CN101870107A - Control system of orthopedic surgery assistant robot - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及的是一种机电技术领域的控制系统，特别是一种骨科手术辅助机器人的控制系统。The invention relates to a control system in the field of electromechanical technology, in particular to a control system for an orthopedic surgery auxiliary robot.
背景技术Background technique
骨科手术辅助机器人的主要目标是在骨科手术中辅助医师完成特定的精细操作。该机器人在手术中可以完成以下几项功能：截骨切削、磨削钻孔、夹持固定等。这些操作由机器人完成具有很大的优势，一方面动作比较简单，机器人可以胜任；另一方面这些操作需要很高的精确性和稳定性，而机械手的定位比人更为准确、稳定且有力。使用机器人辅助手术医师完成这些费时费力的操作可以大大减低医师的作业强度，节约手术时间，提高作业精度，减少创口大小，还可以避免医师长时间保持某种姿势的操作带来的肌肉疲劳，以及肌肉疲劳可能造成的医生手臂颤动，从而提高了手术的稳定性和安全性。The main goal of orthopedic surgery assisting robot is to assist physicians to complete specific fine operations in orthopedic surgery. The robot can perform the following functions during surgery: osteotomy cutting, grinding and drilling, clamping and fixing, etc. Robots have great advantages in completing these operations. On the one hand, the movements are relatively simple, and robots can be competent; on the other hand, these operations require high precision and stability, and the positioning of manipulators is more accurate, stable and powerful than humans. Using robots to assist the surgeon to complete these time-consuming and laborious operations can greatly reduce the doctor's work intensity, save operation time, improve operation accuracy, reduce the size of the wound, and avoid muscle fatigue caused by the doctor's operation of maintaining a certain posture for a long time, and Muscle fatigue may cause the doctor's arm to tremble, thereby improving the stability and safety of the operation.
骨科手术辅助机器人主要由机器人本体机构，机器人控制器系统以及操作杆等部分构成。机器人的基本工作方式有两种：自动方式和手动方式。机器人工作在自动状态时，接受来自导航系统的引导指令，实现术前规划预定的动作，主刀医师可随时终止机器人动作并通过操作杆对规划好的位置、姿态进行调整。机器人工作在手动状态时需要一名操作员配合，由主刀医师通过操作杆控制机器人动作，由操作员通过界面设定速度、运动方式等参数，并在主刀医师的口令指挥下启动机器人完成操作。这主要是考虑主刀医师在手术过程中不便使用触摸屏等方式完成参数输入，而语音识别等方式风险太大，安全性得不到保证。机器人操作员可由护士或助手充任。The orthopedic surgery auxiliary robot is mainly composed of the robot body mechanism, the robot controller system and the joystick. There are two basic working modes of the robot: automatic mode and manual mode. When the robot is working in the automatic state, it accepts the guidance instructions from the navigation system to realize the pre-planned action. The surgeon can stop the robot action at any time and adjust the planned position and posture through the joystick. When the robot works in the manual state, an operator is required to cooperate. The chief surgeon controls the movement of the robot through the joystick, and the operator sets the parameters such as speed and movement mode through the interface, and starts the robot to complete the operation under the command of the chief surgeon. This is mainly due to the fact that it is inconvenient for the chief surgeon to use the touch screen to complete parameter input during the operation, while the voice recognition and other methods are too risky and the safety cannot be guaranteed. The robot operator can be a nurse or an assistant.
经对现有技术的文献检索发现，中国专利申请号为：200710117890.4，专利名称为：一种基于3D鼠标操作的微创骨科手术机器人，该机器人由横向移动组件、减速器组件、上下移动组件、小臂移动组件、小臂组件、腕部组件和3D鼠标组成，其中：3D鼠标安装在小臂组件的小臂壳体上，方便医生操作和控制。该3D鼠标含有六个自由度，可以实现笛卡尔坐标系中的六个方向运动控制，但是该技术中机械结构本身并没有实现六个自由度运动，3D鼠标只能实现粗定位，且不具有自主控制功能，实施骨科手术存在局限性。After searching the literature of the prior art, it is found that the Chinese patent application number is: 200710117890.4, and the patent name is: a minimally invasive orthopedic surgery robot based on 3D mouse operation. The forearm moving assembly, the forearm assembly, the wrist assembly and the 3D mouse are composed, wherein: the 3D mouse is installed on the forearm shell of the forearm assembly, which is convenient for doctors to operate and control. The 3D mouse has six degrees of freedom and can realize six-direction motion control in the Cartesian coordinate system. However, the mechanical structure itself in this technology does not realize six-degree-of-freedom movement. Autonomic control function, there are limitations in the implementation of orthopedic surgery.
