1. An automatic cutting stop device for fibula cutting, characterized in that the device comprises:

the device comprises an acquisition module, a cutting module and a control module, wherein the acquisition module is used for determining the diameter of the fibula according to a preoperative medical image and a preoperative planning scheme, respectively recording the initial cutting position in the cutting process executed according to the preoperative planning scheme, simultaneously recording the current cutting position and the corresponding current cutting force in real time, and continuously updating the maximum cutting force in the cutting process;

the threshold module is used for determining a real-time dynamic cutting threshold according to a cutting force curve, a current cutting position, a current cutting force, a fibula diameter and a maximum cutting force in the cutting process executed according to the preoperative planning scheme;

the judging module is used for judging whether the ratio of the current cutting force to the maximum cutting force exceeds a current cutting threshold value or not; if not, continuing to perform cutting according to the preoperative planning scheme; if so, judging whether the distance between the current cutting position and the initial cutting position is larger than a numerical value obtained by multiplying a preset coefficient by the diameter of the fibula; if so, sending a stopping command to stop cutting by the osteotomy saw.

2. The fibula cutting automatic knife stopping device according to claim 1, wherein the cutting threshold is:

according to the characteristics of a cutting force curve that when the osteotomy saw is in contact with the fibula, the cutting force can be rapidly increased from 0, and when the osteotomy saw is used for sawing off the fibula, the cutting force can be rapidly decreased, the position of an incision point which is actually in contact with the fibula is obtained;

wherein, X_TThe position of the incision point actually contacting the fibula; f (x) is a cutting force curve; x is the current position; d is the diameter of the fibula;

based on X_TObtaining a cutting threshold value:

wherein T is the cutting threshold, F_maxIs the maximum cutting force.

3. The fibula cutting automatic cutter stopping device according to claim 1, wherein the current cutting force is obtained by force feedback in a plurality of different directions obtained by a plurality of force sensors arranged on a fibula clamp during cutting; wherein the fibula is clamped by the fibula clamp and remains stationary during cutting.

4. The fibula cutting automatic tool stopping device according to claim 3, wherein gravity compensation is performed according to the weight of the fibula before the current cutting force is obtained according to the force feedback of a plurality of different directions.

5. The fibula cutting automatic knife stop device of claim 3, wherein the current cutting force is:

wherein, F_CIs the current cutting force; f_iForce feedback for different positions; n is the amount of force feedback.

6. The fibula cutting automatic knife stopping device according to claim 1, wherein the preset coefficient is less than 1.

7. A computer device, the device comprising: a memory, a processor, and a communicator; the memory is to store computer instructions; the processor executes computer instructions to realize the functions of the fibula cutting automatic cutter stopping device as claimed in any one of claims 1 to 6; the communicator is used for being in communication connection with the osteotomy saw so as to send a stopping instruction for stopping cutting to the osteotomy saw; and a communication interface for communicating with the fibula clamp to obtain real-time cutting force provided thereby.

8. An automatic cutting stop system for cutting a fibula, the system comprising:

the computer device of claim 6;

the osteotomy saw is communicated with the computer equipment and used for cutting the fibula and stopping cutting when receiving a stopping instruction sent by the computer equipment;

the fibula clamp is in communication connection with the computer equipment and used for clamping a fibula, a plurality of force sensors are arranged on the fibula clamp, and cutting force in the cutting process is fed back to the computer equipment in real time according to the principle of reaction force.

9. A computer readable storage medium storing computer instructions which when executed perform the functions of the fibula cutting automatic shut down device as claimed in any one of claims 1 to 6.

Background

In the inferior maxilla operation of fibula flap reconstruction of vascularization transplantation, because fibula companion blood vessel is located the fibula inboard, and is about 3 ~ 5mm with the fibula distance, after the fibula flap is cut open, must cut off the sword immediately and avoid the cutting edge to contact the blood vessel, ensure that the blood vessel does not receive the destruction. The surgical robot becomes one of means for assisting a doctor to complete the vascularization fibula shaping due to the characteristics of accuracy, stability and the like. The surgical robot is precisely positioned to the preoperative planned position and cuts the fibula. At present, most mandibular surgery robots use an optical navigation positioning instrument to control the position of the osteotomy [1-3], and the surgical precision (the error between the length of the osteotomy and the corresponding fibula planned by the surgical planning) is 3.7 + -2.0 mm [1] and 1.36 + -0.4 mm [3 ]. From the viewpoint of positioning accuracy, a surgical robot guided by an optical positioning system runs the risk of damaging blood vessels. Moreover, at present, there is little research on automatic cutting stop of robot osteotomy.

