RU2718568C1 - Wrist controller for use in operator's robot-surgery system controller - Google Patents

Abstract

FIELD: medicine.

SUBSTANCE: invention relates to medical equipment. Wrist controller (200) for the robot-surgical complex operator control controller includes a rotation mechanism unit (220) and a movable cantilever unit (210). Turning mechanism unit has upper and lower parts, ergonomic shape housing and is configured to be connected to an element which is part of operator controller, to provide a control function of movement of the manipulator with the surgical instrument on three mutually orthogonal axes and independent rotation about a predetermined center, repeating rotation of the radial bone together with the hand around the ulnar bone relative to the longitudinal axis of the operator's hand, to provide function of manipulator rotation with surgical tool around one axis. Movable cantilever block is a flat non-closed mechanism of parallel rigid structure, consists of three links and three kinematic pairs and is configured for attachment on one side to upper part of rotation mechanism unit, and on the other hand to the upper part of the handle, which is part of the operator's controller, and a rotation that repeats the operator's wrist turn in the frontal plane around the anterior-posterior axis lying in the sagittal plane, to provide the function of turning the surgical instrument around one axis. Inside the body of the rotation mechanism unit there is a wrist controller control unit, turn sensor (225) of the movable cantilever unit, which provides electrical signals and transmits them to the wrist controller control unit, and a movable cantilever unit drive element (223). On the outer side of the housing of the rotation mechanism unit there is turn sensor (226) of the turning mechanism unit, which provides electric signals and transmits them to the wrist controller control unit, and drive mechanism (224) of the rotation mechanism unit. Rotation sensor of rotation mechanism unit is located on rotation axis of rotation element drive unit. Wrist controller control unit is configured to transmit movement of rotation mechanism unit and / or movable cantilever block into corresponding independent movement of manipulator with surgical instrument and / or surgical instrument and for transfer of manipulator movement to surgical instrument and / or surgical instrument into corresponding independent movement of said blocks.

EFFECT: improved, more manoeuvrable and accurate control of an element of a robotic process complex with a larger, ergonomically comfortable working area owing to use of the disclosed wrist controller architecture with reduction of static and dynamic load on wrist of operator during operation and providing minimum weight load on wrist during control.

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Description

FIELD OF THE INVENTION

[1] The invention relates to the field of engineering, and in particular to mechanisms - controllers designed to control the operator of mechatronic devices. The controller can be used in the following areas: medical equipment, game industry, three-dimensional computer simulation and design. More specifically, the invention may relate to the field of monitoring and control of robotic surgical complexes for minimally invasive surgery. In particular, the invention relates to devices for converting the movement of the wrist of a surgeon into a digital command for controlling a surgical instrument, and for converting in the reverse order, namely, the conversion of digital commands into mechanical movements transmitted to the wrist of the surgeon.

BACKGROUND OF THE INVENTION

[2] Modern robots increase production efficiency, primarily by automating the execution of technological processes. However, robots have other advantages that create the basis of innovative technologies and products.

[3] Simple user interface systems can provide separately defined control by a numerical control (CNC) system for each movable connection of a robot, robotic arm, or other slave device. More complex systems may include hand-held controllers (sometimes in the form of a joystick or pistol grip) that sense movement by the user's hand. The robot control system responds to these control signals by activating certain servomotors, solenoids, or other devices in the robotic arm to provide the desired action.

[4] On the one hand, the controller, in the direct order of operation, provides control and monitoring, on the other hand, in the reverse order of operation, it provides a tactile sensation of interaction with the technical system through virtual contact with the actuator. A robot or a manipulator can act as an actuator, and a controller, whose impact forces are limited and commensurate with the strength of the operator’s hands, can act as a tactile device.

[5] The controller generates one or more control signals, which are then used to control various movements of the manipulator, converting the mechanical movements of the hand in six degrees of freedom into commands for the mechatronic complex. The controller also provides the user with feedback on the force applied to the motion input, or the force exerted by the user.

[6] The controller for remote control of the movement of the manipulator can be separated from the actuator by a considerable distance (for example, the controller can be in another room or in a completely different building). Alternatively, the controller may be located very close to the actuator.

[7] One of the widely used applications of such controllers is robotic surgical systems, which are used in minimally invasive medical operations. During the operation, the manipulators and the surgical instruments attached to them are controlled by the surgeon using control controllers. The control system of the robotic surgical complex responds to control signals from the controller in digital form. This control procedure allows the surgeon to transfer the movements of the surgeon's hands to the executive instrument and increase the accuracy of the corresponding movements of these instruments.

[8] For such operations, it is necessary to provide at least six degrees of freedom for the medical instrument, which must carry out translational and rotational movements. Particular attention is paid to methods and methods for converting mechanical rotational movements of the operator’s hand into control commands for a robotic surgical complex, since a significant part of the surgical operations are carried out directly with the tip of a medical instrument, for example, suturing, coagulation, etc.

[9] In addition to providing control, a controller is necessary for a tactile sensation of interaction with a robotic surgical system, which is an important feature for increasing the efficiency of operations performed using such systems. At the same time, the ranges of movement of the control controller are limited by both the mechanical features of the implementation and the biological features of the structure of the human hand, wrist, hand.

[10] An important factor is ensuring the convenience and ergonomics of this kind of controllers, since operations can take a long time, which should not affect the fatigue and fatigue of the surgeon.

[11] Thus, there is a need to create a wrist controller, which is part of the control controller for a robotic surgical system, with the smallest possible weight load on the arm, and that provides the exact conversion of the mechanical rotations of the surgeon’s wrist around two axes into control actions on the surgical instrument, with the ability to invert the digital signal into control actions on the wrist controller to provide tactile communication.

[12] An example of such developments is the control controller disclosed in application US 2014192020 A1. The controller provides at least three rotational degrees of freedom and is mounted on a device with a parallel kinematic structure, which provides at least three translational degrees of freedom. Structurally, the controller contains three rotary swivel joints, each of which provides a rotational degree of freedom relative to the local point of connection of the handle with the device providing translational movements, and contains at least one rotational position sensor and at least one actuator. This design allows you to send tactile feedback to the control controller.