发明内容Contents of the invention
本发明的目的在于克服现有技术的上述不足，提供一种骨科手术辅助机器人的控制系统。本发明实现了对7自由度骨科辅助机器人的控制，具有辅助手术医师完成截骨、磨削、夹持定位等特定的精细操作的功能。The purpose of the present invention is to overcome the above-mentioned shortcomings of the prior art and provide a control system for an orthopedic surgery auxiliary robot. The invention realizes the control of the 7-degree-of-freedom orthopedic auxiliary robot, and has the function of assisting the surgeon to complete specific fine operations such as osteotomy, grinding, clamping and positioning.
本发明是通过以下技术方案实现的：The present invention is achieved through the following technical solutions:
本发明包括：嵌入式中央控制模块、多轴运动控制模块、若干交流伺服驱动器、若干交流伺服电机、人机交互模块、传感器模块、开关模块、指示灯模块和操作杆，其中：嵌入式中央控制模块与多轴运动控制模块相连传输运动规划信息以及其它通过后者中转的信息，嵌入式中央控制模块与人机交互模块相连传输图像显示信息和用户输入信息，多轴运动控制模块与交流伺服驱动器相连传输电机控制信息，交流伺服驱动器与交流伺服电机相连传输电机驱动和电机编码器信息，多轴运动控制模块与传感器模块相连传输各运动关节极限位置信息和周边环境信息，多轴运动控制模块与指示灯模块相连传输状态信息，多轴运动控制模块与开关模块相连传输开关信息，多轴运动控制模块与操作杆相连传输手动操纵控制信息。The invention includes: an embedded central control module, a multi-axis motion control module, several AC servo drivers, several AC servo motors, a human-computer interaction module, a sensor module, a switch module, an indicator light module and an operating rod, wherein: the embedded central control The module is connected to the multi-axis motion control module to transmit motion planning information and other information relayed through the latter, the embedded central control module is connected to the human-computer interaction module to transmit image display information and user input information, the multi-axis motion control module and AC servo drive Connected to transmit motor control information, the AC servo driver is connected to the AC servo motor to transmit motor drive and motor encoder information, the multi-axis motion control module is connected to the sensor module to transmit the limit position information of each motion joint and the surrounding environment information, the multi-axis motion control module and The indicator light module is connected to transmit status information, the multi-axis motion control module is connected to the switch module to transmit switch information, and the multi-axis motion control module is connected to the joystick to transmit manual manipulation control information.
所述的嵌入式中央控制模块包括：系统界面子模块、状态监控子模块、网络通信子模块和运动调整子模块，其中：系统界面子模块与状态监控子模块相连传输系统运行状态信息，系统界面子模块与运动调整子模块相连传输系统参数以及位姿状态信息，状态监控子模块与运动调整子模块相连传输手动运动控制命令信息，网络通信子模块与运动调整子模块相连传输导航信息，系统界面子模块与人机交互模块相连传输系统参数设定与状态显示信息，状态监控子模块与开关模块相连传输开关信息，状态监控子模块与传感器模块相连传输各运动关节极限位置信息和周边环境信息，状态监控子模块与操作杆相连传输手动操纵控制信息，运动调整子模块与多轴运动控制模块相连传输运动规划信息。The embedded central control module includes: a system interface sub-module, a state monitoring sub-module, a network communication sub-module and a motion adjustment sub-module, wherein: the system interface sub-module is connected with the state monitoring sub-module to transmit system operation status information, and the system interface The sub-module is connected to the motion adjustment sub-module to transmit system parameters and pose state information, the state monitoring sub-module is connected to the motion adjustment sub-module to transmit manual motion control command information, the network communication sub-module is connected to the motion adjustment sub-module to transmit navigation information, and the system interface The sub-module is connected to the human-computer interaction module to transmit system parameter setting and status display information, the status monitoring sub-module is connected to the switch module to transmit switch information, and the status monitoring sub-module is connected to the sensor module to transmit the limit position information of each kinematic joint and the surrounding environment information. The state monitoring sub-module is connected to the joystick to transmit manual manipulation control information, and the motion adjustment sub-module is connected to the multi-axis motion control module to transmit motion planning information.
