CN105232155A - Surgical robot adjustment system - Google Patents
Surgical robot adjustment system Download PDFInfo
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- CN105232155A CN105232155A CN201510567702.2A CN201510567702A CN105232155A CN 105232155 A CN105232155 A CN 105232155A CN 201510567702 A CN201510567702 A CN 201510567702A CN 105232155 A CN105232155 A CN 105232155A
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Abstract
The invention provides a surgical robot adjustment system. Each mechanical arm is provided with an optical target lens, positions and Euler angles of the optical target lenses are measured by an optical tracking instrument, a calculation module calculates according to measured values to obtain a posture mapping relation of the optical target lenses, and a posture mapping relation of surgical instrument arms is obtained by calculation according to the posture mapping relation of the optical target lenses and a posture mapping relation between the surgical instrument arm of each mechanical arm and the optical target lens on the corresponding mechanical arm. A surgical robot controls postures of corresponding surgical instrument arms according to the posture mapping relation of surgical instrument arms, and accordingly movement control precision of the surgical robot is improved.
Description
Technical field
The present invention relates to technical field of medical instruments, particularly a kind of operating robot adjustment system.
Background technology
Creating in earlier 1900s with peritoneoscope is the Micro trauma surgical operation of representative, namely doctor is deep into inside of human body by elongated operation tool by the miniature incision of human body surface and carries out operation technique, but this kind of laparoscopic surgery technology also exists that instrument degree of freedom lacks, reverse operating inaccurate coordination, lack the defect of stereoscopic vision.
Based on the defect that above-mentioned laparoscopic surgery technology exists, review of computer aided surgery system receives the favor of domestic and international doctor, wherein especially outstanding with Micro trauma surgical operation robot system.
In minimally invasive surgery process, for different operative sites and different operation techniques, need perform the operation the incipient stage by adjustment operating robot operating position, with make doctor can convenient, successfully complete operation technique.The daVinci surgery systems described in patent CN102579133A, please refer to Fig. 1, and as shown in Figure 1, operating robot adjustment system always has four mechanical arms, and (1. number in the figure is respectively, 2., 3., 4.), every bar mechanical arm include adjustment arm 2 ' (in figure, the adjustment arm label of four mechanical arms is: 2 '-1, 2 '-2, 2 '-3, 2 '-4) (in figure, the master arm label of four mechanical arms is the master arm 3 ' be connected with described adjustment arm 2 ': 3 '-1, 3 '-2, 3 '-3, 3 '-4), and the surgical device mechanical arm 4 ' to be connected with described master arm 3 ' (in figure, the surgical device mechanical arm label of four mechanical arms is 4 '-1, 4 '-2, 4 '-3, 4 '-4), adjustment arm 2 ' is fixed on base, on for the integral position of reconditioner mechanical arm in the preoperative, master arm is used for the integral position adjusting the surgical device mechanical arm be attached thereto further, surgical device mechanical arm is used for carrying out minimally invasive surgery to patient 5 ', adjustment arm 2 ', master arm 3 ', is connected by joint between surgical device mechanical arm 4 ' and between inner each component.And in Micro trauma surgical operation robot system each joint Accuracy and decide kinematic accuracy and the service behaviour of whole robot system.Wherein, the precision of operating robot adjustment system is very large on the control accuracy impact of whole system again.In minimally invasive surgery process, the inaccuracy in any joint measures the inaccuracy that all can cause the complex operations such as excision of the lesion and even knotting stitching in operation process, affects the success of whole operation or even causes extra injury to patient.Simultaneously in minimally invasive surgery, operating theater instruments is all enter by a less openning position that inside of human body needs treatment, and therefore operative site narrow space, needs accurately to control position between operating theater instruments, prevent collision.
At present in the world, the U.S., France, Germany, Japan etc. have carried out the research of Micro trauma surgical operation robot all in succession, and produce a series of model machine.But these prototype structures are similar or identical, operating robot adjustment system adopts joint sensors each joint to mechanical arm to carry out independent measurement such as, to realize the location to mechanical arm, potentiometer, encoder etc. usually.Although this kind of metering system is simple and convenient, there is following shortcoming: the joint 1) due to mechanical arm is too much, each joint all needs to apply joint sensors, therefore applies joint sensors quantity more, adds cost; 2) precision of potentiometer, encoder is not high, and multiarticulate series connection calculating can reduce the positioning precision of set frame mechanical arm, thus affects the control accuracy of whole robot; 3) potentiometer is easily by the impact of external force, causes certainty of measurement inaccurate.Therefore, invent a kind of new operating robot adjustment system, have very important practical significance for the control accuracy improving operating robot.