[13] The described control controller conditionally consists of two different systems - the wrist controller and the hand controller, necessary to ensure the appropriate degrees of freedom.

[14] Of particular interest is the design of the wrist controller, which describes the rotation along the roll and pitch axes, implemented by articulated joints. Drives mounted in articulated joints allow tactile feedback for the operator’s wrist if necessary. During the operator’s work, the common center of rotation is located inside the user's palm between the thumb and the fingers in contact with the grip. To ensure contact with the fingers, a grip is used that attaches to the rotary joint. A counterweight design is used to compensate for gravity for the wrist controller.

[15] Significant disadvantages of the prototype under consideration include:

1. The location of the swivel in the controller of the wrist on the left for the right hand and finding the swivel on the right for the design of the controller for the left hand significantly reduce the working area for translational movements in the case of reduction of hands by the surgeon.

2. The design of the wrist controller does not guarantee rigidity, and as a result, the accuracy of the design, which is an important factor for the master device during robotic surgery.

3. Limitation of the range of rotation of the wrist controller relative to the pitch axis due to the geometrical shape of the grip and because of the location of the pitch axis, which is initially deflected relative to the roll axis. This initial position is necessary to ensure the parallelity of the gripping planes and the plate, with which the active gripping device is attached to a device with a parallel kinematic structure.

4. Limitation of the range of rotation of the wrist controller relative to the roll axis due to the geometric shape of the grip, arranged in such a way as to provide a convenient location for the wrist of the surgeon at the initial time. However, during a surgical operation, if it is necessary to tilt the wrist controller forward relative to the roll axis, difficulties may arise associated with the physiological features of the structure of the human wrist, since the initial tilt of the control controller forces the operator to use elbow motion to provide large angles along the roll axis.

[16] The existing developments of the wrist controller, which is part of the control controller, do not allow to solve the following set of problems in one known design:

[17] 1. Ensuring rigidity of the structure, which guarantees the accuracy of measuring the position of the wrist of the operator.

[18] 2. Ergonomics and convenience of the active capture device, taking into account the biological features of the structure of the human wrist.

[19] 3. The presence of mechanical design features that can indirectly affect the movement and rotation of the wrist controller in the work area, in particular, the design should be light so that the operator does not have to make unnecessary efforts.

[20] 4. The absence of a sufficient working area that allows you to perform all the necessary operational influences using the wrist controller, without making additional movements with the elbows.

[21] 5. The presence of at least one drive on each axis of rotation to provide tactile feedback.

[22] This application is dedicated to the solution of these problems.

The essence of the invention

[23] The technical problem to which the invention is directed is the creation of a wrist controller, which is part of the control controller, which provides the surgeon with the possibility of improved, more maneuverable and precise control of an element of a robotic technological complex with an enlarged, ergonomically convenient working area as a control controller in general, and the wrist controller.

[24] In this case, the wrist controller should control at least one angle of rotation of the wrist of the operator most accurately at all amplitudes and at all angles, converting this information into a digital signal transmitted to the controlled element of the robotic technological complex.

[25] Additionally, the wrist controller must implement a feedback channel from the controlled element of the robotic technological complex of the control system, converting the digital control signal into mechanical movement - rotation of the wrist of the operator.

[26] Additionally, the wrist controller must reduce the static and dynamic load on the wrist of the operator during operation, providing a minimum weight load on the wrist during operation.

[27] Additionally, the wrist controller must convert the movements of the wrist of the operator to digital form without creating significant limitations to the natural mobility of the operator’s hand.

[28] In order to solve the tasks, the controller of the wrist of the operator together with the controller of the hand forms a control handle used as part of the controller of the operator to control the robotic surgical complex. The controller of the wrist of the operator includes a turning mechanism unit, which has an upper part and a lower part, an ergonomically shaped body; the rotation mechanism unit is functionally configured to connect with another element that is part of the operator’s controller, which is designed to provide the function of moving the manipulator with the surgical instrument along three mutually orthogonal axes, and independently rotate around a predetermined center that repeats the rotation of the radius with the brush around the ulnar bones relative to the longitudinal axis of the operator’s hand, to ensure the rotation function of the manipulator with the surgical instrument around one axis; at least one block of the movable console, which is a flat open mechanism of parallel rigid structure, consisting of three links and three kinematic pairs; the movable console unit is functionally configured for fastening, on the one hand, to the upper part of the rotation mechanism unit and, on the other hand, to the upper part of the handle, covered and held by the entire surface of the operator’s brush during operation, which is also part of the operator’s controller, and a rotation that repeats the rotation operator’s hands in the frontal plane around the anteroposterior axis lying in the sagittal plane to provide the function of rotation of the surgical instrument around one axis. At the same time, inside the body of the rotation mechanism unit block are located: the wrist controller control unit, at least one rotation sensor unit of the movable console unit, providing electrical signals corresponding to a change in position of the movable console unit relative to the rotation mechanism unit when the operator’s hand covering the handle is rotated in the frontal plane around anteroposterior axis lying in the sagittal plane and transmitting them to the control unit of the wrist controller, the drive element of the movable console unit. At the same time, on the outer side of the body of the rotation mechanism block, there are: a rotation sensor of the rotation mechanism block providing electrical signals corresponding to a change in the position of the rotation mechanism block relative to a predetermined center when the radius is rotated together with the operator’s brush around the ulnar bone relative to the longitudinal axis of the operator’s hand and transmitting them to the control unit of the wrist controller, the drive element of the rotation mechanism unit, wherein the rotation sensor of the rotation mechanism unit is located on SI rotation of the drive element of the rotation mechanism unit. Moreover, the control unit of the wrist controller is functionally configured to transmit the received signals to the digital controller unit of the operator and to the external control system of the robotic surgical complex for transmitting the movement of the rotation mechanism unit and / or the block of the movable console to the corresponding independent movement of the manipulator with the surgical instrument and / or surgical instrument, control signals from an external control system of the robotic surgical complex and transmitting them to the drive unit as a rotation mechanism and / or a drive element of a movable cantilever unit for transmitting the movement of a manipulator with a surgical instrument and / or surgical instrument into the corresponding independent movement of said blocks.

