CN102469995A - 混合手术机器人系统及手术机器人的控制方法 - Google Patents
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Abstract
本发明公开了一种混合手术机器人系统和手术机器人的控制方法。本发明的一个方面提供的混合手术机器人系统包括：机器人臂；器械，该器械安装在所述机器人臂上并且通过从所述机器人臂传送的驱动力进行操作；以及手柄，该手柄配置为根据使用者的操控将驱动力传递到所述器械，其中，所述器械配置为根据从所述机器人臂传送的一个或多个驱动力和从所述手柄传送的驱动力执行手术所需的动作。当将用于手动操控的手柄添加到手术机器人中时，人可以与机器人一起有效地进行手术，并且如果在使用手术机器人执行远程手术期间发生紧急情况，靠近患者的外科医生可以直接手动操控手柄来进行手术。
Description
技术领域
本发明涉及混合手术机器人系统及手术机器人的控制方法。
背景技术
在医学领域，手术是指使用医疗设备进行切割或切入或其它方式操作患者的皮肤、黏膜或其它组织，以处理病理状况的过程。诸如切开皮肤以处理、重构或切除内部器官等的剖腹手术等的手术过程可能会存在失血、副作用、疼痛以及疤痕的问题，因此，使用手术机器人参与的手术方法目前被认为是一种受欢迎的替代方式。
所述手术机器人可以配备有用于执行手术操控的机器人臂。在该机器人臂的前端安装有器械，从机器人产生和传送的驱动力可以操作该器械，以执行手术所需的动作。
然而，常规的机器人手术可能需要人在驱动用于机器人手术的手术机器人中亲自进行手动手术。存在的局限在于，在大多数情况下不能从开始到结束仅由手术机器人进行手术。也就是，常规的机器人手术过程可以包括利用手术工具手动执行一些手术过程，驱动手术机器人以执行机器人手术，然后再利用手术工具执行剩下的手术过程。
更具体地，手动操控的手术工具和安装在手术机器人上的手术工具(器械)之间的不兼容性会导致不得不利用手术工具手动进行手术，移除所有手术工具以进行机器人手术，将器械安装到手术机器人上以进行机器人手术，和再移除所有器械并利用手术工具手动进行手术的烦扰。
常规的机器人手术需要特别复杂的过程，包括将手动操控的手术工具插入受感染的区域或将手动操控的手术工具从受感染的区域取出，和使用手动操控的手术工具以及安装在机器人上的器械两者。因此，常规的机器人手术会导致进行手术的时间、精力和成本增加。
发明人为了研发本发明，或者在研发本发明的过程中获得了上述背景技术中的信息。因此，应该理解，这些信息不必属于在本发明的专利申请日之前的公开领域。
发明内容
本发明的一个方面提供一种混合手术机器人系统及手术机器人的控制方法，通过该系统和方法，人和机器人可以一起进行手术，在发生紧急情况时，人可以直接在机器人手术过程中手动进行手术，该系统和方法因此也可以应用于远程手术或手术培训等。
本发明的一个方面提供一种混合手术器械，用于安装在装配在手术机器人上的机器人臂上，其中用于手动操控的手柄与器械联结，所述器械根据使用者对所述手柄的操控执行手术所需的动作。
所述混合手术器械，还可以包括：驱动部，该驱动部安装在所述机器人臂的前端上并且由从机器人臂传送的驱动力操作；杆，该杆与所述驱动部联结并且将传动装置容纳在其中，所述传动装置与所述驱动部连接；以及执行器，该执行器与所述杆的远端联结，该执行器与所述传动装置连接，并且由从所述机器人臂和所述手柄中的任何一个或多个传送的驱动力操作，其中，所述手柄可以与所述驱动部联结，并且被配置为根据使用者的操控将驱动力传递到传动装置上。
所述机器人臂的前端形成有致动器，所述驱动部上安装有驱动元件，与所述致动器接合的所述驱动元件可以安装在所述驱动部上，所述传动装置可以包括与所述驱动元件联结的线，以及所述手柄可以根据使用者操控将所述驱动力传送到所述驱动元件。可以用与所述执行器的操作自由度对应的自由度操控所述手柄。
所述手术机器人还包括：传感器部，该传感器部被配置为感测使用者对所述手柄的操控和输出感测信号；以及控制器，所述控制器被配置为根据所述感测信号产生控制信号，其中，所述控制器可以执行增强使用者的操控的增强功能。
本发明的另一方面提供一种手柄件，用于手动操控用于机器人手术的手术器械，所述手术器械包括安装在装配在手术机器人上的机器人臂的前端上并且由从所述机器人臂传送的驱动力操作的第一驱动部，与所述第一驱动部联结并且其中容纳有与所述第一驱动部连接的传动装置的杆，以及与所述杆的远端联结、与所述传动装置连接并且被配置为根据所述第一驱动部的操作执行手术所需的动作的执行器。所述手柄件包括：第二驱动部，该第二驱动部安装在所述第一驱动部上并且被配置为将驱动力传送到所述第一驱动部以操作该第一驱动部；以及手柄，该手柄与所述第二驱动部联结，并且被配置为根据使用者的操控将驱动力传递到所述第二驱动部。
所述第一驱动部上可以安装有第一驱动元件，所述第一驱动元件与形成在机器人臂的前端上的致动器接合，所述传动装置可以包括与所述第一驱动元件联结的线，所述第二驱动部上可以安装有第二驱动元件，所述第二驱动元件与所述第一驱动元件接合，并且根据使用者的操控所述手柄可以将驱动力传送到第二驱动元件。
所述第一驱动部的一侧可以安装在所述机器人臂的前端上，第二驱动部可以安装在所述第一驱动部的另一侧上。在此情况下，所述第二驱动部可拆卸地安装在所述第一驱动部上，当所述第二驱动部与所述第一驱动部分离时，所述第一驱动部具有与其另一侧联结的单独的遮盖件。
所述手术机器人还可以包括：传感器部，被配置为感测使用者对所述手柄的操控和输出感测信号；以及控制器，被配置为根据所述感测信号产生控制信号，其中，所述控制器执行增强使用者的操控的增强功能。