Summary of the invention
The object of the present invention is to provide a kind of operating robot adjustment system, each joint of mechanical arm in prior art is used all to adopt joint sensors to realize performing the operation in the position fixing process of robot arm to solve, there is deviation accumulation, cause the positioning precision of set frame mechanical arm to reduce, thus affect the problem of the control accuracy of whole robot.
For solving the problems of the technologies described above, the invention provides a kind of operating robot adjustment system and comprising:
Base and at least one mechanical arm be fixed on described base, each described mechanical arm comprises the adjustment arm, master arm and the surgical device mechanical arm that connect successively, and described adjustment arm is connected with described base,
Optical tracking system, described optical tracking system comprises optics target mirror and optical tracker, each mechanical arm is provided with described optics target mirror, and described optical tracker measures position and the Eulerian angles of optics target mirror;
Computing module, according to above-mentioned measured value, calculate the attitude mapping relations obtained between optics target mirror, and according to the attitude mapping relations between described optics target mirror, and the attitude mapping relations between optics target mirror on the surgical device mechanical arm of each mechanical arm and this mechanical arm, calculate the attitude mapping relations between surgical device mechanical arm.
Optionally, in described operating robot adjustment system, described optics target mirror is arranged on described master arm or described adjustment arm.
Optionally, in described operating robot adjustment system, the attitude mapping relations between the optics target mirror that described computing module adopts kinematical equation to calculate on the surgical device mechanical arm of each mechanical arm and this mechanical arm.
Optionally, in described operating robot adjustment system, each ingredient of described mechanical arm is connected by joint, and described kinematical equation is as follows:
CnR
X＝Rz(
nθ
1)*Rz(
nθ
2)*Rz(
nθ
3)*...*Rz(
nθ
m)
In formula, n represents the sequence number of mechanical arm, and m represents the joint sequence number of mechanical arm,
cnr
xrepresent the attitude mapping relations of the optics target mirror coordinate system of coordinate system on n mechanical arm of the surgical device mechanical arm of n mechanical arm, Rz (
nθ
m) represent the rotation operator in m joint of n mechanical arm, wherein, n>=1, m>=1.
Optionally, in described operating robot adjustment system, the attitude mapping relations between described surgical device mechanical arm adopt following formula to obtain:
TmR
Tn＝
TmR
Km*(
CR
Km)
-1*
CR
Kn*(
TnR
Kn)
-1
In formula,
tmr
kmdescription under representative adopts kinematical equation to obtain optics target mirror coordinate system on m the mechanical arm surgical device mechanical arm coordinate system on m mechanical arm;
cr
kmrepresent the variation relation of the optics target mirror coordinate system on m mechanical arm relative to optical tracker coordinate system;
cr
knrepresent the variation relation of coordinate system relative to optical tracker coordinate system of the optics target mirror on the n-th mechanical arm;
tnr
kndescription under the coordinate system of the surgical device mechanical arm of coordinate system on the n-th mechanical arm of the optics target mirror on the n-th mechanical arm that representative adopts kinematical equation to obtain.
Optionally, in described operating robot adjustment system, the described surgical device mechanical arm of a mechanical arm is endoscope's arm, and the described surgical device mechanical arm of all the other mechanical arms is arm tool.
Optionally, in described operating robot adjustment system, described arm tool obtains as follows relative to the attitude mapping relations of endoscope's arm:
Optics target mirror on the mechanical arm at endoscope's arm place is set as basic point optics target mirror, and the optics target mirror on all the other mechanical arms is all the other optics target mirrors;
Optical tracker is utilized to measure position and the Eulerian angles of optics target mirror;
Described computing module is according to above-mentioned measured value, calculate the attitude mapping relations obtained between all the other optics target mirrors and described basic point optics target mirror, and according to the attitude mapping relations between all the other optics target mirrors above-mentioned and described basic point optics target mirror, and the attitude mapping relations between optics target mirror on the surgical device mechanical arm of each mechanical arm and this mechanical arm, calculate the attitude mapping relations of coordinate system under endoscope's arm coordinate system obtaining arm tool.
