is confirmed to be aligned with the target cutting surface, NDI records the coordinate system relationship between the body positioning frame and the blade tip positioning frame located at the end effector, and corrects the coordinate system of the end effector body positioning frame through this coordinate system relationship. At this time, the spatial posture of the end effector body positioning frame photographed by NDI represents the spatial posture information of the saw blade, and the coordinates of the end of the saw blade can be expressed in the coordinate system where the end effector body positioning frame is located. Finally, the coordinate information of the saw blade is obtained through the coordinate information of the body positioning frame, and the coordinate information of the end point of the saw blade is calculated through the coordinate information of the saw blade. In an optional embodiment, that is, when the end of the osteotomy saw blade approaches the target cutting surface and reaches a predetermined alignment position, the coordinate system position relationship between the main body positioning frame of the end effector and the end positioning frame of the osteotomy saw blade is obtained, wherein the osteotomy saw blade is mounted on the end effector; the posture information of the osteotomy saw blade is obtained in real time according to the coordinate system position relationship and the posture information of the main body positioning frame; and the coordinate information of the end of the current osteotomy saw blade is obtained through the posture information of the current osteotomy saw blade. For example, when calculating the distance between the end point of the saw blade and the intended cutting plane in real time, the positional relationship between the coordinate system corresponding to the plane where the saw blade is located and the coordinate system where the intended cutting plane is located is actually calculated, and the calculation of the posture angle is to calculate the angle between the plane where the saw blade is located and the intended cutting plane. The positional relationship between the coordinate systemCF where the end point of the saw blade is located and the coordinate systemCP where the intended cutting plane is located is calculated in real time. The positional relationship betweenCP andCT is fixed from beginning to end, and can be overlapped or have a fixed positional relationship. According to the coordinate systemCT where the reference frame of the target to be cut is located, and the positional relationship between the known coordinate system where the reference frame is located and the coordinate system where the intended cutting plane is located, the coordinate systemCP where the intended cutting plane is located can be determined. The coordinate information of the end of the osteotomy saw blade is obtained by calculating these positional relationships.
上述指示标在校准图形中移动的方向表示锯片末端在待切割目标上时的坐标信息距离目标切割面的方位。在一种可选的实施方式中，即，首先，根据截骨锯片末端坐标信息所对应的指示标志与校准图形的基准线位置的变化来调整截骨锯片的位置包括；其次，使指示标志在校准图形中的移动方向与锯片末端在待切割目标上时的坐标信息距离目标切割面的方位相对应。The direction in which the indicator moves in the calibration graph indicates the position of the coordinate information of the end of the saw blade when it is on the target to be cut from the target cutting surface. In an optional embodiment, that is, firstly, adjusting the position of the osteotomy saw blade according to the change in the position of the indicator corresponding to the coordinate information of the end of the osteotomy saw blade and the reference line of the calibration graph includes: secondly, making the moving direction of the indicator in the calibration graph correspond to the position of the coordinate information of the end of the saw blade when it is on the target to be cut from the target cutting surface.
使指示标志在校准图形中的移动方向与锯片末端在待切割目标上时的坐标信息距离目标切割面的方位相对应，在一种可选的实施方式中，控制指示标志在校准图形中以目标切割面为基准的正反两个方向进行移动，其中，移动方向分别为位于校准图形基准线的上部和下部两个方向。Make the moving direction of the indicator mark in the calibration figure correspond to the orientation of the coordinate information of the end of the saw blade when it is on the target to be cut from the target cutting surface. In an optional embodiment, the indicator mark is controlled to move in both positive and negative directions based on the target cutting surface in the calibration figure, wherein the moving directions are respectively located in the upper and lower directions of the baseline of the calibration figure.
上述步骤通过控制锯片与可视化的校准图形对应，使可视化的校准图形实时反馈锯片与偏移待截骨目标平面的位置关系、方向和距离，并且让校准图形反馈锯片偏移待截骨目标平面的两个方向，避免其他方向上的干扰，能够更好更加直观并实时微调锯片使其保持在待截骨平面上下预定的偏差范围之内，从而更好的保证截骨锯片的手术切割精度。The above steps control the saw blade to correspond to the visual calibration graphic, so that the visual calibration graphic can provide real-time feedback on the positional relationship, direction and distance between the saw blade and the offset target plane to be osteotomized, and the calibration graphic can provide feedback on the two directions in which the saw blade is offset from the target plane to be osteotomized, avoiding interference in other directions. This can better and more intuitively fine-tune the saw blade in real time to keep it within a predetermined deviation range above and below the plane to be osteotomized, thereby better ensuring the surgical cutting accuracy of the osteotomy saw blade.
控制指示标志在校准图形中以目标切割面为基准的正反两个方向进行移动之后，在一种可选的实施方式中，当指示标志指示在校准图形中的上部的情况下，控制截骨锯片的实际切割的位置距离目标切割平面的位置在靠近患者骨骼边缘的位置；当指示标志指示在校准图形中的下部的情况下，控制截骨锯片的实际切割的位置距离目标切割平面的位置在远离患者骨骼边缘的位置。通过该方式可以实时检测到截骨的深浅，避免截骨时误操作导致截骨位置的偏差。当指示标志指示在校准图形中的上部表示，实际切割的位置距离目标切割平面的位置较浅或者在靠近患者骨骼边缘的位置；当指示标志指示在校准图形中的下部表示，实际切割的位置距离目标切割平面的位置较深或者在靠近远离患者骨骼边缘的位置。After the control indicator mark moves in both positive and negative directions based on the target cutting plane in the calibration figure, in an optional embodiment, when the indicator mark indicates the upper part of the calibration figure, the actual cutting position of the osteotomy saw blade is controlled to be close to the edge of the patient's bone from the position of the target cutting plane; when the indicator mark indicates the lower part of the calibration figure, the actual cutting position of the osteotomy saw blade is controlled to be far away from the edge of the patient's bone from the position of the target cutting plane. In this way, the depth of osteotomy can be detected in real time to avoid deviation of the osteotomy position caused by misoperation during osteotomy. When the indicator mark indicates the upper part of the calibration figure, it means that the actual cutting position is shallower than the target cutting plane or is close to the edge of the patient's bone; when the indicator mark indicates the lower part of the calibration figure, it means that the actual cutting position is deeper than the target cutting plane or is close to the edge of the patient's bone.
在一种可选的实施方式中，获取截骨锯片末端的坐标信息之前包括：通过确定末端定位架的位置与目标切割面之间的位置关系控制机械臂装置进行运动，其中，末端执行器安装在机械臂装置上；判断末端定位架与目标切割面的距离是否超出阈值范围，如果超出阈值范围，则更新末端定位架的位置与目标切割面之间的位置关系，继续控制机械臂装置进行运动，直至在截骨锯片的末端靠近目标切割面并到达预定对准位置的情况下，则停止判断。通过该方式控制协作机械臂的移动到目标位置，此时截骨锯片的末端靠近对准目标切割面，截骨锯片所在的平面也与目标切割面重合，从而为后续的可视化微调做准备，因为可视化微调是实时控制锯片在几乎不到毫米级的范围内移动，所以需要截骨锯片所在平面与目标切割面基本重合，也就是截骨锯片的末端靠近目标切割面并到达预定对准位置。In an optional embodiment, before obtaining the coordinate information of the end of the osteotomy saw blade, the process includes: controlling the robot arm device to move by determining the positional relationship between the position of the end positioning frame and the target cutting surface, wherein the end effector is mounted on the robot arm device; judging whether the distance between the end positioning frame and the target cutting surface exceeds a threshold range, and if so, updating the positional relationship between the position of the end positioning frame and the target cutting surface, and continuing to control the robot arm device to move until the end of the osteotomy saw blade approaches the target cutting surface and reaches a predetermined alignment position, then stopping the judgment. In this way, the movement of the cooperative robot arm is controlled to the target position, at which time the end of the osteotomy saw blade approaches the target cutting surface, and the plane where the osteotomy saw blade is located also coincides with the target cutting surface, thereby preparing for subsequent visual fine-tuning, because the visual fine-tuning is real-time control of the saw blade to move within a range of less than a millimeter, so it is necessary that the plane where the osteotomy saw blade is located basically coincides with the target cutting surface, that is, the end of the osteotomy saw blade approaches the target cutting surface and reaches the predetermined alignment position.
当机械臂装置上的法兰上的定位架或目标参考架在截骨时被遮挡的情况下会导致锯片末端坐标信息的获取不及时，从而会导致较大偏差，通过可视化实时反馈末端坐标信息的获取是否及时。在一种可选的实施方式中，根据截骨锯片末端坐标信息所对应的指示标志与校准图形的基准线位置的变化来调整截骨锯片的位置包括：当机械臂装置上的法兰上的定位架或目标参考架在截骨时被遮挡的情况下，则改变校准图形的颜色进行提示。When the positioning frame or the target reference frame on the flange of the robot arm device is blocked during osteotomy, the saw blade end coordinate information will not be obtained in time, which will cause a large deviation. Whether the end coordinate information is obtained in time is fed back in real time through visualization. In an optional embodiment, the position of the osteotomy saw blade is adjusted according to the change in the position of the reference line of the indication mark corresponding to the end coordinate information of the osteotomy saw blade and the calibration figure, including: when the positioning frame or the target reference frame on the flange of the robot arm device is blocked during osteotomy, the color of the calibration figure is changed for prompting.
在一种可选的实施方式中，根据截骨锯片末端坐标信息所对应的指示标志与校准图形的基准线位置的变化来调整截骨锯片的位置使其保持在基准线的预定范围内移动包括：将校准图形预设为五个不同的颜色区域，其中，每个颜色区域与不同大小的预定范围相对应；控制截骨锯片末端坐标所对应的指示标志使其保持在基准线周围小的预定范围内移动。优选地，可以预设该校准图形的总量程为5mm，将校准图形的上部至而下部分为5个颜色区域，分别为：红色、黄色、绿色、黄色、红色，每个区域量程为1mm，每种颜色区域再分为5个单位格，每个单位格代表指示标志在校准图形中移动的单位距离，也代表锯片末端的坐标信息实际变化了为0.2mm。其中，绿色区域的第三个单位格代表基准线的位置，绿色区域的第三格同时对应代表真实锯片末端和目标截骨平面的相对关系为偏移±0.1mm，其它格以此类推。绿色区域的第三个单位格(基准线)将校准图形分为两部分，当锯片截骨截浅了时，指示标志向校准图形上方移动；当锯片截骨截深了时，指示标志向校准图形下方移动。当真实截骨锯片和截骨平面的距离超过总量程±2.5mm时，彩虹条显示红色最上一格或红色最下一格。在一种可选的实施方式中，将截骨锯片末端的坐标信息与校准图形建立联系包括：预设指示标志在校准图形中移动的单位距离与锯片末端的实际变化的坐标信息相对应。In an optional embodiment, adjusting the position of the osteotomy saw blade according to the change of the position of the reference line of the indicator mark corresponding to the coordinate information of the end of the osteotomy saw blade and the calibration figure to keep the position of the osteotomy saw blade moving within the predetermined range of the reference line includes: presetting the calibration figure into five different color areas, wherein each color area corresponds to a predetermined range of different sizes; controlling the indicator mark corresponding to the coordinates of the end of the osteotomy saw blade to keep the position of the osteotomy saw blade moving within a small predetermined range around the reference line. Preferably, the total range of the calibration figure can be preset to 5mm, and the upper part to the lower part of the calibration figure is divided into 5 color areas, namely: red, yellow, green, yellow, and red, each area has a range of 1mm, and each color area is further divided into 5 unit grids, each unit grid represents the unit distance of the indicator mark moving in the calibration figure, and also represents that the coordinate information of the end of the saw blade actually changes by 0.2mm. Among them, the third unit grid of the green area represents the position of the reference line, and the third grid of the green area also corresponds to the relative relationship between the actual saw blade end and the target osteotomy plane, which is offset by ±0.1mm, and the other grids are analogous. The third unit grid (baseline) in the green area divides the calibration graph into two parts. When the saw blade cuts the osteotomy too shallowly, the indicator moves above the calibration graph; when the saw blade cuts too deeply, the indicator moves below the calibration graph. When the distance between the actual osteotomy saw blade and the osteotomy plane exceeds the total range of ±2.5mm, the rainbow bar displays the top red grid or the bottom red grid. In an optional embodiment, establishing a connection between the coordinate information of the end of the osteotomy saw blade and the calibration graph includes: the unit distance of the preset indicator moving in the calibration graph corresponds to the actual changed coordinate information of the end of the saw blade.
