阅读说明：本技术 骨质磨除系统及其控制方法 (Bone grinding system and control method thereof ) 是由 李梦寒 黄钦 孙洪雨 叶青 梁垚 于 2021-08-16 设计创作，主要内容包括：本发明实施例公开了一种骨质磨除系统及其控制方法,该方法包括：通过位置获取机构和力传感器分别获取磨骨工具在待磨除骨质的磨骨过程中的当前位置和当前反馈力；根据所述当前位置对应的已磨除骨质厚度降低所述磨骨工具的磨骨速度,和/或,在检测到所述当前反馈力显示所述磨骨工具到达磨骨边界时,输出用于制动所述磨骨工具的制动信号。解决了现有骨质磨除方法成功率较低的问题。(The embodiment of the invention discloses a bone grinding system and a control method thereof, wherein the method comprises the following steps: respectively acquiring the current position and the current feedback force of the bone grinding tool in the bone grinding process of the bone to be ground through a position acquisition mechanism and a force sensor; and reducing the bone grinding speed of the bone grinding tool according to the ground bone thickness corresponding to the current position, and/or outputting a braking signal for braking the bone grinding tool when the current feedback force is detected to display that the bone grinding tool reaches a bone grinding boundary. The problem of current sclerotin removal method success rate is lower is solved.)

1. A method of controlling a bone removal system, comprising:

respectively acquiring the current position and the current feedback force of the bone grinding tool in the bone grinding process of the bone to be ground through a position acquisition mechanism and a force sensor;

and reducing the bone grinding speed of the bone grinding tool according to the ground bone thickness corresponding to the current position, and/or outputting a braking signal for braking the bone grinding tool when the current feedback force is detected to display that the bone grinding tool reaches a bone grinding boundary.

2. The method of claim 1, wherein reducing the bone-grinding speed of the bone-grinding tool based on the thickness of ground bone corresponding to the current location comprises:

and when the thickness of the ground bone corresponding to the current position is detected to reach a preset thickness threshold value, reducing the bone grinding speed of the bone grinding tool to a first preset speed.

3. The method according to claim 2, wherein the method for determining the preset thickness threshold comprises:

determining the thickness of the bone to be ground according to the medical image data of the target object containing the bone to be ground;

and determining the preset thickness threshold value according to the thickness of the bone to be ground.

4. The method according to claim 3, wherein the determining the preset thickness threshold value according to the thickness of the bone substance to be removed comprises:

and taking a target value between 50% and 60% of the thickness of the bone to be ground as the preset thickness threshold value.

5. The method of claim 2, wherein reducing the bone-grinding speed of the bone-grinding tool based on the thickness of ground bone corresponding to the current location comprises:

before the current feedback force shows that the bone grinding tool reaches the bone grinding boundary, if the position information corresponding to a preset thickness threshold value fails to be acquired and the thickness of the ground bone corresponding to the current position is greater than the preset thickness threshold value, reducing the bone grinding speed of the bone grinding tool to a second preset speed, wherein the second preset speed is less than the first preset speed.

6. The method of any one of claims 1-5, wherein outputting a braking signal for braking the bone milling tool upon detecting that the current feedback force indicates that the bone milling tool has reached a bone milling boundary comprises:

and when the current feedback force is detected to fall back from the set peak value, outputting a braking signal for braking the bone grinding tool.

7. The method of claim 6, wherein outputting a braking signal for braking the bone grinding tool upon detecting that the current feedback force falls back from a set peak value comprises:

and when the current feedback force falls back from the second peak value, outputting a braking signal for braking the bone grinding tool, wherein the first peak value of the feedback force corresponds to the joint of the inner compact bone and the cancellous bone.

8. A bone removal system, comprising:

the position acquisition mechanism is used for acquiring the current position of the bone grinding tool in the bone grinding process of the bone to be ground;

the force sensor is used for acquiring the current feedback force of the bone grinding tool in the bone grinding process of the bone to be ground;

and the controller is used for reducing the bone grinding speed of the bone grinding tool according to the ground bone thickness corresponding to the current position, and/or outputting a braking signal for braking the bone grinding tool when the current feedback force is detected to display that the bone grinding tool reaches a bone grinding boundary.

9. The system of claim 8, wherein the position acquisition module comprises a binocular navigation device for determining the current position of the bone milling tool by positioning an optical tracking array disposed at a distal end of the bone milling tool.

10. The system of claim 8, further comprising:

a display device at least used for outputting the current position of the bone grinding tool and/or the feedback force currently suffered by the bone grinding tool;

and/or the alarm device outputs alarm information for prompting the positioning failure of the terminal tool.