Optionally, in described operating robot adjustment system, the attitude mapping relations of coordinate system under endoscope's arm coordinate system of described arm tool adopt following formula to obtain:
ER
T＝
ER
M*(
CR
M)
-1*
CR
K*(
TR
K)
-1，
In formula,
tr
kwhen to represent surgical device mechanical arm be arm tool, kinematical equation is adopted to obtain the description of coordinate system under this arm tool coordinate system of the optics target mirror on the mechanical arm at this arm tool place;
cr
krepresent the variation relation of coordinate system relative to optical tracker coordinate system of the optics target mirror on the mechanical arm at this arm tool place;
cr
mwhen to represent surgical device mechanical arm be endoscope's arm, the coordinate system of the optics target mirror on the mechanical arm at this endoscope place is relative to the variation relation of optical tracker coordinate system;
er
mthe description of coordinate system under the coordinate system of described endoscope arm of the optics target mirror on the mechanical arm at endoscope's arm place that representative adopts kinematical equation to obtain.
Optionally, in described operating robot adjustment system, the quantity of described base is at least one.
Optionally, in described operating robot adjustment system, the degree of freedom of described adjustment arm is greater than 2, and the degree of freedom of described master arm is greater than 1.
In operating robot adjustment system provided by the present invention, optical tracking system comprises optics target mirror and optical tracker, each mechanical arm is provided with optics target mirror, optical tracker measures position and the Eulerian angles of optics target mirror, the measured value that computing module obtains according to above-mentioned optical tracker measurement, calculate the attitude mapping relations obtained between optics target mirror, and according to the attitude mapping relations between the above-mentioned optics target mirror calculated, and the attitude mapping relations between optics target mirror on the surgical device mechanical arm of each mechanical arm and this mechanical arm, calculate the attitude mapping relations between surgical device mechanical arm.Operating robot is according to the attitude mapping relations between surgical device mechanical arm, realize carrying out Pose Control to corresponding surgical device mechanical arm, improve motion control accuracy and the success rate of operation of operating robot, prevent surgical device mechanical arm place outside the visual field in operation process from colliding.Meanwhile, utilize the position orientation relation that optical tracking system obtains between any two mechanical arms of operating robot, joint without the need to the mechanical arm between optics target mirror and base arranges joint sensors, the relative position between real-time tracking two adjustment arm and the object of attitude can be reached, avoid the series connection in multiple joint to calculate the impact caused the positioning precision of set frame mechanical arm, make can realize accurately Pose Control between any two mechanical arms of minimally invasive surgical operation robot or multiple stage patient end operating robot.
Accompanying drawing explanation
Fig. 1 is the structural representation of existing operating robot adjustment system;
Fig. 2 is when in the embodiment of the present invention one, optics target mirror is arranged at adjustment arm end, the structural representation of operating robot adjustment system;
Fig. 2 a is the schematic diagram indicating cartesian coordinate system in Fig. 2;
Fig. 3 is when in the embodiment of the present invention two, optics target mirror is arranged on master arm, the structural representation of operating robot adjustment system;
Fig. 3 a is the schematic diagram indicating cartesian coordinate system in Fig. 3;
Fig. 4 is when in the embodiment of the present invention three, optics target mirror is arranged on master arm and adjustment arm end, the structural representation of operating robot adjustment system.
In figure, base 1 ', 1,1 ", 1 " '; Adjustment arm 2 '-1,2 '-2,2 '-3,2 '-4,2-1,2-1 ', 2-1 " and, 2-2; Master arm 3 '-1,3 '-2,3 '-3,3 '-4,3-1,3-1 ', 3-1 " and, 3-2; Surgical device mechanical arm 4 '-Isosorbide-5-Nitrae '-2,4 '-3,4 '-4,4-1,4-1 ', 4-1 " and, 4-2; Optics target mirror 6-1,6-1 ', 6-1 ", 6-2; Optical tracker 7.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the operating robot adjustment system that the present invention proposes is described in further detail.According to the following describes and claims, advantages and features of the invention will be clearer.It should be noted that, accompanying drawing all adopts the form that simplifies very much and all uses non-ratio accurately, only in order to object that is convenient, the aid illustration embodiment of the present invention lucidly.