In order to solve the problems, the application provides an automatic cutting stopping method for a surgical robot to cut a fibula based on force sensing according to the characteristic that cutting force can be obviously reduced when the fibula is cut off by a surgical saw.

Reference documents:

[1]R.Johansson,I.Santelices,D.O’Connell,M.Tavakoli,and D.Aalto,“Evaluation of the use of haptic virtual fixtures to guide fibula osteotomies in mandible reconstruction surgery,”in IEEE 15th International Conference on Automation Science and Engineering,2019.

[2]L.Cheng,J.Carriere,J.Piwowarczyk,D.Aalto,N.Zemiti,M.de Boutray,and M.Tavakoli,“Admittance-controlled robotic assistant for fibula osteotomies in mandible reconstruction surgery,”Advanced Intelligent Systems,vol.3,no.1,p.2000158,2021.

[3]A.H.Chao,K.Weimer,J.Raczkowsky,Y.Zhang,M.Kunze,D.Cody,J.C.Selber,M.M.Hanasono,and R.J.Skoracki,“Pre-programmed robotic osteotomies for fibula free flap mandible reconstruction:A preclinical investigation,”Microsurgery,vol.36,no.3,pp.246–249,2016.

disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, the present application aims to provide an automatic cutting stop device, a computer device, a system and a medium for fibula cutting, so as to solve the problem that the surgical robot guided by the existing optical positioning system has the risk of damaging blood vessels when cutting the fibula.

To achieve the above and other related objects, the present application provides a fibula cutting automatic cutter stopping device, comprising: the device comprises an acquisition module, a cutting module and a control module, wherein the acquisition module is used for determining the diameter of the fibula according to a preoperative medical image and a preoperative planning scheme, respectively recording the initial cutting position in the cutting process executed according to the preoperative planning scheme, simultaneously recording the current cutting position and the corresponding current cutting force in real time, and continuously updating the maximum cutting force in the cutting process; the threshold module is used for determining a real-time dynamic cutting threshold according to a cutting force curve, a current cutting position, a current cutting force, a fibula diameter and a maximum cutting force in the cutting process executed according to the preoperative planning scheme; the judging module is used for judging whether the ratio of the current cutting force to the maximum cutting force exceeds a current cutting threshold value or not; if not, continuing to perform cutting according to the preoperative planning scheme; if so, judging whether the distance between the current cutting position and the initial cutting position is larger than a numerical value obtained by multiplying a preset coefficient by the diameter of the fibula; if so, sending a stopping command to stop cutting by the osteotomy saw.

In an embodiment of the present application, the cutting threshold is: according to the osteotomy saw and fibulaWhen the fibula is sawn off by the osteotomy saw, the cutting force can be rapidly increased from 0, and the actual position of the incision point contacting the fibula is obtained by the characteristic of the cutting force curve that the cutting force can be rapidly reduced;wherein, X_TThe position of the incision point actually contacting the fibula; f (x) is a cutting force curve; x is the current position; d is the diameter of the fibula; based on X_TObtaining a cutting threshold value:wherein T is the cutting threshold, F_maxIs the maximum cutting force.

In an embodiment of the present application, the current cutting force is obtained by force feedback in a plurality of different directions obtained by a plurality of force sensors provided on the fibula fixture during cutting; wherein the fibula is clamped by the fibula clamp and remains stationary during cutting.

In an embodiment of the present application, before the current cutting force is obtained according to the force feedback in the plurality of different directions, gravity compensation is performed according to a fibula weight.

In an embodiment of the present application, the current cutting force is:wherein, F_CIs the current cutting force; f_iForce feedback for different positions; n is the amount of force feedback.