[29] In some embodiments of the invention, the housing of the rotation mechanism unit has an ergonomic shape and is made with a recess so as to be able to approximate the handle body, fully covered by the operator’s brush, while ensuring the full path of movement of the specified handle.

[30] In some embodiments of the invention, the digital control unit of the operator controller generates control signals through the wrist control unit to the drive element of the rotation mechanism unit and / or the drive element of the movable console unit to ensure that said blocks rotate in a direction that coincides with the rotation of the operator’s hand along with the radius around the ulnar bone and / or when the operator’s brush is deflected towards the ulnar bone or to the side opposite to the turn of the brush and / or abduction of the brush, respectively.

[31] In some embodiments of the invention, in the lower part of the housing of the rotation mechanism unit, a load system is mounted to ensure equilibrium in a static position and to be in an upright position.

[32] In some embodiments of the invention, the drive element of the movable console unit is mechanically coupled to the movable console unit via flexible transmission.

[33] These tasks are solved by changing the configuration of the controller as a whole, and in particular, of the controller’s constituent element - the wrist controller.

[34] The solution belongs to the category of controllers designed to be manipulated as an object and does not require mandatory mechanical fastening of the operator’s hands on structural elements, but this feature is present.

[35] The objects and advantages of the present invention will become more apparent to those skilled in the art upon consideration of the following detailed description and drawings.

Brief Description of the Drawings

[36] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with the above general description of the invention and the following detailed description of embodiments, serve to explain the principles of the present invention.

[37] FIG. 1 illustrates a perspective view of an operator controller of the present invention for controlling an operator with mechatronic devices.

[38] FIG. 2a and FIG. 2b illustrate a general view of the wrist controller for use as part of the control handle of an operator controller for controlling a robotic surgical complex without a housing and in a housing, respectively.

[39] FIG. 3 schematically reflects the planes in which movements of the operator’s hand in the wrist joint are carried out.

[40] FIG. 4 illustrates a general view of a robotic surgical complex.

[41] FIG. 5 illustrates a general view of a wrist controller with a brush controller attached thereto, including mounting a flexible gear for carrying out a drive member, mounting a drive member for a rotation mechanism unit included in the wrist controller.

[42] FIG. 6 illustrates an assembly drawing of a circuit board for mounting a digital magnetic encoder.

[43] In FIG. 7 shows a three-dimensional model of a power printed circuit board.

[44] In FIG. 8 shows a three-dimensional model of a control circuit board.

[45] FIG. 9 schematically illustrates an example of a wrist controller without a case with installed circuit boards according to the present invention.

Terms and Definitions

[46] For a better understanding of the present invention, the following are some of the terms used in the present description of the invention. Unless defined separately, technical and scientific terms in this application have standard meanings generally accepted in the scientific and technical literature.

[47] In the present description and in the claims, the terms “includes”, “including” and “includes”, “having”, “equipped”, “comprising” and their other grammatical forms are not intended to be interpreted in an exceptional sense, but on the contrary, they are used in a non-exclusive sense (ie, in the sense of “having in its composition”). As an exhaustive list, only expressions of the “consisting of” type should be considered.

[48] In the present application materials, the terms “robotic technological complex”, “robotic system”, “robotic complex”, “robotic surgical complex”, “robotic surgical system” mean complex systems or complexes in surgery using a robot assistant during an operation. “Robot-assisted systems” or “robot-assisted surgical systems” are robotic systems designed for medical operations. These are not autonomous devices; surgeon-assisted robotic systems during operations are controlled by surgeons.

[49] In the present application materials, the term “mechatronic complex” or “mechatronic system” is understood to mean a complex or system with computer control of movement, which is based on knowledge in the field of mechanics, electronics and microprocessor technology, computer science and computer control of the movement of machines and assemblies.

[50] In this application, the term "operator" is understood to mean the surgeon performing the operation. The signs "operator" and "surgeon" in the present description of the invention are synonymous.

[51] The following terms are used in this application to describe hand movements in the wrist joint (Fig. 3). Hand movements occur around two axes when the hand is in the anatomical position, i.e., in the position of full supination.

[52] The transverse axis AA ′ lies in the frontal plane T and controls the flexion and extension movements carried out in the sagittal plane:

- deviation (deviation) of the hand or flexion (arrow 1) - the front (palmar) surface of the hand moves to the front surface of the forearm,

- deviation (deviation) of the hand or extension (arrow 2) - the back (back) surface of the hand moves to the back surface of the forearm.

[53] The anteroposterior axis of BB ′ lies in the sagittal plane S and controls the movements of the reduction and abduction occurring in the frontal plane:

- reduction or ulnar deviation (arrow 3) - movement of the hand towards the longitudinal axis of the body, its inner (ulnar) edge forms an obtuse angle with the inner edge of the forearm;

- abduction or radial deviation (arrow 4) - movement of the hand from the longitudinal axis of the body, its outer (radial) edge forms an obtuse angle with the outer edge of the forearm.

[54] The longitudinal axis CС ′ lies at the intersection of the sagittal plane S and the frontal plane T, controls the movements of rotation of the hand:

- rotation of the radius (arrow 5) together with the brush around the ulna relative to the longitudinal axis.

[55] Under the term “universal” in terms of its use, a controller is raised in relation to the controller in this document, which “digitizes” the operator’s hand and allows not to train the operator’s hand on each new instrument without subsequent changes to the controller’s design. Having mastered the controller once, the operator uses it for a long period of his practice, due to the controller’s ability to integrate (“represent” the surgeon’s hand) in various, including remote mechatronic devices.

[56] Sweat, the term "absolute position" in this document means a coordinate defined relative to a fixed structural member.

[57] The term "rotation sensor" in this document refers to a device designed to convert the angle of rotation of a rotating object into electrical or analog signals, allowing to determine the angle of rotation. To determine the value of the angle of rotation of an element, in principle, all types of angle sensors are suitable. However, in the majority of used sensors, it is necessary, first of all, to constantly register and save current data on the rotation of the element. Rotary encoders can be used based on incremental and absolute encoders. The sensors have digital output signals Linedriver (TTL, RS422), Push-Pull (HTL), SSI, CAN, Profibus, Profinet and others. Sensors based on analogue angle sensors and / or magnetic angle sensors can also be used.