Embodiment one
Please refer to Fig. 2, Fig. 2 is when in the embodiment of the present invention one, optics target mirror is arranged at adjustment arm end, the structural representation of operating robot adjustment system.As shown in Figure 2, described operating robot adjustment system comprises: base 1 and at least one mechanical arm be fixed on described base 1, each described mechanical arm comprises the adjustment arm connected successively, and (number in the figure is 2-1, 2-2), (number in the figure is 3-1 to master arm, 3-2) and surgical device mechanical arm (number in the figure is 4-1, 4-2), described adjustment arm is connected with described base 1, operating robot adjustment system compared to existing technology, operating robot adjustment system of the present invention also comprises computing module, optical tracking system, described optical tracking system comprises optics target mirror, and (number in the figure is 6-1, 6-2) and optical tracker 7, each mechanical arm is arranged and all has described optics target mirror, described optical tracker 7 measures position and the Eulerian angles of optics target mirror, the measured value that computing module records according to optical tracker 7, calculate the attitude mapping relations obtained between optics target mirror, and according to the attitude mapping relations between the above-mentioned optics target mirror calculated, and the attitude mapping relations between optics target mirror on the surgical device mechanical arm of each mechanical arm and this mechanical arm, and then the attitude mapping relations calculated between surgical device mechanical arm.Operating robot, according to the attitude mapping relations between surgical device mechanical arm, realizes carrying out Pose Control to corresponding surgical device mechanical arm.
In the present embodiment, described optics target mirror is arranged on described adjustment arm, and preferably, optics target mirror is arranged at the end of described adjustment arm.Due to the setting of optics target mirror, make on the joint of the mechanical arm between optics target mirror and base 1 without the need to adopting joint sensors to measure, the relative position between real-time tracking two adjustment arm and the object of attitude can be reached, the impact avoiding the positioning precision of accumulation on set frame mechanical arm of the series connection error of calculation in multiple joint to cause, makes can realize accurately Pose Control between any two mechanical arms of minimally invasive surgical operation robot or multiple stage patient end operating robot.
Further, each ingredient of described mechanical arm (namely adjusting arm, master arm and surgical device mechanical arm) is connected by joint, the attitude mapping relations between the optics target mirror that described computing module adopts kinematical equation to calculate on the surgical device mechanical arm of each mechanical arm and this mechanical arm.Wherein, described kinematical equation is as follows:
CnR
X＝Rz(
nθ
1)*Rz(
nθ
2)*Rz(
nθ
3)...Rz(
nθ
m)
In formula, n represents the sequence number of mechanical arm, and m represents the joint sequence number of mechanical arm, and C represents the coordinate system of optics target mirror on Current mechanical arm, and X represents the coordinate system of the surgical device mechanical arm on Current mechanical arm,
cnr
xrepresent the attitude mapping relations of the optics target mirror coordinate system of coordinate system on n mechanical arm of the surgical device mechanical arm of n mechanical arm, Rz (
nθ
m) represent the rotation operator in m joint of n mechanical arm, obtained by the joint sensors on mechanical arm between optics target mirror and surgical device mechanical arm, wherein, n>=1, m>=1.
Wherein, the attitude mapping relations between described surgical device mechanical arm adopt following formula to obtain:
TmR
Tn＝
TmR
Km*(
CR
Km)
-1*
CR
Kn*(
TnR
Kn)
-1
In formula,
tmr
kmdescription under representative adopts kinematical equation to obtain optics target mirror coordinate system on m the mechanical arm surgical device mechanical arm coordinate system on m mechanical arm;
cr
kmrepresent the variation relation of the optics target mirror coordinate system on m mechanical arm relative to optical tracker coordinate system;
cr
knrepresent the variation relation of coordinate system relative to optical tracker coordinate system of the optics target mirror on the n-th mechanical arm;
tnr
kndescription under the coordinate system of the surgical device mechanical arm of coordinate system on the n-th mechanical arm of the optics target mirror on the n-th mechanical arm that representative adopts kinematical equation to obtain.
