CN104287836A - Surgical robot semi-rigid intelligent instrument arm capable of achieving drilling and grinding state monitoring - Google Patents

Surgical robot semi-rigid intelligent instrument arm capable of achieving drilling and grinding state monitoring Download PDF

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Publication number
CN104287836A
CN104287836A CN201410574026.7A CN201410574026A CN104287836A CN 104287836 A CN104287836 A CN 104287836A CN 201410574026 A CN201410574026 A CN 201410574026A CN 104287836 A CN104287836 A CN 104287836A
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China
Prior art keywords
semi
rigid
cutter
instrument arm
operation power
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CN201410574026.7A
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CN104287836B (en
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代煜
雪原
张建勋
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Nankai University
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Nankai University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B2017/1602—Mills
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
    • A61B2017/564—Methods for bone or joint treatment

Abstract

The invention relates to a surgical robot semi-rigid intelligent instrument arm capable of achieving drilling and grinding state monitoring. The surgical robot semi-rigid intelligent instrument arm is characterized in that a semi-rigid cantilever mechanism (an arc cutting mechanism) is added to the front of the holding part of a surgery power tool, a vibration sensor is adhered between the semi-rigid cantilever mechanism and the holding part of the surgery power tool, the output signal of the vibration sensor is input into the motion controller of the instrument arm, the controller performs fast Fourier transformation on the output signal of the vibration sensor, and the cutting state of the cutter, in two layers of cortical bones, in the surgery power tool is judged according to the transformation results. By the surgical robot semi-rigid intelligent instrument arm, the vibration signals during bone tissue grinding can be measured in real time, the relative contact position change of the cutter and the bone tissues can be identified according to the signals, safety of robot-aided bone surgeries can be increased, and high flexibility is achieved.

Description

A kind of can realization bores the semi-rigid intelligent apparatus arm of operating robot grinding condition monitoring
Technical field
The invention belongs to surgery assistor tool technical field, be specifically related to the semi-rigid intelligent apparatus arm of operating robot that can realize boring mill condition monitoring.
Background technology
In bone surgery, doctor commonly uses the exposure of operation power instrument or lesion part cutting, and operation power instrument, by exporting controlled mechanical kinetic energy, drives the apparatus such as milling cutter, drill bit to complete operation.For traditional artificial modus operandi, the technical parameter (comprising the amount of feeding, cutting depth and cutting speed etc.) cutting osseous tissue is grasped voluntarily by operative doctor completely, and therefore applying in a flexible way of power tool must rely on doctor to know from experience for a long time and experience accumulation.The work space of a lot of bone surgery is all narrower and small, and have again certain pathology variation and anatomical variation between individual patient, the cutter that operation process high speed rotates is easy to encounter vital tissue and cause the damage that cannot repair.
The appearing as to solve the problem of operating robot provides possibility.Domestic and international many research institutions to attempt state monitoring method in orthopedic surgery robot: the change being detected cutting tool and osseous tissue relative contact location by the sensor be arranged on robot arm, if faced a danger, state just changes the technical parameter cutting sclerotin in time, thus avoid the damage of normal tissue, but the force signal signal to noise ratio that this method obtains is lower.Operation power instrument is as the outut device of a mechanical kinetic energy, cutter not by means of only high-speed rotation cuts osseous tissue, or the driving source of a vibration, different being organized under this encourages presents different features, therefore can be judged the relative position relation of cutter and tissue by the method detecting Oscillation Amplitude.Yet there are no can Real-time Collection operation power instrument vibration signal and for bore mill condition monitoring invention occur.
Summary of the invention
The present invention seeks to solve the security monitoring problem of operating robot when carrying out the operation of brill mill, there is provided a kind of operating robot semi-rigid intelligent apparatus arm, to detect the relative position relation of cutter and tissue according to the vibration signal of the operation power instrument measured, and stop in time when there is precarious position creeping into, avoid damaging vitals.
Provided by the invention can realization bores the semi-rigid intelligent apparatus arm of operating robot grinding condition monitoring, between surgical machine human body and the blessing position of operation power instrument, install a semi-rigid cantilever mechanism additional, a vibrating sensor is adhered between semi-rigid cantilever mechanism and the blessing position of operation power instrument, the motion controller of the output signal implanting device mechanical arm of vibrating sensor, by motion controller, fast Fourier transform process is carried out to the output signal of vibrating sensor, the state that the cutter judged in operation power instrument according to result cuts in two-layer cortical bone.The motion controller of apparatus arm refers to for each joint of driver mechanical arm according to the hardware circuit (its core is generally digital signal processor and Advanced Reduced Instruction Set processor) of instruction campaign and software system (being generally embedded real-time operating system).
Described semi-rigid cantilever mechanism is a kind of circular lance structure, and namely having two ends, cross section in the centre along short transverse of cuboid body is the middle rectangular through hole for rectangle of semicircle, and two ends half radius of a circle is r 1, respectively have a groove in the upper and lower surface of cuboid body, the two ends of this channel section are radius r 1circular arc, centre is straight line.
The length of rectangular through hole in described cuboid body l>=50mm, the degree of depth w>=50mm, the height of cuboid body d 1=4 r 1+ 2 d 2, wherein, d 2for the wall thickness between rectangular through hole and lower notches, and r 1/ 3≤ d 2≤ r 1/ 2.
It is described that to carry out fast Fourier transform process by the motion controller of apparatus arm to the output signal of vibrating sensor be extract f, 2 f, 3 fthe Fourier coefficient at place a 1, a 2with a 3, and calculate a= a 1 a 2 a 3, wherein, ffor operation power tool spindle frequency; Critical state before being worn through by the amplitude detection sclerotin of analysis spectral line.The vibration signal passing through the different sclerotin generation of hardness when cutter can be different, cortical bone avalue is comparatively large, spongy bone abe worth less, when there is precarious position, timely control stops the feeding of cutter, avoids damaging vital tissue.
 
