CN110139619A - 用于医疗机器人应用的防挤压系统和设备 - Google Patents
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Abstract
一种外科手术机器人臂包含第一连杆和第二连杆,其中所述第一连杆或所述第二连杆中的至少一个连杆能够相对于彼此移动。所述外科手术机器人臂还包含联接到所述第一连杆或所述第二连杆中的至少一个连杆的传感器组合件。所述传感器组合件包含:力感测电阻器组合件,其被配置成测量力;以及接口构件,其安置在所述力感测电阻器组合件上方,所述接口构件被配置成由于所述接口构件接触障碍物而接合所述至少一个力感测电阻器组合件。
Description
相关申请的交叉引用
本申请要求于2017年2月15日提交的美国临时申请第62/459,318号的权益和优先权,所述美国临时申请的全部公开通过引用并入本文中。
背景技术
外科手术机器人系统当前正用于微创医疗程序中。一些外科手术机器人系统可以包含支撑外科手术机器人臂的控制台和具有联接到机器人臂的末端执行器(例如,钳子或抓握工具)的外科手术器械,所述末端执行器由机器人臂致动。机器人臂可以包含多个连杆,所述多个连杆的运动和枢转可能对使用者的手指和双手造成剪切和挤压危险。机器人臂与使用者之间无菌盖布的存在妨碍了许多常规传感器的实际应用。本公开提供了一种传感器系统,其能够识别障碍物(例如,双手、手指、物体等)何时接触机器人臂的高风险区域并且通过向使用者发布警告并且立即停止机器人的运动、通过提供听觉和/或触觉反馈或一些其它期望的反应事先做出反应以避免任何伤害。
发明内容
本公开提供了一个或多个传感器组合件,其安置在机器人臂的一个或多个连杆上以防止在与所述机器人臂的移动连杆接触时对使用者造成伤害。所述传感器组合件包含弹性体接口构件,所述弹性体接口构件具有弯曲或凸起的肋状物和安置在所述接口构件下方的力感测电阻器(“FSR”)。所述FSR被配置成检测力。所述FSR联接到控制装置,所述控制装置被配置成将给定水平的阻力解释为力,并且使物理接触所述机器人臂的所测得的力与障碍物相关。
根据一个实施例,公开了一种外科手术机器人臂。所述外科手术机器人臂包含第一连杆和第二连杆,其中所述第一连杆或所述第二连杆中的至少一个连杆能够相对于彼此移动。所述外科手术机器人臂还包含联接到所述第一连杆或所述第二连杆中的至少一个连杆的传感器组合件。所述传感器组合件包含:力感测电阻器组合件,其被配置成测量力;以及接口构件,其安置在所述力感测电阻器组合件上方,所述接口构件被配置成由于所述接口构件接触障碍物而接合所述至少一个力感测电阻器组合件。
根据上述实施例的一方面,所述接口构件包含外部突起和内部突起。所述外部突起可以从所述至少一个力感测电阻器组合件的中心偏移,具体地说,从所述至少一个力感测电阻器组合件的纵向中心线轴线偏移。
根据上述实施例的另一方面,所述传感器组合件是弯曲的,并且包含安置在所述传感器组合件的第一末端处的第一力感测电阻器组合件和安置在所述传感器组合件的第二末端处的第二力感测电阻器组合件。所述接口构件也可以是弯曲的并且包含刚性桥,所述刚性桥被配置成由于所述接口构件接触障碍物而接合所述第一力感测电阻器组合件或所述第二力感测电阻器组合件中的至少一个力感测电阻器组合件。
根据本公开的另一个实施例,公开了一种外科手术机器人系统。所述外科手术机器人系统包含具有第一连杆和第二连杆的外科手术机器人臂,其中所述第一连杆或所述第二连杆中的至少一个连杆能够相对于彼此移动。所述外科手术机器人臂还包含联接到所述第一连杆或所述第二连杆中的至少一个连杆的传感器组合件。所述传感器组合件包含:力感测电阻器组合件,其被配置成测量力;以及接口构件,其安置在所述力感测电阻器组合件上方,所述接口构件被配置成响应于接触障碍物而接合所述力感测电阻器组合件。所述外科手术机器人臂还包含联接到所述外科手术机器人臂和所述传感器组合件的控制装置。所述控制装置被配置成基于由所述力感测电阻器组合件测得的所述力控制所述外科手术机器人臂的移动。
根据任何上述实施例的一方面,所述力感测电阻器包含上导电层和下导电基板,所述上导电层被配置成响应于与所述接口构件的接合而接触所述下导电基板。所述上导电层与所述下导电基板之间的接触量表示所述力。
根据上述实施例的另一方面,所述控制装置被配置成确定所述力感测电阻器到所述控制装置的连通性和/或检测断开的电缆或断开的电迹线等的存在。在一个实施例中,所述传感器组合件可以包含零负载下的已知有限电阻,并且其中所述方法可以识别连通性中的故障(例如,断开的电缆、松动的连接器、损坏的传感器等)。在一个实施例中,具有已知电阻的电阻器可以桥接所述传感器组合件的上导电层和下导电层,其中所述电阻器与所述传感器组合件的连接器相对定位。
根据上述实施例的另一方面,所述控制装置包含存储指令集的存储器以及处理器,所述处理器被配置成执行所述指令集。
所述存储器可以存储力阈值。所述控制装置可以被配置成:将由所述力感测电阻器组合件测得的所述力与所述力阈值进行比较;并且基于由所述力感测电阻器组合件测得的所述力与所述力阈值的比较控制所述第一连杆或所述第二连杆中的至少一个连杆。
根据本公开的另一个实施例,公开了一种用于控制外科手术机器人臂的方法。所述方法包含:移动外科手术机器人臂的第一连杆或第二连杆中的至少一个连杆;测量施加在联接到所述外科手术机器人臂的所述第一连杆或所述第二连杆中的至少一个连杆的传感器组合件上的力;在控制装置处确定由所述传感器组合件测得的所述力是否超过对应于与障碍物接触的第一阈值;以及基于由所述传感器组合件测得的超过所述第一阈值的所述力控制所述外科手术机器人臂的所述第一连杆或所述第二连杆中的至少一个连杆的移动。
根据上述实施例的一方面,所述方法进一步包含:基于由所述传感器组合件测得的超过所述第一阈值的所述力输出警报。
根据上述实施例的另一方面,所述方法进一步包含:将由所述传感器组合件测得的所述力与小于所述第一阈值的第二阈值进行比较;以及基于由所述传感器组合件测得的超过所述第二阈值的所述力输出警报。