所述的系统界面子模块包括：系统设定单元、IO(输入输出)状态显示单元、位姿显示单元、参数输入单元和坐标标定单元，其中：系统设定单元与人机交互模块相连传输系统设定信息，参数输入单元与系统设定单元相连传输系统参数信息，坐标标定单元与系统设定单元相连传输坐标信息，参数输入单元与运动调整子模块相连传输系统参数信息，坐标标定单元与运动调整子模块相连传输坐标变换矩阵参数信息，IO状态显示单元与状态监控子模块相连传输IO状态信息，位姿显示单元与运动调整子模块相连传输位姿信息。The system interface sub-module includes: a system setting unit, an IO (input output) state display unit, a pose display unit, a parameter input unit and a coordinate calibration unit, wherein: the system setting unit is connected with the human-computer interaction module and the transmission system Setting information, the parameter input unit is connected to the system setting unit to transmit system parameter information, the coordinate calibration unit is connected to the system setting unit to transmit coordinate information, the parameter input unit is connected to the motion adjustment sub-module to transmit system parameter information, the coordinate calibration unit is connected to the motion The adjustment sub-module is connected to transmit coordinate transformation matrix parameter information, the IO status display unit is connected to the status monitoring sub-module to transmit IO status information, and the pose display unit is connected to the motion adjustment sub-module to transmit pose information.
所述的状态监控子模块包括：逻辑控制单元、IO信号读取单元和AD转换单元，其中：逻辑控制单元与系统界面子模块相连传输IO状态信息，逻辑控制单元与运动调整子模块相连传输运动状态信息，IO信号读取单元与逻辑控制单元相连传输数字量IO信息，IO信号读取单元与开关模块相连传输开关信息，IO信号读取单元与传感器模块相连传输传感器检测的各种状态信息，AD转换单元与操作杆相连传输操作杆输入的模拟信息，AD转换单元与运动调整子模块相连传输操作杆输入的数字信息。The state monitoring submodule includes: a logic control unit, an IO signal reading unit and an AD conversion unit, wherein: the logic control unit is connected with the system interface submodule to transmit IO state information, and the logic control unit is connected with the motion adjustment submodule to transmit motion State information, the IO signal reading unit is connected to the logic control unit to transmit digital IO information, the IO signal reading unit is connected to the switch module to transmit switch information, the IO signal reading unit is connected to the sensor module to transmit various state information detected by the sensor, The AD conversion unit is connected with the joystick to transmit the analog information input by the joystick, and the AD conversion unit is connected with the motion adjustment sub-module to transmit the digital information input by the joystick.
所述的运动调整子模块包括：运动规划单元、运动控制器接口单元和电机状态读取单元，其中：运动控制器接口单元与多轴运动控制模块相连传输运动规划信息，运动控制器接口单元与电机状态读取单元相连传输电机状态信息，电机状态读取单元与网络通信子模块相连传输电机状态信息，电机状态读取单元与系统界面子模块相连传输电机状态信息，运动控制器接口单元与运动规划单元相连传输运动规划信息，运动规划单元与系统界面子模块相连传输设定的系统参数信息，运动规划单元与状态监控子模块相连传输操作杆的控制信号和开关信息。The motion adjustment sub-module includes: a motion planning unit, a motion controller interface unit, and a motor state reading unit, wherein: the motion controller interface unit is connected to the multi-axis motion control module to transmit motion planning information, and the motion controller interface unit is connected to the multi-axis motion control module. The motor state reading unit is connected to transmit the motor state information, the motor state reading unit is connected to the network communication sub-module to transmit the motor state information, the motor state reading unit is connected to the system interface sub-module to transmit the motor state information, the motion controller interface unit is connected to the motion controller The planning unit is connected to transmit motion planning information, the motion planning unit is connected to the system interface sub-module to transmit the set system parameter information, and the motion planning unit is connected to the state monitoring sub-module to transmit the control signal and switch information of the joystick.
所述的网络通信子模块包括：TCP/IP接口单元、命令解析单元和数据上传单元，其中：数据上传单元与运动调整子模块相连传输机器人位姿信息，数据上传单元与TCP/IP接口单元相连传输机器人姿态信息，命令解析单元与TCP/IP接口单元相连传输外部设备的命令信息，命令解析单元与运动调整子模块相连传输运动控制指令和参数信息，TCP/IP接口单元与局域网相连传输机器人姿态信息和外部的控制信息。The network communication submodule includes: a TCP/IP interface unit, a command analysis unit and a data upload unit, wherein: the data upload unit is connected to the motion adjustment submodule to transmit robot pose information, and the data upload unit is connected to the TCP/IP interface unit To transmit robot posture information, the command analysis unit is connected to the TCP/IP interface unit to transmit command information of external devices, the command analysis unit is connected to the motion adjustment sub-module to transmit motion control instructions and parameter information, and the TCP/IP interface unit is connected to the local area network to transmit robot posture information and external control information.
