CN-121971175-A - Orthopedic surgery robot control method, device and system

CN121971175ACN 121971175 ACN121971175 ACN 121971175ACN-121971175-A

Abstract

The application discloses a control method, a device and a system of an orthopedic operation robot, which relate to the technical field of orthopedic operation robot control, and comprise the steps of step one, target robot determination, step two, adjustment analysis, step three, pose and path analysis and step four, adjustment control, wherein the target robot is determined by matching diagnosis and treatment information of each historical patient with that of a target patient, the individuation requirement of the target patient is realized, each reference patient of the target patient is acquired, and further, the feedback force adjusting factor of the target robot operation is analyzed, accurate force adjustment is provided for a target patient, meanwhile, the operation starting pose and path of the target robot are comprehensively obtained according to the three-dimensional data of the bone of the target patient and the operation pose, the robot is controlled to start the operation according to the operation starting pose and path, the forward force of the target robot is corrected by using the feedback force correcting factor of the target robot in the operation process, real-time control adjustment is realized, and the operation success rate is improved.

Inventors

TIAN RUN
ZHANG JIEWEN
LIU CHENGYAN
LIU ZEYU
CHEN YANG
YANG PEI
WANG KUNZHENG
KONG NING
LI YIYANG
QIAO TIAN
LV JINGYI
ZHAO YIWEI
Cao Ruomu

Assignees

西安交通大学医学院第二附属医院

Dates

Publication Date: 20260505
Application Date: 20260121

Claims (10)

