CN103735313B - A kind of operating robot and state monitoring method thereof - Google Patents
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Abstract
本发明适用于医疗器械领域，提供了一种手术机器人及其状态监测方法，该方法包括：通过安装在手术机器人的进给单元上的传感器获取进给单元的受力信号和进给单元的深度信息；根据所述获取的深度信息，在预设进给路径的深度信息与受力信号对应表中，查找所述获取的深度信息所对应的受力信号；判断所述获取的受力信号与所述查找的受力信号是否相同；如果不同，则发送异常处理指令。本发明能够在操作的深度或者受力信号与规划的不相符时，第一时间发送异常指令，可以更为及时有效的处理异常情况，其处理过程可自动完成，不需要依赖工作人员经验操作，可提高操作的精确性，减少误差，从而提高了手术的安全性和成功率。
The present invention is applicable to the field of medical equipment, and provides a surgical robot and a state monitoring method thereof, the method comprising: acquiring the force signal of the feeding unit and the depth of the feeding unit through a sensor installed on the feeding unit of the surgical robot information; according to the obtained depth information, in the depth information and force signal correspondence table of the preset feed path, search for the force signal corresponding to the obtained depth information; judge the obtained force signal and Whether the searched force signals are the same; if they are different, an exception handling instruction is sent. The present invention can send an abnormal command at the first time when the depth of operation or the force signal does not match the planned one, and can handle the abnormal situation more timely and effectively. The processing process can be completed automatically without relying on the experience of the staff. The accuracy of operation can be improved and errors can be reduced, thereby improving the safety and success rate of operation.
Description
技术领域technical field
本发明属于医疗器械领域，尤其涉及一种手术机器人及其状态监测方法。The invention belongs to the field of medical devices, in particular to a surgical robot and a state monitoring method thereof.
背景技术Background technique
近年来，手术机器人已成为医学和机器人领域交叉学科的研究热点，利用手术机器人的高精度、高稳定性、灵活性好、可控性强以及不怕辐射和感染的特点来完成手术操作，改变了医生仅凭主观判断和手术经验来完成手术操作的状况，能够减小人为因素引起的手术误差，提高手术的成功率。In recent years, surgical robots have become a research hotspot in the interdisciplinary fields of medicine and robotics. Surgical operations are completed by utilizing the characteristics of high precision, high stability, good flexibility, strong controllability, and no fear of radiation and infection of surgical robots, which has changed the Doctors only rely on subjective judgment and surgical experience to complete the surgical operation, which can reduce surgical errors caused by human factors and improve the success rate of surgery.
在众多医疗手术中，常常会涉及到骨科的一些手术操作，脊柱外科手术作为骨科的一个分支，因其部位的特殊性被认为是高风险外科手术之一，它涵盖了脊柱外伤、退行性变、脊柱畸形、肿瘤等病种，所涉及的手术包括椎弓根螺钉内固定术、神经减压术、植骨融合术和人工间盘置换术等。由于脊柱是脊髓、神经根走行的通道，尤其是在颈部寰枢椎手术中，因紧邻重要的呼吸和循环中枢，稍有不慎就会造成脊髓或延髓的损伤。因此，在此类手术中对设备的要求非常高。Among many medical operations, some operations of orthopedics are often involved. As a branch of orthopedics, spinal surgery is considered to be one of the high-risk surgeries because of its particular location. It covers spinal trauma, degeneration , spinal deformities, tumors and other diseases, the operations involved include pedicle screw fixation, nerve decompression, bone graft fusion and artificial disc replacement. Since the spine is the passage for the spinal cord and nerve roots, especially in the operation of the cervical atlantoaxial spine, it is close to the important respiratory and circulatory centers, and a little carelessness may cause damage to the spinal cord or medulla oblongata. Therefore, the demands on the equipment in this type of surgery are very high.
现有的手术机器人，一般通过在手术机器人上安装力量反馈装置，使用者根据反馈的力度信息，结合自身的经验进行控制操作，使用其进行操作仍然会出现误差，影响其定位的精度，影响手术的安全性和成功率。Existing surgical robots generally install a force feedback device on the surgical robot, and the user controls the operation according to the feedback force information and his own experience. Errors will still occur when using it to operate, which will affect the accuracy of its positioning and affect the operation. safety and success rate.