所述的开关模块包括：紧急停止按钮、运行模式选择开关和冗余自由度控制开关，其中：紧急停止按钮与多轴运动控制模块相连传输运动停止信息，运行模式选择开关与多轴运动控制模块相连传输操作杆控制模块信息，冗余自由度控制开关与多轴运动控制模块相连传输机器人冗余自由度控制信息。The switch module includes: an emergency stop button, an operation mode selection switch and a redundant degree of freedom control switch, wherein: the emergency stop button is connected to the multi-axis motion control module to transmit motion stop information, and the operation mode selection switch is connected to the multi-axis motion control module The information of the joystick control module is connected and transmitted, and the redundant degree of freedom control switch is connected with the multi-axis motion control module to transmit the redundant degree of freedom control information of the robot.
与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:
1、自由度高，适用性强。现有技术大多只有2-3自由度，用于特定手术，如膝关节置换等，而本发明涉及的手术辅助机器人可实现7自由度，除可以完成任意姿态的作业外，还具有冗余自由度，便于与医师协同作业。嵌入式中央控制模块的运动调整子模块可实现冗余自由度的解算，在保证末端执行器位置姿态符合规划要求的前提下合理避让医师的动作空间，达到协同辅助的效果。1. High degree of freedom and strong applicability. Most of the existing technologies only have 2-3 degrees of freedom, which are used for specific operations, such as knee joint replacement, etc., but the surgical assistant robot involved in the present invention can achieve 7 degrees of freedom. In addition to being able to complete operations in any posture, it also has redundant freedom Degree, easy to work with doctors. The motion adjustment sub-module of the embedded central control module can realize the calculation of redundant degrees of freedom, and reasonably avoid the doctor's action space under the premise of ensuring that the position and posture of the end effector meet the planning requirements, so as to achieve the effect of collaborative assistance.
2、自主性较高，与目前已有的全手动遥操作手术机器人有本质的不同。2. It has high autonomy, which is essentially different from the existing fully manual teleoperation surgical robots.
3、结构开放，通过TCP/IP协议、RS232/RS485接口等多种常用通信方式，能够作为基础平台与各种导航系统相结合。操作方式灵活，既可以与自动导航装置连接，在导航装置的引导下作为执行机构完成术前规划的操作，也可以作为独立的手术辅助器械在医师的操作下实现截骨、钻孔、磨削、固定等手术作业。3. Open structure, through TCP/IP protocol, RS232/RS485 interface and other common communication methods, it can be used as a basic platform to combine with various navigation systems. The operation mode is flexible, it can be connected with the automatic navigation device, and under the guidance of the navigation device, it can be used as an actuator to complete the preoperative planning operation, and it can also be used as an independent surgical auxiliary instrument to realize osteotomy, drilling, and grinding under the operation of the doctor. , Fixation and other surgical operations.
4、操纵方便，且定位精度高。嵌入式中央控制模块的运动调整子模块可实现动态坐标规划，支持“手把手”式操纵，尤其适用于手术中操控机器人的需要。4. It is easy to operate and has high positioning accuracy. The motion adjustment sub-module of the embedded central control module can realize dynamic coordinate planning and support "hands-on" manipulation, which is especially suitable for the needs of manipulating robots during surgery.
附图说明Description of drawings
图1为实施例系统的连接组成示意图；Fig. 1 is the connection composition schematic diagram of embodiment system;
图2为嵌入式中央控制模块的组成连接示意图。Figure 2 is a schematic diagram of the composition and connection of the embedded central control module.
具体实施方式Detailed ways
下面结合附图对本发明的实施例作详细说明：本实施例在以本发明技术方案为前提下进行实施，给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.
实施例Example
如图1所示，本实施例包括：嵌入式中央控制模块、多轴运动控制模块、7个交流伺服驱动器、7个交流伺服电机、人机交互模块、传感器模块、开关模块、指示灯模块和操作杆，其中：嵌入式中央控制模块与多轴运动控制模块相连传输运动规划信息以及其它通过后者中转的信息，嵌入式中央控制模块与人机交互模块相连传输图像显示信息和用户输入信息，多轴运动控制模块与交流伺服驱动器相连传输电机控制信息，交流伺服驱动器与交流伺服电机相连传输电机驱动和电机编码器信息，多轴运动控制模块与传感器模块相连传输各运动关节极限位置信息和周边环境信息，多轴运动控制模块与指示灯模块相连传输状态信息，多轴运动控制模块与开关模块相连传输开关信息，多轴运动控制模块与操作杆相连传输手动操纵控制信息。As shown in Figure 1, this embodiment includes: an embedded central control module, a multi-axis motion control module, 7 AC servo drivers, 7 AC servo motors, a human-computer interaction module, a sensor module, a switch module, an indicator module and Joystick, wherein: the embedded central control module is connected to the multi-axis motion control module to transmit motion planning information and other information transferred through the latter, the embedded central control module is connected to the human-computer interaction module to transmit image display information and user input information, The multi-axis motion control module is connected to the AC servo driver to transmit motor control information, the AC servo driver is connected to the AC servo motor to transmit motor drive and motor encoder information, the multi-axis motion control module is connected to the sensor module to transmit the limit position information of each motion joint and the peripheral For environmental information, the multi-axis motion control module is connected to the indicator light module to transmit status information, the multi-axis motion control module is connected to the switch module to transmit switch information, and the multi-axis motion control module is connected to the joystick to transmit manual manipulation control information.