1. A method for controlling an orthopedic surgical robot, comprising: Marking each patient with the history of the bone surgery performed by the robot as each history patient, acquiring diagnosis and treatment information of each history patient from a hospital electronic medical record system, simultaneously acquiring diagnosis and treatment information of a target patient needing the bone surgery, and matching the diagnosis and treatment information of the target patient with the diagnosis and treatment information of each history patient to obtain the target robot; step two, adjusting and analyzing, namely acquiring each reference patient of the target patient, and analyzing feedback force adjusting coefficients of the target robot operation according to the operation information of each reference patient; Analyzing the pose and the path, namely comprehensively analyzing the bone three-dimensional data and the surgical pose of a target patient to obtain the surgical initial pose and the surgical path of the target robot, and controlling the target robot to perform surgery according to the surgical initial pose and the surgical path; And step four, adjusting and controlling, namely correcting the forward force of the target robot based on the feedback force correction factor of the target robot in the operation process, so as to realize real-time control and adjustment of the target robot.
2. The method according to claim 1, wherein the diagnosis and treatment information of the target patient includes personal information, operation type, bone screw type, the diagnosis and treatment information of each history patient includes personal information, operation type, bone screw type, operation robot type, operation information and postoperative recovery information, the personal information includes gender and age type, the operation information includes bone screw implantation depth in unit time, angle, feedback force and forward force of the robot at each depth of each angle, and the postoperative recovery information includes bone screw offset condition, postoperative complication number and muscle strength.
3. The method for controlling an orthopedic surgery robot according to claim 2, wherein the matching of the diagnosis and treatment information of the target patient with the diagnosis and treatment information of each historic patient, and further obtaining the target robot comprises the following specific steps: Acquiring the operation type and the bone nail type of a target patient based on the diagnosis and treatment information of the target patient, acquiring the operation type and the bone nail type of each historical patient based on the diagnosis and treatment information of each historical patient, matching the operation type and the bone nail type of the target patient with the operation type and the bone nail type of each historical patient, and marking each historical patient with consistent matching results as each primary matching qualified patient; Acquiring the gender and age type of a target patient based on the diagnosis and treatment information of the target patient, acquiring the gender and age type of each primary matching qualified patient based on the diagnosis and treatment information of each historical patient, respectively matching the gender and age type of the target patient with the gender and age type of each primary matching qualified patient, and marking each primary matching qualified patient with the same matching result as a secondary matching qualified patient; Acquiring postoperative recovery information of each secondary matching qualified patient based on diagnosis and treatment information of each historical patient, acquiring bone nail deviation conditions, postoperative complication times and muscle strength of each secondary matching qualified patient based on postoperative recovery information of each matching qualified patient, and analyzing to obtain an optimal matching patient of a target patient; and acquiring the model of the surgical robot of the best matched patient based on the diagnosis and treatment information of each historical patient, marking the robot as a target robot, and performing surgery on the target patient by using the target robot.
4. The method for controlling an orthopedic surgery robot according to claim 3, wherein the step of obtaining the bone screw deviation, the number of postoperative complications and the muscle strength of each secondary matched qualified patient based on the postoperative recovery information of each matched qualified patient, and analyzing the bone screw deviation, the number of postoperative complications and the muscle strength to obtain the best matched patient of the target patient comprises the following steps: Based on the bone nail deviation condition of each matched qualified patient, respectively acquiring each patient with bone nail deviation and each patient without bone nail deviation, re-marking each matched unqualified patient and each matched qualified patient, and respectively marking postoperative complication times and muscle strength of each matched qualified patient as And Wherein i is the number of each matched qualified patient, i is a positive integer, and the number is calculated according to the calculation formula: analyzing to obtain the postoperative rehabilitation evaluation coefficient of the ith matched qualified patient Wherein Represents a set postoperative complications count threshold, And The upper limit value and the lower limit value of the normal muscle strength interval of each matched qualified patient are respectively expressed, and the matched qualified patient with the largest postoperative rehabilitation evaluation coefficient is marked as the best matched patient of the target patient.
5. The method according to claim 4, wherein each reference patient of the target patient is acquired, and the feedback force correction factor of the target robot is analyzed based on the operation information of each reference patient: acquiring the bone nail type and the surgical robot of each historical patient based on the diagnosis and treatment information of each historical patient, acquiring the bone nail type and the target surgical robot type of the target patient based on the diagnosis and treatment information of the target patient, comparing the bone nail type and the target robot type of the target patient with the bone nail type and the surgical robot type of each historical patient respectively, and marking each historical patient consistent with the bone nail type and the target robot type of the target patient as each reference patient; Acquiring operation information and postoperative rehabilitation information of each reference patient based on diagnosis and treatment information of each historical patient, acquiring each reference patient with non-offset postoperative bone nail based on postoperative rehabilitation information of each reference patient, analyzing to obtain postoperative rehabilitation evaluation coefficients of each reference patient with non-offset postoperative bone nail, further acquiring bone nail implantation depth, angle, implantation feedback force and implantation forward force of each reference patient with non-offset bone nail according to the operation information of each reference patient, further establishing bone nail implantation depth, angle and feedback force and forward force of a robot at each depth of each angle in unit time of each reference patient, marking each reference patient with the same bone nail real-time implantation depth and angle as a group, accordingly acquiring each reference group, analyzing to obtain postoperative rehabilitation evaluation coefficients of each reference patient in each reference group, sorting the postoperative rehabilitation evaluation coefficients of each reference patient in each reference group according to the size, accordingly obtaining weights of each reference patient, and respectively marking the feedback force and forward force of a target robot at each depth of each reference patient and each reference group as the weights of each reference patient in the corresponding reference group 、 And Wherein k is the angle of bone screw implantation, k is a positive number, v is the depth of bone screw implantation, v is a positive number, u is the number of each reference group, u is a positive integer, j is the number of each reference patient, j is a positive integer, and according to the calculation formula: Analyzing to obtain feedback force correction factors of the target robot at various angles at various depths Wherein U and J are expressed as the total number of reference groups and the number of reference patients, respectively.
6. The method for controlling an orthopedic surgery robot according to claim 5, wherein the comprehensive analysis of the bone three-dimensional model and the surgery pose of the target patient obtains the surgery starting pose and the surgery path of the target robot, and further controls the target robot to perform surgery according to the surgery starting pose and the surgery path, and the specific process is as follows: Acquiring a medical image of an operation part of a target patient by using medical imaging equipment, carrying out gray-scale treatment on the image, matching bones in the gray-scale treated image with a bone model, dividing the image of the bones of the operation part of the target patient according to the gray-scale treatment, taking the two-dimensional image of the divided bones as input, extracting surface information of the bones by using a volume rendering algorithm, and generating a bone three-dimensional model of the target patient; Based on diagnosis and treatment information of a target patient, acquiring the operation type of the target patient, selecting the operation pose of the target patient in the target robot operation confirmation system by a doctor according to the operation type, uploading a bone three-dimensional model of the target patient to the target robot operation confirmation system, calculating to obtain an operation starting position and an operation path of an end effector of the target robot through a path planning algorithm and a motion control model which are built in the target robot, sending a confirmation signal to a control terminal by the target robot, controlling the end effector of the target robot to reach a corresponding position after receiving the confirmation signal by the control terminal, and performing operation on the target patient according to the operation path.
7. The method for controlling an orthopedic robot according to claim 6, wherein the correction of the forward force of the target robot based on the feedback force correction factor of the target robot is performed by the following specific analysis process: acquiring real-time bone screw implantation depth, angle and feedback force of the target robot through a related sensing device arranged on an end effector of the target robot, acquiring feedback force correction factors of the target robot based on the real-time bone screw implantation depth and angle of the target robot, and correcting forward force of the target robot through the feedback force correction factors of the target robot: and comparing the real-time forward force of the target robot with the previous real-time forward force, sending a control signal 1 to the target robot control terminal when the real-time forward force of the target robot is the same as the previous real-time forward force, and sending a control signal 2 to the target robot control terminal when the real-time forward force of the target robot is different from the previous real-time forward force.
8. The method for controlling the orthopedic surgery robot according to claim 7, wherein the real-time control and adjustment of the target robot are realized by the following steps: when the control terminal of the target robot receives the control signal 1, the strength of the tail end of the control actuator is not changed; When the control terminal of the target robot receives the control signal 2, the tail end force of the actuator is controlled to be adjusted based on the obtained real-time forward force.
9. An orthopedic surgery robot control device, characterized by comprising a memory, a communication bus and a controller, wherein the memory stores a computer program executable by the controller, the communication bus enables connection communication between the memory and the controller, and the controller controls the target robot to execute the steps in an orthopedic surgery robot control method according to any one of claims 1-8.
10. An orthopedic surgery robot control system for performing an orthopedic surgery robot control method according to any one of claims 1-8, comprising: The target robot determining module records each patient with the history of the bone surgery performed by the robot as each history patient, acquires diagnosis and treatment information of each history patient from the hospital electronic medical record system, acquires diagnosis and treatment information of a target patient needing the bone surgery, and matches the diagnosis and treatment information of the target patient with the diagnosis and treatment information of each history patient to obtain the target robot; The adjustment analysis module is used for acquiring each reference patient of the target patient and analyzing the feedback force adjustment coefficient of the target robot operation according to the operation information of each reference patient; The pose and path analysis module is used for comprehensively analyzing the bone three-dimensional data and the surgical pose of the target patient to obtain the surgical initial pose and the surgical path of the target robot, and further controlling the target robot to perform surgery according to the surgical initial pose and the surgical path; And the adjusting control module is used for correcting the forward force of the target robot based on the feedback force correction factor of the target robot in the operation process, so that the real-time control and adjustment of the target robot are realized.

