CN102768541A - Control method and system for surgical robot - Google Patents
Control method and system for surgical robot Download PDFInfo
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- CN102768541A CN102768541A CN2012101326536A CN201210132653A CN102768541A CN 102768541 A CN102768541 A CN 102768541A CN 2012101326536 A CN2012101326536 A CN 2012101326536A CN 201210132653 A CN201210132653 A CN 201210132653A CN 102768541 A CN102768541 A CN 102768541A
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Abstract
The invention provides a control method and a control system for a surgical robot. The method comprises the following steps as follows: positioning an end actuator of the surgical robot and a patient to acquire the current position of the end actuator and the position of the patient; calculating according to the position of the patient and a patient image to acquire the motion track of the end actuator taking the current position as start and the working point as the target; adjusting the motion track according to the working point and the current of the end actuator to acquire the motion path; and driving the end actuator according to the motion path. The system comprises a positioning device, an active control device, a path generation device and a driving device. By the control method and the control system for the surgical robot, the safety of the surgical robot is improved.
Description
Technical field
The present invention relates to the distant technology that controls, particularly relate to a kind of control method and system of operating robot.
Background technology
The doctor must participate in the overall process in the various medical operatings, stands on patient for a long time and finishes up to operation on every side.Long operation consuming time can expend a large amount of energy of doctor, and make the doctor produce fatigue, and cause doctor's arm to tremble thus, and then the security of influence operation.
Along with the fast development of various robot, also arise at the historic moment to the robot control method of various different application scenes thereupon, for example, utilize the collision that detects Human-to-Machine's human arm to come control robot to make corresponding action.Because it is it is different that environment that the different application scene is faced and control require, also different to the ROBOT CONTROL method.And higher because of medical operating to security requirement, make the application of operating robot in medical operating be restricted widely.
Summary of the invention
Based on this, a kind of control method that can improve the operating robot of security is provided.
In addition, also be necessary to provide a kind of control system that can improve the operating robot of security.
A kind of control method of operating robot comprises the steps:
The end effector of operating robot and patient positioned obtain end effector current location and patient position respectively;
Carrying out computing according to patient position and patient's image, to obtain said end effector be initial with current location, is the movement locus of target with the setting;
Adjust said movement locus according to said setting and end effector current location and obtain motion path;
Drive said end effector according to said motion path.
Therein among embodiment, also comprise before the said step that drives said end effector according to said motion path:
Through drag operation triggering collection application of force information;
Handle said application of force information, and be mapped as the movement instruction of said end effector;
According to said setting and patient position said movement instruction is generated motion path.
Therein among embodiment, said end effector and patient to operating robot positions the step that obtains end effector current location and patient position respectively and is:
Gather the image of mark among said end effector and the patient respectively;
Image calculation according to said mark goes out end effector current location and patient position.
Therein among embodiment, saidly carrying out computing according to patient position and patient's image to obtain said end effector be initial with current location, is that the step of the movement locus of target is with the setting:
Obtain patient's image, the mark among said patient's image and the patient is carried out registration process obtain the position in said patient's image that is marked among the said patient;
The position, patient position and the end effector current location that obtain through said registration are carried out computing and are obtained the relative position relation between said end effector and the patient;
It is initial generating with current location according to said relative position relation, is the movement locus of target with the setting.
Among embodiment, said application of force information is power and moment therein, the said application of force information of said processing, and the step that is mapped as the movement instruction of said end effector is:
Remove in said power and the moment zero partially with the interference of gravity, and be mapped as the speed of end effector, according to said speed generation movement instruction according to preset ratio.
A kind of control system of operating robot comprises:
Locating device is used for the end effector of operating robot and patient positioned and obtains end effector current location and patient position respectively;
Active control device, being used for carrying out computing according to patient position and patient's image, to obtain said end effector be initial with current location, is the movement locus of target with the setting;
The path generating apparatus is used for adjusting said movement locus according to said setting and end effector current location and obtains motion path;
Drive unit is used for driving said end effector according to said motion path.
