Control method for controlling a robot for orthopedic surgery

Patent metadata

Field	Value
Publication number	US-11045264-B2
Application number	US-201715397742-A
Country	US
Kind code	B2
Filing date	Jan 4, 2017
Priority date	Dec 30, 2013
Publication date	Jun 29, 2021
Grant date	Jun 29, 2021

Abstract

The present invention provides a handheld robot for orthopedic surgery and a control method thereof. The handheld robot of the present invention includes a main body, a grip, a kinematic mechanism, a tool connector, a tool, a force sensor and a positioning unit. The handheld robot of the present invention combines the position/orientation information of the tool acquired by the positioning unit with the force/torque information acquired by the force sensor, and utilizes the combined information to adjust the position of the tool so as to keep the tool within the range/path of a predetermined operation plan. In this way, the precision of the orthopedic surgery can be enhanced, and the error occurred during the surgery can be minimized.

First claim

What is claimed is:

1. A control method for controlling a robot, comprising:
receiving an operation plan with a predetermined range, a predetermined path, or a combination thereof;
measuring a deviation force, a deviation torque, or a combination thereof that is generated between a threaded segment and a non-threaded segment of a tool and deviates the tool from the predetermined range, the predetermined path, or the combination thereof, of the received operation plan; and
adjusting at least one of the position and the orientation of the tool based on the measured deviation force, the measured deviation torque, or the combination thereof, so as to keep the tool within the predetermined range, the predetermined path, or the combination thereof, of the received operation plan.

2. The method according to claim 1 , further comprising:
acquiring position information, orientation information, or a combination thereof, of the tool; and
adjusting at least one of the position and the orientation of the tool based on the acquired position information, the acquired orientation information, or the combination thereof, so as to keep the tool within the predetermined range, the predetermined path, or the combination thereof, of the received operation plan.

3. The method according to claim 2 , further comprising combining the acquired position information, the acquired orientation information, or the combination thereof with the measured deviation force, the measured deviation torque, or the combination thereof, wherein the adjusting steps are performed based on result information of the combining.

4. The method according to claim 1 , wherein when the robot is used for drilling, the deviation force, the deviation torque, or the combination thereof includes a force, a torque, or a combination thereof orthogonal to an axial direction of the tool.

5. The method according to claim 1 , wherein when the robot is used for drilling, the method further comprises calculating a drilling force, a drilling torque, or a combination thereof which is parallel to an axial direction of the tool to determine if the drilling is completed.

6. The method according to claim 1 , wherein when the robot is used for cutting, the deviation force, the deviation torque, or the combination thereof includes a force parallel to a normal vector of a cutting surface, and includes two torques that are orthogonal to the normal vector of the cutting surface.

7. The method according to claim 1 , wherein when the robot is used for cutting, the method further comprises calculating a combination of a cutting force and a cutting torque which includes a force parallel to a cutting surface and a torque orthogonal to the cutting surface to determine if the cutting is completed.

8. A control method for controlling a robot, comprising:
receiving an operation plan with a predetermined range, a predetermined path, or a combination thereof;
measuring a force, a torque, or a combination thereof that is generated between a threaded segment and a non-threaded segment of a tool;
calculating at least one of the measured force and the measured torque orthogonal to an axial direction of the tool that deviates the tool from the predetermined range, the predetermined path, or the combination thereof, of the received operation plan; and
adjusting at least one of a position and an orientation of the tool to minimize a calculated deviation force, a calculated deviation torque, or a combination thereof, so as to keep the tool within the predetermined range, the predetermined path, or the combination thereof, of the received operation plan.

9. The method according to claim 8 , further comprising calculating at least one of a drilling force parallel to the axial direction of the tool and a drilling torque parallel to the axial direction of the tool, to determine if a drilling is completed.

10. The method according to claim 8 , further comprising:
acquiring position information, orientation information, or a combination thereof, of the tool; and
adjusting at least one of the position and the orientation of the tool based on the acquired position information, the acquired orientation information, or the combination thereof, so as to keep the tool within the predetermined range, the predetermined path, or the combination thereof, of the received operation plan.

11. The method according to claim 10 , further comprising combining the acquired position information, the acquired orientation information, or the combination thereof with the measured force, the measured torque, or the combination thereof, wherein the adjusting steps are performed based on result information of the combining.

12. A control method for controlling a robot, comprising:
receiving an operation plan with a predetermined range, a predetermined path, or a combination thereof;
measuring a force, a torque, or a combination thereof that is generated between a threaded segment and a non-threaded segment of a tool;
calculating the measured force parallel to a normal vector of a cutting surface and two torques orthogonal to the normal vector of the cutting surface that deviate the tool from the predetermined range, the predetermined path, or the combination thereof, of the received operation plan; and
adjusting at least one of a position and an orientation of a tool to minimize a calculated deviation force, calculated deviation torques, or a combination thereof, so as to keep the tool within the predetermined range, the predetermined path, or the combination thereof, of the received operation plan.

13. The method according to claim 12 , further comprising calculating at least one of a cutting force parallel to the cutting surface and a cutting torque orthogonal to the cutting surface, to determine if a cutting is completed.

14. The method according to claim 12 , further comprising:
acquiring position information, orientation information, or a combination thereof, of the tool; and
adjusting at least one of the position and the orientation of the tool based on the acquired position information, the acquired orientation information, or the combination thereof, so as to keep the tool within the predetermined range, the predetermined path, or the combination thereof, of the received operation plan.

15. The method according to claim 14 , further comprising combining the acquired position information, the acquired orientation information, or the combination thereof with the measured force, the measured torques, or the combination thereof, wherein the adjusting steps are performed based on result information of the combining.

Assignees

• Univ Nat Taiwan
• Taipei Tzu Chi Hospital Buddhist Tzu Chi Medical Found

Inventors

• Yen Ping-Lang
• Hung Shuo-Suei

Classifications

• G05B15/02

  electric · CPC title

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title

• A61B34/30 Primary

  Surgical robots · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B17/1622

  Drill handpieces (A61B17/1626, A61B17/1628 take precedence) · CPC title