本发明的又一方面提供一种用于混合手术机器人的适配器，插置所述适配器以将器械安装在装配在手术机器人上的机器人臂上。适配器包括：第一驱动部，该第一驱动部安装在所述机器人臂的前端并且由从所述机器人臂传送的驱动力操作；以及手柄，该手柄与所述第一驱动部联结并且被配置为根据使用者操控将驱动力传递到所述第一驱动部。
所述可以器械包括：第二驱动部，所述第二驱动部安装在所述第一驱动部上并且由从所述第一驱动部传送的驱动力操作；杆，该杆与所述第二驱动部联结并且将传动装置容纳在其中，所述传动装置与所述第二驱动部连接；以及执行器，该执行器可以与所述杆的远端联结，该执行器与所述传动装置连接，并且被配置为根据所述第二驱动部的操作执行手术所需的动作。
所述机器人臂的前端可以形成有致动器，第一驱动部上可以安装有与所述致动器接合的第一驱动元件；第二驱动部上可以安装有与所述第一驱动元件接合的第二驱动元件，所述传动装置可以包括与所述第二驱动元件联结的线，并且根据使用者操控，所述手柄可以将驱动力传送到所述第一驱动元件。
所述第一驱动部的一侧可以安装在所述机器人臂的前端上，第二驱动部可以安装在所述第一驱动部的另一侧上。所述适配器可以用作安装在手术机器人上的无菌适配器。所述手术机器人还可以包括传感器部，被配置为感测使用者对所述手柄的操控和输出感测信号；以及控制器，被配置为根据所述感测信号产生控制信号，其中，所述控制器可以执行增强使用者的操控的增强功能。
本发明的又一方面提供一种混合手术机器人，用于通过安装在机器人臂上的器械进行手术。该混合手术机器人包括：致动器，该致动器形成在所述机器人臂的前端，并且根据从所述机器人产生的控制信号被驱动；以及手柄，该手柄与所述机器人臂联结，并且配置为根据使用者的操控将驱动力传送到致动器。
所述器械可以包括：驱动部，该驱动部安装在所述机器人臂的前端上并且由从机器人臂传送的驱动力操作；杆，该杆与所述驱动部联结并且将传动装置容纳在其中，所述传动装置与所述驱动部连接；以及执行器，该执行器与所述杆的远端联结，该执行器与所述传动装置连接，并且配置为根据所述驱动部的操作执行手术所需的动作。
混合手术机器人还可以包括：传感器部，被配置为感测使用者对所述手柄的操控和输出感测信号；以及控制器，被配置为根据所述感测信号产生控制信号，其中，所述控制器可以执行增强使用者的操控的增强功能。
本发明的另一方面提供一种混合手术机器人系统，包括：机器人臂；器械，该器械安装在所述机器人臂上并且由从所述机器人臂传送的驱动力操作；以及手柄，该手柄配置为根据使用者的操控将驱动力传递到所述器械，其中，所述器械配置为根据从所述机器人臂传送的一个或多个驱动力和从所述手柄传送的驱动力执行手术所需的动作。
所述手柄与所述机器人臂和所述器械中的一个或多个联结。所述手柄可以被制造为单独的元件并且与所述器械联结，或者可以与插置在所述机器人臂和所述器械之间的无菌适配器联结。
所述混合手术机器人系统还可以包括：传感器部，被配置为感测使用者对所述手柄的操控和输出感测信号；以及控制器，被配置为根据所述感测信号向所述机器人臂传递驱动力，其中，所述控制器可以执行增强使用者的操控的增强功能。
本发明的又一方面提供一种控制手术机器人的方法，所述手术机器人包括机器人臂，安装在该机器人臂上并且由从该机器人臂传送的驱动力操作的器械，用于手动操控的手柄，该手柄配置为根据使用者的操控将驱动力传递到所述器械。该方法包括：(a)将从感测使用者特定操控的传感器输出的感测信号作为输入接收；以及(b)根据所述感测信号调节从所述机器人臂传送的驱动力。
所述作为输入接收可以包括：感测使用者对装配在手术机器人上的开关和/或手柄的操控。在此情况下，所述调节可以包括阻断从所述机器人臂向所述器械传送的所述驱动力或者从所述手柄向所述器械传送的所述驱动力。另外，所述调节可以包括调节从所述机器人臂传送的所述驱动力，使得增强使用者的操控。
本发明的又一方面提供一种手术机器人的控制方法，所述手术机器人包括机器人臂，安装在该机器人臂上并且由从该机器人臂传送的驱动力操作的器械，用于手动操控的手柄，该手柄配置为根据使用者的操控将驱动力传递到所述器械。该方法包括：将根据特定使用者操控产生的感测信号作为输入接收；根据使用者对所述手柄上的操控将所述器械的驱动记录存储为历史数据；以及产生传送到所述机器人臂的驱动力，从而根据所存储的历史数据驱动所述器械。
本发明的另一方面提供一种数字处理装置可读的记录介质，该记录介质明确包含该数字处理装置可执行的指令程序，以执行上述手术机器人的控制方法。
根据本发明的实施例，可以将用于手动操控的手柄添加到安装有器械的手术机器人中，以便人可以与机器人一起有效地进行手术，并且如果在使用手术机器人执行远程手术期间发生紧急情况，以便靠近患者的外科医生可以直接手动操控手柄来进行手术。
另外，手术机器人使得更能交互进行手术培训过程，因为当必要时或当紧急情况下培训者可以手动地直接操控手柄，而不考虑受训者输入的机器人操控，或相反地，培训者可以操控机器人，而不考虑受训者的手动操控。
在以下描述中将部分阐明本发明的其它方面和优点，并且从说明书或通过学习本发明的实践，本发明的其它方面和优点将部分地变得显而易见。
附图说明
图1是根据本发明一个实施例的混合手术器械的概念图；
图2是根据本发明另一个实施例的混合手术器械的概念图；
图3示出根据本发明一个实施例的手柄的结构和器械的操作；
图4示出根据本发明另一个实施例的手柄的结构和器械的操作；
图5是根据本发明一个实施例的用于手动操控手术器械的手柄件的概念图；
图6示出根据本发明一个实施例的混合手术器械的适配器的概念图；