在一种可选的实施方式中：指示标志是在校准图形中能够通过明暗变化指示不同位置的矩形条，和/或指示标志是截骨锯片对应的三维图形，和/或指示标志是截骨锯片对应的二维图形。指示标志是在校准图形中能够通过明暗变化指示不同位置的矩形条的情况下，当锯片确认对准目标切割面时，近似于锯片末端点与目标切割面重叠时，将锯片末端的坐标信息，也就是末端执行器本体定位架的坐标信息(位姿信息)发送到主机，主机将该坐标信息与校准图形建立联系，当锯片末端与目标切割面重叠时该坐标信息所对应的矩形条在校准图形的基准线位置处(绿色区域的第三格)变亮，当该坐标信息变化时矩形条在校准图形中的位置做相应变化，矩形条在校准图形中的单位距离代表锯片末端的坐标信息实际变化了0.2mm。该坐标信息的变化表示锯片末端在切割目标上偏离目标切割面的空间距离。上述矩形条也可以是其他形状的指示标记，还可以通过将校准图形中所划分的颜色区域的单位格变明亮的显示来作为指示。In an optional embodiment: the indicator mark is a rectangular bar that can indicate different positions by light and dark changes in the calibration figure, and/or the indicator mark is a three-dimensional figure corresponding to the osteotomy saw blade, and/or the indicator mark is a two-dimensional figure corresponding to the osteotomy saw blade. In the case where the indicator mark is a rectangular bar that can indicate different positions by light and dark changes in the calibration figure, when the saw blade confirms that it is aligned with the target cutting surface, when the end point of the saw blade overlaps with the target cutting surface, the coordinate information of the end of the saw blade, that is, the coordinate information (position information) of the end effector body positioning frame is sent to the host, and the host establishes a connection between the coordinate information and the calibration figure. When the end of the saw blade overlaps with the target cutting surface, the rectangular bar corresponding to the coordinate information becomes bright at the baseline position of the calibration figure (the third grid in the green area). When the coordinate information changes, the position of the rectangular bar in the calibration figure changes accordingly. The unit distance of the rectangular bar in the calibration figure represents that the coordinate information of the end of the saw blade actually changes by 0.2 mm. The change in the coordinate information indicates the spatial distance of the end of the saw blade deviating from the target cutting surface on the cutting target. The rectangular bar may be an indicator mark of other shapes, or may be used as an indicator by brightening the unit cells of the color area divided in the calibration graphic.
如图7所示，当指示标志是截骨锯片对应的三维指示图形的情况下，三维指示图形代表实际锯片的三维图形的数据，三维指示图形与实际截骨锯片的对应信息可以利用末端执行器上的参考架与导航仪根据锯片末端数据信息类似的获取方式得到。As shown in Figure 7, when the indication mark is a three-dimensional indication graphic corresponding to the osteotomy saw blade, the three-dimensional indication graphic represents the data of the three-dimensional graphic of the actual saw blade, and the corresponding information between the three-dimensional indication graphic and the actual osteotomy saw blade can be obtained by using the reference frame and the navigator on the end effector in a similar way to the data information at the end of the saw blade.
左侧立体矩形的中间的那一个矩形块代表截骨目标位置。当锯片完全对准拟截骨的平面目标时，在三维视图中，锯片就正对着中间的矩形块。截骨过程中，导航设备实时捕获定位架(末端执行器定位架)的位置和姿态，并在三维视图中同步实时的显示该位置和姿态。具体方法为定位架500代表一个坐标系，立体矩形(拟截骨的目标位置)也代表一个坐标系801，这两个坐标系的位姿关系即为立体矩形和锯片的位姿关系。The rectangular block in the middle of the left three-dimensional rectangle represents the target position for osteotomy. When the saw blade is completely aligned with the plane target to be osteotomized, the saw blade is facing the middle rectangular block in the three-dimensional view. During the osteotomy process, the navigation device captures the position and posture of the positioning frame (end effector positioning frame) in real time, and synchronously displays the position and posture in real time in the three-dimensional view. The specific method is that the positioning frame 500 represents a coordinate system, and the three-dimensional rectangle (the target position to be osteotomy) also represents a coordinate system 801. The posture relationship between the two coordinate systems is the posture relationship between the three-dimensional rectangle and the saw blade.
三维指示图形靠近校准图形的一端作为指示端，指示端代表锯片的末端；无论三维指示图形如何变化，三维指示图形的指示端始终位于校准图形的预设范围内，比如，预设范围可以是延着指示图案能够指示单位距离的一条边上。当锯片末端与目标切割面重叠时该坐标信息所对应的指示端指示在校准图形的基准线位置处，当该坐标信息变化时指示端在校准图形中的位置做相应变化，指示端在校准图形中移动的单位距离代表锯片末端的坐标信息实际变化了0.2mm。该坐标信息的变化表示锯片末端在切割目标上偏离目标切割面的空间距离。通过三维图形可以实时观测到锯片整体所在平面与待目标的拟切割面的角度变化，便于调整。The end of the three-dimensional indication graphic close to the calibration graphic serves as the indication end, and the indication end represents the end of the saw blade; no matter how the three-dimensional indication graphic changes, the indication end of the three-dimensional indication graphic is always within the preset range of the calibration graphic. For example, the preset range can be along an edge of the indication pattern that can indicate a unit distance. When the end of the saw blade overlaps with the target cutting surface, the indication end corresponding to the coordinate information indicates the position of the baseline of the calibration graphic. When the coordinate information changes, the position of the indication end in the calibration graphic changes accordingly. The unit distance moved by the indication end in the calibration graphic represents that the coordinate information of the end of the saw blade actually changes by 0.2 mm. The change in the coordinate information indicates the spatial distance that the end of the saw blade deviates from the target cutting surface on the cutting target. The three-dimensional graphic can be used to observe the angle change between the plane where the saw blade as a whole is located and the intended cutting surface of the target in real time, which is convenient for adjustment.
如图5和图6所示，指示标志是截骨锯片对应的二维指示图形，该二维指示图形代表实际锯片的二维数据，二维指示图形与实际锯片的对应信息可以利用末端执行器上的参考架与导航仪根据锯片末端数据信息类似的获取方式得到。图7左侧所示的三维矩形块代表目标切割面，该矩形块会被固定在软件界面上，向矩形块的垂直于切割面的背面进行投影，形成二维的矩形条；锯片的中心线也向“背面”平面投影。三维矩形块中心的基准线位置处代表目标切割面，投影后的目标切割面(投影后就变成线了)和右侧的锯片中心线的两条线的角度代表了实际锯片的与目标切割面的角度。As shown in Figures 5 and 6, the indicator mark is a two-dimensional indicator graphic corresponding to the osteotomy saw blade. The two-dimensional indicator graphic represents the two-dimensional data of the actual saw blade. The corresponding information between the two-dimensional indicator graphic and the actual saw blade can be obtained by using the reference frame and the navigator on the end effector in a similar way to the data information of the saw blade end. The three-dimensional rectangular block shown on the left side of Figure 7 represents the target cutting surface. The rectangular block will be fixed on the software interface and projected to the back of the rectangular block perpendicular to the cutting surface to form a two-dimensional rectangular strip; the center line of the saw blade is also projected to the "back" plane. The reference line position at the center of the three-dimensional rectangular block represents the target cutting surface. The angle between the projected target cutting surface (which becomes a line after projection) and the center line of the saw blade on the right represents the angle between the actual saw blade and the target cutting surface.
指示图形靠近校准图形的一端作为指示端，指示端代表锯片的末端；无论指示图案如何变化，指示图形的指示端始终位于校准图形的预设范围内，比如，预设范围可以是延着指示图案能够指示单位距离的一条边上。当锯片末端与目标切割面重叠时该坐标信息所对应的指示端指示在校准图形的基准线位置处，当该坐标信息变化时指示端在校准图形中的位置做相应变化，指示端在校准图形中移动的单位距离代表锯片末端的坐标信息实际变化了0.2mm。该坐标信息的变化表示锯片末端在切割目标上偏离目标切割面的空间距离。通过二维图形可以实时观测到锯片整体与目标切割面的角度变化，便于调整。The end of the indicating graphic close to the calibration graphic serves as the indicating end, and the indicating end represents the end of the saw blade; no matter how the indicating pattern changes, the indicating end of the indicating graphic is always within the preset range of the calibration graphic. For example, the preset range may be along an edge of the indicating pattern that can indicate a unit distance. When the end of the saw blade overlaps with the target cutting surface, the indicating end corresponding to the coordinate information indicates the position of the baseline of the calibration graphic. When the coordinate information changes, the position of the indicating end in the calibration graphic changes accordingly. The unit distance that the indicating end moves in the calibration graphic represents that the coordinate information of the end of the saw blade actually changes by 0.2 mm. The change in the coordinate information indicates the spatial distance that the end of the saw blade deviates from the target cutting surface on the cutting target. The angle change between the overall saw blade and the target cutting surface can be observed in real time through the two-dimensional graphics, which is convenient for adjustment.
在一种可选的实施方式中，获取截骨锯片末端的坐标信息之后还包括：通过第一指示框显示截骨锯片所在平面与目标切割平面的实际角度。In an optional embodiment, after obtaining the coordinate information of the end of the osteotomy saw blade, the method further includes: displaying the actual angle between the plane where the osteotomy saw blade is located and the target cutting plane through a first indicator frame.
在一种可选的实施方式中，获取截骨锯片末端的坐标信息之后还包括：通过第二指示框显示截骨锯片末端与目标切割平面相比的坐标信息实际变化的数据。In an optional embodiment, after acquiring the coordinate information of the end of the osteotomy saw blade, the method further includes: displaying data of actual changes in the coordinate information of the end of the osteotomy saw blade compared with the target cutting plane through a second indicator frame.