根据上述实施例的另一方面,所述方法进一步包含:基于由所述传感器组合件测得的超过所述第一阈值的所述力停止所述外科手术机器人臂。
根据上述实施例的一方面,所述方法进一步包含:持续监测来自所述传感器组合件的信号;以及基于来自所述传感器组合件的所述信号的中断验证所述传感器组合件的连通性。在一个实施例中,所述传感器组合件可以包含零负载下的已知有限电阻,并且其中所述方法可以识别连通性中的故障(例如,断开的电缆、松动的连接器、损坏的传感器等)。在一个实施例中,所述方法包含提供具有已知电阻的电阻器,所述电阻器桥接所述传感器组合件的上导电层和下导电基板,其中所述电阻器与所述传感器组合件的连接器相对定位。
根据上述实施例的另一方面,所述方法进一步包含:测量施加在所述传感器组合件上的所述力包含使所述传感器组合件的上导电层和下导电基板与接触所述障碍物的所述接口构件接触。
根据本公开的另一个实施例,公开了一种外科手术机器人系统。所述系统包含:具有第一连杆和第二连杆的外科手术机器人臂,其中所述第一连杆或所述第二连杆中的至少一个连杆能够相对于彼此移动;以及传感器组合件,其联接到所述第一连杆或所述第二连杆中的至少一个连杆,所述传感器组合件被配置成感测物理接触。所述系统还包含小推车,所述小推车具有:底座;支撑安装件,其附接到所述底座并且被配置成联接到所述外科手术机器人臂;联接到所述底座的多个轮子;以及至少一个照明元件,其被配置成指示所述外科手术机器人臂的状态,所述外科手术机器人臂包含感测物理接触的所述传感器组合件。
附图说明
本文参考附图描述本公开的实施例,其中:
图1是根据本公开的包含外科手术机器人臂的外科手术机器人系统的示意图;
图2是根据本公开的图1的外科手术机器人系统的外科手术机器人臂的透视图;
图3是图2的外科手术机器人臂的连杆的壳体部分的透视图;
图4是根据本公开的一个实施例的安置在图1的外科手术机器人臂上的传感器组合件的顶部透视图;
图5是图4的零件分开的传感器组合件的透视图;
图6是图4的传感器组合件的底部透视图;
图7是图4的沿着图4的线“7-7”截取的传感器组合件的侧视横截面图;
图8是图4的没有接口构件的传感器组合件的透视图;
图9A是使用对数标度绘制的作为力的函数的电阻的曲线图,其展示了图4的传感器组合件的响应范围;
图9B是使用对数标度绘制的作为力的函数的电阻的另外的曲线图,其展示了图4的传感器组合件的响应范围;
图10是根据本公开的另一个实施例的传感器组合件的透视图,其中所述传感器组合件具有处于打开构型的接口构件;
图11是图10的传感器组合件的透视图,其中所述传感器组合件具有处于闭合构型的接口构件;
图12是根据另一个实施例的传感器组合件的透视图;
图13是图12的没有接口构件的传感器组合件的透视图;
图14是图12的传感器组合件的接口构件的底部透视图;
图15是根据本公开的控制外科手术机器人臂的方法的流程图;
图16A-16C是根据本公开的力传感器组合件的替代性实施例的示意图;
图17A是根据本公开的实施例的传感器组合件的顶部透视图;
图17B是图17A的传感器组合件的底部透视图;
图17C是图17A的传感器组合件的右侧正视图;
图17D是图17A的传感器组合件的左侧正视图;
图17E是图17A的传感器组合件的顶部平面图;
图17F是图17A的传感器组合件的底部平面图;
图17G是图17A的传感器组合件的前部正视图;
图17H是图17A的传感器组合件的后部正视图;
图18A是图17A-17H的传感器组合件的顶部透视图,其中其部分以虚线表示;
图18B是图18A的传感器组合件的底部透视图;
图18C是图18A的传感器组合件的右侧正视图;
图18D是图18A的传感器组合件的左侧正视图;
图18E是图18A的传感器组合件的顶部平面图;
图18F是图18A的传感器组合件的底部平面图;
图18G是图18A的传感器组合件的前部正视图;
图18H是图18A的传感器组合件的后部正视图;
图19A是根据本公开的替代性实施例的传感器组合件的顶部透视图;
图19B是图19A的传感器组合件的底部透视图;
图19C是图19A的传感器组合件的右侧正视图;
图19D是图19A的传感器组合件的左侧正视图;
图19E是图19A的传感器组合件的顶部平面图;
图19F是图19A的传感器组合件的底部平面图;
图19G是图19A的传感器组合件的前部正视图;
图19H是图19A的传感器组合件的后部正视图;
图20A是图19A-19H的传感器组合件的顶部透视图,其中其部分以虚线表示;
图20B是图20A的传感器组合件的底部透视图;
图20C是图20A的传感器组合件的右侧正视图;
图20D是图20A的传感器组合件的左侧正视图;
图20E是图20A的传感器组合件的顶部平面图;
图20F是图20A的传感器组合件的底部平面图;
图20G是图20A的传感器组合件的前部正视图;
图20H是图20A的传感器组合件的后部正视图;
图21是根据本公开的一个实施例的安置在图2的外科手术机器人臂上的笔直的传感器组合件的顶部透视图;
图22是图21的零件分开的传感器组合件的透视图;
图23是图21的零件分开的传感器组合件的放大透视图;
图24是图21的传感器组合件的放大底部透视图;
图25是图21的传感器组合件的纵向横截面图;
图26是图21的零件分开的传感器组合件的力感测电阻器组合件的透视图;
图27是根据本公开的一个实施例的安置在图2的外科手术机器人臂上的弯曲的传感器组合件的顶部透视图;
图28是根据本公开的一个实施例的图27的弯曲的传感器组合件的底部透视图;
图29是图27的零件分开的弯曲的传感器组合件的透视图;
图30是图27的弯曲的传感器组合件的纵向横截面图;
图31是图27的弯曲的传感器组合件的接口构件的透视图;
图32是图27的移除外部层的弯曲的传感器组合件的透视图;
图33是图27的弯曲的传感器组合件的力感测电阻器组合件的透视图;
图34是图27的零件分开的传感器组合件的力感测电阻器组合件的透视图;并且
图35是根据本公开的一个实施例的安置在可移动小推车上的图2的外科手术机器人臂的透视图。
具体实施方式
