CN-117582292-B - End tool monitoring method, device, equipment and storage medium

CN117582292BCN 117582292 BCN117582292 BCN 117582292BCN-117582292-B

Abstract

The present disclosure relates to an end tool monitoring method, apparatus, device and storage medium. The method comprises the steps of obtaining bone parameters of a bone to be ground, tool parameters of an end tool and boundary parameters of a limiting boundary of the end tool, determining monitoring point positions of the end tool based on the bone parameters, the tool parameters and the boundary parameters, and monitoring the end tool when the bone to be ground is ground according to the monitoring point positions. Therefore, for different bones to be ground, according to respective bone parameters of different bones to be ground, the respective corresponding monitoring points of the different bones are determined in a self-adaptive mode and monitored, so that other bones beside the bones to be ground are prevented from being accidentally injured, and the bones to be ground are ground to the greatest extent, and therefore safety and flexibility of a bone grinding process are guaranteed.

Inventors

LI JIQING
YE GEN
TAN RUNFEI

Assignees

北京纳通医用机器人科技有限公司

Dates

Publication Date: 20260512
Application Date: 20231017

Claims (5)

1. An end tool monitoring device, comprising: the parameter acquisition module is used for acquiring bone parameters of bones to be ground, tool parameters of end tools and boundary parameters of limiting boundaries of the end tools; A position determination module for determining a monitoring point position of the end tool based on the bone parameter, the tool parameter, and the boundary parameter; The monitoring module is used for monitoring the bone to be ground when the end tool grinds the bone to be ground according to the position of the monitoring point; the location determination module includes: A calculation unit for calculating a maximum movement distance of the end tool based on the bone parameter, the tool parameter, and the boundary parameter; a determining unit configured to determine a monitoring point position of the end tool according to the maximum movement distance and a rotation center position in the tool parameters; The determining unit is used for: Determining an initial position of a first tip point on the end tool; And taking the rotation center position as a starting point, determining a position corresponding to the maximum movement distance along the direction of the initial position pointing to the rotation center position, and taking the position corresponding to the maximum movement distance as the monitoring point position.
2. The apparatus of claim 1, wherein the computing unit comprises: A first calculation subunit for calculating an angular range when the end tool rotates about the rotational center position based on the bone parameter, the tool parameter, and the boundary parameter; a second calculation subunit for calculating a candidate movable distance on the end tool at any one of the bone parameter, the tool parameter, the boundary parameter, and the angular range, based on the any one of the angles; And a third calculation subunit for calculating the maximum movement distance based on candidate movable distances at respective angles on the end tool.
3. The apparatus of claim 2, wherein the first computing subunit is configured to: Based on the bone parameters, the tool width in the tool parameters, and the boundary parameters, a maximum angle at which the end tool rotates about the center of rotation position is calculated, and the angular range is determined from the maximum angle and an initial angle of the end tool.
4. The apparatus of claim 2, wherein the second computing subunit is configured to: calculating a first movable distance of a first tip point on the end tool based on the bone parameter and the any angle; Calculating a second movable distance of a second tip point on the end tool based on the boundary parameter, a tool width in the tool parameters, the arbitrary angle, and the bone parameter; And selecting the movable distance with the smallest value from the first movable distance and the second movable distance as the candidate movable distance.
5. The apparatus of claim 2, wherein the third computing subunit is configured to: and selecting the movable distance with the largest value from the candidate movable distances on the end tool under various angles as the maximum movable distance.

Description

End tool monitoring method, device, equipment and storage medium Technical Field The disclosure relates to the technical field of security monitoring, and in particular relates to an end tool monitoring method, an end tool monitoring device and a storage medium. Background With the rapid development of robotics, robots are widely used in joint replacement surgery to improve the reliability and safety of the joint replacement surgery. In performing joint replacement surgery using a robot, a bone to be ground (e.g., tibia) is ground using an end tool on the robot. During bone grinding, the end tool needs to be monitored to avoid accidentally injuring other bones (e.g., tibial ridges) next to the bone to be ground and to maximize grinding of the bone to be ground. Therefore, providing an end tool monitoring method with high safety and flexibility is a technical problem to be solved. Disclosure of Invention In order to solve the technical problems, the present disclosure provides an end tool monitoring method, an end tool monitoring device and a storage medium. In a first aspect, the present disclosure provides an end tool monitoring method comprising: acquiring bone parameters of a bone to be ground, tool parameters of an end tool and boundary parameters of a limiting boundary of the end tool; Determining a monitoring point location of the end tool based on the bone parameter, the tool parameter, and the boundary parameter; and monitoring the bone to be ground when the end tool grinds the bone to be ground according to the monitoring point position. In some embodiments of the present disclosure, the determining the end tool's monitoring point location based on the bone parameter, the tool parameter, and the boundary parameter includes: calculating a maximum distance of movement of the end tool based on the bone parameters, the tool parameters, and the boundary parameters; And determining the monitoring point position of the end tool according to the maximum moving distance and the rotation center position in the tool parameters. In some embodiments of the present disclosure, the calculating the maximum movement distance of the end tool based on the bone parameter, the tool parameter, and the boundary parameter includes: calculating an angular range of the end tool when rotated about the center of rotation position based on the bone parameter, the tool parameter, and the boundary parameter; calculating a candidate movable distance on the end tool at any one of the bone parameter, the tool parameter, the boundary parameter, and the range of angles, based on the any one of the angles; the maximum movement distance is calculated based on candidate movable distances at various angles on the end tool. In some embodiments of the present disclosure, the calculating the angular range of the end tool when rotating about the rotational center position based on the bone parameter, the tool parameter, and the boundary parameter includes: Based on the bone parameters, the tool width in the tool parameters, and the boundary parameters, a maximum angle at which the end tool rotates about the center of rotation position is calculated, and the angular range is determined from the maximum angle and an initial angle of the end tool. In some embodiments of the present disclosure, the calculating the candidate movable distance on the end tool at any one of the bone parameter, the tool parameter, the boundary parameter, and the angular range, comprises: calculating a first movable distance of a first tip point on the end tool based on the bone parameter and the any angle; Calculating a second movable distance of a second tip point on the end tool based on the boundary parameter, a tool width in the tool parameters, the arbitrary angle, and the bone parameter; And selecting the movable distance with the smallest value from the first movable distance and the second movable distance as the candidate movable distance. In some embodiments of the present disclosure, the calculating the maximum movement distance based on candidate movable distances on the end tool at various angles includes: and selecting the movable distance with the largest value from the candidate movable distances on the end tool under various angles as the maximum movable distance. In some embodiments of the present disclosure, the determining the monitoring point position of the end tool according to the maximum movement distance and the rotation center position in the tool parameters includes: Determining an initial position of a first tip point on the end tool; And taking the rotation center position as a starting point, determining a position corresponding to the maximum movement distance along the direction of the initial position pointing to the rotation center position, and taking the position corresponding to the maximum movement distance as the monitoring point position. In a second aspect, the present disclosure provides an end tool monitoring device compris