图7是根据本发明的一个实施例的混合手术机器人的概念图；
图8是示出根据本发明一个实施例的混合手术机器人系统的组成图；
图9是示出根据本发明一个实施例的控制手术机器人的方法的流程图；
图10是示出根据本发明另一个实施例的控制手术机器人的方法的流程图。
具体实施方式
由于本发明允许各种变型和多个实施例，因此将在附图中示出并在书面说明书中详细描述具体的实施例。然而，这不意在将本发明限制在具体的实施方式中，并且应该理解，所有不脱离本发明的精神和技术范围的变型、同等物和替换都包括在本发明中。在书面说明书中，当现有技术的某些详细说明被视为不必要地使本发明的实质不清楚时，省略这些详细说明。
尽管诸如“第一”和“第二”之类的术语可以用于描述各种组件，但是这些组件不一定限于上述术语。上述术语仅用于将一个组件和其它组件区分开来。
在本说明书中使用的术语仅用于描述具体的实施例，并且不意在限制本发明。单数表达包括复数表达，除非它在上下文中具有明确的不同含义。在本说明书中，应该理解，诸如“包括”或“具有”之类的术语意在表示公开在说明书中的特征、数量、步骤、操作、组件、部件或其结合的存在，并且不意图排除可以存在或增加一个或多个不同的特征、数量、步骤、操作、组件、组件或其结合的可能。
将在下文中参照附图详细描述本发明的一些实施例。在所有附图中使用相同的附图标记表示相同或相对应的组件，并且省略对相同组件的重复描述。
图1是根据本发明一个实施例的混合手术器械的概念图；图2是根据本发明另一个实施例的混合手术器械的概念图；图3示出根据本发明一个实施例的手柄的结构和器械的操作；图4示出根据本发明另一个实施例的手柄的结构和器械的操作。图1到图4示出机器人臂3、致动器5、手柄10、器械20、驱动部22、驱动元件23、线24、杆26，以及执行器28。
该实施例的特征是器械上安装有用于手动操控的手柄，所述器械本身安装在手术机器人上，从而手动手术和机器人手术都可以使用安装在机器人上的器械。以下，将本实施例中的可以用于手动手术和机器人手术的器械称为“混合手术器械”。
可以像普通手动进行的手术一样在外科医生手中直接握住混合手术器械20，或者在机器人执行手术所需的动作时将混合手术器械20安装在用于机器人手术的机器人臂3上。在以下描述的实施例中，将由人握住手柄操控器械20称为“手持控制”，将由机器人操作器械20称为“机器人控制”。
根据本实施例的混合手术器械20的特征在于用于手动操控的手柄10额外地安装在最初安装在手术机器人上的器械上，从而器械20不仅可以通过从机器人产生和传输的驱动力而且还可以通过使用者对手柄10的操控进行操作。
如图1和图2所示，器械20可以包括安装在机器人臂3上的驱动部22、连接到驱动部22的杆26，与杆26的远端联结的执行器28，额外地与驱动部22联结用于手动操控的手柄10。
安装在机器人臂3上的驱动部22可以接收从机器人臂3传送的驱动力，和通过该驱动力进行操作。更具体地，驱动部22可以安装在机器人臂3上，从而形成在机器人臂3上的致动器5与安装在驱动部22上的驱动元件23连接，并且当致动器5在该状态下操作(转动，振动等)时，可以操作与致动器5互锁的驱动元件23，以将机器人中产生的驱动力传送到器械20。驱动元件23与致动器5的连接可以根据驱动元件23与致动器5的形状和结构以不同方式实现，诸如通过齿轮联结、压装联结、离合器联结等。
在一个方向上延伸的杆26可以与驱动部22联结，并且执行器28可以安装在杆26的远端上，从而杆26可以用作协助将执行器28插入手术位置的导杆。将驱动元件23与执行器28连接的多条线24可以容纳在杆26中，因而杆26也可以用作驱动部22和执行器28之间的动力传送通道。虽然图1和图2所示的杆26具有圆柱杆的形状，可以理解，在允许杆26执行上述功能的范围内，可以使用各种形状和结构的杆26。
例如，如果驱动元件23和执行器28是滑轮联结的，则滑轮线24可以容纳在杆26中。在该情形中，如果假定执行器28以四个自由度移动，则与执行器28的四个部分分别连接的四组滑轮线可以通过杆26与具有滑轮结构的四个驱动元件23连接。因此，当在机器人臂3上安装器械20时，操作致动器5可以操作驱动元件23，使得执行器28的每个部分通过与驱动元件23滑轮联结的线24移动，从而执行器28可以执行手术所需的动作。
如图1和图2所示，当手柄10与驱动部22联结，从而使用者可以通过操控手柄10操作安装在驱动部22内的驱动元件23时，驱动元件23可以根据致动器5的操作进行操作，也可以根据手柄10的操控进行操作。在任何一种情况下，可以根据驱动元件23的操作通过线24传送驱动力，从而可以移动与杆26的远端联结的执行器28。也就是，可以通过驱动机器人或通过操控手柄10操作通过线24与驱动元件23连接的执行器28。
即使对于安装在机器人臂3上的器械20，如果从机器人臂3传送到器械20的驱动力被阻断，机器人臂3的电机仍可以自由移动，从而人可以直接操控手柄10来手动进行手术。以下，在器械20安装在机器人上时对该器械20进行的手动操控被称为本地控制。
可以用各种方式实现对从机器人臂3传送到器械20的驱动力的阻断，例如，通过在手术机器人上安装单独的按钮或通过预设手柄10的特定移动，以及准备一种设定，从而按下按钮或根据预设的移动移动手柄10使得机器人的主控制器不产生驱动力或不将产生的驱动力传送到机器人臂3。然后，可以将机器人臂3置于根据外力自由移动的自由移动状态下。
可以将手术机器人臂3设计和控制为器械20围绕特定转动中心(例如，与远端部分的特定位置对应的点)移动和转动。该虚拟中心点被称为“远程移动中心”或“RCM”。在刺穿患者皮肤并且插入执行器28后进行的机器人手术中，可以使机器人臂3围绕RCM点移动和转动，以防止伤害患者皮肤和使皮肤的穿孔最小。