如图2所示，所述的嵌入式中央控制模块包括：系统界面子模块、状态监控子模块、网络通信子模块和运动调整子模块，其中：系统界面子模块与状态监控子模块相连传输系统运行状态信息，系统界面子模块与运动调整子模块相连传输系统参数以及位姿状态信息，状态监控子模块与运动调整子模块相连传输手动运动控制命令信息，网络通信子模块与运动调整子模块相连传输导航信息，系统界面子模块与人机交互模块相连传输系统参数设定与状态显示信息，状态监控子模块与开关模块相连传输开关信息，状态监控子模块与传感器模块相连传输各运动关节极限位置信息和周边环境信息，状态监控子模块与操作杆相连传输手动操纵控制信息，运动调整子模块与多轴运动控制模块相连传输运动规划信息。As shown in Figure 2, the embedded central control module includes: a system interface submodule, a status monitoring submodule, a network communication submodule and a motion adjustment submodule, wherein: the system interface submodule is connected to the status monitoring submodule in the transmission system Running status information, the system interface sub-module is connected to the motion adjustment sub-module to transmit system parameters and pose status information, the state monitoring sub-module is connected to the motion adjustment sub-module to transmit manual motion control command information, and the network communication sub-module is connected to the motion adjustment sub-module To transmit navigation information, the system interface sub-module is connected to the human-computer interaction module to transmit system parameter setting and status display information, the status monitoring sub-module is connected to the switch module to transmit switch information, and the status monitoring sub-module is connected to the sensor module to transmit the limit position of each motion joint Information and surrounding environment information, the state monitoring sub-module is connected to the joystick to transmit manual manipulation control information, and the motion adjustment sub-module is connected to the multi-axis motion control module to transmit motion planning information.
所述的系统界面子模块通过液晶触摸屏向用户提供图形界面并接受用户触摸、点击输入。通过该界面用户可以完成各项参数的设定，完成对系统的各项操作，并能实时监控系统的运行状态，包括：系统设定单元、IO状态显示单元、位姿显示单元、参数输入单元和坐标标定单元，其中：系统设定单元与人机交互模块相连传输系统设定信息，参数输入单元与系统设定单元相连传输系统参数信息，坐标标定单元与系统设定单元相连传输坐标信息，参数输入单元与运动调整子模块相连传输系统参数信息，坐标标定单元与运动调整子模块相连传输坐标变换矩阵参数信息，IO状态显示单元与状态监控子模块相连传输IO状态信息，位姿显示单元与运动调整子模块相连传输位姿信息。The system interface sub-module provides a graphic interface to the user through the liquid crystal touch screen and accepts the user's touch and click input. Through this interface, users can complete the setting of various parameters, complete various operations of the system, and monitor the operating status of the system in real time, including: system setting unit, IO status display unit, pose display unit, parameter input unit and a coordinate calibration unit, wherein: the system setting unit is connected to the human-computer interaction module to transmit system setting information, the parameter input unit is connected to the system setting unit to transmit system parameter information, and the coordinate calibration unit is connected to the system setting unit to transmit coordinate information, The parameter input unit is connected to the motion adjustment sub-module to transmit system parameter information, the coordinate calibration unit is connected to the motion adjustment sub-module to transmit coordinate transformation matrix parameter information, the IO status display unit is connected to the status monitoring sub-module to transmit IO status information, and the pose display unit is connected to the The motion adjustment sub-modules are connected to transmit pose information.
