WO2024001725A1 - Surgical system, control method, and readable storage medium - Google Patents
Surgical system, control method, and readable storage medium Download PDFInfo
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- WO2024001725A1 WO2024001725A1 PCT/CN2023/099414 CN2023099414W WO2024001725A1 WO 2024001725 A1 WO2024001725 A1 WO 2024001725A1 CN 2023099414 W CN2023099414 W CN 2023099414W WO 2024001725 A1 WO2024001725 A1 WO 2024001725A1
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- coordinate system
- surgical robot
- operating table
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
Definitions
- the application number is 202210777567.4, and the invention is titled “A surgical robot and its registration method with an operating bed, and a surgical system”.
- the Chinese patent application for "Control Method, System, Device and Readable Storage Medium of a Surgical Robot System” was submitted to the China Patent Office on March 3, 2023.
- the application number is 202310249983.1, and the invention name is "Surgical System and its Registration “Methods, Devices, Surgical Equipment and Storage Media", the entire content of which is incorporated by reference into the application.
- the present disclosure relates to the field of medical machinery technology, and in particular, to a surgical system, a control method, and a readable storage medium.
- Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope and thoracoscope and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. With the advancement of science and technology, minimally invasive surgical robotic technology has gradually matured and been widely used.
- Minimally invasive surgical robots usually include a main operating console and slave operating equipment.
- the main operating console includes a handle.
- the doctor sends control commands to the slave operating equipment through the operating handle.
- the slave operating equipment includes a driving arm and a puncture device installed at the distal end of the driving arm. The puncture device is used for insertion into an opening in the body of a patient lying on a tabletop of an operating table to provide a passage for medical instruments to pass through.
- the operating bed can move a certain distance or rotate a certain angle to adjust the patient's position during the operation in order to improve or optimize the patient's field of view and operating space at the surgical site during the operation.
- the movement of the operating table will cause the movement of the patient's body opening, and usually the surgical robot cannot actively control the movement of the puncture device to follow the body opening based on the movement information of the operating table, resulting in cumbersome operation of the surgical robot during the process of adjusting the operating table. , time-consuming, and may even cause harm to the patient, increasing the risk of uncertainty during the operation.
- a surgical system including:
- the surgical robot includes a driving arm with a plurality of joints, the distal end of the driving arm is equipped with a puncture device, the puncture device is used to insert into the body opening of the organism located on the table top of the operating bed ;
- a controller coupled to the surgical table and the surgical robot, is configured for:
- a target joint amount of a first joint among the plurality of joints is determined based on the motion information and the attitude registration information, and the movement of the first joint is controlled according to the target joint amount to maintain the required degree of freedom in the attitude.
- control The controller when determining the posture registration information between the surgical robot and the operating table, is configured for:
- the force exerted by the body wall of the body opening is used to track the movement of the body opening in translational degrees of freedom;
- a first position of the puncture device at a first moment is acquired, and a position of the puncture device adjacent to the second position at the second moment of the first moment;
- first posture registration information between the surgical robot and the operating table is determined.
- the controller is further configured to:
- the determination is based on one or more of the first posture registration information and the second posture registration information.
- Third posture registration information between the surgical robot and the operating bed.
- the reference coordinate system of the surgical robot and the reference coordinate system of the operating table both include a two-dimensional horizontal coordinate system, and the horizontal plane where the base of the surgical robot is located and the horizontal plane where the base of the operating table is located are are parallel or coincident with each other;
- the first posture registration information is represented by the first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed, and the first posture registration information
- the second posture registration information is characterized by a second rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed;
- the controller When determining third posture registration information between the surgical robot and the operating table based on one or more of the first posture registration information and the second posture registration information, the controller further Configured for:
- the first rotation angle value is used as the third posture registration information, or the second rotation angle value is used as the third posture registration information, or the first rotation angle value is used as the third posture registration information.
- the average value of the first rotation angle value and the second rotation angle value is used as the third posture registration information.
- one of the surgical robot and the operating bed is provided with a distance measuring device, and the horizontal plane where the first horizontal coordinate axis and the second horizontal coordinate axis of the reference coordinate system of the surgical robot are located, The first horizontal coordinate axis of the reference coordinate system of the operating table, the horizontal plane where the second horizontal coordinate axis is located, and the horizontal plane where the detection direction of the ranging device is located are parallel to or coincident with each other;
- the controller When determining posture registration information between the surgical robot and the operating table, the controller is configured to:
- the detection data including the first vertical distance and the second vertical distance between the surgical robot and the operating table;
- attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is determined.
- the first vertical distance is the minimum distance detected by the distance measuring sensor
- the second vertical distance is the vertical distance measured by the distance measuring sensor from The distance measured in the horizontal direction of the installation position
- the distance measuring device includes a first distance measuring sensor and a second distance measuring sensor
- the first distance measuring sensor and the second distance measuring sensor are arranged at intervals on the horizontal plane
- the first vertical distance is the first distance measuring sensor.
- the second vertical distance is the minimum distance detected by the second distance sensor; or, the first vertical distance is the distance from the first distance sensor perpendicular to the installation position.
- the distance detected in the horizontal direction, the second The vertical distance is the distance detected by the second distance sensor from a horizontal direction perpendicular to the installation position.
- the other one of the surgical robot and the operating bed is provided with a positioning mark located within the detection range of the distance measuring device, and the detection data further includes the distance measurement device and the positioning mark.
- the distance between markers, the detection angle of the distance measuring device, the controller is also configured to:
- the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical robot is determined.
- the distance between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed is determined based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark. position registration information, the controller is configured to:
- the detection angle at which the distance measuring device detects the positioning mark, and the position coordinates of the distance measuring device in the reference coordinate system of the installed equipment determine The position coordinates of the positioning mark in the reference coordinate system of the equipment on which the distance measuring device is installed;
- the position coordinates of the positioning mark in the reference coordinate system of the equipment installed on the ranging device determine the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed.
- one of the surgical robot and the operating bed includes a first connection part, and the other one of the surgical robot and the operating bed includes a second connection part;
- the registration arm includes a A first end connected to the first connecting part, a second end connected to the second connecting part, and a plurality of joint components connected between the first end and the second end ;
- the controller is coupled to the registration arm, and when determining posture registration information between the surgical robot and the operating table, the controller is configured to:
- the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the surgical robot and the operating bed is used to determine the posture registration information between the surgical robot and the operating bed.
- the controller is further configured to:
- the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the surgical robot and the operating bed is used to determine the position registration information between the surgical robot and the operating table.
- the coordinate system of the first end and the first coordinate system of the first connecting part have a preset relative attitude and relative position.
- the second registration relationship includes the posture information and position information of the first coordinate system in the reference coordinate system of one of the surgical robot and the operating bed;
- the coordinate system of the second end and the second coordinate system of the second connection part have a preset relative posture and relative position, and the third registration
- the relationship includes attitude information and position information of the second coordinate system in the other reference coordinate system of the surgical robot and the operating bed.
- the registration arm is configured to connect a reference coordinate system of one of the surgical robot and the operating table and a reference coordinate system of the other of the surgical robot and the operating table.
- the joint assembly includes a sensor for sensing joint variables of the joint assembly, and the A controller is coupled to the sensor and configured to:
- joint variables of the multiple joint components sensed by the sensor where the joint variables include relative distances and/or relative angles between self-coordinate systems of the multiple joint components;
- first registration information between the first end and the second end is determined.
- the registration arm further includes a control unit and a drive assembly, the control unit is coupled to the controller, and the control unit is configured to control the drive according to the posture change instruction.
- the component drives the joint component to move.
- a communication cable is provided inside the registration arm, and the first surgical device and the second surgical device are mechanically and electrically connected through the registration arm.
- the controller includes a first control unit, a second control unit and a third control unit, the third control unit is connected to the first control unit and the second control unit, and the third control unit A control unit is provided on one of the surgical robot and the operating bed, the second control unit is provided on the other of the surgical robot and the operating bed, and the third control unit is provided on the The registration arm;
- the controller includes a first control unit and a second control unit.
- the first control unit is disposed on one of the surgical robot and the surgical bed.
- the second control unit is disposed on the surgical bed.
- the robot is electrically connected to the other one of the operating table, and the first control unit or the second control unit is electrically connected to the registration arm.
- the controller is further configured to:
- the controller is further configured to:
- the amount of movement of the tabletop of the operating table is obtained, and based on the position registration relationship, the attitude registration relationship, the initial posture and the amount of movement, the determination of the The target pose of the puncture device in the reference coordinate system of the surgical robot;
- the joint motion is driven according to the target joint variable to maintain the posture of the puncture device relative to the table top of the operating table.
- the present disclosure also provides a method for controlling a surgical system, wherein the surgical system includes an operating bed and a surgical robot.
- the surgical robot includes a driving arm with multiple joints, and a puncture device is installed on the distal end of the driving arm. , the puncture device is used to insert into the body opening of the organism located on the table of the operating bed, and the control method includes:
- a target joint amount of a first joint among the plurality of joints is determined based on the motion information and the attitude registration information, and the movement of the first joint is controlled according to the target joint amount to maintain the required degree of freedom in the attitude.
- the present disclosure also provides a computer-readable storage medium, which is characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the control method of the surgical system as described above are implemented.
- the disclosed surgical system, control method and readable storage medium have the following beneficial effects:
- the posture degree of freedom can be performed on the table of the operating table.
- the driving arm is actively controlled to adjust the posture of the puncture device to improve operating efficiency and safety.
- FIG. 1 is a simplified diagram of equipment relationships of a surgical system according to an embodiment.
- Figure 2 is a schematic structural diagram of a doctor's main console according to an embodiment.
- Figure 3 is a schematic structural diagram of a bedside robotic arm system and an operating table according to an embodiment.
- FIG. 4 is a simplified diagram of the kinematic model relationship of the surgical system according to an embodiment.
- FIG. 5 is a schematic diagram of the principle of attitude positioning according to an embodiment.
- FIG. 6 is an installation diagram of a ranging module according to an embodiment.
- Figure 7 is a schematic diagram of an operating table operating panel according to an embodiment.
- FIG. 8 is a schematic diagram illustrating the principle of attitude registration when the operating table moves with a translational degree of freedom according to another embodiment.
- FIG. 9 is one of the schematic diagrams of the posture registration principle when the operating table moves with posture degrees of freedom according to another embodiment.
- FIG. 10 is a second schematic diagram of the posture registration principle when the operating table moves with posture degrees of freedom according to another embodiment.
- Figure 11 is a schematic design diagram of a distance measuring device and a positioning mark according to yet another embodiment.
- Figure 12 is a schematic diagram of the registration principle of the design shown in Figure 11.
- Figure 13 is a schematic design diagram of another distance measuring device and positioning mark according to yet another embodiment.
- Figure 14 is a schematic diagram of the registration principle of the design shown in Figure 13.
- Figure 15 is a schematic design diagram of yet another distance measuring device and positioning mark according to yet another embodiment.
- Figure 16 is a schematic diagram of the registration principle of the design shown in Figure 15.
- Figure 17 is a schematic diagram of yet another registration principle according to yet another embodiment.
- Figure 18 is a schematic structural diagram of a surgical system according to yet another embodiment.
- Figure 19 is a schematic structural diagram of a registration arm according to yet another embodiment.
- Figure 20 is a schematic structural diagram of another registration arm according to yet another embodiment.
- FIG. 21 is a schematic diagram of the mating structure of the first connecting part and the first end of the registration arm according to yet another embodiment.
- Figure 22 is a schematic structural diagram of the registration arm in a folded state according to yet another embodiment.
- Figure 23 is a schematic structural diagram of a registration arm connected to different second connection parts according to yet another embodiment.
- Figure 24 is a simplified diagram of a kinematic model relationship of a surgical system according to yet another embodiment.
- Figure 25 is a schematic diagram showing the principle of registration between the first connection part and the second connection part according to yet another embodiment
- FIG. 26 is a schematic diagram showing the size information of the registration arm according to yet another embodiment.
- Figure 27 is a schematic diagram showing the principle of registration between a surgical robot and an operating bed according to yet another embodiment.
- Figure 28 is a schematic diagram of the electrical structure of a surgical robot and an operating table according to yet another embodiment.
- Figure 29 is a second schematic diagram of the electrical structure of a surgical robot and an operating bed according to yet another embodiment.
- Figure 30 is a third schematic diagram of the electrical structure of a surgical robot and an operating bed according to yet another embodiment.
- Figure 31 is a fourth schematic diagram of the electrical structure of a surgical robot and an operating bed according to yet another embodiment.
- Figure 32 is a schematic flowchart of a control method of a surgical system according to an embodiment.
- FIG. 1 is a simplified diagram of equipment relationships of a surgical system according to an embodiment.
- the surgical system 100 includes a surgical robot and an operating bed 105 .
- the surgical robot includes a bedside robotic arm system 101 , a doctor's main console 103 and an imaging cart imaging system 108 . It can be understood that the composition of the surgical robot is not limited to this.
- the bedside robotic arm system 101 includes a driving arm with multiple joints.
- the distal end of the driving arm is equipped with a puncture device.
- the puncture device is used to insert into the body opening of the patient 106 lying on the table of the operating table 105.
- the puncture device can Provides a channel between the surgical robot and the living body (including humans/animals).
- Medical instruments are inserted into the body of the living body through the connection channel.
- the medical instruments include imaging instruments that provide a field of view and surgical instruments that provide surgical operations.
- the doctor's main console 103 and the bedside robotic arm system 101 communicate in real time through the data transmission path 120.
- the doctor's surgical actions on the doctor's main console 103 are transmitted to the bedside robotic arm system 101 through the master-slave mapping relationship based on the kinematic model.
- the medical equipment is operated.
- the doctor's main console 103 can monitor the status of the bedside robotic arm system 101, such as monitoring the motion information of each joint in the bedside robotic arm system 101.
- the operating table 105 performs movements with corresponding degrees of freedom
- the patient 106 fixed on the table of the operating table 105 remains relatively stationary relative to the table, and the position change of the patient 106 is realized by the movement of the operating table 105 with corresponding degrees of freedom.
- the operating table The movement information of each moving joint of the operating table 105 is recorded and stored in real time, and the movement information of the operating table 105 is transmitted to the bedside robotic arm system 101 through the data transmission path 150 .
- Data transmission between the doctor's main console 103 and the operating bed 105 is performed through the data transmission path 130 .
- Images of the surgical site of the patient 106 are collected by imaging instruments installed on the bedside robotic arm system 101.
- the imaging instruments are connected to the imaging cart imaging system 108.
- the images collected by the imaging instruments are transmitted to the imaging cart imaging system 108 through the data transmission path 110.
- the image cart imaging system 108 feeds back the images collected by the imaging instrument to the doctor's main console 103 in real time through the data transmission path 160, providing the doctor with a surgical field of view, thereby facilitating the smooth implementation of the surgery.
- the data transmission paths 110, 120, 130, 150, and 160 may be wired transmission or wireless transmission.
- FIG. 2 is a schematic structural diagram of a doctor's main console according to an embodiment.
- the doctor's main console 103 includes an operating part 1031 , and the operating part 1031 includes multiple sets of main joints.
- the operating part 1031 may also include a main hand arm 1032, and arm joints may be provided in the main hand arm 1032 to change the posture of the main hand arm 1032.
- the operating part 1031 may also include a main wrist, and the wrist joint may be disposed in the main wrist to control the posture of the main wrist.
- the operating part 1031 may also include a pushable component. By moving the pushable component, the posture of the operating part 1031 is changed.
- the operating part 1031 may also include a driving device, such as a motor, and the driving device may be provided with an encoder to achieve automatic alignment and other corresponding control functions.
- a driving device such as a motor
- the driving device may be provided with an encoder to achieve automatic alignment and other corresponding control functions.
- the operation part 1031 may also include a display device to allow the operator to observe other devices such as the bedside robotic arm system 101 .
- FIG 3 is a schematic structural diagram of a bedside robotic arm system and an operating table according to an embodiment.
- the bedside robotic arm system 101 includes a moving chassis 201, a robotic arm 250 and a driving arm.
- the moving chassis 201 can move the bedside robotic arm system 101 as a whole in any direction on the horizontal ground.
- the robotic arm 250 is used to move the bedside robotic arm system 101 in any direction on the horizontal ground.
- One or more driving arms perform overall positioning, and the driving arms include an adjustment arm 260 and a control arm 270 .
- the motion chassis 201 can adopt a wheeled mobile structure, making the relative positional relationship between the bedside robotic arm system 101 and the operating table 105 more flexible. There are no regional constraints on designated locations. On-site medical personnel can make their own decisions based on actual surgical needs. Pushing to complete the positioning operation and the locking operation after positioning can fully approach the operating bed 105 and facilitate the preoperative positioning action of each manipulating arm 270 above the patient's body.
- the bedside robotic arm system 101 is also provided with a ranging component 202 for measuring external distance, such as a laser ranging component, an ultrasonic ranging component, a visual ranging component, etc.
- the laser ranging component usually has ultra-high accuracy to facilitate accurate ranging. .
- the robotic arm 250 includes a fixed support column 203 fixedly connected to the moving chassis 201 for supporting all moving joints, a lifting column 204 that performs the overall lifting linear motion J1 of the robotic arm 250, a big arm 205 and a small arm that perform rotational movements J2 and J3 respectively.
- the movement of these joints can quickly reach the expected preoperative positioning area, which is beneficial to shortening the relationship between the preoperative bedside robot arm system 101 and The docking time between patients 106.
- One or more adjustment arms 260 are connected to the orientation platform 207 through the rotating joint J5 individually or in parallel.
- the bedside robotic arm system 101 has multiple adjustment arms 260 .
- the configurations are basically the same and the descriptions of the motions of each joint are basically the same. Therefore, only one adjustment arm 260 and one control arm 270 are used as an example in FIG. 2 to present the structure and describe the motion relationships of each joint below.
- the adjustment arm 260 includes a small rotating platform 208, a telescopic arm 209 that performs a linear translation movement J6 in a horizontal direction parallel to the ground, a fixed vertical arm 210 fixedly connected to the telescopic arm 209, and a vertical arm 210 that is vertically connected to the telescopic arm 209.
- a moving vertical arm 211 that performs an up-and-down lifting motion J7
- a turning head 212 that performs a rotational motion J8, and a cyclone joint 213 that performs a rotational motion J9.
- the control arm 270 includes a deflection joint 214 that performs a rotational movement J10 with the cyclone joint 213, a parallelogram linkage base 215, a first link 216 and a second link 217 that perform a rotational movement J11, and is used to move the medical instrument 219 along the guide rail
- the arm 218 performs linear motion J12 in the direction.
- a puncture device (Trocar) 229 is installed at the distal end of the operating arm 270 .
- the telecentric fixed point 220 of the puncture device 229 at the same position as the body opening of the patient 106 is defined by the intersection of the axis of the cyclone joint 213 and the axis of the deflection joint 214 and the lateral center of the parallelogram linkage base 215
- the intersection points of the planes also converge at the telecentric fixed point 220 of the puncture device 229.
- the first connecting rod 216 and the second connecting rod 217 serve as two adjacent sides and are parallel to the two virtual adjacent sides parallel to them.
- the quadrilateral motion mechanism is controlled by a motor and performs the folding and unfolding motion of the parallelogram around the axis of rotation J11.
- the motion fixed point of the parallelogram also intersects with the telecentric fixed point 220 of the puncture device 229 at one point, and the The intersection point is located on the central axis of the medical instrument 219.
- the end 221 of the medical instrument is inserted into the body of the patient 106, and the doctor's surgical action on the main console is performed based on the master-slave mapping relationship.
- the operating table 105 includes an operating table movement mechanism 280.
- the operating table movement mechanism 280 includes a wheeled chassis 227 that can move on the horizontal ground, a fixed column 226, a telescopic column 225, a front and rear tilt and rotation joint 223, a left and right tilt and rotation joint 224, and an uppermost Countertop 222.
- the fixed column 226 is fixed on the wheeled chassis 227 through bolt connection.
- the telescopic column 225 and the fixed column 226 move relative to each other to perform the up and down lifting movement B2. At the same time, they serve as support mechanisms to support the table 222 of the operating bed 105 and the patient 106, front and rear.
- the axis B3 of the rotational motion of the tilt-rotation joint 223 intersects with the axis B4 of the rotational motion B4 of the left and right tilt-rotation joints 224 at the upper position of the telescopic column 225.
- the topmost part is the table 222 used to support and fix the patient 106, and the front and rear translation motion B1 of the table 222 It is executed by the telescopic transmission mechanism located inside the bed board.
- the telecentric fixed point 220 of the puncture device 229 needs to remain motionless relative to the patient 106
- the end 221 of the medical instrument needs to remain motionless relative to the surgical site. Stay still for the patient's safety.
- the surgical system of the present disclosure includes: an operating bed, a surgical robot, and a controller.
- the surgical robot includes a driving arm with multiple joints.
- the distal end of the driving arm is equipped with a puncture device.
- the puncture device is used to insert a needle located on the tabletop of the operating bed.
- the controller is coupled to the surgical table and surgical robot, and is configured to:
- the target joint amount of the first joint among the plurality of joints is determined based on the motion information and the attitude registration information, and the movement of the first joint is controlled according to the target joint amount to maintain the attitude of the puncture device relative to the table top of the operating table in the attitude degree of freedom.
- the driving arm can be actively controlled to adjust the posture of the puncture device, and the posture of the puncture device can be adjusted without removing the surgical machine. Adjust the operating bed when the patient is connected to the patient to improve operating efficiency and safety.
- the posture registration information refers to the location of the surgical robot.
- the posture registration information between the surgical robot and the operating table is obtained.
- the reference coordinate system of the surgical robot is the reference coordinate system of the surgical robot
- the reference coordinate system of the operating table is the reference coordinate system of the operating table.
- the reference coordinate system of the surgical robot includes a base coordinate system of the surgical robot.
- the reference coordinate system of the operating table includes the base coordinate system of the operating table. Please combine Figure 3 and Figure 4.
- the reference coordinate system 301 of the surgical robot can usually be established on the motion chassis 201 of the bedside robotic arm system 101. It includes two coordinate axes on the horizontal plane and the coordinate origin is located on the axis of the fixed support column 203.
- the reference coordinate system 301 of the surgical robot does not need to be established on the moving chassis 201, and only needs to have a fixed coordinate transformation relationship with the coordinate system of the moving chassis 201.
- the robot arm end coordinate system 302, the adjustment arm end coordinate system 303 and the medical device end coordinate system 304 can be established respectively.
- the medical device end coordinate system 304 is also called the manipulator end coordinate system.
- Each of the robotic arm 250, the adjustment arm 260 and the manipulating arm 270 The movement of the moving joints under the reference coordinate system 301 of the surgical robot will be realized by monitoring the movement of the corresponding joint coordinate system.
- the master-slave mapping relationship between the doctor's main console and the bedside robotic arm system 101 is also based on these coordinate systems.
- the relationship transformation between transformation matrices is thus completed.
- the position information of the telecentric fixed point of the puncture device in the reference coordinate system 301 of the surgical robot and the puncture device can be known posture information.
- the reference coordinate system 305 of the operating table is usually established at the center of the wheeled chassis 227 and includes two coordinates located on the horizontal plane. axis and the coordinate origin is located on the central axis of the wheeled chassis 227, but in actual implementation, the reference coordinate system 305 of the operating table does not need to be established at the center of the wheeled chassis 227, and only needs to be consistent with the coordinate system of the wheeled chassis 227. Just fix the coordinate transformation relationship.
- Each joint coordinate system of the operating table 105 is established at each moving joint in sequence according to the coordinate system establishment rules.
- the operating table table coordinate system 306 is established at the center of the upper surface of the table. Considering that the patient is relatively stationary relative to the table, therefore, through the coordinate system The conversion relationship 350 and the operating table table coordinate system 306 can accurately reflect the overall movement of the patient in the operating table reference coordinate system 305, and can monitor the movement of each joint of the operating table.
- the telecentric fixed point coordinate system 307 and the operating table table coordinate system 306 The conversion relationship 360 between the two cannot be directly obtained, resulting in the inability to obtain the position and posture (position and posture) positioning between the bedside robotic arm system 101 and the operating table 105, making adjustments without releasing the docking relationship between the surgical robot and the patient.
- controlling the linkage between the surgical robot and the operating table brings technical obstacles.
- the force acting on the puncture device during the movement of the operating table can only be used to control the driving arm to follow the movement, and at the same time, motion compensation is superimposed to improve the posture.
- Tracking accuracy because the movement of the driving arm is passive, instead of transmitting accurate movement instructions directly to the joints of the driving arm of the surgical robot for active control, the interaction force between the puncture device and the patient's body wall is used as the original driving force , it is impossible to assess the degree of influence from uncertain factors such as friction, and there is also the risk of instability.
- the relationship between the telecentric fixed point coordinate system 307 and the operating table table coordinate system 306 is replaced.
- the conversion relationship 360 realizes the posture registration between the surgical robot and the operating table, making it easier to control the linkage between the surgical robot and the operating table.
- the coordinate system transformation relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table includes the attitude angle between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
- the reference coordinate system of the surgical robot can be established on the motion chassis of the bedside robotic arm system and include a Two horizontal coordinate axes (such as x-axis and y-axis).
- the reference coordinate system of the operating table is established on the wheeled chassis of the operating table and includes two horizontal coordinate axes (such as x-axis and y-axis) located on the horizontal plane.
- the horizontal planes of the moving chassis and the wheeled chassis are parallel to or coincident with each other.
- the attitude angle between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can only be characterized as the horizontal coordinate axis of the reference coordinate system of the surgical robot and The relative deflection angle between the horizontal coordinate axes of the operating table's reference coordinate system, thereby simplifying the calculation of coordinate transformation.
- the reference coordinate system of the surgical robot is established at the center of the base 401, so that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 402 parallel to the ground (O robot- X robot Y robot ).
- the reference coordinate system of the operating table is established at the center of the base 405, so that the reference coordinate system of the operating table has a two-dimensional coordinate system 406 parallel to the ground (O bed- X bed Y bed ), without considering the uneven ground.
- the axis Z robot of the reference coordinate system of the surgical robot and the Z bed of the reference coordinate system of the operating table are parallel to each other and perpendicular to the ground. Since the relative posture relationship between the surgical robot and the operating table is not fixed, the coordinate system O robot - There is an angle ⁇ z around the Z axis between X robot Y robot Z robot and O bed- Variables to be known during attitude positioning.
- the ranging component 202 includes a first ranging module 403 and a second ranging module 404.
- the first ranging module 403 and the second ranging module 404 The detection directions of the first ranging module 403 and the second ranging module 404 are located on the horizontal plane and are perpendicular to the first horizontal coordinate axis of the reference coordinate system of the surgical robot. ( for example , The detection direction of module 404 is illustrated perpendicular to the Y robot axis.
- the first ranging module 403 and the second ranging module 404 may be arranged at intervals on one side of the base of the operating table.
- the first ranging module 403 and the second ranging module 404 The detection direction is located on the horizontal plane and is perpendicular to the first horizontal coordinate axis (for example, X bed axis) or the second horizontal coordinate axis (for example, Y bed axis) of the reference coordinate system of the operating bed. Considering that the length of the base of the operating table is usually longer than the length of the base of the surgical robot, the first ranging module 403 and the second ranging module 404 are arranged on the base of the surgical robot, which can better ensure detection.
- the target (operating table) is within the detection range.
- the controller when obtaining the attitude angle ⁇ z between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the controller is configured to:
- the position coordinates of the first ranging module in the reference coordinate system of the surgical robot, and the position coordinates of the second ranging module in the reference coordinate system of the surgical robot calculate the horizontal coordinate axis of the reference coordinate system of the surgical robot and The angle between the horizontal coordinate axes of the operating table's reference coordinate system;
- the position coordinates of the first ranging module 403 in the reference coordinate system of the surgical robot and the position coordinates of the second ranging module 404 in the reference coordinate system of the surgical robot can be reflected.
- the relative positions of the module 403 and the second ranging module 404 on the X robot axis, and further, combined with the distance values detected by the first ranging module 403 and the second ranging module, the distances b and c can be obtained.
- the position coordinates of the first ranging module 403 in the reference coordinate system of the surgical robot and the second ranging module 404 can be simplified and do not need to be obtained.
- the distance values detected by the first ranging module and the second ranging module are the distances b and c.
- the following formula can be used to calculate the angle between the horizontal coordinate axis (such as the y axis) of the coordinate system 402 and the coordinate system 406.
- the angle is also ⁇ z:
- the controller After obtaining the posture registration information between the surgical robot and the operating table, the controller responds to the movement of the operating table table in the posture degree of freedom, and obtains the movement information of the operating table table in the posture degree of freedom, and then can based on the movement of the operating table.
- the motion information and attitude registration information of the table in the attitude degree of freedom determine the target joint amount of the first joint among the multiple joints of the drive arm, and control the movement of the first joint according to the target joint amount to maintain the puncture device relative to the surgery in the attitude degree of freedom.
- the posture of the bed countertop The posture of the bed countertop.
- the posture freedom refers to the tilting movement of the operating table around an axis parallel to the length of the table or the tilting movement around an axis perpendicular to the length of the table.
- the movement information of the operating table table in the posture freedom includes the rotation direction and rotation angle.
- the movement information is transmitted to the surgical robot as the target movement direction and angle of the puncture device around the telecentric fixed point, thereby determining the first of the multiple joints of the drive arm.
- the first joint can be one joint or multiple joints.
- the manipulator arm is inversely solved based on the kinematic model of the surgical robot.
- the unique inverse solution is obtained for the rotating joints J10 and J11 in 270, and then the puncture device 229 is controlled to perform the same rotational motion as the operating table table around the telecentric fixed point 220.
- the controller of this embodiment is also configured to:
- controlling a target joint of the plurality of joints associated with the positional degree of freedom adjustment to allow the drive arm to be driven through the target joint based on a force exerted by a body wall at the patient's body opening to track the location of body openings.
- the translation and lifting caused by the puncture device when adjusting the posture are performed passively based on the force exerted by the body wall at the patient's body opening.
- the positional degrees of freedom include an elevation degree of freedom, controlling a target joint of the plurality of joints associated with the positional degree of freedom adjustment to allow the drive arm to track through the target joint based on a force exerted by a body wall at the patient's body opening.
- the controller is configured for:
- the second joint in the target joint is controlled to be in a zero force state, and the second joint includes a joint with a lifting degree of freedom to allow the drive arm to be driven by the second joint based on the movement of the patient
- the force exerted by the body wall of the body opening tracks the movement of the body opening in the lifting degrees of freedom.
- the positional degrees of freedom include a translational degree of freedom, controlling a target joint of the plurality of joints associated with the positional degree of freedom adjustment to allow the actuation arm to track through the target joint based on the force exerted by the body wall at the patient's body opening.
- the controller is configured for:
- a third joint in the target joint is controlled to be in a zero force state, and the third joint includes a joint with a translational degree of freedom to allow the drive arm to be driven by the third joint based on the movement of the target joint by the patient
- the force exerted by the body wall of the body opening is used to track the movement of the body opening in translational degrees of freedom;
- the movement of a fourth joint in the target joint is controlled to compensate for changes in the posture of the puncture device caused by tracking movement of the body opening in translational degrees of freedom.
- the controller when controlling the movement of the fourth joint in the target joint, the controller is configured to:
- the motion information of the first rotating joint includes the amount of motion and the direction of motion, and the motion information of the second rotating joint is generated based on the motion information of the third joint.
- the movement information of the rotating joint includes a movement direction opposite to the movement direction of the first rotating joint, and a movement amount that is the same as the movement amount of the first rotating joint;
- the corresponding joint in the target joint is controlled to be in a zero-force state.
- it is necessary to control the corresponding joint to be able to basically compensate (or balance) the gravity and weight of its distal load. /or overcome it
- the friction of the joint itself makes it easy to track the position of the body opening based on the force exerted by the body wall of the patient's body opening.
- this principle is also applicable to the control of the corresponding joint of the target joint in the zero-force state later.
- the controller when the corresponding joint in the control target joint is in a zero-force state, the controller is configured to:
- the joint of the drive arm usually includes a position sensor for detecting the position of the joint.
- the position sensor may be an encoder, for example.
- the joints of the drive arm usually also include a drive mechanism such as a motor, which controls the corresponding joint to be in a zero-force state, for example, controlling the associated motor to output a compensation torque.
- the dynamic model needed to be used in this disclosure is usually constructed for the corresponding joint.
- the constructed dynamic model is usually different for different corresponding joints.
- the dynamic model is associated with the corresponding joint and its distal joint.
- the dynamic model for the corresponding joint can be constructed as follows:
- the joints include joints and connecting rods connected to the joints
- the connecting rod parameters ie, DH parameters
- the connecting rod parameters include joint angles and/or joint displacements, connecting rod lengths and other parameters.
- a first dynamic model associated with the corresponding joint is constructed according to the link coordinate system.
- the first dynamic model is usually expressed in symbolic form (that is, a formula with unknown parameters), and the first dynamic model is a fuzzy dynamic model (that is, the dynamic parameters are temporarily uncertain).
- the first dynamic model is expressed as the following formula:
- ⁇ is the actual moment of the joint
- ⁇ is the joint position of the joint
- M( ⁇ ) is the inertia matrix, Including Correct force and centrifugal force
- G( ⁇ ) is the gravity moment of the joint.
- Unknown kinetic parameters in the first kinetic model are determined.
- the first kinetic model usually includes at least one unknown kinetic parameter.
- all unknown kinetic parameters involved in formula (1) can be determined to obtain an accurate second kinetic model.
- the contribution of some unknown dynamic parameters to the joint torque can also be ignored according to the actual situation.
- the key dynamic parameters such as the mass, center of mass and friction torque of the joint can be mainly focused on.
- the mass, center of mass and friction moment of a joint may be affected by the driving mechanism that drives the joint and/or the transmission mechanism that connects the driving mechanism and the joint to achieve transmission.
- the determined kinetic parameters are substituted into the first kinetic model to obtain the second kinetic model.
- the second kinetic model is a clear kinetic model (that is, the kinetic parameters have been determined).
- the dynamic model used refers to the second dynamic model.
- friction torque can be excluded from the actual torque of the joint, specifically:
- the moment balance model of the joint can be constructed based on the principle of dynamic balance.
- the moment balance model can be expressed as the following formula:
- ⁇ is the actual moment of the joint
- ⁇ is the joint position of the joint
- k 1 and k 2 are gravity moment parameters
- f is the friction moment of the joint
- the friction torque of the joint can be determined through the identification method.
- a single joint can be controlled to move at a low speed and at a constant speed, traversing the entire range of motion, and collecting the actual torque of the joint and the corresponding joint position.
- the single joint refers to the corresponding joint. joint.
- the friction torque is approximately constant and is usually considered to be a fixed value. Therefore, based on the collected actual torque of the joint and the corresponding joint position, and using the least squares method, the friction torque of the joint can be identified. . It can be understood that the actual torque of the joint is output by the driving mechanism that drives the motion of the joint.
- each joint can be controlled to move at a low speed and at a constant speed, traversing the entire range of motion, and collecting the corresponding
- the actual torque of the joint, and the joint position corresponding to the corresponding joint and its distal joint are combined with the actual torque of the corresponding joint, the friction moment of the corresponding joint, and the corresponding joint position of the corresponding joint and its distal joint, and using such as the minimum quadratic Multiplication can identify unknown dynamic parameters of the joint (such as the gravity moment in formula (2)).
- the identified unknown dynamic parameters are mainly gravity moment parameters (including mass and center of mass, etc.). Therefore, joint positions and joints associated with the corresponding joints and their distal joints can be effectively constructed.
- the unique inverse solution of the rotating joints J10 and J11 in the control arm 270 is obtained based on the kinematic model of the surgical robot, and then the puncture device is controlled to execute the operation around the telecentric fixed point and the operating table. While the table is undergoing the same rotational motion, each joint of the adjusting arm 270 is in a non-motion locked state, in which the control joint J5 performs a motion equal to the same size and in the opposite direction as J8 as the attitude of the puncture device caused by the rotational motion of the control arm 270
- the passively changed motion compensation ultimately makes the posture of the puncture device remain unchanged relative to the table during the linkage process of posture degrees of freedom.
- joints J6, J7, and J8 of the adjustment arm 270 are in a zero-force drag mode (i.e., a zero-force state), so that during the movement of the operating table table, the interaction force at the abdominal cavity wall can be relied upon to drag the puncture at the end of the control arm.
- the device's telecentric fixed point performs movement in a two-dimensional plane.
- each joint of the robot arm 250 is in a motion locked state, and the linkage form of the adjustment arm 260 and the control arm 270 is the same as that of the tilting motion B4.
- the difference lies in the relationship between the tilting motion B3 and the tilting motion B4.
- the rotation axes are perpendicular to each other. Since the rotation matrices of the table movement around different axes are different, the rotation matrix involved in the table movement in the kinematic model used in the linkage calculation can be adjusted accordingly, thereby realizing the linkage of executing tilt motion B3.
- the posture of the puncture state remains unchanged relative to the tabletop of the operating table.
- the table top of the operating table can also independently move up and down with the freedom degree.
- the control method of this embodiment also includes: in response to the movement of the operating table table in the lifting degree of freedom, obtaining the movement information of the operating table table in the lifting degree of freedom, and determining the user based on the movement information of the operating table table in the lifting degree of freedom. Based on the target joint amount of the fifth joint that drives the driving arm, the movement of the fifth joint is controlled according to the target joint amount to maintain the position of the puncture device relative to the table top of the operating table in the lifting degree of freedom.
- the movement information of the operating table table in the lifting degree of freedom includes the movement direction and the movement amount.
- the fifth joint used to drive the driving arm can be the lifting column of the robotic arm 250 204, thereby driving the driving arm to lift as a whole without adjusting the joints with lifting freedom in the driving arm, and preventing the joints with lifting freedom in the driving arm from moving to extreme positions and affecting subsequent actions.
- the mechanical arm 250 does not only lift but also lift. All other movable joints except the column 204 and the drive arm (the adjustment arm 260 and the control arm 270) are in a motion locked state, so that the posture of the moving puncture device 229 always remains stationary relative to the patient's part.
- the fifth joint used to drive the driving arm may also be the moving vertical arm 211 of the adjusting arm 260 that performs the up and down lifting motion J7. In some embodiments, the fifth joint used to drive the driving arm may also be a combination of the lifting column 204 and the moving vertical arm 211.
- the tabletop of the operating table can also move independently with translational freedom.
- the controller of this embodiment is further configured to: in response to the movement of the operating table table in translational degrees of freedom, control the sixth joint in the target joint to be in a zero-force state, where the sixth joint includes a joint with translational degrees of freedom, to allow the actuation arm, through the sixth joint, to track movement of the body opening in translational degrees of freedom based on forces exerted by the body wall of the patient's body opening; in response to movement of the sixth joint, controlling movement of a seventh joint in the target joint , to compensate for the tracking body opening due to flat Changes in the posture of the puncture device caused by movement of degrees of freedom.
- the controller when controlling the motion of the seventh joint among the target joints, is configured to: obtain the motion information of the third rotating joint among the sixth joints, and generate the third rotating joint based on the motion information of the third rotating joint among the sixth joints.
- the motion information of the fourth rotating joint among the seven joints, the motion information of the third rotating joint among the sixth joints includes the amount and direction of motion, and the motion information of the fourth rotating joint among the seventh joints includes the same as that of the sixth joint.
- the movement direction of the three rotary joints is opposite to that of the third rotary joint, and the movement amount is the same as the movement amount of the third rotary joint in the sixth joint; the fourth of the seventh joint is controlled based on the movement information of the fourth rotary joint in the seventh joint. Rotational joint movement.
- each joint of the mechanical arm 250 and the control arm 270 is in a motion locked state
- the lifting motion J7 of the adjusting arm 260 is also in a motion locked state
- the remaining motions J5 of the adjusting arm 260 , J6 and J8 are all in zero force drag mode.
- the table relying on the interaction force between the puncture device 229 and the body wall of the patient's body opening at the telecentric fixed point 220, the table will drag the manipulating arm 270 to drive the telecentric fixed point 220 to perform translational motion.
- the kinematic model controls the movements of J5 and J8 to be equal in magnitude and opposite in direction, so that the posture of the puncture device 229 remains unchanged during the movement.
- the puncture device and/or medical instrument installed at the end of the surgical robot can always remain inserted into the patient's body without the need to start the operation before the movement of the operating table.
- the distal end of the surgical robot disassembles the puncture device and/or medical instrument in use and completely removes it from the patient's body, or, without completely disconnecting the surgical robot from the surgical bed and dragging the robotic arm to the surgical bed Free up space for movement.
- the disclosed surgical system eliminates the cumbersome operations of repeated docking between the surgical robot and the operating bed, shortens the operation time and improves the execution fluency of the entire operation.
- the doctor at the main console is allowed to observe and monitor the movement of the patient's organs in the field of view of the surgical site, as well as the movement of the surgical instruments and imaging instruments in the window in real time through the images collected by the imaging equipment.
- the posture maintenance can reach the desired posture process in the shortest time and ensure the safety and smoothness of the execution process.
- controller of the present disclosure is also configured to:
- the image collected by the imaging instrument is acquired in the process of controlling the driving arm with a preset degree of freedom motion
- a control instruction is sent to the operating bed, and the control instruction includes an instruction for controlling at least one of delay adjustment, stop adjustment, and deceleration adjustment of the operating bed;
- the target surgical site is in a preset posture in the target zone.
- the preset degrees of freedom include at least one of a translational degree of freedom, a lifting degree of freedom, and an attitude degree of freedom.
- the process of controlling the drive arm according to the movement of the table top of the operating table in the preset degrees of freedom, that is, the surgical robot and the operating table are linked. the process of.
- the target area is an area marked in advance in the image display area, including the area that the doctor expects to pay attention to in the image display area, such as the middle area of the image display area or any area expected to be identified, or it can be the entire image display area, during surgery During the movement of the tabletop of the bed, the position of the target area in the images collected by the imaging equipment remains unchanged, and can also be remarked under the control of the doctor.
- the target area of the image display area can be marked before linkage or during linkage.
- characteristic areas can also be marked in the real patient anatomy, such as by fluorescence, and then during the linkage process. , to identify the real mark.
- the operating bed can be controlled to delay adjustment, stop adjustment, or decelerate adjustment, thereby making it easier for the doctor to observe whether the desired surgical site reaches the desired position or posture.
- the doctor can trigger an instruction to stop the adjustment, or when no other instructions are received for a preset period of time, the operating bed can resume its original linkage.
- one of the third preset conditions "identifying the target surgical site or a mark associated with the target surgical site in the target area" may include detecting that the target surgical site falls into the currently acquired image during the linkage process.
- the proportion of the target area reaches the preset value of the target area, for example, the proportion of the target surgical site falling into the target area of the currently acquired image Reaching more than 70% of the target area; for another example, the target surgical site completely falls into the target area of the currently collected image; it also includes detecting that the mark associated with the target surgical site during the linkage process falls into the target area of the currently collected image.
- the number and/or the ratio of the number falling into the target area to the total number of markers reaches a preset value.
- markers associated with the target surgical site there are 10 markers associated with the target surgical site, and 7 of them fall into the target area of the currently acquired image.
- all 10 markers fall into the target area of the currently collected image, and for example, more than 6 markers fall into the target area of the currently collected image.
- one of the third preset conditions "the target surgical site is in a preset posture in the target area” means that the target surgical site is identified in the target area of the image and the posture of the target surgical site in the target area conforms to Set recognition conditions, such as left tilt, right tilt, opening, etc., so as to have a better surgical field of view.
- Set recognition conditions such as left tilt, right tilt, opening, etc.
- controller of the present disclosure is also configured to:
- the operating part and the medical instrument are alignment between them.
- the orientation change between the operating part of the surgical robot and the medical instrument installed at the distal end of the driving arm includes two situations.
- One is that the orientation relationship is not established before the linkage, the other is that the orientation relationship is established during the linkage.
- the orientation relationship changes.
- the operating part includes a first operating part and a second operating part
- the medical device includes a first medical device and a second medical device.
- the first operating part and the second operating part Neither has established mapping with the first medical device and the second medical device.
- the first operating part and the first medical device have established a mapping, and an orientation relationship is established at this time; corresponding to the second situation, if before linkage
- the first operating part is mapped with the first medical device, and during the linkage process, the first operating part is switched to be mapped with the second medical device.
- the orientation relationship changes. That is, changes in the orientation relationship usually result from changes in the mapping relationship.
- the process of aligning the orientation between the operating part and the medical device may be to obtain the first posture of the medical device mapped by the operating part in the coordinate system of the imaging device, and convert the first posture into the first posture of the operating part in the coordinate system of the display of the display. second posture, and then determine the target joint amount of the joint in the operating part based on the second posture, and drive the corresponding joint movement in the operating part according to the target joint amount of the joint in the operating part, so that the posture of the operating part is consistent with the posture of the medical device, and the operation is completed Orientation alignment between the part and the medical device.
- the motion information of all joints of the surgical robot and the operating table is monitored, recorded and stored in real time. If the linkage instruction of one degree of freedom is completed and the linkage instruction of another degree of freedom is received again, the next linkage process is allowed to continue. , without the need to execute each motion joint to return to the initial starting position.
- the doctor's main console screen displays the current linkage status between the surgical robot and the electric operating table. If an abnormality occurs, the linkage process can be terminated in time according to the programmed instructions.
- the controller in this embodiment is also configured to:
- the drive arm is controlled according to the movement of the operating table table in the preset degree of freedom;
- the surgical robot is docked with the patient
- the base of the surgical robot and the base of the operating table are in a motion locked state
- the main operating console of the surgical robot is in a state allowing entry into surgical operations
- the communication connection between the surgical robot and the operating table is in a normal state
- the movable range of each joint in the drive arm is within the preset range of motion.
- the preset degrees of freedom include at least one of attitude degrees of freedom, translation degrees of freedom, and height degrees of freedom.
- the process of determining whether the second preset condition is met may be as follows:
- the moving chassis 201 (i.e., the base) of the surgical robot and the wheeled chassis 227 (i.e., the base) of the operating table are in a motion locked state to ensure that the operation process and the linkage process are not performed during the operation. Any movement will occur.
- Whether the base of the surgical robot and the base of the surgical table are in a motion locked state can be detected and determined by the locking sensor on the base, or after the medical auxiliary personnel perform the operation, the base of the surgical robot and the surgical table are in a motion locked state. Enter the information to confirm the lock on the operation interface;
- the surgical robot is connected to the patient. It is necessary to check the relative fixation equipment between the patient and the operating table, and secure the patient smoothly on the operating table to ensure that the patient will not slip significantly relative to the operating table after the patient's position changes, so as not to hinder the surgical robot and the operating table.
- the operating table is linked.
- the medical assistant can be allowed to adjust the robotic arm 250 , the adjustment arm 260 and the manipulating arm 270 to perform the desired directional positioning according to the surgical requirements, and operate it to be installed at the distal end of the driving arm of the surgical robot.
- the surgical instruments and imaging instruments are inserted into the patient's body. After the operation is completed, information to confirm the docking is input on the operating interface on the operating bed or surgical robot;
- the preset motion range includes the center area of the maximum motion range of each joint in the drive arm.
- the preset motion range includes at least one of an angular motion range and a linear motion range.
- the maximum angular motion range is -90° to 90°.
- the preset motion range can be -45° ⁇ 45°.
- the moving joints involved in the linkage process should be in the non-limit area of their respective motion ranges.
- the ideal position of the joints is in the center area of the motion range, so as to avoid being blocked because the joints have reached the extreme position before the movement is completed. This forces an undesirable phenomenon of motion termination. Therefore, it is necessary to judge the range of motion of each joint before starting linkage. For example, by detecting the current position and angle of the joint to determine whether the range of motion of the joint is within the preset range of motion;
- the main operating console of the surgical robot is in a state that allows entry into surgical operations, it can be determined by detecting whether the orientation between the operating part of the surgical robot and the medical instrument installed at the distal end of the driving arm is aligned, and other conditions that need to be met for the operation. The test results determine whether the main operating console of the surgical robot is allowed to enter surgical operations.
- the medical assistant can trigger the command to enter the linkage mode on the operating table.
- the linkage mode means that the surgical robot controls the drive arm in a preset degree of freedom according to the tabletop of the operating table, so that the puncture device The position and posture relative to the operating table remain unchanged.
- the controller of the operating table sends a command request to start the linkage to the control system of the surgical robot through wired or wireless means (such as infrared transmission).
- the surgical robot makes a decision based on the internal program instructions that have been written.
- the accurate judgment of the second preset condition if all the second preset conditions are met, the linkage mode is allowed to be entered.
- the linkage request can be sent again until the second preset condition is met. Assume that all conditions are met before entering the linkage mode. If the process of judging the second preset condition and sending the linkage request are in the iterative loop process for more than the system's internal set time, the request process to enter the linkage mode will be forced to terminate and exit.
- the doctor's main console can allow feedback and display of the registration through readable media (such as color-changeable signal lights).
- readable media such as color-changeable signal lights.
- the success signal allows doctors to be notified in time, thereby prompting doctors and medical assistants to continue to execute the next instruction; if the registration is unsuccessful, the next linkage command in the linkage mode cannot be entered, and readable media will be displayed on the doctor's main console.
- Signal prompts with eye-catching colors (such as red) will not allow you to proceed to the next step until the registration is successful.
- the controller of the present disclosure is also configured to:
- the position between the puncture device and the body opening is in a preset state
- the position between the medical instrument installed at the distal end of the driving arm and the surgical site is in a preset state
- the movable range of each joint in the drive arm is within the preset range of motion.
- the control method of the surgical robot during the linkage process refers to the previous description.
- the linkage process the movement information of all joints of the surgical robot and the operating bed is monitored, recorded and stored in real time, and whether the surgical robot meets the first predetermined state is monitored in real time.
- Set conditions whether the position of the puncture device and the body opening is in a preset state can be identified through the image collected by the imaging instrument installed at the distal end of the driving arm. If the surgical area partially or completely disappears from the image, It can be judged that the puncture device has a large relative movement with the body opening and is not in a preset state.
- Whether the position of the medical instrument installed at the distal end of the driving arm and the surgical site is in a preset state can be identified through the images collected by the imaging instrument installed at the distal end of the driving arm. If there is a gap between the medical instrument and the surgical site, If the relative distance or angle changes exceed a certain threshold, it can be judged that a large relative movement has occurred between the medical device and the surgical site and is not in a preset state.
- the moving joints involved should be in non-limiting areas within their respective ranges of motion. The ideal position is for the joints to be in the center area of the range of motion, so as to avoid the joints having reached their extreme positions before the movement is completed. This results in an undesirable phenomenon of forced termination of motion. Therefore, it is possible to determine whether the movable range of the joint is within the preset range of motion by detecting the current position and angle of the joint.
- an instruction can generally be issued to stop controlling the movement of the table top of the operating table in the preset degree of freedom. sport control.
- the movement of the operating table table only executes the movement commands operated by the medical assistant's keys in the movement command area of the operating table controller. If a key command appears during execution When the same button is pressed multiple times in succession, the system only executes the first button command and automatically blocks repeated action requests in the program. In addition, if another motion command function key is pressed while a key command is being executed, the system will continue to execute the unfinished motion command and automatically block other key requests during this process. After the operating table posture reaches the target posture, the motion command being executed automatically ends, and it is in a state of waiting for the next operation command.
- FIG. 7 is a schematic diagram of an operating table operating panel according to an embodiment.
- the operation panel 600 includes, but is not limited to, display areas and operation areas such as a screen display area 801, a mode switching functional area 802, and a motion command area 803.
- the screen display area 801 further includes, but is not limited to, the current status of the operating bed, the range of motion of each joint, the current motion instructions executed on the table, data connection and registration success signals, etc., thereby allowing medical auxiliary personnel to view and view information through the screen display at any time. It can grasp the current motion status of the operating table and provide accurate current information for the next button operation to effectively avoid operational errors.
- the mode switching functional area 802 further includes, but is not limited to, a registration button, a stop button, an exit button, a lock and an unlock button.
- the registration button is used to perform all registrations between the surgical robot and the operating table in each degree of freedom of movement, and wait for the execution of the next operation command.
- the stop button is used to interrupt the control program midway to stop the linkage action between joints and maintain the motion state at the stop moment until the next operation command is executed.
- the exit button is used to switch from the linkage mode back to the regular master-slave operation mode after the linkage is completed.
- the lock and unlock buttons are used to stop and release the movement of the wheeled chassis of the surgical robot and operating table before and after surgery.
- the motion command area 803 further includes, but is not limited to, the buttons displayed on the operation panel in Figure 7.
- Each button defines a motion command for each degree of freedom using the base coordinate system of the operating table as the motion reference coordinate system.
- the number of buttons is based on the operating table allowed in the linkage mode. Determined by the number of degrees of freedom to perform motion.
- the surgical system of the present disclosure includes an operating bed; a surgical robot.
- the surgical robot includes a driving arm with multiple joints.
- the distal end of the driving arm is equipped with a puncture device.
- the puncture device is used to insert into the body opening of the organism located on the table top of the operating bed.
- the controller is coupled to the operating table and the surgical robot, and is configured to: obtain the connection between the surgical robot and the operating table.
- posture registration information in response to the movement of the operating table table in the posture degree of freedom, obtain the movement information of the operating table table in the posture degree of freedom; determine the target of the first joint among multiple joints based on the movement information and posture registration information
- the joint quantity controls the movement of the first joint according to the target joint quantity to maintain the attitude of the puncture device relative to the tabletop of the operating table in the attitude degree of freedom.
- the present disclosure can actively control the driving arm to adjust the posture of the puncture device when the tabletop of the operating table moves with posture freedom, thereby improving operating efficiency and safety.
- the linkage between the surgical robot and the operating table can be realized by using only the posture positioning method.
- the application implementation method is simple and the reliability is higher.
- the attitude registration information between the surgical robot and the operating table may be determined in a manner different from that in the above embodiment, and the controller may also be configured to:
- Controlling a first joint of a plurality of joints of the drive arm in a zero force state the first joint including a joint having a translational degree of freedom to allow the drive arm to be driven by the first joint based on a force exerted by a body wall of the patient's body opening to track the movement of the body opening in translational degrees of freedom;
- a first position of the puncture device at a first moment is acquired, and a second position of the puncture device at a second moment adjacent to the first moment is acquired.
- first posture registration information between the surgical robot and the operating table is determined.
- the posture registration relationship between the surgical robot and the operating table can be determined based on the position change of the puncture device, and the posture registration relationship between the surgical robot and the surgical bed can be actively performed.
- the puncture device can move around the telecentric fixed point at the distal end of the driving arm, so the position of the telecentric fixed point can be used to represent the position of the puncture device.
- the position of the puncture device can also be determined by other relative positions.
- the telecentric fixed point is characterized by the position of a feature point with a fixed positional relationship, which is not limited here.
- the posture registration relationship refers to the location of the surgical robot.
- the attitude registration relationship between the surgical robot and the operating table is obtained.
- the translational motion of the tabletop of the operating table in the translational degree of freedom includes the translational motion that commands the tabletop of the operating table to move in the translational degree of freedom, and the motion of the tabletop in translation caused by commanding the tabletop of the operating table to move in the attitude degree of freedom.
- a first joint of the plurality of joints is controlled to be in a zero-force state, and the first joint includes a joint with a translational degree of freedom to allow the driving arm to be driven by the first joint based on the motion of the patient
- the body wall of the body opening exerts forces to track the motion of the body opening in translational degrees of freedom.
- J6 and J8 are all in zero force state. Therefore, during the translational freedom movement of the table top of the operating table, the interaction force between the puncture device 229 and the body wall of the patient's body opening at the telecentric fixed point 220 can be relied upon to drag the control arm 270 to drive the telecentric motion. Moving point 220 performs translation movement move.
- the first joint among the plurality of joints is controlled to be in a zero-force state.
- it is necessary to control the corresponding joint to be able to basically compensate (or balance) the gravity of its distal load and/or overcome the friction of the joint itself. Force to easily track the position of the body opening based on the force exerted by the body wall of the patient's body opening.
- this principle is also applicable to the control of the corresponding joint of the target joint in the zero-force state later.
- the controller When the first joint among the plurality of joints of the surgical robot is in a zero-force state, the controller responds to the translational movement of the operating table table in the translational degree of freedom, and further passively performs tracking of the body opening in the translational degree of freedom at the first joint.
- the first position of the puncture device at the first moment is acquired, and the second position of the puncture device at the second moment adjacent to the first moment is acquired. Based on the first position and the second position, the operation can be determined.
- the first attitude registration information between the robot and the operating table is based on the first position and the second position.
- the controller when acquiring the first position of the puncture device at the first moment, the controller is configured to: acquire joint variables of multiple joints at the first moment, and determine the first position based on the joint variables and using forward kinematics.
- the controller when acquiring the second position of the puncture device at a second moment adjacent to the first moment, the controller is configured to: acquire joint variables of a plurality of joints at the second moment, and determine the second position based on the joint variables and using forward kinematics.
- Location The first position and the second position may be coordinate positions in the reference coordinate system of the surgical robot.
- the first position and the second position are mainly considered to be coordinate positions in the two-dimensional horizontal coordinate system of the surgical robot, that is, Can.
- the reference coordinate system of the surgical robot and the reference coordinate system of the operating table both include a two-dimensional horizontal coordinate system, and the horizontal plane where the base of the surgical robot is located and the horizontal plane where the base of the operating table is located are parallel to or coincident with each other; based on the first position and In the second position, when determining the first attitude registration information between the surgical robot and the operating table, the controller is configured to:
- the first displacement component of the puncture device on the first horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot is determined, and the first displacement component of the puncture device on the two-dimensional horizontal coordinate system of the surgical robot is determined.
- the first displacement component and the second displacement component calculate the first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table to obtain the first posture between the surgical robot and the operating table Registration information.
- the reference coordinate system of the surgical robot is established at the center of the base 401, so that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 402 (O) parallel to the ground.
- robot- X robot Y robot The reference coordinate system of the operating table is established at the center of the base 405, so that the reference coordinate system of the operating table has a two-dimensional coordinate system 406 parallel to the ground (O bed- X bed Y bed ), without considering the uneven ground.
- the axis Z robot of the reference coordinate system of the surgical robot and the Z bed of the reference coordinate system of the operating table are parallel to each other and perpendicular to the ground.
- the coordinate system O robot - There is an angle ⁇ z around the Z axis between X robot Y robot Z robot and O bed- Variables to be known during attitude positioning.
- the telecentric fixed point corresponding to the puncture device installed at the distal end of the driving arm 3402 is defined as point A.
- point A is in the coordinate system O robot-
- the coordinates under robot Y robot Z robot are expressed as A(x 1 , y 1 ), which is the first position.
- the telecentric fixed point changes from the starting position
- the first displacement component of point A along the Y bed axis under the reference coordinate system of the operating bed can be expressed as for
- the first displacement component of point A along the X robot axis (the first horizontal coordinate axis) in the reference coordinate system of the surgical robot is represented by ⁇ x
- the second displacement component along the Y robot axis (the second horizontal coordinate axis) is represented by is ⁇ y
- the coordinate information of point A (x 1 , y 1 ) and point B (x 2 , y 2 ) can be derived and calculated based on the coordinate system relationship of the kinematic model, thereby obtaining the displacement components ⁇ x and ⁇ y.
- the following formula can be used to calculate the angle ⁇ z between the horizontal coordinate axis (such as the y-axis) of the coordinate system 402 and the coordinate system 406. This angle is also the angle of the surgical robot.
- the controller is further configured to:
- a third posture between the surgical robot and the operating bed is determined based on one or more of the first posture registration information and the second posture registration information.
- the controller when acquiring the third position of the puncture device at a third moment adjacent to the second moment, is configured to: acquire joint variables of a plurality of joints at the third moment, and determine based on the joint variables and using forward kinematics third position. While the first joint passively performs tracking of the movement of the body opening in translational degrees of freedom, the third position is acquired after acquiring the second position, that is, the updated position of the puncture device.
- the controller When determining the second attitude registration information between the surgical robot and the operating table based on the second position and the third position, the controller is configured to:
- the third displacement component of the puncture device on the first horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot is determined, and the third displacement component of the puncture device on the two-dimensional horizontal coordinate system of the surgical robot is determined.
- the third displacement component and the fourth displacement component calculate the second rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table to obtain the second posture between the surgical robot and the operating table. Registration information.
- the principle and process of calculating the second rotation angle value are the same as the principles and processes of calculating the first rotation angle value. The only difference is that the second position and the third position are used for calculation.
- the first horizontal coordinate axis of the puncture device in the two-dimensional horizontal coordinate system of the surgical robot may also be determined based on the coordinates of the first position and the third position in the two-dimensional horizontal coordinate system of the surgical robot.
- the second rotation angle value on the horizontal plane between the reference coordinate system of the bed is used to obtain the second posture registration information between the surgical robot and the operating table.
- the principle and process are also the same as those for calculating the first rotation angle value.
- the first attitude registration information The first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is used for characterization, and the second attitude registration information is characterized by the relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
- the first rotation angle value is used as the third posture registration information, or the second rotation angle value is used as the third posture registration information, or the first rotation angle value and the second rotation angle value are used as the third posture registration information.
- the average of the angle values is used as the third pose registration information.
- the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed on the horizontal plane are constantly adjusted.
- the rotation angle value is calculated until the difference between two adjacent rotation angle values is within the preset range, that is, the difference is less than the preset angle accuracy deviation threshold.
- the attitude registration relationship is considered to meet the accuracy requirements.
- the recently calculated rotation angle value can be used as the target attitude registration relationship used in subsequent linkage control, and linkage control can be started.
- any one or the average of the last two calculated rotation angle values can also be used as the target attitude registration relationship used in subsequent linkage control.
- the first attitude registration information can also be directly used as the target attitude registration relationship used in subsequent linkage control, and the attitude registration can be performed once. Once accurate, linkage control can begin.
- the transmission of table motion information from the operating table to the surgical robot needs to always maintain good real-time performance.
- the speed of the operating table is adjusted to the first speed.
- the speed of the operating table is adjusted to the second speed.
- the second speed is greater than or equal to the first speed.
- the second speed is greater than the first speed.
- the controller is further configured to:
- the second joint movement of the plurality of joints is controlled to compensate for the attitude change of the puncture device caused by the first joint passively performing a movement tracking the translational degree of freedom.
- the controller when controlling the movement of the second joint among the plurality of joints, the controller is configured to:
- Obtain motion information of the first rotating joint in the first joint generate motion information of the second rotating joint in the second joint based on the motion information of the first rotating joint in the first joint, the first rotating joint in the first joint
- the motion information includes the amount and direction of motion
- the motion information of the second rotary joint in the second joint includes the motion direction opposite to the motion direction of the first rotary joint in the first joint and the first rotation in the first joint.
- the amount of motion of a joint that is the same amount of motion
- each joint of the mechanical arm 250 and the control arm 270 is in a motion locked state
- the lifting motion J7 of the adjusting arm 260 is also in a motion locked state
- the remaining motions J5 of the adjusting arm 260 , J6 and J8 are all in zero force drag mode.
- the table relying on the interaction force between the puncture device 229 and the body wall of the patient's body opening at the telecentric fixed point 220, the table will drag the manipulating arm 270 to drive the telecentric fixed point 220 to perform translational motion.
- the kinematic model controls the movements of J5 and J8 to be equal in magnitude and opposite in direction, so that the posture of the puncture device 229 remains unchanged during the movement.
- the table top of the operating table rotates with a degree of freedom, it can cause the table top of the operating table to move with a degree of freedom. Therefore, during the table top of the operating table rotates with a degree of freedom, it can also move with a degree of freedom based on the table top of the operating table.
- the process of high-speed movement realizes the posture registration of the surgical robot and the operating table.
- a first joint of the plurality of joints is controlled to be in a zero-force state, and the first joint includes a joint with a translational degree of freedom to allow the driving arm to be driven by the first joint based on the motion of the patient
- the body wall of the body opening exerts forces to track the motion of the body opening in translational degrees of freedom.
- each joint of the adjustment arm 270 is in a non-motion locked state, and the joints J6, J7 and J8 of the adjustment arm 270 are in a zero-force drag mode (i.e., a zero-force state), thus making the operation
- a zero-force drag mode i.e., a zero-force state
- the first joint among the plurality of joints of the surgical robot in response to the translational movement of the operating table table in the translational degree of freedom, further passively performing tracking the movement of the body opening in the translational degree of freedom is performed at the first joint
- the first position of the puncture device at the first time is obtained
- the second position of the puncture device at the second time adjacent to the first time is obtained.
- the relationship between the surgical robot and the surgical robot is First posture registration information between operating tables.
- the position of the puncture device is obtained.
- the method of positioning is the same as the attitude registration process when the tabletop of the operating table directly moves with translational degrees of freedom. We will not go into details here. The specific operation process will be explained below with reference to Figures 9 and 10.
- the reference coordinate system of the surgical robot is established at the center of the base 401, so that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 402 (O) parallel to the ground.
- robot- X robot Y robot The reference coordinate system of the operating table is established at the center of the base 405, so that the reference coordinate system of the operating table has a two-dimensional coordinate system 406 parallel to the ground (O bed- X bed Y bed ), without considering the uneven ground.
- the axis Z robot of the reference coordinate system of the surgical robot and the Z bed of the reference coordinate system of the operating table are parallel to each other and perpendicular to the ground.
- the coordinate system O robot - There is an angle ⁇ z around the Z axis between X robot Y robot Z robot and O bed- Variables to be known during attitude positioning.
- the telecentric fixed point corresponding to the puncture device installed at the distal end of the driving arm 3402 is defined as point A.
- point A is in the coordinate system O
- the displacement component of point A along the X bed axis under the reference coordinate system of the operating bed can be expressed as
- the displacement component along the Z bed axis can be expressed as
- the first displacement component of point A along the X robot axis in the reference coordinate system of the surgical robot is expressed as ⁇ x′
- the second displacement component along the Y robot axis is expressed as ⁇ y′
- the coordinate information of y 1 ) and point C (x 3 , y 3 ) can be derived and calculated based on the kinematic model coordinate system relationships 310, 320 and 370, thereby obtaining the displacement components ⁇ x′ and ⁇ y′.
- the following formula can be used to calculate the angle ⁇ z between the horizontal coordinate axis (such as the y axis) of the coordinate system 402 and the coordinate system 406. This angle is also the surgical The first rotation angle value on the horizontal plane between the robot's reference coordinate system and the operating table's reference coordinate system:
- the controller is also configured to:
- the second joint movement of the plurality of joints is controlled to compensate for the attitude change of the puncture device caused by the first joint passively performing a movement tracking the translational degree of freedom.
- the movement of the second joint among multiple joints is controlled, including:
- Obtain motion information of the first rotating joint in the first joint generate motion information of the second rotating joint in the second joint based on the motion information of the first rotating joint in the first joint, the first rotating joint in the first joint
- the motion information includes the amount and direction of motion
- the motion information of the second rotary joint in the second joint includes the motion direction opposite to the motion direction of the first rotary joint in the first joint and the first rotation in the first joint.