当通过本地控制操控根据本实施例的器械20时，机器人臂3和安装在该机器人臂3上的器械20可以围绕RCM点移动和转动，从而即使当器械20由人直接操控时，其也以稳定的方式移动而不偏离RCM点。也就是，使手柄10上、下、左、右移动会使得器械20的端部(即，执行器28)围绕RCM点上、下、左、右移动。
当然，当根据本实施例的器械20与机器人臂3分开并且通过手持控制进行操控时，其可以与常规的手术工具相似的方式进行操作。
可以用与执行器28的操作自由度对应的自由度操控根据本实施例的手柄10。例如，用于手动操控的手术工具可以设计和制造为5个自由度，安装在手术机器人上的器械20可以设计和制造为7个自由度，以使得移动与手腕的移动方式类似，即在上、下、左、右方向上范围从简单的抓取动作到转动。
因此，通过本实施例的手柄10，可以在手柄10上安装抓取器以使得执行器28可以执行抓取动作，从而拉或推抓取器使得执行器28执行抓取动作。另外，如图1所示，可以使手柄10和杆26围绕同一转动轴扭转，从而杆26可以对应于手柄10上的扭转操控而扭转。此外，如图2所示，即使手柄10和杆26的扭转轴不同(见图2的Z1轴和Z2轴)，也可以使杆26对应于手柄10上的扭转操控(图2中围绕Z1转动)而扭转(图2中围绕Z2转动)。与手柄和杆的这种扭转操控相关的技术主旨可以应用于后面描述的其它实施例中。
也可以实现如下结构：在上、下、左、右方向上弯曲手柄10使得执行器28也相应地在上、下、左、右方向上弯曲。
可以实现使用者操控手柄10和因而产生的器械20的操作的各种其它方法。例如，图3示出了制造具有可转动结构的手柄10和转动手柄10本身的方法，以实现腕关节式接合，而图4示出了在手柄10上形成与操纵杆(图4中的“J”)类似的操控元件和通过在向上、向下、向左或向右方向用拇指推动该操控元件来操控它以实现用于器械20和/或执行器28的腕关节式接合方法。
当手动操控的手柄10安装在装配在机器人上的器械20上并且通过手持控制或本地控制操控手柄10时，可能存在手术期间需要的动作由人很难完成的情况。在这种情况下，可以再次由机器人操作器械20，以补充人的能力。以下，在阻断人输入的手动操控时，这种由机器人操作器械20的操作称为远程控制。
另外，可能存在人的手动操控不能提供足够的驱动力的情况，在这种情况下，从机器人臂3传送的驱动力可以用于提高人提供的驱动力。例如，当人想将手柄10移动到左边，从而执行器28围绕RCM点转动并且移动到右边时，传感器可以检测到手柄10向左的移动并且向机器人的主控制器发送感测信号，控制器9可以接收该感测信号，产生驱动力，并且通过机器人臂3传送驱动力，从而执行器28向右转动。
感测使用者操控意向并且从机器人产生和传送驱动力从而使得器械20根据使用者意向进行操作的功能被称为“增强功能”。为了执行该增强功能，可以在机器人的主控制器上提供基于诸如柔顺性控制技术(compliance controltechnique)等的本领域技术人员公知的各种控制技术的动作控制功能。这里不详细描述这些控制技术。
以下，在人的手动操控中介入机器人对器械20的操作(诸如根据上述增强功能)被称为混合控制。
以上提供了各种操作方法的描述，在所述操作方法中，用于手动操控的手柄被安装在装配在手术机器人上的器械20上。然而，用于手动操控的手柄10不必一定安装在器械20上。以下将参考图5和图6描述其它实施例。
图5是根据本发明一个实施例的用于手动操控手术器械的手柄件的概念图。在图5中示出了机器人臂3、致动器5、手柄10、手柄件12、第二驱动部14、第二驱动元件15、器械20、第一驱动部22、第一驱动元件23、线24、杆26和执行器28。
该实施例的特征是以单独部件(即手柄件12)的形式制造用于手动操控的手柄10，该手柄件12安装在器械20上，以便能够手动操控器械20。也就是，如图5所示，单独的手柄件12可以被制造和联结到器械20的驱动部(第一驱动部22)的与安装到机器人臂3上的侧面相反的侧面。
通过将单独的手柄件12联结到器械20上并且手动操控手柄10，可以通过上述手持控制操控器械20，此外，通过在器械20与机器人臂3联结时将手柄件12联结到器械20上并且手动操控手柄10，可以通过上述本地控制和/或混合控制操控器械20。
当处于人的手动输入被阻断并且机器人操作器械20的远程控制状态中时，不需要用于手动操控的手柄10，因此手柄件12可以分开。
如此将用于手动操控的手柄10制造为单独部件和可拆卸地将它与器械20联结使用，除了手柄件12的额外的联结结构，可以与前面相同的方式制造安装在机器人上的器械20。因此，可以不显著增加成本的情况下制造器械20，同时外观与机器人专用的器械相似。
参考图5描述根据本实施例的器械20和手柄件12的操作，手柄件12可以包括第二驱动部14和与其联结的手柄10，其中通过将第二驱动部14与第一驱动部22联结，可以在器械20上安装手柄件12。
手柄件12可以被构造为在使用者操控手柄10时操作第二驱动部14(更具体地，安装在第二驱动部14中的第二驱动元件15)。由于第二驱动部14安装在第一驱动部22上，并且操控手柄10来操作第二驱动部14，因此驱动力被传送到第一驱动部22，并且器械20进行操作。
除了形成在驱动部上用于安装和操作手柄件12的结构以外，器械20的结构与前面描述的实施例的结构相同。也就是，如图5所示，如果假定第一驱动部22的一侧安装在机器人臂3上，则用于安装手柄件12的联结装置可以形成在第一驱动部22的另一侧，第二驱动部14可以安装在这里，以便能够手动操控器械20。
