CN116616856A - Intelligent feeding type bone drill, control method thereof and orthopedic operation robot - Google Patents

Abstract

The invention discloses an intelligent feeding type bone drill, a control method thereof and an orthopedic operation robot. The intelligent feed bone drill includes: a drill bit; a rotary driving part for driving the drill bit to perform rotary motion; a feed driving part for driving the drill bit to perform a linear direction feed motion; the feed driving part comprises a feed direction encoder for sensing the position of the feed direction; a tension pressure sensor component connected with the rotation driving component and the feeding driving component and used for sensing the pressure in the feeding direction; and the processor is used for adjusting drilling parameters of the drill bit according to the positions and the pressures. The intelligent feeding type bone drill and the control method provided by the invention can realize the accurate hole making function, thereby improving the accuracy, the high efficiency and the safety of the bone drill, reducing the risk of injury to peripheral nerves and soft tissues of bones, being beneficial to shortening the postoperative rehabilitation time of patients and reducing the labor intensity of doctors.

Description

Intelligent feed type bone drill, its control method and orthopedic surgery robot

technical field

The invention belongs to the field of medical devices, and in particular relates to an intelligent feeding bone drill, its control method and an orthopedic surgery robot.

Background technique

With the continuous development of the transportation industry, the occurrence of traffic accidents is also rising, and trauma has become the main cause of death in the world. Therefore, the development of new orthopedic surgery techniques is of great significance.

Bone drilling is one of the most important surgical operations in orthopedic surgery. The traditional bone drilling operation mainly relies on the doctor's hand-held bone drill to complete, and there is no adjustment of process parameters for different bone tissue layers, timely detection of breakthroughs, and monitoring of drill wear and fracture. However, there are problems of poor precision, low safety, low efficiency, and high labor intensity. In particular, there are blood vessels, muscles and nerves all over the bone. When the drill bit reaches the desired depth, the drilling should be stopped in time to avoid damage to the nerves and soft tissues around the bone. During bone drilling, if the breakthrough is not detected in time to stop the drilling process, the drill bit will enter the soft tissue and cause serious damage to blood vessels, muscles and nerves. Based on this, the above-mentioned problems can be effectively solved by designing an intelligent feed type bone drill and a control method.

Contents of the invention

The invention provides an intelligent feeding bone drill, its control method and an orthopedic surgery robot, thereby overcoming the deficiencies in the prior art.

In order to achieve the aforementioned object of the invention, the present invention adopts the following scheme:

One aspect of the present invention provides an intelligent feed type bone drill, comprising:

drill;

A rotary drive component, used to drive the drill bit for rotary motion;

The feed drive part is used to drive the drill bit to perform linear feed movement; the feed drive part includes a feed direction encoder, and the feed direction encoder is used to sense the position of the feed direction;

A pull pressure sensor part is connected to the rotation drive part and the feed drive part for sensing the pressure in the feed direction;

A processor is used for adjusting the drilling parameters of the drill bit according to the position and pressure.

Another aspect of the present invention provides a control method of an intelligent feed type bone drill, the method comprising:

Obtain the position of the drill in the feed direction;

Obtain the pressure of the drill bit in the feed direction;

The drilling parameters of the drill bit are adjusted according to the position and pressure.

Another aspect of the present invention provides an orthopedic surgical robot, which includes a mechanical arm, a computer control system, and the aforementioned intelligent feeding bone drill, and the intelligent feeding bone drill is arranged on the end flange of the robot.