该实施例实时建立并追踪目标切割(截骨)面和锯片的关系，通过可视化指导用户进行调整，以取得最好的截骨效果，提高了截骨的成功率，并且显示的参数直观、易懂、学习曲线平缓。This embodiment establishes and tracks the relationship between the target cutting (osteotomy) surface and the saw blade in real time, and guides the user to make adjustments through visualization to achieve the best osteotomy effect, thereby improving the success rate of osteotomy. The displayed parameters are intuitive, easy to understand, and have a gentle learning curve.
下面结合图以一个可选的实施方式对获取截骨锯片末端的坐标信息的过程进行说明：The following is an optional embodiment of the process of obtaining the coordinate information of the end of the osteotomy saw blade in conjunction with the figure:
本申请所称的医用器械，是指能够在医学上使用并辅助医生完成检查或者手术操作的器械性装置，例如可以是全膝关节置换手术中用到的电锯及其锯片，但是不限于此，也可以是钳、钻、铣刀、螺丝刀、扩张器、植入物插入器等。The medical device referred to in this application refers to an instrumental device that can be used in medicine to assist doctors in completing examinations or surgical operations. For example, it can be an electric saw and its saw blade used in total knee replacement surgery, but it is not limited to this. It can also be pliers, drills, milling cutters, screwdrivers, expanders, implant inserters, etc.
如图8所示为机械臂装置，机械臂装置包括控制柜100，协作机械臂200，末端执行器300，医用器械400，以及安装在末端执行器300本体上的光学定位架500。As shown in FIG. 8 , the robot arm device includes a control cabinet 100 , a collaborative robot arm 200 , an end effector 300 , a medical device 400 , and an optical positioning frame 500 installed on the body of the end effector 300 .
在控制柜100中装有控制单元103，控制单元103具有信号的处理能力，可以是，但不限于，包括中央处理器(Central Processing Unit，简称CPU)、网络处理器(NetworkProcessor，简称NP)、数字信号处理器(DSP)、专用集成电路(ASIC)、现场可编程门阵列(FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等任何具有数据处理和控制能力的芯片或设备。可以实现或者执行本发明实施例中的公开的各方法、步骤及逻辑框图。A control unit 103 is installed in the control cabinet 100. The control unit 103 has the ability to process signals and may be, but is not limited to, a central processing unit (CPU), a network processor (NP), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and any other chip or device with data processing and control capabilities. The disclosed methods, steps, and logic block diagrams in the embodiments of the present invention may be implemented or executed.
控制单元103可以通过控制柜100的接口部101与系统的主机部分(未图示)连接，实现与系统主机的通信，控制单元103可以接收来自系统主机的控制信号，并转换为控制协作机械臂200运动的操作指令。The control unit 103 can be connected to the host part of the system (not shown) through the interface part 101 of the control cabinet 100 to achieve communication with the system host. The control unit 103 can receive control signals from the system host and convert them into operating instructions for controlling the movement of the collaborative robot arm 200.
协作机械臂200可接收来自控制单元103的指令并根据指令限定的运动方式运动，也可由操作者对协作机械臂施加外部作用力，在操作者的手动控制下进行推、拉、提、压等动作。The collaborative robot arm 200 can receive instructions from the control unit 103 and move according to the movement mode specified by the instructions. The operator can also apply external force to the collaborative robot arm to perform pushing, pulling, lifting, pressing and other actions under the operator's manual control.
控制柜100的顶部端面为基座部102，控制柜100的基座部102与协作机械臂200的基座端201固定连接。协作机械臂200为多轴机械臂，其近端为基座端201，固定安装在控制柜100的基座部102处。协作机械臂200的远端为法兰端202，协作机械臂200可以接收来自控制单元103的指令，使得法兰端202根据指令限定的运动方式完成旋转、平移等动作并移动到指令限定的某一空间位置。The top end surface of the control cabinet 100 is the base portion 102, and the base portion 102 of the control cabinet 100 is fixedly connected to the base end 201 of the collaborative robot arm 200. The collaborative robot arm 200 is a multi-axis robot arm, and its proximal end is the base end 201, which is fixedly installed at the base portion 102 of the control cabinet 100. The distal end of the collaborative robot arm 200 is the flange end 202, and the collaborative robot arm 200 can receive instructions from the control unit 103, so that the flange end 202 completes rotation, translation and other actions according to the movement mode specified by the instruction and moves to a certain spatial position specified by the instruction.
协作机械臂200的法兰端202与末端执行器300固定连接，末端执行器300的末端搭载医用器械400，作为示例，本实施例提供的末端执行器300上搭载的医用器械400为电锯的锯片，锯片由电锯马达驱动，在工作过程中锯片可以保持高速摆动的状态。作为示例，在末端执行器300的本体上，还可安装光学定位架500。The flange end 202 of the collaborative robot arm 200 is fixedly connected to the end effector 300. The end of the end effector 300 carries a medical device 400. As an example, the medical device 400 carried on the end effector 300 provided in this embodiment is a saw blade of an electric saw, which is driven by an electric saw motor and can maintain a high-speed swinging state during operation. As an example, an optical positioning frame 500 can also be installed on the body of the end effector 300.
如图9所示为光学导航装置，系统还包括主机部分1000，主机部分可以是一台计算机，或者类似具有存储、计算、通信功能的设备。图9中，作为示例，将光学导航装置与系统主机1000集成在一台装置上，可以理解的是，二者也可独立设置，或将系统主机与图8所示的机械臂装置集成在一起，只要能够确保各个装置之间安全的连接、稳定地通信即可。As shown in FIG9 , the optical navigation device is shown. The system also includes a host part 1000. The host part can be a computer or a similar device with storage, computing, and communication functions. In FIG9 , as an example, the optical navigation device and the system host 1000 are integrated into one device. It can be understood that the two can also be set independently, or the system host can be integrated with the mechanical arm device shown in FIG8 , as long as the secure connection and stable communication between the devices can be ensured.
光学导航装置600作为示例，可以是双目导航相机，追踪到光学定位架上的追踪标记(通常为各个反光球，但是也不限于此，只要是可以被双目导航相机追踪的标记即可)所在的位置，从而确定光学定位架的空间位姿信息。As an example, the optical navigation device 600 can be a binocular navigation camera, which tracks the position of the tracking marks (usually individual reflective balls, but not limited to this, as long as they are marks that can be tracked by the binocular navigation camera) on the optical positioning frame, thereby determining the spatial position information of the optical positioning frame.
在图9所示的实施例中，光学导航装置600固定于悬臂700的一端，悬臂700的另一端固定在立柱800的顶部，立柱800的底部连接至容纳主机1000的厢体部，其中，用于数据传输、通信、及供电的线缆穿设于立柱800、悬臂700、以及厢体部的内腔。悬臂700可升降、可旋转地固定连接于立柱800靠近顶端的位置。In the embodiment shown in FIG9 , the optical navigation device 600 is fixed to one end of the cantilever 700, the other end of the cantilever 700 is fixed to the top of the column 800, and the bottom of the column 800 is connected to the box body accommodating the host 1000, wherein cables for data transmission, communication, and power supply are arranged through the column 800, the cantilever 700, and the inner cavity of the box body. The cantilever 700 is fixedly connected to the position near the top of the column 800 in a manner that it can be raised and lowered and rotatably.
在立柱800的中部偏上部分，还固定安装一显示单元900。显示单元可以是一个液晶显示单元、阴极射线管显示单元、氖光显示单元、真空荧光显示单元、电子移动信息显示单元、气体放电显示单元、等离子体显示单元，或者可以采用发光二极管、电致发光材料、纤维光学技术、激光技术、全息技术、或在显示单元上显示信息的任何其它技术。此外，显示单元可以显示静止的或移动的信息，并且所显示的信息可以是不同的语言。显示单元900的固定位置以便于操作人员观察的高度为佳。A display unit 900 is also fixedly installed in the middle upper part of the column 800. The display unit can be a liquid crystal display unit, a cathode ray tube display unit, a neon display unit, a vacuum fluorescent display unit, an electronic mobile information display unit, a gas discharge display unit, a plasma display unit, or can use a light-emitting diode, an electroluminescent material, a fiber optic technology, a laser technology, a holographic technology, or any other technology for displaying information on the display unit. In addition, the display unit can display static or moving information, and the displayed information can be in different languages. The fixed position of the display unit 900 is preferably at a height that is convenient for the operator to observe.
主机部分1000接收来自光学导航装置600的数据，按照本申请所提供的方法步骤，完成对空间关系的计算，并生成运动控制指令，将运动控制指令发送至机械臂装置的控制单元103，控制单元103按照运动控制指令控制协作机械臂200在空间中的运动。The host part 1000 receives data from the optical navigation device 600, completes the calculation of the spatial relationship according to the method steps provided in this application, generates motion control instructions, and sends the motion control instructions to the control unit 103 of the robotic arm device. The control unit 103 controls the movement of the collaborative robotic arm 200 in space according to the motion control instructions.
作为光学定位架500的示例，如图10所示，光学定位架500的主体为平板结构，其外轮廓大致为月牙型；沿着主体边缘部位按照一定间隔设置三个或三个以上的反光球用于追踪。作为优选示例，在定位架的主体的边缘部位以大致均匀的间隔设置四个反光球501、502、503、504，每个反光球的表面设置有涂层，涂层能够高效地反射红外光。As an example of an optical positioning frame 500, as shown in FIG10, the main body of the optical positioning frame 500 is a flat plate structure, and its outer contour is roughly crescent-shaped; three or more reflective balls are arranged at a certain interval along the edge of the main body for tracking. As a preferred example, four reflective balls 501, 502, 503, 504 are arranged at roughly uniform intervals at the edge of the main body of the positioning frame, and the surface of each reflective ball is provided with a coating, which can efficiently reflect infrared light.
作为光学导航装置600的示例，如图11所示，光学导航装置600包括双目相机601、602，在光学导航装置600内部(未图示)还集成有红外光发射器，红外发射器主动向外发射红外光，所发射的红外光照射到定位架500上的4个反光球后，被反光球反射，并被双目相机捕获，通过三角原理，光学导航装置600可以计算得到光学定位架500的空间位姿信息。As an example of an optical navigation device 600, as shown in FIG11, the optical navigation device 600 includes binocular cameras 601 and 602. An infrared light emitter is also integrated inside the optical navigation device 600 (not shown). The infrared light emitter actively emits infrared light outward. After the emitted infrared light is irradiated to four reflective balls on the positioning frame 500, it is reflected by the reflective balls and captured by the binocular camera. Through the principle of triangulation, the optical navigation device 600 can calculate the spatial posture information of the optical positioning frame 500.
作为末端执行器300的示例，如图12所示，末端执行器300包括本体部301，从本体部301向一个方向延伸出法兰接口端302，法兰接口端302与前述协作机械臂200的法兰端202固定连接。As an example of the end effector 300 , as shown in FIG. 12 , the end effector 300 includes a main body portion 301 , from which a flange interface end 302 extends in one direction, and the flange interface end 302 is fixedly connected to the flange end 202 of the aforementioned collaborative robot arm 200 .