- the amount of motion of a joint that is the same amount of motion
- each joint of the mechanical arm 250 and the control arm 270 is in a motion locked state
- the lifting motion J7 of the adjusting arm 260 is also in a motion locked state
- the remaining motions J5 of the adjusting arm 260 , J6 and J8 are all in zero force drag mode.
- the table relying on the interaction force between the puncture device 229 and the body wall of the patient's body opening at the telecentric fixed point 220, the table will drag the manipulating arm 270 to drive the telecentric fixed point 220 to perform translational motion.
- the kinematic model controls the movements of J5 and J8 to be equal in magnitude and opposite in direction, so that the posture of the puncture device 229 remains unchanged during the movement.
- each joint of the adjustment arm 270 is in a non-motion locked state, and the joints J6, J7 and J8 of the adjustment arm 270 are in a zero-force drag mode (i.e., a zero-force state), thus making the operation
- a zero-force drag mode i.e., a zero-force state
- it can rely on the interaction force at the abdominal wall to drag the telecentric fixed point of the puncture device at the end of the manipulating arm to perform movement in a two-dimensional plane.
- joint J5 By controlling joint J5, it is executed in the same size and opposite direction as J8.
- the amount of motion is used as motion compensation for passive changes in the posture of the puncture device, so that the posture of the puncture device remains unchanged relative to the table top of the operating table.
- the above posture registration process is based on the position change of the puncture device caused by the movement of the first joint passively tracking the translational degree of freedom in response to the translational movement of the tabletop of the operating table, and the posture configuration is obtained based on software calculations. According to the accurate relationship, the attitude positioning between the surgical robot and the operating table can be realized without using any external positioning sensors, which is low cost and high efficiency.
- the posture registration relationship can be stored, and the tabletop of the operating table is moving based on the posture degree of freedom.
- the driving arm is actively controlled to adjust the posture of the puncture device based on the posture registration relationship between the surgical robot and the operating table.
- the driving arm can be actively controlled based on the posture registration relationship between the surgical robot and the operating table. Adjust the posture of the puncture device. Therefore, based on the acquired posture registration relationship, the operating table can be adjusted without releasing the docking relationship between the surgical robot and the patient, thereby improving operating efficiency and safety.
- the attitude registration information between the surgical robot and the operating table may be determined in a manner different from that in the above embodiment.
- One of the surgical robot and the operating bed is provided with a distance measuring device.
- the first horizontal coordinate axis and the second horizontal coordinate axis of the surgical robot's reference coordinate system are located on the horizontal plane, and the first horizontal coordinate axis and the second horizontal coordinate axis of the operating table's reference coordinate system are located on the horizontal plane.
- the horizontal plane where the second horizontal coordinate axis is located and the horizontal plane where the detection direction of the distance measuring device is located are parallel to or coincide with each other.
- the controller is configured to:
- the detection data includes the first vertical distance and the second vertical distance between the surgical robot and the operating bed;
- attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is determined.
- the first vertical distance and the second vertical distance between the surgical robot and the operating table include the minimum distance scanned by the ranging sensor, and/or the distance scanned by the ranging sensor from a horizontal direction perpendicular to the installation position. Actual During application, the required first vertical distance and second vertical distance are selected according to the installation method of the ranging sensor and the model selected to calculate the registration information.
- the first vertical distance is the minimum distance detected by the distance measuring sensor
- the second vertical distance is the distance detected by the distance measuring sensor from a horizontal direction perpendicular to the installation position.
- the ranging device includes a first ranging sensor and a second ranging sensor
- the first ranging sensor and the second ranging sensor are arranged at intervals on the horizontal plane
- the first vertical distance is the minimum distance detected by the first ranging sensor
- the second vertical distance is the minimum distance detected by the second distance sensor; or, the first vertical distance is the distance detected by the first distance sensor from a horizontal direction perpendicular to the installation position, and the second vertical distance is the second distance
- the distance the sensor detects from the horizontal direction perpendicular to the installation location.
- the rotation angle between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can be determined as posture registration information.
- the other one of the surgical robot and the operating bed is provided with a positioning mark within the detection range of the ranging device, and the detection number
- the data also includes the distance between the distance measuring device and the positioning mark, and the detection angle of the distance measuring device.
- the controller is also configured to:
- the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical robot is determined.
- the position coordinates of the ranging device and the position coordinates of the positioning mark, the position of the positioning mark in the reference coordinate system of the surgical robot can be determined, and then combined with the position of the positioning mark in the reference coordinate system of the operating bed, the operation result can be obtained
- the positional relationship between the robot's reference coordinate system and the surgical robot's reference coordinate system is used as position registration information. Therefore, pose registration information is obtained based on the rotation angle and positional relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
- the alignment between the puncture device and the reference coordinate system of the operating table can be determined. Attitude registration information and/or position registration information, or attitude registration information and/or position registration information between the table top of the operating table and the reference coordinate system of the surgical robot.
- Figures 11 and 12 illustrate the implementation of registering the surgical robot and the operating bed when the ranging device includes a ranging sensor.
- the ranging device when the ranging device includes a first ranging sensor 503, the first ranging sensor 503 is installed on the first fixed turntable 502.
- the first fixed turntable 502 is connected to the first servo motor 504.
- the first servo motor 504 is installed on the motor fixing bracket 501, and the above structure is installed on the surgical robot or operating table.
- the first ranging sensor 503 may select a laser ranging sensor.
- the positioning mark 513 includes the junction of the two planes 511 and 512 of the installation side 510 where the positioning mark 513 is located.
- the installation side 510 can be the side of the surgical robot or the operating bed.
- the two planes are parallel to each other and there is a height difference at the intersection.
- the height difference is, for example, 0.1 mm, thereby forming the positioning mark 513, and the extending direction of the positioning mark 513 is perpendicular to the horizontal plane.
- the first servo motor 504 drives the first fixed turntable 502 to perform rotational motion under program control
- the laser 508 emitted by the first ranging sensor 503 shines on the installation side 510 where the positioning mark 513 is located, and detection data can be obtained.
- the detection data includes The first vertical distance and the second vertical distance between the surgical robot and the operating bed, the distance between the first distance measuring device 503 and the positioning mark 513, and the detection angle of the first distance measuring device 503.
- the reference coordinate system of the surgical robot is established at the center of the base 401, so that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 402 (O robot- X robot Y robot ) parallel to the ground.
- the reference coordinate system of the operating table is established at the center of the base 405, so that the reference coordinate system of the operating table has a two-dimensional coordinate system 406 parallel to the ground (O bed- X bed Y bed ), without considering the uneven ground.
- the axis Z robot of the reference coordinate system of the surgical robot and the Z bed of the reference coordinate system of the operating table are parallel to each other and perpendicular to the ground.
- the initial direction of the first ranging sensor 503 is the emission direction perpendicular to the installation position, which is located on the horizontal plane and perpendicular to the first horizontal coordinate axis (for example, the X robot axis) or the second horizontal coordinate axis of the reference coordinate system of the surgical robot. (For example, Y robot axis).
- the Y robot axis is parallel to or coincident with the long axis of the surgical robot base 401, and the initial direction of the first ranging sensor 503 is perpendicular to the Y robot axis.
- the first vertical distance is the minimum distance b scanned by the distance measuring sensor
- the second vertical distance is the distance a scanned by the distance measuring sensor from a horizontal direction perpendicular to the installation position
- the angle ⁇ z obtained above is also the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. Therefore, based on the above formula, it is possible to achieve accurate posture positioning between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
- the positioning accuracy depends on the measurement accuracy of the ranging sensor. The realization of this positioning is to execute the operation between the surgical robot and the operating table. The technical basis and implementation prerequisites for linkage.
- the controller when determining the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, the controller is configured to:
- the detection angle of the positioning mark detected by the distance measuring device, and the position coordinates of the distance measuring device in the reference coordinate system of the installed equipment determine the location of the positioning mark on the equipment where the distance measuring device is installed.
- the position coordinates of the positioning mark in the reference coordinate system of the equipment where the distance measuring device is installed are used to determine the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
- the distance measuring device is installed on one of the surgical robot and the operating bed, and the positioning mark is on the other of the surgical robot and the operating bed.
- the distance between the ranging device and the positioning mark and the detection angle of the ranging device are obtained in the following ways, including:
- the target detection data includes the target distance
- the target detection range is reduced as the updated target detection range, and returns to the step of controlling the ranging device to rotate the target detection range for reciprocating scanning;
- the distance between the distance measuring device and the positioning mark is determined based on the acquired target detection data, and the detection angle corresponding to the distance is obtained as the detection angle of the distance measuring device.
- the conditions for stopping scanning include at least one of the following:
- the number of times the positioning mark is detected reaches the preset number
- the difference between the target distances in the two most recent detection data is less than or equal to the preset difference
- the target detection range is reduced to a constant value
- the ranging device performs reciprocating scanning motion driven by the driving device. As the positioning mark is continuously detected during the scanning process, the detection range will continue to shrink. During this process, the target distance when the positioning mark is scanned is recorded. At the same time, the target detection angle corresponding to the target distance can also be recorded. If the number of scans reaches more than 2 times, and the difference between the target distances in the last two detection data is less than or equal to the preset difference, the scanning can be stopped, and the ranging device and positioning device are determined based on the target distances in the last two detection data. For example, the distance between the markers can be averaged, or the latest target distance can be taken, and then the detection angle corresponding to the latest target distance can be obtained as the detection angle at which the distance measuring device scans the positioning mark.
- scanning can also be stopped when the detection range continues to shrink to a constant value.
- the distance measuring device is aligned with the positioning mark, or the data scanned with the target detection range only contains a unique distance value.
- the ranging device is also aligned with the positioning mark.
- the target distance in the last detection data is obtained as the distance between the ranging device and the positioning mark.
- the ranging device can collect data through the encoder after it stops moving. and calculate to obtain the angle between the distance measuring device and the emitted detection light, that is, the detection angle at which the distance measuring device scans the positioning mark. In this way, by setting the conditions for stopping scanning, a higher-precision distance and detection angle can be obtained, and the ranging efficiency can be improved.
- the distance c between the first ranging sensor 503 and the positioning mark 513 is scanned and obtained in the above manner.
- the first ranging device 503 scans to the detection angle of the positioning mark 513 including the first ranging sensor. 503 corresponds to the detection angle ⁇ 1 of distance c.
- Figures 11 and 12 are illustrated with the distance measuring device installed on the surgical robot as an example, but the distance measuring device can also be installed on the operating table to determine the reference coordinate system and the surgical robot through the same calculation. The registration information between the reference coordinate systems of the operating table will not be described again here.
- the driving arm can be actively controlled to adjust the posture of the puncture device based on the movement of the current tabletop of the operating table, or the driving arm can be actively controlled to adjust the position and posture of the puncture device, so as to It is possible to adjust the operating bed without releasing the docking relationship between the surgical robot and the patient, thereby improving operating efficiency and safety.
- Figures 13 and 14 illustrate the implementation of registering the surgical robot and the operating table when the ranging device includes two ranging sensors.
- the ranging device includes a first ranging sensor 503 and a second ranging sensor 506.
- the first ranging sensor 503 and the second ranging sensor 506 are arranged at intervals on the horizontal plane.
- the first ranging sensor 503 is installed On the first fixed turntable 502, the first fixed turntable 502 is connected to the first servo motor 504, the second distance sensor 506 is installed on the second fixed turntable 505, and the second fixed turntable 505 is connected to the second servo motor 507.
- a servo motor 504 and a second servo motor 507 are installed on the motor fixing bracket 501, and the above structure is installed on the surgical robot or the operating table.
- the initial state of the first servo motor 504 and the second servo motor 507 during the installation process is set so that the two light beams emitted by the first distance sensor 503 and the second distance sensor 506 are parallel to each other.
- the first ranging sensor 503 and the second ranging sensor 506 may be laser ranging sensors.
- the positioning mark 513 includes the junction of the two planes 511 and 512 of the installation side 510 where the positioning mark 513 is located.
- the installation side 510 can be the side of the surgical robot or the operating bed.
- the two planes are parallel to each other and there is a height difference at the intersection. The height difference is, for example, 0.1 mm, thereby forming a positioning mark 513 whose extending direction is perpendicular to the horizontal plane.
- the laser emitted by the first ranging sensor 503 and the laser emitted by the second ranging sensor 506 The lasers 508 and 509 are illuminated on the installation side 510 where the positioning mark 513 is located, and the detection data can be obtained.
- the detection data includes the first vertical distance and the second vertical distance between the surgical robot and the operating bed, the ranging device and the positioning mark 513. distance between them and the detection angle of the distance measuring device.
- the first ranging sensor 503 and the second ranging sensor 506 are arranged at intervals on the base of the surgical robot.
- the initial directions of the first ranging sensor 503 and the second ranging sensor 506 are perpendicular to the installation position.
- the exit direction, the initial direction is located on the horizontal plane and is perpendicular to the first horizontal coordinate axis (such as the X robot axis) or the second horizontal coordinate axis (such as the Y robot axis) of the reference coordinate system of the surgical robot.
- the first vertical distance in the detection data is the distance b obtained by the first ranging sensor 503 scanning from the horizontal direction perpendicular to the installation position
- the second vertical distance is the distance b obtained by the second ranging sensor 506 scanning from the horizontal direction perpendicular to the installation position.
- the distance c, the connection line between the first ranging sensor 503 and the second ranging sensor 506 is parallel to the Y robot axis
- the distance between the first ranging sensor 503 and the second ranging sensor 506 is a, according to the trigonometric function theorem
- the angle ⁇ z around the Z axis between the coordinate system O robot- X robot Y robot Z robot and O bed- X bed Y bed Z bed can be calculated using the following formula:
- the first vertical distance may also be the minimum distance scanned by the first ranging sensor 503, that is, the first ranging sensor 503.
- the second vertical distance can also be the minimum distance scanned by the second ranging sensor 506, that is, the length of the vertical line drawn by the second ranging sensor 503 to the side of the operating bed. length, the principle of calculating the angle ⁇ z based on the two minimum distances is the same as formula (8) and will not be described again.
- the surgical robot is determined
- the controller is configured to:
- the detection angle of the positioning mark detected by the distance measuring device, and the position coordinates of the distance measuring device in the reference coordinate system of the installed equipment determine the location of the positioning mark on the equipment where the distance measuring device is installed.
- the position coordinates of the positioning mark in the reference coordinate system of the equipment where the distance measuring device is installed are used to determine the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
- the distance between the ranging device and the positioning mark 513 and the detection angle of the ranging device are obtained in the same manner as the aforementioned scanning method, and will not be described again.
- the ranging device includes a first ranging sensor 503 and a second ranging sensor 506, the distance d between the first ranging sensor 503 and the positioning mark 513, and the distance between the second ranging sensor 506 and the positioning mark 513.
- the distance e between the marks 513 is obtained using the above scanning method.
- the detection angle of the positioning mark 513 scanned by the distance measuring device includes the detection angle ⁇ 1 of the first distance sensor 503 corresponding to the distance d and the detection angle ⁇ 1 of the second distance sensor 506
- the detection angle ⁇ 2 corresponds to the distance e.
- the coordinates of the first ranging sensor 503 and the second ranging sensor 506 in the coordinate system O robot- is simplified to a point and it is known that its coordinates in the coordinate system O bed-
- the position coordinates that is, the coordinates (x rb1 , y rb1 ) of the positioning mark 513 in the coordinate system O robot- X robot Y robot , are expressed as:
- the position coordinates (x ro1 , y ro1 ) of the coordinate origin O bed of the operating table's reference coordinate system in the surgical robot's reference coordinate system can be calculated, expressed as:
- Figures 13 and 14 are illustrated with the distance measuring device installed on the surgical robot as an example, but the distance measuring device can also be installed on the operating table to determine the reference coordinate system and the surgical robot through the same calculation. The registration information between the reference coordinate systems of the operating table will not be described again here.
- the driving arm can be actively controlled to adjust the posture of the puncture device based on the movement of the current tabletop of the operating table, or the driving arm can be actively controlled to adjust the position and posture of the puncture device, so as to It is possible to adjust the operating bed without releasing the docking relationship between the surgical robot and the patient, thereby improving operating efficiency and safety.
- Figures 15 and 16 show the implementation of registering the surgical robot and the operating table when the ranging device includes three ranging sensors.
- the design shown in Figure 15 includes a first ranging sensor 503 and two third ranging sensors 521.
- the installation structure of the first ranging sensor 503 is the same as that shown in Figure 11 and will not be described again. , the directions of the two third ranging sensors 521 are fixed.
- the first ranging sensor 503 and the two third ranging sensors 521 may include laser sensors.
- Laser sensors usually have ultra-high precision to facilitate accurate ranging.
- the laser sensors can emit laser beams. When the laser beams are irradiated to the object to be measured, You can measure the distance between the two.
- the first ranging sensor 503 and the two third ranging sensors 521 may also include infrared sensors, visual sensors, ultrasonic sensors, radar sensors, etc.
- two adjacent surfaces of the surgical robot and the operating bed are provided with ranging devices or receive signals transmitted by the ranging devices.
- the distance measuring device can also be provided on the top surface of the surgical robot or the operating table support part, or can be provided on the intersection line of the surfaces. This disclosure is not limited to this.
- the supporting part may include, for example, a base or a supporting column.
- the surface on which the distance measuring device is set can be called the mounting surface.
- the embodiment of the present disclosure provides positioning marks 513 on adjacent surfaces of any one of the surgical robot and the operating bed. For example, if the first ranging device is installed on the surgical robot, then the positioning mark 513 is set on the operating bed; if it is installed on the operating bed, then the positioning mark 513 is set on the surgical robot.
- the ranging device can identify the positioning mark 513.
- the ranging signal emitted by the ranging device is transmitted to the positioning mark 513, the user can be prompted that the corresponding distance measurement value of the ranging device at this time represents the distance between the ranging device and the positioning mark 513. It can be used as the relative position distance between the surgical robot and the operating bed.
- the prompt to the user may be in any form such as sound, image or message, and this disclosure does not impose specific restrictions.
- the positioning mark 513 is used to be recognized by the ranging device, so as to obtain the distance measurement value corresponding to the ranging device at this time, so as to calculate the position translation of the base coordinate system of the surgical robot and the base coordinate system of the operating bed.
- one of the base coordinate system of the surgical robot and the base coordinate system of the operating table may be called the first coordinate system, and the other may be called the second coordinate system.
- the first coordinate system one of the base coordinate system of the surgical robot and the base coordinate system of the operating table
- the other may be called the second coordinate system.
- the mounting surface designation positioning mark 513 is set at the position of the surgical robot or operating table, for example, it can be the upper surface (top surface), the side surface, or the intersection of the two surfaces.
- the positioning mark 513 is a label with a certain thickness, and the label can be pasted or fixed on the installation surface in other ways. Labels can be of a certain width, or they can be narrower, when narrower they can be treated as lines of certain thickness.
- the mounting surface can also be made into a flat surface with a drop. This intersection can serve as a positioning mark 513.
- a groove may be provided on the mounting surface. Similarly, the groove may have a certain width or may be relatively narrow.
- the mounting surface is provided with protrusions. Similarly, the protrusions can have a certain width or can be relatively narrow.
- two surfaces with different heights are formed by setting positioning marks 513, which can be recognized by the ranging device to obtain the relative position of the surgical robot and the operating table, thereby facilitating the determination of the positional translation of the first coordinate system and the second coordinate system.
- the number of positioning marks 513 may be greater than or equal to 1.
- the distance measuring device is driven by the driving device to move.
- the angle measurement value corresponding to the driving device is obtained, and based on the angle measurement value, the distance measurement device and the location are determined.
- the distance measuring device is driven by the driving device to move, identifying at least one of the positioning marks 513, and when the positioning mark 513 is recognized, the angle measurement value corresponding to the driving device and the angle measurement value corresponding to the distance measuring device are The distance measurement value determines the relative attitude of the distance measuring device and the positioning mark 513, and the relative position of the distance measuring device and the positioning mark 513 respectively. For example, if a positioning mark 513 is set, you can select the corresponding angle measurement value and distance measurement value when identifying each positioning mark 513 to determine the position translation, or you can select the corresponding angle measurement value and distance measurement value when identifying part of the positioning mark 513 to determine the position translation. Determine the position translation.
- the installation parameters of the identified positioning marks 513 need to be determined.
- the corresponding relationship between the installation parameters, angle measurement values and distance measurement values can be determined by identifying them one by one. Or the corresponding measurement values when certain positioning marks 513 are recognized can be ignored, and then the corresponding relationship between the installation parameters, angle measurement values and distance measurement values is determined based on the neglect rules. For example, there are 5 positioning marks 513. If we choose to ignore the measurement values corresponding to the 2nd and 4th positioning marks 513, the corresponding measurement values will be recorded when the 1st, 3rd and 5th positioning marks are identified, and the 1st, 3rd and 5th positioning marks will be obtained.
- the installation parameters of the third and fifth positioning marks 513 can further determine the positional translation of the first coordinate system and the second coordinate system based on the aforementioned formula. Further, the corresponding relationship with the positioning mark 513 can be determined based on the size of the angle measurement value. For example, the angle measurement value corresponding to the first positioning mark 513 > the angle measurement value corresponding to the third positioning mark 513 > the angle measurement value corresponding to the fifth positioning mark 513 .
- the position translation of the first coordinate system and the second coordinate system corresponding to the positioning mark 513 can be further determined based on the installation parameters, angle measurement values and distance measurement values corresponding to the positioning mark 513 .
- some data can be discarded, such as obviously unreasonable data, and some data can be retained and the position translation between coordinate systems can be obtained.
- the position between coordinate systems can be obtained by using the average weighting method. Pan.
- the embodiment of the present disclosure can improve the probability and efficiency of identifying the positioning marks 513, thereby improving the accuracy of registration.
- Obtaining the posture registration relationship between the surgical robot and the operating table includes:
- the device on which the sensor 503 is installed includes one of a surgical robot and an operating bed.
- the first ranging sensor 503 is driven by the driving device to rotate.
- the angle between the first ranging sensor 503 and the device where it is located can be the angle between the ranging signal emitted by the first ranging sensor 503 and the device where it is located, for example, the ranging signal emitted by the first ranging sensor 503
- the signal is related to the installation surface of the first distance sensor 503, the vertical surface of the installation surface, or the horizontal coordinate axis direction of the base coordinate system of the device where it is located.
- the first distance and angle measurement value is used as the angle between the first distance sensor 503 and the device where it is located.
- the third ranging sensor 521 can also record its installation angle when installed. For example, the angle between the ranging signal emitted by the third ranging sensor 521 and the device where it is located is used as its installation angle. After the installation angle is recorded, it can be stored in the surgical robot system for use. Of course, it can also be stored in other locations, such as servers or clouds, etc.
- the third distance sensor 521 is also equipped with a driving device.
- the implementation principle is as follows: the first distance sensor 503 is equipped with a driving device. Therefore, the distance measurement value measured by the third distance sensor 521 and the angle measured by the driving device can also be obtained in real time. Measure the value, and use the distance measurement value as the second distance between the surgical robot and the operating bed measured by the third distance sensor 521, and the angle measurement value as the angle between the third distance sensor 521 and the device where it is located.
- the positional relationship between the first ranging sensor 503 and the third ranging sensor 521 is obtained. Similarly, the position relationship can be determined based on the installation parameters.
- the positional relationship between the distance sensors 521 determines the posture registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table.
- the embodiment of the present disclosure can flexibly measure the distance measured by the first distance sensor 503 and the third distance sensor 521 and the angle between the first distance sensor 503 and the third distance sensor 521 and the device where they are located. Obtain the attitude registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table.
- the third ranging sensor 521 can be installed so that the ranging signal it emits is basically perpendicular to where it is located.
- the equipment obtains the distance measurement value measured by the third distance measurement sensor 521, and uses the distance measurement value as the second distance between the surgical robot and the operating bed; and in the measurement of the first distance measurement sensor 503
- the distance measurement value measured by the first distance sensor 503 is obtained, and the distance measurement value is used as the first distance between the surgical robot and the operating bed.
- perpendicular to the device where it is located can be understood as basically perpendicular to the installation surface or the horizontal coordinate axis direction of the base coordinate system of the device where it is located.
- the positional relationship between the first ranging sensor 503 and the third ranging sensor 521 is obtained.
- the posture registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table is determined. .
- the first distance sensor 503 moves and scans driven by the driving device.
- the first distance sensor 503 emits
- the ranging signal is perpendicular to the surgical robot
- the distance measurement value corresponding to the first ranging sensor 503 is obtained, which is recorded as the first distance e between the surgical robot and the operating bed, as shown in Figure 16 of the surgical robot system provided by an embodiment of the present invention.
- the registration diagram is shown.
- the distance measurement value corresponding to the third ranging sensor 521 is obtained, which is recorded as the second distance f between the surgical robot and the operating bed.
- the positional relationship h1 between the first ranging sensor 503 and the third ranging sensor 521 is obtained, where h1 represents the distance between the first ranging sensor 503 and the third ranging sensor 521 .
- the relative posture ⁇ z between the surgical robot and the operating table is determined.
- the registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table is determined based on the relative posture ⁇ z .
- the coordinate system transformation principle in the prior art can be used, and this disclosure does not specifically limit this.
- the distance measurement value corresponding to the third ranging sensor 521 is obtained, and is recorded as the second distance f′ between the surgical robot and the operating bed.
- the positional relationship h1′ between the first distance sensor 503 and the third distance sensor 521 is obtained, and h1′ represents the distance between the first distance sensor 503 and the third distance sensor 521. Further, based on the first distance e′ and the second distance f′, the relative posture ⁇ z between the surgical robot and the operating table is determined.
- the relative position between the surgical robot and the operating bed can be determined by disposing the first ranging sensor 503 on the operating bed; and the relative position between the surgical robot and the operating bed can be determined by disposing the first ranging sensor 503 and the third ranging sensor 521 on the operating bed.
- the relative posture between the surgical robot and the operating table can be determined by disposing the first ranging sensor 503 on the operating bed; and the relative position between the surgical robot and the operating bed can be determined by disposing the first ranging sensor 503 and the third ranging sensor 521 on the operating bed.
- the embodiment of the present disclosure obtains the corresponding distance measurement value when the ranging signal 308 emitted by the first ranging sensor 503 and the third ranging sensor 521 is substantially perpendicular to the device, thereby eliminating the need to obtain the first ranging sensor 503
- the attitude registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table can be determined quickly and easily with the angle between the third ranging sensor 521 and the device where it is located.
- the surgical robot is configured with at least two third ranging sensors 521 for ranging, to obtain the distance between the base coordinate system of the surgical robot and the base coordinate system of the operating bed.
- Posture registration relationships including:
- the second distance between the surgical robot and the operating bed measured by at least two third ranging sensors 521 is obtained, and the third ranging sensor 521 is substantially perpendicular to the device where it is located.
- the positional relationship between the two third ranging sensors 521 is obtained.
- the posture registration relationship between the surgical robot and the operating table is determined.
- the second distance between the surgical robot and the operating bed measured by at least two third distance sensors 521 is obtained, which are recorded as f and g respectively.
- h2 represents the distance between the two third distance sensors 521 .
- the relative posture ⁇ z between the surgical robot and the operating table is determined.
- the registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table is determined based on the relative posture ⁇ z .
- the coordinate system transformation principle in the prior art can be used, and this disclosure does not specifically limit this.
- the third ranging sensor 521 is set on the operating bed and the positioning mark 513 is set on the surgical robot:
- h2′ represents the distance between the two third distance sensors 521 .
- the relative posture ⁇ z between the surgical robot and the operating table is determined.
- a linkage mode and a master-slave operation mode are set for the surgical robot.
- the surgical robot can control the drive arm to drive the puncture device to move, so as to link with the movement of the operating table, so as to maintain the relative posture with the operating table; in the master-slave operation mode, the surgical robot controls the drive The arm drives the puncture device to move to complete the surgery.
- the controller After determining the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the controller can also be configured to:
- the joint motion is driven according to the target joint variables to maintain the posture of the puncture device relative to the tabletop of the operating table.
- the optional reference coordinate system of the surgical robot includes the base coordinate system of the surgical robot, the adjustment arm end coordinate system, the robotic arm end coordinate system, the coordinate system of the imaging device, the coordinate system of the display device, etc.
- the reference coordinate system of the operating bed includes the surgical The table coordinate system of the bed, the axial coordinate system of the operating table, the base coordinate system of the operating table, etc., as well as coordinate systems that are parallel to the coordinate axes of the aforementioned coordinate systems but have different origins.
- the reference coordinate system of the surgical robot may also be called the coordinate system on the surgical robot side, and the reference coordinate system of the operating bed may also be called the coordinate system on the operating bed side.
- the position registration relationship and attitude registration relationship can be calculated in real time or pre-calculated and directly called.
- the rotation center of the rotational motion of the operating table is the isocenter point
- the isocenter point coordinate system is established based on the isocenter point, which can also be called the aforementioned axial coordinate system of the operating table.
- the puncture device In response to the movement of the tabletop of the operating table, the puncture device is controlled to move to keep the posture of the puncture device relative to the tabletop of the operating table unchanged, and the controller is configured to:
- the initial pose of the puncture device in the reference coordinate system of the operating bed is obtained, where the initial pose is the pose relative to the reference coordinate system of the operating bed, for example, the reference coordinates of the operating bed
- the system selects the table coordinate system of the operating table, the axial coordinate system of the operating table, the base coordinate system of the operating table, and any coordinate system that is parallel to the coordinate axes of the aforementioned coordinate systems but has different origins.
- the initial pose is the pose in the base coordinate system of the operating bed. It can be understood that the initial pose of the puncture device in the base coordinate system of the operating bed may be directly obtained, or the initial pose of the puncture device in the base coordinate system of the operating bed may not be directly obtained. Instead, the pose in the table coordinate system of the operating table and the axial coordinate system of the operating table are obtained, and then converted into the pose in the base coordinate system of the operating table according to the registration relationship between the coordinate systems.
- the movement amount of the tabletop of the operating table is obtained, and based on the position registration relationship, attitude registration relationship, initial posture and movement volume, the target posture of the puncture device in the reference coordinate system of the surgical robot is determined.
- the amount of movement of the operating table can usually be measured by the amount of movement of the operating table.
- the joint movement in the driving arm is controlled to maintain the posture of the puncture device relative to the tabletop of the operating table, and the controller is configured to:
- the joint motion is driven according to the target joint variables to maintain the posture of the puncture device relative to the tabletop of the operating table.
- the puncture device is used as the control object, and the object to obtain the initial pose and target pose can be
- the puncture device can be replaced with a medical device, with the puncture device as the control object and the object for obtaining the initial pose and target pose, or the puncture device and the medical device can be used together, partly as a control object, or partly as an object for obtaining. Objects in initial pose and target pose.
- Embodiments of the present disclosure determine the target joint variables of the joints in the drive arm after the surgical table moves by utilizing the position registration relationship and posture registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, and determine the target joint variables according to the target joint
- the variable control drive arm drives the movement of the puncture device, thereby maintaining the position of the puncture device relative to the operating table table, which not only enables flexible adjustment of the body's position, but also ensures the safety of the body's life.
- the initial pose of the puncture device in the reference coordinate system of the operating bed is obtained.
- the controller may also be configured to:
- Step 1 Obtain the initial joint variables of the driving arm.
- the corresponding position of the puncture device before moving the operating table is regarded as the initial position
- the joint variables of the driving arm corresponding to the initial position are regarded as the initial joint variables.
- Embodiments of the present disclosure obtain initial joint variables through a measurement device provided in the driving arm.
- Optional measuring devices can be sensors, such as encoders in motors, that measure joint variables.
- Step 2 Based on the initial joint variables and forward kinematics, determine the initial pose of the puncture device in the robot's reference coordinate system.
- the initial pose can be freely selected as the base coordinate system of the robot.
- the options include the base coordinate system of the surgical robot, the coordinate system of the end of the adjustment arm, the coordinate system of the end of the robotic arm, the coordinate system of the imaging device, etc.
- the coordinate system can be flexibly selected to determine the corresponding posture of the puncture device in the reference coordinate system of the surgical robot before the operating table moves.
- the surgical robot it is safer to adjust the operating table by fine-tuning.
- the surgical robot it is safer for the surgical robot to adjust the puncture device in real time to keep up with the adjustment of the operating table.
- a certain time difference can also be allowed. If the entire adjustment process of the operating table is regarded as a complete adjustment process, then the complete adjustment process contains many small sub-adjustment processes. The corresponding position of the puncture device at the end of each sub-adjustment process is the next sub-adjustment. The initial position of the puncture device corresponding to the beginning of the process.
- Step 3 Determine the initial posture of the puncture device in the reference coordinate system of the operating table based on the initial posture of the puncture device and the position registration relationship/attitude registration relationship between coordinate systems.
- the optional reference coordinate system of the operating table includes the table coordinate system of the operating table or the axis coordinate system of the operating table, the base coordinate system of the operating table, etc.
- the registration relationship between coordinate systems refers to the registration relationship between the coordinate system selected on the robot side and the coordinate system selected on the operating bed side. For example, if the coordinate system selected on the robot side is the base coordinate system of the surgical robot and the base coordinate system of the operating table is selected on the operating bed side, the registration relationship between the coordinate systems refers to the base coordinate system of the surgical robot and the base coordinate system of the operating bed. Registration relationship between base coordinate systems.
- the registration relationship between the coordinate systems refers to the base coordinate system of the surgical robot and the table coordinates of the operating table. registration relationship between systems.
- the puncture device can also be positioned on the operating table based on the registration relationship between the table coordinate system of the operating table and the base coordinate system of the operating table as needed.
- the posture of the table coordinate system is converted into the posture of the puncture device in the base coordinate system of the operating table.
- the coordinate system and the registration relationship between the corresponding coordinate systems can be flexibly selected, aiming to determine the corresponding initial posture of the puncture device in the reference coordinate system of the operating table before the operating table moves.
- the controller in response to the movement of the tabletop of the operating table, obtain the amount of movement of the tabletop of the operating table, and determine the position of the puncture device in the reference coordinate system of the surgical robot based on the position registration relationship, the posture registration relationship, the initial posture and the amount of movement.
- Target pose the controller is configured to:
- Step 1 Obtain the amount of movement of the tabletop of the operating table.
- Embodiments of the present disclosure obtain the movement amount of the table top of the operating table through a measurement device provided in the operating table.
- the movement amount of the operating table may include rotation angle, horizontal movement distance, lifting movement distance, and any combination thereof.
- Optional measuring devices can be sensors, such as encoders in motors, which can measure joint variables, such as translation distance or rotation angle.
- the movement amount of the operating table table can be obtained regularly or irregularly.
- the movement amount of the operating table table can be obtained regularly at intervals T. T can be selected flexibly according to needs. The shorter T is, the higher the control accuracy is, but frequent Obtaining data will also take up more system resources.
- Step 2 In response to the movement of the table top of the operating table, based on the initial position of the puncture device in the reference coordinate system of the operating table The posture and the amount of movement of the operating table table determine the target posture of the puncture device in the reference coordinate system of the operating table. This target posture can be called the first posture.
- Step 3 Based on the first posture, position registration relationship and attitude registration relationship, determine the target posture of the puncture device in the reference coordinate system of the surgical robot.
- the second and third steps can be combined into one step to directly determine the position of the puncture device in the reference coordinate system of the surgical robot based on the initial posture, the amount of movement of the operating table table, the position registration relationship, and the posture registration relationship.
- the target pose eliminates the need to determine the first pose.
- Embodiments of the present disclosure determine the target posture of the joints in the drive arm after the operating table moves by utilizing the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, and determine the target posture according to the target position.
- the posture control drive arm drives the movement of the puncture device, thereby maintaining the position and posture of the puncture device relative to the tabletop of the operating table, which not only enables flexible adjustment of the body's position, but also ensures the safety of the body's life.
- the puncture device in response to the movement of the tabletop of the operating table, the puncture device is controlled to move to keep the position of the puncture device relative to the tabletop of the operating table unchanged, and the controller is configured to:
- the first posture is the posture relative to the reference coordinate system of the operating table.
- the reference coordinate system of the operating table selects the table coordinate system of the operating table, the axis coordinate system of the operating table, the base coordinate system of the operating table, and the base coordinate system of the operating table. Any coordinate system in which the coordinate axes of the aforementioned coordinate systems are parallel but have different origins.
- the first posture is the posture in the base coordinate system of the operating bed.
- the first posture of the puncture device in the base coordinate system of the operating bed may be directly obtained, or the first posture of the puncture device in the base coordinate system of the operating bed may not be directly obtained.
- the pose of the coordinate system is to obtain the pose in the table coordinate system of the operating table and the axis coordinate system of the operating table, and then convert it into the pose in the base coordinate system of the operating table according to the registration relationship between the coordinate systems. .
- the second posture of the puncture device in the reference coordinate system of the surgical robot is determined.
- the coordinate system relative to the second posture and the corresponding posture are determined.
- the position registration relationship and attitude registration relationship refer to the registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table
- the first posture refers to the posture in the base coordinate system of the operating table
- the second pose of the puncture device in the base coordinate system of the surgical robot can be determined.
- the target joint variables of the joints in the drive arm are determined based on the second pose.
- the joint motion is driven according to the target joint variables to maintain the posture of the puncture device relative to the tabletop of the operating table.
- the puncture device is used as the control object, and the initial pose and target pose are obtained.
- the puncture device can be replaced with a medical device, the puncture device is used as the control object, and the initial pose is obtained.
- the object of the target pose, or the puncture device and medical equipment are used together, partly as a control object, or partly as an object for obtaining the initial pose and target pose.
- Embodiments of the present disclosure determine the target joint variables of the joints in the drive arm after the surgical table moves by utilizing the position registration relationship and posture registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, and determine the target joint variables according to the target joint
- the variable control drive arm drives the movement of the puncture device, thereby maintaining the position of the puncture device relative to the operating table table, which not only enables flexible adjustment of the body's position, but also ensures the safety of the body's life.
- the movement of the operating table table can include three degrees of freedom: lifting movement direction, horizontal movement direction and rotation movement direction.
- individual degrees of freedom are usually adjusted individually, which facilitates more accurate fine-tuning.
- Lifting movement direction The operating bed moves up and down in a vertical direction perpendicular to the ground.
- the relative position of the puncture device and the living body may change, thereby causing biological risk to human life safety.
- the surgical robot system needs to control the puncture device to perform lifting and lowering movements of the same distance, and the movement direction is the same as the movement direction of the operating table, thereby offsetting the movement of the operating table. Keep the position and posture of the puncture device relative to the living body unchanged.
- the body's position relative to the operating bed remains unchanged. Therefore, the position and posture of the puncture device relative to the living body remains unchanged, which is equivalent to the position of the puncturing device relative to the operating bed. The pose remains unchanged.
- the lifting distance of the operating bed in the vertical direction can be measured by a measuring device installed in the operating bed, such as an electric
- the encoder in the machine can measure the joint variables corresponding to the lifting and lowering of the operating table, thereby determining the corresponding lifting distance.
- the surgical robot system controls the puncture device to perform lifting movements of the same distance.
- the joint that can change the height of the puncture device is adjusted, such as the lifting column shown in Figure 3.
- the surgery can be The robot's other joints lock to hold still. If the specific drive arm structure of the selected surgical robot is different from that shown in Figure 3, it is sufficient to find a joint that can change the height of the puncture device and adjust it.
- the embodiments of the present disclosure do not limit the specific joints.
- Horizontal movement direction The operating table moves horizontally in a horizontal direction parallel to the ground.
- the relative position of the puncture device and the living body may change, thus Causing life safety risks to organisms.
- the surgical robot system needs to control the puncture device to move horizontally at the same distance, and the movement direction is the same as the movement direction of the operating table, thereby offsetting the movement of the operating table. Keep the position and posture of the puncture device relative to the living body unchanged.
- the horizontal movement distance of the operating table along the horizontal direction can be measured by a measuring device provided in the operating table.
- a measuring device provided in the operating table.
- an encoder in the motor can measure joint variables corresponding to the horizontal movement of the operating table, thereby determining the corresponding horizontal distance.
- the operating table moves horizontally in a horizontal direction parallel to the ground, which may include horizontal movement along the length of the living body, or horizontal movement in a direction perpendicular to the length of the living body, or along a length direction of the living body. Perform horizontal movement in a certain angle direction.
- the surgical robot system controls the puncture device to move horizontally at the same distance.
- the joints that can change the horizontal position of the puncture device are adjusted.
- other joints of the surgical robot can be locked to remain motionless. .
- the specific drive arm configuration of the selected surgical robot is different from that shown in Figure 3 , it is sufficient to find a joint that can change the horizontal position of the puncture device and adjust it.
- the embodiments of the present disclosure do not limit the specific joints.
- Direction of rotation the operating bed moves up and down along the axis.
- the relative position of the puncture device and the living body may change, thus causing the life of the living body. Security Risk.
- the surgical robot system needs to control the puncture device to rotate at the same angle, and the rotation direction is the same as the rotation direction of the operating table, so as to offset the movement of the operating table. Keep the position and posture of the puncture device relative to the living body unchanged.
- the rotation angle of the operating bed can be measured by a measuring device installed in the operating bed.
- a measuring device installed in the operating bed.
- an encoder in the motor can measure the rotation angle of the corresponding operating bed.
- the surgical robot system controls the puncture device to rotate at the same angle.
- the joints that can control the rotation of the puncture device are adjusted.
- other joints of the robot can be locked to remain motionless. If the specific drive arm structure of the selected robot is different from that shown in Figure 3 , it is sufficient to find a joint that can control the rotation of the puncture device and adjust it.
- the embodiments of the present disclosure do not limit the specific joints.
- the movement of the operating table may not be a simple independent movement of three degrees of freedom, but may be a combined movement of any two degrees of freedom.
- the implementation principle of the single degree of freedom movement is the same as before. The difference includes that the amount of movement is in at least two degrees of freedom.
- the amount of movement of the table top of the operating table can still be obtained by the measuring device provided in the operating table. , and then adjust the joints of the driving arm in each degree of freedom to control the puncture device to perform equal movements. The specific process will not be described again.
- the operating bed can be adjusted as a whole or in sections.
- the operating bed is divided into two parts, the front and the rear.
- the front or rear parts can be adjusted independently, thereby individually adjusting the body position of the upper or lower body of the organism.
- the embodiments of the present disclosure do not specifically limit the specific adjustment structure of the operating bed.
- Embodiments of the present disclosure adjust the joints in the drive arm to control the movement of the puncture device in response to the movement of the table top of the operating table, so as to keep the position of the puncture device unchanged relative to the table top of the operating table, thereby achieving flexible adjustment of the body's posture. , and at the same time ensure the safety of living organisms.
- the controller is configured to:
- attitude registration relationship Based on the position registration relationship, attitude registration relationship and the first posture, determine the datum position of the puncture device in the surgical robot.
- the second posture of the standard system The second posture of the standard system
- the joint movement is driven based on the second posture to maintain the posture of the puncture device relative to the tabletop of the operating table.
- the controller is configured to:
- Step 1 Obtain the initial joint variables of the driving arm.
- Step 2 Based on the initial joint variables and forward kinematics, determine the initial pose of the puncture device in the robot's reference coordinate system.
- Step 3 Determine the initial posture of the puncture device in the reference coordinate system of the operating table based on the initial posture of the puncture device and the position registration relationship/attitude registration relationship between coordinate systems.
- the implementation principle is as described above to determine the initial posture of the puncture device in the reference coordinate system of the operating table, which will not be described again here.
- the coordinate system and the registration relationship between the corresponding coordinate systems can be flexibly selected, aiming to determine the corresponding posture of the puncture device in the reference coordinate system of the operating table before the operating table moves.
- Step 4 Obtain the amount of movement of the operating bed.
- the amount of movement of the operating table can usually be measured by the amount of movement of the operating table.
- Embodiments of the present disclosure obtain the movement amount of the operating bed through a measurement device provided in the operating bed.
- the movement amount of the operating bed may include rotation angle, horizontal movement distance, lifting movement distance, and any combination thereof.
- Optional measuring devices can be sensors, such as encoders in motors, which can measure joint variables, such as translation distance or rotation angle.
- the movement amount of the operating bed can be obtained regularly or irregularly.
- the movement amount of the operating bed can be obtained regularly at intervals T. T can be flexibly selected according to needs. The shorter T, the higher the control accuracy, but frequent data acquisition will also Occupies more system resources.
- Step 5 In response to the movement of the tabletop of the operating table, based on the initial posture of the puncture device in the reference coordinate system of the operating table and the amount of movement of the operating table, determine the target posture of the puncture device in the reference coordinate system of the operating table.
- the target pose can be called the first pose.
- controlling the joint movement of the driving arm based on the second posture to maintain the posture of the puncture device relative to the tabletop of the operating table includes:
- the joint motion is driven according to the target joint variables to maintain the posture of the puncture device relative to the tabletop of the operating table.
- Embodiments of the present disclosure obtain the first posture of the operating table in the reference coordinate system of the operating table by responding to the movement of the operating table, thereby facilitating further adjustment of the joints in the drive arm to control the movement of the puncture device to maintain
- the position and posture of the puncture device relative to the tabletop of the operating table remains unchanged, which not only enables flexible adjustment of the body's position, but also ensures the safety of the body's life.
- a ranging device and positioning mark for posture positioning are designed to achieve complete positioning and posture positioning between the surgical robot and the operating table, so that each moving joint can be actively controlled. There are no uncertain factors such as motion estimation, making the linkage technology between surgical robots and operating beds more reliable and safer in practical applications.
- the posture registration information between the surgical robot and the operating bed may be determined in a manner different from that in the above embodiment.
- the surgical system also includes a registration arm 609
- the surgical robot 700 further includes a first connection part 702 for connecting with the registration arm 609.
- the first connection part 702 can be set during surgery On the motion chassis of Robot 700.
- the operating table 105 further includes a second connection portion (not labeled in FIG. 18 ) for connecting to the registration arm 609, and the second connection portion may be disposed on the wheeled chassis of the operating table 105.
- the present disclosure utilizes the registration arm 609 to achieve registration between the surgical robot 700 and the operating table 105 .
- the registration arm 609 includes a first end for connecting with the first connecting part 702, a second end for connecting with the second connecting part, and a plurality of joint components connected between the first end and the second end, The first end and the second end can move relative to each other following the movement of the joint component.
- the controller is coupled to the surgical robot, the operating table and the registration arm.
- the controller is configured to:
- the known second registration relationship between the surgical robot and the first connection part between one of the surgical robot and the operating table, and the second connection between the other operating table of the surgical robot and the operating table is used to determine the attitude registration information between the surgical robot and the operating table.
- controller is also configured to:
- the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the known second registration relationship between the other one of the surgical robot and the operating bed and the second connection part is used to determine the position registration information between the surgical robot and the operating table.
- the coordinate system of the first end and the first coordinate system of the first connection part have a preset relative posture and relative position
- the second registration relationship includes the first coordinate system in The posture information and position information in the reference coordinate system of one of the surgical robot and the surgical bed
- the coordinate system of the second end and the second coordinate system of the second connection part have preset relative postures and relative positions.
- the third registration relationship includes the second coordinate system between the surgical robot and the surgical robot.
- the posture information and position information in the reference coordinate system of the other operating table is the first coordinate system between the surgical robot and the surgical robot.
- the registration arm 609 can be used to achieve registration between the first surgical equipment and the second surgical equipment.
- the following description assumes that the first surgical equipment is a surgical robot and the second surgical equipment is an operating bed.
- first connection part 702 of the surgical robot 700 when the first connection part 702 of the surgical robot 700 is connected to the first end of the registration arm 609 and the second connection part of the operating bed 105 is connected to the second end of the registration arm 609, it is at the first connection part 702. and the second connection part through the registration arm 609. It should be noted that the first connection part 702 of the surgical robot 700 is connected to the first end of the registration arm 609, and the second connection part of the operating table 105 is connected to the second end of the registration arm 609. It is a fixed connection or a detachable connection.
- the registration relationship between the second ends can be determined through a kinematic relationship. Specifically, joint variables of multiple joint components are obtained.
- the joint variables include relative distances and/or relative angles between the own coordinate systems of multiple joint components, Then based on the joint variables and using forward kinematics, the first registration relationship between the first end and the second end is determined.
- the second registration between the surgical robot 700 and the first connecting part 702 is performed.
- the relationship and the third registration relationship between the operating table 105 and the second connection part are all known. Therefore, the relationship between the surgical robot 700 and the second connection part can be determined based on the first registration relationship, the second registration relationship, and the third registration relationship. Registration information between operating beds 105 .
- the number of degrees of freedom of movement of the registration arm 609 should be greater than or equal to the degrees of freedom required for positioning and orientation, which are degrees of freedom in Cartesian space, including the degrees of freedom for positioning and orientation.
- the registration arm 609 When the ground is flat, the registration arm 609 only needs three degrees of freedom to achieve orientation and positioning between the surgical robot 700 and the operating bed 105 .
- the surgical robot 700 and the operating bed 105 When the ground is flat, the surgical robot 700 and the operating bed 105 have been positioned in the Z-axis direction of the world coordinate system O-XYZ, and have been oriented in the X-axis and Y-axis directions. Therefore, only the two are needed to complete the Z-axis direction.
- the registration arm 609 can be designed as shown in The structure shown in 19.
- the multiple joint components of the registration arm 609 include a first link 801, a second link 802, a docking device 805 and a joint 806.
- first link 801 and one end of the second link 802 can be connected.
- the other end of the first link 801 is the first end of the registration arm 609
- the docking device 805 is rotatably connected to the other end of the first link 801
- the joint 806 is provided on the docking device 805 and is located on the registration arm
- the first end of 609 is used to connect with the first connecting part 702.
- the other end of the second link 802 is the second end of the registration arm 609.
- the first link 801, the second link 802, and the docking device 805 The planes of rotation are parallel or coincident with each other.
- the other end of the second connecting rod 802 is provided with a connecting portion 6030 , and the connecting portion 6030 is used to connect with the second connecting portion 726 of the operating bed 105 .
- the connection method between the other end of the second connecting rod 802 and the second connecting part 726 may also be the connection method between the joint 806 and the first connecting part 702 . Therefore, the second link 802 forms a first secondary rotation connection with the second connection portion 726 of the operating table 105, and the second link 802 can perform a rotational motion C1 around the first secondary rotation axis.
- the first link 801 and the second link 802 form a second rotational connection, and the second link 802 can perform a rotational motion C2 around the second rotational axis.
- the docking device 805 forms a third rotational pair connection with the first connecting rod 801, and the docking device can perform a rotational motion C3' around the third rotational subsidiary axis.
- the axes of the first, second and third rotating pairs mentioned above are parallel to each other and perpendicular to the ground.
- the joint 806 and the docking device 805 are connected in a rotatable manner.
- the registration arm 609 When the ground is uneven, the registration arm 609 requires six degrees of freedom to achieve orientation and positioning between the surgical robot 700 and the operating table 105 .
- the registration arm 609 can be designed as a structure as shown in FIG. 20 .
- the multiple joint components of the registration arm 609 include a first link 801, a second link 802, a third link 804, a biaxial joint 803, a docking device 805 and a joint 806.
- One end of the first link 801 is connected to the second link 804.
- One end of the connecting rod 802 is rotatably connected through a biaxial joint 803, the docking device 805 is rotatably connected to the other end of the first connecting rod 801, and the joint 806 is rotatably provided on the docking device 805 and is located at the first end of the registration arm 609 end, the other end of the second link 802 and one end of the third link 804 are rotatably connected, and the other end of the third link 804 is the second end of the registration arm 609 .
- the biaxial joint 803 limits the rotation planes of the first link 801 and the second link 802 to different directions, increasing two degrees of freedom of movement.
- the joint 806 is rotatably provided at the docking point.
- a degree of freedom of movement is added, thereby achieving six degrees of freedom. Therefore, when the ground is uneven, the registration arm 609 can also be adjusted to achieve registration.
- a connecting portion 6030 is provided at the other end of the third link 804 , and the connecting portion 6030 is used to connect with the second connecting portion 726 of the operating bed 105 .
- the connection method between the other end of the third link 804 and the second connection part 726 may also be the connection method between the joint 806 and the first connection part 702 .
- the third link 804 and the second connecting portion 726 form a first secondary rotation connection, and the third link 804 can perform a rotational motion C1 around the first secondary rotation axis.
- the third link 804 forms a second rotational connection with the second link 802, and the second link 802 can perform a rotational motion C2 around the second rotational axis.
- the biaxial joint 803 forms a third rotational pair connection with the second connecting rod 802, and the biaxial joint 803 can perform rotational motion C3 around the third rotational minor axis.
- the first link 801 and the biaxial joint 803 form a fourth rotational pair connection, and the first link 801 can perform a rotational motion C4 around the fourth rotational pair axis.
- the docking device 805 forms a fifth rotational pair connection with the first connecting rod 801, and the docking device 805 can perform a rotational motion C5 around the fifth rotational pairing axis.
- a sixth rotational secondary connection is formed between the joint 806 and the docking device 805, and the joint 806 can perform a rotational motion C6 around the sixth rotational secondary axis.
- the axes of the first, second and third rotating pairs mentioned above are parallel to each other, the axes of the fourth and fifth rotating pairs are parallel to each other, the axes of the third and fourth rotating pairs are perpendicular to each other, and the axes of the fifth and sixth rotating pairs are perpendicular to each other.
- Figure 21 shows the matching structure of the first connecting part and the first end of the registration arm, in which (a) is a schematic structural diagram of the first connecting part 702, and (b) is a schematic structural diagram of the joint 806 of the registration arm 609. .
- the first connecting part 702 includes a first matching part and a first positioning structure.
- the joint 806 includes a second matching part and a second positioning structure. The first matching part and the second matching part are mated and connected, and the first positioning structure and the second positioning structure When the structures are positioned together, the surgical robot and operating table are connected mechanically and electrically through registration arms.
- the first fitting part is an annular groove
- the first positioning structure is a positioning groove 904 provided on one side of the annular groove
- the second fitting part is an annular outer wall of the joint 806, and the second positioning structure is provided on the annular outer wall.
- a buckle 907 can also be provided on the joint 806. The buckle 907 is connected to the structure in the annular groove, so that the first connecting part 702 and the joint 806 are not easy to fall off.
- first connection part 702 A jack 903 is provided, and a pin 905 is provided on the connector 806. The jack 903 and the pin 905 cooperate with each other to achieve electrical connection.
- the positioning groove 904 cooperates with the positioning key 906 to determine the relative position between the first connection part 702 and the joint 806.
- the buckle 907 is connected with the structure in the annular groove to prevent falling off.
- the pin 905 and the socket 903 docking to achieve mechanical and electrical connections between the surgical robot and the operating table.
- the structure shown in FIG. 21 can also be a matching structure between the second connecting portion of the operating table and the second end of the registration arm, which will not be described again here.
- magnetic attraction can also be used between the first connection part, the second connection part and the registration arm to more quickly realize mechanical connection and electrical connection.
- At least one end of the detachable connection between the registration arm and Among the connection parts one adopts a magnetic interface and the other adopts a magnetic plug adapted to the magnetic interface.
- the magnetic interface and the magnetic plug may have different magnetic poles, or one may have magnetic poles and the other may not but may attract each other.
- the registration arm 609 when the registration arm 609 is in a folded state, it can be fixed on the operating bed 105.
- the surgical robot 700 or the operating bed 105 When the surgical robot 700 or the operating bed 105 is in a non-surgical state or does not need to implement the linkage function, the registration arms 609 can be folded and overlapped to reduce the occupied space. At the same time, the registration arm 609 can be prevented from being damaged due to collision with the surrounding environment when the operating bed 105 is moved.
- the operating bed 105 can be provided with a plurality of second connection parts 706-a, 706-b, 706-c, and 706-d.
- the second connection parts 726-a and 726 -c is symmetrical about the long side center line of the operating bed 105, and the second connecting parts 726-b and 726-d are symmetrical about the short side center line of the operating bed 105.
- the connection between the registration arm 609 and the second connection part 706-a, 706-b, 706-c, 706-d can be designed in a connection form that is easy to disassemble and install. During use, the registration arm 609 can be connected to a suitable second connection part as needed, making the use more flexible. It can be understood that multiple first connecting parts 702 can also be provided on the surgical robot 700 to achieve the same effect.
- the joint components of the registration arm 609 may include sensors but not drive components.
- the movement of these joint components relies on manual adjustment by the user, such as movement by the user dragging, to achieve the connection with the corresponding connection part. Connection.
- the sensor can obtain the joint variables of the corresponding joint component.
- the registration arm 609 further includes a control unit and a driving assembly.
- the control unit is coupled to the controller, and the control unit is configured to control the driving assembly to drive the joint assembly to move according to the posture change instructions.
- Drive components include motors and corresponding encoders.
- the pose change command is used to represent the pose that the registration arm 609 needs to move.
- the registration arm 609 is driven by the driving component to the target pose.
- the registration arm 609 It can be in an unfolded state and is connected to the surgical robot 700, or it can be in any state without being connected to the surgical robot 700, or it can be in a collapsed state.
- the joint variables of the corresponding joint components can be obtained based on the encoder.
- the posture change instruction can be obtained through the user's input using an external input device such as a remote control, a control handle, etc.
- the pose change instruction may be obtained based on the force or torque exerted by the user on the registration arm.
- the position of the force or torque applied to the registration arm 609 is usually located at a relatively free end of the registration arm 609.
- the applied force or torque acts on the free end of the registration arm 609.
- the second end of the registration arm 609 is relatively fixed to the operating table
- the second end of the registration arm 609 is the fixed end
- the first end of the registration arm 609 is the relatively free end, that is, the free end, which can be controlled remotely by the user. Or drag the free end close to the movement.
- a force or torque sensor capable of detecting force or torque in one or more degrees of freedom of movement can be installed at the free end.
- a six-dimensional force or torque sensor can be installed to detect each movement. Components of a force or moment on a degree of freedom.
- the controller is coupled to the force or torque sensor and configured to:
- the force or moment is analyzed as the posture increment of the free end
- the target joint variables of each joint component in the registration arm are determined based on the target pose, and the motor movement of the corresponding joint component is driven according to the target joint variables so that the free end reaches the target pose.
- the user can easily adjust, such as dragging the free end of the registration arm, to achieve the target posture, for example, to achieve the desired position with the corresponding connection part. Connected posture.
- force or torque sensors can be provided at both the first end and the second end of the registration arm 609.
- the above control can also be configured to:
- the force or moment is analyzed as the posture increment of the free end
- the target joint variables of each joint component in the registration arm are determined based on the target pose, and the motor movement of the corresponding joint component is driven according to the target joint variables so that the free end reaches the target pose.
- various methods can be used to determine which end of the registration arm is the free end.
- manual configuration can be done by the user.
- the free end can be determined by sensing the connection status between the two ends of the registration arm and the connecting portion. If it is sensed that the first end of the registration arm is connected to any connecting portion, the first end can be determined to be fixed. end, and then determine the second end as the free end; for another example, if it is sensed that the first end of the registration arm does not form a connection with any connection part, the first end can be determined as the free end.
- the connection status can be sensed by using photoelectric sensors, proximity sensors, etc., for example. Wherein, when one end of the registration arm is a fixed end and the other end is a free end, the registration arm can be manually adjusted such as dragging.
- the registration arm 609 further includes an angle sensor and/or a displacement sensor.
- the angle sensor is used to detect relative angle changes between adjacent joint components that can move relative to each other.
- the displacement sensor is used to detect changes in the relative angle between adjacent joint components that can move relative to each other. The relative position changes between them, thereby obtaining the joint variables of the corresponding joint components.
- the first end of the registration arm is connected to the second end of the registration arm.
- the registration relationship between the two ends can be determined through the kinematic relationship.
- the joint variables of multiple joint components are obtained.
- the joint variables include the relative distance and/or relative angle between the own coordinate systems of the multiple joint components, and then Based on the joint variables and utilizing forward kinematics, a first registration relationship between the first end and the second end is determined.
- the second registration relationship between the surgical robot and the first connecting part, and the operating table is all known, so the registration between the surgical robot and the operating table can be determined based on the first registration relationship, the second registration relationship, and the third registration relationship. information.
- the registration information between the surgical robot and the operating table is obtained.
- the reference coordinate system of the surgical robot is the reference coordinate system of the surgical robot
- the reference coordinate system of the operating table is the reference coordinate system of the operating table.
- the reference coordinate system of the surgical robot includes a base coordinate system of the surgical robot.
- the reference coordinate system of the operating table includes a base coordinate system of the operating table. Please refer to Figure 24, taking the surgical robot as an example.
- the reference coordinate system of the surgical robot can usually be established on the motion chassis of the bedside robotic arm system, including two coordinate axes on the horizontal plane and the coordinate origin is located on the axis of the fixed support column.
- the reference coordinate system of the surgical robot does not need to be established on the moving chassis, and only needs to have a fixed coordinate transformation relationship with the coordinate system of the moving chassis.
- the first connection part coordinate system is established at the first connection part
- the robot arm end coordinate system and the adjustment arm end coordinate system are established at the ends of the robot arm and the adjustment arm
- the control arm end coordinate system is established respectively.
- the medical device end coordinate system and the telecentric fixed point coordinate system are established.
- the joint coordinate system is also established at each moving joint position inside the robotic arm, adjustment arm, and manipulator arm.
- the transformation relationship between the first connection part coordinate system and the surgical robot's reference coordinate system, and the transformation relationship between the robot end coordinate system and the surgical robot's reference coordinate system can be calculated.
- the conversion relationship between the adjustment arm end coordinate system and the robot arm end coordinate system, the conversion relationship between the medical device end coordinate system and the adjustment arm end coordinate system, and the conversion relationship between the telecentric fixed point coordinate system and the adjustment arm end coordinate system According to the coordinate system conversion relationship, the conversion relationship between the coordinate system of the end of the medical device and the reference coordinate system of the surgical robot can be obtained, and then the end position of the medical device in the hand can be determined.
- the posture situation in the reference coordinate system of the surgical robot allows the surgeon's surgical actions on the doctor's main console to be mapped to the surgical instruments to carry out surgical actions.
- telecentric immobility can be obtained
- the conversion relationship between the point coordinate system and the reference coordinate system of the surgical robot can then determine the posture information and position information of the puncture device installed at the end of the manipulator arm in the reference coordinate system of the surgical robot, where the position information of the puncture device can be The position of the telecentric fixed point is used for characterization.
- the reference coordinate system of the operating table is usually established at the center of the wheeled chassis, including The two coordinate axes are located on the horizontal plane and the coordinate origin is located on the central axis of the wheeled chassis.
- the reference coordinate system of the operating table does not need to be established at the center of the wheeled chassis. It only needs to be aligned with the coordinates of the wheeled chassis. It is enough that the system has a fixed coordinate transformation relationship.
- the second connection part coordinate system is established at the second connection part, and each joint coordinate system is established at each moving joint in turn.
- the rotation center of the rotational movement of the operating table is defined as the isocenter point, and the isocenter point coordinate system and the operating table table coordinate system are established.
- the transformation matrix can calculate the transformation relationship between the second connection part coordinate system and the reference coordinate system of the operating table, the transformation relationship between the isocenter coordinate system and the reference coordinate system of the operating table, and the conversion relationship between the table coordinate system and the isocenter. The conversion relationship between point coordinate systems.
- the conversion relationship between the first connection part coordinate system and the second connection part coordinate system can be determined, that is, the reference coordinate system of the surgical robot and the reference coordinates of the operating table can be obtained. conversion relationships between systems. Therefore, the kinematic relationship between the coordinate system of the operating table table and the reference coordinate system of the surgical robot can be determined based on the coordinate system transformation relationship.
- the conversion relationship between the telecentric fixed point coordinate system and the operating table table coordinate system as well as the conversion relationship with the reference coordinate system of the operating table can be determined.
- the position information of the patient's body opening position point in the operating table table coordinate system and the attitude information of the puncture device in the operating table table coordinate system can be determined, that is, it is completed at the patient's body opening position.
- the position and orientation registration between the puncture device and the reference coordinate system of the operating table is achieved.
- the present disclosure obtains joint variables of multiple joint components of the registration arm.
- the joint variables include the relative distance and/or relative angle between the own coordinate systems of the multiple joint components.
- Based on the joint variables and using positive To kinematics determine the first registration relationship between the first end and the second end, and then obtain the transformation relationship 720 between the first connection part coordinate system and the second connection part coordinate system.
- Figures 25 and 26 illustrate the principle of obtaining the registration between the first connection part coordinate system and the second connection part coordinate system.
- (a) and (b) in Figure 26 are respectively illustrated from different angles of the registration arm 609.
- a coordinate system O 726 - X 726 O 726 Y 726 coincides with the top surface of the second connecting part 726
- the Y 726 axis is the horizontal direction and is the long side direction of the operating table
- the X 726 axis is the horizontal direction and is the short side direction of the operating table.
- Coordinate systems O 1 -X 1 Y 1 Z 1 and O′ 1 -′ 1 Y′ 1 Z′ 1 are respectively established at both ends of the third link 804 .
- the Z 1 axis coincides with the Z 726 axis
- the plane X 1 O 1 Y 1 coincides with the plane X 726 O 726 Y 726
- the Y 1 axis is the length direction of the rod.
- the coordinate system O′ 1 -X′ 1 Y′ 1 Z′ 1 is obtained by translating the rod length L 1 along the Y 1 direction of the coordinate system O 1 -X 1 Y 1 Z 1.
- the Z′ 1 axis coincides with the second secondary rotation axis.
- Coordinate systems O 2 -X 2 Y 2 Z 2 and O' 2 -X' 2 Y' 2 Z' 2 are established on the second link 802.
- the Z 2 axis coincides with the Z′ 1 axis
- the Y 2 axis is the rod length direction
- the plane X 2 O 2 Y 2 coincides with the upper surface of the second connecting rod 802
- the plane X 2 O 2 Y 2 and the plane X′ 1 O ′ 1 Y′ 1 is parallel and distanced by the thickness H 1 of the second link 802 .
- O′ 2 -X′ 2 Y′ 2 Z′ 2 is obtained by translating the rod length L 2 in the Y 2 direction of the coordinate system O 2 -X 2 Y 2 Z 2.
- the Z′ 2 axis coincides with the third rotational secondary axis.
- Coordinate systems O 3 -X 3 Y 3 Z 3 and O′ 3 -X′ 3 Y′ 3 Z′ 3 are established on the biaxial joint 803.
- the Z 3 axis coincides with the Z′ 2 axis
- the plane X 3 O 3 Y 3 is parallel to the plane X′ 2 O′ 2 Y′ 2 and the distance is H 2
- the first axis joint thickness of the biaxial joint 803 and the Y 3 axis It is perpendicular to the end surface 803a of the biaxial joint 803.
- the coordinate system O′ 3 -X′ 3 Y′ 3 Z′ 3 is obtained by the translation of the coordinate system O 3 -X 3 Y 3 Z 3.