发明内容Contents of the invention
本发明的目的在于提供一种手术机器人的状态监测方法，以解决现有技术的手术机器人通过反馈的力度信息，结合使用者的经验进行手术时，会出现误差，影响定位精度的问题，从而提高手术的安全性和成功率。The purpose of the present invention is to provide a state monitoring method of a surgical robot to solve the problem that when the surgical robot in the prior art performs surgery through the feedback force information combined with the user's experience, errors will occur and affect the positioning accuracy, thereby improving Surgical safety and success.
本发明是这样实现的，一种手术机器人的状态监测方法，所述方法包括下述步骤：The present invention is realized in this way, a kind of state monitoring method of surgical robot, described method comprises the following steps:
通过安装在手术机器人的进给单元上的传感器获取进给单元的受力信号和进给单元的深度信息；Obtain the force signal of the feed unit and the depth information of the feed unit through the sensor installed on the feed unit of the surgical robot;
根据所述获取的深度信息或受力信号，在预设进给路径的深度信息与受力信号对应表中，查找所述获取的深度信息所对应的受力信号或查找所述获取的受力信号所对应的深度信息；According to the acquired depth information or force signal, search for the force signal corresponding to the acquired depth information or search for the acquired force signal in the depth information and force signal correspondence table of the preset feed path The depth information corresponding to the signal;
判断所述获取的受力信号与所述查找的受力信号是否相同，或者判断所述获取的深度信息与所述查找的深度信息是否相同；Judging whether the acquired force signal is the same as the searched force signal, or judging whether the acquired depth information is the same as the searched depth information;
如果不同，则发送异常处理指令。If different, an exception handling instruction is sent.
本发明的另一目的在于提供一种手术机器人，所述手术机器人包括：Another object of the present invention is to provide a surgical robot, which includes:
进给单元、受力传感器、控制器、存储器和调整单元，所述传感器安装于进给单元上，用于获取进给单元的受力信号和进给单元的深度信息，所述传感器的信号输出端与控制器相连，所述调整单元与进给单元相连，用于调整所述进给单元的角度和状态，其特征在于，Feed unit, force sensor, controller, memory and adjustment unit, the sensor is installed on the feed unit, used to obtain the force signal of the feed unit and the depth information of the feed unit, the signal output of the sensor The end is connected with the controller, and the adjustment unit is connected with the feed unit for adjusting the angle and state of the feed unit, characterized in that,
所述控制器用于通过安装在手术机器人的进给单元上的传感器获取进给单元的受力信号和进给单元的深度信息；The controller is used to obtain the force signal of the feeding unit and the depth information of the feeding unit through a sensor installed on the feeding unit of the surgical robot;
根据所述获取的深度信息或受力信号，在预设于存储器中的进给路径的深度信息与受力信号对应表中，查找所述获取的深度信息所对应的受力信号或查找所述获取的受力信号所对应的深度信息；According to the acquired depth information or force signal, search for the force signal corresponding to the acquired depth information or search for the force signal corresponding to the depth information of the feed path preset in the memory. Depth information corresponding to the obtained force signal;
判断所述获取的受力信号与所述查找的受力信号是否相同，或者判断所述获取的深度信息与所述查找的深度信息是否相同；Judging whether the acquired force signal is the same as the searched force signal, or judging whether the acquired depth information is the same as the searched depth information;
如果不同，则发送异常处理指令。If different, an exception handling instruction is sent.