Technical Field

The embodiment of the invention relates to the field of medical equipment, in particular to a bone grinding system and a control method thereof.

Background

In the course of neurosurgery, it is often necessary to perform a bone grinding operation on a part of the bony structure. The osteoporotic procedure requires a high degree of experience from the clinician because of the proximity of each of the important anatomical structures in the cranium to each other and because lesions are prone to abnormal bone structure. Intraoperative trauma that abrades vital anatomical structures surrounding bone is highly likely to occur if the clinician's experience is not sufficiently great, and once it occurs, increases the risk of surgical failure or post-operative infection in the patient.

Therefore, it is necessary to provide a bone removal system and a control method thereof to assist a doctor in clinical bone removal so as to improve the success rate of clinical bone removal.

Disclosure of Invention

The embodiment of the invention provides a bone grinding system and a control method thereof, which solve the problem of low success rate of the existing bone grinding.

In a first aspect, an embodiment of the present invention provides a method for controlling a bone removal system, including:

respectively acquiring the current position and the current feedback force of the bone grinding tool in the bone grinding process of the bone to be ground through a position acquisition mechanism and a force sensor;

and reducing the bone grinding speed of the bone grinding tool according to the ground bone thickness corresponding to the current position, and/or outputting a braking signal for braking the bone grinding tool when the current feedback force is detected to display that the bone grinding tool reaches a bone grinding boundary.

In a second aspect, an embodiment of the present invention further provides a bone removal system, including:

the position acquisition mechanism is used for acquiring the current position of the bone grinding tool in the bone grinding process of the bone to be ground;

the force sensor is used for acquiring the current feedback force of the bone grinding tool in the bone grinding process of the bone to be ground;

and the controller is used for reducing the bone grinding speed of the bone grinding tool according to the ground bone thickness corresponding to the current position, and/or outputting a braking signal for braking the bone grinding tool when the current feedback force is detected to display that the bone grinding tool reaches a bone grinding boundary.

According to the technical scheme of the control method of the bone grinding system, the current position and the current feedback force of a bone grinding tool in the bone grinding process of a bone to be ground are respectively obtained through the position obtaining mechanism and the force sensor; automatically reducing the bone grinding speed of the bone grinding tool according to the thickness of the ground bone corresponding to the current position so as to reduce the risk of the bone grinding tool grinding through the bone grinding boundary and improve the bone grinding hand feeling of a clinician; when the current feedback force is detected to display that the bone grinding tool reaches the bone grinding boundary, a braking signal for braking the bone grinding tool is immediately output, so that when the bone grinding tool just reaches the bone grinding boundary and a clinician does not perform braking operation on the bone grinding tool, the bone grinding operation of the bone grinding tool is automatically stopped, the bone grinding tool can be effectively prevented from grinding the bone grinding boundary and injuring organs at the back of the bone grinding boundary; the accuracy and the safety of the bone grinding operation are guaranteed through two modes of speed reduction and emergency braking, and the bone grinding hand feeling of different bone grinding stages is quickened to be obtained by a clinician.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flowchart of a control method of a bone removal system according to an embodiment of the present invention;

FIG. 2 is a schematic view of a cranial base operation according to a first embodiment of the present invention;

FIG. 3 is a schematic representation of a further cranium base procedure provided by the first embodiment of the present invention;

FIG. 4 is a schematic illustration of the feedback force provided in relation to the thickness of the removed bone according to one embodiment of the present invention;

FIG. 5 is a schematic view of a bone removal system according to a second embodiment of the present invention;

fig. 6 is a block diagram of a controller according to a second embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described through embodiments with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Fig. 1 is a flowchart of a control method of a bone removal system according to an embodiment of the present invention. The technical scheme of the embodiment is suitable for guiding the bone grinding to be carried out through different prompt messages so as to effectively prevent the bone grinding from exceeding the limit. The bone grinding system comprises a position acquisition mechanism, a force sensor and a controller connected with the position acquisition mechanism and the force sensor. The method is executed by a controller and specifically comprises the following steps:

s101, respectively acquiring the current position and the current feedback force of the bone grinding tool in the bone grinding process of the bone to be ground through the position acquisition mechanism and the force sensor.