- the plane X′ 3 O′ 3 Y′ 3 is coplanar with the plane X 3 O 3 Y 3 , the X ′ 3 - axis is parallel to the The distance L 3 from the axis to the fourth secondary axis of rotation.
- Coordinate systems O 4 -X 4 Y 4 Z 4 and O' 4 -X' 4 Y' 4 Z' 4 are respectively established at both ends of the first connecting rod 801.
- the Y 4 axis coincides with the Y′ 4 axis
- the Z 4 axis is the rod length direction
- the plane X 4 O 4 Z 4 coincides with the left surface of the first connecting rod 801
- the plane X 4 O 4 Z 4 and the plane X′ 3 O ′ 3 Z′ 3 are parallel
- the distance is the sum H 4 of the thickness of the first connecting rod 801 and the thickness of the second axis joint of the biaxial joint 803 .
- the coordinate system O′ 4 -X′ 4 Y′ 4 Z′ 4 is obtained by translating the coordinate system O 4 -X 4 Y 4 Z 4 along the Z 4 direction by the length of the rod L 4.
- the Y′ 4 axis coincides with the fifth secondary axis of rotation.
- the Y 5 axis coincides with the Y′ 4 axis
- the plane X 5 O 5 Z 5 coincides with the end surface 805 a of the docking device 805
- the Z 5 axis is the rod length direction of the first connecting rod 801 .
- the coordinate system O 6 -X 6 Y 6 Z 6 is established at the center of the joint 806 and can be obtained by translating the coordinate system O 5 -X 5 Y 5 Z 5 and rotating around the Z 5 axis.
- the Y 6 axis is parallel to the Y 5 axis and the distance is The distance L 5 from the center of the joint 806 to the fifth secondary axis of rotation, the Z 6 axis is parallel to the Z 5 axis, and the distance is H 6 from the center of the joint 806 to the end surface 805a.
- the Z 702 axis is perpendicular to the horizontal ground
- the X 702 axis is the long side direction of the surgical robot
- the Y 702 axis is the short side of the surgical robot. direction.
- the angle sensors at the first, second, third, fourth, fifth and sixth rotating pairs can measure the Y 726 axis and Y 1 axis, Y′ 1 axis and Y 2- axis, Y′ 2- axis and Y 3- axis, Z 4- axis and Z′ 3- axis, Z 5- axis and Z′ 4- axis, X 5- axis and X 6 -axis angles ⁇ 1 , ⁇ 2 , ⁇ 3 , ⁇ 4 , ⁇ 5 and ⁇ 6 .
- the pose description of coordinate system O 6 -X 6 Y 6 Z 6 relative to coordinate system O 726 -X 726 Y 726 Z 726 can be obtained through the following coordinate system transformation:
- the coordinate system O 6 -X 6 Y 6 Z 6 coincides with O 702 -X 702 Y 702 Z 702 .
- the X 6 axis coincides with the Z 702 axis
- the Z 6 axis coincides with the Y 702 axis. Therefore, the pose description of the coordinate system O 702 -X 702 Y 702 Z 702 relative to the coordinate system O 6 -X 6 Y 6 Z 6 can be obtained through the following coordinate system transformation:
- the posture positioning between the coordinate system O 702 -X 702 Y 702 Z 702 of the first connection part and the coordinate system O 726 -X 726 Y 726 Z 726 of the second connection part can be realized .
- the relative poses of the coordinate system 92 of the first connection part and the coordinate system 90 of the second connection part are known.
- the coordinate system 92 of the first connection part is in the reference coordinate system of the surgical robot.
- the pose in 43 is known, and the coordinate system 91 of the second connection part is known in the reference coordinate system 90 of the operating table, the reference coordinate system of the surgical robot and the reference coordinate of the operating table can be realized. alignment between systems.
- the present disclosure can complete the pose registration between the puncture device and the reference coordinate system of the operating table at the opening position of the patient's body. Accurate, thereby making it easier to control the linkage between the surgical robot and the operating bed.
- the registration arm in this embodiment is not only used to realize the registration of the surgical robot and the operating table, but is also used to realize the electrical connection between the surgical robot and the operating table.
- the registration arm is configured to transmit or relay at least one of the following data via the electrical connection:
- the surgical robot and/or operating table can also provide power to the registration arm through electrical connections, eliminating the need to configure an additional power module on the registration arm and making the structure simpler.
- the surgical robot and the operating table are electrically connected through the registration arm, which can realize one-way or two-way power supply between the surgical robot and the operating table.
- an external power supply can be connected to the surgical robot to power it, and then through the registration arm Then power is supplied to the operating table; for another example, the surgical robot and/or the operating table are equipped with an auxiliary power supply such as a UPS, which can provide power between the surgical robot and the operating table through the registration arm when the external power supply cannot provide power.
- UPS auxiliary power supply
- the controller of the surgical system may include a first control unit, a second control unit, and a third control unit.
- the third control unit is connected to the first control unit and the second control unit.
- the first control unit is provided on the surgical robot, and the second control unit It is installed on the operating table, and the third control unit is installed on the registration arm.
- the controller of the surgical system may include a first control unit and a second control unit, the first control unit is provided on the surgical robot, the second control unit is provided on the operating table, the first control unit or the second control unit and the registration arm Electrical connections.
- control and data processing for corresponding parts of the surgical system can be performed, and when implementing the registration method and subsequent linkage logic of the present disclosure, different control units of the controller can also undertake corresponding calculations. power, improve computing power, reduce the computing pressure on a single control unit, and make the computing process more reliable.
- Figures 28 to 31 illustrate different electrical connection structures between the surgical robot and the operating table.
- the surgical robot 700 includes a first control unit 606, a first motor 6021 and a first encoder 6022.
- the first motor 6021 can be used to drive a lifting column, a robotic arm, and an adjustment device.
- the first encoder 6022 converts the motion information of the first motor 6021 into the position information of the joint components that drive the lifting column, the mechanical arm, the adjustment arm, the control arm, etc. and sends it to the first control unit 606 .
- the registration arm 609 is provided on the operating bed 105.
- the registration arm 609 is provided with a sensor 6091.
- the operating bed 105 includes a second control unit 607, a second encoder 6032, a second motor 6031 and a second operating control 6033.
- the sensor 6091 and The second control unit 607 transmits data through the transmission paths 617 and 618, so that the second control unit 607 can obtain the detection data of the sensor 6091, and supply power to the sensor 6091 or send control instructions.
- the second operation control 6033 is, for example, a remote control.
- the user inputs a user operation to the second operation control 6033 to generate a user instruction for controlling the operating bed 105 .
- the registration arm 609 is considered to be used only as a communication cable.
- the transmission path 616 can also transmit relevant data such as instructions for controlling the surgical robot 700 and/or the operating bed 105, execution results of the instructions by the surgical robot 700 and/or the operating bed 105, and in this case, the registration arm 609 can be regarded as Use only as a communication cable.
- the registration arm 609 includes a third control unit 6091, a third motor 1092 and a third encoder 1093.
- the third control unit 6091 and the second control unit 607 pass The transmission paths 617 and 618 perform data transmission, so that the second control unit 607 can power the sensor 6091 or send control instructions, and obtain the results of the instruction execution by the third control unit 6091.
- Data transmission is performed between the third control unit 6091 and the first control unit 606 through the transmission path 616'.
- the motion information of the surgical robot 700, the motion information of the surgical bed 105, the execution results of the linkage between the surgical robot 700 and the surgical bed 105 and other related data can be transmitted through the transmission paths 617 and 618.
- the surgical robot can be transmitted through the transmission path 616'. 700 motion information, the motion information of the operating bed 105, the motion information of the registration arm 609, the execution results of the linkage between the surgical robot 700 and the operating bed 105 and other related data. That is to say, the third control unit 6091 receives After the data of the surgical robot 700 is forwarded, in addition to forwarding the data of the surgical robot 700, the movement information of the registration arm 609 is also added to the data. At this time, the registration arm 609 can be considered to be used as a communication transfer station.
- the transmission path 616 includes Communication path 617 and transmission path 616'.
- the transmission path 616 can also transmit relevant data such as instructions for controlling the surgical robot 700 and/or the operating bed 105, execution results of the instructions by the surgical robot 700 and/or the operating bed 105, and the registration arm 609 still serves as the Used by the communication relay station, the transmission path 616 includes a transmission path 617 and a transmission path 616'.
- the registration arm 609 can also be provided on the surgical robot 700.
- the registration arm 609 can adopt the structure as shown in Figure 28 or Figure 29.
- the specific working process is as follows.
- the structure shown in Figure 28 or Figure 29 is similar and will not be described again.
- the wiring of the surgical system can be neat and the connection is convenient.
- the anti-interference ability is improved and the signal transmission is more reliable.
- the present disclosure also provides a control method for a surgical system.
- the surgical system includes an operating bed and a surgical robot.
- the surgical robot includes a driving arm with multiple joints.
- the distal end of the driving arm is equipped with a puncture device.
- the puncture device is used for insertion.
- Figure 32 is a schematic flowchart of a control method of a surgical system according to an embodiment. As shown in Figure 32, the control methods include:
- Step S1 Obtain posture registration information between the surgical robot and the operating table
- Step S2 in response to the movement of the table top of the operating table in the posture degree of freedom, obtain the movement information of the table top of the operating table in the posture degree of freedom;
- Step S3 Determine the target joint amount of the first joint among the plurality of joints based on the motion information and attitude registration information, and control the movement of the first joint according to the target joint amount to maintain the attitude of the puncture device relative to the table top of the operating table in the attitude degree of freedom.
- step S1 obtains posture registration information between the surgical robot and the operating table, including:
- Controlling a first joint of the plurality of joints in a zero force state the first joint including a joint having a translational degree of freedom to allow the actuation arm, through the first joint, to track the body based on a force exerted by a body wall of the patient's body opening Movement of the opening in translational degrees of freedom;
- a first position of the puncture device at a first moment is acquired, and a second position of the puncture device at a second moment adjacent to the first moment is acquired.
- first posture registration information between the surgical robot and the operating table is determined.
- the method further includes:
- a third posture between the surgical robot and the operating bed is determined based on one or more of the first posture registration information and the second posture registration information.
- the reference coordinate system of the surgical robot and the reference coordinate system of the operating table both include two-dimensional horizontal coordinate systems, and the horizontal plane where the base of the surgical robot is located and the horizontal plane where the base of the operating table is located are parallel to or coincident with each other;
- first The posture registration information is characterized by the first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table
- second posture registration information is characterized by the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
- the second rotation angle value on the horizontal plane between the coordinate systems is characterized;
- Determining third posture registration information between the surgical robot and the operating table based on one or more of the first posture registration information and the second posture registration information includes:
- the first rotation angle value is used as the third posture registration information, or the second rotation angle value is used as the third posture registration information, or the first rotation angle value and the second rotation angle value are used as the third posture registration information.
- the average of the angle values is used as the third pose registration information.
- one of the surgical robot and the operating table is provided with a distance measuring device, and the horizontal plane where the first horizontal coordinate axis and the second horizontal coordinate axis of the reference coordinate system of the surgical robot are located, and the third horizontal coordinate axis of the reference coordinate system of the operating table are located.
- the horizontal plane where the first horizontal coordinate axis is located, the second horizontal coordinate axis and the horizontal plane where the detection direction of the distance measuring device is located are parallel to or coincide with each other;
- Step S1 obtains posture registration information between the surgical robot and the operating table, including:
- the detection data includes the first vertical distance and the second vertical distance between the surgical robot and the operating bed;
- attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is determined.
- the first vertical distance is the minimum distance detected by the ranging sensor
- the second vertical distance is the distance detected by the ranging sensor from a horizontal direction perpendicular to the installation position
- the ranging device includes a first ranging sensor and a second ranging sensor
- the first ranging sensor and the second ranging sensor are arranged at intervals on the horizontal plane, and the first vertical distance is the minimum distance detected by the first ranging sensor,
- the second vertical distance is the minimum distance detected by the second distance sensor; or, the first vertical distance is the distance detected by the first distance sensor from a horizontal direction perpendicular to the installation position, and the second vertical distance is the second distance The distance the sensor detects from the horizontal direction perpendicular to the installation location.
- the other one of the surgical robot and the operating bed is provided with a positioning mark located within the detection range of the ranging device, and the detection data also includes the distance between the ranging device and the positioning mark, and the detection angle of the ranging device, Methods also include:
- the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical robot is determined.
- the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed is determined based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, including:
- the detection angle of the positioning mark detected by the distance measuring device, and the position coordinates of the distance measuring device in the reference coordinate system of the installed equipment determine the location of the positioning mark on the equipment where the distance measuring device is installed.
- the position coordinates of the positioning mark in the reference coordinate system of the equipment where the distance measuring device is installed are used to determine the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
- one of the surgical robot and the operating bed includes a first connecting part, and the other one of the surgical robot and the operating bed includes a second connecting part;
- the registration arm includes a third connecting part for connecting with the first connecting part.
- Step S1 obtains posture registration information between the surgical robot and the operating table, including:
- the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the known second registration relationship between the other one of the surgical robot and the operating bed and the second connection part is used to determine the posture registration information between the surgical robot and the operating table.
- the method further includes:
- the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the known second registration relationship between the other one of the surgical robot and the operating bed and the second connection part is used to determine the position registration information between the surgical robot and the operating table.
- the coordinate system of the first end and the first coordinate system of the first connection part have a preset relative posture and relative position
- the second registration relationship includes the first The posture information and position information of the coordinate system in the reference coordinate system of one of the surgical robot and the operating table
- the coordinate system of the second end and the second coordinate system of the second connection part have preset relative postures and relative positions.
- the third registration relationship includes the second coordinate system between the surgical robot and the surgical robot. Attitude information and position information in the other reference coordinate system of the operating table.
- the registration arm is configured to align the reference coordinate system of one of the surgical robot and the operating table and the reference coordinate system of the other of the surgical robot and the operating table in the direction of the vertical coordinate axis in Cartesian space. 3 degrees of freedom of movement for orientation and positioning in the direction of the horizontal axis, or 6 degrees of freedom of movement for positioning and orientation of the registration arm in Cartesian space.
- the joint component includes a sensor for sensing joint variables of the joint component, and the method includes:
- joint variables of multiple joint components sensed by the sensor where the joint variables include relative distances and/or relative angles between the own coordinate systems of the multiple joint components;
- first registration information between the first end and the second end is determined.
- the registration arm further includes a control unit and a driving assembly.
- the control unit is coupled to the controller.
- the control unit is configured to control the driving assembly to drive the joint assembly to move according to the posture change instructions.
- a communication cable is provided inside the registration arm, and the first surgical device and the second surgical device are mechanically and electrically connected through the registration arm.
- the controller includes a first control unit, a second control unit and a third control unit.
- the third control unit is connected to the first control unit and the second control unit.
- the first control unit is disposed between the surgical robot and the operating bed. One of them, the second control unit is provided on the other of the surgical robot and the operating table, and the third control unit is provided on the registration arm;
- the controller includes a first control unit and a second control unit.
- the first control unit is provided on one of the surgical robot and the operating bed.
- the second control unit is provided on the other of the surgical robot and the operating bed.
- the first control unit The unit or the second control unit is electrically connected to the registration arm.
- the method further includes:
- the method further includes:
- the joint motion is driven according to the target joint variables to maintain the posture of the puncture device relative to the tabletop of the operating table.
- the present disclosure also provides a computer-readable storage medium.
- a computer program is stored on the computer-readable storage medium.
- the computer program is executed by a processor, the steps of the control method of the surgical system as described in the above embodiments are implemented.
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Abstract
The present disclosure relates to a surgical system, a control method, and a readable storage medium. The surgical system comprises a surgical bed; a surgical robot, the surgical robot comprising a driving arm having a plurality of joints, a puncture device being arranged at a distal end of the driving arm, and the puncture device being configured to be inserted into a body opening of a living body located on a tabletop of the surgical bed; and a controller, coupled with the surgical bed and the surgical robot and configured to: acquire posture registration information between the surgical robot and the surgical bed; in response to the movement of the tabletop of the surgical bed in the posture degree of freedom, acquire movement information about the tabletop of the surgical bed in the posture degree of freedom; on the basis of the movement information and the posture registration information, determine a target joint amount of a first joint in the plurality of joints, and control the movement of the first joint according to the target joint amount so as to maintain the posture of the puncture device relative to the tabletop of the surgical bed in the posture degree of freedom. On the basis of the posture registration information between the surgical robot and the surgical bed in the present disclosure, when the tabletop of the surgical bed moves in the posture degree of freedom, the surgical system can actively control the driving arm to adjust the posture of the puncture device so as to improve the operation efficiency and safety.
Description
本公开要求于2022年07月01日提交中国专利局、申请号为202210769931.2、发明名称为“一种手术机器人及其控制方法、装置、以及手术系统”的中国专利申请,于2022年07月01日提交中国专利局、申请号为202210769952.4、发明名称为“一种手术机器人及其姿态配准方法、控制方法”的中国专利申请、于2022年07月01日提交中国专利局、申请号为202210768400.1、发明名称为“一种手术机器人及其与手术床的配准方法、以及手术系统”的中国专利申请,于2022年07月01日提交中国专利局、申请号为202210777567.4、发明名称为“一种手术机器人系统的控制方法、系统、装置和可读存储介质”的中国专利申请,以及于2023年03月03日提交中国专利局、申请号为202310249983.1、发明名称为“手术系统及其配准方法、装置、手术设备以及存储介质”的中国专利申请的优先权,其全部内容通过引用结合在申请中。This disclosure requires a Chinese patent application submitted to the China Patent Office on July 1, 2022, with the application number 202210769931.2 and the invention title "A surgical robot and its control method, device, and surgical system" on July 1, 2022. The Chinese patent application was submitted to the China Patent Office on July 1, 2022, with the application number 202210769952.4, and the invention title is "A surgical robot and its posture registration method and control method". It was submitted to the China Patent Office on July 1, 2022, with the application number 202210768400.1. , the Chinese patent application titled "A surgical robot and its registration method with the operating bed, and a surgical system" was submitted to the China Patent Office on July 1, 2022. The application number is 202210777567.4, and the invention is titled "A surgical robot and its registration method with an operating bed, and a surgical system". The Chinese patent application for "Control Method, System, Device and Readable Storage Medium of a Surgical Robot System" was submitted to the China Patent Office on March 3, 2023. The application number is 202310249983.1, and the invention name is "Surgical System and its Registration "Methods, Devices, Surgical Equipment and Storage Media", the entire content of which is incorporated by reference into the application.
本公开涉及医疗机械技术领域,特别是涉及一种手术系统、控制方法、以及可读存储介质。The present disclosure relates to the field of medical machinery technology, and in particular, to a surgical system, a control method, and a readable storage medium.
微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式,微创手术具有创伤小、疼痛轻、恢复快等优势。随着科技的进步,微创手术机器人技术逐渐成熟,并被广泛应用。微创手术机器人通常包括主操作台及从操作设备,主操作台包括手柄,医生通过操作手柄向从操作设备发送控制命令,从操作设备包括驱动臂及装设于驱动臂远端的穿刺装置,穿刺装置用于插入躺卧于手术床的台面的患者的身体开口内,以提供用于医疗器械穿过的通道。Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope and thoracoscope and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. With the advancement of science and technology, minimally invasive surgical robotic technology has gradually matured and been widely used. Minimally invasive surgical robots usually include a main operating console and slave operating equipment. The main operating console includes a handle. The doctor sends control commands to the slave operating equipment through the operating handle. The slave operating equipment includes a driving arm and a puncture device installed at the distal end of the driving arm. The puncture device is used for insertion into an opening in the body of a patient lying on a tabletop of an operating table to provide a passage for medical instruments to pass through.
在使用手术机器人辅助手术的过程中,医生经常会期望手术床能够移动一定距离或旋转一定角度,从而调整术中患者的体位,以便改善或优化手术操作过程中患者手术部位的视野和操作空间。然而,手术床的运动会引起患者身体开口的运动,而通常手术机器人无法基于手术床的运动信息主动控制穿刺装置跟随身体开口的运动,导致在调整手术床的过程中,对手术机器人的操作较为繁琐、耗时,甚至可能会对患者造成伤害,增加了手术过程中的不确定性风险。In the process of using surgical robots to assist surgery, doctors often expect that the operating bed can move a certain distance or rotate a certain angle to adjust the patient's position during the operation in order to improve or optimize the patient's field of view and operating space at the surgical site during the operation. However, the movement of the operating table will cause the movement of the patient's body opening, and usually the surgical robot cannot actively control the movement of the puncture device to follow the body opening based on the movement information of the operating table, resulting in cumbersome operation of the surgical robot during the process of adjusting the operating table. , time-consuming, and may even cause harm to the patient, increasing the risk of uncertainty during the operation.
基于此,有必要针对上述技术问题,提供一种手术系统、控制方法、以及可读存储介质,可以基于手术机器人与手术床之间的姿态配准信息,在手术床的台面进行姿态自由度的运动时,主动控制驱动臂调整穿刺装置的姿态,提高操作效率和安全性。Based on this, it is necessary to provide a surgical system, a control method, and a readable storage medium to address the above technical problems, which can perform attitude degree of freedom control on the table of the operating table based on the posture registration information between the surgical robot and the operating table. During movement, the driving arm is actively controlled to adjust the posture of the puncture device to improve operating efficiency and safety.
一种手术系统,其中,包括:A surgical system, including:
手术床;operating table;
手术机器人,所述手术机器人包括具有多个关节的驱动臂,所述驱动臂的远端装设有穿刺装置,所述穿刺装置用于插入位于所述手术床的台面的生物体的身体开口内;Surgical robot, the surgical robot includes a driving arm with a plurality of joints, the distal end of the driving arm is equipped with a puncture device, the puncture device is used to insert into the body opening of the organism located on the table top of the operating bed ;
控制器,与所述手术床、所述手术机器人耦接,被配置成用于:A controller, coupled to the surgical table and the surgical robot, is configured for:
获取所述手术机器人与手术床之间的姿态配准信息;Obtain posture registration information between the surgical robot and the operating table;
响应于所述手术床的台面在姿态自由度的运动,获取所述手术床的台面在所述姿态自由度的运动信息;In response to the movement of the tabletop of the operating table in the posture degree of freedom, obtaining movement information of the tabletop of the operating table in the posture degree of freedom;
基于所述运动信息和所述姿态配准信息确定所述多个关节中第一关节的目标关节量,根据所述目标关节量控制所述第一关节运动,以在所述姿态自由度保持所述穿刺装置相对于所述手术床的台面的姿态。A target joint amount of a first joint among the plurality of joints is determined based on the motion information and the attitude registration information, and the movement of the first joint is controlled according to the target joint amount to maintain the required degree of freedom in the attitude. The posture of the puncture device relative to the tabletop of the operating table.
在一个实施例中,在确定所述手术机器人与手术床之间的姿态配准信息时,所述控制
器被配置成用于:In one embodiment, when determining the posture registration information between the surgical robot and the operating table, the control The controller is configured for:
控制所述多个关节中的第一关节处于零力状态,所述第一关节包括具有平移自由度的关节,以通过所述第一关节来允许所述驱动臂,基于由所述患者的所述身体开口的体壁施加的力来跟踪所述身体开口在平移自由度的运动;Controlling a first joint of the plurality of joints in a zero force state, the first joint including a joint having a translational degree of freedom, to allow the drive arm to be driven by the first joint based on the motion of the patient. The force exerted by the body wall of the body opening is used to track the movement of the body opening in translational degrees of freedom;
响应于所述手术床的台面在平移自由度的平移运动,In response to the translational movement of the operating table table in the translational degree of freedom,
在所述第一关节被动地执行跟踪所述身体开口在所述平移自由度的运动的过程中,获取所述穿刺装置在第一时刻的第一位置、并获取所述穿刺装置在相邻于所述第一时刻的第二时刻的第二位置;In the process of the first joint passively tracking the movement of the body opening in the translational degree of freedom, a first position of the puncture device at a first moment is acquired, and a position of the puncture device adjacent to the second position at the second moment of the first moment;
基于所述第一位置和所述第二位置,确定所述手术机器人与所述手术床之间的第一姿态配准信息。Based on the first position and the second position, first posture registration information between the surgical robot and the operating table is determined.
在一个实施例中,所述控制器还被配置成用于:In one embodiment, the controller is further configured to:
在所述第一关节被动地执行跟踪所述身体开口在所述平移自由度的运动的过程中,获取所述穿刺装置在相邻于第二时刻的第三时刻的第三位置;Obtaining a third position of the puncture device at a third time adjacent to the second time while the first joint passively performs tracking the movement of the body opening in the translational degree of freedom;
基于所述第二位置和所述第三位置,确定所述手术机器人与所述手术床之间的第二姿态配准信息;determining second attitude registration information between the surgical robot and the operating table based on the second position and the third position;
在所述第一姿态配准信息和所述第二姿态配准信息满足预设条件时,基于所述第一姿态配准信息和所述第二姿态配准信息中的一个或多个确定所述手术机器人与所述手术床之间的第三姿态配准信息。When the first posture registration information and the second posture registration information satisfy a preset condition, the determination is based on one or more of the first posture registration information and the second posture registration information. Third posture registration information between the surgical robot and the operating bed.
在一个实施例中,所述手术机器人的基准坐标系与所述手术床的基准坐标系均包括二维水平坐标系,所述手术机器人的基座所在水平面与所述手术床的基座所在水平面之间相互平行或重合;所述第一姿态配准信息采用所述手术机器人的基准坐标系与所述手术床的基准坐标系之间在水平面上的第一旋转角度值进行表征,所述第二姿态配准信息采用所述手术机器人的基准坐标系与所述手术床的基准坐标系之间在水平面上的第二旋转角度值进行表征;In one embodiment, the reference coordinate system of the surgical robot and the reference coordinate system of the operating table both include a two-dimensional horizontal coordinate system, and the horizontal plane where the base of the surgical robot is located and the horizontal plane where the base of the operating table is located are are parallel or coincident with each other; the first posture registration information is represented by the first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed, and the first posture registration information The second posture registration information is characterized by a second rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed;
基于所述第一姿态配准信息和所述第二姿态配准信息中的一个或多个确定所述手术机器人与所述手术床之间的第三姿态配准信息时,所述控制器还被配置成用于:When determining third posture registration information between the surgical robot and the operating table based on one or more of the first posture registration information and the second posture registration information, the controller further Configured for:
判断所述第一旋转角度值与所述第二旋转角度值之间的差值是否处于预设范围内;Determine whether the difference between the first rotation angle value and the second rotation angle value is within a preset range;
若处于预设范围内,则将所述第一旋转角度值作为所述第三姿态配准信息,或者,将所述第二旋转角度值作为所述第三姿态配准信息,或者,将所述第一旋转角度值与所述第二旋转角度值的均值作为第三姿态配准信息。If it is within the preset range, the first rotation angle value is used as the third posture registration information, or the second rotation angle value is used as the third posture registration information, or the first rotation angle value is used as the third posture registration information. The average value of the first rotation angle value and the second rotation angle value is used as the third posture registration information.
在一个实施例中,所述手术机器人与所述手术床的其中之一设有测距装置,所述手术机器人的基准坐标系的第一水平坐标轴与第二水平坐标轴所在的水平面、所述手术床的基准坐标系的第一水平坐标轴与第二水平坐标轴所在的水平面、所述测距装置的检测方向所在的水平面之间相互平行或重合;In one embodiment, one of the surgical robot and the operating bed is provided with a distance measuring device, and the horizontal plane where the first horizontal coordinate axis and the second horizontal coordinate axis of the reference coordinate system of the surgical robot are located, The first horizontal coordinate axis of the reference coordinate system of the operating table, the horizontal plane where the second horizontal coordinate axis is located, and the horizontal plane where the detection direction of the ranging device is located are parallel to or coincident with each other;
在确定所述手术机器人与手术床之间的姿态配准信息时,所述控制器被配置成用于:When determining posture registration information between the surgical robot and the operating table, the controller is configured to:
获取所述测距装置的检测数据,所述检测数据包括所述手术机器人与所述手术床之间的第一垂直距离和第二垂直距离;Obtain detection data of the ranging device, the detection data including the first vertical distance and the second vertical distance between the surgical robot and the operating table;
根据所述手术机器人与所述手术床之间的第一垂直距离和第二垂直距离,确定所述手术机器人的基准坐标系与所述手术床的基准坐标系之间的姿态配准信息。According to the first vertical distance and the second vertical distance between the surgical robot and the operating table, attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is determined.
在一个实施例中,所述测距装置包括一个测距传感器时,所述第一垂直距离为所述测距传感器检测得到的最小距离,所述第二垂直距离为所述测距传感器从垂直于安装位置的水平方向检测得到的距离;或者,In one embodiment, when the distance measuring device includes a distance measuring sensor, the first vertical distance is the minimum distance detected by the distance measuring sensor, and the second vertical distance is the vertical distance measured by the distance measuring sensor from The distance measured in the horizontal direction of the installation position; or,
所述测距装置包括第一测距传感器和第二测距传感器时,所述第一测距传感器和第二测距传感器在水平面上间隔设置,所述第一垂直距离为所述第一测距传感器检测得到的最小距离,所述第二垂直距离为所述第二测距传感器检测得到的最小距离;或者,所述第一垂直距离为所述第一测距传感器从垂直于安装位置的水平方向检测得到的距离,所述第二
垂直距离为所述第二测距传感器从垂直于安装位置的水平方向检测得到的距离。When the distance measuring device includes a first distance measuring sensor and a second distance measuring sensor, the first distance measuring sensor and the second distance measuring sensor are arranged at intervals on the horizontal plane, and the first vertical distance is the first distance measuring sensor. The second vertical distance is the minimum distance detected by the second distance sensor; or, the first vertical distance is the distance from the first distance sensor perpendicular to the installation position. The distance detected in the horizontal direction, the second The vertical distance is the distance detected by the second distance sensor from a horizontal direction perpendicular to the installation position.
在一个实施例中,所述手术机器人与所述手术床的其中另一设有位于所述测距装置的检测范围内的定位标记,所述检测数据还包括所述测距装置与所述定位标记之间的距离、所述测距装置的检测角度,所述控制器还被配置成用于:In one embodiment, the other one of the surgical robot and the operating bed is provided with a positioning mark located within the detection range of the distance measuring device, and the detection data further includes the distance measurement device and the positioning mark. The distance between markers, the detection angle of the distance measuring device, the controller is also configured to:
根据所述检测数据、所述测距装置的位置坐标及所述定位标记的位置坐标,确定所述手术机器人的基准坐标系与所述手术机器人的基准坐标系之间的位置配准信息。Based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical robot is determined.
在一个实施例中,根据所述检测数据、所述测距装置的位置坐标及所述定位标记的位置坐标,确定所述手术机器人的基准坐标系与所述手术床的基准坐标系之间的位置配准信息时,所述控制器被配置成用于:In one embodiment, the distance between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed is determined based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark. position registration information, the controller is configured to:
获取所述手术机器人的基准坐标系与所述手术床的基准坐标系之间的姿态配准信息;Obtain attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;
根据所述测距装置与所述定位标记之间的距离、所述测距装置检测到所述定位标记的检测角度、所述测距装置在所安装设备的基准坐标系中的位置坐标,确定所述定位标记在所述测距装置所安装设备的基准坐标系中的位置坐标;According to the distance between the distance measuring device and the positioning mark, the detection angle at which the distance measuring device detects the positioning mark, and the position coordinates of the distance measuring device in the reference coordinate system of the installed equipment, determine The position coordinates of the positioning mark in the reference coordinate system of the equipment on which the distance measuring device is installed;
根据所述手术机器人的基准坐标系与所述手术床的基准坐标系之间的姿态配准信息、所述定位标记在所述测距装置所安装设备的基准坐标系中的位置坐标、所述定位标记在所在设备的基准坐标系中的位置坐标,确定所述手术机器人的基准坐标系与所述手术床的基准坐标系之间的位置配准信息。According to the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the position coordinates of the positioning mark in the reference coordinate system of the equipment installed on the ranging device, the The position coordinates of the positioning mark in the reference coordinate system of the device determine the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed.
在一个实施例中,所述手术机器人与所述手术床的其中之一包括第一连接部,所述手术机器人与所述手术床的其中另一包括第二连接部;配准臂,包括用于与所述第一连接部连接的第一端、用于与所述第二连接部连接的第二端、及连接于所述第一端和所述第二端之间的多个关节组件;In one embodiment, one of the surgical robot and the operating bed includes a first connection part, and the other one of the surgical robot and the operating bed includes a second connection part; the registration arm includes a A first end connected to the first connecting part, a second end connected to the second connecting part, and a plurality of joint components connected between the first end and the second end ;
所述控制器,与所述配准臂耦接,在确定所述手术机器人与手术床之间的姿态配准信息时,所述控制器被配置成用于:The controller is coupled to the registration arm, and when determining posture registration information between the surgical robot and the operating table, the controller is configured to:
响应于所述第一连接部和所述第二连接部通过所述配准臂的连接,基于运动学确定所述第一端与所述第二端之间的第一配准关系;determining a first registration relationship between the first end and the second end based on kinematics in response to the connection of the first connection part and the second connection part through the registration arm;
基于所述第一配准关系、所述手术机器人与所述手术床的其中之一与所述第一连接部之间已知的第二配准关系、及所述手术机器人与所述手术床的其中另一与所述第二连接部之间已知的第三配准关系,确定所述手术机器人与所述手术床之间的姿态配准信息。Based on the first registration relationship, the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the surgical robot and the operating bed The known third registration relationship between the other one and the second connection part is used to determine the posture registration information between the surgical robot and the operating bed.
在一个实施例中,所述控制器还被配置成用于:In one embodiment, the controller is further configured to:
响应于所述第一连接部和所述第二连接部通过所述配准臂的连接,基于运动学确定所述第一端与所述第二端之间的第一配准关系;determining a first registration relationship between the first end and the second end based on kinematics in response to the connection of the first connection part and the second connection part through the registration arm;
基于所述第一配准关系、所述手术机器人与所述手术床的其中之一与所述第一连接部之间已知的第二配准关系、及所述手术机器人与所述手术床的其中另一与所述第二连接部之间已知的第三配准关系,确定所述手术机器人与所述手术床之间的位置配准信息。Based on the first registration relationship, the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the surgical robot and the operating bed The known third registration relationship between the other one and the second connection part is used to determine the position registration information between the surgical robot and the operating table.
在一个实施例中,所述第一端与所述第一连接部连接时,所述第一端的坐标系与所述第一连接部的第一坐标系具备预设的相对姿态和相对位置,所述第二配准关系包括所述第一坐标系在所述手术机器人与所述手术床的其中之一的基准坐标系中的姿态信息和位置信息;In one embodiment, when the first end is connected to the first connecting part, the coordinate system of the first end and the first coordinate system of the first connecting part have a preset relative attitude and relative position. , the second registration relationship includes the posture information and position information of the first coordinate system in the reference coordinate system of one of the surgical robot and the operating bed;
所述第二端与所述第二连接部连接时,所述第二端的坐标系与所述第二连接部的第二坐标系具备预设的相对姿态和相对位置,所述第三配准关系包括所述第二坐标系在所述手术机器人与所述手术床的其中另一的基准坐标系中的姿态信息和位置信息。When the second end is connected to the second connection part, the coordinate system of the second end and the second coordinate system of the second connection part have a preset relative posture and relative position, and the third registration The relationship includes attitude information and position information of the second coordinate system in the other reference coordinate system of the surgical robot and the operating bed.
在一个实施例中,所述配准臂具备使所述手术机器人与所述手术床的其中之一的基准坐标系和所述手术机器人与所述手术床的其中另一的基准坐标系之间在笛卡尔空间中竖直坐标轴方向上进行定向以及在水平坐标轴方向上进行定位的3种运动自由度,或者,所述配准臂具备在笛卡尔空间中进行定位和定向的6种运动自由度。In one embodiment, the registration arm is configured to connect a reference coordinate system of one of the surgical robot and the operating table and a reference coordinate system of the other of the surgical robot and the operating table. There are three degrees of freedom of movement for orientation in the direction of the vertical coordinate axis and positioning in the direction of the horizontal coordinate axis in Cartesian space, or the registration arm has six types of movement for positioning and orientation in Cartesian space. degrees of freedom.
在一个实施例中,所述关节组件包括用于感应所述关节组件关节变量的传感器,所述
控制器与所述传感器耦接,并被配置成用于:In one embodiment, the joint assembly includes a sensor for sensing joint variables of the joint assembly, and the A controller is coupled to the sensor and configured to:
获取由所述传感器感应的所述多个关节组件的关节变量,所述关节变量包括所述多个关节组件的自身坐标系之间的相对距离和/或相对角度;Obtain joint variables of the multiple joint components sensed by the sensor, where the joint variables include relative distances and/or relative angles between self-coordinate systems of the multiple joint components;
基于所述关节变量并利用正向运动学,确定所述第一端与所述第二端之间的第一配准信息。Based on the joint variables and utilizing forward kinematics, first registration information between the first end and the second end is determined.
在一个实施例中,所述配准臂还包括控制单元与驱动组件,所述控制单元与所述控制器耦接,所述控制单元被配置成用于,根据位姿变化指令控制所述驱动组件带动所述关节组件进行运动。In one embodiment, the registration arm further includes a control unit and a drive assembly, the control unit is coupled to the controller, and the control unit is configured to control the drive according to the posture change instruction. The component drives the joint component to move.
在一个实施例中,所述配准臂的内部设置通信线缆,所述第一手术设备、所述第二手术设备通过所述配准臂进行机械连接和电气连接。In one embodiment, a communication cable is provided inside the registration arm, and the first surgical device and the second surgical device are mechanically and electrically connected through the registration arm.
在一个实施例中,所述控制器包括第一控制单元、第二控制单元与第三控制单元,所述第三控制单元连接所述第一控制单元与所述第二控制单元,所述第一控制单元设置于所述手术机器人与所述手术床的其中之一,所述第二控制单元设置于所述手术机器人与所述手术床的其中另一,所述第三控制单元设置于所述配准臂;In one embodiment, the controller includes a first control unit, a second control unit and a third control unit, the third control unit is connected to the first control unit and the second control unit, and the third control unit A control unit is provided on one of the surgical robot and the operating bed, the second control unit is provided on the other of the surgical robot and the operating bed, and the third control unit is provided on the The registration arm;
或者,所述控制器包括第一控制单元与第二控制单元,所述第一控制单元设置于所述手术机器人与所述手术床的其中之一,所述第二控制单元设置于所述手术机器人与所述手术床的其中另一,所述第一控制单元或所述第二控制单元与所述配准臂电气连接。Alternatively, the controller includes a first control unit and a second control unit. The first control unit is disposed on one of the surgical robot and the surgical bed. The second control unit is disposed on the surgical bed. The robot is electrically connected to the other one of the operating table, and the first control unit or the second control unit is electrically connected to the registration arm.
在一个实施例中,所述控制器,还被配置成用于:In one embodiment, the controller is further configured to:
响应于所述手术床的台面在姿态自由度的运动,控制所述多个关节中关联于位置自由度调节的目标关节,以通过所述目标关节来允许所述驱动臂,基于由所述患者的所述身体开口处的体壁施加的力来跟踪所述身体开口的位置。In response to the movement of the tabletop of the operating table in the attitude degree of freedom, controlling a target joint associated with positional degree of freedom adjustment among the plurality of joints to allow the drive arm to move through the target joint based on the movement of the patient The force exerted by the body wall at the body opening tracks the position of the body opening.
在一个实施例中,所述控制器,还被配置成用于:In one embodiment, the controller is further configured to:
获取所述手术机器人的基准坐标系和所述手术床的基准坐标系之间的位置配准关系和姿态配准关系;Obtain the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;
基于所述位置配准关系和姿态配准关系,获取所述穿刺装置在所述手术床的基准坐标系的初始位姿;Based on the position registration relationship and attitude registration relationship, obtain the initial pose of the puncture device in the reference coordinate system of the operating bed;
响应于所述手术床的台面的运动,获取所述手术床的台面的运动量,并基于所述位置配准关系、所述姿态配准关系、所述初始位姿和所述运动量,确定所述穿刺装置在所述手术机器人的基准坐标系的目标位姿;In response to the movement of the tabletop of the operating table, the amount of movement of the tabletop of the operating table is obtained, and based on the position registration relationship, the attitude registration relationship, the initial posture and the amount of movement, the determination of the The target pose of the puncture device in the reference coordinate system of the surgical robot;
基于所述目标位姿确定所述驱动臂中关节的目标关节变量;Determine target joint variables of the joints in the drive arm based on the target pose;
根据所述目标关节变量驱动所述关节运动,以保持所述穿刺装置相对于所述手术床的台面的位姿。The joint motion is driven according to the target joint variable to maintain the posture of the puncture device relative to the table top of the operating table.
本公开还提供一种手术系统的控制方法,其中,所述手术系统包括手术床与手术机器人,所述手术机器人包括具有多个关节的驱动臂,所述驱动臂的远端装设有穿刺装置,所述穿刺装置用于插入位于手术床的台面的生物体的身体开口内,所述控制方法包括:The present disclosure also provides a method for controlling a surgical system, wherein the surgical system includes an operating bed and a surgical robot. The surgical robot includes a driving arm with multiple joints, and a puncture device is installed on the distal end of the driving arm. , the puncture device is used to insert into the body opening of the organism located on the table of the operating bed, and the control method includes:
获取所述手术机器人与所述手术床之间的姿态配准信息;Obtain posture registration information between the surgical robot and the operating table;
响应于所述手术床的台面在姿态自由度的运动,获取所述手术床的台面在所述姿态自由度的运动信息;In response to the movement of the tabletop of the operating table in the posture degree of freedom, obtaining movement information of the tabletop of the operating table in the posture degree of freedom;
基于所述运动信息和所述姿态配准信息确定所述多个关节中第一关节的目标关节量,根据所述目标关节量控制所述第一关节运动,以在所述姿态自由度保持所述穿刺装置相对于所述手术床的台面的姿态。A target joint amount of a first joint among the plurality of joints is determined based on the motion information and the attitude registration information, and the movement of the first joint is controlled according to the target joint amount to maintain the required degree of freedom in the attitude. The posture of the puncture device relative to the tabletop of the operating table.
本公开还提供一种计算机可读存储介质,其特征在于,所述计算机可读存储介质上存储计算机程序,所述计算机程序被处理器执行时实现如上所述的手术系统的控制方法的步骤。The present disclosure also provides a computer-readable storage medium, which is characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the control method of the surgical system as described above are implemented.
本公开的手术系统、控制方法及可读存储介质,具有如下有益效果:The disclosed surgical system, control method and readable storage medium have the following beneficial effects:
可以基于手术机器人与手术床之间的姿态配准信息,在手术床的台面进行姿态自由度
的运动时,主动控制驱动臂调整穿刺装置的姿态,提高操作效率和安全性。Based on the posture registration information between the surgical robot and the operating table, the posture degree of freedom can be performed on the table of the operating table. During the movement, the driving arm is actively controlled to adjust the posture of the puncture device to improve operating efficiency and safety.
图1是根据一实施例示出的手术系统的设备关系简化图。FIG. 1 is a simplified diagram of equipment relationships of a surgical system according to an embodiment.
图2是根据一实施例示出的一种医生主操控台的结构示意图。Figure 2 is a schematic structural diagram of a doctor's main console according to an embodiment.
图3是根据一实施例示出的一种床旁机械臂系统与手术床的结构示意图。Figure 3 is a schematic structural diagram of a bedside robotic arm system and an operating table according to an embodiment.
图4是根据一实施例示出的手术系统的运动学模型关系简化图。FIG. 4 is a simplified diagram of the kinematic model relationship of the surgical system according to an embodiment.
图5是根据一实施例示出的姿态定位的原理示意图。FIG. 5 is a schematic diagram of the principle of attitude positioning according to an embodiment.
图6是根据一实施例示出的测距模块的安装示意图。FIG. 6 is an installation diagram of a ranging module according to an embodiment.
图7是根据一实施例示出的手术床操作面板的示意图。Figure 7 is a schematic diagram of an operating table operating panel according to an embodiment.
图8是根据另一实施例示出的在手术床进行平移自由度运动时的姿态配准原理示意图。FIG. 8 is a schematic diagram illustrating the principle of attitude registration when the operating table moves with a translational degree of freedom according to another embodiment.
图9是根据另一实施例示出的在手术床进行姿态自由度运动时的姿态配准原理示意图之一。FIG. 9 is one of the schematic diagrams of the posture registration principle when the operating table moves with posture degrees of freedom according to another embodiment.
图10是根据另一实施例示出的在手术床进行姿态自由度运动时的姿态配准原理示意图之二。FIG. 10 is a second schematic diagram of the posture registration principle when the operating table moves with posture degrees of freedom according to another embodiment.
图11是根据又一实施例示出的一种测距装置和定位标记的设计示意图。Figure 11 is a schematic design diagram of a distance measuring device and a positioning mark according to yet another embodiment.
图12是图11所示设计的配准原理示意图。Figure 12 is a schematic diagram of the registration principle of the design shown in Figure 11.
图13是根据又一实施例示出的另一种测距装置和定位标记的设计示意图。Figure 13 is a schematic design diagram of another distance measuring device and positioning mark according to yet another embodiment.
图14是图13所示设计的配准原理示意图。Figure 14 is a schematic diagram of the registration principle of the design shown in Figure 13.
图15是根据又一实施例示出的又一种测距装置和定位标记的设计示意图。Figure 15 is a schematic design diagram of yet another distance measuring device and positioning mark according to yet another embodiment.
图16是图15所示设计的配准原理示意图。Figure 16 is a schematic diagram of the registration principle of the design shown in Figure 15.
图17是根据又一实施例示出的再一配准原理示意图。Figure 17 is a schematic diagram of yet another registration principle according to yet another embodiment.
图18是根据再一实施例示出的一种手术系统的结构示意图。Figure 18 is a schematic structural diagram of a surgical system according to yet another embodiment.
图19是根据再一实施例示出的一种配准臂的结构示意图。Figure 19 is a schematic structural diagram of a registration arm according to yet another embodiment.
图20是根据再一实施例示出的另一种配准臂的结构示意图。Figure 20 is a schematic structural diagram of another registration arm according to yet another embodiment.
图21是根据再一实施例示出的第一连接部与配准臂的第一端的配合结构示意图。FIG. 21 is a schematic diagram of the mating structure of the first connecting part and the first end of the registration arm according to yet another embodiment.
图22是根据再一实施例示出的配准臂处于收拢状态的结构示意图。Figure 22 is a schematic structural diagram of the registration arm in a folded state according to yet another embodiment.
图23是根据再一实施例示出的配准臂与不同第二连接部连接的结构示意图。Figure 23 is a schematic structural diagram of a registration arm connected to different second connection parts according to yet another embodiment.
图24是根据再一实施例示出的手术系统的运动学模型关系简化图。Figure 24 is a simplified diagram of a kinematic model relationship of a surgical system according to yet another embodiment.
图25是根据再一实施例示出的第一连接部与第二连接部之间配准的原理示意图;Figure 25 is a schematic diagram showing the principle of registration between the first connection part and the second connection part according to yet another embodiment;
图26是根据再一实施例示出的配准臂的尺寸信息示意图。FIG. 26 is a schematic diagram showing the size information of the registration arm according to yet another embodiment.
图27是根据再一实施例示出的手术机器人与手术床之间配准的原理示意图。Figure 27 is a schematic diagram showing the principle of registration between a surgical robot and an operating bed according to yet another embodiment.
图28是根据再一实施例示出的手术机器人与手术床的电气结构示意图之一。Figure 28 is a schematic diagram of the electrical structure of a surgical robot and an operating table according to yet another embodiment.
图29是根据再一实施例示出的手术机器人与手术床的电气结构示意图之二。Figure 29 is a second schematic diagram of the electrical structure of a surgical robot and an operating bed according to yet another embodiment.
图30是根据再一实施例示出的手术机器人与手术床的电气结构示意图之三。Figure 30 is a third schematic diagram of the electrical structure of a surgical robot and an operating bed according to yet another embodiment.
图31是根据再一实施例示出的手术机器人与手术床的电气结构示意图之四。Figure 31 is a fourth schematic diagram of the electrical structure of a surgical robot and an operating bed according to yet another embodiment.
图32是根据一实施例示出的手术系统的控制方法的流程示意图。Figure 32 is a schematic flowchart of a control method of a surgical system according to an embodiment.
本申请的实施方式Implementation Mode of this Application
为了便于理解本发明,下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施方式。但是,本发明可以以许多不同的形式来实现,并不限于本文所描述的实施方式。相反地,提供这些实施方式的目的是使对本发明的公开内容理解的更加透彻全面。In order to facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the invention may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that a thorough understanding of the disclosure of the present invention will be provided.
需要说明的是,当元件被称为“设置于”另一个元件,它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件,它可以是直接连接
到另一个元件或者可能同时存在居中元件。当一个元件被认为是“耦合”另一个元件,它可以是直接耦合到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的,并不表示是唯一的实施方式。本文所使用的术语“远端”、“近端”作为方位词,该方位词为介入医疗器械领域惯用术语,其中“远端”表示手术过程中远离操作者的一端,“近端”表示手术过程中靠近操作者的一端。It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is said to be "connected" to another element, it can be directly connected to another element or possibly a centered element at the same time. When an element is said to be "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation manner. The terms "distal" and "proximal" used in this article are directional terms, which are commonly used terms in the field of interventional medical devices. "Distal" refers to the end far away from the operator during the operation, and "proximal" refers to the operation. The end closest to the operator during the process.
除非另有定义,本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施方式的目的,不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。本发明中,“各”包括一个及两个以上的数量。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which the invention belongs. The terminology used herein in the description of the invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. In the present invention, "each" includes one and two or more quantities.
图1是根据一实施例示出的手术系统的设备关系简化图。如图1所示,手术系统100包括手术机器人与手术床105,手术机器人包括床旁机械臂系统101、医生主操控台103与图像车成像系统108,可以理解,手术机器人的构成不限于此。FIG. 1 is a simplified diagram of equipment relationships of a surgical system according to an embodiment. As shown in FIG. 1 , the surgical system 100 includes a surgical robot and an operating bed 105 . The surgical robot includes a bedside robotic arm system 101 , a doctor's main console 103 and an imaging cart imaging system 108 . It can be understood that the composition of the surgical robot is not limited to this.
床旁机械臂系统101包括具有多个关节的驱动臂,驱动臂的远端装设有穿刺装置,穿刺装置用于插入躺卧于手术床105的台面的患者106的身体开口内,穿刺装置可以提供手术机器人与生物体(包括人/动物)之间的通道,医疗器械通过该连接通道插入生物体的体内,医疗器械包括提供视野的成像器械和提供手术操作的手术器械。The bedside robotic arm system 101 includes a driving arm with multiple joints. The distal end of the driving arm is equipped with a puncture device. The puncture device is used to insert into the body opening of the patient 106 lying on the table of the operating table 105. The puncture device can Provides a channel between the surgical robot and the living body (including humans/animals). Medical instruments are inserted into the body of the living body through the connection channel. The medical instruments include imaging instruments that provide a field of view and surgical instruments that provide surgical operations.
医生主操控台103与床旁机械臂系统101通过数据传输路径120进行实时通讯,医生在医生主操控台103上的手术动作通过基于运动学模型的主从映射关系对床旁机械臂系统101中的医疗器械进行操作,同时,医生主操控台103可以对床旁机械臂系统101进行状态监测,例如监测床旁机械臂系统101中各关节的运动信息。手术床105执行相应自由度的运动时,固定在手术床105的台面上的患者106相对于台面保持相对静止状态,患者106的体位变化由手术床105执行相应自由度的运动而实现,手术床105的各运动关节的运动信息被实时记录和存储,并且通过数据传输路径150将手术床105的运动信息传输到床旁机械臂系统101中。医生主操控台103与手术床105之间的数据传输通过数据传输路径130进行。患者106的手术部位的图像由装设于床旁机械臂系统101的成像器械采集,成像器械连接图像车成像系统108,成像器械采集的图像通过数据传输路径110传输到图像车成像系统108中,进而,图像车成像系统108通过数据传输路径160实时将成像器械采集的图像反馈到医生主操控台103,为医生提供手术视野,从而便于手术的顺利实施。实际实现时,数据传输路径110、120、130、150、160可以是有线传输也可以是无线传输。The doctor's main console 103 and the bedside robotic arm system 101 communicate in real time through the data transmission path 120. The doctor's surgical actions on the doctor's main console 103 are transmitted to the bedside robotic arm system 101 through the master-slave mapping relationship based on the kinematic model. The medical equipment is operated. At the same time, the doctor's main console 103 can monitor the status of the bedside robotic arm system 101, such as monitoring the motion information of each joint in the bedside robotic arm system 101. When the operating table 105 performs movements with corresponding degrees of freedom, the patient 106 fixed on the table of the operating table 105 remains relatively stationary relative to the table, and the position change of the patient 106 is realized by the movement of the operating table 105 with corresponding degrees of freedom. The operating table The movement information of each moving joint of the operating table 105 is recorded and stored in real time, and the movement information of the operating table 105 is transmitted to the bedside robotic arm system 101 through the data transmission path 150 . Data transmission between the doctor's main console 103 and the operating bed 105 is performed through the data transmission path 130 . Images of the surgical site of the patient 106 are collected by imaging instruments installed on the bedside robotic arm system 101. The imaging instruments are connected to the imaging cart imaging system 108. The images collected by the imaging instruments are transmitted to the imaging cart imaging system 108 through the data transmission path 110. Furthermore, the image cart imaging system 108 feeds back the images collected by the imaging instrument to the doctor's main console 103 in real time through the data transmission path 160, providing the doctor with a surgical field of view, thereby facilitating the smooth implementation of the surgery. In actual implementation, the data transmission paths 110, 120, 130, 150, and 160 may be wired transmission or wireless transmission.
图2是根据一实施例示出的一种医生主操控台的结构示意图。如图2所示,医生主操控台103包括操作部1031,操作部1031包括多组主关节。操作部1031还可包括主手手臂1032,手臂关节可设置在主手手臂1032中以改变主手手臂1032的位姿。操作部1031还可包括主手手腕,腕关节可设置在主手手腕中以控制主手手腕的位姿。可选的,操作部1031还可以包括可推动部件,通过移动可推动部件,从而改变操作部1031的位姿。Figure 2 is a schematic structural diagram of a doctor's main console according to an embodiment. As shown in FIG. 2 , the doctor's main console 103 includes an operating part 1031 , and the operating part 1031 includes multiple sets of main joints. The operating part 1031 may also include a main hand arm 1032, and arm joints may be provided in the main hand arm 1032 to change the posture of the main hand arm 1032. The operating part 1031 may also include a main wrist, and the wrist joint may be disposed in the main wrist to control the posture of the main wrist. Optionally, the operating part 1031 may also include a pushable component. By moving the pushable component, the posture of the operating part 1031 is changed.
操作部1031还可以包括驱动装置,例如电机,驱动装置可设置有编码器,以实现自动对位及其它相应控制功能。The operating part 1031 may also include a driving device, such as a motor, and the driving device may be provided with an encoder to achieve automatic alignment and other corresponding control functions.
操作部1031还可以包括显示设备,以便操作者观察床旁机械臂系统101等其他设备。The operation part 1031 may also include a display device to allow the operator to observe other devices such as the bedside robotic arm system 101 .
图3是根据一实施例示出的一种床旁机械臂系统与手术床的结构示意图。如图3所示,床旁机械臂系统101包括运动底盘201、机械臂250与驱动臂,运动底盘201能够在水平地面任意方向对床旁机械臂系统101进行整体移动,机械臂250用于对一条或多条驱动臂进行整体摆位,驱动臂包括调整臂260与操纵臂270。Figure 3 is a schematic structural diagram of a bedside robotic arm system and an operating table according to an embodiment. As shown in Figure 3, the bedside robotic arm system 101 includes a moving chassis 201, a robotic arm 250 and a driving arm. The moving chassis 201 can move the bedside robotic arm system 101 as a whole in any direction on the horizontal ground. The robotic arm 250 is used to move the bedside robotic arm system 101 in any direction on the horizontal ground. One or more driving arms perform overall positioning, and the driving arms include an adjustment arm 260 and a control arm 270 .
运动底盘201可以采用轮式移动结构,使得床旁机械臂系统101与手术床105之间的相对位置关系更加灵活,不存在指定位置区域性的约束条件,现场医务人员可以依据实际手术使用需求自行推动完成摆位操作和摆位后的锁定操作,在能够充分靠近手术床105的同时方便各操纵臂270在患者体外上方的术前摆位动作。在本实施例中,床旁机械臂系统
101还设有用于测量外部距离的测距组件202,例如为激光测距组件、超声测距组件、视觉测距组件等,示例性的,激光测距组件通常具有超高精度以利于精准测距。The motion chassis 201 can adopt a wheeled mobile structure, making the relative positional relationship between the bedside robotic arm system 101 and the operating table 105 more flexible. There are no regional constraints on designated locations. On-site medical personnel can make their own decisions based on actual surgical needs. Pushing to complete the positioning operation and the locking operation after positioning can fully approach the operating bed 105 and facilitate the preoperative positioning action of each manipulating arm 270 above the patient's body. In this embodiment, the bedside robotic arm system 101 is also provided with a ranging component 202 for measuring external distance, such as a laser ranging component, an ultrasonic ranging component, a visual ranging component, etc. For example, the laser ranging component usually has ultra-high accuracy to facilitate accurate ranging. .
机械臂250包括与运动底盘201固定连接的用于支撑所有运动关节的固定支撑柱203、执行机械臂250整体升降直线运动J1的升降立柱204、分别执行旋转运动J2和J3的大臂205和小臂206,以及控制一条或多条调整臂260执行整体旋转运动J4的定向平台207,这些关节的运动能够实现快速达到预计的术前摆位区域,有利于缩短术前床旁机器臂系统101与患者106之间的对接时间。The robotic arm 250 includes a fixed support column 203 fixedly connected to the moving chassis 201 for supporting all moving joints, a lifting column 204 that performs the overall lifting linear motion J1 of the robotic arm 250, a big arm 205 and a small arm that perform rotational movements J2 and J3 respectively. arm 206, and the directional platform 207 that controls one or more adjustment arms 260 to perform the overall rotation movement J4. The movement of these joints can quickly reach the expected preoperative positioning area, which is beneficial to shortening the relationship between the preoperative bedside robot arm system 101 and The docking time between patients 106.
一条或多条调整臂260单独或采用并联方式与定向平台207通过旋转关节J5完成连接,在一些示例中,床旁机械臂系统101存在多条调整臂260的情况,考虑到多条调整臂260之间构型基本相同以及各关节运动描述基本相同,因此,图2中仅以一条调整臂260和一条操纵臂270作为示例进行结构呈现以及下文中各关节运动关系的描述。在一些示例中,调整臂260包括小转动平台208、在平行于地面的水平方向上执行直线平移运动J6的伸缩臂209、相对于固定连接在伸缩臂209上的固定竖臂210、在垂直于地面的竖直方向上执行上下升降运动J7的移动竖臂211、执行旋转运动J8转弯头212、以及执行旋转运动J9的旋风关节213。One or more adjustment arms 260 are connected to the orientation platform 207 through the rotating joint J5 individually or in parallel. In some examples, the bedside robotic arm system 101 has multiple adjustment arms 260 . Considering the multiple adjustment arms 260 The configurations are basically the same and the descriptions of the motions of each joint are basically the same. Therefore, only one adjustment arm 260 and one control arm 270 are used as an example in FIG. 2 to present the structure and describe the motion relationships of each joint below. In some examples, the adjustment arm 260 includes a small rotating platform 208, a telescopic arm 209 that performs a linear translation movement J6 in a horizontal direction parallel to the ground, a fixed vertical arm 210 fixedly connected to the telescopic arm 209, and a vertical arm 210 that is vertically connected to the telescopic arm 209. In the vertical direction of the ground, there are a moving vertical arm 211 that performs an up-and-down lifting motion J7, a turning head 212 that performs a rotational motion J8, and a cyclone joint 213 that performs a rotational motion J9.
操纵臂270包括与旋风关节213发生旋转运动J10的偏转关节214、平行四边形联动装置底座215、执行旋转运动J11的第一连杆216和第二连杆217,以及用于使医疗器械219沿导轨方向执行直线运动J12的持械臂218。穿刺装置(Trocar)229装设在操纵臂270的远端。与患者106的身体开口位置相同的穿刺装置229的远心不动点220由旋风关节213轴线和偏转关节214轴线的交点进行定义,并且这两条轴线与平行四边形联动装置底座215的侧向中心面的交点同样汇聚到穿刺装置229的远心不动点220处,此外,第一连杆216和第二连杆217作为两条相邻边与相对他们平行的两条虚拟相邻边构成平行四边形运动机构,由一个电机控制并围绕旋转运动J11轴线执行平行四边形运动的折叠和张开运动,平行四边形的运动不动点同样与穿刺装置229的远心不动点220汇交于一点,并且该交点位于医疗器械219的中心轴线上,医疗器械末端221插入到患者106的体内,并基于主从映射关系执行医生在主操控台的手术动作。The control arm 270 includes a deflection joint 214 that performs a rotational movement J10 with the cyclone joint 213, a parallelogram linkage base 215, a first link 216 and a second link 217 that perform a rotational movement J11, and is used to move the medical instrument 219 along the guide rail The arm 218 performs linear motion J12 in the direction. A puncture device (Trocar) 229 is installed at the distal end of the operating arm 270 . The telecentric fixed point 220 of the puncture device 229 at the same position as the body opening of the patient 106 is defined by the intersection of the axis of the cyclone joint 213 and the axis of the deflection joint 214 and the lateral center of the parallelogram linkage base 215 The intersection points of the planes also converge at the telecentric fixed point 220 of the puncture device 229. In addition, the first connecting rod 216 and the second connecting rod 217 serve as two adjacent sides and are parallel to the two virtual adjacent sides parallel to them. The quadrilateral motion mechanism is controlled by a motor and performs the folding and unfolding motion of the parallelogram around the axis of rotation J11. The motion fixed point of the parallelogram also intersects with the telecentric fixed point 220 of the puncture device 229 at one point, and the The intersection point is located on the central axis of the medical instrument 219. The end 221 of the medical instrument is inserted into the body of the patient 106, and the doctor's surgical action on the main console is performed based on the master-slave mapping relationship.
手术床105包括手术床运动机构280,手术床运动机构280包括可以在水平地面移动的轮式底盘227、固定立柱226、伸缩立柱225、前后倾斜旋转关节223、左右倾斜旋转关节224,以及最上方的台面222。固定立柱226通过螺栓连接固定在轮式底盘227上,伸缩立柱225与固定立柱226之间发生相对移动执行上下升降运动B2,同时两者作为支撑机构支撑手术床105的台面222和患者106,前后倾斜旋转关节223的旋转运动B3轴线与左右倾斜旋转关节224的旋转运动B4轴线相交于伸缩立柱225的上方位置,最上面为用于支撑和固定患者106的台面222,台面222的前后平移运动B1由位于床板内部的伸缩传动机构执行。手术床105的台面222运动的过程中,患者106需要相对于台面222保持不动,穿刺装置229的远心不动点220需要相对于患者106保持不动,医疗器械末端221需要相对于手术部位维持静止不动,以能够保证患者的安全。The operating table 105 includes an operating table movement mechanism 280. The operating table movement mechanism 280 includes a wheeled chassis 227 that can move on the horizontal ground, a fixed column 226, a telescopic column 225, a front and rear tilt and rotation joint 223, a left and right tilt and rotation joint 224, and an uppermost Countertop 222. The fixed column 226 is fixed on the wheeled chassis 227 through bolt connection. The telescopic column 225 and the fixed column 226 move relative to each other to perform the up and down lifting movement B2. At the same time, they serve as support mechanisms to support the table 222 of the operating bed 105 and the patient 106, front and rear. The axis B3 of the rotational motion of the tilt-rotation joint 223 intersects with the axis B4 of the rotational motion B4 of the left and right tilt-rotation joints 224 at the upper position of the telescopic column 225. The topmost part is the table 222 used to support and fix the patient 106, and the front and rear translation motion B1 of the table 222 It is executed by the telescopic transmission mechanism located inside the bed board. During the movement of the table 222 of the operating table 105, the patient 106 needs to remain motionless relative to the table 222, the telecentric fixed point 220 of the puncture device 229 needs to remain motionless relative to the patient 106, and the end 221 of the medical instrument needs to remain motionless relative to the surgical site. Stay still for the patient's safety.
本公开的手术系统,包括:手术床、手术机器人与控制器,手术机器人包括具有多个关节的驱动臂,驱动臂的远端装设有穿刺装置,穿刺装置用于插入位于手术床的台面的生物体的身体开口内。控制器与手术床、手术机器人耦接,并被配置成用于:The surgical system of the present disclosure includes: an operating bed, a surgical robot, and a controller. The surgical robot includes a driving arm with multiple joints. The distal end of the driving arm is equipped with a puncture device. The puncture device is used to insert a needle located on the tabletop of the operating bed. Within the body opening of an organism. The controller is coupled to the surgical table and surgical robot, and is configured to:
获取手术机器人与手术床之间的姿态配准信息;Obtain posture registration information between the surgical robot and the operating table;
响应于手术床的台面在姿态自由度的运动,获取手术床的台面在姿态自由度的运动信息;In response to the movement of the tabletop of the operating table in the degree of freedom of posture, obtain the movement information of the tabletop of the operating table in the degree of freedom of posture;
基于运动信息和姿态配准信息确定多个关节中第一关节的目标关节量,根据目标关节量控制第一关节运动,以在姿态自由度保持穿刺装置相对于手术床的台面的姿态。The target joint amount of the first joint among the plurality of joints is determined based on the motion information and the attitude registration information, and the movement of the first joint is controlled according to the target joint amount to maintain the attitude of the puncture device relative to the table top of the operating table in the attitude degree of freedom.
通过上述方式,可以基于手术机器人与手术床之间的姿态配准信息,在手术床的台面进行姿态自由度的运动时,主动控制驱动臂调整穿刺装置的姿态,可以在不解除手术机器
人与患者对接关系的情况下调整手术床,提高操作效率和安全性。Through the above method, based on the posture registration information between the surgical robot and the operating table, when the tabletop of the operating table moves with a degree of freedom of posture, the driving arm can be actively controlled to adjust the posture of the puncture device, and the posture of the puncture device can be adjusted without removing the surgical machine. Adjust the operating bed when the patient is connected to the patient to improve operating efficiency and safety.
为实现在手术床的台面进行姿态自由度的运动时,主动控制驱动臂调整穿刺装置的姿态,需要先获取手术机器人与手术床之间的姿态配准信息,姿态配准信息是指手术机器人所在参考坐标系与手术床所在参考坐标系之间的转换关系。在本实施例中,通过在手术机器人的基准坐标系与手术床的基准坐标系之间建立坐标系转换关系,得到手术机器人与手术床之间的姿态配准信息。In order to actively control the drive arm to adjust the posture of the puncture device when moving on the operating table with a degree of freedom of posture, it is necessary to first obtain the posture registration information between the surgical robot and the operating table. The posture registration information refers to the location of the surgical robot. The conversion relationship between the reference coordinate system and the reference coordinate system where the operating table is located. In this embodiment, by establishing a coordinate system conversion relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the posture registration information between the surgical robot and the operating table is obtained.