Compared with the prior art, the present invention has at least the following advantages:

1) The intelligent feed bone drill provided by the present invention is equipped with a drive motor, an encoder and a force/torque sensor in the two directions of rotation and feed, and can perform precise speed and position in the two directions of rotation and feed and force perception and control, thereby improving the accuracy, efficiency, and safety of bone drills, and reducing the labor intensity of doctors;

2) The intelligent feed type bone drill control method provided by the present invention, through the fusion of position sensor and force sensor information, intelligently senses information such as the depth and position of the drill bit entering the human bone tissue, so that it can be used according to different positions of the bone tissue. The characteristics give the optimal process parameters, and can perform accurate breakthrough detection, reduce mechanical and thermal damage to bone tissue, and further improve the accuracy and safety of bone drill operation.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings that need to be used in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only For some embodiments described, those skilled in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is an overall perspective view of a bone drill in an embodiment of the present invention;

Fig. 2 is a system diagram of an orthopedic surgery robot in an embodiment of the present invention;

Fig. 3 is a schematic diagram of the variation of the force with the feed position when the bone tissue is drilled in an embodiment of the present invention;

Fig. 4 is a schematic flow chart of an intelligent feed type bone drill and a control method in an embodiment of the present invention;

Explanation of reference numerals: 1-rotation drive part; 2-feed drive part; 3-protective sleeve part; 4-tension pressure sensor part; 5-torque sensor part; 6-mechanical arm; 7-transfer flange; 8 - robot base; 9 - cortical bone layer of bone tissue; 10 - cancellous bone layer of bone tissue.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the specific implementation manners of the present invention will be described in detail below in conjunction with the accompanying drawings. Examples of these preferred embodiments are illustrated in the accompanying drawings. The embodiments of the invention shown in and described with reference to the drawings are merely exemplary, and the invention is not limited to these embodiments.

One aspect of the present invention provides an intelligent feed type bone drill, comprising:

drill;

A rotary drive component, used to drive the drill bit for rotary motion;

The feed drive part is used to drive the drill bit to perform linear feed movement; the feed drive part includes a feed direction encoder, and the feed direction encoder is used to sense the position of the feed direction;

A pull pressure sensor part is connected to the rotation drive part and the feed drive part for sensing the pressure in the feed direction;

A processor is used for adjusting the drilling parameters of the drill bit according to the position and pressure.

In one embodiment, the bone drill also includes:

A torque sensor component, connected to the rotary drive component, for sensing the torque in the direction of rotation of the drill bit;

The protective cover part is connected to the front end of the feed drive part, guides the drill bit, and protects human tissue from being strangled by the high-speed rotating drill bit.

In one embodiment, the processor is configured to realize the setting of the drilling zero position according to the measurement data F _z of the tension pressure sensor and the measurement data of the feed direction encoder, specifically including:

Set drilling parameters, including feed speed f, spindle rotation speed υ, desired intelligent bone drill position x _d and initial position x _i of the bone drill in the feed direction;

After the drill bit starts to move, the tension pressure sensor collects the pressure signal in the feed direction, and the feed direction encoder collects the position signal in the feed direction, if |F _z -F _(z-1) |≥F _t , that is The drill bit has touched the first layer of cortical bone of the bone tissue, set the current position as the drilling zero position;

Among them, F _z represents the pressure in the direction of drill bit feeding at the current moment collected by the tension pressure sensor, F _(z-1) represents the pressure in the direction of drill bit feeding at the previous moment collected by the tension pressure sensor, and F _t represents the threshold of force value difference.

In one embodiment, the processor is further configured to realize breakthrough detection and automatic adjustment of process parameters in the three-stage drilling process according to the measurement data _Fz of the tension pressure sensor and the measurement data of the feed direction encoder , including:

The first stage: detecting whether the drill bit breaks through the first layer of cortical bone of bone tissue;

If |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(A) |≤ε, that is, the drill has broken through the first layer of cortical bone, the drilling parameters of the bone drill will be adjusted For low speed and high feed;

The second stage: detect whether the drill breaks through the second layer of cancellous bone;

If |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(B) |≤ε, that is, the drill has broken through the second layer of cancellous bone, the drilling parameters of the bone drill will be Adjust to high speed and small feed;

The third stage: detecting whether the drill bit breaks through the third layer of cortical bone of the bone tissue;

If |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(C) |≤ε, that is, the drill bit has broken through the third layer of cortical bone, the drill will stop drilling and return to to the initial position x _i ;

Among them, x _d ^(A) represents the desired feeding position of the bone drill at the junction of the first layer of cortical bone and the second layer of cancellous bone, and x _d ^(B) represents the expected feeding position of the bone drill at the junction of the second layer of cancellous bone and the third layer of cancellous bone. The expected feeding position at the junction of cortical bone, x _d ^(C) represents the expected feeding position of the bone drill at the junction of the third layer of cortical bone and other tissues, x _n represents the actual feeding position of the drill bit, ε represents the drill’s Safety limit distance.