[58] In addition, the terms “first”, “second”, “third”, etc. they are used simply as conditional markers, without imposing any numerical or other restrictions on the enumerated objects.

[59] The term “connected” means functionally connected, any number or combination of intermediate elements between the connected components (including the absence of intermediate elements) can be used.

DETAILED DESCRIPTION OF THE INVENTION

[60] The description of exemplary embodiments of the present invention below is provided by way of example only and is for illustrative purposes and is not intended to limit the scope of the invention disclosed.

[61] The controller belongs to the class of mechanisms that provide conversion into electronic digital signal of commands that a person sets with a movement of his hand. A general view of the controller is shown in FIG. 1. The command digital controller 1000 as a whole consists of a control handle 1100, a block-platform positioning 1200 and a digital control unit (not shown in the drawing).

[62] The specified controller 1000 has a direct communication loop in order to give commands from the operator through the movement of his hand to the mechatronic device, and a feedback loop for transmitting in the reverse order to the operator’s hand response commands-reactions from the mechatronic device. The feedback loop of the controller 1000 is designed to transmit tactile sensations to the hand.

[63] The contact of the controller 1000 with the hand is implemented on the control handle 1100. The control handle 1100 as a whole consists of a brush controller 100 and a wrist controller 200 attached to it, each of which provides two rotational degrees of freedom of the controller 1000. The positioning block platform of the controller 1200 represents a hand controller that provides three translational degrees of freedom of the controller 1000 by reciprocating the movement of the controller 1000 along three mutually orthogonal axes. At the same time, the wrist controller 200, which is part of the control handle of the controller 1100, is fixed to the hand controller 1200. Thus, the operator controller 1000 controls and converts the six degrees of freedom into a digital signal of hand movement.

[64] The present invention generally relates to a wrist controller of an operator 200.

[65] The controller of the wrist 200 of the operator is used as part of the controller to control the mechatronic complex, in particular, it is an element of the control handle 1100, on which the controller 1000 contacts the operator’s hand.

[66] The main purpose of the wrist controller, attached to one of the ends of the brush controller, is to make contact and interaction through the brush with the operator’s wrist and provide at least two rotational degrees of freedom both for realizing the orientation of the mechatronic complex element in response to the rotation of the operator’s wrist, and for transmitting forces on the wrist of the operator in the feedback mode.

[67] The wrist controller is configured to most accurately determine the angle of rotation of the wrist in two orthogonal directions with respect to a given center of rotation (relative to the place of attachment of the wrist controller to the hand controller) to obtain digital information about the turns in the wrist of the operator during control of the mechatronic complex . The design of the wrist controller is limited and set by the physiological angle of the possible rotation of the hand in these planes.

[68] The wrist controller has at least two units that provide two degrees of freedom of the wrist, and a control unit of the wrist controller. The following is a more detailed description of one of the preferred embodiments of the wrist controller for use in an operator controller. A general view of the wrist controller is shown in FIG. 2a.

[69] The wrist controller includes at least one block of the movable console 210 and a fixed (relative to the console block) block of the rotation mechanism 220. The block of the rotation mechanism 220 represents a substantially vertically located mounting platform 221 of the block of the movable console 210 and has an upper part and a lower part. The block of the movable console 210 on the one hand is configured to be attached to the controller brush 100, and on the other, is rigidly connected to the block of the rotation mechanism 220.

[70] In a preferred embodiment of the wrist controller 200 according to the present invention, the block of the movable console 210 is fixed in the upper part of the block of the rotation mechanism 220. This mutual arrangement is due to the configuration of both blocks and is intended for the convenience of the operator, in particular, so that during operation the mobile console 210 did not touch the knees of the operator, which provides a comfortable working area. Moreover, this design allows to reduce the overall dimensions of the operator’s controller, which includes the wrist controller. Also, the design allows you to increase the operator’s working area, as it will bring the operator’s hands as close to each other as possible.

[71] In some embodiments, the wrist controller may be in the form of a block of a rotation mechanism, in the upper part and in the lower part of which the corresponding blocks of the movable console are fixed.

[72] The mounting method of the movable console unit 210 with the fixed unit of the rotation mechanism 220 and with the brush controller 100 may be selected from any known suitable mounting method. As a rule, fastening is carried out by means of a bearing assembly. In addition, this mount can be implemented using a sliding sleeve.

[73] The structure of the block of the movable console 210, providing one degree of freedom relative to the block of the rotation mechanism 220 (the link is assumed to be fixed, although the movement of the rotation mechanism block moves itself), is a flat unclosed parallel rigid structure consisting of three links and three kinematic pairs. The main elements of this mechanism are: a) the strut, b) the rocker arm, c) the rocker arm, providing rocking movement (abduction and reduction) of the hand in the wrist joint in the frontal plane. The rocking movement is relative to the axis of the brush, which in its initial position lies in the plane passing through the middle finger and third metacarpal bone, and the longitudinal axis of the forearm (the brush makes a rocking motion relative to the anteroposterior axis BB 'in the frontal plane T (movements are indicated by arrow 3 and arrow 4 figure 3). The amplitude of these movements is measured from the axis of the brush. The volume of this movement can vary from 30 ° to 55 ° depending on the physiological capabilities of the operator. Compared with existing designs This design allows you to increase the amplitude of rotation of the wrist along this axis and expand the working area of the operator’s controller so that when lowering the controller there will be no collision with the operator’s knees.

[74] Regardless of whether the wrist controller moves or not, the movement pattern of the movable cantilever unit relative to the rotation mechanism unit remains unchanged.

[75] The rotation mechanism unit 220 is mounted on the hand controller 1200 so as to be able to rotate relative to the longitudinal axis of the hand controller 1200 (this axis is shown in FIG. 2a), while providing one degree of freedom. For the operator’s wrist, such rotation of the rotation mechanism block 220 is a usual rotation of the radius along with the hand around the ulna relative to the longitudinal axis.