手术机器人的基准坐标系为手术机器人的参考坐标系,手术床的基准坐标系为手术床的参考坐标系。一些实施例中,手术机器人的基准坐标系包括手术机器人的基坐标系。一些实施例中,手术床的基准坐标系包括手术床的基坐标系。请结合图3与图4,手术机器人的基准坐标系301通常可以建立在床旁机械臂系统101的运动底盘201上,包括位于水平面上的两个坐标轴且坐标原点位于固定支撑柱203的轴线上,但实际实现时,手术机器人的基准坐标系301也可以不建立在运动底盘201上,只需与运动底盘201的坐标系具有固定坐标转换关系即可。依据运动学坐标系建系规则,可以分别建立机械臂末端坐标系302、调整臂末端坐标系303和医疗器械末端坐标系304,医疗器械末端坐标系304或称为操纵臂末端坐标系,通过确定坐标系之间的转换矩阵关系310、320和330,能够获知安装在操纵臂末端的医疗器械在手术机器人的基准坐标系301下的运动情况,机械臂250、调整臂260和操纵臂270中各运动关节在手术机器人的基准坐标系301下的运动情况将通过监测相应关节坐标系的运动来实现,医生主操控台与床旁机械臂系统101之间的主从映射关系亦是基于这些坐标系转换矩阵之间的关系变换从而完成的。此外,依据远心不动点坐标系307与调整臂末端坐标系303之间的转换矩阵关系370,能够知晓穿刺装置的远心不动点在手术机器人的基准坐标系301的位置信息以及穿刺装置的姿态信息。The reference coordinate system of the surgical robot is the reference coordinate system of the surgical robot, and the reference coordinate system of the operating table is the reference coordinate system of the operating table. In some embodiments, the reference coordinate system of the surgical robot includes a base coordinate system of the surgical robot. In some embodiments, the reference coordinate system of the operating table includes the base coordinate system of the operating table. Please combine Figure 3 and Figure 4. The reference coordinate system 301 of the surgical robot can usually be established on the motion chassis 201 of the bedside robotic arm system 101. It includes two coordinate axes on the horizontal plane and the coordinate origin is located on the axis of the fixed support column 203. However, in actual implementation, the reference coordinate system 301 of the surgical robot does not need to be established on the moving chassis 201, and only needs to have a fixed coordinate transformation relationship with the coordinate system of the moving chassis 201. According to the kinematic coordinate system construction rules, the robot arm end coordinate system 302, the adjustment arm end coordinate system 303 and the medical device end coordinate system 304 can be established respectively. The medical device end coordinate system 304 is also called the manipulator end coordinate system. By determining The transformation matrix relationships 310, 320 and 330 between the coordinate systems can know the movement of the medical instrument installed at the end of the manipulating arm under the reference coordinate system 301 of the surgical robot. Each of the robotic arm 250, the adjustment arm 260 and the manipulating arm 270 The movement of the moving joints under the reference coordinate system 301 of the surgical robot will be realized by monitoring the movement of the corresponding joint coordinate system. The master-slave mapping relationship between the doctor's main console and the bedside robotic arm system 101 is also based on these coordinate systems. The relationship transformation between transformation matrices is thus completed. In addition, according to the transformation matrix relationship 370 between the telecentric fixed point coordinate system 307 and the adjustment arm end coordinate system 303, the position information of the telecentric fixed point of the puncture device in the reference coordinate system 301 of the surgical robot and the puncture device can be known posture information.
考虑到手术床105在机械结构上的中心对称特性及其各运动关节在系统内的分布情况,手术床的基准坐标系305通常建立在轮式底盘227的中心处,包括位于水平面的两个坐标轴且坐标原点位于轮式底盘227的中心轴线上,但实际实现时,手术床的基准坐标系305也可以不建立在轮式底盘227的中心处,只需与轮式底盘227的坐标系具有固定坐标转换关系即可。手术床105的各关节坐标系依据坐标系建立规则依次建立在各运动关节处,手术床台面坐标系306建立在台面的上表面中心处,考虑到患者相对台面运动相对静止,因此,通过坐标系转换关系350,手术床台面坐标系306可以准确反映出患者在手术床的基准坐标系305的整体运动情况,并能够对手术床的各关节的运动进行监测。Considering the central symmetry characteristics of the mechanical structure of the operating table 105 and the distribution of each motion joint in the system, the reference coordinate system 305 of the operating table is usually established at the center of the wheeled chassis 227 and includes two coordinates located on the horizontal plane. axis and the coordinate origin is located on the central axis of the wheeled chassis 227, but in actual implementation, the reference coordinate system 305 of the operating table does not need to be established at the center of the wheeled chassis 227, and only needs to be consistent with the coordinate system of the wheeled chassis 227. Just fix the coordinate transformation relationship. Each joint coordinate system of the operating table 105 is established at each moving joint in sequence according to the coordinate system establishment rules. The operating table table coordinate system 306 is established at the center of the upper surface of the table. Considering that the patient is relatively stationary relative to the table, therefore, through the coordinate system The conversion relationship 350 and the operating table table coordinate system 306 can accurately reflect the overall movement of the patient in the operating table reference coordinate system 305, and can monitor the movement of each joint of the operating table.
由于不同患者之间的体型和重量存在较大不同,并且手术类型的不同使得身体开口的位置信息无法在术前准确获取到,因此,远心不动点坐标系307与手术床台面坐标系306之间的转换关系360无法直接获取得到,导致床旁机械臂系统101与手术床105之间无法得到位姿(位置和姿态)的定位,给在不解除手术机器人与患者对接关系的情况下调整手术床时,控制手术机器人与手术床进行联动带来了技术层面障碍。通常,在不解除手术机器人与患者对接关系的情况下调整手术床时,只能利用手术床运动时作用在穿刺装置上的力来控制驱动臂做跟随运动,同时叠加运动补偿用来提高姿态的跟踪准确性,由于驱动臂的运动为被动式,而不是将准确的运动指令直接传输到手术机器人的驱动臂的关节进行主动控制,将穿刺装置与患者体壁之间的相互作用力作为原始驱动力,无法评估受摩擦等不确定性因素的影响程度,同样存在不稳定性风险。Since the body shape and weight of different patients are greatly different, and the different types of surgery make it impossible to accurately obtain the position information of the body opening before surgery, therefore, the telecentric fixed point coordinate system 307 and the operating table table coordinate system 306 The conversion relationship 360 between the two cannot be directly obtained, resulting in the inability to obtain the position and posture (position and posture) positioning between the bedside robotic arm system 101 and the operating table 105, making adjustments without releasing the docking relationship between the surgical robot and the patient. When using the operating table, controlling the linkage between the surgical robot and the operating table brings technical obstacles. Usually, when adjusting the operating table without releasing the docking relationship between the surgical robot and the patient, the force acting on the puncture device during the movement of the operating table can only be used to control the driving arm to follow the movement, and at the same time, motion compensation is superimposed to improve the posture. Tracking accuracy, because the movement of the driving arm is passive, instead of transmitting accurate movement instructions directly to the joints of the driving arm of the surgical robot for active control, the interaction force between the puncture device and the patient's body wall is used as the original driving force , it is impossible to assess the degree of influence from uncertain factors such as friction, and there is also the risk of instability.
在本实施例中,通过在手术机器人的基准坐标系301与手术床的基准坐标系305之间建立坐标系转换关系340,替代远心不动点坐标系307与手术床台面坐标系306之间的转换关系360,实现了手术机器人与手术床之间的姿态配准,便于控制手术机器人与手术床进行联动的可实现性。In this embodiment, by establishing a coordinate system transformation relationship 340 between the reference coordinate system 301 of the surgical robot and the reference coordinate system 305 of the operating table, the relationship between the telecentric fixed point coordinate system 307 and the operating table table coordinate system 306 is replaced. The conversion relationship 360 realizes the posture registration between the surgical robot and the operating table, making it easier to control the linkage between the surgical robot and the operating table.
在本实施例中,手术机器人的基准坐标系与手术床的基准坐标系之间的坐标系转换关系包括手术机器人的基准坐标系与手术床的基准坐标系之间的姿态夹角。一种情况下,手术机器人的基准坐标系可以建立在床旁机械臂系统的运动底盘上且包括位于水平面上的
两个水平坐标轴(例如x轴和y轴),手术床的基准坐标系建立在手术床的轮式底盘上且包括位于水平面的两个水平坐标轴(例如x轴和y轴),同时,运动底盘与轮式底盘所在水平面相互平行或重合,这样,手术机器人的基准坐标系与手术床的基准坐标系之间的姿态夹角,可以仅表征为手术机器人的基准坐标系的水平坐标轴与手术床的基准坐标系的水平坐标轴之间的相对偏转角度,从而简化坐标转换的运算。In this embodiment, the coordinate system transformation relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table includes the attitude angle between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. In one case, the reference coordinate system of the surgical robot can be established on the motion chassis of the bedside robotic arm system and include a Two horizontal coordinate axes (such as x-axis and y-axis). The reference coordinate system of the operating table is established on the wheeled chassis of the operating table and includes two horizontal coordinate axes (such as x-axis and y-axis) located on the horizontal plane. At the same time, The horizontal planes of the moving chassis and the wheeled chassis are parallel to or coincident with each other. In this way, the attitude angle between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can only be characterized as the horizontal coordinate axis of the reference coordinate system of the surgical robot and The relative deflection angle between the horizontal coordinate axes of the operating table's reference coordinate system, thereby simplifying the calculation of coordinate transformation.
具体地,如图5所示,本实施例中,手术机器人的基准坐标系建立在基座401的中心位置,使得手术机器人的基准坐标系具有平行于地面的二维坐标系402(Orobot-Xrobot Yrobot)。手术床的基准坐标系建立在基座405的中心位置,使得手术床的基准坐标系具有平行于地面的二维坐标系406(Obed-XbedYbed),在不考虑地面不平整的情况下,手术机器人的基准坐标系的轴线Zrobot和手术床的基准坐标系的Zbed相互平行且垂直于地面,由于手术机器人与手术床之间相对位姿关系不固定,使得坐标系Orobot-XrobotYrobotZrobot与Obed-XbedYbedZbed之间存在绕Z轴向的夹角θz,该夹角θz即为用于手术机器人的基准坐标系与手术床的基准坐标系之间进行姿态定位的待获知变量。Specifically, as shown in Figure 5, in this embodiment, the reference coordinate system of the surgical robot is established at the center of the base 401, so that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 402 parallel to the ground (O robot- X robot Y robot ). The reference coordinate system of the operating table is established at the center of the base 405, so that the reference coordinate system of the operating table has a two-dimensional coordinate system 406 parallel to the ground (O bed- X bed Y bed ), without considering the uneven ground. Under the condition, the axis Z robot of the reference coordinate system of the surgical robot and the Z bed of the reference coordinate system of the operating table are parallel to each other and perpendicular to the ground. Since the relative posture relationship between the surgical robot and the operating table is not fixed, the coordinate system O robot - There is an angle θz around the Z axis between X robot Y robot Z robot and O bed- Variables to be known during attitude positioning.
请参考图3、图5与图6,在一种实施方式中,测距组件202包括第一测距模块403和第二测距模块404,第一测距模块403和第二测距模块404间隔设置在手术机器人的基座(例如运动底盘)的侧面407,第一测距模块403和第二测距模块404的检测方向位于水平面上且垂直手术机器人的基准坐标系的第一水平坐标轴(例如Xrobot轴)或第二水平坐标轴(例如Yrobot轴),图5中以Yrobot轴与手术机器人基座的长轴平行或重合、且第一测距模块403和第二测距模块404的检测方向垂直Yrobot轴进行示意。在另一种实施方式中,也可以是在手术床的基座的一侧间隔设置第一测距模块403和第二测距模块404,第一测距模块403和第二测距模块404的检测方向位于水平面上且垂直手术床的基准坐标系的第一水平坐标轴(例如Xbed轴)或第二水平坐标轴(例如Ybed轴)。考虑到手术床的基座的长度通常相对手术机器人的基座的长度更长,因此第一测距模块403和第二测距模块404设置在手术机器人的基座上,可以更好地保证检测目标(手术床)处于检测范围内。Please refer to Figure 3, Figure 5 and Figure 6. In one embodiment, the ranging component 202 includes a first ranging module 403 and a second ranging module 404. The first ranging module 403 and the second ranging module 404 The detection directions of the first ranging module 403 and the second ranging module 404 are located on the horizontal plane and are perpendicular to the first horizontal coordinate axis of the reference coordinate system of the surgical robot. ( for example , The detection direction of module 404 is illustrated perpendicular to the Y robot axis. In another embodiment, the first ranging module 403 and the second ranging module 404 may be arranged at intervals on one side of the base of the operating table. The first ranging module 403 and the second ranging module 404 The detection direction is located on the horizontal plane and is perpendicular to the first horizontal coordinate axis (for example, X bed axis) or the second horizontal coordinate axis (for example, Y bed axis) of the reference coordinate system of the operating bed. Considering that the length of the base of the operating table is usually longer than the length of the base of the surgical robot, the first ranging module 403 and the second ranging module 404 are arranged on the base of the surgical robot, which can better ensure detection. The target (operating table) is within the detection range.
采用上述测距组件202,在获取手术机器人的基准坐标系与手术床的基准坐标系之间的姿态夹角θz时,控制器被配置成用于:Using the above ranging component 202, when obtaining the attitude angle θz between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the controller is configured to:
获取第一测距模块和第二测距模块检测的距离值;Obtain the distance value detected by the first ranging module and the second ranging module;
根据距离值、第一测距模块在手术机器人的基准坐标系中的位置坐标和第二测距模块在手术机器人的基准坐标系中的位置坐标,计算手术机器人的基准坐标系的水平坐标轴与手术床的基准坐标系的水平坐标轴之间的夹角;According to the distance value, the position coordinates of the first ranging module in the reference coordinate system of the surgical robot, and the position coordinates of the second ranging module in the reference coordinate system of the surgical robot, calculate the horizontal coordinate axis of the reference coordinate system of the surgical robot and The angle between the horizontal coordinate axes of the operating table's reference coordinate system;
根据夹角确定姿态夹角。Determine the posture angle based on the angle.
其中,请结合图5,第一测距模块403在手术机器人的基准坐标系中的位置坐标和第二测距模块404在手术机器人的基准坐标系中的位置坐标可以体现出,第一测距模块403与第二测距模块404在Xrobot轴上的相对位置,进而,结合第一测距模块403和第二测距模块检测的距离值,可以得到距离b和c。具体地,当第一测距模块403和第二测距模块404的连线平行于Yrobot轴时,第一测距模块403在手术机器人的基准坐标系中的位置坐标和第二测距模块404在手术机器人的基准坐标系中的位置坐标可以简化无需获取,此时,第一测距模块和第二测距模块检测的距离值即为距离b和c。5, the position coordinates of the first ranging module 403 in the reference coordinate system of the surgical robot and the position coordinates of the second ranging module 404 in the reference coordinate system of the surgical robot can be reflected. The relative positions of the module 403 and the second ranging module 404 on the X robot axis, and further, combined with the distance values detected by the first ranging module 403 and the second ranging module, the distances b and c can be obtained. Specifically, when the connection line between the first ranging module 403 and the second ranging module 404 is parallel to the Y robot axis, the position coordinates of the first ranging module 403 in the reference coordinate system of the surgical robot and the second ranging module 404 The position coordinates in the reference coordinate system of the surgical robot can be simplified and do not need to be obtained. At this time, the distance values detected by the first ranging module and the second ranging module are the distances b and c.
在获得距离b和c后,依据三角函数定理,可以采用如下公式计算得到坐标系402和坐标系406的水平坐标轴(如y轴)之间的夹角,该夹角也即θz:
After obtaining the distances b and c, according to the trigonometric function theorem, the following formula can be used to calculate the angle between the horizontal coordinate axis (such as the y axis) of the coordinate system 402 and the coordinate system 406. The angle is also θz:
After obtaining the distances b and c, according to the trigonometric function theorem, the following formula can be used to calculate the angle between the horizontal coordinate axis (such as the y axis) of the coordinate system 402 and the coordinate system 406. The angle is also θz:
基于上述公式,即能够实现手术机器人的基准坐标系与手术床的基准坐标系之间准确的姿态定位,定位精度依赖于测距组件的测量精度,该定位的实现是执行手术机器人与手术床联动的技术基础和实现前提条件。应当理解,图5所示原理为基于简化配置和运算所
使用的方案,基于测距组件计算姿态夹角的方式不限于此。Based on the above formula, it is possible to achieve accurate attitude positioning between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. The positioning accuracy depends on the measurement accuracy of the ranging component. The realization of this positioning is to perform linkage between the surgical robot and the operating table. The technical basis and implementation prerequisites. It should be understood that the principle shown in Figure 5 is based on simplified configuration and operation. The scheme used and the method of calculating the attitude angle based on the ranging component are not limited to this.
在获取手术机器人与手术床之间的姿态配准信息后,控制器响应于手术床的台面在姿态自由度的运动,获取手术床的台面在姿态自由度的运动信息,进而可以基于手术床的台面在姿态自由度的运动信息和姿态配准信息确定驱动臂的多个关节中第一关节的目标关节量,根据目标关节量控制第一关节运动,以在姿态自由度保持穿刺装置相对于手术床的台面的姿态。After obtaining the posture registration information between the surgical robot and the operating table, the controller responds to the movement of the operating table table in the posture degree of freedom, and obtains the movement information of the operating table table in the posture degree of freedom, and then can based on the movement of the operating table. The motion information and attitude registration information of the table in the attitude degree of freedom determine the target joint amount of the first joint among the multiple joints of the drive arm, and control the movement of the first joint according to the target joint amount to maintain the puncture device relative to the surgery in the attitude degree of freedom. The posture of the bed countertop.
其中,姿态自由度是指手术床的台面围绕平行于台面长度方向的轴线的倾斜运动或围绕垂直于台面长度方向的轴线的倾斜运动,在手术床的台面进行姿态自由度的运动时,由于患者身体开口(远心不动点)在手术床进行姿态自由度运动时产生位置移动,因而穿刺装置也需进行位姿(包括位置和姿态)的改变。手术床的台面在姿态自由度的运动信息包括旋转方向和旋转角度,运动信息传输到手术机器人作为穿刺装置围绕远心不动点的目标运动方向和角度,从而确定驱动臂的多个关节中第一关节的目标关节量,第一关节可以是一个关节或多个关节,以图3中所示的倾斜运动B4为例,根据手术床台面的运动信息,基于手术机器人运动学模型逆向求解操纵臂270中转动关节J10和J11得到唯一逆解,进而控制穿刺装置229围绕远心不动点220执行与手术床台面相同的旋转运动。Among them, the posture freedom refers to the tilting movement of the operating table around an axis parallel to the length of the table or the tilting movement around an axis perpendicular to the length of the table. When the table of the operating table moves with posture freedom, the patient The body opening (telecentric fixed point) moves in position when the operating table moves with degrees of freedom, so the puncture device also needs to change posture (including position and posture). The movement information of the operating table table in the posture freedom includes the rotation direction and rotation angle. The movement information is transmitted to the surgical robot as the target movement direction and angle of the puncture device around the telecentric fixed point, thereby determining the first of the multiple joints of the drive arm. The target joint amount of a joint. The first joint can be one joint or multiple joints. Taking the tilt motion B4 shown in Figure 3 as an example, based on the motion information of the operating table table, the manipulator arm is inversely solved based on the kinematic model of the surgical robot. The unique inverse solution is obtained for the rotating joints J10 and J11 in 270, and then the puncture device 229 is controlled to perform the same rotational motion as the operating table table around the telecentric fixed point 220.
在手术床的台面调整姿态的过程中,其台面还可能发生位置的变化,包括台面的平移和升降。由于穿刺装置的调整关联于手术床的台面的调整,进而,在穿刺装置调整姿态的过程中,随着远心不动点的位置变化,还可能发生穿刺装置的平移和升降。因此,本实施例的控制器还被配置成用于:During the process of adjusting the posture of the tabletop of the operating table, the position of the tabletop may also change, including translation and lifting of the tabletop. Since the adjustment of the puncture device is related to the adjustment of the table top of the operating table, during the process of adjusting the attitude of the puncture device, the translation and elevation of the puncture device may also occur as the position of the telecentric fixed point changes. Therefore, the controller of this embodiment is also configured to:
响应于手术床的台面在姿态自由度的运动,控制多个关节中关联于位置自由度调节的目标关节,以通过目标关节来允许驱动臂,基于由患者的身体开口处的体壁施加的力来跟踪身体开口的位置。In response to movement of the operating table table in the posture degrees of freedom, controlling a target joint of the plurality of joints associated with the positional degree of freedom adjustment to allow the drive arm to be driven through the target joint based on a force exerted by a body wall at the patient's body opening to track the location of body openings.
其中,穿刺装置在调整姿态时所引起的平移和升降,基于由患者的身体开口处的体壁施加的力来被动执行。Among them, the translation and lifting caused by the puncture device when adjusting the posture are performed passively based on the force exerted by the body wall at the patient's body opening.
具体地,位置自由度包括升降自由度,控制多个关节中关联于位置自由度调节的目标关节,以通过目标关节来允许驱动臂,基于由患者的身体开口处的体壁施加的力来跟踪身体开口的位置时,控制器被配置成用于:Specifically, the positional degrees of freedom include an elevation degree of freedom, controlling a target joint of the plurality of joints associated with the positional degree of freedom adjustment to allow the drive arm to track through the target joint based on a force exerted by a body wall at the patient's body opening. When the body opening is in the position, the controller is configured for:
响应于手术床的台面在姿态自由度的运动,控制目标关节中的第二关节处于零力状态,第二关节包括具有升降自由度的关节,以通过第二关节来允许驱动臂,基于由患者的身体开口的体壁施加的力来跟踪身体开口在升降自由度的运动。In response to the movement of the table top of the operating table in the posture freedom, the second joint in the target joint is controlled to be in a zero force state, and the second joint includes a joint with a lifting degree of freedom to allow the drive arm to be driven by the second joint based on the movement of the patient The force exerted by the body wall of the body opening tracks the movement of the body opening in the lifting degrees of freedom.
具体地,位置自由度包括平移自由度,控制多个关节中关联于位置自由度调节的目标关节,以通过目标关节来允许驱动臂,基于由患者的身体开口处的体壁施加的力来跟踪身体开口的位置时,控制器被配置成用于:Specifically, the positional degrees of freedom include a translational degree of freedom, controlling a target joint of the plurality of joints associated with the positional degree of freedom adjustment to allow the actuation arm to track through the target joint based on the force exerted by the body wall at the patient's body opening. When the body opening is in the position, the controller is configured for:
响应于手术床的台面在姿态自由度的运动,控制目标关节中的第三关节处于零力状态,第三关节包括具有平移自由度的关节,以通过第三关节来允许驱动臂,基于由患者的身体开口的体壁施加的力来跟踪身体开口在平移自由度的运动;In response to the movement of the table top of the operating table in the attitude degree of freedom, a third joint in the target joint is controlled to be in a zero force state, and the third joint includes a joint with a translational degree of freedom to allow the drive arm to be driven by the third joint based on the movement of the target joint by the patient The force exerted by the body wall of the body opening is used to track the movement of the body opening in translational degrees of freedom;
响应于第三关节的运动,控制目标关节中的第四关节运动,以补偿由于跟踪身体开口在平移自由度的运动而引起的穿刺装置的姿态的变化。In response to the movement of the third joint, the movement of a fourth joint in the target joint is controlled to compensate for changes in the posture of the puncture device caused by tracking movement of the body opening in translational degrees of freedom.
其中一实施例中,控制目标关节中的第四关节运动时,控制器被配置成用于:In one embodiment, when controlling the movement of the fourth joint in the target joint, the controller is configured to:
获取第三关节中的第一旋转关节的运动信息,基于第三关节的运动信息生成第四关节中的第二旋转关节的运动信息,第一旋转关节的运动信息包括运动量和运动方向,第二旋转关节的运动信息包括与第一旋转关节的运动方向相反的运动方向、和与第一旋转关节的运动量大小相同的运动量;Obtain motion information of the first rotating joint in the third joint, and generate motion information of the second rotating joint in the fourth joint based on the motion information of the third joint. The motion information of the first rotating joint includes the amount of motion and the direction of motion, and the motion information of the second rotating joint is generated based on the motion information of the third joint. The movement information of the rotating joint includes a movement direction opposite to the movement direction of the first rotating joint, and a movement amount that is the same as the movement amount of the first rotating joint;
根据第二旋转关节的运动信息控制第二旋转关节运动。Control the motion of the second rotating joint according to the motion information of the second rotating joint.
一些实施例中,控制目标关节中的相应关节例如第二关节和/或第三关节处于零力状态,示例性的需要控制该相应关节基本能够补偿(或称平衡)其远端负载的重力和/或克服其关
节本身的摩擦力,以容易的基于由患者的身体开口处的体壁施加的力来跟踪身体开口的位置。当然,该原理对于后文控制目标关节的相应关节处于零力状态也是适用的。In some embodiments, the corresponding joint in the target joint, such as the second joint and/or the third joint, is controlled to be in a zero-force state. For example, it is necessary to control the corresponding joint to be able to basically compensate (or balance) the gravity and weight of its distal load. /or overcome it The friction of the joint itself makes it easy to track the position of the body opening based on the force exerted by the body wall of the patient's body opening. Of course, this principle is also applicable to the control of the corresponding joint of the target joint in the zero-force state later.
一些实施例中,控制目标关节中的相应关节处于零力状态时,控制器被配置成用于:In some embodiments, when the corresponding joint in the control target joint is in a zero-force state, the controller is configured to:
获取至少该相应关节及其远端的关节的关节位置,结合关节位置及关联于该相应关节的动力学模型确定对应于该相应关节输出的补偿力矩;进而,控制该相应关节输出该补偿力矩。Obtain the joint position of at least the corresponding joint and its distal joint, determine the compensation torque corresponding to the output of the corresponding joint based on the joint position and the dynamic model associated with the corresponding joint; further, control the corresponding joint to output the compensation torque.
其中,驱动臂的关节通常包括用于检测其关节位置的位置传感器,该位置传感器例如可以采用编码器。驱动臂的关节通常还包括驱动机构如电机,控制相应关节处于零力状态例如即控制关联的电机输出补偿力矩。The joint of the drive arm usually includes a position sensor for detecting the position of the joint. The position sensor may be an encoder, for example. The joints of the drive arm usually also include a drive mechanism such as a motor, which controls the corresponding joint to be in a zero-force state, for example, controlling the associated motor to output a compensation torque.
本公开所需要使用到的动力学模型通常是针对该相应关节而构建的,例如,针对不同相应关节,所构建的动力学模型通常不同。通常,该动力学模型关联于该相应关节及其远端的关节。The dynamic model needed to be used in this disclosure is usually constructed for the corresponding joint. For example, the constructed dynamic model is usually different for different corresponding joints. Typically, the dynamic model is associated with the corresponding joint and its distal joint.
示例性的,针对该相应关节的动力学模型可以这样构建:For example, the dynamic model for the corresponding joint can be constructed as follows:
获取相应关节及其远端的关节的连杆参数,根据这些连杆参数建立连杆坐标系。其中,关节包括关节和与关节连接的连杆,连杆参数(即DH参数)包括关节角及/或关节位移、连杆长度等参数。Obtain the link parameters of the corresponding joint and its distal joint, and establish the link coordinate system based on these link parameters. Among them, the joints include joints and connecting rods connected to the joints, and the connecting rod parameters (ie, DH parameters) include joint angles and/or joint displacements, connecting rod lengths and other parameters.
根据该连杆坐标系构建关联于相应关节的第一动力学模型。其中,该第一动力学模型通常以符号形式(即具有未知参数的公式)表示,第一动力学模型是模糊的(即动力学参数暂不确定的)动力学模型。例如,该第一动力学模型表达为如下公式:
A first dynamic model associated with the corresponding joint is constructed according to the link coordinate system. Wherein, the first dynamic model is usually expressed in symbolic form (that is, a formula with unknown parameters), and the first dynamic model is a fuzzy dynamic model (that is, the dynamic parameters are temporarily uncertain). For example, the first dynamic model is expressed as the following formula:
A first dynamic model associated with the corresponding joint is constructed according to the link coordinate system. Wherein, the first dynamic model is usually expressed in symbolic form (that is, a formula with unknown parameters), and the first dynamic model is a fuzzy dynamic model (that is, the dynamic parameters are temporarily uncertain). For example, the first dynamic model is expressed as the following formula:
其中,τ是关节的实际力矩,θ是关节的关节位置,是关节的速度(是θ的一次导),是关节的速度(是θ的二次导),M(θ)是惯性矩阵,包含科式力和离心力,G(θ)是关节的重力矩。Among them, τ is the actual moment of the joint, θ is the joint position of the joint, is the speed of the joint ( is the first derivative of θ), is the speed of the joint ( is the second derivative of θ), M(θ) is the inertia matrix, Including Correct force and centrifugal force, G(θ) is the gravity moment of the joint.
确定该第一动力学模型中未知的动力学参数。其中,第一动力学模型通常包括至少一个未知的动力学参数,通常,可以对公式(1)所涉及的未知的动力学参数均进行确定,以得到准确的第二动力学模型。一实施例中,也可以根据实际情况忽略部分未知的动力学参数对关节力矩的贡献,例如,可以主要关注关节的质量、质心及摩擦力矩这几个较关键的动力学参数,一些实施例中,关节的质量、质心及摩擦力矩可能受到驱动该关节的驱动机构及/或将驱动机构和关节进行连接以实现传动的传动机构的影响。示例性的,在驱动臂的结构较为规整时,关节的质量、质心及摩擦力矩等动力学参数中至少部分可以直接获得而无需辨识。当然,关节的质量、质心及摩擦力矩等动力学参数中至少部分也可以通过采用辨识的方法获得。例如,关节的质量可以通过称重获得,关节的质心及摩擦力矩可以通过采用辨识的方法获得。例如,认为忽略M(θ)及对关节力矩的贡献在本发明的一个示例中是可以接受的,因而,公式(1)可以简写为如下:
τ=G(θ) 公式(2)Unknown kinetic parameters in the first kinetic model are determined. The first kinetic model usually includes at least one unknown kinetic parameter. Usually, all unknown kinetic parameters involved in formula (1) can be determined to obtain an accurate second kinetic model. In one embodiment, the contribution of some unknown dynamic parameters to the joint torque can also be ignored according to the actual situation. For example, the key dynamic parameters such as the mass, center of mass and friction torque of the joint can be mainly focused on. In some embodiments, , the mass, center of mass and friction moment of a joint may be affected by the driving mechanism that drives the joint and/or the transmission mechanism that connects the driving mechanism and the joint to achieve transmission. For example, when the structure of the driving arm is relatively regular, at least some of the dynamic parameters such as the mass, center of mass, and friction moment of the joint can be directly obtained without identification. Of course, at least some of the dynamic parameters such as the joint's mass, center of mass, and friction torque can also be obtained by using identification methods. For example, the mass of a joint can be obtained by weighing, and the center of mass and friction moment of the joint can be obtained by using identification methods. For example, consider ignoring M(θ) and The contribution to the joint moment is acceptable in one example of the present invention, therefore, formula (1) can be abbreviated as follows:
τ=G(θ) Formula (2)
τ=G(θ) 公式(2)Unknown kinetic parameters in the first kinetic model are determined. The first kinetic model usually includes at least one unknown kinetic parameter. Usually, all unknown kinetic parameters involved in formula (1) can be determined to obtain an accurate second kinetic model. In one embodiment, the contribution of some unknown dynamic parameters to the joint torque can also be ignored according to the actual situation. For example, the key dynamic parameters such as the mass, center of mass and friction torque of the joint can be mainly focused on. In some embodiments, , the mass, center of mass and friction moment of a joint may be affected by the driving mechanism that drives the joint and/or the transmission mechanism that connects the driving mechanism and the joint to achieve transmission. For example, when the structure of the driving arm is relatively regular, at least some of the dynamic parameters such as the mass, center of mass, and friction moment of the joint can be directly obtained without identification. Of course, at least some of the dynamic parameters such as the joint's mass, center of mass, and friction torque can also be obtained by using identification methods. For example, the mass of a joint can be obtained by weighing, and the center of mass and friction moment of the joint can be obtained by using identification methods. For example, consider ignoring M(θ) and The contribution to the joint moment is acceptable in one example of the present invention, therefore, formula (1) can be abbreviated as follows:
τ=G(θ) Formula (2)
将确定的动力学参数代入第一动力学模型中得到第二动力学模型。其中,该第二动力学模型是清晰的(即动力学参数已确定的)动力学模型。进而,在结合这些关节位置及关联于相应关节的动力学模型确定对应于相应关节的驱动机构期望输出的补偿力矩时,所使用的动力学模型指的是该第二动力学模型。The determined kinetic parameters are substituted into the first kinetic model to obtain the second kinetic model. Wherein, the second kinetic model is a clear kinetic model (that is, the kinetic parameters have been determined). Furthermore, when combining these joint positions and the dynamic model associated with the corresponding joint to determine the compensation torque corresponding to the expected output of the driving mechanism of the corresponding joint, the dynamic model used refers to the second dynamic model.
一些实施例中,考虑到摩擦力矩所带来的不良影响,可以从关节的实际力矩中排除摩擦力矩,具体而言:In some embodiments, considering the adverse effects caused by friction torque, friction torque can be excluded from the actual torque of the joint, specifically:
可以基于动态平衡原理,构建关节的力矩平衡模型,该力矩平衡模型可表达为如下公式:
The moment balance model of the joint can be constructed based on the principle of dynamic balance. The moment balance model can be expressed as the following formula:
The moment balance model of the joint can be constructed based on the principle of dynamic balance. The moment balance model can be expressed as the following formula:
其中,τ是关节的实际力矩,θ是关节的关节位置,是关节的速度,k1、k2为重力矩参数,f为关节的摩擦力矩,表示速度的方向。Among them, τ is the actual moment of the joint, θ is the joint position of the joint, is the speed of the joint, k 1 and k 2 are gravity moment parameters, f is the friction moment of the joint, Indicates the direction of speed.
进而,可以通过辨识的方法确定关节的摩擦力矩,例如可以控制单个关节以低速进行匀速运动,遍历整个运动范围,采集关节的实际力矩和对应的关节位置,该单个关节指的是相应关节对应的关节。其中,在匀速运动过程中,摩擦力矩近似不变而通常被认为是定值,因此,根据采集的关节的实际力矩和对应的关节位置,并利用如最小二乘法可以辨识出该关节的摩擦力矩。可理解的,关节的实际力矩是由驱动该关节运动的驱动机构输出的。Furthermore, the friction torque of the joint can be determined through the identification method. For example, a single joint can be controlled to move at a low speed and at a constant speed, traversing the entire range of motion, and collecting the actual torque of the joint and the corresponding joint position. The single joint refers to the corresponding joint. joint. Among them, during the process of uniform motion, the friction torque is approximately constant and is usually considered to be a fixed value. Therefore, based on the collected actual torque of the joint and the corresponding joint position, and using the least squares method, the friction torque of the joint can be identified. . It can be understood that the actual torque of the joint is output by the driving mechanism that drives the motion of the joint.
进而,在通过辨识的方法确定该第一动力学模型中未知的动力学参数(例如公式(2)中的重力矩)时,可以控制各个关节以低速进行匀速运动,遍历整个运动范围,采集相应关节的实际力矩、以及相应关节及其远端的关节对应的关节位置,结合相应关节的实际力矩、相应关节的摩擦力矩以及相应关节及其远端的关节对应的关节位置,并利用如最小二乘法可以辨识出该关节辨识出未知的动力学参数(例如公式(2)中的重力矩)。例如,在公式(2)中,辨识出的未知的动力学参数主要即重力矩参数(包括质量和质心等),因而,可以有效的构建关联有相应关节及其远端的关节的关节位置与相应关节的补偿力矩之间的关系的第二动力学模型。Furthermore, when the unknown dynamic parameters in the first dynamic model (such as the gravity moment in formula (2)) are determined through the identification method, each joint can be controlled to move at a low speed and at a constant speed, traversing the entire range of motion, and collecting the corresponding The actual torque of the joint, and the joint position corresponding to the corresponding joint and its distal joint are combined with the actual torque of the corresponding joint, the friction moment of the corresponding joint, and the corresponding joint position of the corresponding joint and its distal joint, and using such as the minimum quadratic Multiplication can identify unknown dynamic parameters of the joint (such as the gravity moment in formula (2)). For example, in formula (2), the identified unknown dynamic parameters are mainly gravity moment parameters (including mass and center of mass, etc.). Therefore, joint positions and joints associated with the corresponding joints and their distal joints can be effectively constructed. Second dynamic model of the relationship between the compensation moments of the corresponding joints.
以图3中所示的倾斜运动B4为例,在基于手术机器人运动学模型逆向求解操纵臂270中转动关节J10和J11得到唯一逆解,进而控制穿刺装置围绕远心不动点执行与手术床台面相同的旋转运动的同时,调整臂270各关节处于非运动锁定状态,其中,通过控制关节J5执行与J8大小相同、方向相反的运动量作为由于操纵臂270的旋转运动而导致的穿刺装置的姿态被动改变的运动补偿,最终使得在姿态自由度进行联动的过程中,穿刺装置的姿态相对台面保持不变。此外,调整臂270的关节J6、J7和J8处于零力拖动模式(即零力状态),从而使得手术床台面运动过程中能够依靠腹腔壁处的相互作用力,拖动操纵臂末端的穿刺装置的远心不动点在二维平面内的执行移动。Taking the tilting motion B4 shown in Figure 3 as an example, the unique inverse solution of the rotating joints J10 and J11 in the control arm 270 is obtained based on the kinematic model of the surgical robot, and then the puncture device is controlled to execute the operation around the telecentric fixed point and the operating table. While the table is undergoing the same rotational motion, each joint of the adjusting arm 270 is in a non-motion locked state, in which the control joint J5 performs a motion equal to the same size and in the opposite direction as J8 as the attitude of the puncture device caused by the rotational motion of the control arm 270 The passively changed motion compensation ultimately makes the posture of the puncture device remain unchanged relative to the table during the linkage process of posture degrees of freedom. In addition, the joints J6, J7, and J8 of the adjustment arm 270 are in a zero-force drag mode (i.e., a zero-force state), so that during the movement of the operating table table, the interaction force at the abdominal cavity wall can be relied upon to drag the puncture at the end of the control arm. The device's telecentric fixed point performs movement in a two-dimensional plane.
需要说明的是,在执行倾斜运动B3过程中,机械臂250各关节处于运动锁定状态,调整臂260和操纵臂270的联动形式与执行倾斜运动B4相同,区别在于倾斜运动B3和倾斜运动B4的旋转轴线相互垂直,由于围绕不同轴线转动的台面运动旋转矩阵不同,在进行联动计算时使用的运动学模型中涉及到台面运动的旋转矩阵做出相应调整即可,从而实现执行倾斜运动B3的联动过程中穿刺状态的姿态相对于手术床的台面保持不变。It should be noted that during the execution of the tilting motion B3, each joint of the robot arm 250 is in a motion locked state, and the linkage form of the adjustment arm 260 and the control arm 270 is the same as that of the tilting motion B4. The difference lies in the relationship between the tilting motion B3 and the tilting motion B4. The rotation axes are perpendicular to each other. Since the rotation matrices of the table movement around different axes are different, the rotation matrix involved in the table movement in the kinematic model used in the linkage calculation can be adjusted accordingly, thereby realizing the linkage of executing tilt motion B3. During the process, the posture of the puncture state remains unchanged relative to the tabletop of the operating table.
此外,在不进行姿态自由度的运动时,手术床的台面还可以单独进行升降自由度的运动。本实施例的控制方法,还包括:响应于手术床的台面在升降自由度的运动,获取手术床的台面在升降自由度的运动信息,基于手术床的台面在升降自由度的运动信息确定用于带动驱动臂的第五关节的目标关节量,根据目标关节量控制第五关节运动,以在升降自由度保持穿刺装置相对于手术床的台面的位置。其中,手术床的台面在升降自由度的运动信息包括运动方向和移动量,以图3中所示的升降运动B2为例,用于带动驱动臂的第五关节可以是机械臂250的升降立柱204,从而带动驱动臂进行整体升降而无需调节驱动臂中具有升降自由度的关节,避免驱动臂中具有升降自由度的关节运动到极限位置而影响后续的动作,运动过程中机械臂250除了升降立柱204之外的其他运动关节以及驱动臂(调整臂260和操纵臂270)的全部运动关节都处于运动锁定状态,从而使得运动中的穿刺装置229的姿态相对于患者部位始终保持静止状态。一些实施例中,用于带动驱动臂的第五关节也可以是调整臂260的执行上下升降运动J7的移动竖臂211。一些实施例中,用于带动驱动臂的第五关节也可以是升降立柱204和移动竖臂211的组合。In addition, when the posture freedom movement is not performed, the table top of the operating table can also independently move up and down with the freedom degree. The control method of this embodiment also includes: in response to the movement of the operating table table in the lifting degree of freedom, obtaining the movement information of the operating table table in the lifting degree of freedom, and determining the user based on the movement information of the operating table table in the lifting degree of freedom. Based on the target joint amount of the fifth joint that drives the driving arm, the movement of the fifth joint is controlled according to the target joint amount to maintain the position of the puncture device relative to the table top of the operating table in the lifting degree of freedom. Among them, the movement information of the operating table table in the lifting degree of freedom includes the movement direction and the movement amount. Taking the lifting movement B2 shown in Figure 3 as an example, the fifth joint used to drive the driving arm can be the lifting column of the robotic arm 250 204, thereby driving the driving arm to lift as a whole without adjusting the joints with lifting freedom in the driving arm, and preventing the joints with lifting freedom in the driving arm from moving to extreme positions and affecting subsequent actions. During the movement, the mechanical arm 250 does not only lift but also lift. All other movable joints except the column 204 and the drive arm (the adjustment arm 260 and the control arm 270) are in a motion locked state, so that the posture of the moving puncture device 229 always remains stationary relative to the patient's part. In some embodiments, the fifth joint used to drive the driving arm may also be the moving vertical arm 211 of the adjusting arm 260 that performs the up and down lifting motion J7. In some embodiments, the fifth joint used to drive the driving arm may also be a combination of the lifting column 204 and the moving vertical arm 211.
在不进行姿态自由度的运动时,手术床的台面还可以单独进行平移自由度的运动。本实施例的控制器还被配置成用于:响应于手术床的台面在平移自由度的运动,控制目标关节中的第六关节处于零力状态,第六关节包括具有平移自由度的关节,以通过第六关节来允许驱动臂,基于由患者的身体开口的体壁施加的力来跟踪身体开口在平移自由度的运动;响应于第六关节的运动,控制目标关节中的第七关节运动,以补偿由于跟踪身体开口在平
移自由度的运动而引起的穿刺装置的姿态的变化。When there is no posture movement, the tabletop of the operating table can also move independently with translational freedom. The controller of this embodiment is further configured to: in response to the movement of the operating table table in translational degrees of freedom, control the sixth joint in the target joint to be in a zero-force state, where the sixth joint includes a joint with translational degrees of freedom, to allow the actuation arm, through the sixth joint, to track movement of the body opening in translational degrees of freedom based on forces exerted by the body wall of the patient's body opening; in response to movement of the sixth joint, controlling movement of a seventh joint in the target joint , to compensate for the tracking body opening due to flat Changes in the posture of the puncture device caused by movement of degrees of freedom.
其中,控制目标关节中的第七关节运动时,控制器被配置成用于:获取第六关节中的第三旋转关节的运动信息,基于第六关节中的第三旋转关节的运动信息生成第七关节中的第四旋转关节的运动信息,第六关节中的第三旋转关节的运动信息包括运动量和运动方向,第七关节中的第四旋转关节的运动信息包括与第六关节中的第三旋转关节的运动方向相反的运动方向、和与第六关节中的第三旋转关节的运动量大小相同的运动量;根据第七关节中的第四旋转关节的运动信息控制第七关节中的第四旋转关节运动。以图3中所示的前后平移运动B1为例,机械臂250和操纵臂270的各关节处于运动锁定状态,调整臂260的升降运动J7同样处于运动锁定状态,而调整臂260的其余运动J5、J6和J8均处于零力拖动模式。手术床台面运动过程中,依靠穿刺装置229与患者身体开口的体壁在远心不动点220处的相互作用力,台面将拖动操纵臂270带动远心不动点220执行平移运动,基于运动学模型控制J5和J8的运动大小相等并且方向相反,从而可以使得穿刺装置229在运动过程中的姿态保持不变。Wherein, when controlling the motion of the seventh joint among the target joints, the controller is configured to: obtain the motion information of the third rotating joint among the sixth joints, and generate the third rotating joint based on the motion information of the third rotating joint among the sixth joints. The motion information of the fourth rotating joint among the seven joints, the motion information of the third rotating joint among the sixth joints includes the amount and direction of motion, and the motion information of the fourth rotating joint among the seventh joints includes the same as that of the sixth joint. The movement direction of the three rotary joints is opposite to that of the third rotary joint, and the movement amount is the same as the movement amount of the third rotary joint in the sixth joint; the fourth of the seventh joint is controlled based on the movement information of the fourth rotary joint in the seventh joint. Rotational joint movement. Taking the forward and backward translation motion B1 shown in Figure 3 as an example, each joint of the mechanical arm 250 and the control arm 270 is in a motion locked state, the lifting motion J7 of the adjusting arm 260 is also in a motion locked state, and the remaining motions J5 of the adjusting arm 260 , J6 and J8 are all in zero force drag mode. During the movement of the operating table table, relying on the interaction force between the puncture device 229 and the body wall of the patient's body opening at the telecentric fixed point 220, the table will drag the manipulating arm 270 to drive the telecentric fixed point 220 to perform translational motion. Based on The kinematic model controls the movements of J5 and J8 to be equal in magnitude and opposite in direction, so that the posture of the puncture device 229 remains unchanged during the movement.
通过上述方式,可以在手术床与手术机器人同时发生运动的过程中,允许安装在手术机器人末端的穿刺装置和/或医疗器械始终保持插入在患者体内的状态,而不需要在手术床运动之前从手术机器人末端拆卸正在使用中的穿刺装置和/或医疗器械,并将其完全从患者体内移除,或者,无需完全断开手术机器人与手术床之间的全部接触并拖动机械臂为手术床释放可运动空间。本公开的手术系统,消除了手术机器人与手术床之间反复对接的繁琐操作,缩短了手术时间以及提高了整套手术的执行流畅性,此外,在姿态自由度实现主动控制,减少了对患者体壁的摩擦,提高了安全性。并且,在执行手术机器人与手术床联动的过程中,允许主操控台的医生通过成像器械采集的图像实时观察和监测手术部位视野中,患者器官的移动情况以及手术器械和成像器械在视窗中的姿态保持情况,可以在最短时间内到达期望姿态过程,并确保了执行过程的安全性和流畅性。Through the above method, during the simultaneous movement of the operating table and the surgical robot, the puncture device and/or medical instrument installed at the end of the surgical robot can always remain inserted into the patient's body without the need to start the operation before the movement of the operating table. The distal end of the surgical robot disassembles the puncture device and/or medical instrument in use and completely removes it from the patient's body, or, without completely disconnecting the surgical robot from the surgical bed and dragging the robotic arm to the surgical bed Free up space for movement. The disclosed surgical system eliminates the cumbersome operations of repeated docking between the surgical robot and the operating bed, shortens the operation time and improves the execution fluency of the entire operation. In addition, it achieves active control in the degree of freedom of posture, reducing the impact on the patient's body. Wall friction improves safety. Moreover, during the process of linking the surgical robot with the operating bed, the doctor at the main console is allowed to observe and monitor the movement of the patient's organs in the field of view of the surgical site, as well as the movement of the surgical instruments and imaging instruments in the window in real time through the images collected by the imaging equipment. The posture maintenance can reach the desired posture process in the shortest time and ensure the safety and smoothness of the execution process.
在联动过程中,本公开的控制器还被配置成用于:During the linkage process, the controller of the present disclosure is also configured to:
根据手术床的台面在预设自由度的运动控制驱动臂的过程中,获取成像器械采集的图像;According to the tabletop of the operating table, the image collected by the imaging instrument is acquired in the process of controlling the driving arm with a preset degree of freedom motion;
响应于识别到图像中的目标区符合第三预设条件,向手术床发送控制指令,控制指令包括用于控制手术床延迟调节、停止调节、减速调节中至少一项的指令;其中,In response to identifying that the target area in the image meets the third preset condition, a control instruction is sent to the operating bed, and the control instruction includes an instruction for controlling at least one of delay adjustment, stop adjustment, and deceleration adjustment of the operating bed; wherein,
符合第三预设条件,包括以下至少一项:Meet the third preset condition, including at least one of the following:
在目标区中识别到目标手术部位或关联于目标手术部位的标记;identifying a target surgical site or a marker associated with the target surgical site in the target zone;
目标手术部位在目标区中处于预设姿态。The target surgical site is in a preset posture in the target zone.
其中,预设自由度包括平移自由度、升降自由度、姿态自由度中的至少一项,根据手术床的台面在预设自由度的运动控制驱动臂的过程也即手术机器人与手术床进行联动的过程。目标区是预先在图像显示区域中标记的区域,包括医生在图像显示区域中期望关注的区域,例如图像显示区域的中间区域或任意期望进行识别的区域,也可以是整个图像显示区域,在手术床的台面运动的过程中,目标区在成像器械采集的图像中的位置保持不变,也可以在医生操纵下重新进行标记。可以在联动前或联动过程中对图像显示区域进行目标区的标记,此外,在联动前,还可以在真实的患者解剖结构中标记特征区域,例如通过荧光等方式进行标记,进而在联动过程中,对该真实标记进行识别。在识别到图像中的目标区符合条件时,可以控制手术床延迟调节、停止调节或减速调节,从而,便于医生观察期望的手术部位是否到达期望位置或姿态。对于延迟调节和减速调节,可以在医生确认期望的手术部位符合条件时,由医生触发停止调节的指令,或者在超过预设时长未收到其他指令时,手术床重新恢复原有的联动。The preset degrees of freedom include at least one of a translational degree of freedom, a lifting degree of freedom, and an attitude degree of freedom. The process of controlling the drive arm according to the movement of the table top of the operating table in the preset degrees of freedom, that is, the surgical robot and the operating table are linked. the process of. The target area is an area marked in advance in the image display area, including the area that the doctor expects to pay attention to in the image display area, such as the middle area of the image display area or any area expected to be identified, or it can be the entire image display area, during surgery During the movement of the tabletop of the bed, the position of the target area in the images collected by the imaging equipment remains unchanged, and can also be remarked under the control of the doctor. The target area of the image display area can be marked before linkage or during linkage. In addition, before linkage, characteristic areas can also be marked in the real patient anatomy, such as by fluorescence, and then during the linkage process. , to identify the real mark. When it is recognized that the target area in the image meets the conditions, the operating bed can be controlled to delay adjustment, stop adjustment, or decelerate adjustment, thereby making it easier for the doctor to observe whether the desired surgical site reaches the desired position or posture. For delay adjustment and deceleration adjustment, when the doctor confirms that the desired surgical site meets the conditions, the doctor can trigger an instruction to stop the adjustment, or when no other instructions are received for a preset period of time, the operating bed can resume its original linkage.
一些实施例中,第三预设条件之一的“在目标区中识别到目标手术部位或关联于目标手术部位的标记”,可以包括检测到联动过程中该目标手术部位落入当前采集的图像的目标区的比例达到目标区的预设值,例如,该目标手术部位落入当前采集的图像的目标区的比例
达到目标区的70%以上;又例如,该目标手术部位完全落入当前采集的图像的目标区;还包括检测到联动过程中关联于目标手术部位的标记落入当前采集的图像的目标区的数量和/或落入目标区的数量占标记总数量的比例达到预设值,例如,关联于目标手术部位的标记有10个,其中7个标记落入当前采集的图像的目标区,又例如,10个标记均落入当前采集的图像的目标区,又例如6个以上的标记落入当前采集的图像的目标区。In some embodiments, one of the third preset conditions "identifying the target surgical site or a mark associated with the target surgical site in the target area" may include detecting that the target surgical site falls into the currently acquired image during the linkage process. The proportion of the target area reaches the preset value of the target area, for example, the proportion of the target surgical site falling into the target area of the currently acquired image Reaching more than 70% of the target area; for another example, the target surgical site completely falls into the target area of the currently collected image; it also includes detecting that the mark associated with the target surgical site during the linkage process falls into the target area of the currently collected image. The number and/or the ratio of the number falling into the target area to the total number of markers reaches a preset value. For example, there are 10 markers associated with the target surgical site, and 7 of them fall into the target area of the currently acquired image. For example, , all 10 markers fall into the target area of the currently collected image, and for example, more than 6 markers fall into the target area of the currently collected image.
一些实施例中,第三预设条件之一的“目标手术部位在目标区中处于预设姿态”,是指在图像的目标区识别到目标手术部位且目标手术部位在目标区中的姿态符合设定的识别条件,例如,左倾、右倾、打开等,从而具有更好的手术视野。在手术床的台面运动时,目标手术部位会根据手术床的台面运动而改变相对于成像器械的姿态,进而体现在成像器械的图像中的姿态发生改变,通过对图像进行识别,可以识别出目标手术部位及其当前的姿态是否满足设定的识别条件,当在目标区识别到目标手术部位且目标手术部位在图像中的姿态符合设定的识别条件,即认为目标手术部位在目标区中处于预设姿态。In some embodiments, one of the third preset conditions "the target surgical site is in a preset posture in the target area" means that the target surgical site is identified in the target area of the image and the posture of the target surgical site in the target area conforms to Set recognition conditions, such as left tilt, right tilt, opening, etc., so as to have a better surgical field of view. When the tabletop of the operating table moves, the target surgical site will change its posture relative to the imaging instrument according to the tabletop movement of the operating table, and then the posture change will be reflected in the image of the imaging instrument. By identifying the image, the target can be identified Whether the surgical site and its current posture meet the set recognition conditions. When the target surgical site is recognized in the target area and the posture of the target surgical site in the image meets the set recognition conditions, it is considered that the target surgical site is in the target area. Default posture.
在联动过程中,本公开的控制器还被配置成用于:During the linkage process, the controller of the present disclosure is also configured to:
根据手术床的台面在预设自由度的运动控制驱动臂的过程中,响应于手术机器人的操作部与装设于驱动臂远端的医疗器械之间的取向发生改变,对操作部和医疗器械之间进行取向对齐。In the process of controlling the driving arm according to the motion of the operating table with a preset degree of freedom, in response to the change in orientation between the operating part of the surgical robot and the medical instrument installed at the distal end of the driving arm, the operating part and the medical instrument are alignment between them.
其中,手术机器人的操作部与装设于驱动臂远端的医疗器械之间的取向发生改变包括两种情况,一种是联动前没有建立取向关系,在联动中建立了取向关系,另一种是随着联动的进行,取向关系发生了变化。示例性的,操作部包括第一操作部和第二操作部,医疗器械包括第一医疗器械和第二医疗器械,相应于第一种情况,如果联动前,第一操作部和第二操作部均未与第一医疗器械和第二医疗器械建立映射,联动过程中,第一操作部与第一医疗器械建立了映射,此时即建立了取向关系;相应于第二种情况,如果联动前第一操作部与第一医疗器械建立了映射,而在联动过程中第一操作部被切换成与第二医疗器械建立了映射,此时取向关系发生了变化。也即,取向关系发生改变通常源于映射关系发生改变。Among them, the orientation change between the operating part of the surgical robot and the medical instrument installed at the distal end of the driving arm includes two situations. One is that the orientation relationship is not established before the linkage, the other is that the orientation relationship is established during the linkage. As the linkage progresses, the orientation relationship changes. For example, the operating part includes a first operating part and a second operating part, and the medical device includes a first medical device and a second medical device. Corresponding to the first situation, if before linkage, the first operating part and the second operating part Neither has established mapping with the first medical device and the second medical device. During the linkage process, the first operating part and the first medical device have established a mapping, and an orientation relationship is established at this time; corresponding to the second situation, if before linkage The first operating part is mapped with the first medical device, and during the linkage process, the first operating part is switched to be mapped with the second medical device. At this time, the orientation relationship changes. That is, changes in the orientation relationship usually result from changes in the mapping relationship.
对操作部和的医疗器械之间进行取向对齐的过程可以是,获取操作部映射的医疗器械在成像器械坐标系的第一姿态,将第一姿态换算成操作部在显示器的显示器坐标系的第二姿态,再基于第二姿态确定操作部中关节的目标关节量,根据操作部中关节的目标关节量驱动操作部中相应关节运动,以使操作部的姿态与医疗器械的姿态一致,完成操作部和医疗器械之间的取向对齐。通过在联动过程中实现操作部的取向对齐于关联的医疗器械的姿态,有利于节约手术准备时间。The process of aligning the orientation between the operating part and the medical device may be to obtain the first posture of the medical device mapped by the operating part in the coordinate system of the imaging device, and convert the first posture into the first posture of the operating part in the coordinate system of the display of the display. second posture, and then determine the target joint amount of the joint in the operating part based on the second posture, and drive the corresponding joint movement in the operating part according to the target joint amount of the joint in the operating part, so that the posture of the operating part is consistent with the posture of the medical device, and the operation is completed Orientation alignment between the part and the medical device. By realizing that the orientation of the operating part is aligned with the posture of the associated medical instrument during the linkage process, it is beneficial to save surgical preparation time.
在联动过程中,手术机器人和手术床的所有关节的运动信息被实时监测记录并存储,如在完成一个自由度的联动后再次受到另一自由度的联动指令,则允许继续执行下一个联动过程,而不需要中途执行各运动关节返回到初始启动位置。此外,医生主操控台屏幕显示当前手术机器人与电动手术床之间的联动状态,如若出现异常,可以依据已经编写的程序指令及时终止联动过程。During the linkage process, the motion information of all joints of the surgical robot and the operating table is monitored, recorded and stored in real time. If the linkage instruction of one degree of freedom is completed and the linkage instruction of another degree of freedom is received again, the next linkage process is allowed to continue. , without the need to execute each motion joint to return to the initial starting position. In addition, the doctor's main console screen displays the current linkage status between the surgical robot and the electric operating table. If an abnormality occurs, the linkage process can be terminated in time according to the programmed instructions.
为保证手术机器人与手术床联动过程的顺利进行,本实施例的控制器还被配置成用于:In order to ensure the smooth progress of the linkage process between the surgical robot and the operating bed, the controller in this embodiment is also configured to:
根据手术床的台面在预设自由度的运动控制驱动臂之前,判断手术机器人和/或手术床是否符合第二预设条件;Determine whether the surgical robot and/or the operating table meet the second preset condition based on the tabletop of the operating table in front of the motion control drive arm with a preset degree of freedom;
若符合第二预设条件,则根据手术床的台面在预设自由度的运动控制驱动臂;其中,If the second preset condition is met, the drive arm is controlled according to the movement of the operating table table in the preset degree of freedom; where,
符合第二预设条件,包括以下至少一项:Meet the second preset condition, including at least one of the following:
手术机器人与患者对接;The surgical robot is docked with the patient;
手术机器人的基座与手术床的基座处于运动锁定状态;The base of the surgical robot and the base of the operating table are in a motion locked state;
手术机器人的主操作台处于允许进入手术操作状态;The main operating console of the surgical robot is in a state allowing entry into surgical operations;
手术机器人与手术床之间的通讯连接处于正常状态;The communication connection between the surgical robot and the operating table is in a normal state;
驱动臂中各关节的可运动范围处于预设运动范围。
The movable range of each joint in the drive arm is within the preset range of motion.
其中,预设自由度包括姿态自由度、平移自由度、高度自由度中的至少一项。关于是否符合第二预设条件的判断过程,可具体如下:The preset degrees of freedom include at least one of attitude degrees of freedom, translation degrees of freedom, and height degrees of freedom. The process of determining whether the second preset condition is met may be as follows:
关于手术机器人的基座与手术床的基座是否处于运动锁定状态。请一并参考图3,手术机器人的运动底盘201(也即基座),手术床的轮式底盘227(也即基座)处于运动锁定状态,确保执行在手术过程中以及在联动过程中不会产生任何运动,手术机器人的基座与手术床的基座是否处于运动锁定状态可以通过基座上的锁定传感器进行检测确定,或者在医务辅助人员实施操作后,在手术床或手术机器人上的操作界面上进行确认锁定的信息输入;Regarding whether the base of the surgical robot and the base of the operating table are in a motion locked state. Please refer to Figure 3 together. The moving chassis 201 (i.e., the base) of the surgical robot and the wheeled chassis 227 (i.e., the base) of the operating table are in a motion locked state to ensure that the operation process and the linkage process are not performed during the operation. Any movement will occur. Whether the base of the surgical robot and the base of the surgical table are in a motion locked state can be detected and determined by the locking sensor on the base, or after the medical auxiliary personnel perform the operation, the base of the surgical robot and the surgical table are in a motion locked state. Enter the information to confirm the lock on the operation interface;
关于手术机器人与手术床之间的通讯连接是否处于正常状态。在建立手术机器人与手术床之间的通讯连接后,可以运行手术床或手术机器人上的通讯检测程序,根据检测结果确定手术机器人与手术床之间的通讯连接是否处于正常状态,以便于对手术机器人和手术床的工作状态和关节运动信息进行监测;Regarding whether the communication connection between the surgical robot and the operating table is in a normal state. After establishing the communication connection between the surgical robot and the operating table, you can run the communication detection program on the operating table or surgical robot, and determine whether the communication connection between the surgical robot and the operating table is in a normal state based on the test results, so as to facilitate the operation. Monitor the working status and joint motion information of the robot and operating table;
关于手术机器人与患者是否对接。需要检查患者与手术床台面的相对固定设备,将患者平稳固定在手术床的台面上,确保患者在体位发生改变后不会相对于手术床的台面发生大幅度滑移现象,以免阻碍手术机器人与手术床进行联动。将手术机器人与患者对接时,可以允许医务辅助人员依据手术的术式需求通过调整机械臂250、调整臂260和操纵臂270执行期望的定向摆位,并操作使得安装在手术机器人驱动臂远端的手术器械和成像器械处于插入患者体内的状态,在完成操作后,在手术床或手术机器人上的操作界面上进行确认对接的信息输入;Regarding whether the surgical robot is connected to the patient. It is necessary to check the relative fixation equipment between the patient and the operating table, and secure the patient smoothly on the operating table to ensure that the patient will not slip significantly relative to the operating table after the patient's position changes, so as not to hinder the surgical robot and the operating table. The operating table is linked. When the surgical robot is docked with the patient, the medical assistant can be allowed to adjust the robotic arm 250 , the adjustment arm 260 and the manipulating arm 270 to perform the desired directional positioning according to the surgical requirements, and operate it to be installed at the distal end of the driving arm of the surgical robot. The surgical instruments and imaging instruments are inserted into the patient's body. After the operation is completed, information to confirm the docking is input on the operating interface on the operating bed or surgical robot;
关于驱动臂中各关节的可运动范围是否处于预设运动范围。预设运动范围包括驱动臂中各关节的最大运动范围的中心区域,预设运动范围包括角度运动范围、直线运动范围中的至少一种,例如,最大的角度运动范围为-90°~90°,则预设运动范围可以是-45°~45°。联动过程中涉及到的运动关节应处于各自运动范围内的非极限区域中,关节处于运动范围的中心区域为最理想位置,以避免在运动未执行完成之前,由于关节已经达到极限位置而导致被迫产生运动终止的非期望现象,因此,需在开始联动前对各关节的可运动范围进行判断,例如通过检测关节当前的位置和角度来判断关节的可运动范围是否处于预设运动范围;Regarding whether the movable range of each joint in the drive arm is within the preset range of motion. The preset motion range includes the center area of the maximum motion range of each joint in the drive arm. The preset motion range includes at least one of an angular motion range and a linear motion range. For example, the maximum angular motion range is -90° to 90°. , then the preset motion range can be -45°~45°. The moving joints involved in the linkage process should be in the non-limit area of their respective motion ranges. The ideal position of the joints is in the center area of the motion range, so as to avoid being blocked because the joints have reached the extreme position before the movement is completed. This forces an undesirable phenomenon of motion termination. Therefore, it is necessary to judge the range of motion of each joint before starting linkage. For example, by detecting the current position and angle of the joint to determine whether the range of motion of the joint is within the preset range of motion;
关于手术机器人的主操作台是否处于允许进入手术操作状态,可通过检测手术机器人的操作部与装设于驱动臂远端的医疗器械之间的取向是否对齐,以及其它需要满足操作的条件,根据检测结果确定手术机器人的主操作台是否允许进入手术操作。Regarding whether the main operating console of the surgical robot is in a state that allows entry into surgical operations, it can be determined by detecting whether the orientation between the operating part of the surgical robot and the medical instrument installed at the distal end of the driving arm is aligned, and other conditions that need to be met for the operation. The test results determine whether the main operating console of the surgical robot is allowed to enter surgical operations.
在完成术前的设备准备工作后,医务辅助人员可在手术床触发进入联动模式的命令,联动模式是指手术机器人根据手术床的台面在预设自由度的运动控制驱动臂,以使得穿刺装置相对手术床台面的位置和姿态保持不变。触发进入联动模式的命令后,手术床的控制器通过有线或无线方式(诸如红外线传输)向手术机器人的控制系统发送启动联动的命令请求,此时手术机器人依据内部已经编写好的程序指令做出关于第二预设条件的准确判断,如若第二预设条件全部满足,才允许进入联动模式,如若第二预设条件中的一条或多条无法满足,则可以再次发送联动请求直到第二预设条件全部满足,才允许进入联动模式。如若出现判断第二预设条件的过程和发送联动请求处于迭代循环过程的时间超过系统内部设定时间,则进入联动模式的请求过程将被迫终止并退出。After completing the preoperative equipment preparations, the medical assistant can trigger the command to enter the linkage mode on the operating table. The linkage mode means that the surgical robot controls the drive arm in a preset degree of freedom according to the tabletop of the operating table, so that the puncture device The position and posture relative to the operating table remain unchanged. After triggering the command to enter the linkage mode, the controller of the operating table sends a command request to start the linkage to the control system of the surgical robot through wired or wireless means (such as infrared transmission). At this time, the surgical robot makes a decision based on the internal program instructions that have been written. Regarding the accurate judgment of the second preset condition, if all the second preset conditions are met, the linkage mode is allowed to be entered. If one or more of the second preset conditions cannot be met, the linkage request can be sent again until the second preset condition is met. Assume that all conditions are met before entering the linkage mode. If the process of judging the second preset condition and sending the linkage request are in the iterative loop process for more than the system's internal set time, the request process to enter the linkage mode will be forced to terminate and exit.