然而，应该理解第一驱动部22的“另一侧”不一定表示安装到机器人臂3的所述侧的相反侧，而是包括除了安装到机器人臂3的所述侧以外的所有其它侧。显然，根据本实施例的手柄件12可以与第一驱动部22的任意一侧联结。
第一驱动元件23安装在与机器人臂3的致动器5互锁以便操作的第一驱动部22上。如图5所示，第一驱动元件23可以暴露在要与手柄件12联结的一侧。因此，通过将第二驱动部14与第一驱动部22联结，从而使得安装在第二驱动部14上的第二驱动元件15与第一驱动元件23互锁的，使得不仅可以通过致动器5而且可以通过使用者对手柄10的操控也可以操作第一驱动元件23。应该理解，与致动器5和第一驱动元件23之间的连接方式相似，可以用各种方式实现第一驱动元件23和第二驱动元件15之间的连接。
当处于上述远程控制状态等时，在第二驱动部14保持安装在第一驱动部22上时，可以将手柄件12分离。如果这样分离手柄件12，则可以露出第一驱动部22的内部结构(例如，第一驱动元件23)，因此在该情况下，通过将单独的遮盖件与第一驱动部22的另一侧(即，与手柄件12联结的一侧)联结可以保护第一驱动部22。
通过这样制造和使用单独的手柄件12，只有当需要用于手动操控的手柄10时，才将手柄件12安装到器械20上使用，从而不增加器械20的总体积。用于手动操控的手柄件12可以制造为满足手术相关要求、使用者喜好、成本等方面的各种需求的各种类型。
图6是根据本发明一个实施例的混合手术器械的适配器的概念图。在图6中示出了机器人臂3、致动器5、手柄10、适配器16、第一驱动部18、第一驱动元件19、器械20、第二驱动部22、第二驱动元件23、线24、杆26和执行器28。
本实施例示出了用于混合手术机器人的适配器16的例子，在该混合手术机器人中，手柄10安装在无菌的适配器上，该适配器插置在器械20和机器人臂3之间，以便将一个安装到另一个上。
也就是，不直接将手柄10安装在器械20上，或制造单独的手柄件12，而是可以将用于手动操控的手柄的功能添加到无菌的适配器16中，该无菌的适配器在将器械20和机器人臂3连接的部分处使用。以此方式将手柄10安装到无菌的适配器16中可以节省成本，这是因为不再需要将手柄10直接安装在每个器械20上。
根据本实施例的混合手术机器人的适配器16是这样的适配器，当器械20安装到机器人臂3上时，该适配器16插置在器械20和机器人臂3之间。该适配器可以包括驱动部(第一驱动部18)和与第一驱动部18联结的手柄10，其中通过将第一驱动部18安装在机器人臂3上，并且将器械20的驱动部(第二驱动部22)与第一驱动部18联结，适配器16可以插置在器械20和机器人臂3之间。
基本上，第一驱动部18可以与机器人臂3的致动器5联结，并且可以接收从机器人臂3传送的驱动力，从而根据致动器5的操作来操作第一驱动元件。另外，适配器16可以构造为使第一驱动部18(更具体地，安装在第一驱动部18上的第一驱动元件19)根据使用者对手柄10操控来操作。由于第二驱动部22安装在第一驱动部18上，并且操控手柄10来操作第一驱动元件19，因此可以操作安装在第二驱动部22上的第二驱动元件23，从而使得也可以通过手动操控来操作器械20。
该实施例包括在机器人臂3和器械20之间插置适配器16，以允许手动操控。也可以在使得器械20能够安装到适配器16上的范围内，将通过接收机器人臂3提供的驱动力或通过操控手柄10可以操作的器械20制造为与以前相同的结构。
当这样将手动操作功能添加到适配器16中时，第一驱动部18的一侧可以安装在机器人臂3上，而第二驱动部22可以安装到第一驱动部18的另一侧上。因此，根据本实施例的适配器16可以插置在机器人臂3和器械20之间，以用作手动操控器械20的手柄10。
如上所述，可以单独制造根据本实施例的适配器16，也可以通过将手柄10添加到通常安装在手术机器人上的无菌的适配器上来制造。因此，可以单独地制造为被设计用于手动操控且配备有手柄10的无菌的适配器16，以便使用用于普通机器人手术的现有的无菌适配器，和当进行包括手动操控的混合手术时使用用于手动操控的无菌适配器16代替现有的无菌适配器。
图7是根据本发明的一个实施例的混合手术机器人的概念图。在图7中示出了机器人臂3、致动器5、手柄10、适配器20、驱动部22、驱动元件23、线24、杆26和执行器28。
介绍将用于手动操控的手柄10添加到手术机器人上的例子的上述描述包括将手柄10添加到器械20上，制造和安装单独的手柄件12，和将手柄10添加到无菌适配器16中。如图7所示，也可以直接将根据本实施例的用于手动操控的手柄10添加到机器人臂3中。
额外将用于手动操控的手柄10安装到机器人臂3本身上提供的优点是机器人可以用作带有现有器械或现有无菌适配器的混合手术机器人，而不用改变器械或无菌适配器的结构。
也就是，在根据本实施例将手柄10安装在机器人臂3上的情况中，手柄10可以被构造为其与形成在机器人臂3的前端(即，器械20安装在机器人臂3上的部分)上的致动器5连接，从而当使用者操控手柄10时，可以相应地操作致动器5。
因此，形成在机器人臂3上的致动器5可以由从机器人产生和发送的控制信号驱动，或可以由使用者对与致动器5连接的手柄10的操控来操作。如上所述，如果以此方式将手柄10安装到机器人臂3上，则安装在机器人臂3上的无菌适配器和器械可以具有和以前一样的结构。
上述增强功能可以在安装在机器人臂3上的手柄10上实现。也就是，在识别出使用者打算如何操控手柄10(诸如通过感测手柄10的初始操控等)，然后产生和发送驱动力以后，可以驱动致动器5，从而实现与使用者意图一致的移动。