advantage of the present invention and good effect:
The present invention can measure the vibration signal in osseous tissue grinding process in real time, just can identify the change of cutter and osseous tissue relative contact location according to signal, thus improves the safety of robot assisted bone surgery, and sensitivity is higher.
 
Accompanying drawing explanation
Fig. 1 is the fixed position schematic diagram of the semi-rigid intelligent apparatus arm overall structure of operating robot and vibrating sensor.
Fig. 2 is semi-rigid cantilever mechanism structural representation.
Detailed description of the invention
embodiment 1:
The present invention adopts the vibration signal in method measurement operation power tool work process as shown in Figure 1, realizes boring mill condition monitoring by carrying out analysis to vibration signal.In figure, 1 is operation power instrument, and 2 is cutting tools that operation power instrument is installed, and comprises milling cutter and drill bit, and 3 is high-sensitivity vibration sensors, and 4 is the interfaces with surgical machine human body, and 5 is semi-rigid cantilever mechanisms.Vibrating sensor 3 sticks between semi-rigid cantilever mechanism 5 and the blessing position of operation power instrument.
As shown in Figure 2, it is a kind of circular lance structure to semi-rigid cantilever mechanism, and namely having two ends, cross section in the centre along short transverse of cuboid body is the middle rectangular through hole for rectangle of semicircle, and two ends half radius of a circle is r 1, respectively have a groove in the upper and lower surface of cuboid body, the two ends of this channel section are radius r 1circular arc, centre is straight line.This semi-rigid cantilever mechanism stressed bending time can produce finite angular displacements, can produce micro-displacement when being subject to cutting vibration and affecting, material used is spring steel.For semi-rigid cantilever mechanism, there is cuboid body height d 1=4 r 1+ 2 d 2, d 2for the wall thickness between rectangular through hole and lower notches, for ensureing that mechanical arm has enough rigidity, d 1>=50mm; For ensureing that semi-rigid cantilever can produce the deflection detected by sensor, r 1/ 3≤ d 2≤ r 1/ 2.The length of rectangular through hole in semi-rigid cantilever mechanism l>=50mm, the degree of depth w>=50mm.
Fourier transformation process
If ffor operation power tool spindle frequency, by apparatus arm motion controller Real-time Collection and analyze the signal that vibrating sensor 3 exports, complete following task by carrying out analysis to this signal:
Fast Fourier transform is carried out to signal, extracts f, 2 f, 3 fthe Fourier coefficient at place a 1, a 2with a 3, and calculate a= a 1 a 2 a 3.Bone is a kind of high density connective tissue with unique texture, and all skeletons all have the loose spongy bone in external hard cortical bone and inherence.The vibration signal passing through the different sclerotin generation of hardness when cutter can be different, cortical bone avalue is comparatively large, spongy bone abe worth less.Through Numerical Simulation Analysis, cortical bone avalue is about spongy bone amore than 6 times that are worth.According to athe situation of change of value can detect sclerotin be worn through before critical state, and when there is precarious position, timely control stops the feed motion of cutter, avoids damaging vital tissue.

Claims (4)