在进入联动模式后,首先进行手术机器人与手术床的姿态配准,如若配准成功,则在医生主操控台可以允许通过可读性介质(诸如颜色可变的信号灯)反馈并显示出配准成功信号供医生及时获知,从而提示医生和医务辅助人员可继续执行下一步指令;如若配准不成功,则无法进入联动模式的下一步联动命令,同时医生主操控台会有可读性介质呈现颜色醒目(诸如红色)的信号提示信息,直到配准成功才允许进入下一步骤。After entering the linkage mode, first perform posture registration between the surgical robot and the operating table. If the registration is successful, the doctor's main console can allow feedback and display of the registration through readable media (such as color-changeable signal lights). The success signal allows doctors to be notified in time, thereby prompting doctors and medical assistants to continue to execute the next instruction; if the registration is unsuccessful, the next linkage command in the linkage mode cannot be entered, and readable media will be displayed on the doctor's main console. Signal prompts with eye-catching colors (such as red) will not allow you to proceed to the next step until the registration is successful.
在配准成功后,允许开始进行联动,为保证手术机器人与手术床联动过程的安全性,本公开的控制器还被配置成用于:After successful registration, linkage is allowed to begin. In order to ensure the safety of the linkage process between the surgical robot and the operating bed, the controller of the present disclosure is also configured to:
在根据手术床的台面在预设自由度的运动控制驱动臂的过程中,判断手术机器人是否
符合第一预设条件;In the process of controlling the drive arm according to the motion of the operating table with a preset degree of freedom, it is judged whether the surgical robot is Meet the first preset condition;
若不符合第一预设条件,则停止根据手术床的台面在预设自由度的运动控制驱动臂;其中,If the first preset condition is not met, stop controlling the drive arm according to the movement of the operating table table in the preset degree of freedom; where,
符合第一预设条件,包括以下至少一项:Meet the first preset condition, including at least one of the following:
穿刺装置与身体开口的位置之间处于预设状态;The position between the puncture device and the body opening is in a preset state;
装设于驱动臂远端的医疗器械与手术部位的位置之间处于预设状态;The position between the medical instrument installed at the distal end of the driving arm and the surgical site is in a preset state;
驱动臂中各关节的可运动范围处于预设运动范围。The movable range of each joint in the drive arm is within the preset range of motion.
其中,联动过程中对手术机器人的控制方法参考前文所述,在联动过程中,手术机器人和手术床的所有关节的运动信息被实时监测记录并存储,并且,实时监测手术机器人是否符合第一预设条件。其中,穿刺装置与身体开口的位置之间是否处于预设状态,可以通过对装设于驱动臂远端的成像器械采集的图像进行识别,如出现手术区域部分或全部消失在图像中的情况,可以判断穿刺装置与身体开口发生较大的相对运动,不处于预设状态。装设于驱动臂远端的医疗器械与手术部位的位置之间是否处于预设状态,可以通过对装设于驱动臂远端的成像器械采集的图像进行识别,如出现医疗器械与手术部位之间的相对距离或角度的变化超过一定阈值的情况,则可以判断医疗器械与手术部位的位置之间发生较大的相对运动,不处于预设状态。此外,联动过程中,涉及到的运动关节应处于各自运动范围内的非极限区域中,关节处于运动范围的中心区域为最理想位置,以避免在运动未执行完成之前,由于关节已经达到极限位置而导致被迫产生运动终止的非期望现象,因此,可以通过检测关节当前的位置和角度来判断关节的可运动范围是否处于预设运动范围。Among them, the control method of the surgical robot during the linkage process refers to the previous description. During the linkage process, the movement information of all joints of the surgical robot and the operating bed is monitored, recorded and stored in real time, and whether the surgical robot meets the first predetermined state is monitored in real time. Set conditions. Among them, whether the position of the puncture device and the body opening is in a preset state can be identified through the image collected by the imaging instrument installed at the distal end of the driving arm. If the surgical area partially or completely disappears from the image, It can be judged that the puncture device has a large relative movement with the body opening and is not in a preset state. Whether the position of the medical instrument installed at the distal end of the driving arm and the surgical site is in a preset state can be identified through the images collected by the imaging instrument installed at the distal end of the driving arm. If there is a gap between the medical instrument and the surgical site, If the relative distance or angle changes exceed a certain threshold, it can be judged that a large relative movement has occurred between the medical device and the surgical site and is not in a preset state. In addition, during the linkage process, the moving joints involved should be in non-limiting areas within their respective ranges of motion. The ideal position is for the joints to be in the center area of the range of motion, so as to avoid the joints having reached their extreme positions before the movement is completed. This results in an undesirable phenomenon of forced termination of motion. Therefore, it is possible to determine whether the movable range of the joint is within the preset range of motion by detecting the current position and angle of the joint.
一些实施例中,在不符合第一预设条件则停止根据手术床的台面在预设自由度的运动控制驱动臂时,通常也可以发出指令以停止对手术床的台面在预设自由度的运动控制。In some embodiments, when the first preset condition is not met and the driving arm is stopped to move according to the preset degree of freedom of the table top of the operating table, an instruction can generally be issued to stop controlling the movement of the table top of the operating table in the preset degree of freedom. sport control.
在手术床的台面的位姿到达目标位姿之前,手术床台面的运动仅仅执行手术床控制器的运动指令区中的由医务辅助人员按键操作的运动命令,如若一个按键命令正在执行过程中出现连续多次按压同一按键情况时,系统仅执行第一次按键命令并且程序中自动屏蔽重复动作请求。此外,如若一个按键命令正在执行过程中出现按压其它运动命令功能键的情况时,系统将继续执行还未结束的运动指令,并且自动屏蔽在此过程中的其它按键请求。手术床位姿到达目标位姿后,在执行的运动命令自动结束,并且处于等待下一步操作命令的状态,如若需要继续执行新的运动命令,则需要再次按压将要执行运动的按键,向系统再次发出运动请求。联动结束后,操作退出功能键从而退出联动模式,退出联动模式后系统自动切换回常规主从操作模式,并且处于等待下一步操作命令的状态。Before the posture of the operating table table reaches the target posture, the movement of the operating table table only executes the movement commands operated by the medical assistant's keys in the movement command area of the operating table controller. If a key command appears during execution When the same button is pressed multiple times in succession, the system only executes the first button command and automatically blocks repeated action requests in the program. In addition, if another motion command function key is pressed while a key command is being executed, the system will continue to execute the unfinished motion command and automatically block other key requests during this process. After the operating table posture reaches the target posture, the motion command being executed automatically ends, and it is in a state of waiting for the next operation command. If you need to continue to execute a new motion command, you need to press the button to execute the motion again and send another message to the system. Movement request. After the linkage is completed, operate the exit function key to exit the linkage mode. After exiting the linkage mode, the system automatically switches back to the regular master-slave operation mode and is in a state of waiting for the next operation command.
图7是根据一实施例示出的手术床操作面板的示意图。操作面板600包括但不限于诸如屏幕显示区801、模式切换功能区802、运动指令区803等显示区域和操作区域。屏幕显示区801进一步包括但不限于手术床当前所处状态、各关节运动范围、台面执行的当前运动指令、数据连接和配准成功信号等,从而允许医务辅助人员随时通过屏幕显示信息能够查看和掌握手术床当前的诸多运动状态,为下一步按键操作提供准确的当前信息从而有效避免操作失误。模式切换功能区802进一步包括但不限于配准按键、停止按键、退出按键、锁定和解锁按键。配准按键用于执行手术机器人与手术床在各运动自由度的全部配准,并且等待执行下一步操作命令。停止按键用于中途阻断控制程序停止各关节之间联动动作并且维持停止时刻的运动状态直到下一步操作命令开始执行。退出按键用于在联动结束后,从联动模式切换回常规主从操作模式。锁定和解锁按键是对手术机器人和手术床的轮式底盘的运动在术前和术后的停止和释放。运动指令区803进一步包括但不限于图7中操作面板显示的按键,各按键以手术床的基准坐标系为运动参考坐标系定义各自由度的运动指令,按键的数量依据联动模式下手术床允许执行运动的自由度数量来确定。Figure 7 is a schematic diagram of an operating table operating panel according to an embodiment. The operation panel 600 includes, but is not limited to, display areas and operation areas such as a screen display area 801, a mode switching functional area 802, and a motion command area 803. The screen display area 801 further includes, but is not limited to, the current status of the operating bed, the range of motion of each joint, the current motion instructions executed on the table, data connection and registration success signals, etc., thereby allowing medical auxiliary personnel to view and view information through the screen display at any time. It can grasp the current motion status of the operating table and provide accurate current information for the next button operation to effectively avoid operational errors. The mode switching functional area 802 further includes, but is not limited to, a registration button, a stop button, an exit button, a lock and an unlock button. The registration button is used to perform all registrations between the surgical robot and the operating table in each degree of freedom of movement, and wait for the execution of the next operation command. The stop button is used to interrupt the control program midway to stop the linkage action between joints and maintain the motion state at the stop moment until the next operation command is executed. The exit button is used to switch from the linkage mode back to the regular master-slave operation mode after the linkage is completed. The lock and unlock buttons are used to stop and release the movement of the wheeled chassis of the surgical robot and operating table before and after surgery. The motion command area 803 further includes, but is not limited to, the buttons displayed on the operation panel in Figure 7. Each button defines a motion command for each degree of freedom using the base coordinate system of the operating table as the motion reference coordinate system. The number of buttons is based on the operating table allowed in the linkage mode. Determined by the number of degrees of freedom to perform motion.
本公开的手术系统包括手术床;手术机器人,手术机器人包括具有多个关节的驱动臂,驱动臂的远端装设有穿刺装置,穿刺装置用于插入位于手术床的台面的生物体的身体开口内;控制器,与手术床、手术机器人耦接,被配置成用于:获取手术机器人与手术床之间
的姿态配准信息;响应于手术床的台面在姿态自由度的运动,获取手术床的台面在姿态自由度的运动信息;基于运动信息和姿态配准信息确定多个关节中第一关节的目标关节量,根据目标关节量控制第一关节运动,以在姿态自由度保持穿刺装置相对于手术床的台面的姿态。本公开可以基于手术机器人与手术床之间的姿态配准信息,在手术床的台面进行姿态自由度的运动时,主动控制驱动臂调整穿刺装置的姿态,提高操作效率和安全性。The surgical system of the present disclosure includes an operating bed; a surgical robot. The surgical robot includes a driving arm with multiple joints. The distal end of the driving arm is equipped with a puncture device. The puncture device is used to insert into the body opening of the organism located on the table top of the operating bed. Inside; the controller is coupled to the operating table and the surgical robot, and is configured to: obtain the connection between the surgical robot and the operating table. posture registration information; in response to the movement of the operating table table in the posture degree of freedom, obtain the movement information of the operating table table in the posture degree of freedom; determine the target of the first joint among multiple joints based on the movement information and posture registration information The joint quantity controls the movement of the first joint according to the target joint quantity to maintain the attitude of the puncture device relative to the tabletop of the operating table in the attitude degree of freedom. Based on the posture registration information between the surgical robot and the operating table, the present disclosure can actively control the driving arm to adjust the posture of the puncture device when the tabletop of the operating table moves with posture freedom, thereby improving operating efficiency and safety.
本公开的手术系统还具有如下有益效果:The surgical system of the present disclosure also has the following beneficial effects:
①能够实现手术机器人与手术床之间的联动,联动过程中消除了从患者体内移除穿刺装置和/或手术工具(诸如手术器械和成像器械)、在手术机器人末端拆卸和安装手术工具、解除手术机器人与手术床之间全部接触等繁琐的反复对接操作,减少了医护辅助人员的工作强度,提升了手术机器人系统的智能化水平,缩短了手术时间,提高了手术实施的顺畅度;① Able to achieve linkage between the surgical robot and the operating bed. During the linkage process, the removal of puncture devices and/or surgical tools (such as surgical instruments and imaging instruments) from the patient's body, the removal and installation of surgical tools at the end of the surgical robot, and the elimination of The tedious and repeated docking operations such as all contacts between the surgical robot and the operating bed reduce the work intensity of medical assistants, improve the intelligence level of the surgical robot system, shorten the operation time, and improve the smoothness of the operation;
②仅采用姿态定位方式即能够实现手术机器人与手术床之间的联动,应用实现方式简单,可靠性更高。② The linkage between the surgical robot and the operating table can be realized by using only the posture positioning method. The application implementation method is simple and the reliability is higher.
在另一实施例中,可采用与上述实施例不同的方式确定手术机器人与手术床之间的姿态配准信息,所述控制器还可以被配置成用于:In another embodiment, the attitude registration information between the surgical robot and the operating table may be determined in a manner different from that in the above embodiment, and the controller may also be configured to:
控制驱动臂的多个关节中的第一关节处于零力状态,第一关节包括具有平移自由度的关节,以通过第一关节来允许驱动臂,基于由患者的身体开口的体壁施加的力来跟踪身体开口在平移自由度的运动;Controlling a first joint of a plurality of joints of the drive arm in a zero force state, the first joint including a joint having a translational degree of freedom to allow the drive arm to be driven by the first joint based on a force exerted by a body wall of the patient's body opening to track the movement of the body opening in translational degrees of freedom;
响应于手术床的台面在平移自由度的平移运动,In response to the translational movement of the operating table table in the translational degree of freedom,
在第一关节被动地执行跟踪身体开口在平移自由度的运动的过程中,获取穿刺装置在第一时刻的第一位置、并获取穿刺装置在相邻于第一时刻的第二时刻的第二位置;During the process of the first joint passively tracking the movement of the body opening in translational degrees of freedom, a first position of the puncture device at a first moment is acquired, and a second position of the puncture device at a second moment adjacent to the first moment is acquired. Location;
基于第一位置和第二位置,确定手术机器人与手术床之间的第一姿态配准信息。Based on the first position and the second position, first posture registration information between the surgical robot and the operating table is determined.
通过上述方式,可以在驱动臂被动地执行跟踪身体开口在平移自由度的运动的过程中,基于穿刺装置的位置变化确定手术机器人与手术床之间的姿态配准关系,为手术机器人主动执行姿态调整提供依据,进而提高操作的效率和安全性。其中,穿刺装置可围绕驱动臂远端的远心不动点运动,因而可以采用远心不动点的位置来表征穿刺装置的位置,但实际实现时,穿刺装置的位置也可以采用其他相对于远心不动点具有固定位置关系的特征点的位置进行表征,在此不做限制。Through the above method, during the process of the driving arm passively tracking the movement of the body opening in translational degrees of freedom, the posture registration relationship between the surgical robot and the operating table can be determined based on the position change of the puncture device, and the posture registration relationship between the surgical robot and the surgical bed can be actively performed. Provide a basis for adjustments, thereby improving the efficiency and safety of operations. Among them, the puncture device can move around the telecentric fixed point at the distal end of the driving arm, so the position of the telecentric fixed point can be used to represent the position of the puncture device. However, in actual implementation, the position of the puncture device can also be determined by other relative positions. The telecentric fixed point is characterized by the position of a feature point with a fixed positional relationship, which is not limited here.
为实现在手术床的台面进行姿态自由度的运动时,主动控制驱动臂调整穿刺装置的姿态,需要先获取手术机器人与手术床之间的姿态配准关系,姿态配准关系是指手术机器人所在参考坐标系与手术床所在参考坐标系之间的转换关系。在本实施例中,通过在手术机器人的基准坐标系与手术床的基准坐标系之间建立坐标系转换关系,得到手术机器人与手术床之间的姿态配准关系。In order to actively control the drive arm to adjust the posture of the puncture device when moving on the operating table with a degree of freedom of posture, it is necessary to first obtain the posture registration relationship between the surgical robot and the operating table. The posture registration relationship refers to the location of the surgical robot. The conversion relationship between the reference coordinate system and the reference coordinate system where the operating table is located. In this embodiment, by establishing a coordinate system transformation relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the attitude registration relationship between the surgical robot and the operating table is obtained.
手术床的台面在平移自由度的平移运动包括命令手术床的台面在平移自由度运动的平移运动、和命令手术床的台面在姿态自由度运动所引起的手术床的台面在平移自由度运动的平移运动中的至少一种。以下分别对手术床的台面进行平移自由度运动过程中的姿态配准过程,和手术床的台面进行姿态自由度运动过程中的姿态配准过程进行说明。The translational motion of the tabletop of the operating table in the translational degree of freedom includes the translational motion that commands the tabletop of the operating table to move in the translational degree of freedom, and the motion of the tabletop in translation caused by commanding the tabletop of the operating table to move in the attitude degree of freedom. At least one of translational motions. The following describes respectively the posture registration process during the movement of the operating table table with a translational degree of freedom, and the posture registration process during the movement of the operating table table with a posture degree of freedom.
(1)手术床的台面进行平移自由度运动过程中的姿态配准过程。(1) The posture registration process during the translational freedom movement of the operating table table.
在手术床的台面进行平移自由度运动之前,控制多个关节中的第一关节处于零力状态,第一关节包括具有平移自由度的关节,以通过第一关节来允许驱动臂,基于由患者的身体开口的体壁施加的力来跟踪身体开口在平移自由度的运动。以图3中所示的前后平移运动B1为例,机械臂250和操纵臂270的各关节处于运动锁定状态,调整臂260的升降运动J7同样处于运动锁定状态,而调整臂260的其余关节J5、J6和J8均处于零力状态。从而,在手术床的台面进行平移自由度运动的过程中,可以依靠穿刺装置229与患者身体开口的体壁在远心不动点220处的相互作用力,拖动操纵臂270带动远心不动点220执行平移运
动。Before the tabletop of the operating table moves with a translational degree of freedom, a first joint of the plurality of joints is controlled to be in a zero-force state, and the first joint includes a joint with a translational degree of freedom to allow the driving arm to be driven by the first joint based on the motion of the patient The body wall of the body opening exerts forces to track the motion of the body opening in translational degrees of freedom. Taking the forward and backward translation motion B1 shown in Figure 3 as an example, each joint of the mechanical arm 250 and the control arm 270 is in a motion locked state, the lifting motion J7 of the adjusting arm 260 is also in a motion locked state, and the remaining joints J5 of the adjusting arm 260 are in a motion locked state. , J6 and J8 are all in zero force state. Therefore, during the translational freedom movement of the table top of the operating table, the interaction force between the puncture device 229 and the body wall of the patient's body opening at the telecentric fixed point 220 can be relied upon to drag the control arm 270 to drive the telecentric motion. Moving point 220 performs translation movement move.
一些实施例中,控制多个关节中的第一关节处于零力状态,示例性的需要控制该相应关节基本能够补偿(或称平衡)其远端负载的重力和/或克服其关节本身的摩擦力,以容易的基于由患者的身体开口处的体壁施加的力来跟踪身体开口的位置。当然,该原理对于后文控制目标关节的相应关节处于零力状态也是适用的。In some embodiments, the first joint among the plurality of joints is controlled to be in a zero-force state. For example, it is necessary to control the corresponding joint to be able to basically compensate (or balance) the gravity of its distal load and/or overcome the friction of the joint itself. Force to easily track the position of the body opening based on the force exerted by the body wall of the patient's body opening. Of course, this principle is also applicable to the control of the corresponding joint of the target joint in the zero-force state later.
当手术机器人的多个关节中的第一关节处于零力状态时,控制器响应于手术床的台面在平移自由度的平移运动,进一步在第一关节被动地执行跟踪身体开口在平移自由度的运动的过程中,获取穿刺装置在第一时刻的第一位置、并获取穿刺装置在相邻于第一时刻的第二时刻的第二位置,基于第一位置和第二位置,即可确定手术机器人与手术床之间的第一姿态配准信息。When the first joint among the plurality of joints of the surgical robot is in a zero-force state, the controller responds to the translational movement of the operating table table in the translational degree of freedom, and further passively performs tracking of the body opening in the translational degree of freedom at the first joint. During the movement, the first position of the puncture device at the first moment is acquired, and the second position of the puncture device at the second moment adjacent to the first moment is acquired. Based on the first position and the second position, the operation can be determined. The first attitude registration information between the robot and the operating table.
其中,获取穿刺装置在第一时刻的第一位置时,控制器被配置成用于:获取第一时刻多个关节的关节变量,基于关节变量并利用正运动学确定第一位置。获取穿刺装置在相邻于第一时刻的第二时刻的第二位置时,控制器被配置成用于:获取第二时刻多个关节的关节变量,基于关节变量并利用正运动学确定第二位置。第一位置和第二位置可以是在手术机器人的基准坐标系中的坐标位置,在进行姿态配准时,第一位置和第二位置主要考虑在手术机器人的二维水平坐标系中的坐标位置即可。Wherein, when acquiring the first position of the puncture device at the first moment, the controller is configured to: acquire joint variables of multiple joints at the first moment, and determine the first position based on the joint variables and using forward kinematics. When acquiring the second position of the puncture device at a second moment adjacent to the first moment, the controller is configured to: acquire joint variables of a plurality of joints at the second moment, and determine the second position based on the joint variables and using forward kinematics. Location. The first position and the second position may be coordinate positions in the reference coordinate system of the surgical robot. When performing posture registration, the first position and the second position are mainly considered to be coordinate positions in the two-dimensional horizontal coordinate system of the surgical robot, that is, Can.
其中,手术机器人的基准坐标系与手术床的基准坐标系均包括二维水平坐标系,手术机器人的基座所在水平面与手术床的基座所在水平面之间相互平行或重合;基于第一位置和第二位置,确定手术机器人与手术床之间的第一姿态配准信息时,控制器被配置成用于:Among them, the reference coordinate system of the surgical robot and the reference coordinate system of the operating table both include a two-dimensional horizontal coordinate system, and the horizontal plane where the base of the surgical robot is located and the horizontal plane where the base of the operating table is located are parallel to or coincident with each other; based on the first position and In the second position, when determining the first attitude registration information between the surgical robot and the operating table, the controller is configured to:
根据第一位置和第二位置在手术机器人的二维水平坐标系中的坐标,确定穿刺装置在手术机器人的二维水平坐标系的第一水平坐标轴上的第一位移分量,以及在手术机器人的二维水平坐标系的第二水平坐标轴上的第二位移分量;According to the coordinates of the first position and the second position in the two-dimensional horizontal coordinate system of the surgical robot, the first displacement component of the puncture device on the first horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot is determined, and the first displacement component of the puncture device on the two-dimensional horizontal coordinate system of the surgical robot is determined. The second displacement component on the second horizontal coordinate axis of the two-dimensional horizontal coordinate system;
根据第一位移分量与第二位移分量,计算手术机器人的基准坐标系与手术床的基准坐标系之间在水平面上的第一旋转角度值,以得到手术机器人与手术床之间的第一姿态配准信息。According to the first displacement component and the second displacement component, calculate the first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table to obtain the first posture between the surgical robot and the operating table Registration information.
请参考图8,以图3所示的手术系统为例,手术机器人的基准坐标系建立在基座401的中心位置,使得手术机器人的基准坐标系具有平行于地面的二维坐标系402(Orobot-Xrobot Yrobot)。手术床的基准坐标系建立在基座405的中心位置,使得手术床的基准坐标系具有平行于地面的二维坐标系406(Obed-XbedYbed),在不考虑地面不平整的情况下,手术机器人的基准坐标系的轴线Zrobot和手术床的基准坐标系的Zbed相互平行且垂直于地面,由于手术机器人与手术床之间相对位姿关系不固定,使得坐标系Orobot-XrobotYrobotZrobot与Obed-XbedYbedZbed之间存在绕Z轴向的夹角θz,该夹角θz即为用于手术机器人的基准坐标系与手术床的基准坐标系之间进行姿态定位的待获知变量。图8中,定义装设于驱动臂3402远端的穿刺装置对应的远心不动点为点A,基于床旁机械臂系统的关节运动学模型,可以得到点A在坐标系Orobot-XrobotYrobotZrobot下的坐标表示为A(x1,y1),此为第一位置,当手术床的台面沿着轴向Ybed发生平移运动时,远心不动点由起始位置点A(x1,y1)运动到第二位置点B(x2,Y2)的过程中,点A在手术床的基准坐标系下的沿Ybed轴向的第一位移分量可以表示为点A在手术机器人的基准坐标系下的沿Xrobot轴向(第一水平坐标轴)的第一位移分量表示为Δx,沿Yrobot轴向(第二水平坐标轴)的第二位移分量表示为Δy,并且,点A(x1,y1)和点B(x2,y2)的坐标信息能够基于运动学模型坐标系关系推导计算得出,从而得到位移分量Δx和Δy。Please refer to Figure 8. Taking the surgical system shown in Figure 3 as an example, the reference coordinate system of the surgical robot is established at the center of the base 401, so that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 402 (O) parallel to the ground. robot- X robot Y robot ). The reference coordinate system of the operating table is established at the center of the base 405, so that the reference coordinate system of the operating table has a two-dimensional coordinate system 406 parallel to the ground (O bed- X bed Y bed ), without considering the uneven ground. Under the condition, the axis Z robot of the reference coordinate system of the surgical robot and the Z bed of the reference coordinate system of the operating table are parallel to each other and perpendicular to the ground. Since the relative posture relationship between the surgical robot and the operating table is not fixed, the coordinate system O robot - There is an angle θz around the Z axis between X robot Y robot Z robot and O bed- Variables to be known during attitude positioning. In Figure 8, the telecentric fixed point corresponding to the puncture device installed at the distal end of the driving arm 3402 is defined as point A. Based on the joint kinematics model of the bedside robotic arm system, it can be obtained that point A is in the coordinate system O robot- The coordinates under robot Y robot Z robot are expressed as A(x 1 , y 1 ), which is the first position. When the tabletop of the operating table moves in translation along the axis Y bed , the telecentric fixed point changes from the starting position During the movement of point A (x 1 , y 1 ) to the second position point B (x 2 , Y 2 ), the first displacement component of point A along the Y bed axis under the reference coordinate system of the operating bed can be expressed as for The first displacement component of point A along the X robot axis (the first horizontal coordinate axis) in the reference coordinate system of the surgical robot is represented by Δx, and the second displacement component along the Y robot axis (the second horizontal coordinate axis) is represented by is Δy, and the coordinate information of point A (x 1 , y 1 ) and point B (x 2 , y 2 ) can be derived and calculated based on the coordinate system relationship of the kinematic model, thereby obtaining the displacement components Δx and Δy.
获得位移分量Δx和Δy后,依据三角函数定理,采用如下公式可计算得到坐标系402和坐标系406的水平坐标轴(如y轴)之间的夹角θz,该夹角也即手术机器人的基准坐标系和手术床的基准坐标系之间在水平面上的第一旋转角度值:
After obtaining the displacement components Δx and Δy, according to the trigonometric function theorem, the following formula can be used to calculate the angle θz between the horizontal coordinate axis (such as the y-axis) of the coordinate system 402 and the coordinate system 406. This angle is also the angle of the surgical robot. The first rotation angle value on the horizontal plane between the reference coordinate system and the reference coordinate system of the operating table:
After obtaining the displacement components Δx and Δy, according to the trigonometric function theorem, the following formula can be used to calculate the angle θz between the horizontal coordinate axis (such as the y-axis) of the coordinate system 402 and the coordinate system 406. This angle is also the angle of the surgical robot. The first rotation angle value on the horizontal plane between the reference coordinate system and the reference coordinate system of the operating table:
基于上述公式,能够实现手术机器人的基准坐标系与手术床的基准坐标系之间准确的姿态配准,该姿态配准的实现是执行手术机器人与手术床联动的技术基础和实现前提条件。Based on the above formula, accurate posture registration between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can be achieved. The realization of this posture registration is the technical basis and prerequisite for the implementation of linkage between the surgical robot and the operating table.
随着手术床的台面的移动距离逐渐增大,远心不动点的位置不断进行更新,其位移量Δx和Δy也将不断进行更新,利用变化后的位置对姿态配准关系进行更新,可以使计算出的姿态夹角θz在不断更新过程中的准确度越来越高。因此,在一实施例中,控制器还被配置成用于:As the moving distance of the operating table table gradually increases, the position of the telecentric fixed point is constantly updated, and its displacements Δx and Δy will also be continuously updated. The changed position is used to update the attitude registration relationship, which can This makes the calculated attitude angle θ z more and more accurate in the continuous updating process. Accordingly, in an embodiment, the controller is further configured to:
在第一关节被动地执行跟踪身体开口在平移自由度的运动的过程中,获取穿刺装置在相邻于第二时刻的第三时刻的第三位置;Obtaining a third position of the puncture device at a third moment adjacent to the second moment while the first joint passively performs tracking the movement of the body opening in translational degrees of freedom;
基于第二位置和第三位置,确定手术机器人与手术床之间的第二姿态配准信息;Based on the second position and the third position, determine the second attitude registration information between the surgical robot and the operating table;
在第一姿态配准信息和第二姿态配准信息满足预设条件时,基于第一姿态配准信息和第二姿态配准信息中的一个或多个确定手术机器人与手术床之间的第三姿态配准信息。When the first posture registration information and the second posture registration information meet the preset conditions, a third posture between the surgical robot and the operating bed is determined based on one or more of the first posture registration information and the second posture registration information. Three-pose registration information.
其中,获取穿刺装置在相邻于第二时刻的第三时刻的第三位置时,控制器被配置成用于:获取第三时刻多个关节的关节变量,基于关节变量并利用正运动学确定第三位置。在第一关节被动地执行跟踪身体开口在平移自由度的运动的过程中,第三位置在获取第二位置之后获取,也即穿刺装置更新后的位置。Wherein, when acquiring the third position of the puncture device at a third moment adjacent to the second moment, the controller is configured to: acquire joint variables of a plurality of joints at the third moment, and determine based on the joint variables and using forward kinematics third position. While the first joint passively performs tracking of the movement of the body opening in translational degrees of freedom, the third position is acquired after acquiring the second position, that is, the updated position of the puncture device.
基于第二位置和第三位置,确定手术机器人与手术床之间的第二姿态配准信息时,控制器被配置成用于:When determining the second attitude registration information between the surgical robot and the operating table based on the second position and the third position, the controller is configured to:
根据第二位置和第三位置在手术机器人的二维水平坐标系中的坐标,确定穿刺装置在手术机器人的二维水平坐标系的第一水平坐标轴上的第三位移分量,以及在手术机器人的二维水平坐标系的第二水平坐标轴上的第四位移分量;According to the coordinates of the second position and the third position in the two-dimensional horizontal coordinate system of the surgical robot, the third displacement component of the puncture device on the first horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot is determined, and the third displacement component of the puncture device on the two-dimensional horizontal coordinate system of the surgical robot is determined. The fourth displacement component on the second horizontal coordinate axis of the two-dimensional horizontal coordinate system;
根据第三位移分量与第四位移分量,计算手术机器人的基准坐标系与手术床的基准坐标系之间在水平面上的第二旋转角度值,以得到手术机器人与手术床之间的第二姿态配准信息。According to the third displacement component and the fourth displacement component, calculate the second rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table to obtain the second posture between the surgical robot and the operating table. Registration information.
其中,计算第二旋转角度值的原理和过程与计算第一旋转角度值的原理和过程相同,区别仅在于所使用的是第二位置和第三位置进行计算。在另一种实施方式中,也可以是根据第一位置和第三位置在手术机器人的二维水平坐标系中的坐标,确定穿刺装置在手术机器人的二维水平坐标系的第一水平坐标轴上的第五位移分量,以及在手术机器人的二维水平坐标系的第二水平坐标轴上的第六位移分量,根据第五位移分量与第六位移分量,计算手术机器人的基准坐标系与手术床的基准坐标系之间在水平面上的第二旋转角度值,以得到手术机器人与手术床之间的第二姿态配准信息。原理和过程同样与计算第一旋转角度值的原理和过程相同。The principle and process of calculating the second rotation angle value are the same as the principles and processes of calculating the first rotation angle value. The only difference is that the second position and the third position are used for calculation. In another embodiment, the first horizontal coordinate axis of the puncture device in the two-dimensional horizontal coordinate system of the surgical robot may also be determined based on the coordinates of the first position and the third position in the two-dimensional horizontal coordinate system of the surgical robot. The fifth displacement component on the second horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot, and the sixth displacement component on the second horizontal coordinate axis of the two-dimensional horizontal coordinate system of the surgical robot. Based on the fifth displacement component and the sixth displacement component, calculate the reference coordinate system and surgical coordinate system of the surgical robot. The second rotation angle value on the horizontal plane between the reference coordinate system of the bed is used to obtain the second posture registration information between the surgical robot and the operating table. The principle and process are also the same as those for calculating the first rotation angle value.
当手术机器人的基准坐标系与手术床的基准坐标系均包括二维水平坐标系,手术机器人的基座所在水平面与手术床的基座所在水平面之间相互平行或重合,第一姿态配准信息采用手术机器人的基准坐标系与手术床的基准坐标系之间在水平面上的第一旋转角度值进行表征,第二姿态配准信息采用手术机器人的基准坐标系与手术床的基准坐标系之间在水平面上的第二旋转角度值进行表征时,在第一姿态配准信息和第二姿态配准信息满足预设条件时,基于第一姿态配准信息和第二姿态配准信息中的一个或多个确定手术机器人与手术床之间的第三姿态配准信,控制器被配置成用于:When the reference coordinate system of the surgical robot and the reference coordinate system of the operating table both include two-dimensional horizontal coordinate systems, and the horizontal plane where the base of the surgical robot is located and the horizontal plane where the base of the operating table is located are parallel to or coincident with each other, the first attitude registration information The first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is used for characterization, and the second attitude registration information is characterized by the relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. When the second rotation angle value on the horizontal plane is represented, when the first posture registration information and the second posture registration information meet the preset conditions, based on one of the first posture registration information and the second posture registration information or a plurality of third posture registration signals are determined between the surgical robot and the operating table, and the controller is configured to:
判断第一旋转角度值与第二旋转角度值之间的差值是否处于预设范围内;Determine whether the difference between the first rotation angle value and the second rotation angle value is within a preset range;
若处于预设范围内,则将第一旋转角度值作为第三姿态配准信息,或者,将第二旋转角度值作为第三姿态配准信息,或者,将第一旋转角度值与第二旋转角度值的均值作为第三姿态配准信息。
If it is within the preset range, the first rotation angle value is used as the third posture registration information, or the second rotation angle value is used as the third posture registration information, or the first rotation angle value and the second rotation angle value are used as the third posture registration information. The average of the angle values is used as the third pose registration information.
其中,在第一关节被动地执行跟踪身体开口在平移自由度的运动的过程中,根据穿刺装置的位置变化,不断对手术机器人的基准坐标系与手术床的基准坐标系之间在水平面上的旋转角度值进行计算,一直持续到相邻两次的旋转角度值的差值处于预设范围内,也即差值小于预设的角度精度偏差阈值,此时,认为姿态配准关系达到精度要求,可以以最近计算的旋转角度值作为后续联动控制时使用的目标姿态配准关系,并开始进行联动控制。当然,由于最后两次计算的旋转角度值的偏差较小,也可以使用最后两次计算的旋转角度值中的任一个或者均值作为后续联动控制时使用的目标姿态配准关系。实际实现时,当建模精准时,也可以只需配准一次即可,因而也可以直接使用第一姿态配准信息作为后续联动控制时使用的目标姿态配准关系,并在进行一次姿态配准后即可开始进行联动控制。Among them, during the process of the first joint passively tracking the movement of the body opening in the translational degree of freedom, according to the position change of the puncture device, the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed on the horizontal plane are constantly adjusted. The rotation angle value is calculated until the difference between two adjacent rotation angle values is within the preset range, that is, the difference is less than the preset angle accuracy deviation threshold. At this time, the attitude registration relationship is considered to meet the accuracy requirements. , the recently calculated rotation angle value can be used as the target attitude registration relationship used in subsequent linkage control, and linkage control can be started. Of course, since the deviation between the last two calculated rotation angle values is small, any one or the average of the last two calculated rotation angle values can also be used as the target attitude registration relationship used in subsequent linkage control. In actual implementation, when the modeling is accurate, registration only needs to be done once. Therefore, the first attitude registration information can also be directly used as the target attitude registration relationship used in subsequent linkage control, and the attitude registration can be performed once. Once accurate, linkage control can begin.
在计算和更新姿态配准关系的过程中,手术床的台面运动信息到手术机器人的传输需要始终保持良好的实时性。姿态配准过程中,调整手术床的速度为第一速度,配准完成后,调整手术床的速度为第二速度,第二速度大于等于第一速度,通常为第二速度大于第一速度。In the process of calculating and updating the posture registration relationship, the transmission of table motion information from the operating table to the surgical robot needs to always maintain good real-time performance. During the posture registration process, the speed of the operating table is adjusted to the first speed. After the registration is completed, the speed of the operating table is adjusted to the second speed. The second speed is greater than or equal to the first speed. Usually, the second speed is greater than the first speed.
在手术床的台面进行平移自由度的运动的过程中,第一关节被动地执行跟踪身体开口在平移自由度的运动可能引起穿刺装置的姿态变化,因此,在控制驱动臂的多个关节中的第一关节处于零力状态的步骤之后,控制器还被配置成用于:During the movement of the table top of the operating table in translational degrees of freedom, the first joint passively tracks the movement of the body opening in translational degrees of freedom, which may cause changes in the attitude of the puncture device. Therefore, among the multiple joints that control the driving arm, After the step in which the first joint is in a zero-force state, the controller is further configured to:
响应于手术床的台面在平移自由度的平移运动,控制多个关节中的第二关节运动,以补偿由于第一关节被动地执行跟踪平移自由度的运动所导致的穿刺装置的姿态变化。In response to the translational movement of the table top of the operating table in the translational degree of freedom, the second joint movement of the plurality of joints is controlled to compensate for the attitude change of the puncture device caused by the first joint passively performing a movement tracking the translational degree of freedom.
其中一实施例中,控制多个关节中的第二关节运动时,控制器被配置成用于:In one embodiment, when controlling the movement of the second joint among the plurality of joints, the controller is configured to:
获取第一关节中的第一旋转关节的运动信息,基于第一关节中的第一旋转关节的运动信息生成第二关节中的第二旋转关节的运动信息,第一关节中的第一旋转关节的运动信息包括运动量和运动方向,第二关节中的第二旋转关节的运动信息包括与第一关节中的第一旋转关节的运动方向相反的运动方向、和与第一关节中的第一旋转关节的运动量大小相同的运动量;Obtain motion information of the first rotating joint in the first joint, generate motion information of the second rotating joint in the second joint based on the motion information of the first rotating joint in the first joint, the first rotating joint in the first joint The motion information includes the amount and direction of motion, and the motion information of the second rotary joint in the second joint includes the motion direction opposite to the motion direction of the first rotary joint in the first joint and the first rotation in the first joint. The amount of motion of a joint that is the same amount of motion;
根据第二关节中的第二旋转关节的运动信息控制第二关节中的第二旋转关节运动。Control the movement of the second rotary joint in the second joint according to the motion information of the second rotary joint in the second joint.
以图3中所示的前后平移运动B1为例,机械臂250和操纵臂270的各关节处于运动锁定状态,调整臂260的升降运动J7同样处于运动锁定状态,而调整臂260的其余运动J5、J6和J8均处于零力拖动模式。手术床台面运动过程中,依靠穿刺装置229与患者身体开口的体壁在远心不动点220处的相互作用力,台面将拖动操纵臂270带动远心不动点220执行平移运动,基于运动学模型控制J5和J8的运动大小相等并且方向相反,从而可以使得穿刺装置229在运动过程中的姿态保持不变。Taking the forward and backward translation motion B1 shown in Figure 3 as an example, each joint of the mechanical arm 250 and the control arm 270 is in a motion locked state, the lifting motion J7 of the adjusting arm 260 is also in a motion locked state, and the remaining motions J5 of the adjusting arm 260 , J6 and J8 are all in zero force drag mode. During the movement of the operating table table, relying on the interaction force between the puncture device 229 and the body wall of the patient's body opening at the telecentric fixed point 220, the table will drag the manipulating arm 270 to drive the telecentric fixed point 220 to perform translational motion. Based on The kinematic model controls the movements of J5 and J8 to be equal in magnitude and opposite in direction, so that the posture of the puncture device 229 remains unchanged during the movement.
(2)手术床的台面进行旋转自由度运动过程中的姿态配准过程。(2) The attitude registration process during the rotational freedom movement of the operating table table.
手术床的台面进行旋转自由度运动过程中,可引起手术床的台面进行平移自由度的运动,从而,在手术床的台面进行旋转自由度运动过程中,也可以基于手术床的台面进行平移自由度运动的过程,实现手术机器人与手术床的姿态配准。在手术床的台面进行平移自由度运动之前,控制多个关节中的第一关节处于零力状态,第一关节包括具有平移自由度的关节,以通过第一关节来允许驱动臂,基于由患者的身体开口的体壁施加的力来跟踪身体开口在平移自由度的运动。以图3中所示的倾斜运动B4为例,调整臂270各关节处于非运动锁定状态,调整臂270的关节J6、J7和J8处于零力拖动模式(即零力状态),从而使得手术床台面运动过程中能够依靠腹腔壁处的相互作用力,拖动操纵臂末端的穿刺装置的远心不动点在二维平面内执行移动。When the table top of the operating table rotates with a degree of freedom, it can cause the table top of the operating table to move with a degree of freedom. Therefore, during the table top of the operating table rotates with a degree of freedom, it can also move with a degree of freedom based on the table top of the operating table. The process of high-speed movement realizes the posture registration of the surgical robot and the operating table. Before the tabletop of the operating table moves with a translational degree of freedom, a first joint of the plurality of joints is controlled to be in a zero-force state, and the first joint includes a joint with a translational degree of freedom to allow the driving arm to be driven by the first joint based on the motion of the patient The body wall of the body opening exerts forces to track the motion of the body opening in translational degrees of freedom. Taking the tilting motion B4 shown in Figure 3 as an example, each joint of the adjustment arm 270 is in a non-motion locked state, and the joints J6, J7 and J8 of the adjustment arm 270 are in a zero-force drag mode (i.e., a zero-force state), thus making the operation During the movement of the bed table, the interaction force at the abdominal wall can be relied upon to drag the telecentric fixed point of the puncture device at the end of the manipulating arm to perform movement in a two-dimensional plane.
当手术机器人的多个关节中的第一关节处于零力状态时,响应于手术床的台面在平移自由度的平移运动,进一步在第一关节被动地执行跟踪身体开口在平移自由度的运动的过程中,获取穿刺装置在第一时刻的第一位置、并获取穿刺装置在相邻于第一时刻的第二时刻的第二位置,基于第一位置和第二位置,即可确定手术机器人与手术床之间的第一姿态配准信息。手术床的台面进行旋转自由度运动过程中的姿态配准过程中,获取穿刺装置的
位置的方式与手术床的台面直接进行平移自由度运动过程中的姿态配准过程相同,在此不过多赘述,以下通过结合图9和图10对具体运算过程进行说明。When the first joint among the plurality of joints of the surgical robot is in a zero-force state, in response to the translational movement of the operating table table in the translational degree of freedom, further passively performing tracking the movement of the body opening in the translational degree of freedom is performed at the first joint During the process, the first position of the puncture device at the first time is obtained, and the second position of the puncture device at the second time adjacent to the first time is obtained. Based on the first position and the second position, it can be determined that the relationship between the surgical robot and the surgical robot is First posture registration information between operating tables. During the posture registration process during the rotational freedom movement of the table top of the operating table, the position of the puncture device is obtained. The method of positioning is the same as the attitude registration process when the tabletop of the operating table directly moves with translational degrees of freedom. We will not go into details here. The specific operation process will be explained below with reference to Figures 9 and 10.
请参考图9,以图3所示的手术系统为例,手术机器人的基准坐标系建立在基座401的中心位置,使得手术机器人的基准坐标系具有平行于地面的二维坐标系402(Orobot-Xrobot Yrobot)。手术床的基准坐标系建立在基座405的中心位置,使得手术床的基准坐标系具有平行于地面的二维坐标系406(Obed-XbedYbed),在不考虑地面不平整的情况下,手术机器人的基准坐标系的轴线Zrobot和手术床的基准坐标系的Zbed相互平行且垂直于地面,由于手术机器人与手术床之间相对位姿关系不固定,使得坐标系Orobot-XrobotYrobotZrobot与Obed-XbedYbedZbed之间存在绕Z轴向的夹角θz,该夹角θz即为用于手术机器人的基准坐标系与手术床的基准坐标系之间进行姿态定位的待获知变量。图9和图10中,定义装设于驱动臂3402远端的穿刺装置对应的远心不动点为点A,基于床旁机械臂系统的关节运动学模型,可以得到点A在坐标系Orobot-XrobotYrobotZrobot下的坐标表示为A(x1,y1),此为第一位置,如图10所示,当手术床执行手术床的台面222围绕左右倾斜关节旋转坐标系408Otable-XtableYtableZtable的Ytable轴线进行顺时针倾斜的运动时,远心不动点由联动起始位置点A(x1,y1)运动到第二位置点C(x3,y3),点A在手术床的基准坐标系下的沿Xbed轴向的位移分量可以表示为沿Zbed轴向的位移分量可以表示为同时,点A在手术机器人的基准坐标系下的沿Xrobot轴向的第一位移分量表示为Δx′,沿Yrobot轴向的第二位移分量表示为Δy′,并且点A(x1,y1)和点C(x3,y3)的坐标信息能够基于运动学模型坐标系关系310、320和370推导计算得出,从而得到位移分量Δx′和Δy′。Please refer to Figure 9. Taking the surgical system shown in Figure 3 as an example, the reference coordinate system of the surgical robot is established at the center of the base 401, so that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 402 (O) parallel to the ground. robot- X robot Y robot ). The reference coordinate system of the operating table is established at the center of the base 405, so that the reference coordinate system of the operating table has a two-dimensional coordinate system 406 parallel to the ground (O bed- X bed Y bed ), without considering the uneven ground. Under the condition, the axis Z robot of the reference coordinate system of the surgical robot and the Z bed of the reference coordinate system of the operating table are parallel to each other and perpendicular to the ground. Since the relative posture relationship between the surgical robot and the operating table is not fixed, the coordinate system O robot - There is an angle θz around the Z axis between X robot Y robot Z robot and O bed- Variables to be known during attitude positioning. In Figures 9 and 10, the telecentric fixed point corresponding to the puncture device installed at the distal end of the driving arm 3402 is defined as point A. Based on the joint kinematics model of the bedside robotic arm system, it can be obtained that point A is in the coordinate system O The coordinates under robot- _ _ 408O table- _ _ _ _ _ _ ,y 3 ), the displacement component of point A along the X bed axis under the reference coordinate system of the operating bed can be expressed as The displacement component along the Z bed axis can be expressed as At the same time, the first displacement component of point A along the X robot axis in the reference coordinate system of the surgical robot is expressed as Δx′, and the second displacement component along the Y robot axis is expressed as Δy′, and point A (x 1 , The coordinate information of y 1 ) and point C (x 3 , y 3 ) can be derived and calculated based on the kinematic model coordinate system relationships 310, 320 and 370, thereby obtaining the displacement components Δx′ and Δy′.
获得位移分量Δx′和Δy′后,依据三角函数定理,采用如下公式可计算得到坐标系402和坐标系406的水平坐标轴(如y轴)之间的夹角θz,该夹角也即手术机器人的基准坐标系和手术床的基准坐标系之间在水平面上的第一旋转角度值:
After obtaining the displacement components Δx′ and Δy′, according to the trigonometric function theorem, the following formula can be used to calculate the angle θz between the horizontal coordinate axis (such as the y axis) of the coordinate system 402 and the coordinate system 406. This angle is also the surgical The first rotation angle value on the horizontal plane between the robot's reference coordinate system and the operating table's reference coordinate system:
After obtaining the displacement components Δx′ and Δy′, according to the trigonometric function theorem, the following formula can be used to calculate the angle θz between the horizontal coordinate axis (such as the y axis) of the coordinate system 402 and the coordinate system 406. This angle is also the surgical The first rotation angle value on the horizontal plane between the robot's reference coordinate system and the operating table's reference coordinate system:
基于上述公式,能够实现手术机器人的基准坐标系与手术床的基准坐标系之间准确的姿态配准,该姿态配准的实现是执行手术机器人与手术床联动的技术基础和实现前提条件。随着手术床的台面的移动距离逐渐增大,远心不动点的位置不断进行更新,其位移量Δx′和Δy′也将不断进行更新,利用变化后的位置对姿态配准关系进行更新,可以使计算出的姿态夹角θz在不断更新过程中的准确度越来越高。手术床的台面进行旋转自由度运动过程中的姿态配准过程中,对姿态配准关系进行更新的方式与手术床的台面直接进行平移自由度运动时的更新方式相同,在此不在赘述。Based on the above formula, accurate posture registration between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can be achieved. The realization of this posture registration is the technical basis and prerequisite for the implementation of linkage between the surgical robot and the operating table. As the moving distance of the operating table table gradually increases, the position of the telecentric fixed point is continuously updated, and its displacements Δx′ and Δy′ will also be continuously updated. The changed position is used to update the posture registration relationship. , which can make the calculated attitude angle θ z more and more accurate in the continuous updating process. During the posture registration process when the table top of the operating table moves with a rotational degree of freedom, the posture registration relationship is updated in the same manner as when the table top of the operating table directly moves with a translational degree of freedom, and will not be described again here.
在手术床的台面进行平移运动的过程中,第一关节被动地执行跟踪身体开口在平移自由度的运动可能引起穿刺装置的姿态变化,因此,在控制驱动臂的多个关节中的第一关节处于零力状态之后,控制器还被配置成用于:During the translational movement of the tabletop of the operating table, the first joint passively performs tracking of the movement of the body opening in translational degrees of freedom, which may cause changes in the posture of the puncture device. Therefore, the first joint among the multiple joints that control the drive arm After being in the zero force state, the controller is also configured to:
响应于手术床的台面在平移自由度的平移运动,控制多个关节中的第二关节运动,以补偿由于第一关节被动地执行跟踪平移自由度的运动所导致的穿刺装置的姿态变化。In response to the translational movement of the table top of the operating table in the translational degree of freedom, the second joint movement of the plurality of joints is controlled to compensate for the attitude change of the puncture device caused by the first joint passively performing a movement tracking the translational degree of freedom.
其中,控制多个关节中的第二关节运动,包括:Among them, the movement of the second joint among multiple joints is controlled, including:
获取第一关节中的第一旋转关节的运动信息,基于第一关节中的第一旋转关节的运动信息生成第二关节中的第二旋转关节的运动信息,第一关节中的第一旋转关节的运动信息包括运动量和运动方向,第二关节中的第二旋转关节的运动信息包括与第一关节中的第一旋转关节的运动方向相反的运动方向、和与第一关节中的第一旋转关节的运动量大小相同的运动量;Obtain motion information of the first rotating joint in the first joint, generate motion information of the second rotating joint in the second joint based on the motion information of the first rotating joint in the first joint, the first rotating joint in the first joint The motion information includes the amount and direction of motion, and the motion information of the second rotary joint in the second joint includes the motion direction opposite to the motion direction of the first rotary joint in the first joint and the first rotation in the first joint. The amount of motion of a joint that is the same amount of motion;
根据第二关节中的第二旋转关节的运动信息控制第二关节中的第二旋转关节运动。
Control the movement of the second rotary joint in the second joint according to the motion information of the second rotary joint in the second joint.
以图3中所示的前后平移运动B1为例,机械臂250和操纵臂270的各关节处于运动锁定状态,调整臂260的升降运动J7同样处于运动锁定状态,而调整臂260的其余运动J5、J6和J8均处于零力拖动模式。手术床台面运动过程中,依靠穿刺装置229与患者身体开口的体壁在远心不动点220处的相互作用力,台面将拖动操纵臂270带动远心不动点220执行平移运动,基于运动学模型控制J5和J8的运动大小相等并且方向相反,从而可以使得穿刺装置229在运动过程中的姿态保持不变。Taking the forward and backward translation motion B1 shown in Figure 3 as an example, each joint of the mechanical arm 250 and the control arm 270 is in a motion locked state, the lifting motion J7 of the adjusting arm 260 is also in a motion locked state, and the remaining motions J5 of the adjusting arm 260 , J6 and J8 are all in zero force drag mode. During the movement of the operating table table, relying on the interaction force between the puncture device 229 and the body wall of the patient's body opening at the telecentric fixed point 220, the table will drag the manipulating arm 270 to drive the telecentric fixed point 220 to perform translational motion. Based on The kinematic model controls the movements of J5 and J8 to be equal in magnitude and opposite in direction, so that the posture of the puncture device 229 remains unchanged during the movement.
以图3中所示的倾斜运动B4为例,调整臂270各关节处于非运动锁定状态,调整臂270的关节J6、J7和J8处于零力拖动模式(即零力状态),从而使得手术床台面运动过程中能够依靠腹腔壁处的相互作用力,拖动操纵臂末端的穿刺装置的远心不动点在二维平面内的执行移动,通过控制关节J5执行与J8大小相同、方向相反的运动量作为穿刺装置的姿态被动改变的运动补偿,使得穿刺装置的姿态相对手术床的台面保持不变。Taking the tilting motion B4 shown in Figure 3 as an example, each joint of the adjustment arm 270 is in a non-motion locked state, and the joints J6, J7 and J8 of the adjustment arm 270 are in a zero-force drag mode (i.e., a zero-force state), thus making the operation During the movement of the bed table, it can rely on the interaction force at the abdominal wall to drag the telecentric fixed point of the puncture device at the end of the manipulating arm to perform movement in a two-dimensional plane. By controlling joint J5, it is executed in the same size and opposite direction as J8. The amount of motion is used as motion compensation for passive changes in the posture of the puncture device, so that the posture of the puncture device remains unchanged relative to the table top of the operating table.
上述姿态配准过程是在响应于手术床的台面在平移自由度的平移运动时,基于第一关节被动地执行跟踪平移自由度的运动所导致的穿刺装置的位置变化,基于软件运算得到姿态配准关系,无需使用任何外部定位传感器即可能够实现手术机器人与手术床之间的姿态定位,成本低、效率高。The above posture registration process is based on the position change of the puncture device caused by the movement of the first joint passively tracking the translational degree of freedom in response to the translational movement of the tabletop of the operating table, and the posture configuration is obtained based on software calculations. According to the accurate relationship, the attitude positioning between the surgical robot and the operating table can be realized without using any external positioning sensors, which is low cost and high efficiency.
在完成上述姿态配准过程后,如当前手术床的台面正在基于平移自由度运动的命令进行平移自由度运动,则姿态配准关系可进行存储,并在手术床的台面基于姿态自由度运动的命令进行姿态自由度运动时,再基于手术机器人与手术床之间的姿态配准关系,主动控制驱动臂调整穿刺装置的姿态。在完成上述姿态配准过程后,如当前手术床的台面正在基于姿态自由度运动的命令进行姿态自由度运动,则可以基于手术机器人与手术床之间的姿态配准关系,开始主动控制驱动臂调整穿刺装置的姿态。从而,基于获取了姿态配准关系,可以实现在不解除手术机器人与患者对接关系的情况下调整手术床,提高操作效率和安全性。After completing the above posture registration process, if the table top of the current operating table is moving with a translational degree of freedom based on the command of the translational degree of freedom movement, the posture registration relationship can be stored, and the tabletop of the operating table is moving based on the posture degree of freedom. When the posture freedom movement is commanded, the driving arm is actively controlled to adjust the posture of the puncture device based on the posture registration relationship between the surgical robot and the operating table. After completing the above posture registration process, if the current operating table table is performing posture freedom movement based on the posture freedom movement command, the driving arm can be actively controlled based on the posture registration relationship between the surgical robot and the operating table. Adjust the posture of the puncture device. Therefore, based on the acquired posture registration relationship, the operating table can be adjusted without releasing the docking relationship between the surgical robot and the patient, thereby improving operating efficiency and safety.
在又一个实施例中,可采用与上述实施例不同的方式确定手术机器人与手术床之间的姿态配准信息。手术机器人与手术床的其中之一设有测距装置,手术机器人的基准坐标系的第一水平坐标轴与第二水平坐标轴所在的水平面、手术床的基准坐标系的第一水平坐标轴与第二水平坐标轴所在的水平面、测距装置的检测方向所在的水平面之间相互平行或重合。在确定手术机器人与手术床之间的姿态配准信息时,控制器被配置成用于:In yet another embodiment, the attitude registration information between the surgical robot and the operating table may be determined in a manner different from that in the above embodiment. One of the surgical robot and the operating bed is provided with a distance measuring device. The first horizontal coordinate axis and the second horizontal coordinate axis of the surgical robot's reference coordinate system are located on the horizontal plane, and the first horizontal coordinate axis and the second horizontal coordinate axis of the operating table's reference coordinate system are located on the horizontal plane. The horizontal plane where the second horizontal coordinate axis is located and the horizontal plane where the detection direction of the distance measuring device is located are parallel to or coincide with each other. In determining posture registration information between the surgical robot and the operating table, the controller is configured to:
获取测距装置的检测数据,检测数据包括手术机器人与手术床之间的第一垂直距离和第二垂直距离;Obtain detection data from the ranging device, where the detection data includes the first vertical distance and the second vertical distance between the surgical robot and the operating bed;
根据手术机器人与手术床之间的第一垂直距离和第二垂直距离,确定手术机器人的基准坐标系与手术床的基准坐标系之间的姿态配准信息。According to the first vertical distance and the second vertical distance between the surgical robot and the operating table, attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is determined.
其中,手术机器人与手术床之间的第一垂直距离和第二垂直距离包括测距传感器扫描得到的最小距离,和/或,测距传感器从垂直于安装位置的水平方向扫描得到的距离,实际应用时,根据测距传感器的安装方式及选择计算配准信息的模型不同选择所需要的第一垂直距离和第二垂直距离。The first vertical distance and the second vertical distance between the surgical robot and the operating table include the minimum distance scanned by the ranging sensor, and/or the distance scanned by the ranging sensor from a horizontal direction perpendicular to the installation position. Actual During application, the required first vertical distance and second vertical distance are selected according to the installation method of the ranging sensor and the model selected to calculate the registration information.
测距装置包括一个测距传感器时,第一垂直距离为测距传感器检测得到的最小距离,第二垂直距离为测距传感器从垂直于安装位置的水平方向检测得到的距离。When the distance measuring device includes a distance measuring sensor, the first vertical distance is the minimum distance detected by the distance measuring sensor, and the second vertical distance is the distance detected by the distance measuring sensor from a horizontal direction perpendicular to the installation position.
测距装置包括第一测距传感器和第二测距传感器时,第一测距传感器和第二测距传感器在水平面上间隔设置,第一垂直距离为第一测距传感器检测得到的最小距离,第二垂直距离为第二测距传感器检测得到的最小距离;或者,第一垂直距离为第一测距传感器从垂直于安装位置的水平方向检测得到的距离,第二垂直距离为第二测距传感器从垂直于安装位置的水平方向检测得到的距离。根据检测数据与测距装置的位置坐标,可以确定手术机器人的基准坐标系与手术床的基准坐标系之间的旋转角度作为姿态配准信息。When the ranging device includes a first ranging sensor and a second ranging sensor, the first ranging sensor and the second ranging sensor are arranged at intervals on the horizontal plane, and the first vertical distance is the minimum distance detected by the first ranging sensor, The second vertical distance is the minimum distance detected by the second distance sensor; or, the first vertical distance is the distance detected by the first distance sensor from a horizontal direction perpendicular to the installation position, and the second vertical distance is the second distance The distance the sensor detects from the horizontal direction perpendicular to the installation location. According to the detection data and the position coordinates of the ranging device, the rotation angle between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table can be determined as posture registration information.
手术机器人与手术床的其中另一设有位于测距装置的检测范围内的定位标记,检测数
据还包括测距装置与定位标记之间的距离、测距装置的检测角度,控制器还被配置成用于:The other one of the surgical robot and the operating bed is provided with a positioning mark within the detection range of the ranging device, and the detection number The data also includes the distance between the distance measuring device and the positioning mark, and the detection angle of the distance measuring device. The controller is also configured to:
根据检测数据、测距装置的位置坐标及定位标记的位置坐标,确定手术机器人的基准坐标系与手术机器人的基准坐标系之间的位置配准信息。Based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical robot is determined.
根据检测数据、测距装置的位置坐标及定位标记的位置坐标,可以确定定位标记在手术机器人的基准坐标系中的位置,进而结合定位标记在手术床的基准坐标系中的位置,可以得到手术机器人的基准坐标系与手术机器人的基准坐标系之间的位置关系,作为位置配准信息。从而,基于手术机器人的基准坐标系与手术床的基准坐标系之间的旋转角度及位置关系,得到位姿配准信息。According to the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, the position of the positioning mark in the reference coordinate system of the surgical robot can be determined, and then combined with the position of the positioning mark in the reference coordinate system of the operating bed, the operation result can be obtained The positional relationship between the robot's reference coordinate system and the surgical robot's reference coordinate system is used as position registration information. Therefore, pose registration information is obtained based on the rotation angle and positional relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
根据手术机器人的基准坐标系与手术床的基准坐标系之间的配准信息、以及穿刺装置在手术机器人的基准坐标系的位姿信息,可以确定穿刺装置与手术床的基准坐标系之间的姿态配准信息和/或位置配准信息,或者,手术床的台面与手术机器人的基准坐标系之间的姿态配准信息和/或位置配准信息。至此,实现了在手术床的台面进行位置和姿态变化时,主动控制手术机器人的驱动臂调整穿刺装置的位置和姿态的前提。According to the registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, and the posture information of the puncture device in the reference coordinate system of the surgical robot, the alignment between the puncture device and the reference coordinate system of the operating table can be determined. Attitude registration information and/or position registration information, or attitude registration information and/or position registration information between the table top of the operating table and the reference coordinate system of the surgical robot. At this point, the premise of actively controlling the driving arm of the surgical robot to adjust the position and posture of the puncture device when the position and posture of the operating table changes.
图11与图12示出了测距装置包括一个测距传感器时,对手术机器人和手术床进行配准的实现方式。Figures 11 and 12 illustrate the implementation of registering the surgical robot and the operating bed when the ranging device includes a ranging sensor.
(1)获取手术机器人的基准坐标系与手术床的基准坐标系之间的姿态配准信息。(1) Obtain the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
如图11所示,测距装置包括第一测距传感器503时,第一测距传感器503安装在第一固定转台502上,第一固定转台502与第一伺服电机504连接,第一伺服电机504安装在电机固定支架501上,上述结构安装在手术机器人上或手术台上。第一测距传感器503可选择激光测距传感器。定位标记513包括定位标记513所在安装侧510的两部分平面511、512的交界处,安装侧510可以是手术机器人或手术床的侧面,两部分平面、相互平行且在交界处存在高度差,该高度差例如为0.1mm,从而形成定位标记513,定位标记513的延伸方向垂直于水平面。当第一伺服电机504在程序控制下驱动第一固定转台502执行旋转运动时,第一测距传感器503发射的激光508照在定位标记513所在安装侧510,进而可以得到检测数据,检测数据包括手术机器人与手术床之间的第一垂直距离和第二垂直距离、第一测距装置503与定位标记513之间的距离、第一测距装置503的检测角度。As shown in Figure 11, when the ranging device includes a first ranging sensor 503, the first ranging sensor 503 is installed on the first fixed turntable 502. The first fixed turntable 502 is connected to the first servo motor 504. The first servo motor 504 is installed on the motor fixing bracket 501, and the above structure is installed on the surgical robot or operating table. The first ranging sensor 503 may select a laser ranging sensor. The positioning mark 513 includes the junction of the two planes 511 and 512 of the installation side 510 where the positioning mark 513 is located. The installation side 510 can be the side of the surgical robot or the operating bed. The two planes are parallel to each other and there is a height difference at the intersection. The height difference is, for example, 0.1 mm, thereby forming the positioning mark 513, and the extending direction of the positioning mark 513 is perpendicular to the horizontal plane. When the first servo motor 504 drives the first fixed turntable 502 to perform rotational motion under program control, the laser 508 emitted by the first ranging sensor 503 shines on the installation side 510 where the positioning mark 513 is located, and detection data can be obtained. The detection data includes The first vertical distance and the second vertical distance between the surgical robot and the operating bed, the distance between the first distance measuring device 503 and the positioning mark 513, and the detection angle of the first distance measuring device 503.
如图12所示,手术机器人的基准坐标系建立在基座401的中心位置,使得手术机器人的基准坐标系具有平行于地面的二维坐标系402(Orobot-Xrobot Yrobot)。手术床的基准坐标系建立在基座405的中心位置,使得手术床的基准坐标系具有平行于地面的二维坐标系406(Obed-XbedYbed),在不考虑地面不平整的情况下,手术机器人的基准坐标系的轴线Zrobot和手术床的基准坐标系的Zbed相互平行且垂直于地面,由于手术机器人与手术床之间相对位姿关系不固定,使得坐标系Orobot-XrobotYrobotZrobot与Obed-XbedYbedZbed之间存在绕Z轴向的夹角θz,该夹角θz即为用于手术机器人的基准坐标系与手术床的基准坐标系之间进行姿态定位的待获知变量。第一测距传感器503的初始方向为垂直于安装位置的出射方向,该初始方向位于水平面上且垂直手术机器人的基准坐标系的第一水平坐标轴(例如Xrobot轴)或第二水平坐标轴(例如Yrobot轴),图12中以Yrobot轴与手术机器人基座401的长轴平行或重合、且第一测距传感器503的初始方向垂直Yrobot轴进行示意。As shown in Figure 12, the reference coordinate system of the surgical robot is established at the center of the base 401, so that the reference coordinate system of the surgical robot has a two-dimensional coordinate system 402 (O robot- X robot Y robot ) parallel to the ground. The reference coordinate system of the operating table is established at the center of the base 405, so that the reference coordinate system of the operating table has a two-dimensional coordinate system 406 parallel to the ground (O bed- X bed Y bed ), without considering the uneven ground. Under the condition, the axis Z robot of the reference coordinate system of the surgical robot and the Z bed of the reference coordinate system of the operating table are parallel to each other and perpendicular to the ground. Since the relative posture relationship between the surgical robot and the operating table is not fixed, the coordinate system O robot - There is an angle θz around the Z axis between X robot Y robot Z robot and O bed- Variables to be known during attitude positioning. The initial direction of the first ranging sensor 503 is the emission direction perpendicular to the installation position, which is located on the horizontal plane and perpendicular to the first horizontal coordinate axis (for example, the X robot axis) or the second horizontal coordinate axis of the reference coordinate system of the surgical robot. (For example, Y robot axis). In FIG. 12 , the Y robot axis is parallel to or coincident with the long axis of the surgical robot base 401, and the initial direction of the first ranging sensor 503 is perpendicular to the Y robot axis.