[76] The rotation mechanism block has an ergonomically shaped body, inside which there is a frame, which is a substantially vertical platform 221. Elements of the said block are mounted on the frame of the rotation mechanism block in such a way as to ensure maximum compactness of the structure and optimal weight distribution of the block. In some embodiments, a load system is located on the bottom of the pad 221, which is secured to the bottom of the frame to provide balance in a static position and to be in an upright position. The weight of the cargo system can be determined by calculation based on integration. The weight of the cargo system and its location is calculated from the condition of equilibrium of the moments of rotation.

[77] The shape of the housing 222 of the rotation mechanism unit 220 has such a geometry as to be able to bring the brush controller as close as possible and at the same time ensure the full path of the brush controller 100 (Fig. 2b). In a preferred embodiment of the wrist controller 200 according to the invention, the housing 222 has a parallelepiped shape, one side of which, facing the location of the brush controller 100, has a concave surface of small radius. The use of the housing 222 of such an ergonomic shape provides maximum compactness and optimal weight distribution of the unit.

[78] The wrist controller pivoting mechanism block 220 includes the following elements: the movable console unit drive element 223, the pivoting mechanism block rotation sensor, the pivoting mechanism drive element 224, at least one control unit of the wrist controller and / or brush controller (not shown in Fig. 2), configured to read signals from the rotation sensors of the rotation mechanism unit and the movable console unit and to supply control signals to the drive elements of these units. In preferred embodiments, the implementation of the rotation mechanism unit 220 also includes a rotation sensor of the movable console unit. In FIG. 2 illustrates possible location and mounting options 225 of the rotation sensor of the movable console unit. In some embodiments, it is possible to install multiple rotation sensors of the movable console unit. Installing an excessive number of rotation sensors will improve the accuracy of measuring the angle of the wrist and provide the ability to use angle correction algorithms. The preferred arrangement of the rotation sensor of the rotation mechanism unit measuring the angle of inclination of the rotation mechanism is indicated at 226.

[79] In one embodiment, inside the wrist controller housing 222, a frame 221 is mounted on which a rotary unit assembly rotation sensor is mounted, a movable console unit drive element 223 mechanically coupled to the movable console unit 210, for example, by means of a flexible transmission or any other in a known manner, and at least one control unit of the wrist controller and / or hand controller. All of these elements are electrically connected. The rotation sensor of the movable console unit is located in such a way as to determine the absolute position of the indicated console (angle) when it is rotated, repeating the rotation of the brush relative to the anteroposterior axis, which lies in the sagittal plane and controls the movement of the reduction and abduction occurring in the frontal plane.

[80] In one embodiment of the wrist controller according to the invention, a mounting plate made in the form of a plate is fixed on the housing 222 of the fixed unit of the rotation mechanism from the side opposite to the concave surface. The plate is preferably flat. The geometry of the plate can be chosen by anyone that does not extend outside the housing. A drive element 224 of a rotation mechanism block is mounted on the outside of the plate to rotate it around a predetermined center, repeating the rotation of the radius along with the hand around the ulna relative to the longitudinal axis of the operator’s hand.

[81] The drive element 224 of the rotation mechanism unit can be attached with its other side to the positioning platform of the controller 1200 in such a way as to also transfer the weight of the wrist controller and the brush controller to it.

[82] In one embodiment, the rotation sensor of the rotation mechanism unit is located on the axis of rotation of the drive element. Although the specified sensor can be located in any other place so as to determine the absolute position of the block of the rotation mechanism relative to the brush controller. These elements are electrically connected with each other and with the control unit of the wrist controller.

[83] The use of at least one rotation angle sensor for each rotational degree of freedom allows the absolute position of the angle of the wrist controller to be determined. In some embodiments, in addition to the rotation sensors for determining the absolute position of an element included in the controller, these elements can be equipped with tachometers, acceleration meters and load force indicating elements, each of which can provide electrical signals related to speed, acceleration and force applied to the corresponding element.

[84] The wrist controller, like the other elements of the controller, can operate both in the phase of transmitting commands from the wrist to the wrist controller, and in the phase of transmitting commands from the wrist controller to the wrist (feedback mode). When the wrist controller solves a direct task, the angle of rotation of the wrist in the frontal plane relative to the anteroposterior axis of the brush (bringing and removing the brush, the deviation of the operator’s hand toward the ulnar bone), as well as the control of the rotation of the wrist around a predetermined center, repeating the rotation of the radius with the brush around the ulna relative to the longitudinal axis of the operator’s arm. When solving the inverse problem, the movement of the wrist is carried out in a manner corresponding to the movement of the controller of the wrist.

[85] Thus, the wrist controller, in particular, its constituent elements, such as the rotation mechanism unit and the movable console unit, can independently move according to a predetermined control program. The signal from the numerical control system (CNC) is fed to the digital control unit of the controller, which, based on a predetermined algorithm, transmits control signals to the control unit of the wrist controller, which in turn controls the operation of the drive element of the crank and / or movable console unit in order to rotate the rotation mechanism unit and / or the movable console unit by the calculated angle. At the same time, the rigidly fixed handle with the hand holding this body to the movable console unit also rotates. Control of the corresponding predetermined rotation angles is carried out by the rotation sensor of the rotation mechanism unit and the rotation sensor of the mobile console unit.

[86] The drive element of the rotation mechanism unit and / or the drive element of the mobile console unit, upon receipt of a control signal, rotate the wrist controller in two degrees of freedom.

[87] When efforts are made by the operator, the wrist controller monitors and digitizes the deviation of the wrist relative to the anteroposterior axis located in the sagittal plane (abduction or adduction of the hand, which is also sometimes called radial deviation of the hand), as well as the rotation of the wrist around a predetermined center, repeating the rotation the radius along with the hand around the ulna relative to the longitudinal axis of the operator’s arm.

[88] When the mobile console unit deviates by the operator’s wrist from the anteroposterior axis lying in the sagittal plane, the rotation sensor of the mobile console unit generates a digital signal about the angle of rotation and transmits it to the control unit of the wrist controller, which calculates the angle of the console’s deviation and transmits this information to the digital unit control the controller, which is configured to transmit the received signals to the system of numerical program control (CNC) of the controller, which can be performed on the basis of a computer .