在本发明中，通过获取手术机器人的进给单元上的受力信号和深度信息，并通过获取的深度信息在预设的路径的深度信息与受力信号对应表中查找其对应的受力信号，并比较获取的受力信号与查找的受力信号是否相符，如果不相符则发送异常处理指令处理所述异常，或者通过获取的受力信号在预设的路径的深度信息与受力信号对应表中查找其对应的深度信息，并比较获取的深度信息与查找的深度信息是否相符，如果不相符则发送异常处理指令处理所述异常。本发明实施例能够在操作的深度或者受力信号与规划的不相符时，第一时间发送异常指令，可以更为及时有效的处理异常情况，其处理过程可自动完成，不需要依赖工作人员经验操作，可提高操作的精确性，减少误差，从而提高了手术的安全性和成功率。In the present invention, the force signal and depth information on the feed unit of the surgical robot are obtained, and the corresponding force signal is searched in the depth information and force signal correspondence table of the preset path through the acquired depth information , and compare whether the obtained force signal is consistent with the searched force signal, and if not, send an exception handling instruction to handle the exception, or correspond to the force signal through the depth information of the acquired force signal in the preset path Look up the corresponding depth information in the table, and compare whether the obtained depth information is consistent with the found depth information, and if not, send an exception handling instruction to handle the exception. The embodiment of the present invention can send an abnormal command at the first time when the depth of operation or the force signal does not match the plan, and can handle the abnormal situation more timely and effectively, and the processing process can be completed automatically without relying on the experience of the staff Operation can improve the accuracy of the operation and reduce errors, thereby improving the safety and success rate of the operation.
附图说明Description of drawings
图1是本发明第一实施例提供的手术机器人的状态监测方法的实现流程图；Fig. 1 is the implementation flow diagram of the state monitoring method of the surgical robot provided by the first embodiment of the present invention;
图2为本发明第一实施例提供的深度信息与受力信号的对应关系曲线示意图；Fig. 2 is a schematic diagram of the corresponding relation curve between the depth information and the force signal provided by the first embodiment of the present invention;
图3为本发明第一实施例提供的在骨皮质中进行钻削时，深度信息与受力信号的曲线示意图；Fig. 3 is a schematic diagram of curves of depth information and force signals when drilling in cortical bone provided by the first embodiment of the present invention;
图4a为本发明第一实施例提供的手术操作处于安全状态的效果示意图；Fig. 4a is a schematic diagram showing the effect of the surgical operation in a safe state according to the first embodiment of the present invention;
图4b为本发明第一实施例提供的手术操作处于异常状态的效果示意图；Fig. 4b is a schematic diagram showing the effect of the surgical operation in an abnormal state according to the first embodiment of the present invention;
图4c为本发明第一实施例提供的手术操作处于结束状态的效果示意图；Fig. 4c is a schematic diagram showing the effect of the surgical operation in the end state provided by the first embodiment of the present invention;
图5是本发明第二实施例提供的手术机器人的状态监测方法的实现流程图；Fig. 5 is an implementation flow chart of the state monitoring method of the surgical robot provided by the second embodiment of the present invention;
图6是本发明第三实施例提供的手术机器人的结构示意图。Fig. 6 is a schematic structural diagram of a surgical robot provided by a third embodiment of the present invention.
具体实施方式detailed description
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
本发明实施例所述的手术机器人状态监测方法，可用于椎弓根螺钉内固定术、神经减压术、植骨融合术和人工间盘置换术等。出于对手术对象的安全度以及手术成功率考虑，本发明提出了一种误差更小、精确度和安全性更高的手术机器人的状态监测方法，所述方法包括：通过安装在手术机器人的进给单元上的传感器获取进给单元的受力信号和进给单元的深度信息；根据所述获取的深度信息或受力信号，在预设进给路径的深度信息与受力信号对应表中，查找所述获取的深度信息所对应的受力信号或查找所述获取的受力信号所对应的深度信息；判断所述获取的受力信号与所述查找的受力信号是否相同，或者判断所述获取的深度信息与所述查找的深度信息是否相同；如果不同，则发送异常处理指令。The method for monitoring the state of a surgical robot described in the embodiment of the present invention can be used in pedicle screw fixation, nerve decompression, bone graft fusion, artificial disc replacement, and the like. In consideration of the safety of the surgical object and the success rate of the surgery, the present invention proposes a state monitoring method of a surgical robot with smaller errors, higher precision and safety, the method includes: installing on the surgical robot The sensor on the feed unit obtains the force signal of the feed unit and the depth information of the feed unit; according to the acquired depth information or force signal, in the depth information and force signal correspondence table of the preset feed path , searching for the force signal corresponding to the obtained depth information or searching for the depth information corresponding to the obtained force signal; judging whether the obtained force signal is the same as the searched force signal, or judging Whether the obtained depth information is the same as the searched depth information; if not, an exception handling instruction is sent.