本体部上，在与法兰接口端302相反的另一方向，延伸出定位架端305，其上固定安装光学定位架500；下文称为“本体定位架”，以表示该定位架安装在末端执行器的本体部上，该本体定位架所在的坐标系标记为CF。On the main body, in the other direction opposite to the flange interface end 302, a positioning frame end 305 is extended, on which an optical positioning frame 500 is fixedly mounted; hereinafter referred to as "main body positioning frame" to indicate that the positioning frame is installed on the main body of the end effector, and the coordinate system where the main body positioning frame is located is marked asCF.
本体部上，在与法兰接口端302的延伸方向大致垂直的方向上，两侧分别延伸出手柄端303、以及输出端304。手柄端303由操作者握持，以便于操作者对协作机械臂直接施力，操控机械臂、末端执行器以及医用器械的移动。输出端304作为医用器械的安装部，作为示例，在输出端304上安装有电锯锯片400，锯片400以可插拔卡扣的方式固定，电锯工作时，由设在末端执行器本体部301内腔的电锯电机(未图示)驱动锯片400按照预定轨迹运动，锯片400在按照预定轨迹运动的过程中，同时还在其片状本体所在水平方向保持一定范围内的高速摆动动作。On the main body, in a direction roughly perpendicular to the extension direction of the flange interface end 302, a handle end 303 and an output end 304 extend from both sides. The handle end 303 is held by the operator so that the operator can directly apply force to the collaborative robot arm to control the movement of the robot arm, the end effector and the medical device. The output end 304 serves as the mounting portion of the medical device. As an example, an electric saw blade 400 is mounted on the output end 304. The saw blade 400 is fixed in a pluggable buckle manner. When the electric saw is working, the electric saw motor (not shown) provided in the inner cavity of the end effector body 301 drives the saw blade 400 to move along a predetermined trajectory. While the saw blade 400 is moving along the predetermined trajectory, it also maintains a high-speed swinging motion within a certain range in the horizontal direction of its sheet body.
为了解决背景技术中及的问题，本申请设计了一种用于锯片末端的定位架6，下文称其为末端定位架6，图13中示出了末端定位架6与末端执行器300的位置关系，可以看出，图13中，在末端执行器300的定位架端305固定安装有本体定位架500，该定位架所代表的坐标系为CF，在末端执行器300的输出端304固定安装有锯片400，在锯片400的末端或靠近末端的部位安装末端定位架6，该定位架所代表的坐标系为CV。In order to solve the problems in the background technology, the present application designs a positioning frame 6 for the end of the saw blade, which is referred to as the end positioning frame 6 hereinafter. FIG13 shows the positional relationship between the end positioning frame 6 and the end effector 300. It can be seen that in FIG13, a main body positioning frame 500 is fixedly installed at the positioning frame end 305 of the end effector 300, and the coordinate system represented by the positioning frame isCF. A saw blade 400 is fixedly installed at the output end 304 of the end effector 300, and the end positioning frame 6 is installed at the end of the saw blade 400 or near the end, and the coordinate system represented by the positioning frame isCV .
作为示例，图14、图15示出了末端定位架6的详细结构，其中图7是末端定位架的正面视图，图15是末端定位架的侧面视图，末端定位架6是根据医用器械的末端特点(通常具有较小的体积)设计，末端定位架包括定位架本体61，卡槽62、锁紧机构63、和多个反光球7。其中，通过卡槽62和锁紧机构63，可以容易地将末端定位架本体与医用器械的末端二者卡装固定，光学导航装置能够跟踪多个反光球7的位置，以用于建立末端定位架的坐标系CV。As an example, FIG. 14 and FIG. 15 show the detailed structure of the end positioning frame 6, wherein FIG. 7 is a front view of the end positioning frame, and FIG. 15 is a side view of the end positioning frame. The end positioning frame 6 is designed according to the end characteristics of the medical device (usually having a small volume), and the end positioning frame includes a positioning frame body 61, a card slot 62, a locking mechanism 63, and a plurality of reflective balls 7. Among them, the end positioning frame body and the end of the medical device can be easily fixed by the card slot 62 and the locking mechanism 63, and the optical navigation device can track the positions of the plurality of reflective balls 7 to establish the coordinate systemCV of the end positioning frame.
定位架本体61为扁平状，其整体呈具有圆弧边的大致倒三角形；卡槽62和锁紧机构63均位于定位架本体61的一侧面上，多个反光球7均位于定位架本体61的另一侧面上，反光球的个数可以设置为3～5个，作为示例，本实施例设置为3个反光球，分别设置在大致三角形的定位架本体61的三个顶点的位置附近。The positioning frame body 61 is flat, and its overall shape is roughly an inverted triangle with arc edges; the slot 62 and the locking mechanism 63 are both located on one side of the positioning frame body 61, and the plurality of reflective balls 7 are all located on the other side of the positioning frame body 61. The number of reflective balls can be set to 3 to 5. As an example, this embodiment is set to 3 reflective balls, which are respectively arranged near the positions of the three vertices of the roughly triangular positioning frame body 61.
卡槽62形成为具有两个侧壁的长槽，锁紧机构63设置在形成卡槽62的一侧壁上，形成卡槽62的另一侧壁为精密加工且有较高硬度的平面，作为定位用基准面。卡槽62用于锯片400的插入，锁紧机构63用于在锯片400插入后将其抵接固定至定位用基准面，进而将锯片400卡装固定在卡槽62内。设置在卡槽一侧壁上锁紧机构，可以提供锁紧卡入槽中的锯片所需的必要的压力，并将卡入槽中的锯片抵接至卡槽的另一侧壁，由另一侧壁的加工精度保证定位精度，以便于准确计算锯片的所在位置。The slot 62 is formed as a long slot with two side walls. The locking mechanism 63 is arranged on one side wall of the slot 62. The other side wall of the slot 62 is a plane that is precisely machined and has a high hardness, serving as a reference surface for positioning. The slot 62 is used for inserting the saw blade 400. The locking mechanism 63 is used to abut and fix the saw blade 400 to the reference surface for positioning after the saw blade 400 is inserted, thereby clamping and fixing the saw blade 400 in the slot 62. The locking mechanism arranged on one side wall of the slot can provide the necessary pressure required to lock the saw blade inserted into the slot, and abut the saw blade inserted into the slot against the other side wall of the slot. The machining accuracy of the other side wall ensures the positioning accuracy, so as to accurately calculate the position of the saw blade.
锯片400靠近末端执行器的一端设有锯片限位块401，在将锯片400插入末端定位架6的卡槽62时，锯片限位块401提供限位功能，以限制二者沿锯片长度方向的相对位置。A saw blade limit block 401 is provided at one end of the saw blade 400 close to the end actuator. When the saw blade 400 is inserted into the slot 62 of the end positioning frame 6, the saw blade limit block 401 provides a limiting function to limit the relative position of the two along the length direction of the saw blade.
锁紧机构63包括弹珠机构631，用于提供将锯片400抵接固定至定位用基准面的弹力；弹珠机构631的数量可以为一个或多个，较佳地，将弹珠机构设置为两个。在锯片400没有插入卡槽中时，弹珠机构可以缩回至卡槽侧壁内，在锯片400插入卡槽时，弹珠机构从侧壁伸出并以较大压力抵接在锯片上，实现对锯片的固定。The locking mechanism 63 includes a ball mechanism 631, which is used to provide elastic force to abut and fix the saw blade 400 to the positioning reference surface; the number of the ball mechanism 631 can be one or more, preferably, two ball mechanisms are provided. When the saw blade 400 is not inserted into the slot, the ball mechanism can be retracted into the side wall of the slot, and when the saw blade 400 is inserted into the slot, the ball mechanism extends from the side wall and abuts against the saw blade with a large pressure, thereby fixing the saw blade.
如图16所示，提供了作为一个实施例的弹珠机构631的结构示意图，弹珠机构631包括容纳筒6311，弹簧6312和弹珠6313；卡槽62的设置锁紧机构的侧壁部设有通孔，容纳筒6311固定在通孔内；弹簧6312的一端固定在容纳筒6311的底部，弹簧6312的另一端与弹珠6313连接。通过弹簧和弹珠连接的方式，可提供较大的压力用于卡接锯片。容纳筒6311靠近弹珠6313的一端设有弹珠限位块63111。弹珠限位块63111可限制弹珠6313在容纳筒6311中的位置，防止弹珠6313在弹簧的弹力作用下离开容纳筒6311。As shown in FIG. 16 , a schematic diagram of the structure of a marble mechanism 631 as an embodiment is provided. The marble mechanism 631 includes a receiving tube 6311, a spring 6312 and a marble 6313. A through hole is provided on the side wall portion of the card slot 62 where the locking mechanism is provided, and the receiving tube 6311 is fixed in the through hole. One end of the spring 6312 is fixed to the bottom of the receiving tube 6311, and the other end of the spring 6312 is connected to the marble 6313. By connecting the spring and the marble, a large pressure can be provided for clamping the saw blade. A marble stop block 63111 is provided at one end of the receiving tube 6311 close to the marble 6313. The marble stop block 63111 can limit the position of the marble 6313 in the receiving tube 6311 to prevent the marble 6313 from leaving the receiving tube 6311 under the elastic force of the spring.
在未插入锯片400时，弹簧6312在容纳筒6311中呈压缩状态，弹簧6312的弹力可以使弹珠6313压向通孔所在侧面的相对侧面，即定位用基准面，弹珠限位块63111限制弹珠6313不脱离容纳筒6311。在将末端定位架卡装至锯片400时，将末端定位架的卡槽62对准锯片400，并将锯片400插入卡槽62内，在锯片400插入卡槽62内的过程中，由于弹力的作用，弹簧6312会向容纳筒内压缩，从而在卡槽62中留出缝隙，使锯片400插入卡槽62，在确定锯片400卡装到位(即长度方向上锯片400抵接锯片限位块401，深度方向上锯片400抵接卡槽62的长槽底面)后，通过弹簧6312、以及弹珠6313的共同作用，将锯片400紧紧地抵压在卡槽62的定位用基准面上。When the saw blade 400 is not inserted, the spring 6312 is in a compressed state in the accommodating tube 6311. The elastic force of the spring 6312 can press the marble 6313 toward the side opposite to the side where the through hole is located, that is, the positioning reference surface. The marble limit block 63111 restricts the marble 6313 from leaving the accommodating tube 6311. When the end positioning frame is mounted to the saw blade 400, the slot 62 of the end positioning frame is aligned with the saw blade 400, and the saw blade 400 is inserted into the slot 62. During the insertion of the saw blade 400 into the slot 62, due to the effect of elastic force, the spring 6312 will be compressed into the accommodating tube, thereby leaving a gap in the slot 62, allowing the saw blade 400 to be inserted into the slot 62. After determining that the saw blade 400 is mounted in place (i.e., the saw blade 400 abuts against the saw blade limit block 401 in the length direction, and the saw blade 400 abuts against the bottom surface of the long groove of the slot 62 in the depth direction), the saw blade 400 is pressed tightly against the positioning reference surface of the slot 62 through the combined action of the spring 6312 and the marble 6313.