In the present embodiment, the described surgical device mechanical arm of a mechanical arm of described operating robot adjustment system is endoscope's arm, and the described surgical device mechanical arm of all the other mechanical arms is arm tool, such as scalpel, shears, cautery (one pole or bipolar electric cauter tool) etc.Attitude mapping relations between surgical device mechanical arm obtain as follows:
By surgical device mechanical arm be endoscope's arm mechanical arm on optics target mirror be set as basic point optics target mirror, the optics target mirror on all the other mechanical arms is all the other optics target mirrors;
Optical tracker is utilized to measure position and the Eulerian angles of optics target mirror;
The measured value that computing module obtains according to optical tracker measurement, calculate the attitude mapping relations obtained between optics target mirror, and according to the attitude mapping relations between above-mentioned optics target mirror, and the attitude mapping relations between optics target mirror on the surgical device mechanical arm of each mechanical arm and this mechanical arm, calculate the mapping relations of coordinate system under endoscope's arm coordinate system obtaining arm tool.
Further, the mapping relations of coordinate system under endoscope's arm coordinate system of described arm tool adopt following formula to obtain:
ER
T＝
ER
M*(
CR
M)
-1*
CR
K*(
TR
K)
-1，
In formula,
tr
kwhen to represent surgical device mechanical arm be arm tool, kinematical equation is adopted to obtain the description of coordinate system under this arm tool coordinate system of the optics target mirror on the mechanical arm at this arm tool place;
cr
kon the mechanical arm at this arm tool place of representative adjustment when adjusting arm attitudes vibration, the coordinate system of the optics target mirror on the mechanical arm at this arm tool place obtained according to optical tracker measuring principle is relative to the variation relation of optical tracker coordinate system;
cr
mwhen to represent surgical device mechanical arm be endoscope's arm, the coordinate system of the optics target mirror on the mechanical arm at this endoscope place obtained according to optical tracker measuring principle is relative to the variation relation of optical tracker coordinate system;
er
mthe description of coordinate system under the coordinate system of described endoscope arm of the optics target mirror on the mechanical arm at endoscope's arm place that representative adopts kinematical equation to obtain; Wherein, { K} is the coordinate system of the optics target mirror on the mechanical arm at arm tool place, and { T} is arm tool coordinate system, and { C} is optical tracker coordinate system, and { M} is the coordinate system of the optics target mirror on the mechanical arm at endoscope place, and { E} is the coordinate system of endoscope's arm.
In order to understand the concrete structure of operating robot adjustment system of the present invention preferably, be explained in detail below by incorporated by reference to the content shown in Fig. 2, the adjustment system of the operating robot in the present embodiment comprises two bases 1, article four, mechanical arm, computing module, optical tracking system, wherein, every two mechanical arms are arranged on a base 1, and the degree of freedom of adjustment arm is greater than 2, is greater than 3, be greater than 4, equal 3, equal 4, equal 5; The degree of freedom of described master arm is greater than 1, is greater than 2, is greater than 3, is greater than 4, equals 2, equals 3, equals 4, equals 5.Because the structure on two bases is identical, below for the structure in left-hand foot 1, be specifically described, in the present embodiment, every bar mechanical arm comprises the adjustment arm of Three Degree Of Freedom (number in the figure is 2-1, 2-2), (number in the figure is 3-1 to the master arm of two-freedom, 3-2), surgical device mechanical arm and optical tracking system, concrete, adjustment arm 2-1, the near-end of 2-2 is connected with a base 1, two other adjustment arm 2-1 ', 2-1 " near-end and another base 1 " be connected, the far-end of adjustment arm 2-1 is connected with master arm 3-1 near-end, adjustment arm 2-2 far-end is connected with master arm 3-2 near-end, described optical tracking system, comprise the optical measuring instrument 7 being placed in adjustment arm 2-1 and adjustment arm 2-2 distal direction, and four optics target mirrors, in four optics target mirrors, the optics target mirror be arranged on the mechanical arm that surgical device