In an embodiment of the present application, the predetermined coefficient is smaller than 1.

To achieve the above and other related objects, there is provided an apparatus including: a memory, a processor, and a communicator; the memory is to store computer instructions; the processor runs computer instructions to realize the functions of the fibula cutting automatic cutter stopping device; the communicator is used for being in communication connection with the osteotomy saw so as to send a stopping instruction for stopping cutting to the osteotomy saw; and a communication interface for communicating with the fibula clamp to obtain real-time cutting force provided thereby.

To achieve the above and other related objects, the present application provides an automatic cutting stop system for cutting a fibula, the system comprising: a computer device as described above; the osteotomy saw is communicated with the computer equipment and used for cutting the fibula and stopping cutting when receiving a stopping instruction sent by the computer equipment; the fibula clamp is in communication connection with the computer equipment and used for clamping a fibula, a plurality of force sensors are arranged on the fibula clamp, and cutting force in the cutting process is fed back to the computer equipment in real time according to the principle of reaction force.

To achieve the above and other related objects, the present application provides a computer-readable storage medium storing computer instructions that, when executed, perform the functions of the fibula cutting automatic shut down device as described above.

In summary, the application provides a fibula cutting automatic tool stopping device, computer equipment, system and medium, the device includes: the device comprises an acquisition module, a cutting module and a control module, wherein the acquisition module is used for determining the diameter of the fibula according to a preoperative medical image and a preoperative planning scheme, respectively recording the initial cutting position in the cutting process executed according to the preoperative planning scheme, simultaneously recording the current cutting position and the corresponding current cutting force in real time, and continuously updating the maximum cutting force in the cutting process; the threshold module is used for determining a real-time dynamic cutting threshold according to a cutting force curve, a current cutting position, a current cutting force, a fibula diameter and a maximum cutting force in the cutting process executed according to the preoperative planning scheme; the judging module is used for judging whether the ratio of the current cutting force to the maximum cutting force exceeds a current cutting threshold value or not; if not, continuing to perform cutting according to the preoperative planning scheme; if so, judging whether the distance between the current cutting position and the initial cutting position is larger than a numerical value obtained by multiplying a preset coefficient by the diameter of the fibula; if so, sending a stopping command to stop cutting by the osteotomy saw.

Has the following beneficial effects:

the application provides a technical scheme of automatic tool stopping for shaping fibula, can avoid the vascular destruction in shaping process, greatly improves the success rate of operation, simultaneously through increasing the force feedback signal, can greatly improve control system's robustness.

Drawings

Fig. 1 is a block diagram of an automatic cutting stop device for fibula cutting according to an embodiment of the present invention.

Fig. 2 is a schematic structural view of a fibula clamp according to an embodiment of the present invention.

Fig. 3 is a schematic view illustrating a fibula cutting scenario in an embodiment of the present application.

Fig. 4 is a schematic diagram of a model of the variation of the cutting force according to an embodiment of the present invention.

FIG. 5 is a flow chart illustrating a decision control according to an embodiment of the present application.

FIG. 6 is a model diagram illustrating the variation of the cutting force according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram illustrating an automatic cutting stop system for cutting fibula according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only schematic and illustrate the basic idea of the present application, and although the drawings only show the components related to the present application and are not drawn according to the number, shape and size of the components in actual implementation, the type, quantity and proportion of the components in actual implementation may be changed at will, and the layout of the components may be more complex.

Throughout the specification, when a part is referred to as being "connected" to another part, this includes not only a case of being "directly connected" but also a case of being "indirectly connected" with another element interposed therebetween. In addition, when a certain part is referred to as "including" a certain component, unless otherwise stated, other components are not excluded, but it means that other components may be included.

The terms first, second, third, etc. are used herein to describe various elements, components, regions, layers and/or sections, but are not limited thereto. These terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the scope of the present application.

Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," and/or "comprising," when used in this specification, specify the presence of stated features, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, operations, elements, components, items, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions or operations are inherently mutually exclusive in some way.