Description

Orthopedic surgery robot control method, device and system Technical Field The application relates to the technical field of control of orthopedic surgical robots, in particular to a control method, a device and a system of an orthopedic surgical robot. Background When bone nails are implanted, the bone nails of the robot are implanted with excessive force, which may cause fracture or fracture of bone cortex, and the bone nails of the robot are implanted with too small force, which may affect the fixing effect of the bone nails, so that accurate control of the bone nails is of great importance, and therefore, the application provides a control method, a device and a system of the bone surgery robot. The intelligent navigation obstacle avoidance method, system and device for the orthopedic operation robot disclosed in the patent application with publication number CN115469656B in the prior art comprises the steps of receiving a navigation request of the orthopedic operation robot, determining a control instruction of the orthopedic operation robot according to the navigation request, controlling an environmental information acquisition module to acquire environmental data of the orthopedic operation robot according to the control instruction, determining a moving path of the orthopedic operation robot according to the environmental data, and moving the orthopedic operation robot to a target position according to the moving path of the orthopedic operation robot. According to the invention, the moving path is determined by the environmental data of the orthopedic operation robot, so that the high-precision navigation and positioning of the robot are realized. The technical problems include that 1, the current technology mainly determines a moving path according to environmental data of an orthopedic operation robot, the current technology does not analyze the model of the orthopedic operation robot, when the operation position of a patient is different from personal medical information, the model of the patient suitable for the operation of the patient is different, and the current technology ignores the aspect, so that the operation effect of the patient cannot be expected. 2. The prior art does not analyze the force applied to the orthopedic operation robot in the operation process, when the orthopedic operation robot performs an operation, the end of the actuator of the orthopedic operation robot can receive the resistance or friction force from bones, if the orthopedic operation robot does not adjust the forward force of the end of the actuator, the operation precision can be affected, and even the bones or tissues of patients can be damaged. Disclosure of Invention The application aims to provide a control method, a device and a system for an orthopedic operation robot, which solve the problems in the background technology. In order to solve the technical problems, the application provides a control method of an orthopedic operation robot in the first aspect, which comprises the following steps that firstly, a target robot determines that each patient with the history of the orthopedic operation performed by the robot is recorded as each history patient, diagnosis and treatment information of each history patient is obtained from a hospital electronic medical record system, diagnosis and treatment information of a target patient needing the orthopedic operation is obtained, diagnosis and treatment information of the target patient is matched with diagnosis and treatment information of each history patient, and then the target robot is obtained. And step two, adjusting and analyzing, namely acquiring each reference patient of the target patient, and analyzing the feedback force adjusting coefficient of the target robot operation according to the operation information of each reference patient. And thirdly, analyzing the pose and the path, namely comprehensively analyzing the bone three-dimensional data and the surgical pose of the target patient to obtain the surgical initial pose and the surgical path of the target robot, and controlling the target robot to perform surgery according to the surgical initial pose and the surgical path. And step four, adjusting and controlling, namely correcting the forward force of the target robot based on the feedback force correction factor of the target robot in the operation process, so as to realize real-time control and adjustment of the target robot. The application provides an orthopedic surgery robot control device in a second aspect, which comprises a memory, a communication bus and a controller, wherein the memory stores a computer program which can be executed by the controller, the communication bus realizes connection communication between the memory and the controller, and the controller controls the target robot to execute the steps in the orthopedic surgery robot control method. The application provides an orthopedic operation robot control system in a th