Taking the basis of craniofacial disorder surgery as an example, the operation is performed by operating a bone grinding tool 01 to grind off the posterior wall of the sphenoid sinus through the nasopharynx cavity 11, as shown in fig. 2 and 3. In the operation, the posterior wall 121 of the sphenoid sinus 12 is the bone to be abraded, and the bone abrasion boundary is the outer compact bone of the posterior wall of the sphenoid sinus. Organs at risk 13, such as important anatomical structures such as adenohypophysis, pituitary handle, carotid artery blood vessel and the like, are distributed behind the outer compact bone, so the bone grinding operation must ensure that the outer compact bone of the sphenoid sinus posterior wall cannot be ground through, otherwise, the risk of postoperative infection of a patient is increased due to the fact that the anatomical structures around the bone to be ground are damaged in the operation, and even the condition of operation failure occurs.

The bone grinding tool is a bone grinding tool commonly used in clinic, such as an intracerebral endoscope or a basis cranii endoscope (see fig. 2), a bone grinding drill (see fig. 3) and the like.

The current feedback force is the reaction force from the bone to be ground, which is received by the bone grinding tool in the process of grinding the bone to be ground by the bone grinding tool.

The bone to be ground is the same as all bone structures and comprises compact bones on two sides and cancellous bones between the compact bones on the two sides, wherein the density of the compact bones is greater than that of the cancellous bones, so that the feedback force received by the bone grinding tool when the compact bones are ground is greater than that received by the bone grinding tool when the cancellous bones are ground.

In the bone grinding process, the bone grinding tool starts to grind bones from dense bones at the inner side of bones to be ground, and the feedback force received by the bone grinding tool in the bone grinding process is detected in real time through the force sensor. As shown in fig. 4, when it is detected that the feedback force applied to the bone grinding tool falls back from the first peak value, it is determined that the moment is a moment when the bone grinding tool enters the middle cancellous bone from the inner compact bone; when the feedback force applied to the bone grinding tool is detected to fall back from the second peak value, the moment when the bone grinding tool enters the outer compact bone from the middle cancellous bone is determined, namely the moment when the bone grinding tool just reaches the bone grinding boundary, and a braking signal for braking the bone grinding tool is immediately output to the bone grinding tool. The technical effects of determining the moment when the bone grinding tool enters into another bone part from one bone part and performing the setting operation on the bone grinding tool at the expected moment according to the change information of the feedback force received by the bone grinding tool in the process of grinding the bone to be ground are achieved.

In one embodiment, a braking signal for braking the bone grinding tool is output upon detecting that the current feedback force falls back from the set peak value. Is suitable for the condition that the corresponding feedback force signal fails to acquire when the bone grinding tool grinds the compact bone at the inner side. Because the bone grinding tool must pass through the cancellous bone to reach the outer cortical bone, when the current feedback force is detected to be maintained in the low value interval for a period of time, the bone grinding tool is used for grinding the cancellous bone in the period of time; when the feedback force applied to the bone grinding tool is detected to be greatly increased, the bone grinding tool is close to the outer compact bone, and when the feedback force applied to the bone grinding tool is detected to be increased to a certain peak value and starts to fall back, the bone grinding tool is used for grinding the outer compact bone, namely the bone grinding tool reaches the bone grinding boundary, and the bone grinding operation needs to be stopped immediately.

The present embodiment preferably arranges an optical tracking array at the end of the bone grinding tool, and determines the current position of the bone grinding tool by positioning the optical tracking array through the navigation device, so as to obtain the real-time position of the bone grinding tool in the bone grinding process. It will be appreciated that the current abraded bone thickness may be determined based on the initial position of the bone abrading tool at the beginning of the bone abrading operation and the current position of the bone abrading tool. Among them, the navigation device is preferably, but not limited to, a binocular navigation device.

S102, reducing the bone grinding speed of the bone grinding tool according to the ground bone thickness corresponding to the current position, and/or outputting a brake signal for braking the bone grinding tool when the current feedback force is detected to display that the bone grinding tool reaches a bone grinding boundary.

It will be appreciated that as the bone milling operation progresses, the higher the bone milling speed of the bone milling tool, the greater the likelihood that the organs-at-risk surrounding the bone to be milled are compromised, and conversely, the lesser the likelihood that the organs-at-risk surrounding the bone to be milled are compromised. For this reason, the present embodiment reduces the bone grinding speed of the bone grinding tool according to the ground bone thickness corresponding to the current position, or reduces the bone grinding speed of the bone grinding tool according to the ratio of the ground bone thickness corresponding to the current position to the bone thickness to be ground, thereby improving the accuracy of the bone grinding operation and reducing the possibility of endangering organs. Moreover, the bone grinding speed of the bone grinding tool is reduced, the sensing accuracy of a clinician on the bone grinding operation and the control force of the bone grinding operation can be improved, and the improvement of the sensing accuracy and the control force is beneficial to the improvement of the accuracy of the bone grinding operation.