In order to solve the problem that the surgical robot guided by the optical positioning system has the risk of damaging blood vessels when cutting the fibula, the surgical robot guided by the optical positioning system has the risk of damaging the blood vessels.

Fig. 1 is a block diagram of an automatic cutting stop device for fibula cutting in an embodiment of the present application. As shown, the apparatus 100 includes:

the obtaining module 110 is configured to determine a fibula diameter according to the preoperative medical image and the preoperative planning scheme, respectively record a cutting initial position during a cutting process performed according to the preoperative planning scheme, record a current cutting position and a corresponding current cutting force in real time, and continuously update a maximum cutting force during the cutting process.

In brief, when cutting the fibula, a preoperative medical image is taken and a preoperative planning scheme is formulated. Since the fibula is still provided with blood vessels and muscle tissue during the actual fibula cutting process, the complete cutting process also includes a tissue portion other than the bone portion; in addition, the fibula diameter in this application is not the maximum or average fibula diameter, but rather corresponds to the cutting path in the preoperative planning. Since the fibula is not a cylinder, its actual cutting path corresponds to the fibula diameter in this application.

Therefore, the fibula diameter is obtained by combining the actual cutting path in the preoperative planning scheme according to the clear fibula tissue area in the preoperative medical image.

Preferably, the initial position of the cutting described in the present application, i.e. the position corresponding to the beginning of the preoperative planning protocol, i.e. the position is in most cases muscle tissue, not the fibular structure.

In an embodiment of the present application, the current cutting force is obtained by force feedback in a plurality of different directions obtained by a plurality of force sensors provided on the fibula fixture during cutting; wherein the fibula is clamped by the fibula clamp and remains stationary during cutting.

Preferably, the force sensors are strain gauges, and are respectively arranged on the support structures with different dimensions.

It should be noted that the fibula clamp of the present application is not limited to a specific structure. Preferably, however, the fibula clamp has a three-dimensional support structure to facilitate placement on a multi-dimensional structure and to obtain force feedback from multiple dimensional directions.

Fig. 2 shows a schematic view of a fibula clamp of the present application in real time. As shown, the fibula clamp 200 is composed of four support frames 210, on which a plurality of adjustable clamping mechanisms 220 are provided to clamp the fibula 300 therebetween. Specifically, force sensors may be provided at locations 231-234 as shown to obtain force feedback F1-F4 in multiple directions. Among them, preferably, the three directions of F1, F2 and F3 are perpendicular to each other, and the directions of F2 and F4 are opposite.

In this application, the main body for specifically calculating the current cutting force may be directly calculated by arranging a processor on the fibula clamp, and the calculated numerical parameter of the current cutting force is sent to the obtaining module 110 of the apparatus 100, or the fibula clamp only transmits the force feedback data of a plurality of different directions to the obtaining module 110 of the apparatus 100, and the obtaining module 110 calculates the final current cutting force through the corresponding dimension or angle.

In an embodiment of the present application, before the current cutting force is obtained according to the force feedback in the plurality of different directions, gravity compensation is performed according to a fibula weight. Thus, after gravity compensation, the cutting force is, depending on the force action and the reaction force:

the current cutting force is:

wherein, F_CIs the current cutting force; f_iForce feedback for different positions; n is the number of force feedback or force sensors

For example, if 4 vertical sensors are provided according to the fibula clamp illustrated in fig. 2, then n is 4.

A threshold module 120, configured to determine a real-time dynamic cutting threshold according to the cutting force curve, the current cutting position, the current cutting force, the fibula diameter, and the maximum cutting force during the cutting process performed according to the preoperative planning scheme.

Fig. 3 is a schematic view showing a fibula cutting scene according to an embodiment of the present invention.