Among embodiment, also comprise therein:
Force feedback equipment is used for through drag operation triggering collection application of force information;
Passive control device is used to handle said application of force information, and is mapped as the movement instruction of said end effector;
Said path generating apparatus also is used for according to said setting and patient position said movement instruction being generated motion path.
Among embodiment, said locating device comprises therein:
Image capture module is used for gathering respectively the image of said end effector and patient's mark;
Identification module is used for going out end effector current location and patient position according to the image calculation of said mark.
Among embodiment, said active control device comprises therein:
The registration process module is used to obtain patient's image, the mark among said patient's image and the patient is carried out registration process obtain the position in said patient's image that is marked among the said patient;
Computing module, the position, patient position and the end effector current location that are used for obtaining through said registration are carried out computing and are obtained the relative position relation between said end effector and the patient;
The track generation module, it is initial being used for generating with current location according to said relative position relation, is the movement locus of target with the setting.
Therein among embodiment; Said application of force information is power and moment; Said passive control device also be used for removing said power and moment zero partially with the interference of gravity, and be mapped as the speed of end effector, according to said speed generation movement instruction according to preset ratio.
The control method of above-mentioned operating robot and system; At first the end effector of operating robot and patient are positioned and obtain setting and patient position; Carrying out computing in conjunction with patient's image, to obtain with setting be initial movement locus, and movement locus is adjusted, with guarantee end effector in the process of moving according to movement locus for can run into patient body; Improve security, under the effect of mobile phone robot, avoided the operation of doctor's prolonged operations to cause fatigue.
Description of drawings
Fig. 1 is the process flow diagram of the control method of operating robot among the embodiment;
Fig. 2 positions the method flow diagram that obtains end effector current location and patient position respectively for end effector and the patient to operating robot among Fig. 1;
To obtain end effector be initial with current location to Fig. 3 in order to carry out computing according to patient position and patient's image among Fig. 1, is the movement locus of target with the setting;
Fig. 4 is the schematic diagram of relative position relation between end effector and the patient among the embodiment;
Fig. 5 is the synoptic diagram that bumps between operating theater instruments and the patient body in the end effector among the embodiment;
Fig. 6 is the synoptic diagram of motion path among the embodiment;
Fig. 7 is the process flow diagram of the control method of operating robot among another embodiment;
Fig. 8 is the drag operation synoptic diagram of force feedback equipment among the embodiment;
Fig. 9 is the structural representation of the control system of operating robot among the embodiment;
Figure 10 is the structural representation of locating device among Fig. 9;
Figure 11 is the structural representation of active control device among Fig. 9;
Figure 12 is the structural representation of the control system of operating robot among another embodiment.
Embodiment
As shown in Figure 1, in one embodiment, a kind of control method of operating robot comprises the steps:
Step S110 positions the end effector of operating robot and patient and to obtain end effector current location and patient position respectively.
In the present embodiment, it is the medical operating of object that the end effector of operating robot is used for accomplishing with patient through various motions, is the direct executor of medical operating, is provided with various operating theater instruments on it as required.End effector and patient are positioned to obtain the position at current place.
As shown in Figure 2, in one embodiment, above-mentioned steps S110 comprises the steps:
Step S111 gathers the image of mark among end effector and the patient respectively.
In the present embodiment, end effector and patient are all subsidiary underlined, are used for calibration position.This mark can be the reflectorized material that is coated on end effector and the patient's body.Through end effector and patient being taken the image of mark among the image that obtains mark in terminal execution the and the patient.Concrete, the device that is used to carry out image taking can be an infrared camera, and is corresponding, and the reflectorized material that serves as a mark then must can reflects infrared light.In the image of mark mark pairing name a person for a particular job bright in surrounding environment.
Step S113 goes out end effector current location and patient position according to the image calculation of mark.
In the present embodiment, the image of mark is carried out position calculation to obtain end effector current location and patient position.Concrete; The incidental mark of end effector is fixed on the end effector; Accordingly, the incidental mark of patient also is fixed on one's body the patient, and can obtain position corresponding in the incidental patient's of the being marked at image of patient; Therefore, can obtain end effector current location and patient position according to coordinate transform.