通过获取手术机器人的进给单元上的受力信号和深度信息，并通过获取的深度信息在预设的路径的深度信息与受力信号对应表中查找其对应的受力信号，并比较获取的受力信号与查找的受力信号是否相符，如果不相符则发送异常处理指令处理所述异常，或者通过获取的受力信号在预设的路径的深度信息与受力信号对应表中查找其对应的深度信息，并比较获取的深度信息与查找的深度信息是否相符，如果不相符则发送异常处理指令处理所述异常。本发明实施例能够在操作的深度或者受力信号与规划的不相符时，第一时间发送异常指令，可以更为及时有效的处理异常情况，其处理过程可自动完成，不需要依赖工作人员经验操作，可提高操作的精确性，减少误差，从而提高了手术的安全性和成功率。By obtaining the force signal and depth information on the feed unit of the surgical robot, and through the obtained depth information, look up the corresponding force signal in the depth information and force signal correspondence table of the preset path, and compare the obtained Whether the force signal matches the searched force signal, if not, send an exception handling instruction to handle the exception, or look up the correspondence between the depth information of the preset path and the force signal through the obtained force signal and compare whether the obtained depth information is consistent with the searched depth information, and if not, send an exception handling instruction to handle the exception. The embodiment of the present invention can send an abnormal command at the first time when the depth of operation or the force signal does not match the plan, and can handle the abnormal situation more timely and effectively, and the processing process can be completed automatically without relying on the experience of the staff Operation can improve the accuracy of the operation and reduce errors, thereby improving the safety and success rate of the operation.
实施例一：Embodiment one:
图1示出了本发明第一实施例提供的手术机器人的状态监测方法的实现流程，详述如下：Fig. 1 shows the implementation process of the state monitoring method of the surgical robot provided by the first embodiment of the present invention, which is described in detail as follows:
在步骤S101中，通过安装在手术机器人的进给单元上的传感器获取进给单元的受力信号和进给单元的深度信息。In step S101, the force signal of the feeding unit and the depth information of the feeding unit are acquired through a sensor installed on the feeding unit of the surgical robot.
具体的，所述进给单元，为手术机器人进行钻骨的单元，可以包括钻头和用于驱动钻头旋转以完成钻骨操作的电机，或者通过气压驱动的钻头等，所述传感器，用于感知进给单元的受力信息和在进给对象中的位移，即进给单元的深度信息。所述受力信息通过安装在进给单元的六维力传感器进行采集，所述进给单元的深度信息，通过安装在进给单元的位移传感器进行采集，当然这只是一种较为优选的实施方式，本领域一般技术人员可以理解，如可以采用非六维力传感进行受力信号采集。Specifically, the feed unit, which is a unit for bone drilling of a surgical robot, may include a drill bit and a motor for driving the drill bit to rotate to complete the bone drilling operation, or a drill bit driven by air pressure, etc., and the sensor is used for sensing The force information of the feed unit and the displacement in the feed object, that is, the depth information of the feed unit. The force information is collected by a six-dimensional force sensor installed on the feed unit, and the depth information of the feed unit is collected by a displacement sensor installed on the feed unit. Of course, this is only a more preferred embodiment , those skilled in the art can understand that, for example, a non-six-dimensional force sensor can be used to collect force signals.
所述进给单元的深度信息，为从到达进给对象表面开始，到进入进给单元的深度，可以通过记录进给单元在到达进给对象表面时的位置，在进给过程中，通过行程相减，即可得到进给单元的深度信息。The depth information of the feeding unit is the depth from reaching the surface of the feeding object to the depth entering the feeding unit, which can be recorded by recording the position of the feeding unit when it reaches the surface of the feeding object. By subtracting them, the depth information of the feed unit can be obtained.