所述的状态监控子模块随时监控系统状态，包括从多轴运动控制模块反馈而来的电机运行状态，从触摸屏输入获得的用户输入状态，从各传感器获得的其他周边信息，从各控制开关获得的用户设定信息。将这些状态信息经过一定的计算处理后通过液晶触摸屏显示给用户，并根据设定的条件触发报警和紧急停止等操作。该模块包括：逻辑控制单元、IO信号读取单元和AD转换单元，其中：逻辑控制单元与IO状态显示单元相连传输IO状态信息，逻辑控制单元与运动调整子模块相连传输运动状态信息，IO信号读取单元与逻辑控制单元相连传输数字量IO信息，IO信号读取单元与开关模块相连传输开关信息，IO信号读取单元与传感器模块相连传输传感器检测的各种状态信息，AD转换单元与操作杆相连传输操作杆输入的模拟信息，AD转换单元与运动调整子模块相连传输操作杆输入的数字信息。The state monitoring sub-module monitors the system state at any time, including the motor running state fed back from the multi-axis motion control module, the user input state obtained from the touch screen input, other peripheral information obtained from each sensor, obtained from each control switch user setting information. The status information is displayed to the user through the LCD touch screen after certain calculation and processing, and operations such as alarm and emergency stop are triggered according to the set conditions. The module includes: a logic control unit, an IO signal reading unit and an AD conversion unit, wherein: the logic control unit is connected to the IO state display unit to transmit IO state information, the logic control unit is connected to the motion adjustment sub-module to transmit motion state information, and the IO signal The reading unit is connected to the logic control unit to transmit digital IO information, the IO signal reading unit is connected to the switch module to transmit switch information, the IO signal reading unit is connected to the sensor module to transmit various state information detected by the sensor, the AD conversion unit and the operation The rod is connected to transmit the analog information input by the operating rod, and the AD conversion unit is connected to the motion adjustment sub-module to transmit the digital information input by the operating rod.
所述的运动调整子模块包括：运动规划单元、运动控制器接口单元和电机状态读取单元，其中：运动控制器接口单元与多轴运动控制模块相连传输运动规划信息，运动控制器接口单元与电机状态读取单元相连传输电机状态信息，电机状态读取单元与网络通信子模块相连传输电机状态信息，电机状态读取单元与位姿显示单元相连传输电机状态信息，运动控制器接口单元与运动规划单元相连传输运动规划信息，运动规划单元分别与参数输入单元和坐标标定单元相连传输设定的系统参数信息，运动规划单元分别与AD转换单元和逻辑控制单元相连传输操作杆的控制信号和开关信息。The motion adjustment sub-module includes: a motion planning unit, a motion controller interface unit, and a motor state reading unit, wherein: the motion controller interface unit is connected to the multi-axis motion control module to transmit motion planning information, and the motion controller interface unit is connected to the multi-axis motion control module. The motor state reading unit is connected to transmit the motor state information, the motor state reading unit is connected to the network communication sub-module to transmit the motor state information, the motor state reading unit is connected to the pose display unit to transmit the motor state information, the motion controller interface unit is connected to the motion controller The planning unit is connected to transmit motion planning information. The motion planning unit is connected to the parameter input unit and the coordinate calibration unit to transmit the set system parameter information. The motion planning unit is connected to the AD conversion unit and the logic control unit to transmit the control signal of the joystick and the switch. information.
所述的运动调整子模块根据运行模式的不同，接受来自导航装置或者用户手动信号的运动控制命令。根据运动命令类型，在机器人关节空间或者笛卡尔坐标空间中对机器人的运动轨迹进行计算，包括机器人位置、姿态以及速度等。最终根据机器人运动学公式计算出每个关节电机的运动量，传送到多轴运动控制模块。本实施例涉及的机器人具有冗余自由度和“手把手”操控功能，这两项功能均由运动调整子模块来具体实现，具体如下：The motion adjustment sub-module receives motion control commands from a navigation device or a manual signal from a user according to different operating modes. According to the type of motion command, the motion trajectory of the robot is calculated in the robot joint space or Cartesian coordinate space, including the robot position, attitude and speed. Finally, the movement amount of each joint motor is calculated according to the robot kinematics formula and sent to the multi-axis motion control module. The robot involved in this embodiment has redundant degrees of freedom and "handle" control functions, both of which are implemented by the motion adjustment sub-module, specifically as follows:
在正常操作中机器人第3关节保持在预先设定的角度不变，由其余6关节实现操作，与普通6自由度机器人相似。在操作中当医师觉得机器人姿态有妨碍时，只需轻触位于机器人腕部的开关，则控制器控制机器人末端执行器按原计划运动；同时控制整个手臂以肩关节与腕关节的连线为轴线转动，实现机器人肘关节的避让，直至医师觉得不再妨碍其操作，停止触碰开关。这种方式可在不影响机器人当前操作的前提下实现机器人手臂形态的实时在线调整。In normal operation, the third joint of the robot remains at a preset angle, and the operation is realized by the remaining 6 joints, which is similar to an ordinary 6-DOF robot. During operation, when the doctor feels that the posture of the robot is in the way, he only needs to touch the switch on the wrist of the robot, and the controller will control the end effector of the robot to move according to the original plan; at the same time, the whole arm will be controlled by the connection between the shoulder joint and the wrist joint. The axis rotates to realize the avoidance of the elbow joint of the robot until the doctor feels that it is no longer hindering its operation and stops touching the switch. This method can realize real-time online adjustment of the shape of the robot arm without affecting the current operation of the robot.