可以在上述和/或以下描述的手术机器人上安装用于检测手柄10的初始操控并输出感测信号的传感器部7，以及用于提供控制使得根据所述感测信号产生驱动力，并且通过机器人臂3将驱动力传送到器械20的控制器9。
传感器部7可以包括安装在手柄10上的诸如接触式传感器、加速度传感器、红外传感器等各种类型的传感器，控制器9可以实现为单独的微处理器或作为手术机器人的主控制器的模块部分。
图8是示出根据本发明一个实施例的混合手术机器人系统的组成图。图8示出了机器人臂3、传感器部7、控制器9、手柄10和器械20。
本实施例涉及用于进行混合手术的手术机器人系统，在该系统中额外安装了用于手动操控的手柄10。整个机器人系统可以包括机器人臂3、安装在机器人臂3上的器械20和添加到机器人系统中的手柄10，其中器械20可以由从机器人臂3传送的驱动力操作，或可以由从使用者操控的手柄10传送的驱动力操作。
如上述实施例所描述的，在使得能够手动操控手术机器人系统的范围内，可以在不同位置和通过各种方法(诸如通过与器械20联结、直接与机器人臂3联结、制造将要安装到器械20上的单独的手柄件12、与无菌适配器16联结等)实现手柄10的联结。在形成手术机器人系统的装置中，没有安装手柄10的那些装置可以具有与前面一样的结构。
另外，根据本实施例的手术机器人系统可以包括使用者对手柄10进行操控的增强功能。为此，可以额外安装用于感测使用者对手柄10进行的操控的传感器部7，并且控制所述系统的控制器9可以执行感测信号的输入和处理，以及控制用于实现增强功能的驱动力。
图9是示出根据本发明一个实施例的控制手术机器人的方法的流程图。该实施例涉及控制机器人的方法，通过该方法上述手术机器人可以用于同时提供手动操控的手术和机器人手术。
根据本实施例的手术机器人的控制模式主要可以分为人将手柄10握在手中操控器械20的手持控制模式，和机器人以任何形式参与操作器械20的机器人控制模式。
机器人控制模式可以对应于：第一，本地控制模式，其中在器械20安装在机器人上时手动操控器械20，第二，远程控制模式，其中阻断人的手动操控而由机器人操作器械20，第三，混合控制模式，其中在由人手动操控期间机器人参与器械20的操作，如增强功能的情况。
根据本实施例的手术机器人的控制方法可以包括的过程主要有：接收感测信号，当检测到使用者对手柄10和/或单独的开关等的操控时输出该感测信号(S10)；以及控制驱动力的产生和传送，从而可以根据所述感测信号以与各个控制模式一致的方式驱动机器人(S20)。
例如，如果确定感测信号指示出本地控制模式，即如下模式：器械20安装在机器人上，但是不是由机器人操作，而是人直接通过操控用于手动操控的手柄10直接操控器械20，然后机器人的主控制器可以阻断从机器人臂3传送到器械20的驱动力(S22)，和使得器械20仅按照使用者的操控移动。然而，仍在该情况中，可以将机器人本身的设计相关的机械限制应用到器械20的操控上，例如，如上面已经描述的，使机器人臂3围绕RCM点移动和转动。
例如，如果确定感测信号指示出远程控制模式，即如下模式：器械20不是通过对用于手动操控的手柄10进行操控来操作，而是由机器人操作，然后机器人的主控制器可以阻断从手柄10传送到器械20的驱动力(S24)，和使得器械20仅按照机器人的操控移动。
可以通过不同方式实现将机器人臂3和器械20之间的驱动力和/或手柄10和器械20之间的驱动力的阻断机制，这里将不详细描述。
如果确定感测信号指示出混合控制模式，即如下模式：由机器人和手柄10两者操作器械20，诸如当机器人参与增强手柄10上的操控力时，当通过人手动操控手柄10来操作器械20时，然后机器人的主控制器可以控制从机器人臂3传送的驱动力，从而按照意图实现使用者的操控(S26)，例如，增强。
除了增强功能，混合控制也可以有各种其它模式，诸如使机器人参与人难以完成的高精度动作或危险动作等的功能。这里不详细描述这些功能的控制算法。
通过实现和控制添加了用于手动操控的手柄10的手术机器人系统，可以由人的手动操控和由机器人提供的操控来进行手术。例如，如果有四个机器人臂3，则可以由人使用两个以直接提供手动操控，同时通过远程控制由机器人操控另外两个(外科医生在手术机器人的控制台操控主接口)。与外科医生在手术机器人的控制台换手操控所有四个机器人臂3相比，这可以提高手术的安全性和效率。
另外，在“远程手术”的情况中，其中，主控制台和从控制台交换来自远程地点的信号，以驱动从动机器人和进行手术，在手术现场仅仅有从动机器人。由于器械20安装在机器人臂3上，因而外科医生可以通过操控主控制从远程地点远程地进行手术，同时另一个外科医生可以在从动机器人旁边观察手术。
在使用根据本实施例的手术机器人进行远程手术时，如果发生紧急情况，例如由于外科医生操控主控制出错或机器人系统故障等，则在手术地点的外科医生可以立即按动开关转为本地控制模式。然后，由于机器人臂3能够自由移动，因而在手术地点的外科医生可以手动操控器械20和直接进行手术，以便应对紧急情况。
以此方式手动操控器械可以用与常规的手动手术相同的方式进行。也就是，可以与常规的、普通的腹腔镜工具类似地使用安装在手术机器人上的器械。
在常规的机器人手术中，当需要手动进行手术时，存在的烦扰是必须从患者身上拿掉所有安装在机器人上的器械，并且再次插入用于手动操作的手术工具。然而，如果使用根据上述实施例的手术机器人，则可以直接手动操控安装在机器人上的器械，从而可以节省到目前为止耗费在拿掉安装在机器人上的器械和插入普通的手术工具的时间，使得能够更安全和更迅速地应对紧急情况。