参考附图详细描述本公开的外科手术机器人系统的实施例,其中相似的附图标记指代若干视图中的每一个视图中的相同或对应的元件。如本文使用的,术语“远侧”是指外科手术机器人系统和/或联接到其的外科手术器械的离患者较近的那部分,而术语“近侧”是指离患者较远的那部分。
如下文将详细描述的,本公开涉及一种外科手术机器人系统,其包含具有传感器组合件的机器人臂,所述传感器组合件被配置成感测力。传感器组合件可以安置在机器人臂的弯曲的或笔直的部分上。传感器组合件可以安置在机器人臂的连杆上的高伤害风险区域中,具体地说,安置在可能夹伤或以其它方式伤害使用者的附肢或其它可能被机器人臂的移动连杆卡住和挤压的身体部分的连杆部分上。传感器组合件包含力感测电阻器(“FSR”)以及安置在FSR上方的弹性体接口构件。外科手术机器人系统还包含联接到FSR的控制装置。所述控制装置被配置成将FSR的给定水平的电阻解释为力,并且使测得的物理接触机器人臂的力的量与使用者相关。因此,控制装置被配置成识别机器人臂是否已接触任何障碍物。在实施例中,可以调节传感器的灵敏度,使得仅选择高于某个阈值的力来指示与使用者或其它障碍物的接触。响应于检测与使用者的接触,控制装置可以被配置成事先停止机器人臂和/或感测到接触的连杆的任何移动并且输出警告。
首先参考图1,外科手术机器人系统1包含:多个外科手术机器人臂2,每个机器人臂具有可移除地附接到其的手术器械10;控制装置4;以及联接到控制装置4的操作控制台5。外科手术机器人系统1被配置成用于躺在外科手术台3上的有待使用外科手术器械10以微创方式进行治疗的患者“P”。
操作控制台5包含显示手术部位的显示器装置6以及手动输入装置7、8,临床医生能够通过所述手动输入装置远程控制机器人臂2。机器人臂2中的每一个机器人臂可以由通过接头连接的多个连杆构成。机器人臂2可以由连接到控制装置4的电动驱动器(未示出)驱动。控制装置4(例如,计算机、逻辑控制器等)被配置成基于存储在存储器中的可编程指令集激活驱动器,其方式使得机器人臂2和外科手术器械10根据响应于来自手动输入装置7、8的输入的移动执行期望的移动。
控制装置4可以包含可操作地连接到存储器(未示出)的处理器(未示出),所述存储器可以包含易失性介质、非易失性介质、磁性介质、光学介质或电介质中的一种或多种介质,如只读存储器(ROM)、随机存取存储器(RAM)、电可擦除可编程ROM(EEPROM)、非易失性RAM(NVRAM)或闪存。处理器可以是适用于执行本公开中描述的操作、计算和/或指令集的任何合适的处理器(例如,控制电路),包含但不限于硬件处理器、现场可编程门阵列(FPGA)、数字信号处理器(DSP)、中央处理单元(CPU)、微处理器以及其组合。本领域技术人员将理解,可以通过使用适用于执行本文所述的算法、计算和/或指令集的任何逻辑处理器(例如,控制电路)来替代处理器。
控制装置4可以控制多个电机(例如,电机9……n),所述多个电机中的每个电机被配置成致动外科手术器械10以实现外科手术器械10的操作和/或移动。可设想到,控制装置4协调各个电机(电机9……n)的激活以协调驱动构件(未示出)的顺时针或逆时针旋转从而协调外科手术器械10的操作和/或移动。在实施例中,多个电机(电机9……n)中的每个电机可以被配置成致动驱动杆、缆线或杠杆臂(未示出)以实现每个外科手术器械10的操作和/或移动。
为了详细地讨论外科手术机器人系统的构造和操作,可以参考于2011年11月3日提交的题为“医疗工作站(Medical Workstation)”的美国专利第8,828,023号,所述专利的全部内容通过引用并入本文中。
参考图2和图3,机器人臂2包含多个可移动连杆、第一连杆104、第二连杆106、第三连杆108和固持器110,其通过致动器(未示出)彼此联接以允许机器人臂2移动到各个构型中。固持器110被配置成收容器械驱动单元,所述器械驱动单元被配置成联接到外科手术器械10的致动机构。器械驱动单元将致动力从其电机传递到外科手术器械10,以致动外科手术器械10的部件(例如,末端执行器)。
第一连杆104包含弯曲底座105,其被配置成将机器人臂2固定到可移动底座如可移动小推车或支架(未示出)或固定到固定底座如手术台3。第二连杆106可在接头107处并且相对于第一连杆104绕轴线“X-X”旋转,使得由第一连杆104和第二连杆106限定的角α为约0°到约140°。第三连杆108可在接头109处并且相对于第二连杆106绕轴线“Y-Y”旋转,使得由第二连杆106和第三连杆108限定的角β为约0°到约140°。固持器110可相对于第三连杆108旋转,使得由固持器110和第三连杆108限定的角度θ为约25°到约160°。由于机器人臂2的可移动连杆(即第一连杆104和第二连杆106、第二连杆106和第三连杆108等)的边缘能够彼此齐平,因此有可能在机器人臂2的连杆104、连杆106和连杆108与固持器110之间卡住和挤压各种障碍物,如使用者的附肢、手指等。
本公开提供了一种传感器系统,其被配置成检测机器人臂2的可移动连杆之间的物理接触并且控制机器人臂2。机器人臂2可以包含安置在机器人臂2的任何连杆(例如,连杆104、106、108以及固持器110)上的一个或多个传感器组合件100。传感器组合件100可以安置在任何表面上,所述表面存在挤压、剪切或以其它方式伤害可能在机器人臂2移动期间被所述机器人臂卡住的身体部位的高风险。在实施例中,传感器组合件100可以安置在第一连杆104、第二连杆106和第三连杆108的内部边缘(例如,最靠近相邻连杆的边缘)附近,如图4-8的传感器组合件30或图10和图11的传感器组合件53。另外,传感器组合件100也可以安置在固持器110的外部边缘上,当所有第一连杆104、第二连杆106和第三连杆108与固持器110一起折叠时,所述外部边缘可以接触第一连杆104。在另外的实施例中,传感器组合件100可以安置在第一连杆104的弯曲底座105的弯曲表面上,如图10-11的弯曲传感器组合件60,以防止接头109挤压使用者搁置在弯曲底座105上的附肢。
