WO2020042148A1

WO2020042148A1 - Magnetic navigation sensing-based main operating hand and system of minimally invasive surgical robot

Info

Publication number: WO2020042148A1
Application number: PCT/CN2018/103534
Authority: WO
Inventors: 王树新; 胡振璇; 任旭阳; 李进华
Original assignee: 天津大学
Priority date: 2018-08-31
Filing date: 2018-08-31
Publication date: 2020-03-05

Abstract

A magnetic navigation sensing-based main operating hand (100) of a minimally invasive surgical robot, comprising: a mechanical handle (110) that is held by an operator; a magnetic navigation sensor (120) that is connected to the mechanical handle (110), the movement thereof in a magnetic field generating an electromagnetic signal comprising the position and posture information of the magnetic navigation sensor (120), and the electromagnetic signal reflecting the position and posture information of the main operating hand (100); and a sliding potentiometer (130) that is connected to the mechanical handle (110), the sliding potentiometer (130) being displaced as the operator grips and opens the mechanical handle (110), wherein the displacement reflects opening and closing information of the main operating hand (100).

Description

Main operator and system of minimally invasive surgical robot based on magnetic navigation sensing

Technical field

The present disclosure relates to the field of minimally invasive surgical robots, and in particular, to a main operator and system of a minimally invasive surgical robot based on magnetic navigation sensing.

Background technique

Minimally invasive surgical tools have many advantages such as small hand wounds, less bleeding, fast recovery time, and good cosmetic results. Traditional minimally invasive surgical tools are mostly long, straight rods, held by doctors, and placed through small wounds in the chest, abdomen, or other parts. In conjunction with medical endoscopes, the operation is completed on the monitor screen. In this operation mode, the surgeon, the mirror doctor and other auxiliary doctors need to cooperate to perform the operation. Due to various reasons such as uncoordinated or unreasonable visual field in the display screen and the inconsistency of the operation of surgical instruments, there are problems such as interference of surgical tools, which affect the smooth operation of the operation.

Minimally invasive surgical robot is a surgical robot developed for minimally invasive surgery. Its surgical instruments work similarly to traditional minimally invasive surgical instruments. Long straight rod surgical instruments are inserted into the patient's body cavity through a small wound, but the doctor is not directly Operate robotic surgical instruments, but use the robot's manipulation platform to control the movement of surgical instruments. Minimally invasive surgical robots mostly use master-slave control systems. They use kinematics, dynamics, control system principles, robotics, machine vision, etc. This principle enables the movement of surgical instruments to accurately simulate the doctor's hand movements, thereby achieving more efficient and safe operation.

Most minimally invasive surgical robots adopt a master-slave control mode. The main operator can adopt commercial products or independent designs. However, most of the current minimally invasive surgical robots' main operators use a link mechanism to arrange various electronic components, sensors, Potentiometers and other devices detect motion of the link mechanism and convert the motion signals into electrical signals to be transmitted to the robot slave control system. In this form, the master operator often has extremely complicated structures, bulky and bulky, and needs to consider gravity balance and space layout. And many other problems, inconvenient operation.

Public content

The present disclosure provides a minimally invasive robotic main operation hand based on magnetic navigation sensing, which includes: a mechanical handle for operator's holding; a magnetic navigation sensor connected to the mechanical handle, which generates motion when contained in a magnetic field. An electromagnetic signal of the position and attitude information of the magnetic navigation sensor, the electromagnetic signal reflecting the position and attitude information of the main operating hand; and a sliding potentiometer connected to the mechanical handle, the sliding potentiometer follows the operator The gripping and opening of the mechanical handle produces a displacement that reflects the opening and closing information of the main operating hand.

In some embodiments of the present disclosure, the mechanical handle includes: a base, a handle, a finger fixing ring, a driving link, a connecting shaft, and a spread spring.

In some embodiments of the present disclosure, the handle includes: a first handle and a second handle; the connection shaft: includes a first connection shaft and a second connection shaft; the drive link: includes a first drive link And second drive link.

In some embodiments of the present disclosure, one end of the first handle and one end of the second handle are mounted on the base through the first connection shaft, and one end of the first driving link is connected to the inside of the first handle. One end of the two driving links is connected to the inside of the second handle, and the other end of the first driving link and the other end of the second driving link are mounted on the base through the second connecting shaft.