另外，可以将根据本实施例的手术机器人用于提供手术培训。在本地模式下(其中器械20安装在机器人臂30上，但不是由机器人操作)，受训者可以通过手动操控器械20来进行手术，同时培训者可以坐在主控制台旁观察受训人进行手术。
在该状态下如果受训者出错或如果发生紧急情况，培训者可以立即将机器人切换到远程控制模式并且操控机器人响应紧急情况。
相反地，受训者可以坐在主控制旁进行机器人手术，同时培训者观察被操控的器械20，并且如果受训者出错或者如果发生紧急情况，则培训者可以立即将机器人切换到本地控制并且操控机器人以应对紧急情况。
如以上已经描述的，可以用不同方式实现根据本实施例的手术机器人在不同控制模式之间的转换，诸如通过以预设方式操控安装在机器人上的用于手动操控的手柄10，或按压单独的开关等。
图10是示出根据本发明另一个实施例的控制手术机器人的方法的流程图。
由于用根据本实施例的手术机器人，可以手动输入操控和由机器人输入操控，可以由机器人立即或在将来跟踪预输入的手动操控的顺序，因而所述手术机器人可以用于高难度手术或手术培训等。
也就是，在接收到根据使用者操控的感测信号(S30)后，如果确定记录了随后的手动操控，则使用者如何操控手柄10以驱动器械20的记录可以被存储为历史数据形式(S40)。
当根据使用者的操控要再次驱动器械20时，可以载入存储的历史数据以控制机器人，从而机器人可以再次以与使用者操控手柄10来驱动器械20相同的方式驱动器械20(S50)。
可以将上述根据本实施例的手术机器人的控制方法存储在记录介质中，以便以后结合诸如手术机器人系统的特定装置执行。这里，记录介质可以是磁或光记录介质，诸如硬盘、磁带、CD、VCD和DVD，或者可以是离线或在线建立的客户端或服务器端的计算机中的数据库。
尽管参照了具体的实施例来描述本发明，但是本领域技术人员应该理解，在不脱离由所附的权利要求所限定的本发明的精神和范围的情况下，可以对本发明进行各种变型和改进。
Claims (32)
1.一种混合手术器械，用于安装在装配在手术机器人上的机器人臂上，
其中，所述器械具有与其联结的用于手动操控的手柄，并且所述器械根据使用者对所述手柄的操控执行手术所需的动作。
2.根据权利要求1所述的混合手术器械，还包括：
驱动部，该驱动部安装在所述机器人臂的前端上并且通过从所述机器人臂传送的驱动力进行操作；
杆，该杆与所述驱动部联结并且将传动装置容纳在其中，所述传动装置与所述驱动部连接；以及
执行器，该执行器与所述杆的远端联结，该执行器与所述传动装置连接，并且通过从所述机器人臂和所述手柄中的任何一个或多个传送的驱动力进行操作，
其中，所述手柄与所述驱动部联结，并且所述手柄被配置为根据使用者的操控将驱动力传递到传动装置上。
3.根据权利要求2所述的混合手术器械，其中，所述机器人臂的前端形成有致动器，
所述驱动部上安装有驱动元件，所述驱动元件与所述致动器接合，
所述传动装置包括与所述驱动元件联结的线，以及
所述手柄根据使用者的操控将所述驱动力传送到所述驱动元件。
4.根据权利要求2所述的混合手术器械，其中，操作所述执行器的自由度对应于操控所述手柄的自由度。
5.根据权利要求1所述的混合手术器械，其中，所述手术机器人还包括：
传感器部，该传感器部被配置为感测使用者对所述手柄的操控和输出感测信号；以及
控制器，所述控制器被配置为根据所述感测信号产生控制信号，
其中，所述控制器执行增强使用者的操控的增强功能。
6.一种手柄件，用于手动操控用于机器人手术的手术器械，所述手术器械包括：安装在装配在手术机器人上的机器人臂的前端上并且通过从所述机器人臂传送的驱动力进行操作的第一驱动部，与所述第一驱动部联结并且其中容纳有与所述第一驱动部连接的传动装置的杆，以及与所述杆的远端联结、与所述传动装置连接并且被配置为根据所述第一驱动部的操作执行手术所需的动作的执行器，所述手柄件包括：
第二驱动部，该第二驱动部安装在所述第一驱动部上并且被配置为将驱动力传送到所述第一驱动部以操作所述第一驱动部；以及
手柄，该手柄与所述第二驱动部联结，并且被配置为根据使用者的操控将驱动力传递到所述第二驱动部。
7.根据权利要求6所述的手柄件，其中，所述第一驱动部上安装有第一驱动元件，所述第一驱动元件与形成在机器人臂的前端上的致动器接合，
所述传动装置包括与所述第一驱动元件联结的线，
所述第二驱动部上安装有第二驱动元件，所述第二驱动元件与所述第一驱动元件接合，并且
根据使用者的操控所述手柄将驱动力传送到所述第二驱动元件。
8.根据权利要求6所述的手柄件，其中，所述第一驱动部的一侧安装在所述机器人臂的前端上，所述第二驱动部安装在所述第一驱动部的另一侧上。
9.根据权利要求8所述的手柄件，其中，所述第二驱动部可拆卸地安装在所述第一驱动部上，当所述第二驱动部与所述第一驱动部分离时，所述第一驱动部具有与其另一侧联结的单独的遮盖件。
10.根据权利要求6所述的手柄件，其中，所述手术机器人还包括：
传感器部，被配置为感测使用者对所述手柄的操控和输出感测信号；以及
控制器，被配置为根据所述感测信号产生控制信号，
其中，所述控制器执行增强使用者的操控的增强功能。
11.一种用于混合手术机器人的适配器，插置所述适配器以将器械安装在机器人臂上，所述机器人臂装配在所述手术机器人上，所述适配器包括：
第一驱动部，该第一驱动部安装在所述机器人臂的前端并且通过从所述机器人臂传送的驱动力进行操作；以及
手柄，该手柄与所述第一驱动部联结并且被配置为根据使用者的操控将驱动力传递到所述第一驱动部。
12.根据权利要求11所述的适配器，其中，所述器械包括：
第二驱动部，该第二驱动部安装在所述第一驱动部上并且通过从所述第一驱动部传送的驱动力进行操作；