当测距装置包括一个测距传感器时,第一垂直距离为测距传感器扫描得到的最小距离b,第二垂直距离为测距传感器从垂直于安装位置的水平方向扫描得到的距离a,依据三角函数定理,可以依据如下公式计算得到坐标系Orobot-XrobotYrobotZrobot与Obed-XbedYbedZbed之间绕Z轴向的夹角θz:
When the distance measuring device includes a distance measuring sensor, the first vertical distance is the minimum distance b scanned by the distance measuring sensor, and the second vertical distance is the distance a scanned by the distance measuring sensor from a horizontal direction perpendicular to the installation position, according to the triangle Function theorem, the angle θz around the Z axis between the coordinate system O robot- X robot Y robot Z robot and O bed- X bed Y bed Z bed can be calculated according to the following formula:
When the distance measuring device includes a distance measuring sensor, the first vertical distance is the minimum distance b scanned by the distance measuring sensor, and the second vertical distance is the distance a scanned by the distance measuring sensor from a horizontal direction perpendicular to the installation position, according to the triangle Function theorem, the angle θz around the Z axis between the coordinate system O robot- X robot Y robot Z robot and O bed- X bed Y bed Z bed can be calculated according to the following formula:
上述获取的夹角θz也即手术机器人的基准坐标系与手术床的基准坐标系之间的姿态配准信息。从而基于上述公式,即能够实现手术机器人的基准坐标系与手术床的基准坐标系之间准确的姿态定位,定位精度依赖于测距传感器的测量精度,该定位的实现是执行手术机器人与手术床联动的技术基础和实现前提条件。
The angle θz obtained above is also the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. Therefore, based on the above formula, it is possible to achieve accurate posture positioning between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. The positioning accuracy depends on the measurement accuracy of the ranging sensor. The realization of this positioning is to execute the operation between the surgical robot and the operating table. The technical basis and implementation prerequisites for linkage.
(2)获取手术机器人的基准坐标系与手术床的基准坐标系之间的位置配准信息。(2) Obtain the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
其中,根据检测数据、测距装置的位置坐标及定位标记的位置坐标,确定手术机器人的基准坐标系与手术床的基准坐标系之间的位置配准信息时,控制器被配置成用于:Among them, when determining the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, the controller is configured to:
获取手术机器人的基准坐标系与手术床的基准坐标系之间的姿态配准信息;Obtain attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;
根据测距装置与定位标记之间的距离、测距装置检测到定位标记的检测角度、测距装置在所安装设备的基准坐标系中的位置坐标,确定定位标记在测距装置所安装设备的基准坐标系中的位置坐标;According to the distance between the distance measuring device and the positioning mark, the detection angle of the positioning mark detected by the distance measuring device, and the position coordinates of the distance measuring device in the reference coordinate system of the installed equipment, determine the location of the positioning mark on the equipment where the distance measuring device is installed. Position coordinates in the reference coordinate system;
根据手术机器人的基准坐标系与手术床的基准坐标系之间的姿态配准信息、定位标记在测距装置所安装设备的基准坐标系中的位置坐标、定位标记在所在设备的基准坐标系中的位置坐标,确定手术机器人的基准坐标系与手术床的基准坐标系之间的位置配准信息。According to the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the position coordinates of the positioning mark in the reference coordinate system of the equipment where the distance measuring device is installed, and the position coordinates of the positioning mark in the reference coordinate system of the equipment where it is located. The position coordinates are used to determine the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
其中,测距装置所安装设备为手术机器人与手术床的其中之一,定位标记在所在设备为手术机器人与手术床的其中另一。The distance measuring device is installed on one of the surgical robot and the operating bed, and the positioning mark is on the other of the surgical robot and the operating bed.
检测数据中,测距装置与定位标记之间的距离以及测距装置的检测角度,采用如下方式获取,包括:In the detection data, the distance between the ranging device and the positioning mark and the detection angle of the ranging device are obtained in the following ways, including:
获取目标检测范围;Get the target detection range;
控制测距装置以目标检测范围旋转进行往复扫描;Control the ranging device to rotate in the target detection range to perform reciprocating scanning;
判断是否检测到定位标记;Determine whether the positioning mark is detected;
若是,则获取扫描到定位标记时对应的目标检测数据,目标检测数据包括目标距离;If so, obtain the corresponding target detection data when the positioning mark is scanned. The target detection data includes the target distance;
判断是否符合停止扫描的条件;Determine whether the conditions for stopping scanning are met;
若不符合停止扫描的条件,则缩小目标检测范围以作为更新后的目标检测范围,并返回控制测距装置以目标检测范围旋转进行往复扫描的步骤;If the conditions for stopping scanning are not met, the target detection range is reduced as the updated target detection range, and returns to the step of controlling the ranging device to rotate the target detection range for reciprocating scanning;
若符合停止扫描的条件,则根据获取的目标检测数据确定测距装置与定位标记之间的距离,以及获取与距离对应的检测角度作为测距装置的检测角度。If the conditions for stopping scanning are met, the distance between the distance measuring device and the positioning mark is determined based on the acquired target detection data, and the detection angle corresponding to the distance is obtained as the detection angle of the distance measuring device.
其中,停止扫描的条件,包括以下至少一项:Among them, the conditions for stopping scanning include at least one of the following:
检测到定位标记的次数达到预设次数;The number of times the positioning mark is detected reaches the preset number;
最近两次检测数据中的目标距离之差小于或等于预设差值;The difference between the target distances in the two most recent detection data is less than or equal to the preset difference;
目标检测范围缩小为常值;The target detection range is reduced to a constant value;
以目标检测范围扫描到唯一距离值。Scan the target detection range to a unique distance value.
其中,测距装置在驱动装置的驱动下执行往复扫描运动,扫描过程中随着不断检测到定位标记,检测范围将不断缩小,在此过程中,记录每次扫描到定位标记时的目标距离,同时也可以记录该目标距离对应的目标检测角度。如扫描次数达到2次以上,并且,最近两次检测数据中的目标距离之差小于或等于预设差值,则可以停止扫描,根据最近两次检测数据中的目标距离确定测距装置与定位标记之间的距离,例如可以取均值,或者取最近一次的目标距离,进而可以获取与最近一次的目标距离对应的检测角度,作为测距装置扫描到定位标记的检测角度。Among them, the ranging device performs reciprocating scanning motion driven by the driving device. As the positioning mark is continuously detected during the scanning process, the detection range will continue to shrink. During this process, the target distance when the positioning mark is scanned is recorded. At the same time, the target detection angle corresponding to the target distance can also be recorded. If the number of scans reaches more than 2 times, and the difference between the target distances in the last two detection data is less than or equal to the preset difference, the scanning can be stopped, and the ranging device and positioning device are determined based on the target distances in the last two detection data. For example, the distance between the markers can be averaged, or the latest target distance can be taken, and then the detection angle corresponding to the latest target distance can be obtained as the detection angle at which the distance measuring device scans the positioning mark.
另一实施方式中,还可以是在检测范围不断缩小至常值时停止扫描,此时测距装置对准定位标记,或者,以目标检测范围扫描到的数据中仅包含唯一距离值,此时测距装置同样对准定位标记,这种情况下,获取最后一次检测数据中的目标距离作为测距装置与定位标记之间的距离,同时,测距装置在停止运动后能够通过编码器数据采集和计算得到测距装置与出射的检测光之间的夹角,也即测距装置扫描到定位标记的检测角度。如此,通过设定停止扫描的条件,可以获取到精度较高的距离和检测角度,并提高测距效率。In another embodiment, scanning can also be stopped when the detection range continues to shrink to a constant value. At this time, the distance measuring device is aligned with the positioning mark, or the data scanned with the target detection range only contains a unique distance value. At this time, The ranging device is also aligned with the positioning mark. In this case, the target distance in the last detection data is obtained as the distance between the ranging device and the positioning mark. At the same time, the ranging device can collect data through the encoder after it stops moving. and calculate to obtain the angle between the distance measuring device and the emitted detection light, that is, the detection angle at which the distance measuring device scans the positioning mark. In this way, by setting the conditions for stopping scanning, a higher-precision distance and detection angle can be obtained, and the ranging efficiency can be improved.
如图12所示,第一测距传感器503与定位标记513之间的距离c采用上述方式扫描获取,此时,第一测距装置503扫描到定位标记513的检测角度包括第一测距传感器503对应于距离c的检测角度θ1。第一测距传感器503在坐标系Orobot-XrobotYrobot的坐标为(xr1,yr1),依据三角函数定理,可以计算得到定位标记513在手术机器人的基准坐标系中的位置坐标,也即定位标记513在坐标系Orobot-XrobotYrobot中的坐标(xrb1,yrb1),表
示为:
As shown in Figure 12, the distance c between the first ranging sensor 503 and the positioning mark 513 is scanned and obtained in the above manner. At this time, the first ranging device 503 scans to the detection angle of the positioning mark 513 including the first ranging sensor. 503 corresponds to the detection angle θ 1 of distance c. The coordinates of the first ranging sensor 503 in the coordinate system O robot- That is , the coordinates (x rb1 , y rb1 ) of the positioning mark 513 in the coordinate system O robot- Shown as:
As shown in Figure 12, the distance c between the first ranging sensor 503 and the positioning mark 513 is scanned and obtained in the above manner. At this time, the first ranging device 503 scans to the detection angle of the positioning mark 513 including the first ranging sensor. 503 corresponds to the detection angle θ 1 of distance c. The coordinates of the first ranging sensor 503 in the coordinate system O robot- That is , the coordinates (x rb1 , y rb1 ) of the positioning mark 513 in the coordinate system O robot- Shown as:
至此,得到手术机器人的基准坐标系与手术床的基准坐标系之间的位置配准信息。At this point, the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is obtained.
应该理解的是,图11与图12是以测距装置安装在手术机器人上为示例进行说明,但测距装置安装在手术台上也同样可以通过相同的运算来确定手术机器人的基准坐标系与手术床的基准坐标系之间的配准信息,在此不再赘述。It should be understood that Figures 11 and 12 are illustrated with the distance measuring device installed on the surgical robot as an example, but the distance measuring device can also be installed on the operating table to determine the reference coordinate system and the surgical robot through the same calculation. The registration information between the reference coordinate systems of the operating table will not be described again here.
值得一提的是,在完成上述位姿配准过程后,可以基于当前手术床的台面的运动,主动控制驱动臂调整穿刺装置的姿态,或者主动控制驱动臂调整穿刺装置的位置和姿态,以实现在不解除手术机器人与患者对接关系的情况下调整手术床,提高操作效率和安全性。It is worth mentioning that after completing the above pose registration process, the driving arm can be actively controlled to adjust the posture of the puncture device based on the movement of the current tabletop of the operating table, or the driving arm can be actively controlled to adjust the position and posture of the puncture device, so as to It is possible to adjust the operating bed without releasing the docking relationship between the surgical robot and the patient, thereby improving operating efficiency and safety.
图13与图14示出了测距装置包括两个测距传感器时,对手术机器人和手术床进行配准的实现方式。Figures 13 and 14 illustrate the implementation of registering the surgical robot and the operating table when the ranging device includes two ranging sensors.
如图13所示,测距装置包括第一测距传感器503与第二测距传感器506,第一测距传感器503和第二测距传感器506在水平面上间隔设置,第一测距传感器503安装在第一固定转台502上,第一固定转台502与第一伺服电机504连接,第二测距传感器506安装在第二固定转台505上,第二固定转台505与第二伺服电机507连接,第一伺服电机504和第二伺服电机507安装在电机固定支架501上,上述结构安装在手术机器人上或手术台上。安装过程中的第一伺服电机504和第二伺服电机507的初始状态设置为使得第一测距传感器503与第二测距传感器506射出的两条光束相互平行。其中,第一测距传感器503与第二测距传感器506可选择激光测距传感器。定位标记513包括定位标记513所在安装侧510的两部分平面511、512的交界处,安装侧510可以是手术机器人或手术床的侧面,两部分平面、相互平行且在交界处存在高度差,该高度差例如为0.1mm,从而形成定位标记513,定位标记513的延伸方向垂直于水平面。当第一伺服电机504和第二伺服电机507在程序控制下驱动第一固定转台502和第二固定转台505执行旋转运动时,第一测距传感器503发射的激光与第二测距传感器506发射的激光508、509照在定位标记513所在安装侧510,进而可以得到检测数据,检测数据包括手术机器人与手术床之间的第一垂直距离和第二垂直距离、测距装置与定位标记513之间的距离、测距装置的检测角度。As shown in Figure 13, the ranging device includes a first ranging sensor 503 and a second ranging sensor 506. The first ranging sensor 503 and the second ranging sensor 506 are arranged at intervals on the horizontal plane. The first ranging sensor 503 is installed On the first fixed turntable 502, the first fixed turntable 502 is connected to the first servo motor 504, the second distance sensor 506 is installed on the second fixed turntable 505, and the second fixed turntable 505 is connected to the second servo motor 507. A servo motor 504 and a second servo motor 507 are installed on the motor fixing bracket 501, and the above structure is installed on the surgical robot or the operating table. The initial state of the first servo motor 504 and the second servo motor 507 during the installation process is set so that the two light beams emitted by the first distance sensor 503 and the second distance sensor 506 are parallel to each other. Among them, the first ranging sensor 503 and the second ranging sensor 506 may be laser ranging sensors. The positioning mark 513 includes the junction of the two planes 511 and 512 of the installation side 510 where the positioning mark 513 is located. The installation side 510 can be the side of the surgical robot or the operating bed. The two planes are parallel to each other and there is a height difference at the intersection. The height difference is, for example, 0.1 mm, thereby forming a positioning mark 513 whose extending direction is perpendicular to the horizontal plane. When the first servo motor 504 and the second servo motor 507 drive the first fixed turntable 502 and the second fixed turntable 505 to perform rotational motion under program control, the laser emitted by the first ranging sensor 503 and the laser emitted by the second ranging sensor 506 The lasers 508 and 509 are illuminated on the installation side 510 where the positioning mark 513 is located, and the detection data can be obtained. The detection data includes the first vertical distance and the second vertical distance between the surgical robot and the operating bed, the ranging device and the positioning mark 513. distance between them and the detection angle of the distance measuring device.
如图14所示,第一测距传感器503与第二测距传感器506间隔设置在手术机器人的基座,第一测距传感器503与第二测距传感器506的初始方向为垂直于安装位置的出射方向,该初始方向位于水平面上且垂直手术机器人的基准坐标系的第一水平坐标轴(例如Xrobot轴)或第二水平坐标轴(例如Yrobot轴),图14中以Yrobot轴与手术机器人基座的长轴平行或重合、且第一测距传感器503与第二测距传感器506的初始方向垂直Yrobot轴进行示意。As shown in Figure 14, the first ranging sensor 503 and the second ranging sensor 506 are arranged at intervals on the base of the surgical robot. The initial directions of the first ranging sensor 503 and the second ranging sensor 506 are perpendicular to the installation position. The exit direction, the initial direction is located on the horizontal plane and is perpendicular to the first horizontal coordinate axis (such as the X robot axis) or the second horizontal coordinate axis (such as the Y robot axis) of the reference coordinate system of the surgical robot. In Figure 14, the Y robot axis and It is shown that the long axes of the surgical robot base are parallel or coincident, and the initial directions of the first ranging sensor 503 and the second ranging sensor 506 are perpendicular to the Y robot axis.
检测数据中的第一垂直距离为第一测距传感器503从垂直于安装位置的水平方向扫描得到的距离b,第二垂直距离为第二测距传感器506从垂直于安装位置的水平方向扫描得到的距离c,第一测距传感器503和第二测距传感器506的连线平行于Yrobot轴,第一测距传感器503和第二测距传感器506之间的距离为a,依据三角函数定理,可以采用如下公式计算得到坐标系Orobot-XrobotYrobotZrobot与Obed-XbedYbedZbed之间绕Z轴向的夹角θz:
The first vertical distance in the detection data is the distance b obtained by the first ranging sensor 503 scanning from the horizontal direction perpendicular to the installation position, and the second vertical distance is the distance b obtained by the second ranging sensor 506 scanning from the horizontal direction perpendicular to the installation position. The distance c, the connection line between the first ranging sensor 503 and the second ranging sensor 506 is parallel to the Y robot axis, the distance between the first ranging sensor 503 and the second ranging sensor 506 is a, according to the trigonometric function theorem , the angle θz around the Z axis between the coordinate system O robot- X robot Y robot Z robot and O bed- X bed Y bed Z bed can be calculated using the following formula:
The first vertical distance in the detection data is the distance b obtained by the first ranging sensor 503 scanning from the horizontal direction perpendicular to the installation position, and the second vertical distance is the distance b obtained by the second ranging sensor 506 scanning from the horizontal direction perpendicular to the installation position. The distance c, the connection line between the first ranging sensor 503 and the second ranging sensor 506 is parallel to the Y robot axis, the distance between the first ranging sensor 503 and the second ranging sensor 506 is a, according to the trigonometric function theorem , the angle θz around the Z axis between the coordinate system O robot- X robot Y robot Z robot and O bed- X bed Y bed Z bed can be calculated using the following formula:
在另一实施例中,测距装置包括第一测距传感器503与第二测距传感器506时,第一垂直距离还可以为第一测距传感器503扫描得到的最小距离,也即第一测距传感器503向手术床的侧面做垂线的长度,第二垂直距离还可以为第二测距传感器506扫描得到的最小距离,也即第二测距传感器506向手术床的侧面做垂线的长度,基于该两个最小距离计算夹角θz的原理与公式(8)相同,不再赘述。In another embodiment, when the ranging device includes a first ranging sensor 503 and a second ranging sensor 506, the first vertical distance may also be the minimum distance scanned by the first ranging sensor 503, that is, the first ranging sensor 503. The second vertical distance can also be the minimum distance scanned by the second ranging sensor 506, that is, the length of the vertical line drawn by the second ranging sensor 503 to the side of the operating bed. length, the principle of calculating the angle θz based on the two minimum distances is the same as formula (8) and will not be described again.
(2)获取手术机器人的基准坐标系与手术床的基准坐标系之间的位置配准信息。(2) Obtain the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
其中,根据检测数据、测距装置的位置坐标及定位标记的位置坐标,确定手术机器人
的基准坐标系与手术床的基准坐标系之间的位置配准信息时,控制器被配置成用于:Among them, according to the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, the surgical robot is determined The controller is configured to:
获取手术机器人的基准坐标系与手术床的基准坐标系之间的姿态配准信息;Obtain attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;
根据测距装置与定位标记之间的距离、测距装置检测到定位标记的检测角度、测距装置在所安装设备的基准坐标系中的位置坐标,确定定位标记在测距装置所安装设备的基准坐标系中的位置坐标;According to the distance between the distance measuring device and the positioning mark, the detection angle of the positioning mark detected by the distance measuring device, and the position coordinates of the distance measuring device in the reference coordinate system of the installed equipment, determine the location of the positioning mark on the equipment where the distance measuring device is installed. Position coordinates in the reference coordinate system;
根据手术机器人的基准坐标系与手术床的基准坐标系之间的姿态配准信息、定位标记在测距装置所安装设备的基准坐标系中的位置坐标、定位标记在所在设备的基准坐标系中的位置坐标,确定手术机器人的基准坐标系与手术床的基准坐标系之间的位置配准信息。According to the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the position coordinates of the positioning mark in the reference coordinate system of the equipment where the distance measuring device is installed, and the position coordinates of the positioning mark in the reference coordinate system of the equipment where it is located. The position coordinates are used to determine the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
检测数据中,测距装置与定位标记513之间的距离以及测距装置的检测角度采用与前述的扫描方式相同的方式获取,不再赘述。In the detection data, the distance between the ranging device and the positioning mark 513 and the detection angle of the ranging device are obtained in the same manner as the aforementioned scanning method, and will not be described again.
如图14所示,测距装置包括第一测距传感器503与第二测距传感器506时,第一测距传感器503与定位标记513之间的距离d,以及第二测距传感器506与定位标记513之间的距离e采用上述扫描方式获取,此时,测距装置扫描到定位标记513的检测角度包括第一测距传感器503对应于距离d的检测角度θ1以及第二测距传感器506对应于距离e的检测角度θ2。As shown in Figure 14, when the ranging device includes a first ranging sensor 503 and a second ranging sensor 506, the distance d between the first ranging sensor 503 and the positioning mark 513, and the distance between the second ranging sensor 506 and the positioning mark 513. The distance e between the marks 513 is obtained using the above scanning method. At this time, the detection angle of the positioning mark 513 scanned by the distance measuring device includes the detection angle θ 1 of the first distance sensor 503 corresponding to the distance d and the detection angle θ 1 of the second distance sensor 506 The detection angle θ 2 corresponds to the distance e.
记第一测距传感器503与第二测距传感器506在坐标系Orobot-XrobotYrobot中的坐标分别为(xr1,yr1)和(xr2,yr2),定位标记513在俯视图中被简化为一点并且已知其在坐标系Obed-XbedYbed中的坐标为(xb1,0),依据三角函数定理,可以计算得到定位标记513在手术机器人的基准坐标系中的位置坐标,也即定位标记513在坐标系Orobot-XrobotYrobot中的坐标(xrb1,yrb1),表示为:
Note that the coordinates of the first ranging sensor 503 and the second ranging sensor 506 in the coordinate system O robot- is simplified to a point and it is known that its coordinates in the coordinate system O bed- The position coordinates, that is, the coordinates (x rb1 , y rb1 ) of the positioning mark 513 in the coordinate system O robot- X robot Y robot , are expressed as:
Note that the coordinates of the first ranging sensor 503 and the second ranging sensor 506 in the coordinate system O robot- is simplified to a point and it is known that its coordinates in the coordinate system O bed- The position coordinates, that is, the coordinates (x rb1 , y rb1 ) of the positioning mark 513 in the coordinate system O robot- X robot Y robot , are expressed as:
依据上述公式(8)和公式(9),可以计算得出手术台的基准坐标系的坐标原点Obed在手术机器人的基准坐标系中的位置坐标(xro1,yro1),表示为:
According to the above formula (8) and formula (9), the position coordinates (x ro1 , y ro1 ) of the coordinate origin O bed of the operating table's reference coordinate system in the surgical robot's reference coordinate system can be calculated, expressed as:
According to the above formula (8) and formula (9), the position coordinates (x ro1 , y ro1 ) of the coordinate origin O bed of the operating table's reference coordinate system in the surgical robot's reference coordinate system can be calculated, expressed as:
至此,得到手术机器人的基准坐标系与手术床的基准坐标系之间的位置配准信息。At this point, the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is obtained.
应该理解的是,图13与图14是以测距装置安装在手术机器人上为示例进行说明,但测距装置安装在手术台上也同样可以通过相同的运算来确定手术机器人的基准坐标系与手术床的基准坐标系之间的配准信息,在此不再赘述。It should be understood that Figures 13 and 14 are illustrated with the distance measuring device installed on the surgical robot as an example, but the distance measuring device can also be installed on the operating table to determine the reference coordinate system and the surgical robot through the same calculation. The registration information between the reference coordinate systems of the operating table will not be described again here.
值得一提的是,在完成上述位姿配准过程后,可以基于当前手术床的台面的运动,主动控制驱动臂调整穿刺装置的姿态,或者主动控制驱动臂调整穿刺装置的位置和姿态,以实现在不解除手术机器人与患者对接关系的情况下调整手术床,提高操作效率和安全性。It is worth mentioning that after completing the above pose registration process, the driving arm can be actively controlled to adjust the posture of the puncture device based on the movement of the current tabletop of the operating table, or the driving arm can be actively controlled to adjust the position and posture of the puncture device, so as to It is possible to adjust the operating bed without releasing the docking relationship between the surgical robot and the patient, thereby improving operating efficiency and safety.
图15与图16示出了测距装置包括三个测距传感器时,对手术机器人和手术床进行配准的实现方式。Figures 15 and 16 show the implementation of registering the surgical robot and the operating table when the ranging device includes three ranging sensors.
(1)获取手术机器人的基准坐标系与手术床的基准坐标系之间的姿态配准信息。(1) Obtain the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
与图11所示的设计不同,图15所示设计包括第一测距传感器503与两个第三测距传感器521,第一测距传感器503的安装结构与图11所示相同,不再赘述,两个第三测距传感器521方向固定。Different from the design shown in Figure 11, the design shown in Figure 15 includes a first ranging sensor 503 and two third ranging sensors 521. The installation structure of the first ranging sensor 503 is the same as that shown in Figure 11 and will not be described again. , the directions of the two third ranging sensors 521 are fixed.
第一测距传感器503与两个第三测距传感器521可以包括激光传感器,激光传感器通常具有超高精度以利于精准测距,激光传感器可以发射激光束,当激光束照射至被测物体时,便可以测得两者之间的距离。第一测距传感器503与两个第三测距传感器521还可以包括红外传感器、视觉传感器、超声波传感器或者雷达传感器等。The first ranging sensor 503 and the two third ranging sensors 521 may include laser sensors. Laser sensors usually have ultra-high precision to facilitate accurate ranging. The laser sensors can emit laser beams. When the laser beams are irradiated to the object to be measured, You can measure the distance between the two. The first ranging sensor 503 and the two third ranging sensors 521 may also include infrared sensors, visual sensors, ultrasonic sensors, radar sensors, etc.
可选的,为了更便于测距装置发射测距信号,手术机器人和手术床相邻的两个面设置测距装置或者接收测距装置发射的信号。可以理解的是,也可以在手术机器人或者手术床支撑部位的顶面设置测距装置,或者可以设置在面与面的交线上,本公开对此不进行限定,
只要测距信号可以被接收方接收即可。其中支撑部位可以包括例如基座或者支撑柱。设置测距装置的面可以称为安装面。Optionally, in order to make it easier for the ranging device to transmit ranging signals, two adjacent surfaces of the surgical robot and the operating bed are provided with ranging devices or receive signals transmitted by the ranging devices. It can be understood that the distance measuring device can also be provided on the top surface of the surgical robot or the operating table support part, or can be provided on the intersection line of the surfaces. This disclosure is not limited to this. As long as the ranging signal can be received by the receiver. The supporting part may include, for example, a base or a supporting column. The surface on which the distance measuring device is set can be called the mounting surface.
本公开实施例在手术机器人和手术床中任意一个中的相邻面上设置定位标记513。例如第一测距装置设置在手术机器人,则定位标记513设置在手术床;设置在手术床,则定位标记513设置在手术机器人。测距装置可以识别定位标记513,当测距装置发射的测距信号发射至定位标记513时,可以提示用户,测距装置此时对应的距离测量值表征测距装置与定位标记513的距离,可以作为手术机器人和手术床的相对位置距离。其中提示用户,可以采用任何的声音、图像或者消息等形式,本公开不进行具体的限制。The embodiment of the present disclosure provides positioning marks 513 on adjacent surfaces of any one of the surgical robot and the operating bed. For example, if the first ranging device is installed on the surgical robot, then the positioning mark 513 is set on the operating bed; if it is installed on the operating bed, then the positioning mark 513 is set on the surgical robot. The ranging device can identify the positioning mark 513. When the ranging signal emitted by the ranging device is transmitted to the positioning mark 513, the user can be prompted that the corresponding distance measurement value of the ranging device at this time represents the distance between the ranging device and the positioning mark 513. It can be used as the relative position distance between the surgical robot and the operating bed. The prompt to the user may be in any form such as sound, image or message, and this disclosure does not impose specific restrictions.
本公开实施例中定位标记513用于被测距装置识别,从而获取此时测距装置对应的距离测量值,以便于计算手术机器人的基坐标系和手术床的基坐标系的位置平移。其中,手术机器人的基坐标系和手术床的基坐标系其中一个可以称为第一坐标系,另外一个可以称为第二坐标系。为了便于被第一测距装置识别,定位标记513在手术机器人或者手术床的安装面设置后,定位标记513与安装面具有高度差。安装面指定位标记513设置在手术机器人或者手术床的位置,例如可以是上表面(顶面)、侧面或者两个面的交线上。可选的,定位标记513为具有一定厚度的标签,标签可以粘贴或者其他方式固定在安装面上。标签可以具有一定的宽度,或者也可以比较窄,当比较窄的时候可以被视为具有一定厚度的线。可选的,也可通过将安装面制作成具有落差的平面。该交面可以作为定位标记513。或者,将安装面设置凹槽,同理,凹槽可以具有一定的宽度,或者也可以比较窄。或者,将安装面设置凸起,同理,凸起可以具有一定的宽度,或者也可以比较窄。In the embodiment of the present disclosure, the positioning mark 513 is used to be recognized by the ranging device, so as to obtain the distance measurement value corresponding to the ranging device at this time, so as to calculate the position translation of the base coordinate system of the surgical robot and the base coordinate system of the operating bed. Among them, one of the base coordinate system of the surgical robot and the base coordinate system of the operating table may be called the first coordinate system, and the other may be called the second coordinate system. In order to be easily recognized by the first distance measuring device, after the positioning mark 513 is set on the installation surface of the surgical robot or operating table, there is a height difference between the positioning mark 513 and the installation surface. The mounting surface designation positioning mark 513 is set at the position of the surgical robot or operating table, for example, it can be the upper surface (top surface), the side surface, or the intersection of the two surfaces. Optionally, the positioning mark 513 is a label with a certain thickness, and the label can be pasted or fixed on the installation surface in other ways. Labels can be of a certain width, or they can be narrower, when narrower they can be treated as lines of certain thickness. Alternatively, the mounting surface can also be made into a flat surface with a drop. This intersection can serve as a positioning mark 513. Alternatively, a groove may be provided on the mounting surface. Similarly, the groove may have a certain width or may be relatively narrow. Alternatively, the mounting surface is provided with protrusions. Similarly, the protrusions can have a certain width or can be relatively narrow.
本公开实施例通过设置定位标记513形成两个高度不同的面,可以被测距装置识别从而获取手术机器人和手术床的相对位置,便于确定第一坐标系与第二坐标系的位置平移。In the embodiment of the present disclosure, two surfaces with different heights are formed by setting positioning marks 513, which can be recognized by the ranging device to obtain the relative position of the surgical robot and the operating table, thereby facilitating the determination of the positional translation of the first coordinate system and the second coordinate system.
进一步的,定位标记513的数量可以大于等于1。Further, the number of positioning marks 513 may be greater than or equal to 1.
若定位标记513的数量等于1时,通过驱动装置驱动测距装置运动,当测距装置识别到定位标记513时,获取驱动装置对应的角度测量值,并基于角度测量值作为测距装置与所在设备之间的夹角,以确定测距装置和定位标记513的相对姿态,例如角度测量值作为相对姿态;以及,获取测距装置对应的距离测量值,并基于距离测量值确定测距装置和定位标记513的距离。If the number of positioning marks 513 is equal to 1, the distance measuring device is driven by the driving device to move. When the distance measuring device recognizes the positioning mark 513, the angle measurement value corresponding to the driving device is obtained, and based on the angle measurement value, the distance measurement device and the location are determined. The angle between the devices to determine the relative posture of the distance measuring device and the positioning mark 513, such as the angle measurement value as the relative posture; and, obtain the distance measurement value corresponding to the distance measurement device, and determine the distance measurement device and the distance measurement value based on the distance measurement value Distance of positioning mark 513.
若定位标记513的数量大于1时,通过驱动装置驱动测距装置运动,识别定位标记513中的至少一个,并以识别到定位标记513时,驱动装置对应的角度测量值和测距装置对应的距离测量值,分别确定测距装置和定位标记513的相对姿态、测距装置和定位标记513的相对位置。例如,设置了个定位标记513,可以选择识别各定位标记513时对应的角度测量值和距离测量值来确定位置平移,也可以选择识别部分定位标记513时对应的角度测量值和距离测量值来确定位置平移。If the number of positioning marks 513 is greater than 1, the distance measuring device is driven by the driving device to move, identifying at least one of the positioning marks 513, and when the positioning mark 513 is recognized, the angle measurement value corresponding to the driving device and the angle measurement value corresponding to the distance measuring device are The distance measurement value determines the relative attitude of the distance measuring device and the positioning mark 513, and the relative position of the distance measuring device and the positioning mark 513 respectively. For example, if a positioning mark 513 is set, you can select the corresponding angle measurement value and distance measurement value when identifying each positioning mark 513 to determine the position translation, or you can select the corresponding angle measurement value and distance measurement value when identifying part of the positioning mark 513 to determine the position translation. Determine the position translation.
当定位标记513的数量大于1时,则需要确定所识别的定位标记513的安装参数。例如可以通过逐个识别的方式,可以确定安装参数、角度测量值和距离测量值的对应关系。或者可以忽略识别到某些定位标记513时对应的测量值,则结合忽略的规律,确定安装参数、角度测量值和距离测量值的对应关系。例如5个定位标记513,我们选择忽略第2和第4个定位标记513对应的测量值,则识别到第1个、第3个和第5时记录对应的测量值,并获取第1个、第3个和第5个定位标记513的安装参数,这样可以基于前述的公式进一步确定第一坐标系与第二坐标系的位置平移。进一步的,可以基于角度测量值的大小,确定与定位标记513的对应关系。例如,第1个定位标记513对应的角度测量值>第3个定位标记513对应的角度测量值>第5个定位标记513对应的角度测量值。When the number of positioning marks 513 is greater than 1, the installation parameters of the identified positioning marks 513 need to be determined. For example, the corresponding relationship between the installation parameters, angle measurement values and distance measurement values can be determined by identifying them one by one. Or the corresponding measurement values when certain positioning marks 513 are recognized can be ignored, and then the corresponding relationship between the installation parameters, angle measurement values and distance measurement values is determined based on the neglect rules. For example, there are 5 positioning marks 513. If we choose to ignore the measurement values corresponding to the 2nd and 4th positioning marks 513, the corresponding measurement values will be recorded when the 1st, 3rd and 5th positioning marks are identified, and the 1st, 3rd and 5th positioning marks will be obtained. The installation parameters of the third and fifth positioning marks 513 can further determine the positional translation of the first coordinate system and the second coordinate system based on the aforementioned formula. Further, the corresponding relationship with the positioning mark 513 can be determined based on the size of the angle measurement value. For example, the angle measurement value corresponding to the first positioning mark 513 > the angle measurement value corresponding to the third positioning mark 513 > the angle measurement value corresponding to the fifth positioning mark 513 .
进一步的,识别到至少一个定位标记513后,可以根据定位标记513对应的安装参数、角度测量值和距离测量值,进一步确定定位标记513对应的第一坐标系与第二坐标系的位置平移。为了进一步提高配准的准确度,可以舍弃部分数据,例如明显不合理的数据,留取部分数据并求取坐标系之间的位置平移,例如通过平均加权的方法求取标系之间的位置
平移。Further, after at least one positioning mark 513 is identified, the position translation of the first coordinate system and the second coordinate system corresponding to the positioning mark 513 can be further determined based on the installation parameters, angle measurement values and distance measurement values corresponding to the positioning mark 513 . In order to further improve the accuracy of registration, some data can be discarded, such as obviously unreasonable data, and some data can be retained and the position translation between coordinate systems can be obtained. For example, the position between coordinate systems can be obtained by using the average weighting method. Pan.
本公开实施例通过设置多个定位标记513,可以提高识别定位标记513的概率和效率,从而提高配准的准确度。By setting multiple positioning marks 513, the embodiment of the present disclosure can improve the probability and efficiency of identifying the positioning marks 513, thereby improving the accuracy of registration.
获取手术机器人和手术床的姿态配准关系包括:Obtaining the posture registration relationship between the surgical robot and the operating table includes:
获取第一测距传感器503测得的手术机器人与手术床之间的第一距离,以及驱动装置测得的第一测距传感器503与所在设备之间的夹角,所在设备即第一测距传感器503所安装的设备,包括手术机器人与手术床的其中之一。可选的,第一测距传感器503在驱动装置的驱动下转动。同理,第一测距传感器503与所在设备之间的夹角可以选用第一测距传感器503发射的测距信号与所在设备之间的夹角,例如第一测距传感器503发射的测距信号与第一测距传感器503的安装面、安装面垂面或者所在设备的基坐标系的水平坐标轴方向。可选的,可以在转动过程中,选择任意时刻记录第一测距传感器503测得的距离测量值和驱动装置测得的角度测量值,并将距离测量值作为手术机器人与手术床之间的第一距离,角度测量值作为第一测距传感器503与所在设备之间的夹角。Obtain the first distance between the surgical robot and the operating table measured by the first ranging sensor 503, and the angle between the first ranging sensor 503 measured by the driving device and the device where it is located, which is the first ranging device. The device on which the sensor 503 is installed includes one of a surgical robot and an operating bed. Optionally, the first ranging sensor 503 is driven by the driving device to rotate. Similarly, the angle between the first ranging sensor 503 and the device where it is located can be the angle between the ranging signal emitted by the first ranging sensor 503 and the device where it is located, for example, the ranging signal emitted by the first ranging sensor 503 The signal is related to the installation surface of the first distance sensor 503, the vertical surface of the installation surface, or the horizontal coordinate axis direction of the base coordinate system of the device where it is located. Optionally, during the rotation process, you can choose to record the distance measurement value measured by the first distance sensor 503 and the angle measurement value measured by the driving device at any time, and use the distance measurement value as the distance between the surgical robot and the operating bed. The first distance and angle measurement value is used as the angle between the first distance sensor 503 and the device where it is located.
获取第三测距传感器521测得的手术机器人与手术床之间的第二距离。Obtain the second distance between the surgical robot and the operating bed measured by the third ranging sensor 521.
获取第三测距传感器521与所在设备之间的夹角。Obtain the angle between the third ranging sensor 521 and the device where it is located.
第三测距传感器521在安装时还可以记录其安装角度,例如以第三测距传感器521发射的测距信号与所在设备之间的夹角作为其安装角度。安装角度记录后可以存储在手术机器人系统中以备使用,当然也可以存储于其他位置,例如服务器或者云端等等。The third ranging sensor 521 can also record its installation angle when installed. For example, the angle between the ranging signal emitted by the third ranging sensor 521 and the device where it is located is used as its installation angle. After the installation angle is recorded, it can be stored in the surgical robot system for use. Of course, it can also be stored in other locations, such as servers or clouds, etc.
或者为第三测距传感器521也配备驱动装置,实现原理如第一测距传感器503配备驱动装置,因此也可以实时获取第三测距传感器521测得的距离测量值和驱动装置测得的角度测量值,并将距离测量值作为第三测距传感器521测得的手术机器人与手术床之间的第二距离,角度测量值作为第三测距传感器521与所在设备之间的夹角。Or the third distance sensor 521 is also equipped with a driving device. The implementation principle is as follows: the first distance sensor 503 is equipped with a driving device. Therefore, the distance measurement value measured by the third distance sensor 521 and the angle measured by the driving device can also be obtained in real time. Measure the value, and use the distance measurement value as the second distance between the surgical robot and the operating bed measured by the third distance sensor 521, and the angle measurement value as the angle between the third distance sensor 521 and the device where it is located.
获取第一测距传感器503与第三测距传感器521之间的位置关系。同理,该位置关系可以根据安装参数确定。The positional relationship between the first ranging sensor 503 and the third ranging sensor 521 is obtained. Similarly, the position relationship can be determined based on the installation parameters.
基于第一距离、第二距离、第一测距传感器503与所在设备之间的夹角、第三测距传感器521与所在设备之间的夹角,以及第一测距传感器503与第三测距传感器521之间的位置关系,确定手术机器人的基坐标系与手术床的基坐标系之间的姿态配准关系。Based on the first distance, the second distance, the angle between the first distance sensor 503 and the device, the angle between the third distance sensor 521 and the device, and the angle between the first distance sensor 503 and the third distance sensor. The positional relationship between the distance sensors 521 determines the posture registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table.
本公开实施例通过根据第一测距传感器503与第三测距传感器521测量的距离测量值,以及第一测距传感器503与第三测距传感器521与所在设备之间的夹角,可以灵活的获得手术机器人的基坐标系与手术床的基坐标系之间的姿态配准关系。可选的,为了减少获取第一测距传感器503与第三测距传感器521与所在设备之间的夹角,可以在安装第三测距传感器521时使其发出的测距信号基本垂直于所在设备,且不需要配备驱动装置,获取第三测距传感器521测得的距离测量值,将距离测量值作为手术机器人与手术床之间的第二距离;并且在第一测距传感器503的测距信号基本垂直于所在设备时,获取第一测距传感器503测得的距离测量值,并将距离测量值作为手术机器人与手术床之间的第一距离。其中基本垂直于所在设备,可以理解为基本垂直于安装面、或者所在设备的基坐标系的水平坐标轴方向。The embodiment of the present disclosure can flexibly measure the distance measured by the first distance sensor 503 and the third distance sensor 521 and the angle between the first distance sensor 503 and the third distance sensor 521 and the device where they are located. Obtain the attitude registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table. Optionally, in order to reduce the angle between the first ranging sensor 503 and the third ranging sensor 521 and the device where they are located, the third ranging sensor 521 can be installed so that the ranging signal it emits is basically perpendicular to where it is located. equipment, and does not need to be equipped with a driving device, obtains the distance measurement value measured by the third distance measurement sensor 521, and uses the distance measurement value as the second distance between the surgical robot and the operating bed; and in the measurement of the first distance measurement sensor 503 When the distance signal is substantially perpendicular to the device, the distance measurement value measured by the first distance sensor 503 is obtained, and the distance measurement value is used as the first distance between the surgical robot and the operating bed. Basically perpendicular to the device where it is located can be understood as basically perpendicular to the installation surface or the horizontal coordinate axis direction of the base coordinate system of the device where it is located.
获取第一测距传感器503与第三测距传感器521之间的位置关系。The positional relationship between the first ranging sensor 503 and the third ranging sensor 521 is obtained.
基于第一距离、第二距离、以及第一测距传感器503与第三测距传感器521之间的位置关系,确定手术机器人的基坐标系与手术床的基坐标系之间的姿态配准关系。Based on the first distance, the second distance, and the positional relationship between the first ranging sensor 503 and the third ranging sensor 521, the posture registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table is determined. .
示例性的,以第一测距传感器503设置在手术机器人,定位标记513设置在手术床为例,第一测距传感器503在驱动装置的带动下运动扫描,当第一测距传感器503发射的测距信号垂直于手术机器人时,获取第一测距传感器503对应的距离测量值,记为手术机器人与手术床之间的第一距离e,如图16本发明一实施例提供的手术机器人系统的配准示意图所示。For example, taking the first distance sensor 503 being installed on the surgical robot and the positioning mark 513 being installed on the operating bed, the first distance sensor 503 moves and scans driven by the driving device. When the first distance sensor 503 emits When the ranging signal is perpendicular to the surgical robot, the distance measurement value corresponding to the first ranging sensor 503 is obtained, which is recorded as the first distance e between the surgical robot and the operating bed, as shown in Figure 16 of the surgical robot system provided by an embodiment of the present invention. The registration diagram is shown.
获取第三测距传感器521对应的距离测量值,记为手术机器人与手术床的第二距离f。
The distance measurement value corresponding to the third ranging sensor 521 is obtained, which is recorded as the second distance f between the surgical robot and the operating bed.
获取第一测距传感器503与第三测距传感器521之间的位置关系h1,h1表征第一测距传感器503和第三测距传感器521之间的距离。The positional relationship h1 between the first ranging sensor 503 and the third ranging sensor 521 is obtained, where h1 represents the distance between the first ranging sensor 503 and the third ranging sensor 521 .
进一步的,基于第一距离e和第二距离f,确定手术机器人的和手术床之间的相对姿态θz。
Further, based on the first distance e and the second distance f, the relative posture θ z between the surgical robot and the operating table is determined.
Further, based on the first distance e and the second distance f, the relative posture θ z between the surgical robot and the operating table is determined.
根据相对姿态θz确定手术机器人的基坐标系和手术床的基坐标系之间的配准关系,具体可采用现有技术中的坐标系变换原理,本公开对此不进行具体的限定。The registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table is determined based on the relative posture θ z . Specifically, the coordinate system transformation principle in the prior art can be used, and this disclosure does not specifically limit this.
示例性,以第一测距传感器503设置在手术床,定位标记513设置在手术机器人为例:For example, take the first ranging sensor 503 being set on the surgical bed and the positioning mark 513 being set on the surgical robot:
同理,当第一测距传感器503发射的测距信号为与手术床相垂直的方向时,获取第一测距传感器503对应的距离测量值,记为手术机器人与手术床的第一距离e′,如图17本公开一实施例提供的配准示意图所示。In the same way, when the ranging signal emitted by the first ranging sensor 503 is in a direction perpendicular to the operating bed, the distance measurement value corresponding to the first ranging sensor 503 is obtained, which is recorded as the first distance e between the surgical robot and the operating bed. ', as shown in Figure 17, a registration schematic diagram provided by an embodiment of the present disclosure.
获取第三测距传感器521对应的距离测量值,记为记为手术机器人与手术床的第二距离f′。The distance measurement value corresponding to the third ranging sensor 521 is obtained, and is recorded as the second distance f′ between the surgical robot and the operating bed.
获取第一测距传感器503与第三测距传感器521之间的位置关系h1′,h1′表征第一测距传感器503和第三测距传感器521之间的距离。进一步的,基于第一距离e′和第二距离f′,确定手术机器人的和手术床之间的相对姿态θz。
The positional relationship h1′ between the first distance sensor 503 and the third distance sensor 521 is obtained, and h1′ represents the distance between the first distance sensor 503 and the third distance sensor 521. Further, based on the first distance e′ and the second distance f′, the relative posture θ z between the surgical robot and the operating table is determined.
The positional relationship h1′ between the first distance sensor 503 and the third distance sensor 521 is obtained, and h1′ represents the distance between the first distance sensor 503 and the third distance sensor 521. Further, based on the first distance e′ and the second distance f′, the relative posture θ z between the surgical robot and the operating table is determined.
本公开实施例通过第一测距传感器503设置在手术床,可以确定手术机器人与手术床之间的相对位置;通过第一测距传感器503和第三测距传感器521设置在手术床,可以确定手术机器人与手术床之间的相对姿态。In the embodiment of the present disclosure, the relative position between the surgical robot and the operating bed can be determined by disposing the first ranging sensor 503 on the operating bed; and the relative position between the surgical robot and the operating bed can be determined by disposing the first ranging sensor 503 and the third ranging sensor 521 on the operating bed. The relative posture between the surgical robot and the operating table.
本公开实施例通过在第一测距传感器503与第三测距传感器521发出的测距信号308基本垂直于所在设备时,获取对应的距离测量值,从而可以不需要获取第一测距传感器503与第三测距传感器521与所在设备的夹角,而快速简便的确定手术机器人的基坐标系与手术床的基坐标系之间的姿态配准关系。The embodiment of the present disclosure obtains the corresponding distance measurement value when the ranging signal 308 emitted by the first ranging sensor 503 and the third ranging sensor 521 is substantially perpendicular to the device, thereby eliminating the need to obtain the first ranging sensor 503 The attitude registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table can be determined quickly and easily with the angle between the third ranging sensor 521 and the device where it is located.
可选的,如图15和图16所示,在手术机器人配置有至少两个用于测距的第三测距传感器521,获取手术机器人的基坐标系和手术床的基坐标系之间的姿态配准关系,包括:Optionally, as shown in Figures 15 and 16, the surgical robot is configured with at least two third ranging sensors 521 for ranging, to obtain the distance between the base coordinate system of the surgical robot and the base coordinate system of the operating bed. Posture registration relationships, including:
获取至少两个第三测距传感器521测得的手术机器人与手术床之间的第二距离,且第三测距传感器521基本垂直于所在设备。The second distance between the surgical robot and the operating bed measured by at least two third ranging sensors 521 is obtained, and the third ranging sensor 521 is substantially perpendicular to the device where it is located.
获取两个第三测距传感器521之间的位置关系。The positional relationship between the two third ranging sensors 521 is obtained.
基于两个第二距离、以及两个第三测距传感器521之间的位置关系,确定手术机器人与手术床之间的姿态配准关系。Based on the positional relationship between the two second distances and the two third ranging sensors 521, the posture registration relationship between the surgical robot and the operating table is determined.
示例性的,获取至少两个第三测距传感器521测得的手术机器人与手术床之间的第二距离,分别记为f和g。Exemplarily, the second distance between the surgical robot and the operating bed measured by at least two third distance sensors 521 is obtained, which are recorded as f and g respectively.
获取两个第三测距传感器521之间的位置关系,例如h2表征两个第三测距传感器521之间的距离。The positional relationship between the two third distance sensors 521 is obtained. For example, h2 represents the distance between the two third distance sensors 521 .
进一步的,基于f和g,确定手术机器人的和手术床之间的相对姿态θz。
Further, based on f and g, the relative posture θ z between the surgical robot and the operating table is determined.
Further, based on f and g, the relative posture θ z between the surgical robot and the operating table is determined.
根据相对姿态θz确定手术机器人的基坐标系和手术床的基坐标系之间的配准关系,具体可采用现有技术中的坐标系变换原理,本公开对此不进行具体的限定。The registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table is determined based on the relative posture θ z . Specifically, the coordinate system transformation principle in the prior art can be used, and this disclosure does not specifically limit this.
示例性,如图17所示,以第三测距传感器521设置在手术床,定位标记513设置在手术机器人为例:As an example, as shown in Figure 17, the third ranging sensor 521 is set on the operating bed and the positioning mark 513 is set on the surgical robot:
获取至少两个第三测距传感器521测得的手术机器人与手术床之间的第二距离,分别记为f′和g′。
Obtain the second distance between the surgical robot and the operating bed measured by at least two third distance sensors 521, which are recorded as f' and g' respectively.
获取两个第三测距传感器521之间的位置关系,例如h2′表征两个第三测距传感器521之间的距离。The positional relationship between the two third distance sensors 521 is obtained. For example, h2′ represents the distance between the two third distance sensors 521 .
进一步的,基于f′和g′,确定手术机器人的和手术床之间的相对姿态θz。
Further, based on f′ and g′, the relative posture θ z between the surgical robot and the operating table is determined.
Further, based on f′ and g′, the relative posture θ z between the surgical robot and the operating table is determined.
(2)获取手术机器人的基准坐标系与手术床的基准坐标系之间的位置配准信息。(2) Obtain the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
设置第一测距传感器503与两个第三测距传感器521对手术机器人的基准坐标系与手术床的基准坐标系之间进行位置配准的过程,可参考图11所示设计的配准原理,仅使用第一测距传感器的检测数据进行配准,在此不再赘述。For the process of setting the first ranging sensor 503 and the two third ranging sensors 521 to perform position registration between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, please refer to the registration principle of the design shown in Figure 11 , only the detection data of the first ranging sensor is used for registration, which will not be described again here.
在本公开另一个实施例中,为手术机器人设置联动模式和主从操作模式。在联动模式下,手术机器人可以控制驱动臂驱动穿刺装置进行运动,以与手术床的运动进行联动,从而保持与手术床的相对位姿不变;在主从操作模式下,手术机器人控制控制驱动臂驱动穿刺装置进行运动,以完成手术。In another embodiment of the present disclosure, a linkage mode and a master-slave operation mode are set for the surgical robot. In the linkage mode, the surgical robot can control the drive arm to drive the puncture device to move, so as to link with the movement of the operating table, so as to maintain the relative posture with the operating table; in the master-slave operation mode, the surgical robot controls the drive The arm drives the puncture device to move to complete the surgery.
在确定手术机器人的基准坐标系与手术床的基准坐标系之间的位置配准信息后,控制器,还可以被配置成用于:After determining the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the controller can also be configured to:
获取手术机器人的基准坐标系和手术床的基准坐标系之间的位置配准关系和姿态配准关系;Obtain the position registration relationship and posture registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;
基于位置配准关系和姿态配准关系,获取穿刺装置在手术床的基准坐标系的初始位姿;Based on the position registration relationship and attitude registration relationship, obtain the initial pose of the puncture device in the reference coordinate system of the operating bed;
响应于手术床的台面的运动,获取手术床的台面的运动量,并基于位置配准关系、姿态配准关系、初始位姿和运动量,确定穿刺装置在手术机器人的基准坐标系的目标位姿;In response to the movement of the tabletop of the operating table, obtain the amount of movement of the tabletop of the operating table, and determine the target posture of the puncture device in the reference coordinate system of the surgical robot based on the position registration relationship, attitude registration relationship, initial posture and movement amount;
基于目标位姿确定驱动臂中关节的目标关节变量;Determine the target joint variables of the joints in the drive arm based on the target pose;
根据目标关节变量驱动关节运动,以保持穿刺装置相对于手术床的台面的位姿。The joint motion is driven according to the target joint variables to maintain the posture of the puncture device relative to the tabletop of the operating table.
手术机器人的基准坐标系可选的包括手术机器人的基坐标系、调整臂末端坐标系、机械臂末端坐标系、图像设备的坐标系、显示设备的坐标系等,手术床的基准坐标系包括手术床的台面坐标系、手术床的轴坐标系、手术床的基坐标系等,以及与前述各坐标系的坐标轴相平行,但原点不同的坐标系。手术机器人的基准坐标系也可以称为手术机器人侧的坐标系,手术床的基准坐标系也可以称为手术床侧的坐标系。其中,位置配准关系和姿态配准关系可以实时计算或者预先计算好直接调用。其中,手术床旋转运动的转动中心为等中心点,以等中心点建立等中心点坐标系,也可以称为前述的手术床的轴坐标系。The optional reference coordinate system of the surgical robot includes the base coordinate system of the surgical robot, the adjustment arm end coordinate system, the robotic arm end coordinate system, the coordinate system of the imaging device, the coordinate system of the display device, etc. The reference coordinate system of the operating bed includes the surgical The table coordinate system of the bed, the axial coordinate system of the operating table, the base coordinate system of the operating table, etc., as well as coordinate systems that are parallel to the coordinate axes of the aforementioned coordinate systems but have different origins. The reference coordinate system of the surgical robot may also be called the coordinate system on the surgical robot side, and the reference coordinate system of the operating bed may also be called the coordinate system on the operating bed side. Among them, the position registration relationship and attitude registration relationship can be calculated in real time or pre-calculated and directly called. Among them, the rotation center of the rotational motion of the operating table is the isocenter point, and the isocenter point coordinate system is established based on the isocenter point, which can also be called the aforementioned axial coordinate system of the operating table.
响应于手术床的台面的运动,控制穿刺装置进行运动,以保持穿刺装置相对于手术床的台面的位姿不变,控制器被配置成用于:In response to the movement of the tabletop of the operating table, the puncture device is controlled to move to keep the posture of the puncture device relative to the tabletop of the operating table unchanged, and the controller is configured to:
基于位置配准关系和姿态配准关系,获取穿刺装置在手术床的基准坐标系的初始位姿,其中,初始位姿为相对于手术床的基准坐标系的位姿,例如手术床的基准坐标系选择手术床的台面坐标系、手术床的轴坐标系、手术床的基坐标系,以及与前述各坐标系的坐标轴相平行,但原点不同的坐标系中的任意一个坐标系。例如初始位姿为在手术床的基坐标系的位姿,可以理解的是,可以直接获取穿刺装置在手术床的基坐标系的初始位姿,也可以不是直接获取在手术床的基坐标系的位姿,而是获取在手术床的台面坐标系、手术床的轴坐标系中的位姿,然后根据坐标系之间的配准关系转换为在手术床的基坐标系的位姿。Based on the position registration relationship and attitude registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating bed is obtained, where the initial pose is the pose relative to the reference coordinate system of the operating bed, for example, the reference coordinates of the operating bed The system selects the table coordinate system of the operating table, the axial coordinate system of the operating table, the base coordinate system of the operating table, and any coordinate system that is parallel to the coordinate axes of the aforementioned coordinate systems but has different origins. For example, the initial pose is the pose in the base coordinate system of the operating bed. It can be understood that the initial pose of the puncture device in the base coordinate system of the operating bed may be directly obtained, or the initial pose of the puncture device in the base coordinate system of the operating bed may not be directly obtained. Instead, the pose in the table coordinate system of the operating table and the axial coordinate system of the operating table are obtained, and then converted into the pose in the base coordinate system of the operating table according to the registration relationship between the coordinate systems.
响应于手术床的台面的运动,获取手术床的台面的运动量,并基于位置配准关系、姿态配准关系、初始位姿和运动量,确定穿刺装置在手术机器人的基准坐标系的目标位姿。手术床的运动量通常的可以手术床的台面的运动量来衡量。In response to the movement of the tabletop of the operating table, the movement amount of the tabletop of the operating table is obtained, and based on the position registration relationship, attitude registration relationship, initial posture and movement volume, the target posture of the puncture device in the reference coordinate system of the surgical robot is determined. The amount of movement of the operating table can usually be measured by the amount of movement of the operating table.
基于目标位姿,控制驱动臂中关节运动,以保持穿刺装置相对于手术床的台面的位姿,控制器被配置成用于:Based on the target posture, the joint movement in the driving arm is controlled to maintain the posture of the puncture device relative to the tabletop of the operating table, and the controller is configured to:
基于目标位姿确定驱动臂中关节的目标关节变量;Determine the target joint variables of the joints in the drive arm based on the target pose;
根据目标关节变量驱动关节运动,以保持穿刺装置相对于手术床的台面的位姿。The joint motion is driven according to the target joint variables to maintain the posture of the puncture device relative to the tabletop of the operating table.
本公开实施例中以穿刺装置作为控制对象,以及求取初始位姿、目标位姿的对象,可
选的,穿刺装置可以替换为医疗器械,以穿刺装置作为控制对象,以及求取初始位姿、目标位姿的对象,或者穿刺装置和医疗器械一起使用,部分作为控制对象,或者部分作为求取初始位姿、目标位姿的对象。In the embodiment of the present disclosure, the puncture device is used as the control object, and the object to obtain the initial pose and target pose can be Optionally, the puncture device can be replaced with a medical device, with the puncture device as the control object and the object for obtaining the initial pose and target pose, or the puncture device and the medical device can be used together, partly as a control object, or partly as an object for obtaining. Objects in initial pose and target pose.
本公开实施例通过利用手术机器人的基准坐标系和手术床的基准坐标系之间的位置配准关系和姿态配准关系,确定手术床移动后驱动臂中关节的目标关节变量,并根据目标关节变量控制驱动臂驱动穿刺装置运动,从而实现了保持穿刺装置相对于手术床的台面的位姿不变,既实现灵活调整生物体体位,且同时保障生物体生命安全。Embodiments of the present disclosure determine the target joint variables of the joints in the drive arm after the surgical table moves by utilizing the position registration relationship and posture registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, and determine the target joint variables according to the target joint The variable control drive arm drives the movement of the puncture device, thereby maintaining the position of the puncture device relative to the operating table table, which not only enables flexible adjustment of the body's position, but also ensures the safety of the body's life.
在另一种实施方式中,基于位置配准关系和姿态配准关系,获取穿刺装置在手术床的基准坐标系的初始位姿,控制器还可以被配置成用于:In another implementation, based on the position registration relationship and attitude registration relationship, the initial pose of the puncture device in the reference coordinate system of the operating bed is obtained. The controller may also be configured to:
第一步:获取驱动臂的初始关节变量。本公开实施例中在对手术床进行运动之前对应的穿刺装置的位姿视为初始位姿,初始位姿对应的驱动臂的关节变量视为初始关节变量。本公开实施例通过设置在驱动臂中的测量装置获取初始关节变量。可选的测量装置可以是传感器,例如电机中的编码器,可以测量关节变量。Step 1: Obtain the initial joint variables of the driving arm. In the embodiment of the present disclosure, the corresponding position of the puncture device before moving the operating table is regarded as the initial position, and the joint variables of the driving arm corresponding to the initial position are regarded as the initial joint variables. Embodiments of the present disclosure obtain initial joint variables through a measurement device provided in the driving arm. Optional measuring devices can be sensors, such as encoders in motors, that measure joint variables.
第二步:基于初始关节变量和正运动学,确定穿刺装置在机器人的基准坐标系中的初始位姿。初始位姿可以自由的选定机器人的基准坐标系,可选的包括手术机器人的基坐标系、调整臂末端坐标系、机械臂末端坐标系、图像设备的坐标系等。本公开实施例中可以灵活的选择坐标系,旨在确定手术床进行运动之前穿刺装置在手术机器人的基准坐标系中对应的位姿。Step 2: Based on the initial joint variables and forward kinematics, determine the initial pose of the puncture device in the robot's reference coordinate system. The initial pose can be freely selected as the base coordinate system of the robot. The options include the base coordinate system of the surgical robot, the coordinate system of the end of the adjustment arm, the coordinate system of the end of the robotic arm, the coordinate system of the imaging device, etc. In the embodiment of the present disclosure, the coordinate system can be flexibly selected to determine the corresponding posture of the puncture device in the reference coordinate system of the surgical robot before the operating table moves.
可选的,手术床的调整是微调更加安全,在手术床的调整中,手术机器人对穿刺装置的调整实时跟上手术床的调整更加安全,当然也可以允许存在一定的时间差。如果把手术床的整个调整过程视为一个完整的调整过程,那么该完整的调整过程包含很多个微小的子调整过程,每个子调整过程结束时对应的穿刺装置的位姿即是下一个子调整过程开始时对应的穿刺装置的初始位姿。Optionally, it is safer to adjust the operating table by fine-tuning. During the adjustment of the operating table, it is safer for the surgical robot to adjust the puncture device in real time to keep up with the adjustment of the operating table. Of course, a certain time difference can also be allowed. If the entire adjustment process of the operating table is regarded as a complete adjustment process, then the complete adjustment process contains many small sub-adjustment processes. The corresponding position of the puncture device at the end of each sub-adjustment process is the next sub-adjustment. The initial position of the puncture device corresponding to the beginning of the process.
第三步:根据穿刺装置的初始位姿、坐标系间的位置配准关系/姿态配准关系,确定穿刺装置在手术床的基准坐标系中的初始位姿。Step 3: Determine the initial posture of the puncture device in the reference coordinate system of the operating table based on the initial posture of the puncture device and the position registration relationship/attitude registration relationship between coordinate systems.
可选的手术床的基准坐标系包括手术床的台面坐标系或者手术床的轴坐标系、手术床的基坐标系等。坐标系间的配准关系指在机器人侧选择的坐标系与在手术床侧选择的坐标系之间的配准关系。例如,如果在机器人侧选择的坐标系为手术机器人的基坐标系,在手术床侧选择的手术床的基坐标系,则坐标系间的配准关系指手术机器人的基坐标系与手术床的基坐标系之间的配准关系。如果在机器人侧选择的坐标系为手术机器人的基坐标系,在手术床侧选择的手术床的台面坐标系,则坐标系间的配准关系指手术机器人的基坐标系与手术床的台面坐标系之间的配准关系。在确定了穿刺装置在手术床的台面坐标系的位姿之后,也可以根据需要进一步根据手术床的台面坐标系与手术床的基坐标系之间的配准关系,将穿刺装置在手术床的台面坐标系的位姿转换为穿刺装置在手术床的基坐标系的位姿。The optional reference coordinate system of the operating table includes the table coordinate system of the operating table or the axis coordinate system of the operating table, the base coordinate system of the operating table, etc. The registration relationship between coordinate systems refers to the registration relationship between the coordinate system selected on the robot side and the coordinate system selected on the operating bed side. For example, if the coordinate system selected on the robot side is the base coordinate system of the surgical robot and the base coordinate system of the operating table is selected on the operating bed side, the registration relationship between the coordinate systems refers to the base coordinate system of the surgical robot and the base coordinate system of the operating bed. Registration relationship between base coordinate systems. If the coordinate system selected on the robot side is the base coordinate system of the surgical robot and the table coordinate system of the operating table is selected on the operating table side, the registration relationship between the coordinate systems refers to the base coordinate system of the surgical robot and the table coordinates of the operating table. registration relationship between systems. After determining the position and orientation of the puncture device in the table coordinate system of the operating table, the puncture device can also be positioned on the operating table based on the registration relationship between the table coordinate system of the operating table and the base coordinate system of the operating table as needed. The posture of the table coordinate system is converted into the posture of the puncture device in the base coordinate system of the operating table.
本公开实施例中可以灵活的选择坐标系以及对应的坐标系之间的配准关系,旨在确定手术床进行运动之前穿刺装置在手术床的基准坐标系中对应的初始位姿。In the embodiment of the present disclosure, the coordinate system and the registration relationship between the corresponding coordinate systems can be flexibly selected, aiming to determine the corresponding initial posture of the puncture device in the reference coordinate system of the operating table before the operating table moves.
可选的,响应于手术床的台面的运动,获取手术床的台面的运动量,并基于位置配准关系、姿态配准关系、初始位姿和运动量,确定穿刺装置在手术机器人的基准坐标系的目标位姿,控制器被配置成用于:Optionally, in response to the movement of the tabletop of the operating table, obtain the amount of movement of the tabletop of the operating table, and determine the position of the puncture device in the reference coordinate system of the surgical robot based on the position registration relationship, the posture registration relationship, the initial posture and the amount of movement. Target pose, the controller is configured to:
第一步:获取手术床的台面的运动量。本公开实施例通过设置在手术床中的测量装置获取手术床的台面的运动量,手术床的运动量可以包括旋转角度、水平移动距离和升降运动距离,以及它们的任意组合。可选的测量装置可以是传感器,例如电机中的编码器,可以测量关节变量,例如平动距离或者旋转角度等。可选的,可以定期或不定期的获取手术床的台面的运动量,例如间隔T时间定期获取手术床的台面的运动量,T可以根据需要灵活选定,T越短则控制精度越高,但频繁获取数据也会占用较多的系统资源。Step 1: Obtain the amount of movement of the tabletop of the operating table. Embodiments of the present disclosure obtain the movement amount of the table top of the operating table through a measurement device provided in the operating table. The movement amount of the operating table may include rotation angle, horizontal movement distance, lifting movement distance, and any combination thereof. Optional measuring devices can be sensors, such as encoders in motors, which can measure joint variables, such as translation distance or rotation angle. Optionally, the movement amount of the operating table table can be obtained regularly or irregularly. For example, the movement amount of the operating table table can be obtained regularly at intervals T. T can be selected flexibly according to needs. The shorter T is, the higher the control accuracy is, but frequent Obtaining data will also take up more system resources.
第二步:响应于手术床的台面的运动,基于穿刺装置在手术床的基准坐标系中的初始
位姿、手术床的台面的运动量,确定穿刺装置在手术床的基准坐标系的目标位姿,该目标位姿可以称为第一位姿。Step 2: In response to the movement of the table top of the operating table, based on the initial position of the puncture device in the reference coordinate system of the operating table The posture and the amount of movement of the operating table table determine the target posture of the puncture device in the reference coordinate system of the operating table. This target posture can be called the first posture.
第三步:基于第一位姿、位置配准关系和姿态配准关系,确定穿刺装置在手术机器人的基准坐标系的目标位姿。Step 3: Based on the first posture, position registration relationship and attitude registration relationship, determine the target posture of the puncture device in the reference coordinate system of the surgical robot.