In some embodiments of the present disclosure, the finger fixing ring includes a first finger fixing ring and a second finger fixing ring, and the first finger fixing ring and the second finger fixing ring are respectively fixed on the outer side of the first handle and the first finger fixing ring. Outside of two handles.

In some embodiments of the present disclosure, the spreading spring is disposed between the first handle and the second handle, and two ends of the spreading spring are respectively connected to the inside of the first handle and the second handle.

The present disclosure also provides a minimally invasive surgical robot system based on magnetic navigation, which uses the main operator of the minimally invasive robot as a handheld end. The minimally invasive surgical robot system further includes: a magnetic field generator for generating an induced magnetic field; A navigation control system is connected to the magnetic field generator and the minimally invasive robot main operator; a host computer is connected to the magnetic navigation control system and is used to connect the position and attitude information processed by the magnetic navigation control system The data matrix is decomposed; the controller is connected to the upper computer and is used for performing kinematic calculation on the data decomposed by the upper computer and receiving the displacement signal of the sliding potentiometer; from the operator, and the control The controller is connected to map the real-time position and posture of the main operator and the opening and closing state under the control of the controller.

In some embodiments of the present disclosure, the slave operator includes a slave operator apparatus and a driving motor unit.

In some embodiments of the present disclosure, the kinematics calculation performed by the controller includes a forward kinematics calculation and an inverse kinematics calculation.

In some embodiments of the present disclosure, the controller controls the driving motor group according to the amplitude change of the output voltage signal generated by the displacement of the sliding potentiometer, and the driving motor group controls the opening and closing of the clamp from the end of the operating hand instrument .

It can be seen from the foregoing technical solutions that the embodiments of the present disclosure have at least the following beneficial effects:

(1) Using magnetic navigation technology, relying on sensors to detect the position and posture of the human hand in space motion, high detection accuracy, flexible movement, and transmission of the main operator's movement information through control algorithms;

(2) It can overcome the shortcomings of the main operator of traditional minimally invasive surgical robots such as large volume, complex structure, limited space movement, and difficulty in balancing gravity. Since the main operator has no mechanical structure connection, the human hand can move freely in the magnetic space and has a high degree of height flexibility;

(3) Only a small diameter magnetic navigation sensor can be used to detect the position and attitude of the human hand, and no other sensors, encoders, potentiometers and other components are needed, which greatly simplifies the design of the main operator and facilitates maintenance and replacement. .

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification. Together with the following specific embodiments, the drawings are used to explain the present disclosure, but do not constitute a limitation on the present disclosure. In the drawings:

FIG. 1 is a schematic structural diagram of a main operator of a minimally invasive surgical robot based on magnetic navigation sensing according to an embodiment of the present disclosure.

FIG. 2 is a schematic structural diagram of a minimally invasive surgical robot system based on magnetic navigation sensing according to an embodiment of the present disclosure.

FIG. 3 is a schematic diagram of a space motion degree of freedom of a main operator of a minimally invasive surgical robot based on magnetic navigation sensing according to an embodiment of the present disclosure; (a) is a top view, and (b) is a side view.

4 is a schematic diagram of a system mapping of a master and a slave operator of a minimally invasive surgical robot based on magnetic navigation sensing according to an embodiment of the present disclosure.

FIG. 5 is a schematic diagram of a workflow of a main operator and system of a minimally invasive surgical robot based on magnetic navigation sensing according to an embodiment of the present disclosure.

【Symbol Description】

100-Master operator;

110-mechanical handle;

111-first handle; 112-second handle;

113-first finger fixing ring; 114-second finger fixing ring;

115-first drive link; 116-second drive link;

117-first connecting shaft; 118-second connecting shaft;

119-Spread the spring;

1110-base;

120-magnetic navigation sensor;

130-sliding potentiometer;

200-magnetic field generator;

300- magnetic navigation control system; 400- upper computer; 500- controller;

600-from the operator

610-slave operation hand instrument; 620-drive motor unit.

detailed description

The present disclosure provides a minimally invasive surgical robot main operator and system based on magnetic navigation sensing. The minimally invasive surgical robot main operator and system adopt magnetic navigation technology, and rely on the magnetic navigation sensor to detect the presence of a human hand and a handheld main operator. The position and posture in the space movement are then mapped to the slave operator's position through the kinematics calculation, so that the slave operator can reproduce the human hand motion in real time. The main operation hand and system of minimally invasive surgical robot can be used for minimally invasive surgery in various fields such as abdominal cavity, thoracic cavity and urinary.