In one embodiment, the adjustment of the process parameters by the processor is specifically:

F _z =C _z ×f ^a ×v ^b

Among them, C _z is the correction coefficient, a and b are the influence index, and C _z >0, a>0, b<0.

Another aspect of the present invention provides a control method of an intelligent feed type bone drill, the method comprising:

Obtain the position of the drill in the feed direction;

Obtain the pressure of the drill bit in the feed direction;

The drilling parameters of the drill bit are adjusted according to the position and pressure.

In one embodiment, the method also includes drilling zero position according to setting, specifically:

Set drilling parameters, including feed speed f, spindle rotation speed υ, desired intelligent bone drill position x _d and initial position x _i of the bone drill in the feed direction;

After the drill bit starts to move, collect the pressure signal and position signal of the drill bit feeding direction. If |F _z -F _(z-1) |≥F _t , that is, the drill bit has touched the first layer of cortical bone of the bone tissue, set the current position is the drilling zero position;

Among them, F _z represents the pressure in the feeding direction of the drill bit at the current moment, F _(z-1) represents the pressure in the feeding direction of the drill bit at the previous moment, and F _t represents the threshold value of the force value difference.

In one embodiment, the method further includes realizing breakthrough detection and automatic adjustment of process parameters in the three-stage drilling process, specifically:

The first stage: detecting whether the drill bit breaks through the first layer of cortical bone of bone tissue;

If |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(A) |≤ε, that is, the drill has broken through the first layer of cortical bone, the drilling parameters of the bone drill will be adjusted For low speed and high feed;

The second stage: detect whether the drill breaks through the second layer of cancellous bone;

If |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(B) |≤ε, that is, the drill has broken through the second layer of cancellous bone, the drilling parameters of the bone drill will be Adjust to high speed and small feed;

The third stage: detecting whether the drill bit breaks through the third layer of cortical bone of the bone tissue;

If |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(C) |≤ε, that is, the drill bit has broken through the third layer of cortical bone, the drill will stop drilling and return to to the initial position x _i ;

Among them, x _d ^(A) represents the desired feeding position of the bone drill at the junction of the first layer of cortical bone and the second layer of cancellous bone, and x _d ^(B) represents the expected feeding position of the bone drill at the junction of the second layer of cancellous bone and the third layer of cancellous bone. The expected feeding position at the junction of cortical bone, x _d ^(C) represents the expected feeding position of the bone drill at the junction of the third layer of cortical bone and other tissues, x _n represents the actual feeding position of the drill bit, ε represents the drill’s Safety limit distance.

In one embodiment, the automatic adjustment of the process parameters is specifically:

F _z =C _z ×f ^a ×v ^b

Among them, C _z is the correction coefficient, a and b are the influence index, and C _z >0, a>0, b<0.

Another aspect of the present invention provides an orthopedic surgical robot, which includes a mechanical arm, a computer control system, and the aforementioned intelligent feeding bone drill, and the intelligent feeding bone drill is arranged on the end flange of the robot.

Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. Examples of these preferred embodiments are illustrated in the accompanying drawings. The embodiments of the invention shown in and described with reference to the drawings are merely exemplary, and the invention is not limited to these embodiments.

Here, it should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only the structures and/or processing steps closely related to the solution according to the present invention are shown in the drawings, and the related Other details are not relevant to the invention.