参考图4-8,传感器组合件30包含底座壳体32,其具有安置在底座壳体32内的力感测电阻器组合件34(图6和图7)以及安置在力感测电阻器组合件34上方的接口构件36。如图5和图6所示,底座壳体32包含内部表面32a、外部表面32b、以及安置在内部表面32b上的一对突出部32c和32d。力感测电阻器组合件34可以使用粘合剂或任何其它合适的方法固定到底座壳体32的内部表面32a。
参考图3,示出了第一连杆104、第二连杆106或第三连杆108中的一个连杆的壳体部分20。壳体部分20包含狭缝22和开口24,所述狭缝和开口被配置成分别收容和接合安置在外部表面32b上的突出部32c和32d(图5),从而将底座壳体32与第一连杆104、第二连杆106或第三连杆108中的一个连杆的壳体部分20对准和固定。
参考图5和图7,接口构件36包含具有外部隆起部40的外部表面38和具有内部隆起部42的内部表面41。在实施例中,接口构件36可以仅重叠力感测电阻器组合件34的一部分。外部隆起部40和内部隆起部42沿着由传感器组合件30限定的纵向轴线“A-A”(图3)延伸。在实施例中,外部隆起部40和内部隆起部42可以仅沿接口构件36的长度的一部分延伸。外部隆起部40和内部隆起部42可以具有任何合适的横截面,包含但不限于弯曲的、多边形的或其组合。接口构件36可以由任何合适的弹性体材料形成,如天然或合成橡胶,包含聚氨酯、聚异戊二烯、聚丁二烯、氯丁二烯、聚异丁烯、以及其组合和其共聚物。
内部隆起部42从接口构件36的内部表面41延伸,并且被配置成接触力感测电阻器组合件34而不压缩其,除非接口构件36被压缩。外部隆起部40和内部隆起部42可以从力感测电阻器组合件34的中心线“B-B”(图7)偏移。在这种构型中,外部隆起部40的侧面被安置成更靠近机器人臂2的第一连杆104、第二连杆106或第三连杆108的边缘,如图2所示。
在实施例中,力感测电阻器组合件34可以使用粘合剂或任何合适的方法直接联接到第一连杆104、第二连杆106或第三连杆108中的一个连杆,从而避免了对底座壳体32的需要。在另外的实施例中,接口构件36可以包含在其中的隔室以包围力感测电阻器组合件34。然后,接口构件36可以固定到第一连杆104、第二连杆106或第三连杆108中的一个连杆。
力感测电阻器组合件34包含上导电层44和下导电基板46。上导电层44和下导电基板46可以由包含任何合适的聚合物的柔性聚合物薄片形成,如聚对苯二甲酸乙二醇酯、聚酰亚胺、聚碳酸酯等。上导电层44的内表面可以涂覆有导电油墨,如碳基油墨。在实施例中,上导电层44也可以由柔性导电薄片形成,如可变形金属薄片。
如图8所示,下导电基板46可以是印刷柔性电路板,其包含具有第一电极图案48a和第二电极图案48b的交叉指型电路48,使得电极图案48a和电极图案48b中的每一个电极图案的多个指状电极彼此互锁。电极图案48a和电极图案48b可以由银聚合物厚膜油墨或任何其它导电材料丝网印刷。在实施例中,电极图案48a和电极图案48b可以由镀金铜或其它导电金属形成。
参考图7,上导电层44和下导电基板46通过安置在其间的间隔件50分开。间隔件50围绕上导电层44和下导电基板46中的每一个的周界安置,并且可以使用粘合剂附接到二者中的每一个上,从而维持两者间的间隙“G”。因此,间隔件50将上导电层44与下导电基板46分开并且将其固定在一起。在实施例中,间隔件50可以使用压敏粘合剂进行丝网印刷,或者可替代地,可以从膜压敏粘合剂上切割。在另外的实施例中,可以使用能够分离并且粘附到上导电层44和下导电基板46的材料的任何组合来构建(例如,3D印刷)间隔件50。
在操作期间,力感测电阻器组合件34在上导电层44接触下导电基板46时感测力。因此,力感测电阻器组合件34处于开路状态,直到力感测电阻器组合件34被接口构件36激活。当上导电层44接触下导电基板46时,上导电层44在下导电基板46的电极图案48a和电极图案48b的交叉指状物两端短路,从而从开路转变为短路。当接口构件36遇到障碍物或以其它方式由外力致动时(例如,由于临床医生的手或附肢的接触),接口构件36的内部隆起部42向下按压在上导电层44上,所述上导电层进而接触下导电基板46。感测的力的量基于上导电层44接触下导电基板46的表面积的量。具体地说,施加的力基于电极图案48a与电极图案48b之间的电接触量而改变力感测电阻器组合件34的电阻。下导电基板46可以由基于石墨的压敏材料形成,所述压敏材料的导电率(降低的电阻)与施加的压力量成比例地增加。电阻与施加的力成反比,并且然后由控制装置4使用以确定力。
参考图4-6,力感测电阻器组合件34还包含延伸穿过底座壳体32的一对触头52a和52b。触头52a和52b分别联接到电极图案48a和电极图案48b,并且向控制装置4提供表示电极图案48a与电极图案48b之间的电阻的电压信号,然后所述控制装置确定施加在力感测电阻器组合件34上的力的量。力感测电阻器组合件34具有最小致动阈值,即力感测电阻器组合件34从开路转变到短路的初始力。
图9A是展示使用对数标度绘制的电阻与力之间的关系的曲线图200。曲线图200展示了力感测电阻器组合件34的操作范围,出于说明的目的,其可以为分别对应于约100,000千欧(“kΩ”)到约1,000kΩ的电阻的约1,000克力(“gf”)到约10,000gf。可测量的力的范围取决于基板和覆盖层的厚度、上导电层44和下导电基板46的柔性、接口构件36的大小和形状以及间隔件50的厚度等。如曲线图200所示,在激活力感测电阻器组合件34、64或65之后,电阻非常快速地下降,在稍高并且然后中间的力时,电阻遵循逆幂定律,并且在高力时,响应最终饱和到力的增加产生很小或不减少电阻的点。
如图9所展示的,当力接近于零时,电阻接近无穷大。参考图9B,提供了曲线图200a,其展示了使用对数标度绘制的电阻与力之间的关系,其中当力接近零时,电阻接近有限值。
参考图10和图11,基本上类似于传感器组合件30的传感器组合件53的另一个实施例包含具有力感测电阻器组合件54的底座壳体55。传感器组合件53还包含通过铰链57联接到底座壳体55的接口构件56。