Step S130, carrying out computing according to patient position and patient's image, to obtain end effector be initial with current location, is the movement locus of target with the setting.
In the present embodiment, setting is the position that needs the operation of enforcement on the patient body.Can calculate the relative position between the operating theater instruments current location and patient position in the end effector through coordinate transform; And combine patient's image accurately to draw operating robot to be target with the setting, to move to the pairing movement locus of setting from current location.
As shown in Figure 3, in one embodiment, above-mentioned steps S130 comprises the steps:
Step S131 obtains patient's image, the mark among patient's image and the patient is carried out registration process obtain the position in patient's image that is marked among the patient.
In the present embodiment, the patient is carried out medical imaging scanning obtain corresponding patient's image, this patient's image can be the CT image, also can be forms such as MRI.For further improving the accuracy of operation, also can carry out three-dimensional image reconstruction to patient's image that scanning obtains, make and can implement medical operating by patient's image more accurately in the subsequent process.
Patient's image and the incidental mark of patient are carried out registration, make the incidental mark of patient corresponding with a certain position in patient's image.
Step S133, the position, patient position and the end effector current location that obtain through registration are carried out computing and are obtained the relative position relation between end effector and the patient.
In the present embodiment, as shown in Figure 4, the relative position relation in the end effector 401 between the position of operating theater instruments and patient 404 positions
ToolT
ImCan calculate through following formula:
ToolT
Im＝
TPOT
Tool -1·
camT
TPO -1·
camT
PPo·
PPoT
Im
Wherein,
TPoT
ToolBe that end effector 401 pairing coordinates are tied to the transition matrix between the subsidiary mark 402 pairing coordinate systems of end effector;
CamT
TPoBe that the subsidiary mark 402 pairing coordinates of end effector are tied to the transition matrix between image capturing device 403 coordinate systems;
CamT
PPoBe that the mark 405 pairing coordinates that the patient attaches are tied to the transition matrix between image capturing device 403 coordinate systems;
PPoT
ImBe that patient's image 406 coordinates are tied to the transition matrix between the mark 405 pairing coordinate systems that the patient attaches.
Step S135, it is initial generating with current location according to relative position relation, is the movement locus of target with the setting.
In the present embodiment, carry out computing according to correlative positional relation and must obtain in the end effector operating theater instruments to the pairing movement locus of setting.
Step S150 obtains motion path according to setting and end effector current location adjustment movement locus.
In the present embodiment, the movement locus that computing obtains be in the end effector operating theater instruments to the position that the patient underwent surgery, i.e. straight path between the setting; Therefore; As shown in Figure 5, if carry out end effector motion by this straight path the collision between the operating theater instruments and patient body in the end effector possibly take place, and then cause the patient injured; As shown in Figure 6; Need movement locus is adjusted, make end effector in the process of motion, avoid bumping, improve the security in the operating robot control procedure with patient body.
Step S170 drives end effector according to motion path.
In the present embodiment, according to motion path through robot kinematics contrary separate calculate each joint of operating robot the driving parameters such as angle that should rotate, and then make end effector to move according to motion path successively.
The control method of above-mentioned operating robot; Through being carried out positive location, the end effector of operating robot and patient obtain end effector current location and patient position; And then computing to obtain with the setting be the movement locus of target; And according to the motion of adjusting the resulting motion path control of movement locus end effector, operating theater instruments has realized the ACTIVE CONTROL of operating robot to the medical operating that the patient carries out in the end effector to accomplish.
As shown in Figure 7, in another embodiment, also comprise the steps: before the above-mentioned steps S170
Step S210 is through drag operation triggering collection application of force information.
In the present embodiment, when force feedback equipment is carried out drag operation, gather in the drag operation process and put on the application of force information in the force feedback equipment.
Step S230 handles application of force information, and is mapped as the movement instruction of end effector.