As shown in FIG. 1 , an intelligent feed bone drill disclosed by the present invention mainly includes a rotation drive part 1 , a feed drive part 2 , a protective sheath part 3 , a tension sensor part 4 and a torque sensor part 5 . Among them, the rotary drive part 1 is used to drive the electric drill bit to rotate; the feed drive part 2 is used to drive the electric drill bit to perform linear feed motion; the protective cover part 3 is used to guide the electric drill bit and protect human tissues from being damaged. The high-speed rotating drill bit twists; the pull pressure sensor part 4 connects the rotation drive part 1 and the feed drive part 2 for sensing the pressure in the feeding direction; the torque sensor part 5 is used for sensing the torque in the rotation direction of the bone drill.

As shown in Figure 2, when working, a kind of feed type bone drill of the present invention is arranged on the end of mechanical arm 6 through adapter flange 7, and mechanical arm 6 is arranged on robot base 8, and robot base 8 It can be a fixed base or a mobile base, and together with a computer control system, it forms an orthopedic surgical robot system. In this case, x _n , _xi and x _d in the intelligent control method can be equivalent to the current position, initial position and expected position of the end of the robot arm, and the rest of the parameters are also given by the robot system. During the operation, the robot moves to the designated position actively or passively according to the preoperative plan. When the robot stops moving, the bone drill starts drilling according to the preset value.

As shown in FIG. 3 , the present invention provides a schematic diagram of the variation of force with the feeding position when drilling bone tissue. The axial feed force and position signals generated during drilling are the main sources used to detect drill bit breakthrough. Before the operation, the user will use special preoperative planning software to initially determine the depth of the drilling site corresponding to different layers of bone tissue, that is, the expected positions of different layers of bone tissue x _d ^(A) , x _d ^(B) and x _d ^{(C )} . Among them, x _d ^(A) means that the bone drill reaches the expected feeding position at the junction of the first layer of cortical bone and the second layer of cancellous bone, and x _d ^{(B) means} that the bone drill reaches the second layer of cancellous bone and the third layer of cortical bone Desired feed position at the junction, x _d ^{(C) refers} to the desired feed position of the drill to the junction of the tertiary cortical bone and other tissues. In the traditional bone drilling operation, it is inevitable that the doctor's hand-held electric drill cannot guarantee that the drill bit will drill into the bone tissue vertically due to human factors, causing the fixation of the drill bit to be skewed. In addition, the doctor can't judge whether the drill bit has reached the desired depth to stop drilling in time, causing serious damage to the blood vessels, muscles and nerves around the bone. Therefore, in order to avoid this situation, we design the detection method according to the formula (1), that is, using the difference between the actual feeding position of the drill bit and the expected feeding position.

|x _n -x _d |≤ε (1)

Among them, x _n refers to the actual feeding position of the drill, x _d refers to the expected feeding position of the drill, and ε refers to the safety limit distance of the bone drill. At present, the acceptable safety limit distance is 1-2mm, so ε can be flexibly adjusted within 1-2mm according to the different drilling parts.

However, due to reasons such as robot positioning accuracy, there are position and angle deviations between the actual drilling point and the preoperative planned drilling point, so the method of simply relying on the comparison of the feed position information with the distance measured before the operation is inaccurate. Methods Based on the combination of position information and force information, the actual position of the drill bit in the bone tissue can be judged by combining the two information. Looking at the force versus time curves during drilling, it shows that there is a sharp change in force when the drill bit intersects the cortical and cancellous layers of bone. However, due to density variations throughout the bone, there will be several peaks and troughs in the force profile. Fluctuations in force can affect detection methods, leading to false events of bit breakthrough. Therefore, in order to avoid this situation, we design the detection method according to the formula (2), which utilizes the force value difference during the sharp change period.

|F _z -F _(z-1) |≥F _t (2)

The force measured during the drilling process is in the uniaxial direction, which represents the force in the Z direction (ie, the direction in which the drill is fed) as F _z . F _(z-1) represents the force signal at the previous moment, F _z represents the current signal measured by the tension and pressure sensor, and F _t represents the threshold of the force value difference between the two. Among them, the setting of the value of F _t can be properly adjusted according to different drilling parts. In the formula (2), the difference in the value of F _z is compared with the threshold value F _t set by the initial stage. This theory is applicable to three stages in the whole process of drilling bone tissue: the first layer of cortical bone → the second layer of cancellous bone; the second layer of cancellous bone → the third layer of cortical bone; the third layer of cortical bone → other tissues.