在末端定位架本体61的另一侧面设有3-5个反光球7，如图15所示，其中在末端定位架本体61的顶角部，设置有末端反光球71，在将末端定位架6卡装至锯片400后，末端反光球71的位置靠近锯片400的末端部位，锯片400的中心纵向轴线的延长线经过末端反光球71的球心，采用这种反光球71的位置设置，使得可以通过使用光学导航装置追踪单独的末端反光球71之位置，辅助提供锯片400末端部位精准定位，提高了定位的精准度。3-5 reflective balls 7 are provided on the other side of the end positioning frame body 61, as shown in Figure 15, wherein an end reflective ball 71 is provided at the top corner of the end positioning frame body 61. After the end positioning frame 6 is clamped onto the saw blade 400, the position of the end reflective ball 71 is close to the end of the saw blade 400, and the extension line of the central longitudinal axis of the saw blade 400 passes through the center of the end reflective ball 71. With this position setting of the reflective ball 71, the position of a single end reflective ball 71 can be tracked by using an optical navigation device, thereby assisting in providing precise positioning of the end of the saw blade 400 and improving the positioning accuracy.
通过以上设置，一方面，末端定位架6具有较小的适合于安装在锯片的尺寸，另一方面，以精密的加工和位置布局保证其安装在锯片时能精准确定锯片末端位置。更重要的是，末端定位架6使用非常方便，便于拆装，在需要用到末端定位架6时，由于弹珠机构631的设置，可以容易地将锯片400卡装至末端定位架6的卡槽62中；卡装到位后，光学导航装置600即可通过跟踪末端定位架6上的多个反光球，确定末端定位架6所在的坐标系的位置，进而精准确定锯片400的末端位置。在不使用末端定位架6时，也可以容易地将末端定位架6从锯片400上抽离。Through the above arrangement, on the one hand, the end positioning frame 6 has a relatively small size suitable for installation on the saw blade, and on the other hand, the precise processing and position layout ensure that the end position of the saw blade can be accurately determined when it is installed on the saw blade. More importantly, the end positioning frame 6 is very convenient to use and easy to disassemble and assemble. When the end positioning frame 6 is needed, due to the setting of the marble mechanism 631, the saw blade 400 can be easily clamped into the clamping slot 62 of the end positioning frame 6; after being clamped in place, the optical navigation device 600 can track the multiple reflective balls on the end positioning frame 6 to determine the position of the coordinate system where the end positioning frame 6 is located, and then accurately determine the end position of the saw blade 400. When the end positioning frame 6 is not in use, the end positioning frame 6 can also be easily pulled out from the saw blade 400.
关于如何利用末端定位架6定位并确定锯片400的末端位置的方法步骤，在下文中将详细予以阐述。The method steps of how to use the end positioning frame 6 to position and determine the end position of the saw blade 400 will be described in detail below.
将末端定位架6上的多个反光球所在的坐标系定义为CV，由于形成卡槽62的定位基准面和该坐标系的相对位置关系是已知的。使用的时候，将锯片400卡装在末端定位架的卡槽62中，锯片400的中心平面和末端定位架的坐标系CV的一个坐标平面重合，这样，末端定位架6卡装到位后，末端定位架6上的反光球的坐标系所在位置即可准确表达锯片400平面所在位置,光学导航装置600通过跟踪该末端定位架上的多个反光球的位置信息，即可确定末端定位架所在坐标系的位置，并精确确定锯片平面也即锯片末端点所在的位置信息。The coordinate system where the multiple reflective balls on the end positioning frame 6 are located is defined asCV , because the relative position relationship between the positioning reference surface forming the slot 62 and the coordinate system is known. When in use, the saw blade 400 is clamped in the slot 62 of the end positioning frame, and the center plane of the saw blade 400 coincides with a coordinate plane of the coordinate systemCV of the end positioning frame. In this way, after the end positioning frame 6 is clamped in place, the position of the coordinate system of the reflective balls on the end positioning frame 6 can accurately express the position of the plane of the saw blade 400. The optical navigation device 600 can determine the position of the coordinate system where the end positioning frame is located by tracking the position information of the multiple reflective balls on the end positioning frame, and accurately determine the position information of the saw blade plane, that is, the position of the end point of the saw blade.
如图17所示，系统内还设有参考架(结构未图示)，参考架固定安装在被切割目标物体的表面，也称为目标参考架，目标参考架与目标物体之间形成刚性连接，设参考架所在坐标系为CT。通过光学导航装置扫描目标物体完成配准，通过扫描参考架，可以获得参考架所在坐标系与被切割目标物体二者的空间相对位置。As shown in FIG17 , a reference frame (structure not shown) is also provided in the system. The reference frame is fixedly mounted on the surface of the target object to be cut, also called a target reference frame. A rigid connection is formed between the target reference frame and the target object. The coordinate system where the reference frame is located isCT . The registration is completed by scanning the target object with an optical navigation device. By scanning the reference frame, the spatial relative position of the coordinate system where the reference frame is located and the target object to be cut can be obtained.
如图19所示，在主机中设定被切割目标物体的拟切割平面，设拟切割平面所在坐标系为CP。由于拟切割平面在被切割目标物体的相对位置是已知的，且被切割目标物体与参考架的相对位置已知，故可确定参考架所在坐标系CT和拟切割平面所在坐标系CP的空间相对位置关系[RT]TP，其中CT＝[RT]TP CP，[RT]TP表示“旋转平移矩阵”。假设参考架所在坐标系CT先绕Z轴旋转Ψ°，再绕Y轴旋转θ°，最后绕Z轴旋转Φ°，然后沿X轴平移a，Y轴平移b，Z轴平移z，这样就能得到唯一确定的一个“旋转平移矩阵”CT。As shown in FIG19 , the pseudo-cutting plane of the target object to be cut is set in the host, and the coordinate system where the pseudo-cutting plane is located is set asCP . Since the relative position of the pseudo-cutting plane in the target object to be cut is known, and the relative position of the target object to be cut and the reference frame is known, the spatial relative position relationship [RT]TP between the coordinate systemCT where the reference frame is located and the coordinate systemCP where the pseudo-cutting plane is located can be determined, whereCT = [RT]TPCP , and [RT]TP represents the "rotation and translation matrix". Assume that the coordinate systemCT where the reference frame is located is first rotated by Ψ° around the Z axis, then rotated by θ° around the Y axis, and finally rotated by Φ° around the Z axis, and then translated by a along the X axis, b along the Y axis, and z along the Z axis, so that a uniquely determined "rotation and translation matrix"CT can be obtained.
如图18所示，设末端定位架6所在坐标系为CV，本体定位架500所在坐标系为CF。CV和CF的相对位置关系为[RT]FV，在同时安装末端定位架6与本体定位架500时，二者的相对位置关系[RT]FV可以通过从光学导航装置600中读取二者的追踪信息计算获得。As shown in FIG18 , the coordinate system where the end positioning frame 6 is located isCV , and the coordinate system where the main body positioning frame 500 is located isCF. The relative position relationship betweenCV andCF is [RT]FV . When the end positioning frame 6 and the main body positioning frame 500 are installed at the same time, the relative position relationship [RT]FV between the two can be calculated by reading the tracking information of the two from the optical navigation device 600.
采用本申请所提供的精度定位装置对医用器械的末端进行实时、精准定位的方法，至少包括两个阶段，为表述方便，分别为预定位阶段和导航定位阶段。在描述方法步骤时，所使用的“初始位置”是指：协作机械臂已经经历了大范围的移动并已较为靠近拟切割目标物体，但是仍与目标物体保持一定距离，该距离至少应保证提供拆装前述末端定位架6的足够的空间。可以理解，初始位置可以是靠近拟切割目标物体，且与目标物体保持一定距离的任意位置。The method for real-time and accurate positioning of the end of a medical device using the precision positioning device provided by the present application includes at least two stages, which are respectively a pre-positioning stage and a navigation positioning stage for the convenience of description. When describing the method steps, the "initial position" used means that the collaborative robot arm has undergone a large range of movement and is relatively close to the target object to be cut, but still maintains a certain distance from the target object, and the distance should at least ensure that there is enough space for disassembling and assembling the aforementioned end positioning frame 6. It can be understood that the initial position can be any position close to the target object to be cut and maintaining a certain distance from the target object.
一、预定位阶段1. Pre-positioning stage
预定位阶段包括如下步骤：The pre-positioning phase includes the following steps:
步骤一，组装医用器械并靠近初始位置。在该步骤中，将末端执行器300安装在协作机械臂200的末端法兰202处，锯片400安装在末端执行器300的锯片端，末端执行器300上还设有本体定位架500，以人手拖动或机器指令控制的方式移动协作机械臂200，使得锯片400靠近被切割目标的位置即到达初始位置。Step 1: Assemble the medical device and move it close to the initial position. In this step, the end effector 300 is installed at the end flange 202 of the collaborative robot arm 200, and the saw blade 400 is installed at the saw blade end of the end effector 300. The end effector 300 is also provided with a body positioning frame 500. The collaborative robot arm 200 is moved by manual dragging or machine command control so that the saw blade 400 moves close to the position of the target to be cut, that is, reaches the initial position.
步骤二，安装末端定位架。在该步骤中，将前述的末端定位架6卡装至锯片400上，确保锯片400卡装到位至末端定位架6的卡槽62中，长度方向上，锯片400的一端应抵接锯片限位块401，深度方向上，锯片400应抵接卡槽62的长槽底面。Step 2: Install the end positioning frame. In this step, the end positioning frame 6 is clamped onto the saw blade 400 to ensure that the saw blade 400 is clamped into the clamping slot 62 of the end positioning frame 6. In the length direction, one end of the saw blade 400 should abut against the saw blade limit block 401, and in the depth direction, the saw blade 400 should abut against the bottom surface of the long groove of the clamping slot 62.
本领域技术人员可以理解，也可先将末端定位架6卡装在锯片400上，再移动协作机械臂200使得锯片400靠近被切割目标的位置，即初始位置。即步骤S101和步骤S102是可以更换步骤顺序的。Those skilled in the art can understand that the end positioning frame 6 can be first mounted on the saw blade 400, and then the collaborative robot arm 200 can be moved to make the saw blade 400 close to the position of the object to be cut, that is, the initial position. That is, the order of steps S101 and S102 can be changed.
步骤三，对末端定位架追踪定位。在该步骤中，光学导航装置追踪末端定位架6上的多个反光球的位置，并计算获得末端定位架6所在坐标系的位置信息。Step 3: Tracking and positioning the terminal positioning frame. In this step, the optical navigation device tracks the positions of the multiple reflective balls on the terminal positioning frame 6 and calculates and obtains the position information of the coordinate system where the terminal positioning frame 6 is located.
步骤四，计算末端定位架与拟切割平面的位置关系。在该步骤中，主机部分对光学导航装置获取的位置信息进行处理，计算获得末端定位架所在坐标系与拟切割平面所在坐标系之间的位置关系。Step 4: Calculate the positional relationship between the terminal positioning frame and the intended cutting plane. In this step, the host part processes the position information obtained by the optical navigation device and calculates the positional relationship between the coordinate system where the terminal positioning frame is located and the coordinate system where the intended cutting plane is located.