医师通过拨动操作杆调整机器人末端的位置和姿态，操作杆内置的电位器测量杆柄被拨动的方位和角度，通过AD转换输入到控制器。控制程序根据机器人运动学方法，依据机器人手臂自身的姿态计算操作杆的方位，控制机器人沿着医师拨动的方位运动；运动速度取决于拨动的角度，而角度则是由人手克服拨杆复位弹簧的力度确定的，因而可实现正比于操作力的无级调速，使得整个调节过程非常直观、自然，不需要任何额外的学习和训练。The physician adjusts the position and posture of the end of the robot by moving the joystick, and the potentiometer built into the joystick measures the position and angle of the handle, which is input to the controller through AD conversion. The control program calculates the position of the joystick according to the robot kinematics method and the attitude of the robot arm itself, and controls the robot to move along the direction the doctor dials; the movement speed depends on the angle of the dial, and the angle is reset by the human hand overcoming the joystick. The strength of the spring is determined, so that the stepless speed regulation proportional to the operating force can be realized, making the whole adjustment process very intuitive and natural, without any additional learning and training.
所述的网络通信子模块采用TCP/IP网络协议通过局域网实现与导航装置通信，接收来自导航装置的引导指令，并将自身状态反馈给导航装置，该模块包括：TCP/IP接口单元、命令解析单元和数据上传单元，其中：数据上传单元与电机状态读取单元相连传输机器人位姿信息，数据上传单元与TCP/IP接口单元相连传输机器人姿态信息，命令解析单元与TCP/IP接口单元相连传输外部设备的命令信息，命令解析单元与运动规划单元相连传输运动控制指令和参数信息，TCP/IP接口单元与局域网相连传输机器人姿态信息和外部的控制信息。Described network communication sub-module adopts TCP/IP network protocol to realize communication with navigation device through local area network, receives guidance instruction from navigation device, and feeds back self state to navigation device, and this module includes: TCP/IP interface unit, order analysis Unit and data upload unit, wherein: the data upload unit is connected with the motor state reading unit to transmit robot pose information, the data upload unit is connected with the TCP/IP interface unit to transmit robot posture information, and the command analysis unit is connected with the TCP/IP interface unit for transmission For the command information of external equipment, the command analysis unit is connected with the motion planning unit to transmit motion control instructions and parameter information, and the TCP/IP interface unit is connected with the local area network to transmit robot attitude information and external control information.
所述的多轴运动控制模块采用现有技术中的GTS-800-PV系列运动控制器，通过PCI总线与嵌入式中央控制模块相连接，能接受来自嵌入式中央控制模块运动规划子模块的运动规划信息，按照给定的运动控制方法经计算处理生成伺服电机控制信号，通过信号电缆发送给各伺服电机驱动器，控制各伺服电机运动。由于多轴运动控制模块实时性高，还包括了若干数字输入/输出端口，可以处理实时性要求较高的外部信号。多轴运动控制模块将采集的各伺服电机的位置、速度等状态信号通过PCI总线传送给嵌入式中央控制模块，该信号作为决策判断之用。The multi-axis motion control module adopts the GTS-800-PV series motion controller in the prior art, is connected with the embedded central control module through the PCI bus, and can accept motion from the embedded central control module motion planning sub-module The planning information is calculated and processed according to the given motion control method to generate the servo motor control signal, which is sent to each servo motor driver through the signal cable to control the movement of each servo motor. Due to the high real-time performance of the multi-axis motion control module, it also includes several digital input/output ports, which can handle external signals with high real-time requirements. The multi-axis motion control module transmits the collected status signals such as the position and speed of each servo motor to the embedded central control module through the PCI bus, and the signals are used for decision-making and judgment.
所述的交流伺服驱动器及交流伺服电机采用现有技术中的安川ΣV系列产品，接受来自多轴运动控制卡的控制信号，依据控制信号驱动机器人运动。The AC servo driver and AC servo motor adopt Yaskawa ΣV series products in the prior art, receive control signals from the multi-axis motion control card, and drive the robot to move according to the control signals.
所述的人机交互模块采用现有技术中的液晶触摸屏，是嵌入式中央控制模块的显示输出和触摸输入部件，包括：液晶屏和覆于其上的触摸膜部件，其中：液晶屏通过VGA接口与嵌入式中央控制模块相连，起到计算机显示器的作用，触摸膜通过USB接口与嵌入式中央控制模块相连，通过点触起到鼠标输入的作用。The human-computer interaction module adopts the liquid crystal touch screen in the prior art, which is the display output and touch input part of the embedded central control module, including: a liquid crystal screen and a touch film part covering it, wherein: the liquid crystal screen passes through the VGA The interface is connected with the embedded central control module, which plays the role of a computer display, and the touch film is connected with the embedded central control module through the USB interface, and plays the role of mouse input by touching.