In the present embodiment; Application of force information to collecting is handled; To reject the disturbing factor in the application of force information; And then the application of force information mapping after will handling is the movement instruction of end effector, makes operating robot move along with pulling submissively, realizes the submissive control of operating robot in the Passive Control process.
In one embodiment, application of force information is power and moment, and the detailed process of above-mentioned steps S230 is: in removal power and the moment zero partially with the interference of gravity, and be mapped as the speed of end effector, according to speed generation movement instruction according to preset ratio.
In the present embodiment; After the partially zero and gravity of power and moment disturbs in having removed the drag operation process; According to preset ratio power that collects and moment conversion are the speed in the end effector; And generation and the corresponding movement instruction of drag operation, be used for according to force feedback equipment pull the straight path of the controlled operating robot of track, power and moment from the current location to the setting, realize accurately controlling of operating robot.
Step S250 generates motion path according to setting and patient position with said movement instruction.
In the present embodiment, movement instruction is adjusted the generation motion path, and then avoid end effector in the process of motion, to bump with patient body.
In one embodiment, as shown in Figure 8, make end effector 803 follow drag operation through drag operation and move, realized the Passive Control of operating robot force feedback equipment 801.
In the control method of above-mentioned operating robot; Through the undergo surgery Passive Control of robot of the drag operation that triggers; When not having the input of drag operation; Can accomplish medical operating through ACTIVE CONTROL, the combination of ACTIVE CONTROL and Passive Control has improved dirigibility widely in the operating robot.
In a preferred embodiment, above-mentioned operating robot is the spinal operation robot, is used to the patient and implements spinal operation.Particularly, obtain patient's image, it is scanned carry out three-dimensional image reconstruction in the computing machine.After the operating robot initialization, collect doctor's in the force feedback equipment drag operation, this moment, end effector moved to the position that the patient undergos surgery according to drag operation.
At this moment, operating robot will get into Active Control Mode, gather the image of mark among end effector and the patient, carry out the setting that positive location obtains patient position and end effector.The doctor can check whether the action of operating robot meets requirements of operation through the motion of monitoring operating robot, if then end effector is to patient's backbone boring.
After accomplishing boring, if whole spinal operation finishes, the robot that then resets implants spicule and clears up wound in patient's backbone, wound is sewed up again.
As shown in Figure 9, in one embodiment, a kind of control system of operating robot comprises locating device 110, active control device 130, path generating apparatus 150 and drive unit 170.
Locating device 110 is used for the end effector of operating robot and patient positioned and obtains end effector current location and patient position respectively.
In the present embodiment, it is the medical operating of object that the end effector of operating robot is used for accomplishing with patient through various motions, is the direct executor of medical operating, is provided with various operating theater instruments on it as required.110 pairs of end effectors of locating device and patient position to obtain the position at current place.
Shown in figure 10, in one embodiment, above-mentioned locating device 110 comprises image capture module 111 and identification module 113.
In the present embodiment, end effector and patient are all subsidiary underlined, are used for calibration position.This mark can be the reflectorized material that is coated on end effector and the patient body.Image capture module 111 is through taking the image of mark among the image that obtains mark in terminal execution the and the patient to end effector and patient.Concrete, being used for image capture module 111 can be infrared camera, corresponding, the reflectorized material that serves as a mark is then necessary can reflects infrared light.In the image of mark mark pairing name a person for a particular job bright in surrounding environment.
In the present embodiment, the image of 113 pairs of marks of identification module carries out position calculation to obtain end effector current location and patient position.Concrete; The incidental mark of end effector is fixed on the end effector; Accordingly, the incidental mark of patient also is fixed on one's body the patient, and can obtain position corresponding in the incidental patient's of the being marked at image of patient; Therefore, identification module 113 can obtain end effector current location and patient position according to coordinate transform.
In the present embodiment; Active control device 130 can calculate the position of operating theater instruments in the end effector and the relative position between the patient position through coordinate transform; And combine patient's image accurately to draw operating robot to be target with the setting, to move to the pairing movement locus of setting from current location.