具体而言，光学导航装置可以同时观察到锯片末端定位架6和目标参考架，如前所述，末端定位架所在坐标系为CV，目标参考架所在坐标系为CT，二者的相对位置关系[RT]VT可以基于光学导航装置中获取的二者的位姿信息计算获得。Specifically, the optical navigation device can simultaneously observe the saw blade end positioning frame 6 and the target reference frame. As mentioned above, the coordinate system where the end positioning frame is located isCV , and the coordinate system where the target reference frame is located isCT . The relative position relationship [RT]VT between the two can be calculated based on the posture information of the two obtained in the optical navigation device.
设末端定位架6所在坐标系CV和拟切割平面所在坐标系CP二者之间的位置关系为[RT]VP，则[RT]VP可以通过如下计算方法获得：Assuming that the positional relationship between the coordinate systemCV where the end positioning frame 6 is located and the coordinate systemCP where the intended cutting plane is located is [RT]VP , then [RT]VP can be obtained by the following calculation method:
∵CV＝[RT]VP CP∵CV = [RT]VP CP
∴[RT]VP＝CV CP-1∴[RT]VP ＝CVCP-1
∵CT＝[RT]TP CP∵CT = [RT ]TPCP
∴[RT]TP-1CT＝CP∴[RT]TP-1 CT ＝CP
∴[RT]VP＝CV([RT]TP-1CT)-1∴[RT]VP ＝CV ([RT]TP-1CT )-1
也就是说，可以根据末端定位架6所在坐标系CV、参考架所在坐标系CT、以及已知的参考架与拟切割平面的位置关系，得到末端定位架6所在坐标系CV和拟切割平面所在坐标系CP的位置关系[RT]VP。That is to say, the positional relationship [RT] VP between the coordinate system CV where the end positioning frame6 is located and the coordinate systemCP where the intended cutting plane is located can be obtained according to the coordinate systemCV where the end positioning frame 6 is located, the coordinate systemCT where the reference frame is located, and the known positional relationship between the reference frame and the intended cuttingplane .
步骤五，生成控制指令、并发送至控制单元。在该步骤中，根据步骤104计算获得的[RT]VP，生成用于控制机械臂的运动路线的控制指令，并发送至控制单元。Step 5: Generate a control instruction and send it to the control unit. In this step, according to the [RT]VP calculated in step 104, a control instruction for controlling the motion path of the robot arm is generated and sent to the control unit.
步骤六，控制机械臂按照指令运动。该步骤中，机械臂按照指令移动。Step 6: Control the robot arm to move according to the command. In this step, the robot arm moves according to the command.
在理想状态下，在步骤六中，协作机械臂按照指令完成运动后，末端定位架6所在坐标系CV和拟切割平面所在坐标系CP可以完全重合，此时，[RT]VP为单位四阶矩阵E，锯片末端精确对准拟切割平面所在位置。Under ideal conditions, in step six, after the collaborative robot arm completes the movement according to the instructions, the coordinate systemCV where the end positioning frame 6 is located and the coordinate systemCP where the intended cutting plane is located can completely overlap. At this time, [RT]VP is the unit fourth-order matrix E, and the end of the saw blade is precisely aligned with the position of the intended cutting plane.
然而由于机械臂控制系统设计等导致的误差原因，机械臂200实际上难以精准地按照指令规划的路线运动，故在步骤六后，医用器械的末端位置通常并未精准地到达拟切割平面的位置，因此，还包括如下步骤：However, due to errors caused by the design of the robot control system, it is actually difficult for the robot 200 to move accurately according to the route planned by the instruction. Therefore, after step 6, the end position of the medical instrument usually does not accurately reach the position of the intended cutting plane. Therefore, the following steps are also included:
步骤七，更新末端定位架6的追踪位置信息。在该步骤中，当机械臂200按照步骤六中的控制指令完成运动后，光学导航装置继续追踪末端定位架6上的多个反光球的位置，并计算获得末端定位架6所在坐标系的位置信息，获得更新后的位置信息。Step 7, updating the tracking position information of the end positioning frame 6. In this step, after the robot arm 200 completes the movement according to the control instruction in step 6, the optical navigation device continues to track the positions of the multiple reflective balls on the end positioning frame 6, and calculates the position information of the coordinate system where the end positioning frame 6 is located, and obtains the updated position information.
步骤八，更新计算末端定位架与拟切割平面的位置关系。在该步骤中，以更新的末端定位架6的追踪位置信息，计算更新当前的末端定位架6所在坐标系CV和拟切割平面所在坐标系CP的新的位置关系[RT]VP′；Step 8: Update and calculate the positional relationship between the end positioning frame and the intended cutting plane. In this step, the new positional relationship [RT]VP ′ between the coordinate systemCV where the current end positioning frame 6 is located and the coordinate systemCP where the intended cutting plane is located is calculated and updated with the updated tracking position information of the end positioning frame 6;
步骤九，判断末端定位架与拟切割平面的位置关系是否超出阈值。在该步骤中，计算新的位置关系[RT]VP′和单位四阶矩阵E的差值，并将二者的差值与预先设定的阈值进行比较，判断差值是否超出阈值范围。Step 9: Determine whether the positional relationship between the end positioning frame and the intended cutting plane exceeds the threshold. In this step, the difference between the new positional relationship [RT]VP ′ and the unit fourth-order matrix E is calculated, and the difference between the two is compared with a preset threshold to determine whether the difference exceeds the threshold range.
如果步骤九判断的结果是差值超出阈值范围，如图所示，则返回执行步骤五，生成控制指令、并发送至控制单元。不同的是，在本次步骤五中，根据步骤八计算获得的[RT]VP′，生成用于控制机械臂的运动路线的控制指令，并发送至控制单元。步骤S106，控制机械臂按照指令完成运动。运动之后，继续执行步骤七至步骤九.If the result of step 9 is that the difference exceeds the threshold range, as shown in the figure, then return to step 5 to generate a control instruction and send it to the control unit. The difference is that in this step 5, based on the [RT]VP ′ calculated in step 8, a control instruction for controlling the movement route of the robot arm is generated and sent to the control unit. Step S106, control the robot arm to complete the movement according to the instruction. After the movement, continue to execute steps 7 to 9.
步骤十，如果步骤九判断的结果是差值小于阈值范围，则系统认为医用器械末端运动到位，生成停止运动的指令并发送，结束预定位阶段，准备进入导航定位阶段。Step 10: If the result of step 9 is that the difference is less than the threshold range, the system considers that the end of the medical device has reached its position, generates and sends a stop motion instruction, ends the pre-positioning phase, and prepares to enter the navigation and positioning phase.
以此方法，一方面，通过追踪末端定位架的位置，能够实现对锯片末端位置的更精准地定位；另一方面，根据所追踪的锯片末端和目标切割平面所在坐标系的位置关系，生成控制机械臂运动的指令以控制机械臂完成运动，能够使得机械臂移动至接近理想目标位置；再者，在每次机械臂运动后，更新监测锯片末端的位置和与目标切割平面的位置关系，如果机械臂未运动到理想目标位置、或者运动误差较大，则控制机械臂再次运动，该过程是一个收敛的过程，以此方式重复，可以以逐次逼近的方式接近理想目标位置，实现预定位阶段结束时的精准对准。With this method, on the one hand, by tracking the position of the end positioning frame, the position of the saw blade end can be more accurately positioned; on the other hand, based on the positional relationship between the tracked saw blade end and the coordinate system of the target cutting plane, an instruction to control the movement of the robotic arm is generated to control the robotic arm to complete the movement, so that the robotic arm can move to a position close to the ideal target position; furthermore, after each movement of the robotic arm, the position of the saw blade end and the positional relationship with the target cutting plane are updated and monitored. If the robotic arm does not move to the ideal target position or the movement error is large, the robotic arm is controlled to move again. This process is a convergence process. By repeating this method, the ideal target position can be approached in a successive approximation manner, thereby achieving precise alignment at the end of the pre-positioning stage.
为了完成以上步骤，本申请将主机和控制系统设计为提供如下单元：In order to complete the above steps, the present application designs the host and control system to provide the following units:
定位架信息读取单元，包括读取末端定位架信息的单元，以及读取参考架信息的单元，分别用于从光学导航装置中读取末端定位架6所在坐标系CV，以及参考架所在坐标系CT；The positioning frame information reading unit includes a unit for reading the terminal positioning frame information and a unit for reading the reference frame information, which are respectively used to read the coordinate systemCV where the terminal positioning frame 6 is located and the coordinate systemCT where the reference frame is located from the optical navigation device;
位置关系计算单元，基于末端定位架6所在坐标系CV、参考架所在坐标系CT，计算末端定位架所在坐标系CV与拟切割平面所在坐标系CP之间的位置关系[RT]VP；The position relationship calculation unit calculates the position relationship [RT]VP between the coordinate system CV where the end positioning frame islocated and the coordinate systemCP where the proposed cutting plane is located, based on the coordinate systemCV where the end positioning frame is located and the coordinate systemCT where the reference frame is located;
指令生成单元，基于位置关系计算单元计算的位置关系，生成控制指令并发送用于控制机械臂的运动；An instruction generating unit generates a control instruction based on the position relationship calculated by the position relationship calculating unit and sends the control instruction for controlling the movement of the robot arm;
位置关系更新单元，用于在机械臂移动[RT]VP后更新计算末端定位架所在坐标系CV与拟切割平面所在坐标系CP之间的位置关系[RT]VP′；A position relationship updating unit, used for updating the position relationship [RT]VP ′ between the coordinate systemCV where the end positioning frame is located and the coordinate systemCP where the intended cutting plane is located after the robot arm moves [RT]VP ;
判断单元，用于判断[RT]VP′是否小于预定阈值，如果大于预定阈值，则根据位置关系更新单元更新计算的位置关系[RT]VP′生成控制指令并发送用于控制机械臂的运动，如果小于预定阈值，则生成停止运动的指令。The judging unit is used to judge whether [RT]VP ′ is less than a predetermined threshold value. If it is greater than the predetermined threshold value, a control instruction is generated according to the position relationship [RT]VP ′ calculated and updated by the position relationship updating unit and sent to control the movement of the robot arm. If it is less than the predetermined threshold value, an instruction to stop the movement is generated.
二、导航定位阶段2. Navigation and Positioning Phase
完成预定位后，系统开始进入导航定位阶段。After completing the pre-positioning, the system enters the navigation and positioning phase.
导航定位阶段包括如下步骤：The navigation and positioning phase includes the following steps:
步骤a，计算并存储本体定位架所在坐标系与末端定位架所在坐标系之间的位置关系。在完成预定位阶段后，根据由光学导航装置600追踪获得的本体定位架500所在坐标系CF，以及末端定位架6所在坐标系CV的位置信息，计算CV和CF的相对位置关系为[RT]FV，并将[RT]FV作为第一校准参数存储。Step a, calculate and store the positional relationship between the coordinate system where the body positioning frame is located and the coordinate system where the end positioning frame is located. After completing the pre-positioning stage, according to the position information of the coordinate systemCF of the body positioning frame 500 and the coordinate system CV of the end positioning frame 6 tracked by the optical navigation device 600, the relative positional relationship betweenCV andCF is calculated as [RT]FV , and [RT]FVis stored as the first calibration parameter.