The method for acquiring the thickness of the bone to be ground comprises the following steps: acquiring medical image data of a target object containing bone to be ground, such as Computed Tomography (CT) data, and determining the thickness of the bone to be ground according to the medical image data. Wherein, the corresponding layer thickness of the medical image data should be less than or equal to 1.5mm to meet the precision requirement of bone grinding. It will be appreciated that after the thickness of bone to be removed and the thickness of bone to be removed are determined, the ratio of the thickness of bone removed to the thickness of bone to be removed can be determined.

In some embodiments, reducing the bone-milling speed of the bone-milling tool based on the thickness of the milled bone corresponding to the current location comprises: and when the thickness of the ground bone corresponding to the current position is detected to reach a preset thickness threshold value, reducing the bone grinding speed of the bone grinding tool to a first preset speed. The preset thickness threshold value is distributed between 50% and 60% of the thickness of the bone to be ground, the first preset speed is preferably 70% of the original bone grinding speed, and the preset speed can be set by a clinician according to needs. Illustratively, the thickness of the bone to be ground is 5 units, the preset thickness threshold is 3 units, and when it is detected that the thickness of the ground bone corresponding to the current position reaches 3 units (see fig. 4), the bone grinding speed of the bone grinding tool is reduced to 70% of the original speed, so as to improve the sensing accuracy and the control force of a clinician on the bone grinding operation.

In some embodiments, reducing the bone-milling speed of the bone-milling tool based on the thickness of the milled bone corresponding to the current location comprises: before the current feedback force shows that the bone grinding tool reaches the bone grinding boundary, if the position information corresponding to the preset thickness threshold value fails to be acquired and the thickness of the ground bone corresponding to the current position is larger than the preset thickness threshold value, the bone grinding speed of the bone grinding tool is reduced to a second preset speed, wherein the second preset speed is smaller than or equal to the first preset speed. Illustratively, the thickness of the bone to be removed is 5 units, the preset thickness threshold is 2.5 units of thickness, and the first preset speed is V1. When the bone grinding tool moves to the position corresponding to the thickness of the 2.5 units, the optical tracking array on the bone grinding tool is shielded, and the binocular navigation device cannot acquire the current position of the bone grinding tool through positioning the optical tracking array, so that the controller controls the bone grinding tool to continue to perform bone grinding operation until the optical tracking array on the bone grinding tool reenters the visual field of the binocular navigation device. The binocular navigation device obtains the current position of the bone grinding tool again through the positioning optical tracking array, and if the thickness of the ground bone corresponding to the current position is 3.5 units, the bone grinding speed of the bone grinding tool is reduced to a second preset speed V2, and V2 is less than or equal to V1.

In some embodiments, when it is detected that the binocular navigation device cannot acquire the current position of the bone grinding tool by positioning the optical tracking array, the display device 24 outputs prompt information for prompting positioning failure until the optical tracking array reappears in the binocular navigation device, that is, the binocular navigation device resumes tracking the current position of the bone grinding tool according to the optical tracking array, and then the prompt information output by the display device is replaced with the current position information of the bone grinding tool. The current position information output by the display device can enable a doctor to relieve a bone grinding process at any time, and the prompt information output by the display device can enable the doctor to timely adjust the bone grinding tool as required so that the optical tracking array reappears in the binocular navigation device, and the binocular navigation device can enable the bone grinding tool to be positioned again according to the optical tracking array.

In some embodiments, the alarm information may be issued by a separate alarm device 25. When detecting that the binocular navigation device cannot acquire the current position of the bone grinding tool through the positioning optical tracking array, controlling the alarm device 25 to output alarm information for prompting the positioning failure of the terminal tool so as to enable a doctor to adjust the bone grinding tool in time, and enabling the optical tracking array to reappear in the binocular navigation device; when detecting that the binocular navigation device acquires the current position of the bone grinding tool again according to the optical tracking array, controlling the alarm device 25 to stop outputting alarm information; or when detecting that the binocular navigation device cannot acquire the current position of the bone grinding tool through the positioning optical tracking array, controlling the alarm device to output alarm information for prompting the positioning failure of the terminal tool; and when the binocular navigation device is detected to obtain the current position of the bone grinding tool again according to the optical tracking array, controlling the alarm device to output second alarm information for prompting positioning recovery.

In some embodiments, reducing the bone-milling speed of the bone-milling tool based on the thickness of the milled bone corresponding to the current location comprises: and gradually reducing the bone grinding speed of the bone grinding tool according to the ground bone thickness corresponding to the current position, or gradually reducing the bone grinding speed of the bone grinding tool according to the ratio of the ground bone thickness corresponding to the current position to the bone thickness to be ground. The reduction mode of the bone grinding speed can be linear or nonlinear.