Shown in figure 11, in one embodiment, above-mentioned active control device 130 comprises registration process module 131, computing module 133 and track generation module 135.
In the present embodiment, the patient is carried out medical imaging scanning obtain corresponding patient's image, this patient's image can be the CT image, also can be forms such as MRI.For further improving the accuracy of operation, also can carry out three-dimensional image reconstruction to patient's image that scanning obtains, make and can implement medical operating by patient's image more accurately in the subsequent process.
In the present embodiment, the relative position relation in the end effector between the position of operating theater instruments and the patient position
ToolT
ImCan calculate through following formula:
ToolT
Im＝
TPOT
Tool -1·
camT
TPO -1·
camT
PPo·
PPoT
Im
Wherein,
TPoT
ToolBe that the pairing coordinate of end effector is tied to the transition matrix between the subsidiary pairing coordinate system of mark of end effector;
CamT
TPoBe that the subsidiary pairing coordinate of mark of end effector is tied to the transition matrix between the image capturing device coordinate system;
CamT
PPoBe that the pairing coordinate of mark that the patient attaches is tied to the transition matrix between the image capturing device coordinate system;
PPoT
ImBe that patient's image coordinate is tied to the transition matrix between the pairing coordinate system of mark that the patient attaches.
In the present embodiment, track generation module 135 carries out computing according to correlative positional relation must obtain in the end effector operating theater instruments to the pairing movement locus of setting.
In the present embodiment; The movement locus that computing obtains be in the end effector operating theater instruments to position that the patient underwent surgery; Be the straight path between the setting, therefore, the collision between the operating theater instruments and patient body in the end effector possibly take place if carry out end effector motion by this straight path; And then cause the patient injured; Need generating apparatus 150 pairs of movement locus in path to adjust, make end effector in the process of motion, avoid bumping, improve the security in the operating robot control procedure with patient body.
In the present embodiment, drive unit 170 according to motion path through robot kinematics contrary separate calculate each joint of operating robot the driving parameters such as angle that should rotate, and then make end effector to move according to motion path successively.
The control system of above-mentioned operating robot; Through being carried out positive location, the end effector of operating robot and patient obtain end effector current location and patient position; And then computing to obtain with the setting be the movement locus of target; And according to the motion of adjusting the resulting motion path control of movement locus end effector, operating theater instruments has realized the ACTIVE CONTROL of operating robot to the medical operating that the patient carries out in the end effector to accomplish.
Shown in figure 12, in another embodiment, the control system of above-mentioned operating robot also comprises force feedback equipment 210 and passive control device 230.
In the present embodiment, when force feedback equipment 210 is carried out drag operation, gather in the drag operation process and put on the application of force information in the force feedback equipment 210.
In the present embodiment; The application of force information that 230 pairs of passive control devices collect is handled; To reject the disturbing factor in the application of force information; And then the application of force information mapping after will handling is the movement instruction of end effector, makes operating robot move along with pulling submissively, realizes the submissive control of operating robot in the Passive Control process.
In one embodiment, application of force information is power and moment, above-mentioned passive control device 230 also be used for removal power and moment zero partially with the interference of gravity, and be mapped as the speed of end effector, according to speed generation movement instruction according to preset ratio.
In the present embodiment; After the partially zero and gravity of power and moment disturbs in having removed the drag operation process; Passive control device 230 is the speed in the end effector according to preset ratio with power that collects and moment conversion; And generation and the corresponding movement instruction of drag operation, be used for according to force feedback equipment pull the straight path of the controlled operating robot of track, power and moment from the current location to the setting, realize accurately controlling of operating robot.
In the present embodiment, generating apparatus 150 pairs of movement instructions in path are adjusted the generation motion path, and then avoid end effector in the process of motion, to bump with patient body.
The control method of above-mentioned operating robot and system; At first the end effector of operating robot and patient are positioned and obtain setting and patient position; Carrying out computing in conjunction with patient's image, to obtain with setting be initial movement locus, and movement locus is adjusted, with guarantee end effector in the process of moving according to movement locus for can run into patient body; Improve security, under the effect of mobile phone robot, avoided the operation of doctor's prolonged operations to quote fatigue.