1. one kind can realize the semi-rigid intelligent apparatus arm of operating robot boring mill condition monitoring, it is characterized in that this structure installed a semi-rigid cantilever mechanism before the blessing position of operation power instrument, a vibrating sensor is adhered between semi-rigid cantilever mechanism and the blessing position of operation power instrument, the motion controller of the output signal implanting device mechanical arm of vibrating sensor, by motion controller, fast Fourier transform process is carried out to the output signal of vibrating sensor, judge the relative position of cutter in operation power instrument and skeleton according to result.
2. the semi-rigid intelligent apparatus arm of operating robot according to claim 1, it is characterized in that described semi-rigid cantilever mechanism is a kind of circular lance structure, namely having two ends, cross section in the centre along short transverse of cuboid body is the middle rectangular through hole for rectangle of semicircle, and two ends half radius of a circle is r 1, respectively have a groove in the upper and lower surface of cuboid body, the two ends of this channel section are radius r 1circular arc, centre is straight line.
3. the semi-rigid intelligent apparatus arm of operating robot according to claim 2, is characterized in that the length of rectangular through hole in described cuboid body l>=50mm, the degree of depth w>=50mm, the height of cuboid body d 1=4 r 1+ 2 d 2, wherein, d 2for the wall thickness between rectangular through hole and lower notches, and r 1/ 3≤ d 2≤ r 1/ 2.
4. the semi-rigid intelligent apparatus arm of the operating robot according to any one of claims 1 to 3, is characterized in that described carrying out fast Fourier transform process by the motion controller of apparatus arm to the output signal of vibrating sensor, extracts f, 2 f, 3 fthe Fourier coefficient at place a 1, a 2with a 3, and calculate a= a 1 a 2 a 3, wherein, ffor operation power tool spindle frequency; Critical state before being worn through by the amplitude detection sclerotin of analysis spectral line, the vibration signal passing through the different sclerotin generation of hardness when cutter can be different, cortical bone avalue is comparatively large, spongy bone abe worth less, when there is precarious position, timely control stops the feeding of cutter, avoids damaging vital tissue.
CN201410574026.7A 2014-10-24 2014-10-24 Surgical robot semi-rigid intelligent instrument arm capable of achieving drilling and grinding state monitoring Active CN104287836B (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106214189A (en) * 2016-08-16 2016-12-14 中国人民解放军第三军医大学第附属医院 Bone cartilage holostrome specimen Wicresoft sampler
CN106551723A (en) * 2016-11-22 2017-04-05 哈尔滨工业大学 A kind of minimally invasive spine surgical robot end Zhi Zhen mechanisms
CN107242894A (en) * 2017-06-12 2017-10-13 北京水木天蓬医疗技术有限公司 A kind of positioner for aiding in pedicle nail to punch
CN109758117A (en) * 2018-11-30 2019-05-17 广东工业大学 A kind of stage judgment method of bone reaming operation
CN109866079A (en) * 2019-03-15 2019-06-11 南开大学 A method of can be realized status monitoring in easily-deformable structure drilling process
US11337766B2 (en) 2019-03-15 2022-05-24 Mako Surgical Corp. Robotic surgical system and methods utilizing a cutting bur for bone penetration and cannulation
CN107242894B (en) * 2017-06-12 2024-04-30 北京水木天蓬医疗技术有限公司 Positioning device for assisting pedicle screw perforation

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CN101579250A (en) * 2009-06-18 2009-11-18 北京科技大学 Intelligent control device of surgical electric drill
US20100286694A1 (en) * 2009-05-08 2010-11-11 Rio Eddy H Del Surgical drill with curved burr attachment and method
WO2012073240A2 (en) * 2010-12-01 2012-06-07 Yossi Gross Boring element for selective boring
CN102599961A (en) * 2012-03-16 2012-07-25 南开大学 Intelligent surgical power tool capable of sensing rigidity and structure of tissue to be cut
CN103417267A (en) * 2012-05-18 2013-12-04 北京速迈医疗科技有限公司 Fine ultrasonic surgical system for orthopedics department

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CN101160104A (en) * 2005-02-22 2008-04-09 马科外科公司 Haptic guidance system and method
US20070213692A1 (en) * 2006-03-09 2007-09-13 Timo Neubauer Force action feedback in surgical instruments
US20100286694A1 (en) * 2009-05-08 2010-11-11 Rio Eddy H Del Surgical drill with curved burr attachment and method
CN101579250A (en) * 2009-06-18 2009-11-18 北京科技大学 Intelligent control device of surgical electric drill
WO2012073240A2 (en) * 2010-12-01 2012-06-07 Yossi Gross Boring element for selective boring
CN102599961A (en) * 2012-03-16 2012-07-25 南开大学 Intelligent surgical power tool capable of sensing rigidity and structure of tissue to be cut
CN103417267A (en) * 2012-05-18 2013-12-04 北京速迈医疗科技有限公司 Fine ultrasonic surgical system for orthopedics department

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106214189A (en) * 2016-08-16 2016-12-14 中国人民解放军第三军医大学第附属医院 Bone cartilage holostrome specimen Wicresoft sampler
CN106551723A (en) * 2016-11-22 2017-04-05 哈尔滨工业大学 A kind of minimally invasive spine surgical robot end Zhi Zhen mechanisms
CN106551723B (en) * 2016-11-22 2018-12-11 哈尔滨工业大学 A kind of minimally invasive spine surgical robot end Zhi Zhen mechanism
CN107242894A (en) * 2017-06-12 2017-10-13 北京水木天蓬医疗技术有限公司 A kind of positioner for aiding in pedicle nail to punch
CN107242894B (en) * 2017-06-12 2024-04-30 北京水木天蓬医疗技术有限公司 Positioning device for assisting pedicle screw perforation
CN109758117A (en) * 2018-11-30 2019-05-17 广东工业大学 A kind of stage judgment method of bone reaming operation
CN109866079A (en) * 2019-03-15 2019-06-11 南开大学 A method of can be realized status monitoring in easily-deformable structure drilling process
US11337766B2 (en) 2019-03-15 2022-05-24 Mako Surgical Corp. Robotic surgical system and methods utilizing a cutting bur for bone penetration and cannulation

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