在步骤S102中，根据所述获取的深度信息，在预设进给路径的深度信息与受力信号对应表中，查找所述获取的深度信息所对应的受力信号。In step S102 , according to the obtained depth information, the force signal corresponding to the obtained depth information is searched in the depth information and force signal correspondence table of the preset feeding path.
在本发明实施例中，在手术机器的存储器中预先存储有进给路径的深度信息与受力信号对应表，所述进给路径，一般为在操作前规划的较佳的多种实施路径，在操作时选择相应的路径，即能够得到所选择的路径对应的一个对应关系，所述对应关系可以为对应表格或者为二维的深度信息与受力信息的曲线等，所述曲线可以通过多段函数进行表达，在查找数据时，可通过相应深度信息对应的函数计算得到对应的受力信息。In the embodiment of the present invention, the depth information of the feeding path and the force signal correspondence table are pre-stored in the memory of the surgical machine. The feeding path is generally a variety of better implementation paths planned before the operation. Select the corresponding path during operation, that is, a corresponding relationship corresponding to the selected path can be obtained. The corresponding relationship can be a corresponding table or a curve of two-dimensional depth information and force information, etc., and the curve can pass through multiple sections. When searching for data, the corresponding force information can be obtained by calculating the function corresponding to the corresponding depth information.
图2示出了所述预设的深度信息与受力信号的对应关系曲线，从图2可以看出，钻头（24）依次穿过钻入阶段的骨皮质（40）、骨松质（41）和穿出阶段的骨皮质（40）。对应的受力信号的特殊点包括：钻入阶段骨皮质的骨皮质力的峰值（43）、穿出阶段骨皮质钻削力峰值（44）、骨松质阶段的钻削力平均值（45），相应对应的深度信息为：钻入阶段骨皮质厚度（46）、骨松质厚度（47）、穿出阶段骨皮质厚度（48）。通过对实时采集的受力信号数据（42）所表达的钻入和穿出阶段的骨皮质峰值（43）（44）、骨松质阶段的力均值（45）与模型所表达的钻入和穿出阶段的骨皮质峰值（43）（44）、骨松质阶段的力均值（45）特征相比较，可以判断钻头（24）是否处在骨皮质（40）阶段、骨松质（41）阶段或钻穿骨组织。当钻钉道，即钻头打出来的孔洞，位置偏离正确位置较大时，钻头所穿过的骨皮质厚度较大，甚至一直在骨皮质中进行钻削，则通过比较钻入阶段骨皮质厚度（46）可以判断是否钻偏，如图3所示。Fig. 2 shows the corresponding relationship curve between the preset depth information and the force signal. It can be seen from Fig. 2 that the drill bit (24) passes through the cortical bone (40) and spongy bone (41) in the drilling stage in sequence. ) and cortical bone in the piercing phase (40). The special points of the corresponding force signal include: the peak value of the cortical bone force in the drilling stage (43), the peak value of the cortical bone drilling force in the penetration stage (44), the average value of the drilling force in the cancellous bone stage (45 ), and the corresponding depth information is: thickness of cortical bone at the drilling stage (46), thickness of cancellous bone (47), and cortical bone thickness at the penetration stage (48). Through the real-time collected force signal data (42), the cortical bone peak value (43) (44) in the drilling and penetration stage, the force average value (45) in the cancellous bone stage and the drilling and penetration expressed by the model By comparing the cortical bone peak value (43) (44) in the penetrating stage and the force average value (45) in the cancellous bone stage, it can be judged whether the drill bit (24) is in the cortical bone (40) stage, cancellous bone (41) Stage or drill through bone tissue. When the drill track, that is, the hole made by the drill bit, deviates greatly from the correct position, and the thickness of the cortical bone that the drill bit passes through is relatively large, or even drills in the cortical bone all the time, then by comparing the thickness of the cortical bone at the drilling stage (46) It can be judged whether the drill is deviated, as shown in Figure 3.