[89] When the rotation mechanism block is rotated around a predetermined center by the operator’s wrist, the rotation sensor of the rotation mechanism block generates a digital signal about the rotation angle and transfers it to the control unit of the wrist controller, which calculates the angle of deviation of the block relative to the longitudinal axis of the operator’s hand and transmits this information to a digital controller control unit, which is configured to transmit the received signals to the controller's numerical control system (CNC), which can be olnena based computers.

[90] The digital controller control unit calculates the possible trajectory of the rotation of the rotation mechanism unit and / or the mobile console unit and, by applying a control signal to the drive element of the rotation mechanism unit and / or the mobile console unit, moves the rotation mechanism unit and / or the mobile console unit directly operator’s own wrist in the calculated position.

[91] In some embodiments of the invention, by applying a wrist force to rotate the wrist controller in two orthogonal planes, the digital controller control unit may provide resistance / counteraction or acceleration to the rotation mechanism unit or the unit of the movable console, and, accordingly, to the person’s arm with / design efforts and accelerations by supplying control signals to the drive elements of the respective blocks. The resistance / counteraction mechanism can be continuously switched on by supplying a signal from the controller's numerical control system (CNC). For example, “braking” blocks, joint or independent, can be carried out if the movement is limited to a certain angle of rotation from the axis.

[92] A control signal supplied to the drive elements of the blocks of the movable console and / or the rotation mechanism of the wrist controller can be formed to implement the "associated" movement of these blocks to facilitate the movement of the controller by the operator, reducing the weight of the moving elements.

[93] The controller's numerical control system (CNC) provides the conversion of the coordinates of the rotation mechanism unit and / or the mobile console unit to the coordinates of the controlled actuator of the mechatronic complex and the formation of drive control signals for each degree of mobility of the actuator so that one or another movement of the actuator the device corresponded to the direction in which the operator acted on the wrist controller as part of the controller.

[94] In some embodiments, the controller design is equipped with a presence sensor that is configured to detect the presence of people in the room, as well as their number, position and position of their bodies, regardless of whether they move or not. In principle, the presence sensors use two technologies: ultrasonic and infrared, to determine the presence of people in the room. The presence sensor is configured to transmit a signal to the control units of the brush controller, the wrist controller and the digital control unit of the controller.

[95] In some embodiments of the invention, the digital controller control unit receives a signal from the presence sensor and directs control signals to the controller drive unit, to the controller control unit by the wrist, to the brush control unit, which in turn control the operation of the drive elements of the wrist controller and the drive elements brush controller and equipped with electromagnetic brakes. Electromagnetic brakes are activated when a control signal is received from the digital control unit of the controller. In this case, the controller is locked in the position in which it was at the time of the signal from the presence sensor, when the operator removed his hands from the handle of the brush controller. Electromagnetic brakes also turn on in the event of an accidental power outage.

[96] Thus, in the future, the controller as a whole cannot change its position and cannot transmit a signal about the change in its position indirectly to the controller's numerical control system (CNC) even under the influence of forces applied to it. In some embodiments, the presence sensor may be disabled, if necessary.

[97] The digital controller control unit is generally part of a multifunctional controller and provides bi-directional data exchange between the controller drive unit, the brush controller and wrist controller control units, and additional equipment. The digital control unit also has the ability to synchronously control these controller mechanisms.

[98] The wrist controller control unit may be coupled to the controller digital control unit via a common data bus. The digital control unit of the controller is configured to record data on received or transmitted commands.

[99] The data transmission means are selected from devices designed to implement the communication process between different devices via wired and / or wireless communication, in particular, such devices can be: GSM modem, Wi-Fi transceiver, Bluetooth or BLE module, GPRS module, Glonass module, NFS, Ethernet, etc.

[100] Before each use of the controller, it is calibrated to the user. The controller has flexible settings, which allows it to be oriented to different tasks. When using the controller, it can be fully adapted to the operator and his tasks.

Description of a specific embodiment of the invention

[101] One of the promising ways to use the controller described above is to use such controllers in surgeon simulators to study a virtual patient in a virtual environment. Using controllers, the user can move objects in a virtual environment, rotate, grab and perform all surgical procedures.

[102] The controller described above can also be used in a robotic surgical complex during various surgical interventions, including urology, gynecology, abdominal, neuro- and cardiac surgery. An example of a robotic surgical complex is shown in FIG. 4.

[103] The robotic surgical complex 300 includes at least one manipulator 310 with a surgical instrument 320 attached to it, a manipulator control unit 330, and an operator interface 340, which receives commands from the surgeon, converts them into movement of the surgical instrument 320 inside the patient’s body during carrying out a surgical operation and / or provides all control teams from the surgeon with components of the robotic surgical complex. The main source of commands is the surgeon's hand. The hand controls the controller of the surgeon, which is part of the surgeon's interface.

[104] The controller of the surgeon converts the mechanical movements of the hand in six degrees of freedom into teams for the robotic surgical complex 300. The controller generates a command to move the surgical instrument. In addition, the controller controls the turns and opening-closing of the jaw on the surgical instrument.

[105] Typically, manipulators with a surgical instrument are mounted on the surgical table on which the patient rests during surgery. In some embodiments, the manipulators may be placed on a trolley or some other device in which the manipulators will be proximal to the patient's level. It should be understood that the robotic surgical complex 300 may have any number of manipulators, for example, one or more manipulators. Manipulators can have any configuration.

[106] Each manipulator 310 has a body and a manipulator assembly to which a surgical instrument 320 can be removably attached, the movement and location of which can be manipulated by a surgeon using a controller that digitizes the surgeon's hand. The control controller is divided into two separate controllers - the brush controller and the wrist controller. This separation allows you to separate the rotational movements of the surgeon's hand, taking into account the biological features of the structure of the hand.

[107] The present invention disclosed in this application is essentially a wrist controller having small dimensions and allowing to accurately determine the position and orientation in the space of the surgeon’s wrist, without creating unnecessary strain on the wrist of the surgeon. The developed wrist controller has sufficient structural rigidity, and the working area of the wrist controller is not limited to linear dimensions and mechanical features of the implementation, allowing the surgeon to operate in the full range of movements of the wrist. Also, the wrist controller takes into account the peculiarities of the surgeon during the operation, in which the controllers may collide with each other during the reduction, or collision with the knees of the surgeons, while ensuring the maximum possible working space realized in this range. The wrist controller is equipped with a tactile feedback system.