步骤b，根据第一校准参数计算本体定位架所在坐标系与拟切割平面所在坐标系之间的位置关系。其中，按照如下公式计算本体定位架500所在坐标系CF与拟切割平面所在坐标系CP之间的关系[RT]FP，并将[RT]FP作为第二校准参数存储：Step b, calculating the positional relationship between the coordinate system where the body positioning frame is located and the coordinate system where the intended cutting plane is located according to the first calibration parameter. The relationship [RT]FP between the coordinate systemCF where the body positioning frame 500 is located and the coordinate systemCP where the intended cutting plane is located is calculated according to the following formula, and [RT]FP is stored as the second calibration parameter:
∵[RT]FP＝[RT]FV[RT]VP∵[RT]FP = [RT]FV [RT]VP
∵[RT]VP＝CV([RT]TP-1CT)-1∵[RT]VP =CV ([RT]TP-1CT )-1
∴[RT]FP＝[RT]FV CV([RT]TP-1CT)-1∴[RT]FP ＝[RT]FVCV ([RT]TP-1CT )-1
步骤c，拆除锯片末端卡装的末端定位架6。Step c, remove the end positioning frame 6 clamped on the end of the saw blade.
步骤d，设定阻挡力参数。在该步骤中，设定协作机械臂200在运动过程中的阻挡力参数，其中，将与锯片400所在平面相同的平面方向中的阻挡力设置为0，将与锯片400所在平面相垂直的方向的阻挡力设置为F＝kx，其中阻挡力系数k为4000-6000N/mm，优选为5000N/mm，x为移动距离，F为阻挡力，通过阻挡力的设置，保证锯片400所在平面的垂直方向上，需要施加较大的力才可使其移动，从而对协作机械臂200的运动范围限制控制在一个待切割平面内移动，可以防止锯片抖动或误操作导致离开目标平面所产生的误差。Step d, setting the blocking force parameters. In this step, the blocking force parameters of the collaborative robot arm 200 during the movement are set, wherein the blocking force in the same plane direction as the plane where the saw blade 400 is located is set to 0, and the blocking force in the direction perpendicular to the plane where the saw blade 400 is located is set to F=kx, wherein the blocking force coefficient k is 4000-6000N/mm, preferably 5000N/mm, x is the moving distance, and F is the blocking force. By setting the blocking force, it is ensured that a larger force is applied in the vertical direction of the plane where the saw blade 400 is located to make it move, thereby limiting the range of motion of the collaborative robot arm 200 to control it to move within a plane to be cut, which can prevent the saw blade from shaking or misoperating and causing errors caused by leaving the target plane.
步骤e，控制锯片按预定轨迹运动及实时追踪步骤。在该步骤中，Step e: Control the saw blade to move along a predetermined trajectory and perform real-time tracking.
主机部分发出指令，使协作机械臂200带动锯片400按照预定轨迹进行运动，在锯片的运动过程中，光学导航装置600实时跟踪读取本体定位架500所在坐标系的位置信息，并根据第二校准参数[RT]FP计算获得锯片400末端的实时位置。The host part sends out instructions to make the collaborative robot arm 200 drive the saw blade 400 to move along a predetermined trajectory. During the movement of the saw blade, the optical navigation device 600 tracks and reads the position information of the coordinate system of the main body positioning frame 500 in real time, and calculates the real-time position of the end of the saw blade 400 based on the second calibration parameter [RT]FP .
步骤f，实时计算锯片末端点所在坐标系与拟切割平面所在坐标系之间的位置关系。根据待切割目标参考架所在坐标系CT、以及已知的参考架所在坐标系与拟切割平面所在坐标系的位置关系，可确定拟切割平面所在坐标系CP，即可实时计算锯片400末端的平面位置与拟切割平面所在坐标系CP之间的位置关系。Step f, calculate the positional relationship between the coordinate system where the end point of the saw blade is located and the coordinate system where the intended cutting plane is located in real time. According to the coordinate systemCT where the reference frame of the object to be cut is located and the known positional relationship between the coordinate system where the reference frame is located and the coordinate system where the intended cutting plane is located, the coordinate systemCP where the intended cutting plane is located can be determined, and the positional relationship between the plane position of the end point of the saw blade 400 and the coordinate systemCP where the intended cutting plane is located can be calculated in real time.
步骤g，判断锯片末端与拟切割平面之间的距离是否偏离预定范围并报警。在该步骤中，如判断锯片末端与拟切割平面之间的距离偏离超出预定范围，则以声音、颜色显示等各种方式发出报警，提示操作者进行干预调整，或系统自动作出响应调整，直到完成在拟切割平面内的全部切割操作。Step g, judging whether the distance between the end of the saw blade and the intended cutting plane deviates from the predetermined range and giving an alarm. In this step, if it is judged that the distance between the end of the saw blade and the intended cutting plane deviates beyond the predetermined range, an alarm is given in various ways such as sound and color display to prompt the operator to intervene and adjust, or the system automatically responds and adjusts until all cutting operations in the intended cutting plane are completed.
为了完成以上步骤，本申请将主机和控制系统设计为还提供如下单元：In order to complete the above steps, the present application designs the host and the control system to also provide the following units:
本体定位架信息读取单元，用于从光学导航装置中读取本体定位架500所在坐标系的位置信息；The body positioning frame information reading unit is used to read the position information of the coordinate system where the body positioning frame 500 is located from the optical navigation device;
校准参数计算单元，基于末端定位架6所在坐标系CV、本体定位架500所在坐标系CF，计算二者的位置关系[RT]FV；The calibration parameter calculation unit calculates the positional relationship [RT]FV between the end positioning frame6 and the body positioning frame 500 based on the coordinate system CV and the coordinate systemCF ;
位置关系计算单元，基于本体定位架500所在坐标系的位置信息、参考架所在坐标系CT的位置信息，校准参数[RT]FV、以及已知的参考架所在坐标系与拟切割面所在坐标系之间的位置关系，计算获得本体定位架500所在坐标系CF与拟切割平面所在坐标系CP之间的位置关系[RT]FP；The position relationship calculation unit calculates the position relationship [RT]FP between the coordinate system CF where the body positioning frame 500 is located and the coordinate systemCP where the simulated cutting plane is located based on the position information of the coordinate system where the body positioning frame 500 is located, the position information of the coordinate systemCT where the reference frame is located, the calibration parameter [RT]FV , and the known position relationship between the coordinate system where the reference frame is located and the coordinate system wherethe simulated cutting plane is located;
实时计算单元，用于根据实时获取的本体定位架500所在坐标系的位置信息以及位置关系[RT]FP，计算获得医用器械末端实时的位置；A real-time calculation unit, used to calculate the real-time position of the end of the medical device according to the real-time acquired position information of the coordinate system where the main body positioning frame 500 is located and the position relationship [RT]FP ;
偏离判断单元，用于计算医用器械末端的平面位置与拟切割平面所在坐标系之间的距离，判断偏离是否超出预定范围。The deviation judgment unit is used to calculate the distance between the plane position of the end of the medical device and the coordinate system where the intended cutting plane is located, and to judge whether the deviation exceeds a predetermined range.
对于涉及多个拟切割平面的场景，在导航定位阶段结束后，对于本实施例，即在医用器械完成对一个拟切割平面的操作后，本申请所提供的方法还包括步骤h：控制医用器械末端退回至初始位置。在该步骤中，由控制单元控制机械臂200运动，使得将锯片400退回至距离被切割目标一定距离的位置，例如，可以是前次预定位阶段的初始位置，也可以是不同于前次预定位阶段的初始位置的位置，只要该位置较为靠近拟切割目标物体且与目标物体保持一定安全距离的位置。For scenes involving multiple intended cutting planes, after the navigation and positioning stage is completed, for this embodiment, that is, after the medical device completes the operation on one intended cutting plane, the method provided by the present application further includes step h: controlling the end of the medical device to return to the initial position. In this step, the control unit controls the movement of the mechanical arm 200 so that the saw blade 400 is returned to a position at a certain distance from the target to be cut, for example, it can be the initial position of the previous pre-positioning stage, or it can be a position different from the initial position of the previous pre-positioning stage, as long as the position is relatively close to the intended cutting target object and maintains a certain safety distance from the target object.
步骤h之后，在锯片400上再次卡装末端定位架6，即返回至预定位阶段的步骤二，并继续执行前述预定位阶段以及导航定位阶段的各步骤，直至完成对第二拟切割平面的切割操作。其中在步骤四、步骤八、以及步骤b、步骤f中，利用第二拟切割平面所在坐标系计算位置关系。After step h, the end positioning frame 6 is clamped on the saw blade 400 again, that is, the process returns to step 2 of the pre-positioning stage, and the steps of the pre-positioning stage and the navigation positioning stage are continued until the cutting operation of the second simulated cutting plane is completed. In step 4, step 8, and step b and step f, the position relationship is calculated using the coordinate system of the second simulated cutting plane.
在完成第二拟切割平面的切割操作后，系统判断是否还有第三拟切割平面，如有，则继续执行步骤h，并重复上述步骤，直到完成对所有拟切割平面的操作。After completing the cutting operation of the second simulated cutting plane, the system determines whether there is a third simulated cutting plane. If so, continue to execute step h and repeat the above steps until the operation on all simulated cutting planes is completed.
由于例如全膝关节置换术的手术中，需要切割多个平面，一般而言至少需要5个不同的切割平面。对于此种情形，本实施例提供给的方案是在完成一个拟切割平面的切割操作后，均将医用器械退回至初始位置，针对下一个拟切割平面重新进行预定位、以及导航定位步骤，以确保针对每个拟切割平面均可准确定位导航。相对于已有的技术，本实施例提供的方案在每次针对拟切割目标平面执行切割操作之前均进行精准的预定位，并在预定位之后记录校准参数继续进行导航定位，可以消除医用器械在每次运动过程中产生的定位误差，使得全部定位过程更为精细、提供了更高精度。并且，由于本实施例提供的方案是基于对医用器械、末端执行器、拟切割目标位置关系的实时计算而完成，因而在确保针对每个拟切割平面准确定位的同时不会耗费过多时间，兼顾了定位的速度和准确度。Since multiple planes need to be cut in a total knee replacement surgery, generally at least 5 different cutting planes are required. For this situation, the solution provided by this embodiment is that after completing the cutting operation of a proposed cutting plane, the medical device is returned to the initial position, and the pre-positioning and navigation positioning steps are re-performed for the next proposed cutting plane to ensure that each proposed cutting plane can be accurately positioned and navigated. Compared with the existing technology, the solution provided by this embodiment performs accurate pre-positioning before each cutting operation is performed on the proposed cutting target plane, and records the calibration parameters after pre-positioning to continue navigation positioning, which can eliminate the positioning error generated by the medical device during each movement, making the entire positioning process more refined and providing higher accuracy. In addition, since the solution provided by this embodiment is based on the real-time calculation of the positional relationship between the medical device, the end effector, and the proposed cutting target, it does not take too much time while ensuring accurate positioning for each proposed cutting plane, and takes into account the speed and accuracy of positioning.