杆，该杆与所述第二驱动部联结并且容纳传动装置，所述传动装置与所述第二驱动部连接；以及
执行器，该执行器与所述杆的远端联结，该执行器与所述传动装置连接，并且被配置为根据所述第二驱动部的操作执行手术所需的动作。
13.根据权利要求12所述的适配器，其中，所述机器人臂的前端形成有致动器，
所述第一驱动部上安装有第一驱动元件，所述第一驱动元件与所述致动器接合，
所述第二驱动部上安装有第二驱动元件，所述第二驱动元件与所述第一驱动元件接合，
所述传动装置包括与所述第二驱动元件联结的线，并且
所述手柄根据使用者的操控将驱动力传送到所述第一驱动元件。
14.根据权利要求12所述的适配器，其中，所述第一驱动部的一侧安装在所述机器人臂的前端上，所述第二驱动部安装在所述第一驱动部的另一侧上。
15.根据权利要求11所述的适配件，其中，所述适配器用作安装在手术机器人上的无菌适配器。
16.根据权利要求11所述的适配器，其中，所述手术机器人还包括：
传感器部，被配置为感测使用者对所述手柄的操控和输出感测信号；以及
控制器，被配置为根据所述感测信号产生控制信号，
其中，所述控制器执行增强使用者的操控的增强功能。
17.一种混合手术机器人，用于通过安装在机器人臂上的器械进行手术，该混合手术机器人包括：
致动器，该致动器形成在所述机器人臂的前端，并且根据从所述机器人产生的控制信号被驱动；以及
手柄，该手柄与所述机器人臂联结，并且被配置为根据使用者的操控将驱动力传送到所述致动器。
18.根据权利要求17所述的混合手术机器人，其中，所述器械包括：
驱动部，该驱动部安装在所述机器人臂的前端上并且通过从机器人臂传送的驱动力进行操作；
杆，该杆与所述驱动部联结并且容纳传动装置，所述传动装置与所述驱动部连接；以及
执行器，该执行器与所述杆的远端联结，该执行器与所述传动装置连接，并且被配置为根据所述驱动部的操作执行手术所需的动作。
19.根据权利要求17所述的混合手术机器人，还包括：
传感器部，被配置为感测使用者对所述手柄的操控和输出感测信号；以及
控制器，被配置为根据所述感测信号产生控制信号，
其中，所述控制器执行增强使用者的操控的增强功能。
20.一种混合手术机器人系统，包括：
机器人臂；
器械，该器械安装在所述机器人臂上并且通过从所述机器人臂传送的驱动力进行操作；以及
手柄，该手柄被配置为根据使用者的操控将驱动力传递到所述器械，
其中，所述器械被配置为根据从所述机器人臂传送的一个或多个驱动力和从所述手柄传送的驱动力执行手术所需的动作。
21.根据权利要求20所述的混合手术机器人系统，其中，所述手柄与所述机器人臂和所述器械中的一个或多个联结。
22.根据权利要求20所述的混合手术机器人系统，其中，所述手柄被制造为单独的元件并且与所述器械联结。
23.根据权利要求20所述的混合手术机器人系统，其中，所述手柄与插置在所述机器人臂和所述器械之间的无菌适配器联结。
24.根据权利要求20所述的混合手术机器人系统，还包括：
传感器部，被配置为感测使用者对所述手柄的操控和输出感测信号；以及
控制器，被配置为根据所述感测信号向所述机器人臂传递驱动力，
其中，所述控制器执行增强使用者的操控的增强功能。
25.一种手术机器人的控制方法，所述手术机器人包括机器人臂，安装在该机器人臂上并且由从该机器人臂传送的驱动力操作的器械，用于手动操控的手柄，该手柄被配置为根据使用者的操控将驱动力传递到所述器械，该方法包括：
(a)将从感测使用者特定操控的传感器输出的感测信号作为输入接收；以及
(b)根据所述感测信号调节从所述机器人臂传送的驱动力。
26.根据权利要求25所述的方法，其中，所述作为输入接收包括：感测使用者对装配在所述手术机器人上的开关的操控。
27.根据权利要求26所述的方法，其中，所述调节包括阻断从所述机器人臂向所述器械传送的所述驱动力或者从所述手柄向所述器械传送的所述驱动力。
28.根据权利要求25所述的方法，其中，所述作为输入接收包括：感测使用者对所述手柄的操控。
29.根据权利要求28所述的方法，其中，所述调节包括阻断从所述机器人臂向所述器械传送的所述驱动力或者从所述手柄向所述器械传送的所述驱动力。
30.根据权利要求28所述的方法，其中，所述调节包括调节从所述机器人臂传送的所述驱动力，从而增强使用者的操控。
31.一种手术机器人的控制方法，所述手术机器人包括机器人臂，安装在该机器人臂上并且由从该机器人臂传送的驱动力操作的器械，用于手动操控的手柄，该手柄被配置为根据使用者的操控将驱动力传递到所述器械，该方法包括：
将根据使用者特定操控产生的感测信号作为输入接收；
根据使用者对所述手柄的操控将所述器械的驱动记录存储为历史数据；以及
产生传送到所述机器人臂的驱动力，从而根据所存储的历史数据驱动所述器械。
32.一种数字处理装置可读的记录介质，该记录介质明确包含该数字处理装置可执行的指令程序，以执行根据权利要求25至31中任意一项所述的手术机器人的控制方法。
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2011002215A2 (ko) | 2011-01-06 |
| KR101180665B1 (ko) | 2012-09-07 |
| CN102469995B (zh) | 2015-03-11 |
| WO2011002215A3 (ko) | 2011-04-28 |
| KR20110003229A (ko) | 2011-01-11 |
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