[108] The wrist controller is used as part of the robotic complex controller as a control element to provide the rotation function of the manipulator with the surgical instrument around one axis and to provide the rotation function of the surgical instrument around one axis. The wrist controller is a mechanical device that interacts along two rotational axes. The control of the surgeon's hands on the third rotational axis is provided by the brush controller, which is not considered in the framework of this patent application, but a full-fledged surgical operation is possible only with the implementation of the entire robot control complex, which allows you to set three rotational axes.

[109] In some embodiments of the invention, an active grip device is used to contact the surgeon’s hand with the wrist controller, which can be used as a brush controller if modified, taking into account the requirements for the brush controller. It is worth noting that any design with various geometric and ergonomic characteristics can act as an active capture device, depending on the type of problem being solved.

[110] The active grip device and the wrist controller must take into account all linear dimensions of the distances between the centers of the joints of the hand, its wrist and wrist. To describe the configuration parameters of the wrist, the geometry parameters of positions and directions are used. The description of directions will be possible only by linking coordinate systems with the wrist, in this case the base coordinate system will be connected directly to the wrist controller, and the starting point of the coordinate system will be the point at which all rotational axes converge.

[111] In the base coordinate system, the vector of the beginning of the wrist coordinate system will coincide with the sequence of rotations with respect to the rotation axes at Euler angles. Euler angles determine three system rotations that allow you to bring any position of the system to the current one. System rotations at these angles are called precession, nutation, and rotation at its own angle (rotation). In this case, the nutation process of the wrist controller is similar to the rotation of the hand relative to the anteroposterior axis, which lies in the sagittal plane and controls the reduction and abduction movements that occur in the frontal plane. The rotation of the wrist controller is similar to the rotation of the radius along with the hand around the ulna.

[112] On this statement, it is possible to formulate at a substantial level the tasks that the wrist controller should also solve, which can also be called as the solution of the direct and inverse kinematic transformation problems:

[113] The direct task is the task of determining the coordinate description of the parameters of the spatial position and orientation of the surgical instrument from a given set of values of rotation angles with respect to the rotation axes obtained using the wrist controller.

[114] The inverse problem is the task of constructing a given position of the orientation of the wrist using the wrist controller and the associated task of determining all the required angles of rotation.

[115] In this case, the main principle of uniqueness should be taken into account, which will guarantee the unambiguous position and orientation of the surgical instrument with given guiding commands. The design of the wrist controller allows you to track the position of the wrist of the surgeon, to transmit a change in orientation in the form of a digital signal that displays changes in the angle of deviation relative to the axes of rotation and nutation. These values are used as input in kinematic calculations of the estimated position of the end of the surgical instrument and allow these signals to be interpreted as control commands. The kinematics of the conversion of the defining angles into control teams within the framework of the application under consideration is not considered, but the understanding of how to present the measured data is an important detail in the context of the problem being solved.

[116] The surgeon’s wrist controller consists of a movable console unit and a rotation mechanism unit, as described above. In FIG. 5 shows a preferred embodiment of a wrist controller design. In particular, figure 5 shows the mounting of the consoles to the drive element that implements the nutational movement of the wrist controller. In the upper part of the platform 221, two flat plates 227 are arranged parallel to it parallel to it, mechanically connected to the platform 221. A console is connected to the holes 228 of these plates.

[117] Adding a flexible transmission 229, or another other known transmission method, allows the drive mechanism 223 and the measuring means of the rotation angle to be physically removed and mechanically coupled to the swivel realizing the rotation. Such a structural solution is effective, as it allows you to hang the structure without adding additional elements and without drastic changes in mechanical features.

[118] On the opposite side of the pad 221, at the axis level passing through the center, a rotation measuring device and a drive element 224 for the rotation axis are implemented. Changing the angle of nutation changes the entire orientation of the design of the wrist controller and the active capture device relative to this axis. This fact is taken into account at the stage of mathematical transformations of the obtained angles, but this is also confirmed by the biological structure of the human hand. So, turning the forearm around the elbow joint rotates the wrist, wrist and palm. This approach to the complete reproduction and fixation of the surgeon’s arm turns during a robotic surgery allows for intuitive interaction with the system, which simplifies the surgical operation and also lowers the entry threshold for the development of the complex, since there is no need to additionally learn how to control the system.

[119] The wrist controller is attached to a mechanism with a parallel kinematic structure such as a delta robot, whose task will be to ensure at least three translational degrees of freedom. This fastening can be carried out by any known mounting method.

[1] Brushless DC motors can be used as drive elements used in the wrist controller. The choice of motors is determined by the requirements for the system: a relatively low speed, high torque, low weight and overall dimensions. The disadvantage of such motors is the need for an automatic control system to control the rotation and torque, which is not a significant difficulty in the framework of the described solutions. The advantages of using brushless motors are high reliability and durability due to the absence of a collector assembly subject to wear.

[120] To accurately determine the angle of rotation of the degrees of freedom in the wrist controller, encoders selected from optical, magnetic, or other principle encoders or as a resistive element were used as rotation sensors. In a preferred embodiment of the invention, high-precision non-contact encoders based on arrays of Hall sensors are used as rotation sensors. On the axes of rotation of each degree of freedom there are neodymium magnets of diametrical magnetization, near which are housings of microcircuits.

[121] Encoders of this type have such advantages as high resolution (14 bits, 0.0219 degrees), the ability to digitally set the zero position, high speed, digital status loop and diagnostics.

[122] Magnetic effect encoders have a number of operational features that affect the measurement accuracy:

- Sensitivity to noise of the power supply;

- The presence of the optimal distance from the housing of the chip to the rotating magnet

- Sensitivity to linear displacement of the axis of rotation of the magnet.

[123] To achieve maximum accuracy and sensitivity, a circuit board was developed and applied to install the encoder chip, taking into account the listed features (Fig. 6).

[124] The exact spatial positioning of the microcircuit housing relative to the rotating magnet is provided by the mounting holes 410 in the printed circuit board 300. The clip of the printed circuit board 400 to the adjacent surface is realized due to the absence of surround elements on the circuit board 400. The power and data pads are designed for soldering wires in the opposite direction from the encoder chip. Stable supply voltage and surge protection are provided by the use of two capacitors in the supply line.