In addition, from the drilling experimental results of cancellous bone and cortical bone at different feed speeds and rotational speeds: when drilling cortical bone, the axial feed force is relatively large, and the selection of drilling parameters with high rotational speed and small feed can effectively reduce the Axial feed force during the drilling process, thereby reducing the friction between the drill bit and bone tissue, and reducing the temperature rise during the drilling process of the drill bit; when drilling cancellous bone, the axial feed force is small, and the drilling parameters should be selected at low speed Large feed can effectively improve the drilling efficiency, the time required to drill bone with the same thickness is shorter, and the heat transferred to the bone tissue is reduced. At the same time, the low speed can also reduce the heat generated by the rotating drive motor.

As shown in Figure 4, an intelligent feed type bone drill and a control method provided by an embodiment of the present invention, the implementation of the method includes the following steps:

First, it starts with setting the drilling parameters: feed rate f, spindle rotation speed υ, desired smart drill position x _d and smart drill's initial position x _i in the feed direction.

The tension sensor, the feed direction encoder and the torque sensor sense the force, feed position and torque in the drilling process respectively. Among them, the measurement data of the torque sensor can monitor in real time whether the drill bit is worn or broken during the whole drilling process of the bone drill. Then, the measurement data F _z of the tension pressure sensor and the measurement data of the feed direction encoder are used in the setting of the drilling zero position, the breakthrough detection of the three-stage drilling process and the automatic adjustment method of the process parameters.

After the drill bit starts to move, the pull pressure sensor and the feed direction encoder collect values, if it triggers the event: |F _z -F _(z-1) |≥F _t , that is, the drill bit has touched the first layer of cortex of the bone tissue Bone, set the current position as the drilling zero position, which provides a reference point for the feed position for breakthrough detection and automatic adjustment of process parameters in the next three stages of drilling.

The first stage: Check whether the drill breaks through the first layer of cortical bone of the bone tissue. If it triggers the event: |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(A) |≤ε, that is, the drill bit has broken through the first layer of cortical bone of bone tissue, smart bone The drilling parameters of the drill will be adjusted to low speed and high feed, and the process parameters are automatically adjusted for the drilling of cancellous bone in the second stage.

The low rotation speed and high feed here are the lower rotation speed and the higher feed speed compared to the initial drilling of the first layer of cortical bone, that is, the low rotation speed and high feed here are the drilling of the second layer of loose bone tissue. Quality bone process parameters. Human bone tissue is composed of cortical bone with high material density and small volume thickness, and cancellous bone with low material density and large volume thickness. The results of the drilling experiment data show that: F _z = C _z × f ^a × v ^b (C _z > 0, a > 0, b < 0), where C _z is the correction coefficient, a and b are the influence degree indices, namely The drilling spindle force decreases with the increase of the speed and increases with the increase of the feed rate. (1) In the process of drilling cortical bone with high material density and small volume thickness, the drilling process parameters should be selected with higher rotation speed and lower feed rate, which can not only reduce the mechanical and thermal damage of drilling to bone tissue but also effectively (2) In the process of drilling cancellous bone with low material density and large volume thickness, the drilling process parameters should be selected at a lower speed and a higher feed rate, which can reduce the The heating of the rotating motor can reduce the drilling time to effectively improve the drilling efficiency.

The second stage: to detect whether the drill breaks through the second layer of cancellous bone of the bone tissue. If it triggers the event: |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(B) |≤ε, that is, the drill bit has broken through the second layer of cancellous bone, smart The drilling parameters of the bone drill will be adjusted to high speed and small feed, and the process parameters are automatically adjusted for the third stage of cortical bone drilling.