As shown in fig. 4, a schematic diagram of a model of the variation of the cutting force is shown. The right side is cutting force F_CFree positionShift the change curve of X, F_maxThe maximum cutting force during cutting. In short, during a cutting process, when the osteotomy saw starts to contact the fibula, the cutting force is rapidly increased from 0; when the osteotomy saw cuts the fibula, the cutting force can drop rapidly, and in order to judge whether the fibula is cut, the application adopts a cutting threshold value to represent:

firstly, according to the characteristics of a cutting force curve that when the osteotomy saw is in contact with a fibula, the cutting force can be rapidly increased from 0, and when the osteotomy saw is used for sawing off the fibula, the cutting force can be rapidly reduced, the position of an incision point which is actually in contact with the fibula is obtained;

wherein, X_TThe position of the incision point actually contacting the fibula; f (x) is a cutting force curve; x is the current position; d is the fibular diameter.

In particular, the present invention relates to a method for producing,shows the change interval of the cutting force between the beginning of the osteotomy saw and the contact of the fibula,showing the interval of change in cutting force between when the osteotomy saw leaves the fibula and stops. Obtaining the minimum X position value between the two intervals through the argmin function, namely X is equal to the position of the incision point actually contacting the fibula, so as to find X_TThe position of the incision point.

Based on X_TObtaining a cutting threshold value:

wherein T is the cutting threshold, F_maxIs the maximum cutting force.

In the present application, the cutting threshold is performed according to a preoperative planning schemeAt the beginning of the line cut, the calculation relation is actually available, so that the threshold value is obtained at the beginning of the cutting process. And the maximum cutting force F in the cutting process is continuously updated according to the application_maxTherefore, referring to the cutting force curve as shown in FIG. 4, it can be seen that the cutting distance 0 is from the incising point position X_TMiddle, maximum cutting force F_maxIs constantly dynamically changing when reaching the entry point position X_TAfter that, the maximum cutting force F of the rear_maxDoes not exceed the maximum cutting force at that position, and therefore, actually reaches the entry point position X_TThe cutting threshold T is then no longer changed.

A determining module 130, configured to determine whether a ratio of the current cutting force to the maximum cutting force exceeds a current cutting threshold; if not, continuing to perform cutting according to the preoperative planning scheme; if so, judging whether the distance between the current cutting position and the initial cutting position is larger than a numerical value obtained by multiplying a preset coefficient by the diameter of the fibula; if so, sending a stopping command to stop cutting by the osteotomy saw.

The flow chart of the determination control shown in fig. 5 is schematic. For example, after starting, the initial cutting position F is recorded first₀Then, a cutting control command is sent out to enable the osteotomy saw to start moving or working, the current cutting force F and the current cutting position X are recorded simultaneously, and the maximum force F in the cutting process is continuously updated in the cutting process_max. If F/F_maxIf the truncation threshold T is not exceeded, continuing to perform the operation according to the original planning scheme, otherwise, keeping the current cutting position F away from the initial cutting position F₀And if the cutting speed is larger than k x D, stopping the robot and finishing cutting.

For example, the predetermined coefficient k is smaller than 1, such as 0.8, 0.9, and so on, k × D is to ensure that the distance from the beginning of the cutting to the current position is smaller than the diameter of the fibula, so as to avoid the erroneous judgment after the fibula cutting is completed.

In conclusion, the technical scheme of automatic cutting stopping for shaping the fibula is provided, blood vessels can be prevented from being damaged in the shaping process, the success rate of the operation is greatly improved, and meanwhile, the robustness of a control system can be greatly improved by adding a force feedback signal.

It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these units can be implemented entirely in software, invoked by a processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the determination module 130 may be a separate processing element, or may be integrated into a chip of the system, or may be stored in a memory of the system in the form of program code, and a processing element of the system calls and executes the function of the determination module 130. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.

For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

Fig. 6 is a schematic structural diagram of a computer device according to an embodiment of the present application. As shown, the computer device 600 includes: a memory 601, a processor 602, and a communicator; the memory 601 is used for storing computer instructions; the processor 602 executes computer instructions to implement the functions of the fibula cutting automatic knife stopping device as described in fig. 1; the communicator 603 is configured to communicatively couple the osteotomy saw for sending a stop command to the osteotomy saw to stop cutting; and the other side is used for being in communication connection with the fibula clamp so as to obtain real-time cutting force provided by the fibula clamp.

In some embodiments, the number of the memories 601 in the computer device 600 may be one or more, the number of the processors 602 may be one or more, the number of the communicators 603 may be one or more, and fig. 6 illustrates one example.