在步骤S103中，判断所述获取的受力信号与所述查找的受力信号是否相同。In step S103, it is judged whether the acquired force signal is the same as the searched force signal.
本发明实施例中所述的判断所述获取的受力信号与所述查找的受力信号是否相同，并非为完全一模一样，考虑到因为不同的进给对象，可能具有不同的特性，因此，可以允许其存在一定的误差，在误差允许的范围内，仍可判定所述获取的受力信号与所述查找的受力信号相同。The judging whether the obtained force signal is the same as the searched force signal described in the embodiment of the present invention is not exactly the same, considering that different feeding objects may have different characteristics, therefore, it can be A certain error is allowed, and within the allowable range of the error, it can still be determined that the acquired force signal is the same as the searched force signal.
同样，当系统使用获取的受力信号查找对应的深度信息时，判断获取的深度信息与查找的深度信息是否相同，属于正常的操作。Similarly, when the system uses the obtained force signal to find the corresponding depth information, it is a normal operation to judge whether the obtained depth information is the same as the searched depth information.
在步骤S104中，如果所述获取的受力信号与所述查找的受力信号不同，则发送异常处理指令。In step S104, if the acquired force signal is different from the searched force signal, an exception processing instruction is sent.
通过这种方法能够判断出钻钉道的三类状态——正确钉道、钻穿、钻偏，如图4a所示，当手术操作处于安全状态时，控制器向进给单元发送继续进给命令，骨钻继续进行手术操作；当处于异常状态（钻偏或钻穿图4c所示）时，控制器向进给单元发送停止进给命令，骨钻停止手术操作；当处于钻孔结束状态，如图4c所示，控制器向进给单元发送停止进给命令，骨钻停止手术操作。Through this method, three types of states of the drill path can be judged—correct nail path, drill through, and drill deviation. As shown in Figure 4a, when the surgical operation is in a safe state, the controller sends the feed unit to continue command, the bone drill continues the surgical operation; when it is in an abnormal state (drilling deviation or drilling through as shown in Figure 4c), the controller sends a stop feed command to the feed unit, and the bone drill stops the surgical operation; when it is in the drilling end state , as shown in Fig. 4c, the controller sends a stop feeding command to the feeding unit, and the bone drill stops the surgical operation.
基于同样的原理，本发明实施例还可以通过获取的受力信号查找对应的深度信息，比较查找的深度信息与获取的深度信息是否相同，其操作方式与上述步骤S101-S104相类似，在此不作重复赘述。Based on the same principle, the embodiment of the present invention can also search for the corresponding depth information through the obtained force signal, and compare whether the searched depth information is the same as the obtained depth information. The operation method is similar to the above steps S101-S104, here Do not repeat them.
本发明实施例通过获取手术机器人的进给单元上的受力信号和深度信息，并通过获取的深度信息在预设的路径的深度信息与受力信号对应表中查找其对应的受力信号，并比较获取的受力信号与查找的受力信号是否相符，如果不相符则发送异常处理指令处理所述异常，或者通过获取的受力信号在预设的路径的深度信息与受力信号对应表中查找其对应的深度信息，并比较获取的深度信息与查找的深度信息是否相符，如果不相符则发送异常处理指令处理所述异常。本发明实施例能够在操作的深度或者受力信号与规划的不相符时，第一时间发送异常指令，可以更为及时有效的处理异常情况，其处理过程可自动完成，不需要依赖工作人员经验操作，可提高操作的精确性，减少误差，从而提高了手术的安全性和成功率。In the embodiment of the present invention, by acquiring the force signal and depth information on the feed unit of the surgical robot, and searching for the corresponding force signal in the depth information and force signal correspondence table of the preset path through the obtained depth information, And compare whether the obtained force signal is consistent with the searched force signal, if not, send an exception handling instruction to handle the exception, or use the depth information of the acquired force signal in the preset path and the force signal correspondence table Find the corresponding depth information in the computer, and compare whether the obtained depth information is consistent with the searched depth information, and if not, send an exception handling instruction to handle the exception. The embodiment of the present invention can send an abnormal command at the first time when the depth of operation or the force signal does not match the plan, and can handle the abnormal situation more timely and effectively, and the processing process can be completed automatically without relying on the experience of the staff Operation can improve the accuracy of the operation and reduce errors, thereby improving the safety and success rate of the operation.
