CN-116807631-B - Intelligent control integrated operation power system and control method thereof

CN116807631BCN 116807631 BCN116807631 BCN 116807631BCN-116807631-B

Abstract

The invention belongs to the technical field of operation power systems, and discloses an intelligent control integrated operation power system and a control method thereof, wherein a collision detection module is used for detecting pose information and collision information of a tool bit, a geometric constraint module is used for constraining the spatial position and the pose of equipment, the force feedback sensing and recording module is used for collecting information of the force feedback data unit, and the force feedback executing module is used for cooperatively controlling the start and stop of the motor and the stepless speed change through the force feedback calculation judging unit, the force feedback executing control unit and the multi-axis stress feedback executing unit. The novel electric bone tissue surgical equipment using electric energy as a power source has the advantages that a force feedback sensing function is added, different tissue hardness is identified and converted through the cooperative work of the collision detection module, the geometric constraint module, the force feedback sensing recording module and the force feedback execution module, the functions of cutting hardness and not cutting softness are realized, the erroneous cutting of surgery is avoided, the efficient surgical operation at high rotating speed is reserved, and the surgical safety is enhanced.

Inventors

CHEN YONG
MA XUEXIAO
GU ZHONGWEI
LIN FENG
WANG HONGJUAN
WEI LIGUO

Assignees

青岛钰仁医疗科技有限公司

Dates

Publication Date: 20260508
Application Date: 20230628

Claims (5)

1. An intelligent control integrated surgical power system, characterized in that the intelligent control integrated surgical power system comprises: The collision detection module is used for detecting pose information and collision information of the cutter head, sending the calculated cutter head pose information to the geometric constraint module and providing triggering conditions for the geometric constraint module; The geometric constraint module is used for constraining the space position and the gesture of the equipment, converting local coordinates into world coordinates, tracking the world coordinate position of the equipment, feeding back to the collision simulation unit, and sending geometric constraint information to the dynamic force feedback unit to serve as a triggering condition of the dynamic force feedback unit; The force feedback sensing and recording module is used for collecting information of the force feedback data unit through the multi-axis stress sensor, driving the balancing weight to generate displacement through the permanent magnet, generating an electric signal through the displacement, converting the electric signal into force feedback data information through the data processing unit, and feeding the force feedback data information back to the mobile phone; The force feedback execution module is used for cooperatively controlling the start and stop of the motor and stepless speed change through the force feedback calculation judging unit, the force feedback execution control unit and the multi-axis stress feedback execution unit.
2. The intelligent control integrated surgical power system of claim 1, wherein the collision detection module is comprised of a physical modeling unit, a dynamic force feedback unit, and a collision simulation unit, wherein: the physical modeling unit distinguishes the hardness of each tissue by dividing bones, nerves and soft tissues into regional grids and performing three-dimensional physical modeling; the dynamic force feedback unit consists of a contact stress and repulsive force model and is used for guiding an operator to cut bones at a focus and feeding back the stress condition when contacting tissues in real time through the touch sensing equipment; The collision simulation unit consists of a spring mass model, a bounding box and a collision detection method, and simulates the dynamic behavior of interaction between equipment and a contact part in the operation process; The spring quality model is used for simulating the collision process of the cutter head and each tissue in the operation process, and consists of a tracking model, a linear spring and a torsion spring, wherein a bounding box is arranged on the tracking model, the collision position is detected by adopting a bounding box detection method, the linear spring is used for applying a translation force F to a contact part and adjusting the position of the contact part, and the torsion spring is used for applying a torque T to the contact part and adjusting the direction of the contact part.
3. The intelligent control integrated surgical power system according to claim 1, wherein the geometric constraint module is composed of a coordinate transformation unit, a spatial position constraint unit and a spatial posture constraint unit; The coordinate transformation unit is used for tracking the world coordinate position of the tool bit by converting the local coordinate of the tool bit into the world coordinate in the space position unit, feeding back to the collision simulation unit and updating the position of the operation object; The space attitude constraint unit is used for sending the geometric constraint information to the dynamic force feedback unit, so that unnecessary collision and calculation caused by improper operation of a cutter head and non-bone parts by a user are avoided.
4. The intelligent control integrated surgical power system according to claim 1, wherein the force feedback sensing and recording module is composed of a sensor unit and a force feedback data unit; The sensor unit adopts a multi-axis stress sensor and consists of a permanent magnet, a connecting rod and a balancing weight, wherein the permanent magnet is connected with the connecting rod and is arranged in a coil; The force feedback data unit consists of a data acquisition unit, a data processing unit and a data storage unit.
5. The intelligent control integrated surgical power system according to claim 1, wherein the force feedback execution module is composed of a force feedback calculation judgment unit, a force feedback execution control unit and a multi-axis stress feedback execution unit; The force feedback calculation judging unit consists of a feedback force calculating unit and a feedback force judging unit, wherein the feedback force calculating unit consists of a hardness-feedback force converting unit and a speed-feedback force converting unit and is used for converting and calculating the feedback force; The force feedback execution control unit is used for controlling the driving motor and the stepless speed change; the speed-feedback force detection unit is used for detecting the corresponding signals and transmitting the signals to the feedback force calculation unit for calculating feedback force; the multi-axis stress feedback execution unit is used for feeding back the generated feedback force to the mobile phone, so that an operator intuitively senses the change of the speed.