In order to make the objectives, technical solutions, and advantages of the present disclosure more clear, the present disclosure is further described in detail below with reference to specific embodiments and with reference to the accompanying drawings.

An embodiment of the present disclosure provides a main operation hand of a minimally invasive robot based on magnetic navigation sensing. The main operation hand 100 of a minimally invasive surgical robot shown in FIG. 1 includes a mechanical handle 110, a magnetic navigation sensor 120, and a sliding potentiometer. 130.

The mechanical handle 110 is used for holding by the operator.

The magnetic navigation sensor 120 is mounted on the mechanical handle 110, and its movement in an induced magnetic field can generate an electromagnetic signal including position and attitude information of the magnetic navigation sensor 120. This electromagnetic signal is used as one of the control signals of the main operator, and reflects the position and posture information of the main operator 100. The sliding potentiometer 130 is mounted on the mechanical handle 110 and is externally connected to a power source generating a voltage signal. The sliding potentiometer 130 changes back and forth as the operator grips and opens the mechanical handle 110, which causes a change in the resistance value of the sliding potentiometer 130 and thus changes the output voltage signal of the sliding potentiometer 130.

The mechanical handle 110 includes a base 1110, a handle, a finger fixing ring, a driving link, a connecting shaft, and a spread spring.

The magnetic navigation sensor 120 and the sliding potentiometer 130 are mounted on the base 1110.

The connecting shaft includes a first connecting shaft 117 and a second connecting shaft 118.

The handle includes a first handle 111 and a second handle 112.

The finger fixing ring includes a first finger fixing ring 113 and a second finger fixing ring 114.

The driving link includes a first driving link 115 and a second driving link 116.

One end of the first handle 111 and one end of the second handle 112 are mounted on the base 1110 through the first connection shaft 117, that is, the first handle 111 and the second handle 112 are hinged through the first connection shaft 117.

The first finger fixing ring 113 and the second finger fixing ring 114 are respectively fixed on the outside of the first handle 111 and the outside of the second handle 112, which is convenient for the operator to hold.

One end of the first driving link 115 is connected to the inside of the first handle 111; one end of the second driving link 116 is connected to the inside of the second handle 112; the other end of the first driving link 115 and the other end of the second driving link 116 pass through The second connecting shaft 118 is mounted on the base 1110, that is, the first driving link 115 and the second driving link 116 are hinged through the second connecting shaft 118.

A spreading spring 119 is provided between the first handle 111 and the second handle 112, and both ends of the spreading spring 119 are fixed to the inside of the first handle 111 and the second handle 112, respectively.

The operator inserts the thumb and index finger (or middle finger) into the first finger fixing ring 113 and the second finger fixing ring 114, respectively. When the thumb and the index finger (or middle finger) are pinched, and the first handle 111 and the second handle 112 are gripped, the first A handle 111 and a second handle 112 are brought closer to each other, and the sliding potentiometer 130 is moved by the first driving link 115 and the second driving link 116. The direction is away from the first connecting shaft 117, and the spring 119 is provided. elastic force. When the operator opens the first handle 111 and the second handle 112, the first handle 111 and the second handle 112 are separated from each other under the action of the elastic force, and the sliding potential is driven by the first driving link 115 and the second driving link 116 The slider 130 moves in a direction close to the first connecting shaft 117. These two handles are converted into back-and-forth displacement changes by the operator's gripping and opening actions, causing the resistance of the sliding potentiometer 130 to change.

It can be seen that this embodiment uses magnetic navigation technology and relies on sensors to detect the position and posture of the human hand in space motion. The detection accuracy is high and the movement is flexible. The motion information of the main operator is transmitted through the control algorithm; the traditional minimally invasive surgical robot can be overcome. The operator has the disadvantages of large volume, complex structure, limited space movement, and difficulty in balancing gravity. Since the main operator has no mechanical structure connection, the human hand can move freely in the magnetic space and has high flexibility; only a small-diameter magnet The navigation sensor can detect the position and posture of the human hand without any other sensors, encoders, potentiometers and other components, which greatly simplifies the design of the main operator and facilitates maintenance and replacement.