接口构件56包含具有内部隆起部58的内部表面56a。如图10所示,内部隆起部58沿着由传感器组合件30限定的纵向轴线“C-C”延伸。内部隆起部58可以具有任何合适的横截面,包含但不限于弯曲的、多边形的或其组合。内部隆起部58还可以是一系列离散的隆起部而不是连续的肋状物。如图11所示,接口构件56搁置在力感测电阻器组合件54上方,直到接口构件56充分接合以将内部隆起部58按压在力感测电阻器组合件54上。传感器组合件53以与上述传感器组合件30相同的方式操作。在一个实施例中,接口构件56可以是刚性的,而隆起部58是弹性的,以抑制对力感测电阻器组合件54的损坏。在一个实施例中,刚性接口构件56可以由一系列在敏化区域的长度上延伸的离散刚性外壳构成,而不是仅由一个长的刚性接口构件56构成。在一个实施例中,刚性接口构件56的铰接枢转可以用弹簧偏置以将刚性接口构件56固持到力感测电阻器组合件54,使得移除隆起部58与力感测电阻器组合件54之间的任何松弛。在一个实施例中,刚性接口构件56可以延伸超过机器人连杆20的拐角边缘(例如,悬臂),以便“敏化”其边缘区域。在一个实施例中,刚性接口构件56可以不被铰接,但保持向下抵靠力感测电阻器组合件54通过沿力感测组合件54的至少两侧延伸的偏置元件(例如,弹性泡沫)。
参考图12-14,弯曲的传感器组合件60包含底座壳体62,所述底座壳体具有安置在底座壳体62内的第一力感测电阻器组合件64和第二力感测电阻器组合件65以及安置在力感测电阻器组合件64和力感测电阻器组合件65上方的接口构件66。为了避免不必要的重复,下文仅描述传感器组合件30与弯曲的传感器组合件60之间的差异。
第一力感测电阻器组合件64安置在底座壳体62的第一末端部分62a处,并且第二力感测电阻器组合件65安置在底座壳体62的第二末端部分62b处。力感测电阻器组合件64和力感测电阻器组合件65可以以与上述相同的方式联接到相对于底座壳体32的底座壳体62,并且可以包含延伸穿过底座壳体62的触头(未示出)以将力感测电阻器组合件64和力感测电阻器组合件65电耦合到控制装置4。另外,底座壳体62可以以与如上文所述的底座壳体32类似的方式联接到第一连杆104的弯曲底座105。
力感测电阻器组合件64和力感测电阻器组合件65基本上类似于力感测电阻器组合件34。在实施例中,力感测电阻器组合件64和力感测电阻器组合件65可以具有任何合适的形状,包含但不限于矩形或圆形。
接口构件66具有基本上弯曲的形状并且包含限定在接口构件66的内部表面68上的通道70。通道70被配置成收容在其中的桥72。桥72可以由任何刚性材料形成,如金属或刚性热塑性材料,如由聚碳酸酯等形成的那些金属或刚性热塑性材料。桥72包含在其每个末端处的隆起部72a和72b,所述隆起部被配置成分别接合第一力感测电阻器组合件64和第二力感测电阻器组合件65,使得接口构件66和桥72上的任何力施加到力感测电阻器组合件64和力感测电阻器组合件65中的一个或两个力感测电阻器组合件上。隆起部72a和72b可以是固定到桥72的单独的部件,并且由弹性材料如橡胶、聚合物等制成,以允许接触力感测电阻器组合件64和力感测电阻器组合件65的隆起部72a和隆起部72b自对准。隆起部72a和72b可以具有任何合适的形状,如固定到桥72的下侧的垫片或围绕桥的圆周装配的O形环。
参考图15,描述了外科手术机器人系统1的操作。控制装置4持续地监测来自一个或多个传感器组合件100的信号,并且响应于由传感器组合件100中的一个传感器组合件输出的信号控制机器人臂2。
在实施例中,传感器组合件100可以基于传感器组合件100的最小电阻持续输出信号。控制装置4可以使用这个信号来验证传感器组合件100与控制装置4之间的电连通性,例如,由于电缆故障或其它电气故障。
控制装置4被配置成计算施加在一个或多个传感器组合件100上的力(例如,通过使用传递函数或任何其它合适的方法)。控制装置4可以被编程成基于计算出的力在机器人臂2上执行多个控制功能。具体地说,控制装置4可以存储一个或多个力阈值,使得当测量的力超过阈值时,控制装置4执行编程的功能。在实施例中,当测得的力超过预定阈值时,控制装置4可以停止机器人臂2或遇到障碍物的机器人臂2的连杆104、连杆106和连杆108中的至少一个连杆的任何移动。控制装置4还可以向使用者输出警告(例如,音频和/或视觉警报)。然而,如果传感器组合件100输出的信号不超过任何阈值,则控制装置4继续根据其它例程和控制功能控制机器人臂2。
在一个实施例中,多个圆形或笔直的力感测电阻器组合件(例如,力感测电阻器组合件34、力感测电阻器组合件64或力感测电阻器组合件65)可以位于单个接口构件(例如,接口构件36或接口构件66)下方,如例如在弯曲的传感器组合件60中。
继续参考图15,在传感器组合件100中的一个传感器组合件被致动后,例如,由于与障碍物接触,对应于所检测到的力的信号被传输到控制装置4。控制装置4确定施加在传感器组合件100中的一个传感器组合件上的力的量。然后,控制装置4将力与第一阈值进行比较,所述第一阈值可以与障碍物和一个或多个传感器组合件100之间的部分接触相关联。这可能是由于机器人臂2束缚和拉动外科手术盖布而造成的。如果测得的力超过第一阈值,则控制装置4可以执行如输出警告等警示性动作。来自传感器组合件100的信号由控制装置4连续监测,并且警告可以连续输出,同时计算的力高于第一阈值。如果计算的力超过可以对应于与障碍物的更有力的接触的第二阈值,则控制装置4可以执行第二动作,如停止机器人臂2或其可移动连杆104、106和连杆108中的一个连杆移动。可以设想,上述阈值和算法可以存储在控制装置4的存储器中,并且控制装置4的处理器被配置成执行体现上述算法的指令或程序。
参考图16A,展示了根据本公开的力传感器组合件的替代性实施例,并且总体上用附图标记30A指定。力传感器组合件30A可以包含多个单独的离散力感测电阻器组合件34A,其中刚性接触元件33A粘附到接口构件36A的底部表面或嵌入/锚定到接口构件36A中,其中刚性接触元件33A直接接触相应的力感测电阻器组合件34A。