Description

Intelligent control integrated operation power system and control method thereof Technical Field The invention belongs to the technical field of surgical power systems, and particularly relates to an intelligent control integrated surgical power system and a control method thereof. Background Spinal degenerative diseases are most common spinal diseases, and are mostly intervertebral disc degeneration, including intervertebral disc protrusion, spinal canal stenosis, spine slippage, vertebral body instability and the like, neck and shoulder pain, sciatica and the like, according to incomplete statistics, the number of new diseases per year is up to 2000 thousands, 97% of middle-aged and elderly people in China have the spinal diseases, in recent years, the spinal diseases show a younger trend, in people under 40 years, 40% of human spinal diseases have various diseases, the incidence rate of children scoliosis is up to more than 25%, more than 60% of patients with the spinal diseases need surgical treatment, and various surgical operations are listed in the third place. At present, with the progress of surgery to minimally invasive and accurate, the clinical demands of innovative precision medical instruments are increasing, and 90% of bone surgery requires the assistance of power equipment. The traditional bone surgery needs manual drilling and sawing tools to drill holes, cut bones and the like, the surgery process is low in efficiency and consumes physical power, the traditional bone surgery basically adopts electric bone tissue surgery equipment to provide power for the surgery, various grinding, cutting, milling, sawing and other operations are carried out in the surgery process, the manual drilling and sawing tools are replaced, the surgery efficiency can be greatly improved, but the equipment is high in rotating speed, usually in 20000-70000r/min, high in rotating speed, slightly careless and very easy to cut tissues such as nerves beside by mistake, safety risks exist, and the cutting is gear and speed fixing, and is single in function. Through the analysis, the problems and defects of the prior art are that the defects and problems of the prior art mainly comprise the following aspects: 1) Safety risk is that the existing electric bone tissue surgery equipment lacks an effective protection mechanism. At high rotational speeds, the surgical blade is prone to miscut into nerve tissue adjacent the bone. Once the nerve is cut, the damage may be irreversible and the rate of disability is extremely high. This brings great pain and risk to the patient, and also brings great psychological stress to the doctor. 2) The existing electric bone tissue operation equipment usually adopts gear and speed setting and cannot be adjusted in real time according to actual needs in the operation process. This limits the applicability of the device and also results in frequent speed adjustments during surgery, reducing the efficiency of the surgery. 3) The efficiency is low, because the equipment in the prior art has single function, a doctor needs to adjust the speed back and forth in the operation process, which not only increases the operation complexity, but also reduces the operation efficiency. For some complex procedures, inefficiency may result in excessive surgical time, increasing patient risk. 4) The operation is complicated, the prior art devices usually require manual adjustment, and the operation skill requirements of doctors are high. In high pressure surgical environments, the likelihood of mishandling increases, thereby increasing the risk to the patient. 5) The cost of the device is high, the existing electric bone tissue operation device is generally high in price, which limits the popularization of the device in some medical institutions with limited resources and affects the operation quality of more patients. In view of the above problems and drawbacks of the prior art, future research and development should focus on improving safety, functional diversity, ease of operation and efficiency of the device to meet clinical demands, reduce patient risk, and improve surgical quality. Disclosure of Invention Aiming at the problems existing in the prior art, the invention provides an intelligent control integrated operation power system and a control method thereof. The invention is realized in such a way that an intelligent control integrated operation power system comprises: The collision detection module is used for detecting pose information and collision information of the cutter head, sending the calculated cutter head pose information to the geometric constraint module and providing triggering conditions for the geometric constraint module; The geometric constraint module is used for constraining the space position and the gesture of the equipment, converting local coordinates into world coordinates, tracking the world coordinate position of the equipment, feeding back to the collision simulation unit,