本发明实施例还提供了一种截骨锯片防抖动的控制系统，该系统可以通过获取单元、处理单元、控制单元实现其功能。需要说明的是，本发明实施例的一种截骨锯片防抖动的控制系统可以用于执行本发明实施例所提供的一种截骨锯片防抖动的控制方法，本发明实施例的另一种截骨锯片防抖动的控制方法也可以通过本发明实施例所提供的一种截骨锯片防抖动的控制系统来执行。The embodiment of the present invention also provides a control system for anti-shake of an osteotomy saw blade, which can realize its functions through an acquisition unit, a processing unit, and a control unit. It should be noted that the control system for anti-shake of an osteotomy saw blade according to the embodiment of the present invention can be used to execute a control method for anti-shake of an osteotomy saw blade provided by the embodiment of the present invention, and another control method for anti-shake of an osteotomy saw blade according to the embodiment of the present invention can also be executed by the control system for anti-shake of an osteotomy saw blade provided by the embodiment of the present invention.
图20是根据本发明实施例的一种截骨锯片防抖动的控制系统示意图。如图20所示，一种截骨锯片防抖动的控制系统包括：FIG20 is a schematic diagram of a control system for preventing a bone saw blade from shaking according to an embodiment of the present invention. As shown in FIG20 , a control system for preventing a bone saw blade from shaking includes:
获取单元212，用于获取截骨锯片末端的坐标信息；An acquisition unit 212, used to acquire coordinate information of the end of the osteotomy saw blade;
处理单元214，用于将截骨锯片末端的坐标信息与校准图形建立联系，其中，校准图形是带有基准线的图形，在截骨锯片末端与目标切割面重叠的情况下，截骨锯片末端的坐标信息在屏幕中所对应的指示标志指示在校准图形的基准线位置处，指示标志在校准图形中反馈截骨锯片末端的坐标信息；The processing unit 214 is used to establish a connection between the coordinate information of the end of the osteotomy saw blade and the calibration figure, wherein the calibration figure is a figure with a reference line, and when the end of the osteotomy saw blade overlaps with the target cutting surface, the coordinate information of the end of the osteotomy saw blade is indicated by an indicator mark on the screen at the position of the reference line of the calibration figure, and the indicator mark feeds back the coordinate information of the end of the osteotomy saw blade in the calibration figure;
第一控制单元216，用于根据截骨锯片末端坐标信息所对应的指示标志与校准图形的基准线位置的变化来调整截骨锯片的位置使其保持在基准线的预定范围内移动。The first control unit 216 is used to adjust the position of the osteotomy saw blade according to the change of the indication mark corresponding to the coordinate information of the end of the osteotomy saw blade and the reference line position of the calibration figure so that the osteotomy saw blade moves within a predetermined range of the reference line.
在一种可选的实施方式中，获取单元包括：第一获取模块，用于在截骨锯片的末端靠近目标切割面并到达预定对准位置的情况下，获取末端执行器的本体定位架与截骨锯片的末端定位架之间的坐标系位置关系，其中，截骨锯片安装在末端执行器上；第二获取模块，用于根据坐标系位置关系和本体定位架的位姿信息实时获取截骨锯片的位姿信息；第三获取模块，用于通过当前截骨锯片的位姿信息得到当前截骨锯片末端的坐标信息。In an optional embodiment, the acquisition unit includes: a first acquisition module, used to acquire the coordinate system position relationship between the main body positioning frame of the end effector and the end positioning frame of the osteotomy saw blade when the end of the osteotomy saw blade approaches the target cutting surface and reaches a predetermined alignment position, wherein the osteotomy saw blade is installed on the end effector; a second acquisition module, used to acquire the posture information of the osteotomy saw blade in real time according to the coordinate system position relationship and the posture information of the main body positioning frame; a third acquisition module, used to obtain the coordinate information of the end of the current osteotomy saw blade through the posture information of the current osteotomy saw blade.
在一种可选的实施方式中，第一控制单元包括：方向控制模块，用于使指示标志在校准图形中的移动方向与锯片末端在待切割目标上时的坐标信息距离目标切割面的方位相对应。In an optional embodiment, the first control unit includes: a direction control module for making the moving direction of the indicator mark in the calibration graph correspond to the position of the coordinate information of the end of the saw blade when it is on the target to be cut, relative to the target cutting surface.
在一种可选的实施方式中，方向控制模块包括：第一控制模块，用于控制指示标志在校准图形中以目标切割面为基准的正反两个方向进行移动，其中，移动方向分别为位于校准图形基准线的上部和下部两个方向。In an optional embodiment, the direction control module includes: a first control module, used to control the indicator mark to move in positive and negative directions based on the target cutting surface in the calibration figure, wherein the moving directions are respectively located in the upper and lower directions of the calibration figure reference line.
在一种可选的实施方式中，方向控制模块还包括；第二控制模块，用于当指示标志指示在校准图形中的上部的情况下，控制截骨锯片的实际切割的位置距离目标切割平面的位置在靠近患者骨骼边缘的位置；第三控制模块，用于当指示标志指示在校准图形中的下部的情况下，控制截骨锯片的实际切割的位置距离目标切割平面的位置在远离患者骨骼边缘的位置。In an optional embodiment, the direction control module also includes: a second control module, which is used to control the actual cutting position of the osteotomy saw blade to be close to the edge of the patient's bone from the target cutting plane when the indicator mark indicates the upper part of the calibration figure; and a third control module, which is used to control the actual cutting position of the osteotomy saw blade to be far away from the edge of the patient's bone from the target cutting plane when the indicator mark indicates the lower part of the calibration figure.
在一种可选的实施方式中，系统还包括：第二控制单元，用于通过确定末端定位架的位置与目标切割面之间的位置关系控制机械臂装置进行运动，其中，末端执行器安装在机械臂装置上；判断控制单元，用于判断末端定位架与目标切割面的距离是否超出阈值范围，如果超出阈值范围，则更新末端定位架的位置与目标切割面之间的位置关系，继续控制机械臂装置进行运动，直至在截骨锯片的末端靠近目标切割面并到达预定对准位置的情况下，则停止判断。In an optional embodiment, the system also includes: a second control unit, used to control the movement of the robotic arm device by determining the position relationship between the position of the end positioning frame and the target cutting surface, wherein the end actuator is installed on the robotic arm device; a judgment control unit, used to judge whether the distance between the end positioning frame and the target cutting surface exceeds a threshold range, and if it exceeds the threshold range, the position relationship between the position of the end positioning frame and the target cutting surface is updated, and the robotic arm device is continued to be controlled to move until the end of the osteotomy saw blade approaches the target cutting surface and reaches a predetermined alignment position, and then the judgment is stopped.
在一种可选的实施方式中，第一控制单元还包括：提示模块，用于当机械臂装置上的法兰上的定位架或目标参考架在截骨时被遮挡的情况下，则改变校准图形的颜色进行提示。In an optional embodiment, the first control unit further includes: a prompt module, which is used to change the color of the calibration graphic to provide a prompt when the positioning frame or the target reference frame on the flange of the robot arm device is blocked during osteotomy.
在一种可选的实施方式中，第一控制单元还包括：第一预设模块，用于将校准图形预设为五个不同的颜色区域，其中，每个颜色区域与不同大小的预定范围相对应；第四控制模块，用于控制截骨锯片末端坐标所对应的指示标志使其保持在基准线周围小的预定范围内移动。In an optional embodiment, the first control unit also includes: a first preset module, used to preset the calibration graphic into five different color areas, wherein each color area corresponds to a predetermined range of different sizes; and a fourth control module, used to control the indicator mark corresponding to the end coordinates of the osteotomy saw blade so that it moves within a small predetermined range around the baseline.
在一种可选的实施方式中，处理单元包括：第二预设模块，用于预设指示标志在校准图形中移动的单位距离与锯片末端的实际变化的坐标信息相对应。In an optional embodiment, the processing unit includes: a second preset module for presetting a correspondence between the unit distance of movement of the indicator mark in the calibration graph and the coordinate information of the actual change of the end of the saw blade.
在一种可选的实施方式中，系统还包括：第一显示模块，用于通过第一指示框显示截骨锯片所在平面与目标切割平面的实际角度。In an optional embodiment, the system further includes: a first display module, configured to display the actual angle between the plane where the osteotomy saw blade is located and the target cutting plane through a first indication frame.
在一种可选的实施方式中，系统还包括：第二显示模块，用于通过第二指示框显示截骨锯片末端与目标切割平面相比的坐标信息实际变化的数据。In an optional embodiment, the system further comprises: a second display module for displaying data of actual changes in coordinate information of the end of the osteotomy saw blade compared with the target cutting plane through a second indicator frame.
在本实施例中，提供了一种存储介质，存储介质包括存储的程序，其中，在程序运行时控制存储介质所在设备执行上述方法。In this embodiment, a storage medium is provided, the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the above method.
在本实施例中，提供了一种处理器，处理器包括处理器的程序，其中，在程序运行时控制处理器所在设备执行上述方法。In this embodiment, a processor is provided, and the processor includes a program of the processor, wherein when the program runs, a device where the processor is located is controlled to execute the above method.
上述本发明实施例序号仅仅为了描述，不代表实施例的优劣。The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.
在本发明的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
上述一种截骨锯片防抖动的控制系统实施例是与一种截骨锯片防抖动的控制方法相对应的，所以对于有益效果不再赘述。The above-mentioned control system embodiment for preventing the vibration of an osteotomy saw blade corresponds to a control method for preventing the vibration of an osteotomy saw blade, so the beneficial effects will not be described in detail.
在本申请所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅是示意性的，例如单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.
集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本发明各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-On ly Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc., which can store program codes.
以上仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above are only preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.
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| CN202410811852.2ACN118845138B (en) | 2020-07-01 | 2020-07-01 | Anti-shake control method and system for osteotomy saw blade |
| CN202010628902.5ACN111772727B (en) | 2020-07-01 | 2020-07-01 | Anti-shake control method and system for osteotomy saw blade |
| PCT/CN2021/103322WO2022002090A1 (en) | 2020-07-01 | 2021-06-29 | Control method and system |
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| CN202010628902.5ACN111772727B (en) | 2020-07-01 | 2020-07-01 | Anti-shake control method and system for osteotomy saw blade |
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| CN202410811852.2ADivisionCN118845138B (en) | 2020-07-01 | 2020-07-01 | Anti-shake control method and system for osteotomy saw blade |
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| CN111772727A CN111772727A (en) | 2020-10-16 |
| CN111772727Btrue CN111772727B (en) | 2024-07-12 |
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| CN202410811852.2AActiveCN118845138B (en) | 2020-07-01 | 2020-07-01 | Anti-shake control method and system for osteotomy saw blade |
| CN202010628902.5AActiveCN111772727B (en) | 2020-07-01 | 2020-07-01 | Anti-shake control method and system for osteotomy saw blade |
| Application Number | Title | Priority Date | Filing Date |
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| CN202410811852.2AActiveCN118845138B (en) | 2020-07-01 | 2020-07-01 | Anti-shake control method and system for osteotomy saw blade |
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