[125] In FIG. 6 is an assembly drawing of a printed circuit board 400 for mounting a digital magnetic encoder. In FIG. 6 marked: 420 - the seat of the encoder chip, 410 - the mounting holes of the printed circuit board, 430 - contact pads for power and data.

[126] In a preferred embodiment of the invention, the wrist controller control unit is implemented on the basis of two printed circuit boards: one is responsible for power isolation and voltage conversion, additional drive element control drivers are connected to it, and the second is responsible for receiving and processing data received from measuring devices and interaction with control drivers of drive elements according to specified algorithms. Figures 7 and 8 illustrate three-dimensional models of a power board 500 and a control board 600, respectively. The design of the control circuit pack 600 provides for the installation of an encoder 610 on one of its sides, which eliminates the need for a separate encoder circuit pack to measure the angle of inclination of the rotation mechanism unit. A general view of the device with fixed boards 500, 600 on a mechanical flat platform 221, which is part of the wrist controller, is shown in FIG. 9.

[127] The controller of the wrist of the surgeon operates as follows. The surgeon places the hand on the body of the capture device so that the handle body is sandwiched between the palm and fingers. In this case, the occurrence of efforts on the part of the surgeon for the occurrence of nutational movements of the capture device (brush controller), which correspond to the rotation of the surgeon’s hand in the frontal plane around one axis lying in the sagittal plane, causes the rotation to cause the surgical tool to rotate on one axis. And the appearance of efforts on the part of the surgeon to rotate the capture device (hand controller), which corresponds to the rotation of the radius along with the hand around the ulnar bone relative to the longitudinal axis of the operator’s hand, causes the manipulator to rotate the surgical tool around one axis. The above actions allow you to implement the design of the wrist controller, which allows you to perform multiple actions simultaneously.

[128] Also, the wrist controller is used to guide or transmit forces to the wrist of the surgeon. The processes describing the transfer of control commands for the operation of the wrist controller in more detail both in the control mode of the manipulator with the surgical instrument and in the mode of transmitting efforts on the wrist of the surgeon are described in more detail above.

[129] Using the claimed design of the wrist controller can increase the efficiency of surgical operations and provide support to the surgeon in order to reduce fatigue and fatigue during long surgical procedures.

[130] While the invention has been described in certain examples and shown in the accompanying drawings, it should be understood that such embodiments are only illustrative and do not limit the breadth of the invention, and that this invention is not limited to the specific structures and systems shown and described, as they may have place various other modifications that are understandable to ordinary specialists in this field.

Claims (21)

1. The wrist controller for the controller of the operator control the robotic complex, including: the rotation mechanism unit, which has an upper part and a lower part, an ergonomically shaped body, the rotation mechanism unit is functionally configured for connection with an element that is part of the operator’s controller, which is designed to provide the function of controlling the movement of the manipulator with the surgical instrument along three mutually orthogonal axes, and independent rotation around a predetermined center, repeating the rotation of the radius along with the hand around the ulnar bone relative to the longitudinal axis of the operator’s hand, to ensure the rotation function of the manipulator with the surgical instrument around one axis; at least one block of the movable console, which is a flat open mechanism of parallel rigid structure, consisting of three links and three kinematic pairs, the block of the movable console is functionally configured for fastening on the one hand to the upper part of the rotation mechanism block, and on the other to the upper part of the handle, covered and held by the entire surface of the operator’s brush during operation, which is also part of the operator’s controller, and rotation, repeating the rotation of the operator’s hand in the frontal plane around the anteroposterior axis lying in the sagittal plane, to provide the rotation function of the surgical instrument around one axis; while inside the body of the block of the rotation mechanism are located wrist controller control unit, at least one rotation sensor of the movable console unit, providing electrical signals corresponding to a change in the position of the movable console unit relative to the rotation mechanism unit when the operator’s hand covering the handle is rotated in the frontal plane about the anteroposterior axis lying in the sagittal plane and transmitting them to the control unit wrist controller a drive element of a movable console unit; while on the outer side of the housing of the block of the rotation mechanism are located a rotation sensor of the rotation mechanism unit, providing electrical signals corresponding to a change in the position of the rotation mechanism unit relative to a predetermined center when the radius is rotated together with the operator’s brush around the ulnar bone relative to the longitudinal axis of the operator’s hand, and transmitting them to the wrist controller control unit, a drive element of the rotation mechanism unit, wherein the rotation sensor of the rotation mechanism unit is located on a rotation axis of the rotation element of the rotation mechanism unit; moreover, the control unit of the wrist controller is functionally configured for transmitting the received signals to the digital block of the operator’s controller and to the external control system of the robotic surgical complex for transmitting the movement of the rotation mechanism block and / or the block of the mobile console to the corresponding independent movement of the manipulator with the surgical instrument and / or surgical instrument receiving control signals from an external control system of the robotic surgical complex and transmitting them to the drive element of the rotation mechanism unit and / or the drive element of the mobile console unit to transmit the movement of the manipulator with the surgical instrument and / or surgical instrument into the corresponding independent movement of these blocks. 2. The wrist controller according to claim 1, in which the housing of the rotation mechanism unit is ergonomically shaped and made with a recess in such a way as to be able to bring the handle housing fully covered by the operator’s brush as close as possible, while ensuring a complete trajectory of movement of the handle. 3. The wrist controller according to claim 1, in which the digital control unit of the controller of the operator generates control signals through the control unit of the wrist to the drive element of the rotation mechanism unit and / or the drive element of the mobile console unit to ensure that said blocks rotate in a direction that coincides with the rotation of the operator’s brush together with the radius around the ulna and / or when the operator’s hand is deflected towards the ulna or in the direction opposite to the turn of the hand and / or abduction of the hand, respectively. 4. The wrist controller according to claim 1, in which in the lower part of the housing of the turning mechanism unit a weight system is mounted to ensure equilibrium in a static position and to be in an upright position. 5. The wrist controller according to claim 1, in which the drive element of the movable console unit is mechanically coupled to the movable console unit using a flexible transmission.

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