实施例二：Embodiment two:
图5示出了本发明第二实施例提供的手术机器人的状态监测方法的实现流程，详述如下：Fig. 5 shows the implementation flow of the state monitoring method of the surgical robot provided by the second embodiment of the present invention, which is described in detail as follows:
在步骤S501中，通过安装在手术机器人的进给单元上的传感器获取进给单元的受力信号和进给单元的深度信息。In step S501, the force signal of the feeding unit and the depth information of the feeding unit are acquired through a sensor installed on the feeding unit of the surgical robot.
具体的，所述安装在手术机器人的进给单元上的传感器包括力传感器和位移传感器。Specifically, the sensors installed on the feeding unit of the surgical robot include force sensors and displacement sensors.
在步骤S502中，获取待进给对象的结构参数。In step S502, the structural parameters of the object to be fed are acquired.
其中，所述获取待进给对象的结构参数步骤包括：Wherein, the step of obtaining the structural parameters of the object to be fed includes:
使用CT（中文全称为X线计算机断层摄影，英文全称为ComputedTomography）扫描设备对进给对象进行扫描，获取进给对象的CT图像。The CT (full name in Chinese is called X-ray computerized tomography, and the full name in English is called Computed Tomography) scanning equipment is used to scan the feeding object to obtain the CT image of the feeding object.
根据所述获取的CT图像得到待进给的结构参数，根据所述结构参数对进给对象进行三维图像重建。The structural parameters to be fed are obtained according to the acquired CT images, and the three-dimensional image reconstruction is performed on the feeding object according to the structural parameters.
在步骤S503中，根据所述获取的结构参数，生成所述待进给对象的进给路径的深度信息与受力信号的对应表。In step S503, according to the acquired structural parameters, a correspondence table is generated between the depth information of the feeding path of the object to be fed and the force signal.
具体的，可以根据所述结构参数重建的三维图像和待进给对象的进给路径，确定所述待进给对象的进给路径的深度信息与受力信号的对应表。Specifically, according to the three-dimensional image reconstructed by the structural parameters and the feeding path of the object to be fed, a correspondence table between the depth information of the feeding path of the object to be fed and the force signal may be determined.
在步骤S504中，根据所述获取的深度信息或受力信号，在预设进给路径的深度信息与受力信号对应表中，查找所述获取的深度信息所对应的受力信号或查找所述获取的受力信号所对应的深度信息。In step S504, according to the obtained depth information or force signal, search for the force signal corresponding to the obtained depth information or find the Depth information corresponding to the acquired force signal.
本发明实施例中所述的判断所述获取的受力信号与所述查找的受力信号是否相同，并非为完全一模一样，考虑到因为不同的进给对象，可能具有不同的特性，因此，可以允许其存在一定的误差，在误差允许的范围内，仍可判定所述获取的受力信号与所述查找的受力信号相同。The judging whether the obtained force signal is the same as the searched force signal described in the embodiment of the present invention is not exactly the same, considering that different feeding objects may have different characteristics, therefore, it can be A certain error is allowed, and within the allowable range of the error, it can still be determined that the acquired force signal is the same as the searched force signal.
在步骤S505中，判断所述获取的受力信号与所述查找的受力信号是否相同，或者判断所述获取的深度信息与所述查找的深度信息是否相同。In step S505, it is determined whether the obtained force signal is the same as the searched force signal, or whether the acquired depth information is the same as the searched depth information.
在步骤S506中，如果所述获取的受力信号与所述查找的受力信号不同，或者所述获取的深度信息与所述查找的深度信息不同，则发送异常处理指令。In step S506, if the acquired force signal is different from the searched force signal, or the acquired depth information is different from the searched depth information, an exception processing instruction is sent.