As shown in fig. 4, in the bone grinding process of the bone substance to be ground, when the bone grinding tool performs a bone grinding operation at the joint of the cortical bone and the cancellous bone at the inner side of the bone substance to be ground, the current feedback force reaches a first peak value F1; when the bone grinding tool carries out bone grinding operation on the spongy bone and the outer compact bone to be ground, the current feedback force reaches a second peak value F2.

When the current feedback force falls back from the second peak value F2, the fact that the bone grinding tool just reaches the outer compact bone serving as a bone grinding boundary can be determined, meanwhile, a brake signal is output to the bone grinding tool, so that the bone grinding signal stops bone grinding operation, the bone grinding tool is prevented from grinding through the outer compact bone to be ground, organs at the rear of the bone to be ground are injured, and accuracy and safety of the bone grinding operation are improved.

In some embodiments, the controller, upon detecting that the bone milling tool reaches the bone milling boundary, outputs an end signal for prompting the end of the bone milling to the prompting device simultaneously with the output of the brake signal to the bone milling tool. The end signal is preferably, but not limited to, a sound signal.

It should be noted that, in the whole bone grinding operation process, reducing the bone grinding speed of the bone grinding tool or performing the braking operation on the bone grinding tool is the prompt information of the bone grinding process, and the clinician is not advised to rely on the system completely, but to believe the clinical experience of the clinician. If the system automatically stops the bone grinding operation of the bone grinding tool, the system still needs to check and judge whether the current bone grinding position is the bone grinding boundary, if the clinical experience tells that the current bone grinding operation reaches the bone grinding boundary, but the system does not stop the bone grinding tool, the system can automatically stop the bone grinding tool and check whether the current bone grinding boundary is reached, if so, the subsequent operation steps are executed, if not, the bone grinding operation can be continued, so that the situation that the bone grinding boundary is worn due to the failure of the feedback force acquisition module is prevented.

According to the technical scheme of the control method of the bone grinding system, the current position and the current feedback force of the bone grinding tool in the bone grinding process of a bone to be ground are respectively obtained through the position obtaining mechanism and the force sensor, and the bone grinding speed of the bone grinding tool is reduced according to the ground bone thickness corresponding to the current position, so that the risk that the bone grinding tool grinds through a bone grinding boundary is reduced, and the bone grinding hand feeling of a clinician is improved; when the current feedback force is detected to display that the bone grinding tool reaches the bone grinding boundary, a brake signal for braking the bone grinding tool is output, so that when the bone grinding tool just reaches the bone grinding boundary and a clinician does not perform brake operation on the bone grinding tool, the bone grinding operation of the bone grinding tool is automatically stopped, the bone grinding tool can be effectively prevented from grinding the bone grinding boundary and injuring organs at the back of the bone grinding boundary; the accuracy and the safety of the bone grinding operation are guaranteed through two modes of speed reduction and emergency braking, and the bone grinding hand feeling of different bone grinding stages is quickened to be obtained by a clinician.

Example two

Fig. 5 is a block diagram of a bone removal system according to an embodiment of the present invention. The system is used for executing the control method of the bone grinding system provided by any of the above embodiments, the system comprises a position acquisition mechanism 21, a force sensor 22 and a controller 23, the position acquisition mechanism 21 is used for acquiring the current position of the bone grinding tool in the bone grinding process of the bone to be ground; the force sensor 22 is used for acquiring the current feedback force of the bone grinding tool in the bone grinding process of the bone to be ground; the controller 23 is configured to reduce a bone grinding speed of the bone grinding tool according to a thickness of ground bone corresponding to the current position, and/or output a braking signal for braking the bone grinding tool when the current feedback force is detected to indicate that the bone grinding tool reaches a bone grinding boundary.

Taking a skull base lesion surgical robot as an example, when the surgical robot is used for operation, the bone grinding tool 01 needs to grind and remove the posterior wall of the sphenoid sinus through the nasopharynx cavity 11, as shown in fig. 2 and 3. In the operation, the posterior wall 121 of the sphenoid sinus 12 is the bone to be abraded, and the bone abrasion boundary is the outer compact bone of the posterior wall of the sphenoid sinus. Organs at risk 13, such as important anatomical structures such as adenohypophysis, pituitary handle, carotid artery blood vessel and the like, are distributed behind the outer compact bone, so the bone grinding operation must ensure that the outer compact bone of the sphenoid sinus posterior wall cannot be ground through, otherwise, the risk of postoperative infection of a patient is increased due to the fact that the anatomical structures around the bone to be ground are damaged in the operation, and even the condition of operation failure occurs.