In an embodiment of the present application, the processor 602 in the computer device 600 loads one or more instructions corresponding to the processes of the application program into the memory 601 according to the steps described in fig. 1, and the processor 602 executes the application program stored in the memory 601, thereby implementing the functions of the object detection hardware accelerator described in fig. 1.

The Memory 601 may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The memory 601 stores an operating system and operating instructions, executable modules or data structures, or a subset or an expanded set thereof, wherein the operating instructions may include various operating instructions for performing various operations. The operating system may include various system programs for implementing various basic services and for handling hardware-based tasks.

The Processor 602 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.

The communicator 603 is used for implementing communication connection between the database access device and other devices (such as a client, a read-write library and a read-only library). The communicator 603 may include one or more sets of modules of different communication means, for example, a CAN communication module communicatively connected to a CAN bus. The communication connection may be one or more wired/wireless communication means and combinations thereof. The communication method comprises the following steps: any one or more of the internet, CAN, intranet, Wide Area Network (WAN), Local Area Network (LAN), wireless network, Digital Subscriber Line (DSL) network, frame relay network, Asynchronous Transfer Mode (ATM) network, Virtual Private Network (VPN), and/or any other suitable communication network. For example: any one or a plurality of combinations of WIFI, Bluetooth, NFC, GPRS, GSM and Ethernet.

In some specific applications, the various components of the computer device 600 are coupled together by a bus system that may include a power bus, a control bus, a status signal bus, etc., in addition to a data bus. But for clarity of explanation the various busses are referred to in figure 6 as the bus system.

Fig. 7 is a schematic structural view of an automatic cutting stop system for cutting fibula according to an embodiment of the present invention. As shown, the automatic cutting stop system 700 for cutting fibula includes:

the computer device 710 as described in FIG. 6;

and the osteotomy saw 720 is communicated with the computer device 710 and is used for cutting the fibula and stopping cutting when receiving a stopping instruction sent by the computer device 710.

The fibula clamp 730 is connected with the computer device 710 in a communication mode and used for clamping the fibula, and a plurality of force sensors are arranged on the fibula clamp and used for feeding back the cutting force in the cutting process to the computer device 710 in real time according to the principle of reaction force. Wherein the fibula clamp 730 may be referred to as a fibula clamp as shown in fig. 2.

In an embodiment of the present application, there is provided a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the functions of the fibula cutting automatic cutter stopping device as described in fig. 1.

The present application may be embodied as systems, methods, and/or computer program products, in any combination of technical details. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present application.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable programs described herein may be downloaded from a computer-readable storage medium to a variety of computing/processing devices, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device. The computer program instructions for carrying out operations of the present application may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine related instructions, microcode, firmware instructions, state setting data, integrated circuit configuration data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry can execute computer-readable program instructions to implement aspects of the present application by utilizing state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

In summary, the present application provides a fibula cutting automatic tool stopping device, computer equipment, system and medium, the device includes: the device comprises an acquisition module, a cutting module and a control module, wherein the acquisition module is used for determining the diameter of the fibula according to a preoperative medical image and a preoperative planning scheme, respectively recording the initial cutting position in the cutting process executed according to the preoperative planning scheme, simultaneously recording the current cutting position and the corresponding current cutting force in real time, and continuously updating the maximum cutting force in the cutting process; the threshold module is used for determining a real-time dynamic cutting threshold according to a cutting force curve, a current cutting position, a current cutting force, a fibula diameter and a maximum cutting force in the cutting process executed according to the preoperative planning scheme; the judging module is used for judging whether the ratio of the current cutting force to the maximum cutting force exceeds a current cutting threshold value or not; if not, continuing to perform cutting according to the preoperative planning scheme; if so, judging whether the distance between the current cutting position and the initial cutting position is larger than a numerical value obtained by multiplying a preset coefficient by the diameter of the fibula; if so, sending a stopping command to stop cutting by the osteotomy saw.

The application effectively overcomes various defects in the prior art and has high industrial utilization value.

The above embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the invention. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present application.