所述异常处理指令包括发送停止进给指令和提示指令。The exception handling instruction includes sending a stop feeding instruction and a prompt instruction.
另外，在本发明实施例中，还可以通过显示单元显示所述重建的三维图像和所述进给单元的状态信息。这样可以使得工作人员能够通过图像更加形象的获取骨钻的操作状态。In addition, in the embodiment of the present invention, the reconstructed three-dimensional image and the status information of the feeding unit may also be displayed by a display unit. In this way, the staff can obtain the operating state of the bone drill more vividly through the image.
本发明实施例与实施例一相比，区别在于通过CT扫描设备获取进给对象的CT图像，并且进行三维图像重建，使得能够更加精确的获取进给对象的结构参数，提高操作的精确性。Compared with Embodiment 1, the embodiment of the present invention differs in that the CT image of the feeding object is obtained by a CT scanning device, and the three-dimensional image reconstruction is performed, so that the structural parameters of the feeding object can be obtained more accurately, and the accuracy of the operation is improved.
实施例三：Embodiment three:
图6示出了本发明第三实施例提供的钻骨用的手术机器人的结构示意图，详述如下：FIG. 6 shows a schematic structural view of a surgical robot for drilling bone provided by the third embodiment of the present invention, which is described in detail as follows:
本发明实施例所述手术机器人，包括进给单元601、传感器602、控制器603、存储器604和调整单元605，所述传感器602安装于进给单元601上，用于获取进给单元601的受力信号和进给单元601的深度信息，所述传感器602的信号输出端与控制器603相连，所述调整单元605与进给单元601相连，用于调整所述进给单元的角度和状态，所述控制器用于：The surgical robot described in the embodiment of the present invention includes a feed unit 601, a sensor 602, a controller 603, a memory 604, and an adjustment unit 605. The sensor 602 is installed on the feed unit 601 to obtain the The force signal and the depth information of the feed unit 601, the signal output end of the sensor 602 is connected with the controller 603, and the adjustment unit 605 is connected with the feed unit 601 for adjusting the angle and state of the feed unit, The controller is used for:
通过安装在手术机器人的进给单元601上的传感器602获取进给单元601的受力信号和进给单元的深度信息；Obtain the force signal of the feed unit 601 and the depth information of the feed unit through the sensor 602 installed on the feed unit 601 of the surgical robot;
根据所述获取的深度信息或受力信号，在预设于存储器604中的进给路径的深度信息与受力信号对应表中，查找所述获取的深度信息所对应的受力信号或查找所述获取的受力信号所对应的深度信息；According to the obtained depth information or force signal, in the depth information and force signal correspondence table of the feed path preset in the memory 604, look up the force signal corresponding to the obtained depth information or search for the force signal. Depth information corresponding to the obtained force signal;
判断所述获取的受力信号与所述查找的受力信号是否相同，或者判断所述获取的深度信息与所述查找的深度信息是否相同；Judging whether the acquired force signal is the same as the searched force signal, or judging whether the acquired depth information is the same as the searched depth information;
如果不同，则发送异常处理指令，所述异常处理指令包括发送停止进给指令和提示指令。If they are different, send an exception handling instruction, which includes sending a stop feeding instruction and a prompt instruction.
进一步的，所述控制器603还用于根据所述获取的结构参数对进给对象进行三维图像重建，所述手术器人还连接有显示单元606，用于显示所述重建的三维图像和所述进给单元的状态信息。Further, the controller 603 is also used to reconstruct the three-dimensional image of the feeding object according to the obtained structural parameters, and the surgical robot is also connected to a display unit 606 for displaying the reconstructed three-dimensional image and the obtained status information of the feed unit.
具体的，所述安装在手术机器人的进给单元上的传感器包括力传感器和位移传感器。Specifically, the sensors installed on the feeding unit of the surgical robot include force sensors and displacement sensors.
本发明实施例所述手术机器人与实施例一和实施例二所述的操作方法对应，在此不作过多重复描述。The surgical robot described in this embodiment of the present invention corresponds to the operation method described in Embodiment 1 and Embodiment 2, and will not be repeated here.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.
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