The bone grinding tool is a bone grinding tool commonly used in clinic, such as an intracerebral endoscope or a basis cranii endoscope (see fig. 2), a bone grinding drill (see fig. 3) and the like.

The position acquisition module comprises a binocular navigation device, and the binocular navigation device is used for determining the current position of the bone grinding tool through an optical tracking array which is positioned at the tail end of the bone grinding tool. It can be understood that if the optical tracking array arranged at the end of the bone grinding tool is blocked during the bone grinding process of the bone to be ground, the binocular navigation device cannot acquire the corresponding position information until the optical tracking array returns to the visual field of the binocular navigation device.

The system comprises a mechanical arm for driving the bone grinding tool to grind bones and a force sensor arranged on the mechanical arm. The user drags the bone grinding tool through the mechanical arm to grind the bone. The bone grinding tool can receive the reaction force, namely the feedback force, of the bone to be ground in the process of grinding the bone to be ground. Since the bone milling tool is mounted to the end of the robotic arm, the force sensor provided on the robotic arm may also sense the feedback force. Among them, the force sensor in the present embodiment is preferably a six-dimensional force sensor.

The bone to be ground is the same as all bone structures, including compact bones on two sides and cancellous bones between the compact bones on two sides. Wherein the density of compact bone is greater than that of cancellous bone, and therefore the feedback force experienced by the bone milling tool when milling compact bone is greater than that experienced when milling cancellous bone.

In the bone grinding process, the bone grinding tool starts to grind bones from dense bones at the inner side of bones to be ground, and the feedback force received by the bone grinding tool in the bone grinding process is detected in real time through the force sensor. As shown in fig. 4, when it is detected that the feedback force applied to the bone grinding tool has fallen from the first peak value, it is determined that the bone grinding tool has entered the middle cancellous bone from the inner cortical bone, and when it is detected that the feedback force applied to the bone grinding tool has fallen from the second peak value, it is determined that the bone grinding tool has entered the outer cortical bone from the middle cancellous bone, that is, immediately after the bone grinding tool reaches the bone grinding boundary, a brake signal for braking the bone grinding tool should be output to the bone grinding tool. The technical effects of determining the moment when the bone grinding tool enters into another bone part from one bone part and performing the setting operation on the bone grinding tool at the expected moment according to the change information of the feedback force received by the bone grinding tool in the process of grinding the bone to be ground are achieved.

In one embodiment, a braking signal for braking the bone grinding tool is output upon detecting that the current feedback force falls back from a set peak value. Is suitable for the condition that the corresponding feedback force signal fails to acquire when the bone grinding tool grinds the compact bone at the inner side. Because the bone grinding tool must pass through the cancellous bone to reach the outer cortical bone, when the current feedback force is detected to be maintained in the low value interval for a period of time, the bone grinding tool is used for grinding the cancellous bone in the period of time; when the feedback force applied to the bone grinding tool is detected to be greatly increased, the bone grinding tool is close to the outer compact bone, and when the feedback force applied to the bone grinding tool is detected to be increased to a certain peak value and starts to fall back, the bone grinding tool is used for grinding the outer compact bone, namely the bone grinding tool reaches the bone grinding boundary, and the bone grinding operation needs to be stopped immediately.

The present embodiment preferably arranges an optical tracking array at the end of the bone grinding tool, and determines the current position of the bone grinding tool by positioning the optical tracking array through the navigation device, so as to obtain the real-time position of the bone grinding tool in the bone grinding process. It will be appreciated that the current abraded bone thickness may be determined based on the initial position of the bone abrading tool at the beginning of the bone abrading operation and the current position of the bone abrading tool. Among them, the navigation device is preferably, but not limited to, a binocular navigation device.

It will be appreciated that as the bone milling operation progresses, the higher the bone milling speed of the bone milling tool, the greater the likelihood that the organs-at-risk surrounding the bone to be milled are compromised, and conversely, the lesser the likelihood that the organs-at-risk surrounding the bone to be milled are compromised. For this reason, the present embodiment reduces the bone grinding speed of the bone grinding tool according to the ground bone thickness corresponding to the current position, or reduces the bone grinding speed of the bone grinding tool according to the ratio of the ground bone thickness corresponding to the current position to the bone thickness to be ground, thereby improving the accuracy of the bone grinding operation and reducing the possibility of endangering organs. Moreover, the bone grinding speed of the bone grinding tool is reduced, the sensing accuracy of a clinician on the bone grinding operation and the control force of the bone grinding operation can be improved, and the improvement of the sensing accuracy and the control force is beneficial to the improvement of the accuracy of the bone grinding operation.