在另一个替代性实施例中,如图16B展示的,展示了根据本公开的力传感器组合件的替代性实施例,并且总体上用附图标记30B指定。力传感器组合件30B可以包含刚性元件33B,所述刚性元件可以嵌入接口构件36B中,其中刚性元件33B的末端从接口构件36B的底部和顶部表面突出。
在又另一个替代性实施例中,如图16C展示的,展示了根据本公开的力传感器组合件的替代性实施例,并且总体上用附图标记30C指定。力传感器组合件30C包含具有颈缩部分36C1的接口构件36C(例如,在横截面面积减少),所述颈缩部分安置在沿接口构件36C的长度所选择的位置处以促进刚性接触元件33C之间的接口构件36C变形。
在一个实施例中并且根据本公开,可设想到,与相应的力感测电阻器组合件接触的内部隆起部42或接触元件33A-33C的表面积可以沿着力传感器组合件的长度变化以沿力传感器组合件的长度提供对应的灵敏度变化。类似地,在一个实施例中,力感测电阻器组合件的内部隆起部42与间隔件50的距离可以沿力传感器组合件的长度变化,以沿力传感器组合件的长度提供对应的灵敏度变化。
图17A-17H展示了传感器组合件30的若干视图;图18A-18H展示了传感器组合件30的若干视图,其中其部分以虚线表示;图19A-19H展示了传感器组合件60的若干视图;并且图20A-20H展示了传感器组合件60的若干视图,其中其部分以虚线表示。
图21-26展示了根据本公开的另一个实施例的笔直的传感器组合件130。传感器组合件130基本上类似于图4-8的传感器组合件30,并且下文仅描述传感器组合件30与传感器组合件130之间的差异。传感器组合件130包含底座壳体132和安置在底座壳体132内的力感测电阻器(“FSR”)组合件134。接口构件136安置在FSR组合件134上方。传感器组合件130以与传感器组合件30类似的方法操作,因为接口构件136在接触物体时激活FSR组合件134,所述FSR组合件输出指示已经接触的信号。
底座壳体132包含包围FSR组合件134的末端部分134a的盖子133(图23)。底座壳体132包含可以安置在底座壳体132的相对末端的一对开口132e和132f。开口132e和132f用于固持紧固件(未示出)以将底座壳体132附接到第一连杆104、第二连杆106或第三连杆108。另外,传感器组合件130可以包含安置在底座壳体132的底部部分上的粘合剂层139(图22和图24),所述粘合剂层为传感器组合件130提供另一个附接点。
参考图26,FSR组合件134包含上导电层144,所述上导电层可以由石墨或任何其它合适的导电材料形成。上导电层144由粘合剂背衬层145覆盖,所述粘合剂背衬层将上导电层144固定到接口构件136的下侧。FSR组合件134还包含可以是双面胶带的一对间隔件150。间隔件150将上导电层144与下导电基板146分离,使得上导电层144和下导电基板146不会偶然地彼此接触,除非接口构件136被外力接触。
下导电基板146可以是印刷柔性电路板,所述印刷柔性电路板包含具有第一电极图案148a和第二电极图案148b的交叉指型电路148。第一电极图案148a和第二电极图案148b中的每一个电极图案终止于相应的接触构件152a和152b,所述接触构件电耦合到印刷电路板(“PCB”)135,如图22、图23和图25所示。PCB 135提供其它电部件的放置,如电阻器137a(图23和图25)。另外,PCB 135固定接触构件152a和152b,所述接触构件中的每个接触构件电耦合到具有多个销155的电连接器153,如图24和图25所示。连接器153可以安置在表面突出部132d内,所述表面突出部被安置在底座壳体132的底表面132b上,从而保护连接器153。电连接器153被配置成与外科手术机器人臂2上的配对电连接器(未示出)匹配,从而在传感器组合件130与外科手术机器人臂2之间提供安全的电连接。
在某些实施例中,PCB 135可以不固定地固定在底座壳体132内,从而提供PCB 135和沿底座壳体132的表面以某种侧向移动程度耦合到其的电连接器153。这允许电连接器153在传感器组合件130联接到外科手术机器人臂2期间与外科手术机器人臂2上的配对联接器对准。另外,外科手术机器人臂2可以包含配对开口,所述配对开口被配置成容纳表面突出部132d。因此,表面突出部132d为连接器152提供物理保护,并且朝向和对准电连接器153。
电阻器137a并联联接在接触构件152a与接触构件152b之间,并且向由第一电极图案148a和第二电极图案148b限定的电路提供已知的有限电阻。电阻器137a的已知电阻可以用于确定FSR组合件134与外科手术机器人臂2之间的电连接是否已断开。具体地说,外科手术机器人臂2被配置成在操作外科手术机器人臂2期间通过FSR组合件134输出传感器信号。由于第一电极图案148a和第二电极图案148b将不输出电信号,除非被上导电层144接触,因此外科手术机器人臂2将不能区分FSR组合件134被断开和/或不起作用,因为FSR组合件134被设计为通过外部接触而闭合的开路。电阻器137a的存在通过向外科手术机器人臂2提供基线电阻来缓解这个问题。因此,每当第一电极图案148a和第二电极图案148b由于外力而与上导电层144接触时,电阻将相应地增加超过电阻器137a的电阻,从而发出外科手术机器人臂2已经检测到外部接触的信号。
如图26所示,FSR组合件134还可以包含第二电阻器137b,所述第二电阻器可以联接在第一电极图案148a与第二电极图案148b之间。如图26所示,第二电阻器137b也可以安置在PCB上,或者在替代性实施例中,所述第二电阻器可以安置在下导电基板146的柔性电路上。类似地,第二电阻器137b也可以并联联接在第一电极图案148a与第二电极图案148b之间。