Another embodiment of the present disclosure provides a minimally invasive surgical robot system based on magnetic navigation. The minimally invasive surgical robot system uses a minimally invasive robot main operator 100 as a handheld terminal. As shown in FIG. 2, the minimally invasive surgical robot system includes : The minimally invasive robot master operator 100, magnetic field generator 200, magnetic navigation control system 300, host computer 400, controller 500, and slave operator 600 of the previous embodiment.

The magnetic field generator 200 is configured to generate an induced magnetic field.

The magnetic navigation control system 300 includes a magnetic navigation system and a control module, which is connected to the magnetic field generator 200 and the magnetic navigation sensor 120 in the main operator 100, and is used to control the magnetic field generator 200 to generate an induced magnetic field and process the magnetic navigation sensor 120. The position and attitude information generated by moving in the induced magnetic field is represented by a data matrix.

The upper computer 400 is connected to the magnetic navigation control system 300, and is used for decomposing the data matrix of the position and attitude information processed by the magnetic navigation control system 300.

The controller 500 is connected to the upper computer 400 and is configured to perform forward and inverse kinematics calculations on the data decomposed by the upper computer 400.

The controller 500 is connected to the sliding potentiometer 130 of the main operating hand 100. The resistance change of the sliding potentiometer 130 due to sliding causes the amplitude of its output voltage signal to change. The changed voltage signal is input to the controller 500 as the controller. One of 500 control parameters.

The slave manipulator 600 is connected to the controller 500 and includes a slave manipulator 610 and a driving motor unit 620.

The controller 500 performs forward and inverse kinematics calculation on the data received from the host computer 400, and transmits it as a control parameter to the driving motor group 620. The slave hand instrument 610 is driven by the driving motor group 620 to map the main operator 100 real-time position and attitude.

The controller 500 generates a change in the amplitude of the output voltage signal according to the sliding of the sliding potentiometer 130, thereby controlling the driving motor group 620, and then driving the motor group 620 to control the opening and closing of the clamps from the end of the operating hand instrument 610.

The current motion state of the driving motor group 620 is sent to the controller 500 as a reference variable for the next motion calculation.

In the embodiment of the present disclosure, the minimally invasive surgical robot system may include 2 to 3 main operating hands 100. The number of slave manipulators 610 of the slave manipulator 600 is three;

In the embodiment of the present disclosure, as shown in FIG. 3, the main operating hand 100 is used as a hand-held end, which has no mechanical structure to fix it, and can move freely in the area of the induced magnetic field generated by the magnetic field generator 200. The degrees of freedom in space include: three degrees of freedom, such as T1, T2, and T3; freedom of movement, such as R1 (heading), R2 (roll), and R3 (pitch); and mechanical handles Freedom of opening and closing.

In the embodiment of the present disclosure, the driving motor group 620 is connected to the slave operating device 610, and the rotation angles of the motors in the driving motor group 620 are mapped to the corresponding joints of the slave operating device 610 in a proportional joint, as shown in FIG. The synthetic movement of the joints of the manipulator 610 is the displacement, rotation, and opening and closing movements from the end of the manipulator. From the manipulator, the manipulator 610 relies on the joints to achieve free movement of the tool end in space. Reaching the same degree of freedom as the master operator, the movement, rotation, and opening and closing movements of the master operator in space will be mapped to the slave operator instrument 610 in real time.