The method for acquiring the thickness of the bone to be ground comprises the following steps: acquiring medical image data of a target object containing bone to be ground, such as Computed Tomography (CT) data, and determining the thickness of the bone to be ground according to the medical image data. Wherein, the corresponding layer thickness of the medical image data should be less than or equal to 1.5mm to meet the precision requirement of bone grinding. It will be appreciated that after the thickness of bone to be removed and the thickness of bone to be removed are determined, the ratio of the thickness of bone removed to the thickness of bone to be removed can be determined.

In some embodiments, reducing the bone-milling speed of the bone-milling tool based on the thickness of the milled bone corresponding to the current location comprises: and when the thickness of the ground bone corresponding to the current position is detected to reach a preset thickness threshold value, reducing the bone grinding speed of the bone grinding tool to a first preset speed. The preset thickness threshold value is distributed between 50% and 60% of the thickness of the bone to be ground, the first preset speed is preferably 70% of the original bone grinding speed, and the preset speed can be set by a clinician according to needs. Illustratively, the thickness of the bone to be ground is 5 units, the preset thickness threshold is 3 units, and when it is detected that the thickness of the ground bone corresponding to the current position reaches 3 units (see fig. 4), the bone grinding speed of the bone grinding tool is reduced to 70% of the original speed, so as to improve the sensing accuracy and the control force of a clinician on the bone grinding operation.

In some embodiments, reducing the bone-milling speed of the bone-milling tool based on the thickness of the milled bone corresponding to the current location comprises: before the current feedback force shows that the bone grinding tool reaches the bone grinding boundary, if the position information corresponding to the preset thickness threshold value fails to be acquired and the thickness of the ground bone corresponding to the current position is larger than the preset thickness threshold value, the bone grinding speed of the bone grinding tool is reduced to a second preset speed, wherein the second preset speed is larger than or equal to the first preset speed. Illustratively, the thickness of the bone to be removed is 5 units, the preset thickness threshold is 2.5 units of thickness, and the first preset speed is V1. When the bone grinding tool moves to the position corresponding to the thickness of the 2.5 units, the optical tracking array on the bone grinding tool is shielded, and the binocular navigation device cannot acquire the current position of the bone grinding tool through the positioning optical tracking array, so that the controller controls the bone grinding tool to continue to execute the bone grinding operation until the optical tracking array on the bone grinding tool enters the visual field of the binocular navigation device again. The binocular navigation device obtains the current position of the bone grinding tool through the positioning optical tracking array, and if the thickness of the ground bone corresponding to the current position is 3.5 units, the bone grinding speed of the bone grinding tool is reduced to a second preset speed V2, and V2 is less than or equal to V1.

In some embodiments, when it is detected that the binocular navigation device cannot acquire the current position of the bone grinding tool by positioning the optical tracking array, the display device 24 (see fig. 6) outputs prompt information for prompting the positioning failure until the optical tracking array reappears in the binocular navigation device, that is, the binocular navigation device tracks the current position of the bone grinding tool again according to the optical tracking array, and then the prompt information output by the display device is replaced with the current position information of the bone grinding tool. The current position information output by the display device can enable a doctor to relieve a bone grinding process at any time, and the prompt information output by the display device can enable the doctor to timely adjust the bone grinding tool as required so that the optical tracking array reappears in the binocular navigation device, and the binocular navigation device can enable the bone grinding tool to be positioned again according to the optical tracking array.

In some embodiments, the alarm information may be issued by a separate alarm device 25. When detecting that the binocular navigation device cannot acquire the current position of the bone grinding tool through the positioning optical tracking array, controlling the alarm device 25 to output alarm information for prompting the positioning failure of the terminal tool so as to enable a doctor to adjust the bone grinding tool in time, and enabling the optical tracking array to reappear in the binocular navigation device; when detecting that the binocular navigation device acquires the current position of the bone grinding tool again according to the optical tracking array, controlling the alarm device 25 to stop outputting alarm information; or when detecting that the binocular navigation device cannot acquire the current position of the bone grinding tool through the positioning optical tracking array, controlling the alarm device to output alarm information for prompting the positioning failure of the terminal tool; and when the binocular navigation device is detected to obtain the current position of the bone grinding tool again according to the optical tracking array, controlling the alarm device to output second alarm information for prompting positioning recovery.