The high speed and small feed here are the higher speed and the lower feed speed for drilling the second layer of cancellous bone, that is, the high speed and small feed here are for drilling the third layer of bone tissue Process parameters for cortical bone. The adjusted rotational speed in the second stage is greater than the adjusted rotational speed in the first stage, and the adjusted feed speed in the second stage is lower than the adjusted feed speed in the first stage. Human bone tissue is composed of cortical bone with high material density and small volume thickness, and cancellous bone with low material density and large volume thickness. The results of the drilling experiment data show that: F _z ＝ C _z · f ^a · υ ^b (C _z > 0, a > 0, b < 0), where C _z is the correction coefficient, a and b are the influence degree indices, namely The drilling spindle force decreases with the increase of the speed and increases with the increase of the feed rate. (1) In the process of drilling cortical bone with high material density and small volume thickness, the drilling process parameters should be selected with higher rotation speed and lower feed rate, which can not only reduce the mechanical and thermal damage of drilling to bone tissue but also effectively (2) In the process of drilling cancellous bone with low material density and large volume thickness, the drilling process parameters should be selected at a lower speed and a higher feed rate, which can not only reduce the heat generated by the rotating motor but also reduce the Drilling time effectively improves drilling efficiency.

The third stage: Check whether the drill breaks through the third layer of cortical bone of the bone tissue. If it triggers the event: |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(C) |≤ε, that is, the drill bit has broken through the third layer of cortical bone of bone tissue, smart bone The drill will stop drilling and return to the initial position x _i . After the intelligent bone drill returns to the initial position x _i , the drilling parameters can be changed for other experiments. If no other drilling process takes place, the process ends.

It should be understood that although this description is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the description is only for clarity, and those skilled in the art should take the description as a whole, and each The technical solutions of the embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

Claims (10)