图27-34展示了根据本公开的另一个实施例的弯曲的传感器组合件160。传感器组合件160基本上类似于图12-14的传感器组合件60以及图21-26的传感器组合件130,并且下文仅描述了传感器组合件160与传感器组合件60和130之间的差异。弯曲的传感器组合件160包含底座壳体162,然而,弯曲的传感器组合件160包含安置在底座壳体62内的单个FSR组合件164,而不是具有第一FSR组合件64和第二FSR组合件65。接口构件166还安置在力感测电阻器组合件164上方。
类似于传感器组合件130的底座壳体132,底座壳体162包含包围FSR组合件164的末端部分164a的盖子163。底座壳体162包含一对开口162e和162f以及安置在底座壳体162的底部部分上的粘合剂层169(图29)。
参考图34,FSR组合件164基本上类似于传感器组合件130的FSR组合件134。因此,FSR组合件164还包含上导电层174、粘合剂背衬层175、一对间隔件180和下导电基板176。
下导电基板176包含具有第一电极图案178a和第二电极图案178b的交叉指型电路178。第一电极图案178a和第二电极图案178b可以限定在其间的开口179,使得开口179处没有指状电极。参考图33和图34,第一电极图案178a和第二电极图案178b中的每个电极图案的指状电极安置在开口179的两侧上的末端部分174a和末端部分174b中的每个末端部分处。开口179符合底座壳体162的曲率,这允许FSR组合件164放置在底座壳体162的弯曲表面上方,而不会由于对第一电极图案178a和第二电极图案178b的指状电极的意外接触而影响FSR组合件164的读数。末端部分174a和174b的指状电极正常工作并且放置在底座壳体162的平坦区域上。
接口构件166基本上类似于接口构件66且还包含弯曲形状并且被配置成收容在其中的桥172。类似于桥72,桥172包含在桥172的每个末端处的一对隆起部172a和172b。隆起部172a和172b被配置成分别接合下导电基板176的末端部分174a和174b,使得接口构件166和桥172上的任何力被施加到FSR组合件164。
隆起部172a和172b可以由任何弹性体材料形成,所述弹性体材料允许隆起部172a和172b响应于施加在桥172上的力而变形,从而在第一电极图案178a和第二电极图案178b上实现更均匀的压力并且补偿隆起部172a和172b的不均匀的接触表面(例如,可能由于低制造公差而存在)。
如图29和图32-34所示,第一电极图案178a和第二电极图案178b中的每一个电极图案终止于相应的接触构件182a和接触构件182b,所述接触构件电耦合到基本上类似于PCB 135的印刷电路板(“PCB”)185。PCB 185还耦合到电连接器183,所述电连接器安置在突出部162d内,如图28和图30所示。电连接器183还可在突出部162d内移动,从而允许在传感器组合件160联接到外科手术机器人臂2期间与外科手术机器人臂2上的配对连接器对准。
参考图35,机器人臂2可以安装到具有底座302和多个轮子304的小推车300上。小推车300包含用于附接机器人臂2的支撑安装件306。机器人臂2(图2)的弯曲的底座105可以附接到支撑安装件306,所述支撑安装件将机器人臂2机械地固定到小推车300并且提供从控制装置4到机器人臂2的电连通性(图1)。底座302还包含控制器308,所述控制器被配置成与机器人臂2和控制装置4介接。
此外,小推车300还包含一个或多个灯310。灯310可以围绕底座302的周界安置,并且可以在使用底座302期间保持常亮以增加其可见度。在实施例中,灯310可以是变色的可调光发光二极管,使得控制器308可以调节灯310的颜色和/或亮度/强度。除了控制用于可见度的照明之外,控制器308还可以调节灯310的照明模式以提供机器人臂2的指示器状态,如绿色指示正常操作,黄色指示机器人臂2有问题等。另外,灯310还可以以闪烁模式操作以向使用者提供额外的反馈。
在实施例中,控制器308被配置成与机器人臂2的传感器组合件100通信,使得在遇到物理障碍物时,控制器308连同控制装置4一起被通知如上文关于图15的事件。响应于此事件,控制器308被配置成控制灯310以指示机器人臂2已经遇到障碍物。在实施例中,灯310可以输出红光和/或闪烁。这个视听警报可以与控制装置4执行的动作同时输出,如在操作控制台5上输出警告、停止机器人臂2移动等。
根据本公开,可以设想和预期任何上述实施例可以应用于固定到弯曲的或不平坦表面的传感器。虽然本文已详细公开了力感测电阻器组合件,但可以预期,其它类型的传感器可以用于传感器组合件中并且施加到机器人臂的构件以实现上述相同或类似的目的。这种其它传感器包含但不限于应变仪、压电传感器、限位开关等。
应理解,可以对本文公开的实施例作各种修改。在实施例中,传感器可以安置在机器人臂的任何合适的部分上。因此,以上说明不应该被解释为限制性的,而是仅作为各个实施例的例证。本领域的技术人员将构想出在所附权利要求的范围和精神内的其它修改。
Claims (26)
1.一种外科手术机器人臂,其包括:
第一连杆;
第二连杆,其中所述第一连杆或所述第二连杆中的至少一个连杆能够相对于彼此移动;以及
传感器组合件,其联接到所述第一连杆或所述第二连杆中的至少一个连杆,所述传感器组合件包含:
至少一个力感测电阻器组合件,其被配置成测量力;以及
接口构件,其安置在所述力感测电阻器组合件上方,所述接口构件被配置成由于所述接口构件接触障碍物而接合所述至少一个力感测电阻器组合件。
2.根据权利要求1所述的外科手术机器人臂,其中所述至少一个力感测电阻器包含上导电层和下导电基板,所述上导电层被配置成响应于与所述接口构件的接合而接触所述下导电基板。
3.根据权利要求2所述的外科手术机器人臂,其中所述上导电层与所述下导电基板之间的接触量表示所述力。
4.根据权利要求1所述的外科手术机器人臂,其中所述接口构件包含外部突起和内部突起。
5.根据权利要求4所述的外科手术机器人臂,其中所述外部突起从所述至少一个力感测电阻器组合件的中心偏移。
6.根据权利要求1所述的外科手术机器人臂,其中所述传感器组合件是弯曲的,并且所述至少一个力感测电阻器组合件包含安置在所述传感器组合件的第一末端部分处的第一力感测电阻器组合件和安置在所述传感器组合件的第二末端部分处的第二力感测电阻器组合件。