可选的,第二步和第三步可以合并为一步,直接根据初始位姿、手术床的台面的运动量、位置配准关系和姿态配准关系,确定穿刺装置在手术机器人的基准坐标系的目标位姿,从而不需要确定第一位姿。Optionally, the second and third steps can be combined into one step to directly determine the position of the puncture device in the reference coordinate system of the surgical robot based on the initial posture, the amount of movement of the operating table table, the position registration relationship, and the posture registration relationship. The target pose eliminates the need to determine the first pose.
本公开实施例通过利用手术机器人的基准坐标系和手术床的基准坐标系之间的位置配准关系和姿态配准关系,确定手术床移动后驱动臂中关节的目标位姿,并根据目标位姿控制驱动臂驱动穿刺装置运动,从而实现了保持穿刺装置相对于手术床的台面的位姿不变,既实现灵活调整生物体体位,且同时保障生物体生命安全。Embodiments of the present disclosure determine the target posture of the joints in the drive arm after the operating table moves by utilizing the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, and determine the target posture according to the target position. The posture control drive arm drives the movement of the puncture device, thereby maintaining the position and posture of the puncture device relative to the tabletop of the operating table, which not only enables flexible adjustment of the body's position, but also ensures the safety of the body's life.
在本公开又一实施方式中,响应于手术床的台面的运动,控制穿刺装置进行运动,以保持穿刺装置相对于手术床的台面的位姿不变,控制器被配置成用于:In yet another embodiment of the present disclosure, in response to the movement of the tabletop of the operating table, the puncture device is controlled to move to keep the position of the puncture device relative to the tabletop of the operating table unchanged, and the controller is configured to:
响应于手术床的台面的运动,获取穿刺装置在手术床的基准坐标系的第一位姿。其中,第一位姿为相对于手术床的基准坐标系的位姿,例如手术床的基准坐标系选择手术床的台面坐标系、手术床的轴坐标系、手术床的基坐标系,以及与前述各坐标系的坐标轴相平行,但原点不同的坐标系中的任意一个坐标系。例如第一位姿为在手术床的基坐标系的位姿,可以理解的是,可以直接获取穿刺装置在手术床的基坐标系的第一位姿,也可以不是直接获取在手术床的基坐标系的位姿,而是获取在手术床的台面坐标系、手术床的轴坐标系中的位姿,然后根据坐标系之间的配准关系转换为在手术床的基坐标系的位姿。In response to the movement of the table top of the operating table, the first attitude of the puncture device in the reference coordinate system of the operating table is obtained. Among them, the first posture is the posture relative to the reference coordinate system of the operating table. For example, the reference coordinate system of the operating table selects the table coordinate system of the operating table, the axis coordinate system of the operating table, the base coordinate system of the operating table, and the base coordinate system of the operating table. Any coordinate system in which the coordinate axes of the aforementioned coordinate systems are parallel but have different origins. For example, the first posture is the posture in the base coordinate system of the operating bed. It can be understood that the first posture of the puncture device in the base coordinate system of the operating bed may be directly obtained, or the first posture of the puncture device in the base coordinate system of the operating bed may not be directly obtained. The pose of the coordinate system is to obtain the pose in the table coordinate system of the operating table and the axis coordinate system of the operating table, and then convert it into the pose in the base coordinate system of the operating table according to the registration relationship between the coordinate systems. .
基于位置配准关系、姿态配准关系和第一位姿,确定穿刺装置在手术机器人的基准坐标系的第二位姿。根据前述步骤中选择的配准关系、第一位姿,从而确定第二位姿相对的坐标系及对应的位姿。示例性的,位置配准关系和姿态配准关系指手术机器人的基坐标系与手术床的基坐标系之间的配准关系,第一位姿指在手术床的基坐标系的位姿,则可以确定穿刺装置在手术机器人的基坐标系的第二位姿。Based on the position registration relationship, attitude registration relationship and the first posture, the second posture of the puncture device in the reference coordinate system of the surgical robot is determined. According to the registration relationship and the first posture selected in the previous steps, the coordinate system relative to the second posture and the corresponding posture are determined. For example, the position registration relationship and attitude registration relationship refer to the registration relationship between the base coordinate system of the surgical robot and the base coordinate system of the operating table, and the first posture refers to the posture in the base coordinate system of the operating table, Then the second pose of the puncture device in the base coordinate system of the surgical robot can be determined.
根据逆运动学,基于第二位姿确定驱动臂中关节的目标关节变量。According to inverse kinematics, the target joint variables of the joints in the drive arm are determined based on the second pose.
根据目标关节变量驱动关节运动,以保持穿刺装置相对于手术床的台面的位姿。The joint motion is driven according to the target joint variables to maintain the posture of the puncture device relative to the tabletop of the operating table.
本公开实施例中以穿刺装置作为控制对象,以及求取初始位姿、目标位姿的对象,可选的,穿刺装置可以替换为医疗器械,以穿刺装置作为控制对象,以及求取初始位姿、目标位姿的对象,或者穿刺装置和医疗器械一起使用,部分作为控制对象,或者部分作为求取初始位姿、目标位姿的对象。In the embodiment of the present disclosure, the puncture device is used as the control object, and the initial pose and target pose are obtained. Optionally, the puncture device can be replaced with a medical device, the puncture device is used as the control object, and the initial pose is obtained. , the object of the target pose, or the puncture device and medical equipment are used together, partly as a control object, or partly as an object for obtaining the initial pose and target pose.
本公开实施例通过利用手术机器人的基准坐标系和手术床的基准坐标系之间的位置配准关系和姿态配准关系,确定手术床移动后驱动臂中关节的目标关节变量,并根据目标关节变量控制驱动臂驱动穿刺装置运动,从而实现了保持穿刺装置相对于手术床的台面的位姿不变,既实现灵活调整生物体体位,且同时保障生物体生命安全。Embodiments of the present disclosure determine the target joint variables of the joints in the drive arm after the surgical table moves by utilizing the position registration relationship and posture registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, and determine the target joint variables according to the target joint The variable control drive arm drives the movement of the puncture device, thereby maintaining the position of the puncture device relative to the operating table table, which not only enables flexible adjustment of the body's position, but also ensures the safety of the body's life.
手术床的台面的运动可以包括三个自由度:升降运动方向、水平运动方向和旋转运动方向。对于大部分的手术床而言,通常是单个自由度分别调整,这样有利于更加准确的微调。The movement of the operating table table can include three degrees of freedom: lifting movement direction, horizontal movement direction and rotation movement direction. For most operating beds, individual degrees of freedom are usually adjusted individually, which facilitates more accurate fine-tuning.
升降运动方向:手术床沿垂直于地面的竖直方向进行升降运动,此时如果没有本公开实施例中手术机器人系统的控制方法,穿刺装置与生物体的相对位置将可能会发生变化,从而引发生物体的生命安全风险。本公开实施例为了确保穿刺装置与生物体的相对位姿不变,手术机器人系统需要控制穿刺装置进行同等距离的升降运动,运动方向与手术床的运动方向相同,从而抵消手术床的运动,以保持穿刺装置相对于生物体的位姿不变。由于生物体绑定在手术床,无论手术床如何运动,生物体相对于手术床的位姿保持不变,因此穿刺装置相对于与生物体的位姿不变等同于穿刺装置相对于手术床的位姿保持不变。Lifting movement direction: The operating bed moves up and down in a vertical direction perpendicular to the ground. At this time, without the control method of the surgical robot system in the embodiment of the present disclosure, the relative position of the puncture device and the living body may change, thereby causing biological risk to human life safety. In order to ensure that the relative posture of the puncture device and the living body remains unchanged in the embodiment of the present disclosure, the surgical robot system needs to control the puncture device to perform lifting and lowering movements of the same distance, and the movement direction is the same as the movement direction of the operating table, thereby offsetting the movement of the operating table. Keep the position and posture of the puncture device relative to the living body unchanged. Since the living body is bound to the operating bed, no matter how the operating bed moves, the body's position relative to the operating bed remains unchanged. Therefore, the position and posture of the puncture device relative to the living body remains unchanged, which is equivalent to the position of the puncturing device relative to the operating bed. The pose remains unchanged.
其中,手术床沿竖直方向的升降距离可以由设置在手术床中的测量装置测得,例如电
机中的编码器可以测得对应手术床升降的关节变量,从而确定对应的升降距离。Wherein, the lifting distance of the operating bed in the vertical direction can be measured by a measuring device installed in the operating bed, such as an electric The encoder in the machine can measure the joint variables corresponding to the lifting and lowering of the operating table, thereby determining the corresponding lifting distance.
其中,手术机器人系统控制穿刺装置进行同等距离的升降运动,可选的,结合驱动臂的具体情况,调整可改变穿刺装置高度的关节,如图3中所示的升降立柱,此时可以将手术机器人的其他关节锁定以保持不动。如果所选用的手术机器人具体的驱动臂构成不同于图3,则只要找出可改变穿刺装置高度的关节进行调整即可,本公开实施例对具体的关节并不进行限定。Among them, the surgical robot system controls the puncture device to perform lifting movements of the same distance. Optionally, combined with the specific conditions of the driving arm, the joint that can change the height of the puncture device is adjusted, such as the lifting column shown in Figure 3. At this time, the surgery can be The robot's other joints lock to hold still. If the specific drive arm structure of the selected surgical robot is different from that shown in Figure 3, it is sufficient to find a joint that can change the height of the puncture device and adjust it. The embodiments of the present disclosure do not limit the specific joints.
水平运动方向:手术床沿平行于地面的水平方向进行水平运动,同理,此时如果没有本公开实施例中手术机器人系统的控制方法,穿刺装置与生物体的相对位置将可能会发生变化,从而引发生物体的生命安全风险。本公开实施例为了确保穿刺装置与生物体的相对位姿不变,手术机器人系统需要控制穿刺装置进行同等距离的水平运动,运动方向与手术床的运动方向相同,从而抵消手术床的运动,以保持穿刺装置相对于生物体的位姿不变。Horizontal movement direction: The operating table moves horizontally in a horizontal direction parallel to the ground. Similarly, without the control method of the surgical robot system in the embodiment of the present disclosure, the relative position of the puncture device and the living body may change, thus Causing life safety risks to organisms. In order to ensure that the relative posture between the puncture device and the living body remains unchanged in the embodiment of the present disclosure, the surgical robot system needs to control the puncture device to move horizontally at the same distance, and the movement direction is the same as the movement direction of the operating table, thereby offsetting the movement of the operating table. Keep the position and posture of the puncture device relative to the living body unchanged.
其中,手术床沿水平方向的水平运动距离可以由设置在手术床中的测量装置测得,例如电机中的编码器可以测得对应手术床水平运动的关节变量,从而确定对应的水平距离。The horizontal movement distance of the operating table along the horizontal direction can be measured by a measuring device provided in the operating table. For example, an encoder in the motor can measure joint variables corresponding to the horizontal movement of the operating table, thereby determining the corresponding horizontal distance.
其中,手术床沿平行于地面的水平方向进行水平运动,可以包括沿生物体身长方向的进行水平运动,或者沿与生物体身长方向相垂直的方向进行水平运动,或者是沿与生物体身长方向有一定夹角的方向进行水平运动。Wherein, the operating table moves horizontally in a horizontal direction parallel to the ground, which may include horizontal movement along the length of the living body, or horizontal movement in a direction perpendicular to the length of the living body, or along a length direction of the living body. Perform horizontal movement in a certain angle direction.
其中,手术机器人系统控制穿刺装置进行同等距离的水平运动,可选的,结合驱动臂的具体情况,调整可改变穿刺装置水平位置的关节,此时可以将手术机器人的其他关节锁定以保持不动。如果所选用的手术机器人具体的驱动臂构成不同于图3,则只要找出可改变穿刺装置水平位置的关节进行调整即可,本公开实施例对具体的关节并不进行限定。Among them, the surgical robot system controls the puncture device to move horizontally at the same distance. Optionally, combined with the specific conditions of the drive arm, the joints that can change the horizontal position of the puncture device are adjusted. At this time, other joints of the surgical robot can be locked to remain motionless. . If the specific drive arm configuration of the selected surgical robot is different from that shown in Figure 3 , it is sufficient to find a joint that can change the horizontal position of the puncture device and adjust it. The embodiments of the present disclosure do not limit the specific joints.
旋转运动方向:手术床沿轴线进行升降运动,同理,此时如果没有本公开实施例中手术机器人系统的控制方法,穿刺装置与生物体的相对位置将可能会发生变化,从而引发生物体的生命安全风险。本公开实施例为了确保穿刺装置与生物体的相对位姿不变,手术机器人系统需要控制穿刺装置进行同等角度的旋转运动,旋转方向与手术床的旋转方向相同,从而抵消手术床的运动,以保持穿刺装置相对于生物体的位姿不变。Direction of rotation: the operating bed moves up and down along the axis. Similarly, if there is no control method of the surgical robot system in the embodiment of the present disclosure, the relative position of the puncture device and the living body may change, thus causing the life of the living body. Security Risk. In order to ensure that the relative posture of the puncture device and the living body remains unchanged in the embodiment of the present disclosure, the surgical robot system needs to control the puncture device to rotate at the same angle, and the rotation direction is the same as the rotation direction of the operating table, so as to offset the movement of the operating table. Keep the position and posture of the puncture device relative to the living body unchanged.
其中,手术床的旋转角度可以由设置在手术床中的测量装置测得,例如电机中的编码器可以测得对应手术床的旋转角度。The rotation angle of the operating bed can be measured by a measuring device installed in the operating bed. For example, an encoder in the motor can measure the rotation angle of the corresponding operating bed.
其中,手术机器人系统控制穿刺装置进行同等角度的旋转运动,可选的,结合驱动臂的具体情况,调整可控制穿刺装置旋转的关节,此时可以将机器人的其他关节锁定以保持不动。如果所选用的机器人具体的驱动臂构成不同于图3,则只要找出可控制穿刺装置旋转的关节进行调整即可,本公开实施例对具体的关节并不进行限定。Among them, the surgical robot system controls the puncture device to rotate at the same angle. Optionally, based on the specific conditions of the drive arm, the joints that can control the rotation of the puncture device are adjusted. At this time, other joints of the robot can be locked to remain motionless. If the specific drive arm structure of the selected robot is different from that shown in Figure 3 , it is sufficient to find a joint that can control the rotation of the puncture device and adjust it. The embodiments of the present disclosure do not limit the specific joints.
可选的,手术床的移动也可以不是简单的三个自由度的单独运动,可以是其中任意两个自由度的结合运动。在这种情况下,与前述的单个自由度移动的实现原理相同,区别点包括运动量是在至少两个自由度的运动量,依然可以由设置在手术床中的测量装置获取手术床的台面的运动量,然后在各个自由度通过调整驱动臂的关节以控制穿刺装置进行同等的运动,具体过程不再赘述。Optionally, the movement of the operating table may not be a simple independent movement of three degrees of freedom, but may be a combined movement of any two degrees of freedom. In this case, the implementation principle of the single degree of freedom movement is the same as before. The difference includes that the amount of movement is in at least two degrees of freedom. The amount of movement of the table top of the operating table can still be obtained by the measuring device provided in the operating table. , and then adjust the joints of the driving arm in each degree of freedom to control the puncture device to perform equal movements. The specific process will not be described again.
可选的,手术床可以是整体进行调节,也可以是分段进行调节,例如手术床分为前后两个部分,前部或后部可以单独调节,从而单独调节生物体上半身或者下半身的体位。本公开实施例对手术床的具体调节结构不进行特别的限定。本公开实施例通过响应于手术床的台面的运动,调整驱动臂中的关节以控制穿刺装置进行运动,以保持穿刺装置相对于手术床的台面的位姿不变,既实现灵活调整生物体体位,且同时保障生物体生命安全。Optionally, the operating bed can be adjusted as a whole or in sections. For example, the operating bed is divided into two parts, the front and the rear. The front or rear parts can be adjusted independently, thereby individually adjusting the body position of the upper or lower body of the organism. The embodiments of the present disclosure do not specifically limit the specific adjustment structure of the operating bed. Embodiments of the present disclosure adjust the joints in the drive arm to control the movement of the puncture device in response to the movement of the table top of the operating table, so as to keep the position of the puncture device unchanged relative to the table top of the operating table, thereby achieving flexible adjustment of the body's posture. , and at the same time ensure the safety of living organisms.
在本公开再一实施方式中,控制器被配置成用于:In yet another embodiment of the present disclosure, the controller is configured to:
获取手术机器人的基准坐标系和手术床的基准坐标系之间的位置配准关系和姿态配准关系;Obtain the position registration relationship and posture registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;
响应于手术床的台面的运动,获取穿刺装置在手术床的基准坐标系的第一位姿;In response to the movement of the table top of the operating table, obtain the first attitude of the puncture device in the reference coordinate system of the operating table;
基于位置配准关系和姿态配准关系和第一位姿,确定穿刺装置在手术机器人的基准坐
标系的第二位姿;Based on the position registration relationship, attitude registration relationship and the first posture, determine the datum position of the puncture device in the surgical robot. The second posture of the standard system;
基于第二位姿驱动关节运动,以保持穿刺装置相对于手术床的台面的位姿。The joint movement is driven based on the second posture to maintain the posture of the puncture device relative to the tabletop of the operating table.
其中,获取手术床的台面在手术床的基准坐标系的第一位姿,控制器被配置成用于:Among them, the first attitude of the tabletop of the operating table in the reference coordinate system of the operating table is obtained, and the controller is configured to:
第一步:获取驱动臂的初始关节变量。Step 1: Obtain the initial joint variables of the driving arm.
第二步:基于初始关节变量和正运动学,确定穿刺装置在机器人的基准坐标系中的初始位姿。Step 2: Based on the initial joint variables and forward kinematics, determine the initial pose of the puncture device in the robot's reference coordinate system.
第三步:根据穿刺装置的初始位姿、坐标系间的位置配准关系/姿态配准关系,确定穿刺装置在手术床的基准坐标系中的初始位姿。Step 3: Determine the initial posture of the puncture device in the reference coordinate system of the operating table based on the initial posture of the puncture device and the position registration relationship/attitude registration relationship between coordinate systems.
实现原理如前的确定穿刺装置在手术床的基准坐标系中的初始位姿,此处不再赘述。本公开实施例中可以灵活的选择坐标系以及对应的坐标系之间的配准关系,旨在确定手术床进行运动之前穿刺装置在手术床的基准坐标系中对应的位姿。The implementation principle is as described above to determine the initial posture of the puncture device in the reference coordinate system of the operating table, which will not be described again here. In the embodiment of the present disclosure, the coordinate system and the registration relationship between the corresponding coordinate systems can be flexibly selected, aiming to determine the corresponding posture of the puncture device in the reference coordinate system of the operating table before the operating table moves.
第四步:获取手术床的运动量。手术床的运动量通常的可以手术床的台面的运动量来衡量。本公开实施例通过设置在手术床中的测量装置获取手术床的运动量,手术床的运动量可以包括旋转角度、水平移动距离和升降运动距离,以及它们的任意组合。可选的测量装置可以是传感器,例如电机中的编码器,可以测量关节变量,例如平动距离或者旋转角度等。可选的,可以定期或不定期的获取手术床的运动量,例如间隔T时间定期获取手术床的运动量,T可以根据需要灵活选定,T越短则控制精度越高,但频繁获取数据也会占用较多的系统资源。Step 4: Obtain the amount of movement of the operating bed. The amount of movement of the operating table can usually be measured by the amount of movement of the operating table. Embodiments of the present disclosure obtain the movement amount of the operating bed through a measurement device provided in the operating bed. The movement amount of the operating bed may include rotation angle, horizontal movement distance, lifting movement distance, and any combination thereof. Optional measuring devices can be sensors, such as encoders in motors, which can measure joint variables, such as translation distance or rotation angle. Optionally, the movement amount of the operating bed can be obtained regularly or irregularly. For example, the movement amount of the operating bed can be obtained regularly at intervals T. T can be flexibly selected according to needs. The shorter T, the higher the control accuracy, but frequent data acquisition will also Occupies more system resources.
第五步:响应于手术床的台面的运动,基于穿刺装置在手术床的基准坐标系中的初始位姿、手术床的运动量,确定穿刺装置在手术床的基准坐标系的目标位姿,该目标位姿可以称为第一位姿。Step 5: In response to the movement of the tabletop of the operating table, based on the initial posture of the puncture device in the reference coordinate system of the operating table and the amount of movement of the operating table, determine the target posture of the puncture device in the reference coordinate system of the operating table. The target pose can be called the first pose.
其中,基于第二位姿控制驱动臂的关节运动,以保持穿刺装置相对于手术床的台面的位姿,包括:Among them, controlling the joint movement of the driving arm based on the second posture to maintain the posture of the puncture device relative to the tabletop of the operating table includes:
基于第二位姿确定驱动臂中关节的目标关节变量;Determine the target joint variables of the joints in the drive arm based on the second pose;
根据目标关节变量驱动关节运动,以保持穿刺装置相对于手术床的台面的位姿。The joint motion is driven according to the target joint variables to maintain the posture of the puncture device relative to the tabletop of the operating table.
本公开实施例通过响应于手术床的台面的运动,获取手术床的台面在手术床的基准坐标系的第一位姿,从而便于进一步调整驱动臂中的关节以控制穿刺装置进行运动,以保持穿刺装置相对于手术床的台面的位姿不变,既实现灵活调整生物体体位,且同时保障生物体生命安全。Embodiments of the present disclosure obtain the first posture of the operating table in the reference coordinate system of the operating table by responding to the movement of the operating table, thereby facilitating further adjustment of the joints in the drive arm to control the movement of the puncture device to maintain The position and posture of the puncture device relative to the tabletop of the operating table remains unchanged, which not only enables flexible adjustment of the body's position, but also ensures the safety of the body's life.
本实施例的手术系统具有如下有益效果:The surgical system of this embodiment has the following beneficial effects:
①能够实现手术机器人与电动手术床之间的位置和姿态的定位功能,在此基础上,应用机器人运动学建模,能够实现穿刺装置与手术床的基准坐标系之间的位姿配准和各关节运动配准,最终能够实现手术机器人与手术床的联动技术,联动过程中消除了从患者体内移除穿刺装置和/或手术工具(诸如手术器械和成像器械)、在手术机器人末端拆卸和安装手术工具、解除手术机器人与手术床之间全部接触等繁琐的反复对接操作,减少了医护辅助人员的工作强度,提升了手术机器人系统的智能化水平,缩短了手术时间,提高了手术实施的顺畅度;① It can realize the positioning function of the position and attitude between the surgical robot and the electric operating table. On this basis, the application of robot kinematic modeling can realize the position and attitude registration between the puncture device and the reference coordinate system of the operating table. The motion registration of each joint can ultimately realize the linkage technology between the surgical robot and the operating table. During the linkage process, the removal of the puncture device and/or surgical tools (such as surgical instruments and imaging instruments) from the patient's body, disassembly and disassembly of the surgical robot at the end are eliminated. The tedious and repeated docking operations such as installing surgical tools and releasing all contact between the surgical robot and the operating bed reduce the work intensity of medical assistants, improve the intelligence level of the surgical robot system, shorten the operation time, and improve the efficiency of operation implementation. smoothness;
②在使用外部传感器的情况下,设计了用于位姿定位的测距装置和定位标记,能够实现手术机器人与手术床之间的位置和姿态完全定位,使得各运动关节均能够实现主动控制,不存在运动估计等不确定性因素,使得手术机器人和手术床的联动技术在实际应用中的可靠性更高,安全性更大。② In the case of using external sensors, a ranging device and positioning mark for posture positioning are designed to achieve complete positioning and posture positioning between the surgical robot and the operating table, so that each moving joint can be actively controlled. There are no uncertain factors such as motion estimation, making the linkage technology between surgical robots and operating beds more reliable and safer in practical applications.
在再一个实施例中,可采用与上述实施例不同的方式确定手术机器人与手术床之间的姿态配准信息。In yet another embodiment, the posture registration information between the surgical robot and the operating bed may be determined in a manner different from that in the above embodiment.
如图18所示,与图3所示的结构不同的是,手术系统还包括配准臂609,手术机器人700进一步包括用于与配准臂609连接的第一连接部702,第一连接部702可设置在手术
机器人700的运动底盘上。手术床105进一步包括用于与配准臂609连接的第二连接部(图18中未标识),第二连接部可设置在手术床105的轮式底盘上。As shown in Figure 18, what is different from the structure shown in Figure 3 is that the surgical system also includes a registration arm 609, and the surgical robot 700 further includes a first connection part 702 for connecting with the registration arm 609. The first connection part 702 can be set during surgery On the motion chassis of Robot 700. The operating table 105 further includes a second connection portion (not labeled in FIG. 18 ) for connecting to the registration arm 609, and the second connection portion may be disposed on the wheeled chassis of the operating table 105.
本公开利用配准臂609实现手术机器人700与手术床105之间的配准。配准臂609包括用于与第一连接部702连接的第一端、用于与第二连接部连接的第二端、及连接于第一端和第二端之间的多个关节组件,第一端与第二端之间能够跟随关节组件的运动而相对运动。The present disclosure utilizes the registration arm 609 to achieve registration between the surgical robot 700 and the operating table 105 . The registration arm 609 includes a first end for connecting with the first connecting part 702, a second end for connecting with the second connecting part, and a plurality of joint components connected between the first end and the second end, The first end and the second end can move relative to each other following the movement of the joint component.
控制器,与手术机器人、手术台及配准臂耦接,在确定手术机器人与手术床之间的姿态配准信息时,控制器被配置成用于:The controller is coupled to the surgical robot, the operating table and the registration arm. When determining the posture registration information between the surgical robot and the operating table, the controller is configured to:
响应于第一连接部和第二连接部通过配准臂的连接,基于运动学确定第一端与第二端之间的第一配准关系;determining a first registration relationship between the first end and the second end based on kinematics in response to the connection of the first connection part and the second connection part by the registration arm;
基于第一配准关系、手术机器人与手术床的其中之一手术机器人与第一连接部之间已知的第二配准关系、及手术机器人与手术床的其中另一手术台与第二连接部之间已知的第三配准关系,确定手术机器人与手术床之间的姿态配准信息。Based on the first registration relationship, the known second registration relationship between the surgical robot and the first connection part between one of the surgical robot and the operating table, and the second connection between the other operating table of the surgical robot and the operating table. The third known registration relationship between the parts is used to determine the attitude registration information between the surgical robot and the operating table.
可选地,控制器还被配置成用于:Optionally, the controller is also configured to:
响应于第一连接部和第二连接部通过配准臂的连接,基于运动学确定第一端与第二端之间的第一配准关系;determining a first registration relationship between the first end and the second end based on kinematics in response to the connection of the first connection part and the second connection part by the registration arm;
基于第一配准关系、手术机器人与手术床的其中之一与第一连接部之间已知的第二配准关系、及手术机器人与手术床的其中另一与第二连接部之间已知的第三配准关系,确定手术机器人与手术床之间的位置配准信息。Based on the first registration relationship, the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the known second registration relationship between the other one of the surgical robot and the operating bed and the second connection part. The known third registration relationship is used to determine the position registration information between the surgical robot and the operating table.
其中,第一端与第一连接部连接时,第一端的坐标系与第一连接部的第一坐标系具备预设的相对姿态和相对位置,第二配准关系包括第一坐标系在手术机器人与手术床的其中之一手术机器人的基准坐标系中的姿态信息和位置信息;Wherein, when the first end is connected to the first connection part, the coordinate system of the first end and the first coordinate system of the first connection part have a preset relative posture and relative position, and the second registration relationship includes the first coordinate system in The posture information and position information in the reference coordinate system of one of the surgical robot and the surgical bed;
第二端与第二连接部连接时,第二端的坐标系与第二连接部的第二坐标系具备预设的相对姿态和相对位置,第三配准关系包括第二坐标系在手术机器人与手术床的其中另一手术台的基准坐标系中的姿态信息和位置信息。When the second end is connected to the second connection part, the coordinate system of the second end and the second coordinate system of the second connection part have preset relative postures and relative positions. The third registration relationship includes the second coordinate system between the surgical robot and the surgical robot. The posture information and position information in the reference coordinate system of the other operating table.
可以理解,利用配准臂609可以实现第一手术设备与第二手术设备之间的配准,以下以第一手术设备为手术机器人,第二手术设备为手术床进行说明。It can be understood that the registration arm 609 can be used to achieve registration between the first surgical equipment and the second surgical equipment. The following description assumes that the first surgical equipment is a surgical robot and the second surgical equipment is an operating bed.
其中,当手术机器人700的第一连接部702与配准臂609的第一端连接、手术床105的第二连接部与配准臂609的第二端连接时,即处于第一连接部702和第二连接部之间通过配准臂609连接的状态。需要说明的是,手术机器人700的第一连接部702与配准臂609的第一端连接的方式,以及手术床105的第二连接部与配准臂609的第二端连接的方式,可以是固定连接或可拆卸连接。在手术机器人700的第一连接部702与配准臂609的第一端连接、手术床105的第二连接部与配准臂609的第二端连接后,配准臂609的第一端与第二端之间的配准关系可通过运动学关系确定,具体地,获取多个关节组件的关节变量,关节变量包括多个关节组件的自身坐标系之间的相对距离和/或相对角度,再基于关节变量并利用正向运动学,确定第一端与第二端之间的第一配准关系。在此基础上,根据第一连接部702在手术机器人700上设置的位置,以及第二连接部在手术床105上设置的位置,手术机器人700与第一连接部702之间的第二配准关系、及手术床105与第二连接部之间的第三配准关系均为已知,从而,可以根据第一配准关系、第二配准关系、第三配准关系确定手术机器人700与手术床105之间的配准信息。Among them, when the first connection part 702 of the surgical robot 700 is connected to the first end of the registration arm 609 and the second connection part of the operating bed 105 is connected to the second end of the registration arm 609, it is at the first connection part 702. and the second connection part through the registration arm 609. It should be noted that the first connection part 702 of the surgical robot 700 is connected to the first end of the registration arm 609, and the second connection part of the operating table 105 is connected to the second end of the registration arm 609. It is a fixed connection or a detachable connection. After the first connection part 702 of the surgical robot 700 is connected to the first end of the registration arm 609 and the second connection part of the operating bed 105 is connected to the second end of the registration arm 609, the first end of the registration arm 609 is connected to the first end of the registration arm 609. The registration relationship between the second ends can be determined through a kinematic relationship. Specifically, joint variables of multiple joint components are obtained. The joint variables include relative distances and/or relative angles between the own coordinate systems of multiple joint components, Then based on the joint variables and using forward kinematics, the first registration relationship between the first end and the second end is determined. On this basis, according to the position of the first connecting part 702 on the surgical robot 700 and the position of the second connecting part on the operating bed 105, the second registration between the surgical robot 700 and the first connecting part 702 is performed. The relationship and the third registration relationship between the operating table 105 and the second connection part are all known. Therefore, the relationship between the surgical robot 700 and the second connection part can be determined based on the first registration relationship, the second registration relationship, and the third registration relationship. Registration information between operating beds 105 .
为实现配准,配准臂609的运动自由度的数量应大于或等于需要定位和定向的自由度,所述运动自由度为笛卡尔空间的自由度,包括用于定位和定向的自由度。To achieve registration, the number of degrees of freedom of movement of the registration arm 609 should be greater than or equal to the degrees of freedom required for positioning and orientation, which are degrees of freedom in Cartesian space, including the degrees of freedom for positioning and orientation.
当地面平整时,配准臂609仅需要三个自由度即可实现手术机器人700与手术床105之间的定向与定位。当地面平整时,手术机器人700与手术床105在世界坐标系O-XYZ的Z轴方向上已完成定位、在X轴与Y轴方向上已完成定向,因此只需要二者再完成在Z轴方向上的定向以及在X轴与Y轴方向上的定位。在此情况下,配准臂609可设计成如图
19所示结构。此时,配准臂609的多个关节组件包括第一连杆801、第二连杆802、对接器805及接头806,第一连杆801的一端与第二连杆802的一端之间可转动连接,第一连杆801的另一端为配准臂609的第一端,对接器805与第一连杆801的另一端可转动连接,接头806设置在对接器805上且位于配准臂609的第一端,用于与第一连接部702连接,第二连杆802的另一端为配准臂609的第二端,第一连杆801、第二连杆802、对接器805的转动平面相互平行或重合。在本实施例中,第二连杆802的另一端设置连接部6030,该连接部6030用于与手术床105的第二连接部726连接。实际实现时,第二连杆802的另一端与第二连接部726的连接方式也可采用接头806与第一连接部702的连接方式。从而,第二连杆802与手术床105的第二连接部726形成第一转动副连接,第二连杆802可绕第一转动副轴线执行旋转运动C1。第一连杆801与第二连杆802形成第二转动副连接,第二连杆802可绕第二转动副轴线执行旋转运动C2。对接器805与第一连杆801形成第三转动副连接,对接器可绕第三转动副轴线执行旋转运动C3’。以上所述的第一、二、三转动副的轴线相互平行且垂直于地面。实际实现时,为方便接头806与第一连接部702的连接,接头806与对接器805之间采用可转动连接的方式。When the ground is flat, the registration arm 609 only needs three degrees of freedom to achieve orientation and positioning between the surgical robot 700 and the operating bed 105 . When the ground is flat, the surgical robot 700 and the operating bed 105 have been positioned in the Z-axis direction of the world coordinate system O-XYZ, and have been oriented in the X-axis and Y-axis directions. Therefore, only the two are needed to complete the Z-axis direction. Orientation in the direction and positioning in the X-axis and Y-axis directions. In this case, the registration arm 609 can be designed as shown in The structure shown in 19. At this time, the multiple joint components of the registration arm 609 include a first link 801, a second link 802, a docking device 805 and a joint 806. One end of the first link 801 and one end of the second link 802 can be connected. Rotally connected, the other end of the first link 801 is the first end of the registration arm 609, the docking device 805 is rotatably connected to the other end of the first link 801, the joint 806 is provided on the docking device 805 and is located on the registration arm The first end of 609 is used to connect with the first connecting part 702. The other end of the second link 802 is the second end of the registration arm 609. The first link 801, the second link 802, and the docking device 805 The planes of rotation are parallel or coincident with each other. In this embodiment, the other end of the second connecting rod 802 is provided with a connecting portion 6030 , and the connecting portion 6030 is used to connect with the second connecting portion 726 of the operating bed 105 . In actual implementation, the connection method between the other end of the second connecting rod 802 and the second connecting part 726 may also be the connection method between the joint 806 and the first connecting part 702 . Therefore, the second link 802 forms a first secondary rotation connection with the second connection portion 726 of the operating table 105, and the second link 802 can perform a rotational motion C1 around the first secondary rotation axis. The first link 801 and the second link 802 form a second rotational connection, and the second link 802 can perform a rotational motion C2 around the second rotational axis. The docking device 805 forms a third rotational pair connection with the first connecting rod 801, and the docking device can perform a rotational motion C3' around the third rotational subsidiary axis. The axes of the first, second and third rotating pairs mentioned above are parallel to each other and perpendicular to the ground. In actual implementation, in order to facilitate the connection between the joint 806 and the first connecting part 702, the joint 806 and the docking device 805 are connected in a rotatable manner.
当地面不平整时,配准臂609需要六个自由度来实现手术机器人700与手术床105之间的定向与定位。在此情况下,配准臂609可设计成如图20所示结构。配准臂609的多个关节组件包括第一连杆801、第二连杆802、第三连杆804、双轴关节803、对接器805及接头806,第一连杆801的一端与第二连杆802的一端通过双轴关节803可转动连接,对接器805与第一连杆801的另一端可转动连接,接头806可转动地设置在对接器805上且位于配准臂609的第一端,第二连杆802的另一端和第三连杆804的一端可转动连接,第三连杆804的另一端为配准臂609的第二端。相对图19所示的结构而言,双轴关节803将第一连杆801和第二连杆802的转动平面限定为不同方向,增加了两种运动自由度,接头806可转动地设置在对接器805上,增加了一种运动自由度,从而实现了六个自由度,因此,在地面不平整时,也能对配准臂609进行调节而实现配准。在本实施例中,第三连杆804的另一端设置连接部6030,该连接部6030用于与手术床105的第二连接部726连接。实际实现时,第三连杆804的另一端与第二连接部726的连接方式也可采用接头806与第一连接部702的连接方式。When the ground is uneven, the registration arm 609 requires six degrees of freedom to achieve orientation and positioning between the surgical robot 700 and the operating table 105 . In this case, the registration arm 609 can be designed as a structure as shown in FIG. 20 . The multiple joint components of the registration arm 609 include a first link 801, a second link 802, a third link 804, a biaxial joint 803, a docking device 805 and a joint 806. One end of the first link 801 is connected to the second link 804. One end of the connecting rod 802 is rotatably connected through a biaxial joint 803, the docking device 805 is rotatably connected to the other end of the first connecting rod 801, and the joint 806 is rotatably provided on the docking device 805 and is located at the first end of the registration arm 609 end, the other end of the second link 802 and one end of the third link 804 are rotatably connected, and the other end of the third link 804 is the second end of the registration arm 609 . Compared with the structure shown in Figure 19, the biaxial joint 803 limits the rotation planes of the first link 801 and the second link 802 to different directions, increasing two degrees of freedom of movement. The joint 806 is rotatably provided at the docking point. On the device 805, a degree of freedom of movement is added, thereby achieving six degrees of freedom. Therefore, when the ground is uneven, the registration arm 609 can also be adjusted to achieve registration. In this embodiment, a connecting portion 6030 is provided at the other end of the third link 804 , and the connecting portion 6030 is used to connect with the second connecting portion 726 of the operating bed 105 . In actual implementation, the connection method between the other end of the third link 804 and the second connection part 726 may also be the connection method between the joint 806 and the first connection part 702 .
在图20所示结构中,第三连杆804与第二连接部726形成第一转动副连接,第三连杆804可绕第一转动副轴线执行旋转运动C1。第三连杆804与第二连杆802形成第二转动副连接,第二连杆802可绕第二转动副轴线执行旋转运动C2。双轴关节803与第二连杆802形成第三转动副连接,双轴关节803可绕第三转动副轴线执行旋转运动C3。第一连杆801与双轴关节803形成第四转动副连接,第一连杆801可绕第四转动副轴线执行旋转运动C4。对接器805与第一连杆801形成第五转动副连接,对接器805可绕第五转动副轴线执行旋转运动C5。接头806与对接器805之间形成第六转动副连接,接头806可绕第六转动副轴线执行旋转运动C6。以上所述的第一、二、三转动副的轴线相互平行,第四、五转动副的轴线相互平行,第三、四转动副的轴线相互垂直,第五、六转动副的轴线相互垂直。以上所述的C1、C2与C4旋转运动用于实现接头806在世界坐标系O-XYZ的X、Y、Z轴方向上的定位,C3、C5与C6旋转运动用于实现接头806在X、Y、Z轴方向上的定向。In the structure shown in FIG. 20 , the third link 804 and the second connecting portion 726 form a first secondary rotation connection, and the third link 804 can perform a rotational motion C1 around the first secondary rotation axis. The third link 804 forms a second rotational connection with the second link 802, and the second link 802 can perform a rotational motion C2 around the second rotational axis. The biaxial joint 803 forms a third rotational pair connection with the second connecting rod 802, and the biaxial joint 803 can perform rotational motion C3 around the third rotational minor axis. The first link 801 and the biaxial joint 803 form a fourth rotational pair connection, and the first link 801 can perform a rotational motion C4 around the fourth rotational pair axis. The docking device 805 forms a fifth rotational pair connection with the first connecting rod 801, and the docking device 805 can perform a rotational motion C5 around the fifth rotational pairing axis. A sixth rotational secondary connection is formed between the joint 806 and the docking device 805, and the joint 806 can perform a rotational motion C6 around the sixth rotational secondary axis. The axes of the first, second and third rotating pairs mentioned above are parallel to each other, the axes of the fourth and fifth rotating pairs are parallel to each other, the axes of the third and fourth rotating pairs are perpendicular to each other, and the axes of the fifth and sixth rotating pairs are perpendicular to each other. The above-mentioned rotational motions of C1, C2 and C4 are used to realize the positioning of the joint 806 in the X, Y and Z axis directions of the world coordinate system O-XYZ, and the rotational motions of C3, C5 and C6 are used to realize the positioning of the joint 806 in the X, Y and Z axes of the world coordinate system O-XYZ. Orientation in the Y and Z axis directions.
图21所示为第一连接部与配准臂的第一端的配合结构,其中,(a)为第一连接部702的结构示意图,(b)为配准臂609的接头806的结构示意图。第一连接部702包括第一配合部与第一定位结构,接头806包括第二配合部与第二定位结构,第一配合部与第二配合部配合对接,且第一定位结构与第二定位结构配合定位时,手术机器人、手术台之间通过配准臂进行机械连接和电气连接。具体地,第一配合部为一环形凹槽,第一定位结构为设置在环形凹槽一侧的定位槽904,第二配合部为接头806的环形外壁,第二定位结构为设置在环形外壁外侧的定位键906,此外,接头806上还可设置卡扣907,通过卡扣907与环形凹槽内的结构衔接上,使第一连接部702与接头806之间不易脱落。第一连接部702
设置插孔903,接头806上设置插针905,插孔903与插针905之间相互配合以实现电气连接。使用时,定位槽904与定位键906配合以确定第一连接部702与接头806之间的相对方位,卡扣907与环形凹槽内的结构衔接上以防止脱落,插针905与插孔903对接上,从而实现手术机器人、手术台之间的机械连接和电气连接。可以理解,图21所示结构也可以是手术台的第二连接部与配准臂的第二端的配合结构,在此不再赘述。实际实现时,第一连接部、第二连接部与配准臂之间还可采用磁吸的方式以更快捷地实现机械连接和电气连接,例如,至少在一端可拆卸连接的配准臂与连接部之中,一者采用磁性接口、另一者采用与该磁性接口适配的磁性插头。磁性接口和磁性插头可以具有相异的磁极,或者,一者具有磁极、另一者不具有磁极但两者可相互吸引。Figure 21 shows the matching structure of the first connecting part and the first end of the registration arm, in which (a) is a schematic structural diagram of the first connecting part 702, and (b) is a schematic structural diagram of the joint 806 of the registration arm 609. . The first connecting part 702 includes a first matching part and a first positioning structure. The joint 806 includes a second matching part and a second positioning structure. The first matching part and the second matching part are mated and connected, and the first positioning structure and the second positioning structure When the structures are positioned together, the surgical robot and operating table are connected mechanically and electrically through registration arms. Specifically, the first fitting part is an annular groove, the first positioning structure is a positioning groove 904 provided on one side of the annular groove, the second fitting part is an annular outer wall of the joint 806, and the second positioning structure is provided on the annular outer wall. In addition to the positioning key 906 on the outside, a buckle 907 can also be provided on the joint 806. The buckle 907 is connected to the structure in the annular groove, so that the first connecting part 702 and the joint 806 are not easy to fall off. first connection part 702 A jack 903 is provided, and a pin 905 is provided on the connector 806. The jack 903 and the pin 905 cooperate with each other to achieve electrical connection. When in use, the positioning groove 904 cooperates with the positioning key 906 to determine the relative position between the first connection part 702 and the joint 806. The buckle 907 is connected with the structure in the annular groove to prevent falling off. The pin 905 and the socket 903 docking to achieve mechanical and electrical connections between the surgical robot and the operating table. It can be understood that the structure shown in FIG. 21 can also be a matching structure between the second connecting portion of the operating table and the second end of the registration arm, which will not be described again here. In actual implementation, magnetic attraction can also be used between the first connection part, the second connection part and the registration arm to more quickly realize mechanical connection and electrical connection. For example, at least one end of the detachable connection between the registration arm and Among the connection parts, one adopts a magnetic interface and the other adopts a magnetic plug adapted to the magnetic interface. The magnetic interface and the magnetic plug may have different magnetic poles, or one may have magnetic poles and the other may not but may attract each other.
如图22所示,配准臂609处于收拢状态时,可固定在手术床105上。当手术机器人700或手术床105处于非手术状态或不需要实施联动功能时,配准臂609可以收拢重叠起来,减少占用空间。同时,可在挪动手术床105时避免配准臂609与周围环境发生碰撞而致损。如图23中(a)和(b)所示,手术床105可设置多个第二连接部706-a、706-b、706-c、706-d,第二连接部726-a与726-c关于手术床105的长边中心线对称,第二连接部726-b与726-d关于手术床105的短边中心线对称。配准臂609与第二连接部706-a、706-b、706-c、706-d的连接可设计成易于拆卸、安装的连接形式。使用时,可以根据需要将配准臂609与合适的第二连接部连接,使用更加灵活。可以理解,手术机器人700上也可以设置多个第一连接部702以实现相同效果。As shown in Figure 22, when the registration arm 609 is in a folded state, it can be fixed on the operating bed 105. When the surgical robot 700 or the operating bed 105 is in a non-surgical state or does not need to implement the linkage function, the registration arms 609 can be folded and overlapped to reduce the occupied space. At the same time, the registration arm 609 can be prevented from being damaged due to collision with the surrounding environment when the operating bed 105 is moved. As shown in (a) and (b) in Figure 23, the operating bed 105 can be provided with a plurality of second connection parts 706-a, 706-b, 706-c, and 706-d. The second connection parts 726-a and 726 -c is symmetrical about the long side center line of the operating bed 105, and the second connecting parts 726-b and 726-d are symmetrical about the short side center line of the operating bed 105. The connection between the registration arm 609 and the second connection part 706-a, 706-b, 706-c, 706-d can be designed in a connection form that is easy to disassemble and install. During use, the registration arm 609 can be connected to a suitable second connection part as needed, making the use more flexible. It can be understood that multiple first connecting parts 702 can also be provided on the surgical robot 700 to achieve the same effect.
一些实施例中,配准臂609的关节组件可以包括传感器但不包括驱动组件,这些关节组件的运动依赖于用户手动调节而运动,例如通过用户拖动而运动,以实现与相应连接部之间的连接。其中,传感器可以获取相应关节组件的关节变量。In some embodiments, the joint components of the registration arm 609 may include sensors but not drive components. The movement of these joint components relies on manual adjustment by the user, such as movement by the user dragging, to achieve the connection with the corresponding connection part. Connection. Among them, the sensor can obtain the joint variables of the corresponding joint component.
一些实施例中,配准臂609还包括控制单元与驱动组件,控制单元与控制器耦接,控制单元被配置成用于,根据位姿变化指令控制驱动组件带动关节组件进行运动。驱动组件包括电机及相应的编码器。其中,位姿变化指令用于表征配准臂609运动所需达到的位姿,在位姿变化指令下,配准臂609被驱动组件驱动至目标位姿,在目标位姿,配准臂609可以是展开状态并与手术机器人700完成连接,还可以是未与手术机器人700完成连接的任意状态,还可以是收拢状态。在驱动组件驱动配准臂609的过程中,基于编码器可以获取相应关节组件的关节变量。In some embodiments, the registration arm 609 further includes a control unit and a driving assembly. The control unit is coupled to the controller, and the control unit is configured to control the driving assembly to drive the joint assembly to move according to the posture change instructions. Drive components include motors and corresponding encoders. Among them, the pose change command is used to represent the pose that the registration arm 609 needs to move. Under the pose change command, the registration arm 609 is driven by the driving component to the target pose. In the target pose, the registration arm 609 It can be in an unfolded state and is connected to the surgical robot 700, or it can be in any state without being connected to the surgical robot 700, or it can be in a collapsed state. During the process of driving the registration arm 609 by the driving component, the joint variables of the corresponding joint components can be obtained based on the encoder.
一实施例中,位姿变化指令可以通过用户使用如遥控器、控制手柄等外部输入设备的输入而获得。In one embodiment, the posture change instruction can be obtained through the user's input using an external input device such as a remote control, a control handle, etc.
一实施例中,位姿变化指令可以基于用户施加于配准臂上的力或力矩而获得。其中,施加于配准臂609上的力或力矩的位置通常位于该配准臂609相对自由的一端,为便于描述,施加的力或力矩作用于配准臂609的自由端。例如,配准臂609的第二端与手术台相对固定时,配准臂609的第二端为固定端,配准臂609的第一端为相对自由的一端即自由端,用户可以远程控制或近身拖动该自由端运动。为了检测用户施加的力或力矩,可以在自由端装设能够检测一个或多个运动自由度上的力或力矩的力或力矩传感器,例如,可以装设六维力或力矩传感器以检测各运动自由度上的力或力矩的分量。其中,控制器与该力或力矩传感器耦接,并被配置成用于:In one embodiment, the pose change instruction may be obtained based on the force or torque exerted by the user on the registration arm. The position of the force or torque applied to the registration arm 609 is usually located at a relatively free end of the registration arm 609. For convenience of description, the applied force or torque acts on the free end of the registration arm 609. For example, when the second end of the registration arm 609 is relatively fixed to the operating table, the second end of the registration arm 609 is the fixed end, and the first end of the registration arm 609 is the relatively free end, that is, the free end, which can be controlled remotely by the user. Or drag the free end close to the movement. In order to detect the force or torque exerted by the user, a force or torque sensor capable of detecting force or torque in one or more degrees of freedom of movement can be installed at the free end. For example, a six-dimensional force or torque sensor can be installed to detect each movement. Components of a force or moment on a degree of freedom. Wherein, the controller is coupled to the force or torque sensor and configured to:
获取自由端的当前位姿;Get the current pose of the free end;
获取力或力矩传感器检测的力或力矩;Obtain the force or torque detected by the force or torque sensor;
解析该力或力矩为自由端的位姿增量;The force or moment is analyzed as the posture increment of the free end;
基于当前位姿和位姿增量获取自由端(相对于定义在固定端的参考坐标系)的目标位姿;Obtain the target pose of the free end (relative to the reference coordinate system defined at the fixed end) based on the current pose and pose increment;
基于目标位姿确定配准臂中各关节组件的目标关节变量,并根据目标关节变量驱动对应关节组件的电机运动,以使自由端达到目标位姿。其中,借助于电机的辅助,使得用户可以较为容易地的调节如拖动配准臂的自由端达到目标位姿,例如达到与相应连接部进行
连接的位姿。The target joint variables of each joint component in the registration arm are determined based on the target pose, and the motor movement of the corresponding joint component is driven according to the target joint variables so that the free end reaches the target pose. Among them, with the assistance of the motor, the user can easily adjust, such as dragging the free end of the registration arm, to achieve the target posture, for example, to achieve the desired position with the corresponding connection part. Connected posture.
一实施例中,在配准臂609两端可自由的与第一设备或第二设备连接时,可以在配准臂609的第一端和第二端均设置力或力矩传感器,上述的控制器还可以被配置车用于:In one embodiment, when both ends of the registration arm 609 can be freely connected to the first device or the second device, force or torque sensors can be provided at both the first end and the second end of the registration arm 609. The above control The controller can also be configured to:
确定配准臂中的自由端(和固定端);Determine the free end (and fixed end) in the registration arm;
获取自由端(相对于定义在固定端的参考坐标系)的当前位姿;Get the current pose of the free end (relative to the reference coordinate system defined at the fixed end);
获取自由端处力或力矩传感器检测的力或力矩;Obtain the force or torque detected by the force or torque sensor at the free end;
解析该力或力矩为自由端的位姿增量;The force or moment is analyzed as the posture increment of the free end;
基于当前位姿和位姿增量获取自由端(相对于定义在固定端的参考坐标系)的目标位姿;Obtain the target pose of the free end (relative to the reference coordinate system defined at the fixed end) based on the current pose and pose increment;
基于目标位姿确定配准臂中各关节组件的目标关节变量,并根据目标关节变量驱动对应关节组件的电机运动,以使自由端达到目标位姿。The target joint variables of each joint component in the registration arm are determined based on the target pose, and the motor movement of the corresponding joint component is driven according to the target joint variables so that the free end reaches the target pose.
其中,可以采用多种方式确定配准臂的哪一端为自由端。例如,可以通过用户进行人工配置。又例如,可以通过感应配准臂两端与连接部之间的连接状态确定出自由端,如感应到配准臂的第一端与任一连接部形成连接时,可以确定第一端为固定端,进而确定第二端为自由端;又例如,如感应到配准臂的第一端与任一连接部未形成连接时,可以确定第一端为自由端。其中,对于连接状态的感应可以示例性的采用光电传感器、接近传感器等进行感应。其中,在配准臂的一端为固定端、另一端为自由端的情况下,可以对配准臂进行人工调节如拖动。Among them, various methods can be used to determine which end of the registration arm is the free end. For example, manual configuration can be done by the user. For another example, the free end can be determined by sensing the connection status between the two ends of the registration arm and the connecting portion. If it is sensed that the first end of the registration arm is connected to any connecting portion, the first end can be determined to be fixed. end, and then determine the second end as the free end; for another example, if it is sensed that the first end of the registration arm does not form a connection with any connection part, the first end can be determined as the free end. Among them, the connection status can be sensed by using photoelectric sensors, proximity sensors, etc., for example. Wherein, when one end of the registration arm is a fixed end and the other end is a free end, the registration arm can be manually adjusted such as dragging.
或者,配准臂609还包括角度传感器和/或位移传感器,角度传感器用于检测可相对运动的相邻关节组件之间的相对角度变化,位移传感器用于检测可相对运动的相邻关节组件之间的相对位置变化,从而,得到相应关节组件的关节变量。Alternatively, the registration arm 609 further includes an angle sensor and/or a displacement sensor. The angle sensor is used to detect relative angle changes between adjacent joint components that can move relative to each other. The displacement sensor is used to detect changes in the relative angle between adjacent joint components that can move relative to each other. The relative position changes between them, thereby obtaining the joint variables of the corresponding joint components.
如上文所述,在手术机器人的第一连接部与配准臂的第一端连接、手术台的第二连接部与配准臂的第二端连接后,配准臂的第一端与第二端之间的配准关系可通过运动学关系确定,具体地,获取多个关节组件的关节变量,关节变量包括多个关节组件的自身坐标系之间的相对距离和/或相对角度,再基于关节变量并利用正向运动学,确定第一端与第二端之间的第一配准关系。在此基础上,根据第一连接部在手术机器人上设置的位置,以及第二连接部在手术台上设置的位置,手术机器人与第一连接部之间的第二配准关系、及手术台与第二连接部之间的第三配准关系均为已知,从而,可以根据第一配准关系、第二配准关系、第三配准关系确定手术机器人与手术台之间的配准信息。As mentioned above, after the first connection part of the surgical robot is connected to the first end of the registration arm, and the second connection part of the operating table is connected to the second end of the registration arm, the first end of the registration arm is connected to the second end of the registration arm. The registration relationship between the two ends can be determined through the kinematic relationship. Specifically, the joint variables of multiple joint components are obtained. The joint variables include the relative distance and/or relative angle between the own coordinate systems of the multiple joint components, and then Based on the joint variables and utilizing forward kinematics, a first registration relationship between the first end and the second end is determined. On this basis, according to the position of the first connecting part on the surgical robot and the position of the second connecting part on the operating table, the second registration relationship between the surgical robot and the first connecting part, and the operating table The third registration relationship between the surgical robot and the second connection part is all known, so the registration between the surgical robot and the operating table can be determined based on the first registration relationship, the second registration relationship, and the third registration relationship. information.
在本实施例中,通过在手术机器人的基准坐标系与手术台的基准坐标系之间建立位置和姿态的关系,得到手术机器人与手术台之间的配准信息。In this embodiment, by establishing a position and attitude relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the registration information between the surgical robot and the operating table is obtained.
手术机器人的基准坐标系为手术机器人的参考坐标系,手术台的基准坐标系为手术台的参考坐标系。一些实施例中,手术机器人的基准坐标系包括手术机器人的基坐标系。一些实施例中,手术台的基准坐标系包括手术台的基坐标系。请参考图24,以手术机器人为例,手术机器人的基准坐标系通常可以建立在床旁机械臂系统的运动底盘上,包括位于水平面上的两个坐标轴且坐标原点位于固定支撑柱的轴线上,但实际实现时,手术机器人的基准坐标系也可以不建立在运动底盘上,只需与运动底盘的坐标系具有固定坐标转换关系即可。依据运动学坐标系建立规则,分别在第一连接部建立第一连接部坐标系、在机械臂和调整臂的末端建立了机械臂末端坐标系和调整臂末端坐标系,以及在操纵臂末端分别建立了医疗器械末端坐标系和远心不动点坐标系,此外,在机械臂、调整臂以及操纵臂内部的各个运动关节位置同样建立了关节坐标系。通过应用运动学理论的坐标系转换矩阵,可以计算得到第一连接部坐标系与手术机器人的基准坐标系之间的转换关系、机械臂末端坐标系与手术机器人的基准坐标系之间的转换关系、调整臂末端坐标系与机械臂末端坐标系之间的转换关系、医疗器械末端坐标系与调整臂末端坐标系之间的转换关系、以及远心不动点坐标系与调整臂末端坐标系之间的转换关系,依据坐标系转换关系可以得到医疗器械末端坐标系与手术机器人的基准坐标系之间的转换关系,进而能够确定医疗器械末端在手
术机器人的基准坐标系内的位姿情况,包括位置和姿态,从而使得外科医生在医生主操作台的手术动作能够映射到手术器械上开展手术动作,依据坐标系转换关系可以得到远心不动点坐标系与手术机器人的基准坐标系之间的转换关系,进而能够确定装设于操纵臂末端的穿刺装置在手术机器人的基准坐标系内的姿态信息和位置信息,其中穿刺装置的位置信息可采用远心不动点的位置进行表征。The reference coordinate system of the surgical robot is the reference coordinate system of the surgical robot, and the reference coordinate system of the operating table is the reference coordinate system of the operating table. In some embodiments, the reference coordinate system of the surgical robot includes a base coordinate system of the surgical robot. In some embodiments, the reference coordinate system of the operating table includes a base coordinate system of the operating table. Please refer to Figure 24, taking the surgical robot as an example. The reference coordinate system of the surgical robot can usually be established on the motion chassis of the bedside robotic arm system, including two coordinate axes on the horizontal plane and the coordinate origin is located on the axis of the fixed support column. , but in actual implementation, the reference coordinate system of the surgical robot does not need to be established on the moving chassis, and only needs to have a fixed coordinate transformation relationship with the coordinate system of the moving chassis. According to the kinematic coordinate system establishment rules, the first connection part coordinate system is established at the first connection part, the robot arm end coordinate system and the adjustment arm end coordinate system are established at the ends of the robot arm and the adjustment arm, and the control arm end coordinate system is established respectively. The medical device end coordinate system and the telecentric fixed point coordinate system are established. In addition, the joint coordinate system is also established at each moving joint position inside the robotic arm, adjustment arm, and manipulator arm. By applying the coordinate system transformation matrix of the kinematics theory, the transformation relationship between the first connection part coordinate system and the surgical robot's reference coordinate system, and the transformation relationship between the robot end coordinate system and the surgical robot's reference coordinate system can be calculated. , the conversion relationship between the adjustment arm end coordinate system and the robot arm end coordinate system, the conversion relationship between the medical device end coordinate system and the adjustment arm end coordinate system, and the conversion relationship between the telecentric fixed point coordinate system and the adjustment arm end coordinate system According to the coordinate system conversion relationship, the conversion relationship between the coordinate system of the end of the medical device and the reference coordinate system of the surgical robot can be obtained, and then the end position of the medical device in the hand can be determined. The posture situation in the reference coordinate system of the surgical robot, including position and attitude, allows the surgeon's surgical actions on the doctor's main console to be mapped to the surgical instruments to carry out surgical actions. According to the coordinate system conversion relationship, telecentric immobility can be obtained The conversion relationship between the point coordinate system and the reference coordinate system of the surgical robot can then determine the posture information and position information of the puncture device installed at the end of the manipulator arm in the reference coordinate system of the surgical robot, where the position information of the puncture device can be The position of the telecentric fixed point is used for characterization.
以手术台为手术床为例,考虑到手术床在机械结构上的中心对称特性及其各运动关节在系统内的分布情况,手术床的基准坐标系通常建立在轮式底盘的中心处,包括位于水平面的两个坐标轴且坐标原点位于轮式底盘的中心轴线上,但实际实现时,手术床的基准坐标系也可以不建立在轮式底盘的中心处,只需与轮式底盘的坐标系具有固定坐标转换关系即可。依据坐标系建立规则,在第二连接部建立第二连接部坐标系,各关节坐标系依次建立在各运动关节处。为了确定患者随手术床旋转运动过程中的运动信息,定义手术床旋转运动的转动中心为等中心点,并建立了等中心点坐标系和手术床台面坐标系,通过应用运动学理论的坐标系转换矩阵,可以计算得到第二连接部坐标系与手术床的基准坐标系之间的转换关系、等中心点坐标系与手术床的基准坐标系之间的转换关系、以及台面坐标系与等中心点坐标系之间的转换关系。Taking the operating table as an example, considering the central symmetry characteristics of the mechanical structure of the operating table and the distribution of each moving joint in the system, the reference coordinate system of the operating table is usually established at the center of the wheeled chassis, including The two coordinate axes are located on the horizontal plane and the coordinate origin is located on the central axis of the wheeled chassis. However, in actual implementation, the reference coordinate system of the operating table does not need to be established at the center of the wheeled chassis. It only needs to be aligned with the coordinates of the wheeled chassis. It is enough that the system has a fixed coordinate transformation relationship. According to the coordinate system establishment rules, the second connection part coordinate system is established at the second connection part, and each joint coordinate system is established at each moving joint in turn. In order to determine the motion information of the patient during the rotation of the operating table, the rotation center of the rotational movement of the operating table is defined as the isocenter point, and the isocenter point coordinate system and the operating table table coordinate system are established. By applying the coordinate system of the kinematics theory The transformation matrix can calculate the transformation relationship between the second connection part coordinate system and the reference coordinate system of the operating table, the transformation relationship between the isocenter coordinate system and the reference coordinate system of the operating table, and the conversion relationship between the table coordinate system and the isocenter. The conversion relationship between point coordinate systems.
在完成手术机器人与手术床之间的位姿配准后,可以确定第一连接部坐标系与第二连接部坐标系的转换关系,也即得到手术机器人的基准坐标系与手术床的基准坐标系之间的转换关系。因此,依据坐标系转换关系可以确定手术床台面坐标系与手术机器人的基准坐标系之间的运动学关系。当驱动臂末端的医疗器械通过穿刺装置插入到患者体内后,此时,穿刺装置的远心不动点与患者的开口位置重合,在不考虑患者呼吸作用情况下,患者在绑定到手术床台面后将始终与手术床台面保持相对静止状态,则依据坐标系转换关系可以确定远心不动点坐标系与手术床台面坐标系之间的转换关系以及与手术床的基准坐标系之间的转换关系,在此基础上,则可以确定患者的身体开口位置点在手术床台面坐标系内的位置信息和穿刺装置在手术床台面坐标系内的姿态信息,即在患者的身体开口位置处完成了穿刺装置与手术床的基准坐标系之间的位姿配准。After completing the pose registration between the surgical robot and the operating table, the conversion relationship between the first connection part coordinate system and the second connection part coordinate system can be determined, that is, the reference coordinate system of the surgical robot and the reference coordinates of the operating table can be obtained. conversion relationships between systems. Therefore, the kinematic relationship between the coordinate system of the operating table table and the reference coordinate system of the surgical robot can be determined based on the coordinate system transformation relationship. When the medical instrument at the end of the driving arm is inserted into the patient's body through the puncture device, at this time, the telecentric fixed point of the puncture device coincides with the patient's opening position. Without considering the patient's breathing, the patient is bound to the operating bed. The table will always remain relatively stationary with the operating table table. According to the coordinate system conversion relationship, the conversion relationship between the telecentric fixed point coordinate system and the operating table table coordinate system as well as the conversion relationship with the reference coordinate system of the operating table can be determined. On this basis, the position information of the patient's body opening position point in the operating table table coordinate system and the attitude information of the puncture device in the operating table table coordinate system can be determined, that is, it is completed at the patient's body opening position. The position and orientation registration between the puncture device and the reference coordinate system of the operating table is achieved.
为实现上述配准,本公开通过获取配准臂的多个关节组件的关节变量,关节变量包括多个关节组件的自身坐标系之间的相对距离和/或相对角度,基于关节变量并利用正向运动学,确定第一端与第二端之间的第一配准关系,进而得到第一连接部坐标系与第二连接部坐标系的转换关系720。In order to achieve the above registration, the present disclosure obtains joint variables of multiple joint components of the registration arm. The joint variables include the relative distance and/or relative angle between the own coordinate systems of the multiple joint components. Based on the joint variables and using positive To kinematics, determine the first registration relationship between the first end and the second end, and then obtain the transformation relationship 720 between the first connection part coordinate system and the second connection part coordinate system.
图25至图26示意了得到第一连接部坐标系与第二连接部坐标系的进行配准的原理。其中,图26中(a)和(b)分别从配准臂609的不同角度进行示意。以图20所示的配准臂609为例,在第二连接部726处建立坐标系O726-X726Y726Z726,Z726轴与第一转动副轴线重合且垂直于水平地面,平面X726O726Y726与第二连接部726顶面重合,Y726轴为水平方向且为手术台的长边方向,X726轴为水平方向且为手术台的短边方向。Figures 25 and 26 illustrate the principle of obtaining the registration between the first connection part coordinate system and the second connection part coordinate system. Among them, (a) and (b) in Figure 26 are respectively illustrated from different angles of the registration arm 609. Taking the registration arm 609 shown in Figure 20 as an example, a coordinate system O 726 - X 726 O 726 Y 726 coincides with the top surface of the second connecting part 726, the Y 726 axis is the horizontal direction and is the long side direction of the operating table, and the X 726 axis is the horizontal direction and is the short side direction of the operating table.
在第三连杆804的两端分别建立坐标系O1-X1Y1Z1与O′1-′1Y′1Z′1。其中,Z1轴与Z726轴重合,平面X1O1Y1与平面X726O726Y726重合,Y1轴为杆长方向。坐标系O′1-X′1Y′1Z′1由坐标系O1-X1Y1Z1沿Y1方向平移杆长L1获得,Z′1轴与第二转动副轴线重合。Coordinate systems O 1 -X 1 Y 1 Z 1 and O′ 1 -′ 1 Y′ 1 Z′ 1 are respectively established at both ends of the third link 804 . Among them, the Z 1 axis coincides with the Z 726 axis, the plane X 1 O 1 Y 1 coincides with the plane X 726 O 726 Y 726 , and the Y 1 axis is the length direction of the rod. The coordinate system O′ 1 -X′ 1 Y′ 1 Z′ 1 is obtained by translating the rod length L 1 along the Y 1 direction of the coordinate system O 1 -X 1 Y 1 Z 1. The Z′ 1 axis coincides with the second secondary rotation axis.