1. An intelligent feed type bone drill, is characterized in that, comprises: drill; A rotary drive component, used to drive the drill bit for rotary motion; The feed drive part is used to drive the drill bit to perform linear feed movement; the feed drive part includes a feed direction encoder, and the feed direction encoder is used to sense the position of the feed direction; A pull pressure sensor part is connected to the rotation drive part and the feed drive part for sensing the pressure in the feed direction; A processor is used for adjusting the drilling parameters of the drill bit according to the position and pressure. 2. bone drill according to claim 1, is characterized in that, described bone drill also comprises: A torque sensor component, connected to the rotary drive component, for sensing the torque in the direction of rotation of the drill bit; The protective cover part is connected to the front end of the feed drive part, guides the drill bit, and protects human tissue from being strangled by the high-speed rotating drill bit. 3. The bone drill according to claim 1, wherein the processor is used to realize the setting of drilling zero position according to the measured data _Fz of the tension pressure sensor and the measured data of the feed direction encoder. determined, including: Set drilling parameters, including feed speed f, spindle rotation speed v, desired intelligent bone drill position x _d and initial position x _i of the bone drill in the feed direction; After the drill bit starts to move, the tension pressure sensor collects the pressure signal in the feed direction, and the feed direction encoder collects the position signal in the feed direction, if |F _z -F _(z-1) |≥F _t , that is The drill bit has touched the first layer of cortical bone of the bone tissue, set the current position as the drilling zero position; Among them, F _z represents the pressure in the direction of drill bit feeding at the current moment collected by the tension pressure sensor, F _(z-1) represents the pressure in the direction of drill bit feeding at the previous moment collected by the tension pressure sensor, and F _t represents the threshold of force value difference. 4. The bone drill according to claim 3, wherein the processor is also used to realize three-stage drilling according to the measurement data _Fz of the tension pressure sensor and the measurement data of the feed direction encoder Process breakthrough detection and automatic adjustment of process parameters, including: The first stage: detecting whether the drill bit breaks through the first layer of cortical bone of bone tissue; If |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(A) |≤ε, that is, the drill has broken through the first layer of cortical bone, the drilling parameters of the bone drill will be adjusted For low speed and high feed; The second stage: detect whether the drill breaks through the second layer of cancellous bone; If |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(B) |≤ε, that is, the drill has broken through the second layer of cancellous bone, the drilling parameters of the bone drill will be Adjust to high speed and small feed; The third stage: detecting whether the drill bit breaks through the third layer of cortical bone of the bone tissue; If |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(C) |≤ε, that is, the drill bit has broken through the third layer of cortical bone, the drill will stop drilling and return to to the initial position x _i ; Among them, x _d ^(A) represents the desired feeding position of the bone drill at the junction of the first layer of cortical bone and the second layer of cancellous bone, and x _d ^(B) represents the expected feeding position of the bone drill at the junction of the second layer of cancellous bone and the third layer of cancellous bone. The expected feeding position at the junction of cortical bone, x _d ^(C) represents the expected feeding position of the bone drill at the junction of the third layer of cortical bone and other tissues, x _n represents the actual feeding position of the drill bit, ε represents the drill’s Safety limit distance. 5. The buckle positioning method according to claim 4, wherein the adjustment of the process parameters by the processor is specifically: F _z =C _z ×f ^a ×v ^b Among them, C _z is the correction coefficient, a and b are the influence index, and C _z >0, a>0, b<0. 6. A control method for an intelligent feed type bone drill, characterized in that the method comprises: Obtain the position of the drill in the feed direction; Obtain the pressure of the drill bit in the feed direction; The drilling parameters of the drill bit are adjusted according to the position and pressure. 7. The control method according to claim 6, characterized in that, the method also includes setting the drilling zero position, specifically: Set drilling parameters, including feed speed f, spindle rotation speed v, desired intelligent bone drill position x _d and initial position x _i of the bone drill in the feed direction; After the drill bit starts to move, collect the pressure signal and position signal of the drill bit feeding direction. If |F _z -F _(z-1) |≥F _t , that is, the drill bit has touched the first layer of cortical bone of the bone tissue, set the current position is the drilling zero position; Among them, F _z represents the pressure in the feeding direction of the drill bit at the current moment, F _(z-1) represents the pressure in the feeding direction of the drill bit at the previous moment, and F _t represents the threshold value of the force value difference. 8. The control method according to claim 7, characterized in that, the method also includes realizing the breakthrough detection of the three-stage drilling process and the automatic adjustment of process parameters, specifically: The first stage: detecting whether the drill bit breaks through the first layer of cortical bone of bone tissue; If |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(A) |≤ε, that is, the drill has broken through the first layer of cortical bone, the drilling parameters of the bone drill will be adjusted For low speed and high feed; The second stage: detect whether the drill breaks through the second layer of cancellous bone; If |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(B) |≤ε, that is, the drill has broken through the second layer of cancellous bone, the drilling parameters of the bone drill will be Adjust to high speed and small feed; The third stage: detecting whether the drill bit breaks through the third layer of cortical bone of the bone tissue; If |F _z -F _(z-1) |≥F _t , |x _n -x _d ^(C) |≤ε, that is, the drill bit has broken through the third layer of cortical bone, the drill will stop drilling and return to to the initial position x _i ; Among them, x _d ^(A) represents the desired feeding position of the bone drill at the junction of the first layer of cortical bone and the second layer of cancellous bone, and x _d ^(B) represents the expected feeding position of the bone drill at the junction of the second layer of cancellous bone and the third layer of cancellous bone. The expected feeding position at the junction of cortical bone, x _d ^(C) represents the expected feeding position of the bone drill at the junction of the third layer of cortical bone and other tissues, x _n represents the actual feeding position of the drill bit, ε represents the drill’s Safety limit distance. 9. The control method according to claim 8, characterized in that: the automatic adjustment of the process parameters is specifically: F _z =C _z ×f ^a ×v ^b Among them, C _z is the correction coefficient, a and b are the influence index, and C _z >0, a>0, b<0. 10. A kind of orthopedic surgery robot, it is characterized in that, comprises mechanical arm, computer control system, and as any one of claim 1-5 intelligent feed type bone drill, described intelligent feed type bone drill is set on the end flange of the robot.