In the embodiment of the present disclosure, the workflow of the main operator and system of a minimally invasive surgical robot based on magnetic navigation sensing is shown in FIG. 5. The magnetic field generator 200 generates an induced magnetic field. Moving in a magnetic field, the main operating hand 100 has high flexibility as a handheld end, and its position and attitude in space can be adjusted freely according to the operator's hand movements, without any mechanical structure restrictions. Its adjustment limit exceeds what human hands can achieve. Limit, the main operator 100 and the magnetic field generator 200 are connected to the magnetic navigation control system 300, respectively. The position and attitude information generated by the magnetic navigation sensor 120 in the magnetic field of the main operating hand 100 is processed by the magnetic navigation control system 300, and the processed posture (position and attitude) data signals are transmitted to the upper computer 400. The upper computer 400 decomposes the pose data matrix to obtain a 4 * 4 pose matrix, and then sends each element in the matrix to the controller 500 as a reference variable. The forward and inverse kinematics calculations are performed in the controller 500. The calculated control signals control the operation of the driving motor group 620 in the operating manipulator 600 in the form of current, so that the movement of the end of the slave manipulator instrument 610 reflects the movement of the master manipulator 100 in real time. The movement, the current movement state of the driving motor group 620, is sent to the controller 500 as a reference variable for the next movement calculation.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, only the above-mentioned division of the functional modules is used as an example. In practical applications, the above-mentioned functions can be allocated by different functional modules according to needs, that is, the device The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, and details are not described herein again.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, but not limited thereto; although the present disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced equivalently; without conflict, the features in the embodiments of the present invention can be arbitrarily combined; and these modifications or replacements The essence of the corresponding technical solutions does not depart from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

A main operator of a minimally invasive robot based on magnetic navigation sensing, including:

Mechanical handles for operators to hold;

A magnetic navigation sensor connected to the mechanical handle, which moves in a magnetic field to generate an electromagnetic signal including position and attitude information of the magnetic navigation sensor, the electromagnetic signal reflecting the position and attitude information of the main operating hand; and

A sliding potentiometer is connected to the mechanical handle, and the sliding potentiometer generates a displacement as the operator grips and opens the mechanical handle, and the displacement reflects the opening and closing information of the main operating hand.
The main operating hand of the minimally invasive robot according to claim 1, wherein the mechanical handle comprises: a base, a handle, a finger fixing ring, a driving link, a connecting shaft, and a spread spring.
The main operator of the minimally invasive robot according to claim 2, wherein the handle comprises: a first handle and a second handle; the connection shaft: includes a first connection shaft and a second connection shaft; and the driving link : Including the first drive link and the second drive link.
The main operator of a minimally invasive robot according to claim 3, wherein one end of the first handle and one end of the second handle are mounted on the base through the first connection shaft, and one end of the first driving link is connected to the base. The inside of the first handle is connected, one end of the second driving link is connected to the inside of the second handle, and the other end of the first driving link and the other end of the second driving link are mounted on the base through the second connecting shaft.
The main operating hand of the minimally invasive robot according to claim 2, wherein the finger fixing ring comprises a first finger fixing ring and a second finger fixing ring, and the first finger fixing ring and the second finger fixing ring are respectively fixed Outside the first handle and outside the second handle.
The main operator of the minimally invasive robot according to claim 2, wherein the spreading spring is disposed between the first handle and the second handle, and two ends of the spreading spring are respectively connected to the first handle and Inside of the second handle.
A minimally invasive surgical robot system based on magnetic navigation, using the main operator of the minimally invasive robot according to any one of claims 1 to 6 as a handheld terminal, the minimally invasive surgical robot system further includes:

Magnetic field generator for generating an induced magnetic field;

A magnetic navigation control system connected to the magnetic field generator and the minimally invasive robot main operator;

A host computer connected to the magnetic navigation control system and configured to decompose a data matrix of position and attitude information processed by the magnetic navigation control system;

A controller connected to the upper computer, configured to perform kinematic calculation on the data decomposed by the upper computer, and receive a displacement signal of a sliding potentiometer;

The slave manipulator is connected to the controller, and is used to map the real-time position and posture of the master manipulator and the opening and closing state under the control of the controller.
The minimally invasive surgical robot system according to claim 7, wherein the slave operator comprises: a slave operator instrument and a driving motor unit.
The minimally invasive surgical robot system according to claim 7, wherein the kinematics calculation performed by the controller comprises a forward kinematics calculation and an inverse kinematics calculation.
The minimally invasive surgical robot system according to claim 8, wherein the controller controls a driving motor group according to the amplitude change of the output voltage signal generated by the displacement of the sliding potentiometer, and the driving motor group controls the slave operating hand instrument Opening and closing of end clamps.