所述的传感器模块是机器人各轴极限位置传感器，采用微动开关检测机器人各关节是否到达极限位置，通过数字IO接口传输到多轴运动控制模块。The sensor module is a limit position sensor of each axis of the robot, which uses a micro switch to detect whether each joint of the robot reaches the limit position, and transmits it to the multi-axis motion control module through a digital IO interface.
所述的开关模块包括：紧急停止按钮、运行模式选择开关和冗余自由度控制开关，其中：紧急停止按钮通过数字IO接口与多轴运动控制模块相连，用于在紧急时刻停止机器人运动；运行模式选择开关通过数字IO接口与多轴运动控制模块相连，用于切换操作杆控制模式；冗余自由度控制开关通过数字IO接口与多轴运动控制模块相连，用于控制机器人冗余自由度以调整机械臂的姿态。The switch module includes: an emergency stop button, an operation mode selection switch and a redundant degree of freedom control switch, wherein: the emergency stop button is connected to the multi-axis motion control module through a digital IO interface, and is used to stop the movement of the robot in an emergency; The mode selection switch is connected to the multi-axis motion control module through the digital IO interface, and is used to switch the control mode of the joystick; the redundant degree of freedom control switch is connected to the multi-axis motion control module through the digital IO interface, and is used to control the redundant degree of freedom of the robot. Adjust the posture of the robot arm.
本实施例在使用时可根据需要选择根据手动或者自动工作状态：When this embodiment is in use, it can be selected according to the manual or automatic working state according to the needs:
机器人工作在自动状态时，嵌入式中央控制模块通过网络通信子模块接受来自导航系统的引导指令，经过解析，由运动规划子模块进行运动轨迹计算，通过多轴运动控制模块驱动各关节电机，让机器人实现手术前规划的预定动作。在执行过程中，主刀医师可通过开关模块随时终止机器人动作并通过操作杆对规划好的位置、姿态进行调整。此时嵌入式中央控制模块通过状态监控子模块读取来自操作杆的指令，经过运动规划子模块进行运动轨迹计算，通过多轴运动控制模块驱动各关节电机，让机器人实现医师设定的调整动作。When the robot is working in the automatic state, the embedded central control module receives the guidance instructions from the navigation system through the network communication sub-module. The robot realizes the predetermined action planned before the operation. During the execution process, the chief surgeon can stop the robot action at any time through the switch module and adjust the planned position and posture through the operating lever. At this time, the embedded central control module reads the instructions from the joystick through the state monitoring sub-module, calculates the motion trajectory through the motion planning sub-module, and drives the motors of each joint through the multi-axis motion control module, so that the robot can realize the adjustment action set by the doctor .
机器人工作在手动状态时需要一名操作员配合，由主刀医师通过操作杆控制机器人动作，此时嵌入式中央控制模块通过状态监控子模块读取来自操作杆的指令，经过运动规划子模块进行运动轨迹计算，通过多轴运动控制模块驱动各关节电机，让机器人实现医师设定的调整动作。操作员配合医师，通过系统界面子模块实现记录关键位置，设定速度、运动方式等参数，现场完成手术动作规划，并在主刀医师的口令指挥下启动机器人完成操作。这主要是考虑主刀医师在手术过程中不便完成计算机操作，可由护士或助手充任机器人操作员。When the robot works in the manual state, an operator is required to cooperate. The chief surgeon controls the robot's action through the joystick. At this time, the embedded central control module reads the instructions from the joystick through the state monitoring sub-module, and moves through the motion planning sub-module. Trajectory calculation, through the multi-axis motion control module to drive the motors of each joint, so that the robot can realize the adjustment action set by the doctor. The operator cooperates with the doctor to record key positions, set speed, movement mode and other parameters through the system interface sub-module, complete the operation planning on the spot, and start the robot to complete the operation under the command of the chief surgeon. This is mainly because it is inconvenient for the chief surgeon to complete computer operations during the operation, and nurses or assistants can act as robot operators.
本实施例有7自由度，冗余自由度便于与医师协同作业；可工作于手动或者自动工作状态，具有较高的自主性；结构开放，操作方式灵活；操作方便，定位精度高，尤其适用于手术中操控机器人的需要。This embodiment has 7 degrees of freedom, redundant degrees of freedom are convenient for cooperating with doctors; it can work in manual or automatic working state, with high autonomy; open structure, flexible operation mode; convenient operation, high positioning accuracy, especially suitable for The need for manipulating robots in surgery.
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| CN2010102100260A Expired - Fee Related CN101870107B (en) | 2010-06-26 | 2010-06-26 | Control system of auxiliary robot of orthopedic surgery |
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