In some embodiments, reducing the bone-milling speed of the bone-milling tool based on the thickness of the milled bone corresponding to the current location comprises: and gradually reducing the bone grinding speed of the bone grinding tool according to the ground bone thickness corresponding to the current position, or gradually reducing the bone grinding speed of the bone grinding tool according to the ratio of the ground bone thickness corresponding to the current position to the bone thickness to be ground. The reduction mode of the bone grinding speed can be linear or nonlinear. For the nonlinear bone grinding speed reduction mode, when the ratio of the thickness of the grinded bone to the thickness of the bone to be grinded is increased by M percentage points, the bone grinding speed is reduced by N percentage points, and N is less than M, so that the bone grinding tool can perform bone grinding operation when reaching the vicinity of the bone grinding boundary.

As shown in fig. 4, in the bone grinding process of the bone substance to be ground, when the bone grinding tool performs a bone grinding operation at the joint of the cortical bone and the cancellous bone at the inner side of the bone substance to be ground, the current feedback force reaches a first peak value F1; when the bone grinding tool carries out bone grinding operation on the spongy bone and the outer compact bone to be ground, the current feedback force reaches a second peak value F2.

When the current feedback force falls back from the second peak value F2, the fact that the bone grinding tool just reaches the outer compact bone serving as a bone grinding boundary can be determined, meanwhile, a brake signal is output to the bone grinding tool, so that the bone grinding signal stops bone grinding operation, the bone grinding tool is prevented from grinding through the outer compact bone to be ground, organs at the rear of the bone to be ground are injured, and accuracy and safety of the bone grinding operation are improved.

In some embodiments, the controller, upon detecting that the bone milling tool reaches the bone milling boundary, outputs an end signal for prompting the end of the bone milling to the prompting device simultaneously with the output of the brake signal to the bone milling tool. The end signal is preferably, but not limited to, a sound signal.

According to the technical scheme of the bone grinding system provided by the embodiment of the invention, the current position of the bone grinding tool is obtained in real time in the process of grinding the bone to be ground by the bone grinding tool through the position obtaining mechanism; acquiring current feedback force sensed by the bone grinding tool in the process of grinding the bone to be ground through a force sensor; the bone grinding speed of the bone grinding tool is reduced through the controller according to the thickness of the ground bone corresponding to the current position, so that the risk that the bone grinding tool grinds through the bone grinding boundary is reduced, and the grinding hand feeling of a clinician is improved; when the current feedback force is detected to display that the bone grinding tool reaches the bone grinding boundary, a brake signal for braking the bone grinding tool is output, so that when the bone grinding tool just reaches the bone grinding boundary and a clinician does not perform brake operation on the bone grinding tool, the bone grinding operation of the bone grinding tool is automatically stopped, the bone grinding tool can be effectively prevented from grinding the bone grinding boundary and injuring organs at the back of the bone grinding boundary; the accuracy and the safety of the bone grinding operation are guaranteed through two modes of speed reduction and emergency braking, and the bone grinding hand feeling of different bone grinding stages is quickened to be obtained by a clinician.

The bone grinding system provided by the embodiment of the invention can execute the control method of the bone grinding system provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

The system further comprises a memory 26 and an input device 27; the number of the controllers 23 in the device may be one or more, and one controller 23 is taken as an example in fig. 6; the controller 23, the memory 26, the input device 27 and the display device 24 of the apparatus may be connected by a bus or other means, and the bus connection is exemplified in fig. 6.

The memory 26 is a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the bone removal guiding method in the embodiment of the present invention. The controller 23 executes various functional applications of the device and data processing by executing software programs, instructions and modules stored in the memory 26, so as to realize the control method of the bone milling system.

The memory 26 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 26 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 26 may further include memory located remotely from the controller 23, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 27 may be used to receive input numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus.

The display device 24 may include a display device such as a display screen for outputting at least a prompt for the bone grinding process and position data of the bone grinding tool, for example, a display screen of a user terminal.

EXAMPLE III

An embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method of controlling a bone removal system, the method including:

respectively acquiring the current position and the current feedback force of the bone grinding tool in the bone grinding process of the bone to be ground through a position acquisition mechanism and a force sensor;

reducing the bone grinding speed of the bone grinding tool according to the ground bone thickness corresponding to the current position, and/or outputting a braking signal for braking the bone grinding tool when the current feedback force is detected to display that the bone grinding tool reaches a bone grinding boundary

Of course, the embodiment of the present invention provides a storage medium containing computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and can also perform related operations in the bone removal guiding method provided by any embodiment of the present invention.

From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the method for controlling the bone removal system according to the embodiments of the present invention.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.