在第二连杆802上建立坐标系O2-X2Y2Z2与O′2-X′2Y′2Z′2。其中,Z2轴与Z′1轴重合,Y2轴为杆长方向,平面X2O2Y2与第二连杆802上表面重合,平面X2O2Y2与平面X′1O′1Y′1平行且距离为第二连杆802的厚度H1。O′2-X′2Y′2Z′2由坐标系O2-X2Y2Z2沿Y2方向平移杆长L2获得,Z′2轴与第三转动副轴线重合。Coordinate systems O 2 -X 2 Y 2 Z 2 and O' 2 -X' 2 Y' 2 Z' 2 are established on the second link 802. Among them, the Z 2 axis coincides with the Z′ 1 axis, the Y 2 axis is the rod length direction, the plane X 2 O 2 Y 2 coincides with the upper surface of the second connecting rod 802, and the plane X 2 O 2 Y 2 and the plane X′ 1 O ′ 1 Y′ 1 is parallel and distanced by the thickness H 1 of the second link 802 . O′ 2 -X′ 2 Y′ 2 Z′ 2 is obtained by translating the rod length L 2 in the Y 2 direction of the coordinate system O 2 -X 2 Y 2 Z 2. The Z′ 2 axis coincides with the third rotational secondary axis.
在双轴关节803上建立坐标系O3-X3Y3Z3与O′3-X′3Y′3Z′3。其中,Z3轴与Z′2轴重合,平面X3O3Y3与平面X′2O′2Y′2平行且距离为双轴关节803的第一轴关节厚度H2,Y3轴与双轴关节803的端面803a垂直。坐标系O′3-X′3Y′3Z′3由坐标系O3-X3Y3Z3平移获得,平面X′3O′3Y′3与平面X3O3Y3共面,X′3轴与X3轴平行且距离为第三转动副轴线到端面803a的距离H3,与第四转动副轴线重合的Y′3轴与Y3轴平行且距离为第三转动副轴线到第四转动副轴线的距离L3。
Coordinate systems O 3 -X 3 Y 3 Z 3 and O′ 3 -X′ 3 Y′ 3 Z′ 3 are established on the biaxial joint 803. Among them, the Z 3 axis coincides with the Z′ 2 axis, the plane X 3 O 3 Y 3 is parallel to the plane X′ 2 O′ 2 Y′ 2 and the distance is H 2 , the first axis joint thickness of the biaxial joint 803, and the Y 3 axis It is perpendicular to the end surface 803a of the biaxial joint 803. The coordinate system O′ 3 -X′ 3 Y′ 3 Z′ 3 is obtained by the translation of the coordinate system O 3 -X 3 Y 3 Z 3. The plane X′ 3 O′ 3 Y′ 3 is coplanar with the plane X 3 O 3 Y 3 , the X ′ 3 - axis is parallel to the The distance L 3 from the axis to the fourth secondary axis of rotation.
在第一连杆801的两端分别建立坐标系O4-X4Y4Z4与O′4-X′4Y′4Z′4。其中,Y4轴与Y′4轴重合,Z4轴为杆长方向,平面X4O4Z4与第一连杆801左表面重合,平面X4O4Z4与平面X′3O′3Z′3平行且距离为第一连杆801厚度与双轴关节803的第二轴关节厚度之和H4。坐标系O′4-X′4Y′4Z′4由坐标系O4-X4Y4Z4沿Z4方向平移杆长L4获得,Y′4轴与第五转动副轴线重合。Coordinate systems O 4 -X 4 Y 4 Z 4 and O' 4 -X' 4 Y' 4 Z' 4 are respectively established at both ends of the first connecting rod 801. Among them, the Y 4 axis coincides with the Y′ 4 axis, the Z 4 axis is the rod length direction, the plane X 4 O 4 Z 4 coincides with the left surface of the first connecting rod 801, the plane X 4 O 4 Z 4 and the plane X′ 3 O ′ 3 Z′ 3 are parallel and the distance is the sum H 4 of the thickness of the first connecting rod 801 and the thickness of the second axis joint of the biaxial joint 803 . The coordinate system O′ 4 -X′ 4 Y′ 4 Z′ 4 is obtained by translating the coordinate system O 4 -X 4 Y 4 Z 4 along the Z 4 direction by the length of the rod L 4. The Y′ 4 axis coincides with the fifth secondary axis of rotation.
在对接器805上建立坐标系O5-X5Y5Z5与O6-X6Y6Z6。其中,Y5轴与Y′4轴重合,平面X5O5Z5与对接器805的端面805a重合,Z5轴为第一连杆801的杆长方向。坐标系O6-X6Y6Z6建立在接头806中心,并可由坐标系O5-X5Y5Z5平移并绕Z5轴旋转获得,Y6轴与Y5轴平行且距离为接头806中心到第五转动副轴线的距离L5,Z6轴与Z5轴平行且距离为接头806中心到端面805a的距离H6。Establish coordinate systems O 5 -X 5 Y 5 Z 5 and O 6 -X 6 Y 6 Z 6 on the docking device 805. Among them, the Y 5 axis coincides with the Y′ 4 axis, the plane X 5 O 5 Z 5 coincides with the end surface 805 a of the docking device 805 , and the Z 5 axis is the rod length direction of the first connecting rod 801 . The coordinate system O 6 -X 6 Y 6 Z 6 is established at the center of the joint 806 and can be obtained by translating the coordinate system O 5 -X 5 Y 5 Z 5 and rotating around the Z 5 axis. The Y 6 axis is parallel to the Y 5 axis and the distance is The distance L 5 from the center of the joint 806 to the fifth secondary axis of rotation, the Z 6 axis is parallel to the Z 5 axis, and the distance is H 6 from the center of the joint 806 to the end surface 805a.
在第一连接部702的中心处建立坐标系O702-X702Y702Z702,Z702轴垂直于水平地面,X702轴为手术机器人的长边方向,Y702轴为手术机器人的短边方向。Establish a coordinate system O 702 -X 702 Y 702 Z 702 at the center of the first connection part 702. The Z 702 axis is perpendicular to the horizontal ground, the X 702 axis is the long side direction of the surgical robot, and the Y 702 axis is the short side of the surgical robot. direction.
在配准臂609与手术机器人、手术台成功连接之后,第一、二、三、四、五与六转动副处的角度传感器可测量出Y726轴与Y1轴、Y′1轴与Y2轴、Y′2轴与Y3轴、Z4轴与Z′3轴、Z5轴与Z′4轴、X5轴与X6轴的夹角θ1、θ2、θ3、θ4、θ5与θ6。坐标系O6-X6Y6Z6相对于坐标系O726-X726Y726Z726的位姿描述可通过以下的坐标系变换解算得到:
After the registration arm 609 is successfully connected to the surgical robot and operating table, the angle sensors at the first, second, third, fourth, fifth and sixth rotating pairs can measure the Y 726 axis and Y 1 axis, Y′ 1 axis and Y 2- axis, Y′ 2- axis and Y 3- axis, Z 4- axis and Z′ 3- axis, Z 5- axis and Z′ 4- axis, X 5- axis and X 6 -axis angles θ 1 , θ 2 , θ 3 , θ 4 , θ 5 and θ 6 . The pose description of coordinate system O 6 -X 6 Y 6 Z 6 relative to coordinate system O 726 -X 726 Y 726 Z 726 can be obtained through the following coordinate system transformation:
After the registration arm 609 is successfully connected to the surgical robot and operating table, the angle sensors at the first, second, third, fourth, fifth and sixth rotating pairs can measure the Y 726 axis and Y 1 axis, Y′ 1 axis and Y 2- axis, Y′ 2- axis and Y 3- axis, Z 4- axis and Z′ 3- axis, Z 5- axis and Z′ 4- axis, X 5- axis and X 6 -axis angles θ 1 , θ 2 , θ 3 , θ 4 , θ 5 and θ 6 . The pose description of coordinate system O 6 -X 6 Y 6 Z 6 relative to coordinate system O 726 -X 726 Y 726 Z 726 can be obtained through the following coordinate system transformation:
同时,由于配准臂609与手术机器人700连接成功,坐标系O6-X6Y6Z6与O702-X702Y702Z702重合。其中,X6轴与Z702轴重合,Z6轴与Y702轴重合。故坐标系O702-X702Y702Z702相对于坐标系O6-X6Y6Z6的位姿描述可通过以下的坐标系变换解算得到:
At the same time, since the registration arm 609 is successfully connected to the surgical robot 700, the coordinate system O 6 -X 6 Y 6 Z 6 coincides with O 702 -X 702 Y 702 Z 702 . Among them, the X 6 axis coincides with the Z 702 axis, and the Z 6 axis coincides with the Y 702 axis. Therefore, the pose description of the coordinate system O 702 -X 702 Y 702 Z 702 relative to the coordinate system O 6 -X 6 Y 6 Z 6 can be obtained through the following coordinate system transformation:
At the same time, since the registration arm 609 is successfully connected to the surgical robot 700, the coordinate system O 6 -X 6 Y 6 Z 6 coincides with O 702 -X 702 Y 702 Z 702 . Among them, the X 6 axis coincides with the Z 702 axis, and the Z 6 axis coincides with the Y 702 axis. Therefore, the pose description of the coordinate system O 702 -X 702 Y 702 Z 702 relative to the coordinate system O 6 -X 6 Y 6 Z 6 can be obtained through the following coordinate system transformation:
结合式(1)与式(2),即可得到第一连接部的坐标系O702-X702Y702Z702相对于第二连接部的坐标系O726-X726Y726Z726的位姿描述:
Combining formula (1) and formula (2), the position of the coordinate system O 702 -X 702 Y 702 Z 702 of the first connection part relative to the coordinate system O 726 -X 726 Y 726 Z 726 of the second connection part can be obtained Posture description:
Combining formula (1) and formula (2), the position of the coordinate system O 702 -X 702 Y 702 Z 702 of the first connection part relative to the coordinate system O 726 -X 726 Y 726 Z 726 of the second connection part can be obtained Posture description:
最终依据上述式(3)可以实现第一连接部的坐标系O702-X702Y702Z702相对于第二连接部的坐标系O726-X726Y726Z726的之间的位姿定位。Finally, according to the above formula (3), the posture positioning between the coordinate system O 702 -X 702 Y 702 Z 702 of the first connection part and the coordinate system O 726 -X 726 Y 726 Z 726 of the second connection part can be realized .
在上述基础上,请参考图27,在第一连接部的坐标系92与第二连接部的坐标系90的相对位姿已知、第一连接部的坐标系92在手术机器人的基准坐标系43中的位姿已知、以及第二连接部的坐标系91在手术台的基准坐标系90中的位姿已知的情况下,即可实现手术机器人的基准坐标系与手术台的基准坐标系之间的配准。On the basis of the above, please refer to Figure 27. The relative poses of the coordinate system 92 of the first connection part and the coordinate system 90 of the second connection part are known. The coordinate system 92 of the first connection part is in the reference coordinate system of the surgical robot. When the pose in 43 is known, and the coordinate system 91 of the second connection part is known in the reference coordinate system 90 of the operating table, the reference coordinate system of the surgical robot and the reference coordinate of the operating table can be realized. alignment between systems.
本公开通过确定手术机器人的基准坐标系与手术台的基准坐标系之间的位姿配准信息,能够在患者的身体开口位置处完成穿刺装置与手术床的基准坐标系之间的位姿配准,进而便于控制手术机器人与手术床进行联动的可实现性。By determining the pose registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the present disclosure can complete the pose registration between the puncture device and the reference coordinate system of the operating table at the opening position of the patient's body. Accurate, thereby making it easier to control the linkage between the surgical robot and the operating bed.
本实施例的配准臂在用于实现手术机器人与手术台的配准的基础上,还用于实现手术机器人与手术台之间的电气连接。一些实施方式中,配准臂被配置成通过电气连接传输或中转以下数据中的至少一项:The registration arm in this embodiment is not only used to realize the registration of the surgical robot and the operating table, but is also used to realize the electrical connection between the surgical robot and the operating table. In some embodiments, the registration arm is configured to transmit or relay at least one of the following data via the electrical connection:
手术机器人的运动信息;Movement information of surgical robot;
手术台的运动信息;Operating table movement information;
配准臂的运动信息;Movement information of the registration arm;
用于控制手术机器人和/或手术台的指令;Instructions for controlling surgical robots and/or operating tables;
手术机器人和/或手术台对指令的执行结果;The results of the execution of instructions by the surgical robot and/or operating table;
手术机器人和手术台之间进行联动的执行结果。
The execution result of the linkage between the surgical robot and the operating table.
此外,手术机器人和/或手术台还可以通过电气连接为配准臂提供电源,从而无需在配准臂上额外配置电源模块,结构更加简单。并且,手术机器人和手术台之间通过配准臂电气连接,可以实现手术机器人和手术台之间的单向或双向供电,例如,外接电源可以与手术机器人连接为其供电,然后通过配准臂再向手术台供电;又例如,手术机器人和/或手术台配置有辅助电源如UPS,可以在外接电源无法供电时,通过配准臂在手术机器人和手术台之间供电。In addition, the surgical robot and/or operating table can also provide power to the registration arm through electrical connections, eliminating the need to configure an additional power module on the registration arm and making the structure simpler. Moreover, the surgical robot and the operating table are electrically connected through the registration arm, which can realize one-way or two-way power supply between the surgical robot and the operating table. For example, an external power supply can be connected to the surgical robot to power it, and then through the registration arm Then power is supplied to the operating table; for another example, the surgical robot and/or the operating table are equipped with an auxiliary power supply such as a UPS, which can provide power between the surgical robot and the operating table through the registration arm when the external power supply cannot provide power.
为优化手术机器人、手术台、配准臂之间的电气连接结构以及运算能力。手术系统的控制器可以包括第一控制单元、第二控制单元与第三控制单元,第三控制单元连接第一控制单元与第二控制单元,第一控制单元设置于手术机器人,第二控制单元设置于手术台,第三控制单元设置于配准臂。或者,手术系统的控制器可以包括第一控制单元与第二控制单元,第一控制单元设置于手术机器人,第二控制单元设置于手术台,第一控制单元或第二控制单元与配准臂电气连接。通过控制器的不同控制单元,可以执行针对手术系统相应部分的控制和数据处理,以及,在实现本公开的配准方法及后续的联动逻辑时,控制器的不同控制单元还可以承担相应的算力,提高运算能力,减少单一控制单元的运算压力,运算过程更加可靠。In order to optimize the electrical connection structure and computing power between the surgical robot, operating table, and registration arm. The controller of the surgical system may include a first control unit, a second control unit, and a third control unit. The third control unit is connected to the first control unit and the second control unit. The first control unit is provided on the surgical robot, and the second control unit It is installed on the operating table, and the third control unit is installed on the registration arm. Alternatively, the controller of the surgical system may include a first control unit and a second control unit, the first control unit is provided on the surgical robot, the second control unit is provided on the operating table, the first control unit or the second control unit and the registration arm Electrical connections. Through different control units of the controller, control and data processing for corresponding parts of the surgical system can be performed, and when implementing the registration method and subsequent linkage logic of the present disclosure, different control units of the controller can also undertake corresponding calculations. power, improve computing power, reduce the computing pressure on a single control unit, and make the computing process more reliable.
图28至图31示意了手术机器人与手术台之间不同的电气连接结构。如图28所示,手术机器人700包括第一控制单元606、第一电机6021与第一编码器6022,以手术机器人700为例,第一电机6021可以是用于驱动升降立柱、机械臂、调整臂、操纵臂的电机,第一编码器6022将第一电机6021的运动信息转换为驱动升降立柱、机械臂、调整臂、操纵臂等的关节组件的位置信息并发送给第一控制单元606。配准臂609设置在手术床105上,配准臂609设置有传感器6091,手术床105包括第二控制单元607、第二编码器6032、第二电机6031和第二操作控件6033,传感器6091与第二控制单元607通过传输路径617、618进行数据传输,以使得第二控制单元607可以获取传感器6091的检测数据,并对传感器6091进行供电或发送控制指令。第二操作控件6033例如为遥控器,用户通过输入用户操作至第二操作控件6033,产生对手术床105进行控制的用户指令。通过传输路径616,可以传输手术机器人700的运动信息、手术床105的运动信息、配准臂609的运动信息、手术机器人700和手术床105之间进行联动的执行结果等相关数据,此时可认为配准臂609仅作为通信线缆使用。Figures 28 to 31 illustrate different electrical connection structures between the surgical robot and the operating table. As shown in Figure 28, the surgical robot 700 includes a first control unit 606, a first motor 6021 and a first encoder 6022. Taking the surgical robot 700 as an example, the first motor 6021 can be used to drive a lifting column, a robotic arm, and an adjustment device. The first encoder 6022 converts the motion information of the first motor 6021 into the position information of the joint components that drive the lifting column, the mechanical arm, the adjustment arm, the control arm, etc. and sends it to the first control unit 606 . The registration arm 609 is provided on the operating bed 105. The registration arm 609 is provided with a sensor 6091. The operating bed 105 includes a second control unit 607, a second encoder 6032, a second motor 6031 and a second operating control 6033. The sensor 6091 and The second control unit 607 transmits data through the transmission paths 617 and 618, so that the second control unit 607 can obtain the detection data of the sensor 6091, and supply power to the sensor 6091 or send control instructions. The second operation control 6033 is, for example, a remote control. The user inputs a user operation to the second operation control 6033 to generate a user instruction for controlling the operating bed 105 . Through the transmission path 616, relevant data such as the movement information of the surgical robot 700, the movement information of the operating table 105, the movement information of the registration arm 609, the execution results of the linkage between the surgical robot 700 and the operating table 105 can be transmitted. The registration arm 609 is considered to be used only as a communication cable.
如图29所示,与图28所示结构不同的是,用户操作通过设置在手术机器人700上的第一操作控件6023输入,产生对手术机器人700和/或手术床105进行控制的用户指令,因此,传输路径616,还可以传输用于控制手术机器人700和/或手术床105的指令、手术机器人700和/或手术床105对指令的执行结果等相关数据,此时可认为配准臂609仅作为通信线缆使用。As shown in Figure 29, what is different from the structure shown in Figure 28 is that the user operation is input through the first operation control 6023 provided on the surgical robot 700 to generate user instructions for controlling the surgical robot 700 and/or the operating bed 105. Therefore, the transmission path 616 can also transmit relevant data such as instructions for controlling the surgical robot 700 and/or the operating bed 105, execution results of the instructions by the surgical robot 700 and/or the operating bed 105, and in this case, the registration arm 609 can be regarded as Use only as a communication cable.
如图30所示,与图28所示结构不同的是,配准臂609包括第三控制单元6091、第三电机1092和第三编码器1093,第三控制单元6091与第二控制单元607通过传输路径617、618进行数据传输,以使得第二控制单元607可以对传感器6091进行供电或发送控制指令、以及获取第三控制单元6091对指令执行的结果。第三控制单元6091与第一控制单元606之间通过传输路径616’进行数据传输。通过传输路径617、618可以传输手术机器人700的运动信息、手术床105的运动信息、手术机器人700和手术床105之间进行联动的执行结果等相关数据,通过传输路径616’,可以传输手术机器人700的运动信息、手术床105的运动信息、配准臂609的运动信息、手术机器人700和手术床105之间进行联动的执行结果等相关数据,也就是说,第三控制单元6091在收到手术机器人700的数据后,除了对手术机器人700的数据进行转发之外,还在数据中附加配准臂609的运动信息,此时可认为配准臂609作为通信中转站使用,传输路径616包括通讯路径617与传输路径616’。As shown in Figure 30, what is different from the structure shown in Figure 28 is that the registration arm 609 includes a third control unit 6091, a third motor 1092 and a third encoder 1093. The third control unit 6091 and the second control unit 607 pass The transmission paths 617 and 618 perform data transmission, so that the second control unit 607 can power the sensor 6091 or send control instructions, and obtain the results of the instruction execution by the third control unit 6091. Data transmission is performed between the third control unit 6091 and the first control unit 606 through the transmission path 616'. The motion information of the surgical robot 700, the motion information of the surgical bed 105, the execution results of the linkage between the surgical robot 700 and the surgical bed 105 and other related data can be transmitted through the transmission paths 617 and 618. The surgical robot can be transmitted through the transmission path 616'. 700 motion information, the motion information of the operating bed 105, the motion information of the registration arm 609, the execution results of the linkage between the surgical robot 700 and the operating bed 105 and other related data. That is to say, the third control unit 6091 receives After the data of the surgical robot 700 is forwarded, in addition to forwarding the data of the surgical robot 700, the movement information of the registration arm 609 is also added to the data. At this time, the registration arm 609 can be considered to be used as a communication transfer station. The transmission path 616 includes Communication path 617 and transmission path 616'.
如图31所示,与图30所示结构不同的是,用户操作通过设置在手术机器人700上的第一操作控件6023输入,产生对手术机器人700和/或手术床105进行控制的用户指令,
因此,传输路径616,还可以传输用于控制手术机器人700和/或手术床105的指令、手术机器人700和/或手术床105对指令的执行结果等相关数据,此时配准臂609仍作为通信中转站使用,传输路径616包括传输路径617与传输路径616’。As shown in Figure 31, what is different from the structure shown in Figure 30 is that the user operation is input through the first operation control 6023 provided on the surgical robot 700 to generate user instructions for controlling the surgical robot 700 and/or the operating bed 105. Therefore, the transmission path 616 can also transmit relevant data such as instructions for controlling the surgical robot 700 and/or the operating bed 105, execution results of the instructions by the surgical robot 700 and/or the operating bed 105, and the registration arm 609 still serves as the Used by the communication relay station, the transmission path 616 includes a transmission path 617 and a transmission path 616'.
应该理解,与上述电气结构不同的是,配准臂609还可以设置在手术机器人700上,这种情况下,配准臂609可采用如图28或图29所示的结构,具体工作过程与图28或图29所示的结构类似,不再赘述。通过上述电气连接结构,可以使手术系统的布线整洁、连接便捷,并且,通过有线通讯的方式,抗干扰能力提升,信号传输更加可靠。It should be understood that, different from the above electrical structure, the registration arm 609 can also be provided on the surgical robot 700. In this case, the registration arm 609 can adopt the structure as shown in Figure 28 or Figure 29. The specific working process is as follows. The structure shown in Figure 28 or Figure 29 is similar and will not be described again. Through the above electrical connection structure, the wiring of the surgical system can be neat and the connection is convenient. Moreover, through wired communication, the anti-interference ability is improved and the signal transmission is more reliable.
本公开的手术系统具有如下有益效果:The surgical system of the present disclosure has the following beneficial effects:
①能够实现手术设备之间的位姿定位功能,实现手术设备之间的联动技术,联动过程中消除了从患者体内移除穿刺装置和/或手术工具(诸如手术器械和成像器械)、在手术机器人末端拆卸和安装手术工具、解除手术机器人与手术床之间全部接触等繁琐的反复对接操作,减少了医护辅助人员的工作强度,提升了手术机器人系统的智能化水平,缩短了手术时间,提高了手术实施的顺畅度;① Able to realize the posture positioning function between surgical equipment and realize the linkage technology between surgical equipment. During the linkage process, the removal of puncture device and/or surgical tools (such as surgical instruments and imaging instruments) from the patient's body is eliminated. The tedious and repeated docking operations such as disassembling and installing surgical tools at the end of the robot, and releasing all contact between the surgical robot and the operating bed reduce the work intensity of medical assistants, improve the intelligence level of the surgical robot system, shorten the operation time, and improve Improve the smoothness of the operation;
②通过机械连接(配准臂)可以更简单地实现手术设备之间的配准,同时此配准是完整的配准(位置与姿态都完成配准),而非是部分配准(仅姿态或仅位置),而且这样的配准精度会更高。此外,此技术不存在运动估计等不确定性因素,使得手术系统的联动技术在实际应用中的可靠性更高,安全性更大。② Registration between surgical equipment can be more easily achieved through mechanical connection (registration arm). At the same time, this registration is complete registration (position and attitude are both completed), rather than partial registration (only attitude). or position only), and such registration accuracy will be higher. In addition, this technology does not have uncertain factors such as motion estimation, making the linkage technology of surgical systems more reliable and safer in practical applications.
本公开还提供一种手术系统的控制方法,其中,手术系统包括手术床与手术机器人,手术机器人包括具有多个关节的驱动臂,驱动臂的远端装设有穿刺装置,穿刺装置用于插入位于手术床的台面的生物体的身体开口内。图32是根据一实施例示出的手术系统的控制方法的流程示意图。如图32所示,控制方法包括:The present disclosure also provides a control method for a surgical system. The surgical system includes an operating bed and a surgical robot. The surgical robot includes a driving arm with multiple joints. The distal end of the driving arm is equipped with a puncture device. The puncture device is used for insertion. Located within the body opening of the organism on the table top of the operating table. Figure 32 is a schematic flowchart of a control method of a surgical system according to an embodiment. As shown in Figure 32, the control methods include:
步骤S1,获取手术机器人与手术床之间的姿态配准信息;Step S1: Obtain posture registration information between the surgical robot and the operating table;
步骤S2,响应于手术床的台面在姿态自由度的运动,获取手术床的台面在姿态自由度的运动信息;Step S2, in response to the movement of the table top of the operating table in the posture degree of freedom, obtain the movement information of the table top of the operating table in the posture degree of freedom;
步骤S3,基于运动信息和姿态配准信息确定多个关节中第一关节的目标关节量,根据目标关节量控制第一关节运动,以在姿态自由度保持穿刺装置相对于手术床的台面的姿态。Step S3: Determine the target joint amount of the first joint among the plurality of joints based on the motion information and attitude registration information, and control the movement of the first joint according to the target joint amount to maintain the attitude of the puncture device relative to the table top of the operating table in the attitude degree of freedom. .
一个实施例中,步骤S1获取手术机器人与手术床之间的姿态配准信息,包括:In one embodiment, step S1 obtains posture registration information between the surgical robot and the operating table, including:
控制多个关节中的第一关节处于零力状态,第一关节包括具有平移自由度的关节,以通过第一关节来允许驱动臂,基于由患者的身体开口的体壁施加的力来跟踪身体开口在平移自由度的运动;Controlling a first joint of the plurality of joints in a zero force state, the first joint including a joint having a translational degree of freedom to allow the actuation arm, through the first joint, to track the body based on a force exerted by a body wall of the patient's body opening Movement of the opening in translational degrees of freedom;
响应于手术床的台面在平移自由度的平移运动,In response to the translational movement of the operating table table in the translational degree of freedom,
在第一关节被动地执行跟踪身体开口在平移自由度的运动的过程中,获取穿刺装置在第一时刻的第一位置、并获取穿刺装置在相邻于第一时刻的第二时刻的第二位置;During the process of the first joint passively tracking the movement of the body opening in translational degrees of freedom, a first position of the puncture device at a first moment is acquired, and a second position of the puncture device at a second moment adjacent to the first moment is acquired. Location;
基于第一位置和第二位置,确定手术机器人与手术床之间的第一姿态配准信息。Based on the first position and the second position, first posture registration information between the surgical robot and the operating table is determined.
一个实施例中,方法还包括:In one embodiment, the method further includes:
在第一关节被动地执行跟踪身体开口在平移自由度的运动的过程中,获取穿刺装置在相邻于第二时刻的第三时刻的第三位置;Obtaining a third position of the puncture device at a third moment adjacent to the second moment while the first joint passively performs tracking the movement of the body opening in translational degrees of freedom;
基于第二位置和第三位置,确定手术机器人与手术床之间的第二姿态配准信息;Based on the second position and the third position, determine the second attitude registration information between the surgical robot and the operating table;
在第一姿态配准信息和第二姿态配准信息满足预设条件时,基于第一姿态配准信息和第二姿态配准信息中的一个或多个确定手术机器人与手术床之间的第三姿态配准信息。When the first posture registration information and the second posture registration information meet the preset conditions, a third posture between the surgical robot and the operating bed is determined based on one or more of the first posture registration information and the second posture registration information. Three-pose registration information.
一个实施例中,手术机器人的基准坐标系与手术床的基准坐标系均包括二维水平坐标系,手术机器人的基座所在水平面与手术床的基座所在水平面之间相互平行或重合;第一姿态配准信息采用手术机器人的基准坐标系与手术床的基准坐标系之间在水平面上的第一旋转角度值进行表征,第二姿态配准信息采用手术机器人的基准坐标系与手术床的基准坐标系之间在水平面上的第二旋转角度值进行表征;
In one embodiment, the reference coordinate system of the surgical robot and the reference coordinate system of the operating table both include two-dimensional horizontal coordinate systems, and the horizontal plane where the base of the surgical robot is located and the horizontal plane where the base of the operating table is located are parallel to or coincident with each other; first The posture registration information is characterized by the first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, and the second posture registration information is characterized by the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. The second rotation angle value on the horizontal plane between the coordinate systems is characterized;
基于第一姿态配准信息和第二姿态配准信息中的一个或多个确定手术机器人与手术床之间的第三姿态配准信息,包括:Determining third posture registration information between the surgical robot and the operating table based on one or more of the first posture registration information and the second posture registration information includes:
判断第一旋转角度值与第二旋转角度值之间的差值是否处于预设范围内;Determine whether the difference between the first rotation angle value and the second rotation angle value is within a preset range;
若处于预设范围内,则将第一旋转角度值作为第三姿态配准信息,或者,将第二旋转角度值作为第三姿态配准信息,或者,将第一旋转角度值与第二旋转角度值的均值作为第三姿态配准信息。If it is within the preset range, the first rotation angle value is used as the third posture registration information, or the second rotation angle value is used as the third posture registration information, or the first rotation angle value and the second rotation angle value are used as the third posture registration information. The average of the angle values is used as the third pose registration information.
一个实施例中,手术机器人与手术床的其中之一设有测距装置,手术机器人的基准坐标系的第一水平坐标轴与第二水平坐标轴所在的水平面、手术床的基准坐标系的第一水平坐标轴与第二水平坐标轴所在的水平面、测距装置的检测方向所在的水平面之间相互平行或重合;In one embodiment, one of the surgical robot and the operating table is provided with a distance measuring device, and the horizontal plane where the first horizontal coordinate axis and the second horizontal coordinate axis of the reference coordinate system of the surgical robot are located, and the third horizontal coordinate axis of the reference coordinate system of the operating table are located. The horizontal plane where the first horizontal coordinate axis is located, the second horizontal coordinate axis and the horizontal plane where the detection direction of the distance measuring device is located are parallel to or coincide with each other;
步骤S1获取手术机器人与手术床之间的姿态配准信息,包括:Step S1 obtains posture registration information between the surgical robot and the operating table, including:
获取测距装置的检测数据,检测数据包括手术机器人与手术床之间的第一垂直距离和第二垂直距离;Obtain detection data from the ranging device, where the detection data includes the first vertical distance and the second vertical distance between the surgical robot and the operating bed;
根据手术机器人与手术床之间的第一垂直距离和第二垂直距离,确定手术机器人的基准坐标系与手术床的基准坐标系之间的姿态配准信息。According to the first vertical distance and the second vertical distance between the surgical robot and the operating table, attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is determined.
一个实施例中,测距装置包括一个测距传感器时,第一垂直距离为测距传感器检测得到的最小距离,第二垂直距离为测距传感器从垂直于安装位置的水平方向检测得到的距离;或者,In one embodiment, when the ranging device includes a ranging sensor, the first vertical distance is the minimum distance detected by the ranging sensor, and the second vertical distance is the distance detected by the ranging sensor from a horizontal direction perpendicular to the installation position; or,
测距装置包括第一测距传感器和第二测距传感器时,第一测距传感器和第二测距传感器在水平面上间隔设置,第一垂直距离为第一测距传感器检测得到的最小距离,第二垂直距离为第二测距传感器检测得到的最小距离;或者,第一垂直距离为第一测距传感器从垂直于安装位置的水平方向检测得到的距离,第二垂直距离为第二测距传感器从垂直于安装位置的水平方向检测得到的距离。When the ranging device includes a first ranging sensor and a second ranging sensor, the first ranging sensor and the second ranging sensor are arranged at intervals on the horizontal plane, and the first vertical distance is the minimum distance detected by the first ranging sensor, The second vertical distance is the minimum distance detected by the second distance sensor; or, the first vertical distance is the distance detected by the first distance sensor from a horizontal direction perpendicular to the installation position, and the second vertical distance is the second distance The distance the sensor detects from the horizontal direction perpendicular to the installation location.
一个实施例中,手术机器人与手术床的其中另一设有位于测距装置的检测范围内的定位标记,检测数据还包括测距装置与定位标记之间的距离、测距装置的检测角度,方法还包括:In one embodiment, the other one of the surgical robot and the operating bed is provided with a positioning mark located within the detection range of the ranging device, and the detection data also includes the distance between the ranging device and the positioning mark, and the detection angle of the ranging device, Methods also include:
根据检测数据、测距装置的位置坐标及定位标记的位置坐标,确定手术机器人的基准坐标系与手术机器人的基准坐标系之间的位置配准信息。Based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical robot is determined.
一个实施例中,根据检测数据、测距装置的位置坐标及定位标记的位置坐标,确定手术机器人的基准坐标系与手术床的基准坐标系之间的位置配准信息,包括:In one embodiment, the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed is determined based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, including:
获取手术机器人的基准坐标系与手术床的基准坐标系之间的姿态配准信息;Obtain attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;
根据测距装置与定位标记之间的距离、测距装置检测到定位标记的检测角度、测距装置在所安装设备的基准坐标系中的位置坐标,确定定位标记在测距装置所安装设备的基准坐标系中的位置坐标;According to the distance between the distance measuring device and the positioning mark, the detection angle of the positioning mark detected by the distance measuring device, and the position coordinates of the distance measuring device in the reference coordinate system of the installed equipment, determine the location of the positioning mark on the equipment where the distance measuring device is installed. Position coordinates in the reference coordinate system;
根据手术机器人的基准坐标系与手术床的基准坐标系之间的姿态配准信息、定位标记在测距装置所安装设备的基准坐标系中的位置坐标、定位标记在所在设备的基准坐标系中的位置坐标,确定手术机器人的基准坐标系与手术床的基准坐标系之间的位置配准信息。According to the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the position coordinates of the positioning mark in the reference coordinate system of the equipment where the distance measuring device is installed, and the position coordinates of the positioning mark in the reference coordinate system of the equipment where it is located. The position coordinates are used to determine the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table.
一个实施例中,手术机器人与手术床的其中之一包括第一连接部,手术机器人与手术床的其中另一包括第二连接部;配准臂,包括用于与第一连接部连接的第一端、用于与第二连接部连接的第二端、及连接于第一端和第二端之间的多个关节组件;In one embodiment, one of the surgical robot and the operating bed includes a first connecting part, and the other one of the surgical robot and the operating bed includes a second connecting part; the registration arm includes a third connecting part for connecting with the first connecting part. One end, a second end for connecting with the second connecting part, and a plurality of joint components connected between the first end and the second end;
步骤S1获取手术机器人与手术床之间的姿态配准信息,包括:Step S1 obtains posture registration information between the surgical robot and the operating table, including:
响应于第一连接部和第二连接部通过配准臂的连接,基于运动学确定第一端与第二端之间的第一配准关系;determining a first registration relationship between the first end and the second end based on kinematics in response to the connection of the first connection part and the second connection part by the registration arm;
基于第一配准关系、手术机器人与手术床的其中之一与第一连接部之间已知的第二配准关系、及手术机器人与手术床的其中另一与第二连接部之间已知的第三配准关系,确定手术机器人与手术床之间的姿态配准信息。
Based on the first registration relationship, the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the known second registration relationship between the other one of the surgical robot and the operating bed and the second connection part. The known third registration relationship is used to determine the posture registration information between the surgical robot and the operating table.
一个实施例中,方法还包括:In one embodiment, the method further includes:
响应于第一连接部和第二连接部通过配准臂的连接,基于运动学确定第一端与第二端之间的第一配准关系;determining a first registration relationship between the first end and the second end based on kinematics in response to the connection of the first connection part and the second connection part by the registration arm;
基于第一配准关系、手术机器人与手术床的其中之一与第一连接部之间已知的第二配准关系、及手术机器人与手术床的其中另一与第二连接部之间已知的第三配准关系,确定手术机器人与手术床之间的位置配准信息。Based on the first registration relationship, the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the known second registration relationship between the other one of the surgical robot and the operating bed and the second connection part. The known third registration relationship is used to determine the position registration information between the surgical robot and the operating table.
一个实施例中,第一端与第一连接部连接时,第一端的坐标系与第一连接部的第一坐标系具备预设的相对姿态和相对位置,第二配准关系包括第一坐标系在手术机器人与手术床的其中之一的基准坐标系中的姿态信息和位置信息;In one embodiment, when the first end is connected to the first connection part, the coordinate system of the first end and the first coordinate system of the first connection part have a preset relative posture and relative position, and the second registration relationship includes the first The posture information and position information of the coordinate system in the reference coordinate system of one of the surgical robot and the operating table;
第二端与第二连接部连接时,第二端的坐标系与第二连接部的第二坐标系具备预设的相对姿态和相对位置,第三配准关系包括第二坐标系在手术机器人与手术床的其中另一的基准坐标系中的姿态信息和位置信息。When the second end is connected to the second connection part, the coordinate system of the second end and the second coordinate system of the second connection part have preset relative postures and relative positions. The third registration relationship includes the second coordinate system between the surgical robot and the surgical robot. Attitude information and position information in the other reference coordinate system of the operating table.
一个实施例中,配准臂具备使手术机器人与手术床的其中之一的基准坐标系和手术机器人与手术床的其中另一的基准坐标系之间在笛卡尔空间中竖直坐标轴方向上进行定向以及在水平坐标轴方向上进行定位的3种运动自由度,或者,配准臂具备在笛卡尔空间中进行定位和定向的6种运动自由度。In one embodiment, the registration arm is configured to align the reference coordinate system of one of the surgical robot and the operating table and the reference coordinate system of the other of the surgical robot and the operating table in the direction of the vertical coordinate axis in Cartesian space. 3 degrees of freedom of movement for orientation and positioning in the direction of the horizontal axis, or 6 degrees of freedom of movement for positioning and orientation of the registration arm in Cartesian space.
一个实施例中,关节组件包括用于感应关节组件关节变量的传感器,方法包括:In one embodiment, the joint component includes a sensor for sensing joint variables of the joint component, and the method includes:
获取由传感器感应的多个关节组件的关节变量,关节变量包括多个关节组件的自身坐标系之间的相对距离和/或相对角度;Obtain joint variables of multiple joint components sensed by the sensor, where the joint variables include relative distances and/or relative angles between the own coordinate systems of the multiple joint components;
基于关节变量并利用正向运动学,确定第一端与第二端之间的第一配准信息。Based on the joint variables and utilizing forward kinematics, first registration information between the first end and the second end is determined.
一个实施例中,配准臂还包括控制单元与驱动组件,控制单元与控制器耦接,控制单元被配置成用于,根据位姿变化指令控制驱动组件带动关节组件进行运动。In one embodiment, the registration arm further includes a control unit and a driving assembly. The control unit is coupled to the controller. The control unit is configured to control the driving assembly to drive the joint assembly to move according to the posture change instructions.
一个实施例中,配准臂的内部设置通信线缆,第一手术设备、第二手术设备通过配准臂进行机械连接和电气连接。In one embodiment, a communication cable is provided inside the registration arm, and the first surgical device and the second surgical device are mechanically and electrically connected through the registration arm.
一个实施例中,控制器包括第一控制单元、第二控制单元与第三控制单元,第三控制单元连接第一控制单元与第二控制单元,第一控制单元设置于手术机器人与手术床的其中之一,第二控制单元设置于手术机器人与手术床的其中另一,第三控制单元设置于配准臂;In one embodiment, the controller includes a first control unit, a second control unit and a third control unit. The third control unit is connected to the first control unit and the second control unit. The first control unit is disposed between the surgical robot and the operating bed. One of them, the second control unit is provided on the other of the surgical robot and the operating table, and the third control unit is provided on the registration arm;
或者,控制器包括第一控制单元与第二控制单元,第一控制单元设置于手术机器人与手术床的其中之一,第二控制单元设置于手术机器人与手术床的其中另一,第一控制单元或第二控制单元与配准臂电气连接。Alternatively, the controller includes a first control unit and a second control unit. The first control unit is provided on one of the surgical robot and the operating bed. The second control unit is provided on the other of the surgical robot and the operating bed. The first control unit The unit or the second control unit is electrically connected to the registration arm.
一个实施例中,方法还包括:In one embodiment, the method further includes:
响应于手术床的台面在姿态自由度的运动,控制多个关节中关联于位置自由度调节的目标关节,以通过目标关节来允许驱动臂,基于由患者的身体开口处的体壁施加的力来跟踪身体开口的位置。In response to movement of the operating table table in the posture degrees of freedom, controlling a target joint of the plurality of joints associated with the positional degree of freedom adjustment to allow the actuation arm through the target joint based on a force exerted by a body wall at the patient's body opening to track the location of body openings.
一个实施例中,方法还包括:In one embodiment, the method further includes:
获取手术机器人的基准坐标系和手术床的基准坐标系之间的位置配准关系和姿态配准关系;Obtain the position registration relationship and posture registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;
基于位置配准关系和姿态配准关系,获取穿刺装置在手术床的基准坐标系的初始位姿;Based on the position registration relationship and attitude registration relationship, obtain the initial pose of the puncture device in the reference coordinate system of the operating bed;
响应于手术床的台面的运动,获取手术床的台面的运动量,并基于位置配准关系、姿态配准关系、初始位姿和运动量,确定穿刺装置在手术机器人的基准坐标系的目标位姿;In response to the movement of the tabletop of the operating table, obtain the amount of movement of the tabletop of the operating table, and determine the target posture of the puncture device in the reference coordinate system of the surgical robot based on the position registration relationship, attitude registration relationship, initial posture and movement amount;
基于目标位姿确定驱动臂中关节的目标关节变量;Determine the target joint variables of the joints in the drive arm based on the target pose;
根据目标关节变量驱动关节运动,以保持穿刺装置相对于手术床的台面的位姿。The joint motion is driven according to the target joint variables to maintain the posture of the puncture device relative to the tabletop of the operating table.
上述步骤的实现过程与前述手术系统中控制器的工作过程相同,不再赘述。The implementation process of the above steps is the same as the working process of the controller in the aforementioned surgical system, and will not be described again.
本公开还提供一种计算机可读存储介质,所述计算机可读存储介质上存储计算机程序,所述计算机程序被处理器执行时实现如上实施例所述的手术系统的控制方法的步骤。
The present disclosure also provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the steps of the control method of the surgical system as described in the above embodiments are implemented.
以上所述实施例的各技术特征可以进行任意的组合,为使描述简洁,未对上述实施例中的各个技术特征所有可能的组合都进行描述,然而,只要这些技术特征的组合不存在矛盾,都应当认为是本说明书记载的范围。The technical features of the above embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, All should be considered to be within the scope of this manual.
上述所述实施例的各技术特征及任意技术特征之间的组合具有通用性,其不但适用于单孔手术机器人,也适用于多孔手术机器人,并且,其既不会影响也不会限制在具有不同构形的机械臂中进行使用。Each technical feature of the above-described embodiments and the combination between any technical features are universal, and are applicable not only to single-hole surgical robots, but also to multi-hole surgical robots, and they will neither affect nor limit the use of Used in robotic arms of different configurations.
以上所述实施例仅表达了本公开的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对发明专利范围的限制。应当指出的是,对于本领域的普通技术人员来说,在不脱离本公开构思的前提下,还可以做出若干变形和改进,这些都属于本公开的保护范围。因此,本公开专利的保护范围应以所附权利要求为准。
The above-described embodiments only express several implementation modes of the present disclosure, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present disclosure, and these all fall within the protection scope of the present disclosure. Therefore, the protection scope of the patent disclosed should be determined by the appended claims.
Claims (20)
- 一种手术系统,其中,包括:A surgical system, including:手术床;operating table;手术机器人,所述手术机器人包括具有多个关节的驱动臂,所述驱动臂的远端装设有穿刺装置,所述穿刺装置用于插入位于所述手术床的台面的生物体的身体开口内;Surgical robot, the surgical robot includes a driving arm with a plurality of joints, the distal end of the driving arm is equipped with a puncture device, the puncture device is used to insert into the body opening of the living body located on the table of the operating table. ;控制器,与所述手术床、所述手术机器人耦接,被配置成用于:A controller, coupled to the surgical table and the surgical robot, is configured for:获取所述手术机器人与手术床之间的姿态配准信息;Obtain posture registration information between the surgical robot and the operating table;响应于所述手术床的台面在姿态自由度的运动,获取所述手术床的台面在所述姿态自由度的运动信息;In response to the movement of the tabletop of the operating table in the posture degree of freedom, obtaining movement information of the tabletop of the operating table in the posture degree of freedom;基于所述运动信息和所述姿态配准信息确定所述多个关节中第一关节的目标关节量,根据所述目标关节量控制所述第一关节运动,以在所述姿态自由度保持所述穿刺装置相对于所述手术床的台面的姿态。A target joint amount of a first joint among the plurality of joints is determined based on the motion information and the posture registration information, and the motion of the first joint is controlled according to the target joint amount to maintain the desired degree of freedom in the posture. The posture of the puncture device relative to the tabletop of the operating table.
- 根据权利要求1所述的手术系统,其中,在确定所述手术机器人与手术床之间的姿态配准信息时,所述控制器被配置成用于:The surgical system of claim 1, wherein when determining posture registration information between the surgical robot and the operating table, the controller is configured to:控制所述多个关节中的第一关节处于零力状态,所述第一关节包括具有平移自由度的关节,以通过所述第一关节来允许所述驱动臂,基于由所述患者的所述身体开口的体壁施加的力来跟踪所述身体开口在平移自由度的运动;Controlling a first joint of the plurality of joints in a zero force state, the first joint including a joint having a translational degree of freedom, to allow the drive arm to be driven by the first joint based on the motion of the patient. The force exerted by the body wall of the body opening is used to track the movement of the body opening in translational degrees of freedom;响应于所述手术床的台面在平移自由度的平移运动,In response to the translational movement of the operating table table in the translational degree of freedom,在所述第一关节被动地执行跟踪所述身体开口在所述平移自由度的运动的过程中,获取所述穿刺装置在第一时刻的第一位置、并获取所述穿刺装置在相邻于所述第一时刻的第二时刻的第二位置;In the process of the first joint passively tracking the movement of the body opening in the translational degree of freedom, a first position of the puncture device at a first moment is acquired, and a position of the puncture device adjacent to the second position at the second moment of the first moment;基于所述第一位置和所述第二位置,确定所述手术机器人与所述手术床之间的第一姿态配准信息。Based on the first position and the second position, first posture registration information between the surgical robot and the operating table is determined.
- 根据权利要求2所述的手术系统,其中,所述控制器还被配置成用于:The surgical system of claim 2, wherein the controller is further configured to:在所述第一关节被动地执行跟踪所述身体开口在所述平移自由度的运动的过程中,获取所述穿刺装置在相邻于第二时刻的第三时刻的第三位置;Obtaining a third position of the puncture device at a third time adjacent to the second time while the first joint passively performs tracking the movement of the body opening in the translational degree of freedom;基于所述第二位置和所述第三位置,确定所述手术机器人与所述手术床之间的第二姿态配准信息;determining second attitude registration information between the surgical robot and the operating table based on the second position and the third position;在所述第一姿态配准信息和所述第二姿态配准信息满足预设条件时,基于所述第一姿态配准信息和所述第二姿态配准信息中的一个或多个确定所述手术机器人与所述手术床之间的第三姿态配准信息。When the first posture registration information and the second posture registration information satisfy a preset condition, the determination is based on one or more of the first posture registration information and the second posture registration information. Third posture registration information between the surgical robot and the operating bed.
- 根据权利要求3所述的手术系统,其中,所述手术机器人的基准坐标系与所述手术床的基准坐标系均包括二维水平坐标系,所述手术机器人的基座所在水平面与所述手术床的基座所在水平面之间相互平行或重合;所述第一姿态配准信息采用所述手术机器人的基准坐标系与所述手术床的基准坐标系之间在水平面上的第一旋转角度值进行表征,所述第二姿态配准信息采用所述手术机器人的基准坐标系与所述手术床的基准坐标系之间在水平面上的第二旋转角度值进行表征;The surgical system according to claim 3, wherein the reference coordinate system of the surgical robot and the reference coordinate system of the operating table both include a two-dimensional horizontal coordinate system, and the horizontal plane where the base of the surgical robot is located is in contact with the surgical bed. The horizontal planes where the bed's base is located are parallel to or coincident with each other; the first attitude registration information adopts the first rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table. For characterization, the second posture registration information is characterized by a second rotation angle value on the horizontal plane between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;基于所述第一姿态配准信息和所述第二姿态配准信息中的一个或多个确定所述手术机器人与所述手术床之间的第三姿态配准信息时,所述控制器还被配置成用于:When determining third posture registration information between the surgical robot and the operating table based on one or more of the first posture registration information and the second posture registration information, the controller further Configured for:判断所述第一旋转角度值与所述第二旋转角度值之间的差值是否处于预设范围内;Determine whether the difference between the first rotation angle value and the second rotation angle value is within a preset range;若处于预设范围内,则将所述第一旋转角度值作为所述第三姿态配准信息,或者,将所述第二旋转角度值作为所述第三姿态配准信息,或者,将所述第一旋转角度值与所述第二旋转角度值的均值作为第三姿态配准信息。 If it is within the preset range, the first rotation angle value is used as the third posture registration information, or the second rotation angle value is used as the third posture registration information, or the first rotation angle value is used as the third posture registration information. The average value of the first rotation angle value and the second rotation angle value is used as the third posture registration information.
- 根据权利要求1所述的手术系统,其中,所述手术机器人与所述手术床的其中之一设有测距装置,所述手术机器人的基准坐标系的第一水平坐标轴与第二水平坐标轴所在的水平面、所述手术床的基准坐标系的第一水平坐标轴与第二水平坐标轴所在的水平面、所述测距装置的检测方向所在的水平面之间相互平行或重合;The surgical system according to claim 1, wherein one of the surgical robot and the operating bed is provided with a distance measuring device, and the first horizontal coordinate axis and the second horizontal coordinate axis of the reference coordinate system of the surgical robot are The horizontal plane where the axis is located, the horizontal plane where the first horizontal coordinate axis and the second horizontal coordinate axis of the reference coordinate system of the operating table are located, and the horizontal plane where the detection direction of the distance measuring device is located are parallel to or coincide with each other;在确定所述手术机器人与手术床之间的姿态配准信息时,所述控制器被配置成用于:When determining posture registration information between the surgical robot and the operating table, the controller is configured to:获取所述测距装置的检测数据,所述检测数据包括所述手术机器人与所述手术床之间的第一垂直距离和第二垂直距离;Obtain detection data of the ranging device, the detection data including the first vertical distance and the second vertical distance between the surgical robot and the operating table;根据所述手术机器人与所述手术床之间的第一垂直距离和第二垂直距离,确定所述手术机器人的基准坐标系与所述手术床的基准坐标系之间的姿态配准信息。According to the first vertical distance and the second vertical distance between the surgical robot and the operating table, attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table is determined.
- 根据权利要求5所述的手术系统,其中,所述测距装置包括一个测距传感器时,所述第一垂直距离为所述测距传感器检测得到的最小距离,所述第二垂直距离为所述测距传感器从垂直于安装位置的水平方向检测得到的距离;或者,The surgical system according to claim 5, wherein when the ranging device includes a ranging sensor, the first vertical distance is the minimum distance detected by the ranging sensor, and the second vertical distance is the minimum distance detected by the ranging sensor. The distance detected by the distance sensor from the horizontal direction perpendicular to the installation position; or,所述测距装置包括第一测距传感器和第二测距传感器时,所述第一测距传感器和第二测距传感器在水平面上间隔设置,所述第一垂直距离为所述第一测距传感器检测得到的最小距离,所述第二垂直距离为所述第二测距传感器检测得到的最小距离;或者,所述第一垂直距离为所述第一测距传感器从垂直于安装位置的水平方向检测得到的距离,所述第二垂直距离为所述第二测距传感器从垂直于安装位置的水平方向检测得到的距离。When the distance measuring device includes a first distance measuring sensor and a second distance measuring sensor, the first distance measuring sensor and the second distance measuring sensor are arranged at intervals on the horizontal plane, and the first vertical distance is the first distance measuring sensor. The second vertical distance is the minimum distance detected by the second distance sensor; or, the first vertical distance is the distance from the first distance sensor perpendicular to the installation position. The distance detected in the horizontal direction, the second vertical distance is the distance detected by the second ranging sensor from the horizontal direction perpendicular to the installation position.
- 根据权利要求5所述的手术系统,其中,所述手术机器人与所述手术床的其中另一设有位于所述测距装置的检测范围内的定位标记,所述检测数据还包括所述测距装置与所述定位标记之间的距离、所述测距装置的检测角度,所述控制器还被配置成用于:The surgical system according to claim 5, wherein the other one of the surgical robot and the operating bed is provided with a positioning mark located within the detection range of the distance measuring device, and the detection data further includes the detection range. The distance between the distance device and the positioning mark, the detection angle of the distance measuring device, the controller is also configured to:根据所述检测数据、所述测距装置的位置坐标及所述定位标记的位置坐标,确定所述手术机器人的基准坐标系与所述手术机器人的基准坐标系之间的位置配准信息。Based on the detection data, the position coordinates of the ranging device and the position coordinates of the positioning mark, the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the surgical robot is determined.
- 根据权利要求7所述的手术系统,其中,根据所述检测数据、所述测距装置的位置坐标及所述定位标记的位置坐标,确定所述手术机器人的基准坐标系与所述手术床的基准坐标系之间的位置配准信息时,所述控制器被配置成用于:The surgical system according to claim 7, wherein the reference coordinate system of the surgical robot and the position coordinates of the operating bed are determined based on the detection data, the position coordinates of the distance measuring device and the position coordinates of the positioning mark. When obtaining position registration information between reference coordinate systems, the controller is configured for:获取所述手术机器人的基准坐标系与所述手术床的基准坐标系之间的姿态配准信息;Obtain attitude registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;根据所述测距装置与所述定位标记之间的距离、所述测距装置检测到所述定位标记的检测角度、所述测距装置在所安装设备的基准坐标系中的位置坐标,确定所述定位标记在所述测距装置所安装设备的基准坐标系中的位置坐标;According to the distance between the distance measuring device and the positioning mark, the detection angle at which the distance measuring device detects the positioning mark, and the position coordinates of the distance measuring device in the reference coordinate system of the installed equipment, determine The position coordinates of the positioning mark in the reference coordinate system of the equipment on which the distance measuring device is installed;根据所述手术机器人的基准坐标系与所述手术床的基准坐标系之间的姿态配准信息、所述定位标记在所述测距装置所安装设备的基准坐标系中的位置坐标、所述定位标记在所在设备的基准坐标系中的位置坐标,确定所述手术机器人的基准坐标系与所述手术床的基准坐标系之间的位置配准信息。According to the posture registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table, the position coordinates of the positioning mark in the reference coordinate system of the equipment installed on the ranging device, the The position coordinates of the positioning mark in the reference coordinate system of the device determine the position registration information between the reference coordinate system of the surgical robot and the reference coordinate system of the operating bed.
- 根据权利要求1所述的手术系统,其中,所述手术机器人与所述手术床的其中之一包括第一连接部,所述手术机器人与所述手术床的其中另一包括第二连接部;配准臂,包括用于与所述第一连接部连接的第一端、用于与所述第二连接部连接的第二端、及连接于所述第一端和所述第二端之间的多个关节组件;The surgical system according to claim 1, wherein one of the surgical robot and the operating bed includes a first connection part, and the other one of the surgical robot and the operating bed includes a second connection part; The registration arm includes a first end used for connecting with the first connecting part, a second end used for connecting with the second connecting part, and a connection between the first end and the second end. Multiple joint components between;所述控制器,与所述配准臂耦接,在确定所述手术机器人与手术床之间的姿态配准信息时,所述控制器被配置成用于:The controller is coupled to the registration arm, and when determining posture registration information between the surgical robot and the operating table, the controller is configured to:响应于所述第一连接部和所述第二连接部通过所述配准臂的连接,基于运动学确定所述第一端与所述第二端之间的第一配准关系; determining a first registration relationship between the first end and the second end based on kinematics in response to the connection of the first connection part and the second connection part through the registration arm;基于所述第一配准关系、所述手术机器人与所述手术床的其中之一与所述第一连接部之间已知的第二配准关系、及所述手术机器人与所述手术床的其中另一与所述第二连接部之间已知的第三配准关系,确定所述手术机器人与所述手术床之间的姿态配准信息。Based on the first registration relationship, the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the surgical robot and the operating bed The known third registration relationship between the other one and the second connection part is used to determine the posture registration information between the surgical robot and the operating table.
- 根据权利要求9所述的手术系统,其中,所述控制器还被配置成用于:The surgical system of claim 9, wherein the controller is further configured to:响应于所述第一连接部和所述第二连接部通过所述配准臂的连接,基于运动学确定所述第一端与所述第二端之间的第一配准关系;determining a first registration relationship between the first end and the second end based on kinematics in response to the connection of the first connection part and the second connection part through the registration arm;基于所述第一配准关系、所述手术机器人与所述手术床的其中之一与所述第一连接部之间已知的第二配准关系、及所述手术机器人与所述手术床的其中另一与所述第二连接部之间已知的第三配准关系,确定所述手术机器人与所述手术床之间的位置配准信息。Based on the first registration relationship, the known second registration relationship between one of the surgical robot and the operating bed and the first connection part, and the surgical robot and the operating bed The known third registration relationship between the other one and the second connection part is used to determine the position registration information between the surgical robot and the operating bed.
- 根据权利要求10所述的手术系统,其中,所述第一端与所述第一连接部连接时,所述第一端的坐标系与所述第一连接部的第一坐标系具备预设的相对姿态和相对位置,所述第二配准关系包括所述第一坐标系在所述手术机器人与所述手术床的其中之一的基准坐标系中的姿态信息和位置信息;The surgical system according to claim 10, wherein when the first end is connected to the first connection part, the coordinate system of the first end and the first coordinate system of the first connection part have preset values. The relative posture and relative position, the second registration relationship includes the posture information and position information of the first coordinate system in the reference coordinate system of one of the surgical robot and the operating bed;所述第二端与所述第二连接部连接时,所述第二端的坐标系与所述第二连接部的第二坐标系具备预设的相对姿态和相对位置,所述第三配准关系包括所述第二坐标系在所述手术机器人与所述手术床的其中另一的基准坐标系中的姿态信息和位置信息。When the second end is connected to the second connection part, the coordinate system of the second end and the second coordinate system of the second connection part have a preset relative posture and relative position, and the third registration The relationship includes attitude information and position information of the second coordinate system in the other reference coordinate system of the surgical robot and the operating bed.
- 根据权利要求10所述的手术系统,其中,所述配准臂具备使所述手术机器人与所述手术床的其中之一的基准坐标系和所述手术机器人与所述手术床的其中另一的基准坐标系之间在笛卡尔空间中竖直坐标轴方向上进行定向以及在水平坐标轴方向上进行定位的3种运动自由度,或者,所述配准臂具备在笛卡尔空间中进行定位和定向的6种运动自由度。The surgical system according to claim 10, wherein the registration arm is provided with a reference coordinate system for one of the surgical robot and the surgical bed and a reference coordinate system for the other one of the surgical robot and the surgical bed. There are three degrees of freedom of movement between the reference coordinate system in the Cartesian space for orientation in the direction of the vertical coordinate axis and positioning in the direction of the horizontal coordinate axis, or the registration arm is equipped with the ability to position in the Cartesian space and 6 degrees of freedom of movement in orientation.
- 根据权利要求10所述的手术系统,其中,所述关节组件包括用于感应所述关节组件关节变量的传感器,所述控制器与所述传感器耦接,并被配置成用于:The surgical system of claim 10, wherein the joint assembly includes a sensor for sensing joint variables of the joint assembly, and the controller is coupled to the sensor and configured to:获取由所述传感器感应的所述多个关节组件的关节变量,所述关节变量包括所述多个关节组件的自身坐标系之间的相对距离和/或相对角度;Obtain joint variables of the multiple joint components sensed by the sensor, where the joint variables include relative distances and/or relative angles between self-coordinate systems of the multiple joint components;基于所述关节变量并利用正向运动学,确定所述第一端与所述第二端之间的第一配准信息。Based on the joint variables and utilizing forward kinematics, first registration information between the first end and the second end is determined.
- 根据权利要求9所述的手术系统,其中,所述配准臂还包括控制单元与驱动组件,所述控制单元与所述控制器耦接,所述控制单元被配置成用于,根据位姿变化指令控制所述驱动组件带动所述关节组件进行运动。The surgical system according to claim 9, wherein the registration arm further includes a control unit and a driving assembly, the control unit is coupled to the controller, and the control unit is configured to, according to the posture The change command controls the driving component to drive the joint component to move.
- 根据权利要求9所述的手术系统,其中,所述配准臂的内部设置通信线缆,所述第一手术设备、所述第二手术设备通过所述配准臂进行机械连接和电气连接。The surgical system according to claim 9, wherein a communication cable is provided inside the registration arm, and the first surgical device and the second surgical device are mechanically and electrically connected through the registration arm.
- 根据权利要求9所述的手术系统,其中,所述控制器包括第一控制单元、第二控制单元与第三控制单元,所述第三控制单元连接所述第一控制单元与所述第二控制单元,所述第一控制单元设置于所述手术机器人与所述手术床的其中之一,所述第二控制单元设置于所述手术机器人与所述手术床的其中另一,所述第三控制单元设置于所述配准臂;The surgical system according to claim 9, wherein the controller includes a first control unit, a second control unit and a third control unit, the third control unit connects the first control unit and the second control unit. A control unit, the first control unit is provided on one of the surgical robot and the operating bed, the second control unit is provided on the other of the surgical robot and the operating bed, and the third control unit is provided on the other of the surgical robot and the operating bed. Three control units are provided on the registration arm;或者,所述控制器包括第一控制单元与第二控制单元,所述第一控制单元设置于所述手术机器人与所述手术床的其中之一,所述第二控制单元设置于所述手术机器人与所述手术床的其中另一,所述第一控制单元或所述第二控制单元与所述配准臂电气连接。 Alternatively, the controller includes a first control unit and a second control unit. The first control unit is disposed on one of the surgical robot and the surgical bed. The second control unit is disposed on the surgical bed. The robot is electrically connected to the other one of the operating table, and the first control unit or the second control unit is electrically connected to the registration arm.
- 根据权利要求1至16中任一项所述的手术系统,其中,所述控制器,还被配置成用于:The surgical system according to any one of claims 1 to 16, wherein the controller is further configured to:响应于所述手术床的台面在姿态自由度的运动,控制所述多个关节中关联于位置自由度调节的目标关节,以通过所述目标关节来允许所述驱动臂,基于由所述患者的所述身体开口处的体壁施加的力来跟踪所述身体开口的位置。In response to the movement of the tabletop of the operating table in the attitude degree of freedom, controlling a target joint associated with positional degree of freedom adjustment among the plurality of joints to allow the drive arm to move through the target joint based on the movement of the patient The force exerted by the body wall at the body opening tracks the position of the body opening.
- 根据权利要求7或10中任一项所述的手术系统,其中,所述控制器,还被配置成用于:The surgical system according to any one of claims 7 or 10, wherein the controller is further configured to:获取所述手术机器人的基准坐标系和所述手术床的基准坐标系之间的位置配准关系和姿态配准关系;Obtain the position registration relationship and attitude registration relationship between the reference coordinate system of the surgical robot and the reference coordinate system of the operating table;基于所述位置配准关系和姿态配准关系,获取所述穿刺装置在所述手术床的基准坐标系的初始位姿;Based on the position registration relationship and attitude registration relationship, obtain the initial pose of the puncture device in the reference coordinate system of the operating bed;响应于所述手术床的台面的运动,获取所述手术床的台面的运动量,并基于所述位置配准关系、所述姿态配准关系、所述初始位姿和所述运动量,确定所述穿刺装置在所述手术机器人的基准坐标系的目标位姿;In response to the movement of the tabletop of the operating table, the amount of movement of the tabletop of the operating table is obtained, and based on the position registration relationship, the attitude registration relationship, the initial posture and the amount of movement, the determination of the The target pose of the puncture device in the reference coordinate system of the surgical robot;基于所述目标位姿确定所述驱动臂中关节的目标关节变量;Determine target joint variables of the joints in the drive arm based on the target pose;根据所述目标关节变量驱动所述关节运动,以保持所述穿刺装置相对于所述手术床的台面的位姿。The joint motion is driven according to the target joint variable to maintain the posture of the puncture device relative to the table top of the operating table.
- 一种手术系统的控制方法,其中,所述手术系统包括手术床与手术机器人,所述手术机器人包括具有多个关节的驱动臂,所述驱动臂的远端装设有穿刺装置,所述穿刺装置用于插入位于手术床的台面的生物体的身体开口内,所述控制方法包括:A control method for a surgical system, wherein the surgical system includes an operating bed and a surgical robot, the surgical robot includes a driving arm with multiple joints, a puncture device is installed on the distal end of the driving arm, and the puncture device The device is used for inserting into the body opening of a living body located on the tabletop of an operating table, and the control method includes:获取所述手术机器人与所述手术床之间的姿态配准信息;Obtain posture registration information between the surgical robot and the operating table;响应于所述手术床的台面在姿态自由度的运动,获取所述手术床的台面在所述姿态自由度的运动信息;In response to the movement of the tabletop of the operating table in the posture degree of freedom, obtaining movement information of the tabletop of the operating table in the posture degree of freedom;基于所述运动信息和所述姿态配准信息确定所述多个关节中第一关节的目标关节量,根据所述目标关节量控制所述第一关节运动,以在所述姿态自由度保持所述穿刺装置相对于所述手术床的台面的姿态。A target joint amount of a first joint among the plurality of joints is determined based on the motion information and the attitude registration information, and the movement of the first joint is controlled according to the target joint amount to maintain the required degree of freedom in the attitude. The posture of the puncture device relative to the tabletop of the operating table.
- 一种计算机可读存储介质,其特征在于,所述计算机可读存储介质上存储计算机程序,所述计算机程序被处理器执行时实现如权利要求19所述的手术系统的控制方法的步骤。 A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the control method of the surgical system as claimed in claim 19 are implemented.
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CN202210769931.2 | 2022-07-01 | ||
CN202210768400.1 | 2022-07-01 | ||
CN202210769952.4A CN117357256A (en) | 2022-07-01 | 2022-07-01 | Surgical robot and posture registration method and control method thereof |
CN202210777567.4A CN117357268A (en) | 2022-07-01 | 2022-07-01 | Control method, system and device of surgical robot system and readable storage medium |
CN202210777567.4 | 2022-07-01 | ||
CN202210768400.1A CN117357255A (en) | 2022-07-01 | 2022-07-01 | Surgical robot, registration method of surgical robot and surgical bed, and surgical system |
CN202210769931.2A CN117357267A (en) | 2022-07-01 | 2022-07-01 | Surgical robot, control method and device thereof, and surgical system |
CN202210769952.4 | 2022-07-01 | ||
CN202310249983.1 | 2023-03-03 | ||
CN202310249983.1A CN118576253A (en) | 2023-03-03 | 2023-03-03 | Surgical system, registration method and device thereof, surgical equipment and storage medium |
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