The above embodiment has only expressed several kinds of embodiments of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art under the prerequisite that does not break away from the present invention's design, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with accompanying claims.
Claims (10)
1. the control method of an operating robot comprises the steps:
The end effector of operating robot and patient positioned obtain end effector current location and patient position respectively;
Carrying out computing according to patient position and patient's image, to obtain said end effector be initial with current location, is the movement locus of target with the setting;
Adjust said movement locus according to said setting and end effector current location and obtain motion path;
Drive said end effector according to said motion path.
2. the control method of operating robot according to claim 1 is characterized in that, saidly also comprises before driving the step of said end effector according to said motion path:
Through drag operation triggering collection application of force information;
Handle said application of force information, and be mapped as the movement instruction of said end effector;
According to said setting and patient position said movement instruction is generated motion path.
3. the control method of operating robot according to claim 1 is characterized in that, said end effector and patient to operating robot positions the step that obtains end effector current location and patient position respectively and be:
Gather the image of mark among said end effector and the patient respectively;
Image calculation according to said mark goes out end effector current location and patient position.
4. the control method of operating robot according to claim 3; It is characterized in that; Saidly carrying out computing according to patient position and patient's image to obtain said end effector be initial with current location, is that the step of the movement locus of target is with the setting:
Obtain patient's image, the mark among said patient's image and the patient is carried out registration process obtain the position in said patient's image that is marked among the said patient;
The position, patient position and the end effector current location that obtain through said registration are carried out computing and are obtained the relative position relation between said end effector and the patient;
It is initial generating with current location according to said relative position relation, is the movement locus of target with the setting.
5. the control method of operating robot according to claim 2 is characterized in that, said application of force information is power and moment, the said application of force information of said processing, and the step that is mapped as the movement instruction of said end effector is:
Remove in said power and the moment zero partially with the interference of gravity, and be mapped as the speed of end effector, according to said speed generation movement instruction according to preset ratio.
6. the control system of an operating robot is characterized in that, comprising:
Locating device is used for the end effector of operating robot and patient positioned and obtains end effector current location and patient position respectively;
Active control device, being used for carrying out computing according to patient position and patient's image, to obtain said end effector be initial with current location, is the movement locus of target with the setting;
The path generating apparatus is used for adjusting said movement locus according to said setting and end effector current location and obtains motion path;
Drive unit is used for driving said end effector according to said motion path.
7. the control system of operating robot according to claim 6 is characterized in that, also comprises:
Force feedback equipment is used for through drag operation triggering collection application of force information;
Passive control device is used to handle said application of force information, and is mapped as the movement instruction of said end effector;
Said path generating apparatus also is used for according to said setting and patient position said movement instruction being generated motion path.
8. the control system of operating robot according to claim 6 is characterized in that, said locating device comprises:
Image capture module is used for gathering respectively the image of said end effector and patient's mark;
Identification module is used for going out end effector current location and patient position according to the image calculation of said mark.
9. the control system of operating robot according to claim 8 is characterized in that, said active control device comprises:
The registration process module is used to obtain patient's image, the mark among said patient's image and the patient is carried out registration process obtain the position in said patient's image that is marked among the said patient;
Computing module, the position, patient position and the end effector current location that are used for obtaining through said registration are carried out computing and are obtained the relative position relation between said end effector and the patient;
The track generation module, it is initial being used for generating with current location according to said relative position relation, is the movement locus of target with the setting.
10. the control system of operating robot according to claim 7; It is characterized in that; Said application of force information is power and moment; Said passive control device also be used for removing said power and moment zero partially with the interference of gravity, and be mapped as the speed of end effector, according to said speed generation movement instruction according to preset ratio.
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| CN109512509A (en) * | 2018-12-27 | 2019-03-26 | 中国科学院深圳先进技术研究院 | A kind of Shared control method, device and equipment of robot |
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