7.根据权利要求6所述的外科手术机器人臂,其中所述接口构件是弯曲的并且包含刚性桥,所述刚性桥被配置成由于所述接口构件接触障碍物而接合所述第一力感测电阻器组合件或所述第二力感测电阻器组合件中的至少一个力感测电阻器组合件。
8.根据权利要求1所述的外科手术机器人臂,其中所述传感器组合件是弯曲的,并且所述至少一个力感测电阻器包含第一末端部分和第二末端部分并且限定在其间的开口。
9.根据权利要求8所述的外科手术机器人臂,其中所述接口构件是弯曲的并且包含刚性桥,所述刚性桥被配置成由于所述接口构件接触障碍物而接合所述力感测电阻器组合件的所述第一末端部分和所述第二末端部分中的至少一个末端部分。
10.一种外科手术机器人系统,其包括:
外科手术机器人臂,其包含:
第一连杆;
第二连杆,其中所述第一连杆或所述第二连杆中的至少一个连杆能够相对于彼此移动;以及
传感器组合件,其联接到所述第一连杆或所述第二连杆中的至少一个连杆,所述传感器组合件包含:
力感测电阻器组合件,其被配置成测量力;以及
接口构件,其安置在所述力感测电阻器组合件上方,所述接口构件被配置成响应于接触障碍物而接合所述力感测电阻器组合件;以及
控制装置,其联接到所述外科手术机器人臂和所述传感器组合件,所述控制装置被配置成基于由所述力感测电阻器组合件测得的所述力控制所述外科手术机器人臂的移动。
11.根据权利要求10所述的外科手术机器人系统,其中所述力感测电阻器包含上导电层和下导电基板,所述上导电层被配置成响应于与所述接口构件的接合而接触所述下导电基板。
12.根据权利要求11所述的外科手术机器人系统,其中所述上导电层与所述下导电基板之间的接触量表示所述力。
13.根据权利要求10所述的外科手术机器人系统,其中所述控制装置被配置成确定所述力感测电阻器到所述控制装置的连通性。
14.根据权利要求10所述的外科手术机器人系统,其中所述控制装置包含:
存储指令集的存储器;以及
处理器,其被配置成执行所述指令集。
15.根据权利要求14所述的外科手术机器人系统,其中所述存储器存储力阈值。
16.根据权利要求15所述的外科手术机器人系统,其中所述控制装置被配置成:
将由所述力感测电阻器组合件测得的所述力与所述力阈值进行比较;并且
基于由所述力感测电阻器组合件测得的所述力与所述力阈值的比较控制所述第一连杆或所述第二连杆中的至少一个连杆。
17.根据权利要求10所述的外科手术机器人系统,其中所述传感器组合件包含联接到所述力感测组合件的至少一个电阻器。
18.根据权利要求17所述的外科手术机器人系统,其进一步包括联接到所述力感测组合件的印刷电路板以及联接到所述印刷电路板的连接器。
19.根据权利要求18所述的外科手术机器人系统,其中所述连接器可移动地安置在所述传感器组合件的底表面上的突出部内,所述突出部被配置成与所述第一连杆或所述第二连杆中的至少一个连杆相匹配。
20.一种用于控制外科手术机器人臂的方法,所述方法包括:
移动外科手术机器人臂的第一连杆或第二连杆中的至少一个连杆;
测量施加在联接到所述外科手术机器人臂的所述第一连杆或所述第二连杆中的至少一个连杆的传感器组合件上的力;
在控制装置处确定由所述传感器组合件测得的所述力是否超过对应于与障碍物接触的第一阈值;以及
基于由所述传感器组合件测得的所述力超过所述第一阈值,控制所述外科手术机器人臂的所述第一连杆或所述第二连杆中的至少一个连杆的移动。
21.根据权利要求20所述的方法,其进一步包括:
基于由所述传感器组合件测得的所述力超过所述第一阈值,输出警报。
22.根据权利要求20所述的方法,其进一步包括:
将由所述传感器组合件测得的所述力与小于所述第一阈值的第二阈值进行比较;以及
基于由所述传感器组合件测得的所述力超过所述第二阈值,输出警报。
23.根据权利要求20所述的方法,其进一步包括:
基于由所述传感器组合件测得的所述力超过所述第一阈值,停止所述外科手术机器人臂。
24.根据权利要求20所述的方法,其进一步包括:
持续监测来自所述传感器组合件的信号;以及
基于来自所述传感器组合件的所述信号的中断验证所述传感器组合件的连通性。
25.根据权利要求20所述的方法,其中测量施加在所述传感器组合件上的所述力包含响应于接触所述障碍物而接触所述传感器组合件的上导电层和下导电基板。
26.一种外科手术机器人系统,其包括:
外科手术机器人臂,其包含:
第一连杆;
第二连杆,其中所述第一连杆或所述第二连杆中的至少一个连杆能够相对于彼此移动;以及
传感器组合件,其联接到所述第一连杆或所述第二连杆中的至少一个连杆,所述传感器组合件被配置成感测物理接触;以及
小推车,其包含:
底座;
支撑安装件,其附接到所述底座并且被配置成联接到所述外科手术机器人臂;
联接到所述底座的多个轮子;以及
至少一个照明元件,其被配置成指示所述外科手术机器人臂的状态,所述外科手术机器人臂包含感测物理接触的所述传感器组合件。
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EP3582708A4 (en) | 2020-12-23 |
US20230355335A1 (en) | 2023-11-09 |
EP3582708A1 (en) | 2019-12-25 |
US20200000536A1 (en) | 2020-01-02 |
JP2022048276A (ja) | 2022-03-25 |
WO2018152141A1 (en) | 2018-08-23 |
US11690691B2 (en) | 2023-07-04 |
JP2020507377A (ja) | 2020-03-12 |
CA3048039A1 (en) | 2018-08-23 |
AU2018221456A1 (en) | 2019-07-11 |
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