mechanical arm type is endoscope's arm indication is basic point optics target mirror (namely number in the figure is the optics target mirror of 6-2), (number in the figure is 6-1 to all the other optics target mirrors except optics target mirror 6-2, 6-1 ', 6-1 ") (number in the figure is 2-1 to be placed in adjustment arm, 2-1 ', 2-1 ") (number in the figure is 3-1 with master arm, 3-1 ', 3-1 ") junction (namely adjust arm 2-1, 2-1 ', 2-1 " end), basic point optics target mirror is placed in the junction of adjustment arm 2-2 and master arm 3-2, by computing module (not marking in figure) according to the attitude mapping relations between the optics target mirror on the surgical device mechanical arm of the attitude mapping relations between the optics target mirror that calculates and each mechanical arm and this mechanical arm, calculate the attitude mapping relations between all surgical device mechanical arm.Concrete, optical tracker 7 measures position and the Eulerian angles of all optics target mirrors, namely obtain with all optics target mirror 6-1,6-1 in optical tracker 7 coordinate system that is zero ', 6-1 ", the coordinate figure of 6-2; computing module according to above-mentioned coordinate figure, calculating optical target mirror 6-2 (i.e. basic point optics target mirror) and other optics target mirrors 6-1,6-1 ', 6-1 " between attitude mapping relations.According to the position on mechanical arm residing for target mirror and the connected mode between the surgical device mechanical arm of mechanical arm far-end, (be optics target mirror 6-1 in the present embodiment, 6-1 ', 6-1 " residing for master arm 3-1, 3-1 ', 3-1 ", master arm 3-2 end and surgical device mechanical arm 4-1, 4-1 ', 4-1 " and the annexation of surgical device mechanical arm 4-2), and kinematical equation, computing module calculates the attitude mapping relations between surgical device mechanical arm and the optics target mirror on corresponding mechanical arm, such as surgical device mechanical arm 4-1 corresponding optics target mirror 6-1, attitude mapping relations between surgical device mechanical arm 4-2 corresponding optics target mirror 6-2.Further, computing module according to above-mentioned attitude mapping relations, through calculating surgical device mechanical arm 4-2 corresponding to optics target mirror 6-2 and other surgical device mechanical arm (such as surgical device mechanical arm 4-1,4-1 ', 4-1 ") attitude mapping relations.
How attitude mapping relations between surgical device mechanical arm are obtained based on operating robot adjustment system of the present invention in order to understand preferably.Specifically please refer to Fig. 2 a, is the schematic diagram indicating cartesian coordinate system of adjustment system shown in Fig. 2; { in surgical device mechanical arm 4-2 far-end coordinate system, { the attitude mapping relations under E}, are designated as T} here finally can to obtain surgical device mechanical arm 4-1 far-end coordinate system based on the cartesian coordinate system shown in Fig. 2 a
er
t.
Concrete analysis and calculating obtain
er
tprocess as follows, illustrate the transformational relation between any two mechanical arm coordinate systems of operating robot in Fig. 2 a.Wherein, two of being connected on base 1 adjust arms, and (number in the figure is 2-1, base coordinate system 2-2) is set as respectively { H} and { B}, one optical measuring instrument is arranged on the far-end of adjustment arm 2-1 and adjustment arm 2-2, Three Degree Of Freedom adjustment arm 2-1 ending coordinates system is set as { K}, Three Degree Of Freedom adjustment arm 2-2 ending coordinates system is set as { M}, (in the present embodiment, label is 4-1 to surgical device mechanical arm 4-1, 4-1 ', 4-1 " the type of surgical device mechanical arm be arm tool) far-end Coordinate Setting is { T}, surgical device mechanical arm 4-2 (in the present embodiment, label is the type of the surgical device mechanical arm of 4-2 is endoscope's arm) far-end Coordinate Setting is for { M} and optical tracker host side Coordinate Setting are { C}.
Based on the above-mentioned cartesian coordinate system set up, the following concrete operations of adjustment system of the present invention:
One, the position of robot adjustment arm and optical tracker is adjusted according to surgery situation.
Two, use optical tracker to measure optics target mirror 6-1 that surgical device mechanical arm 4-1 installs on the robotic arm is relative to the optical measuring instrument coordinate system { attitude of C}, and the optics target mirror 6-1 that installs on the robotic arm of surgical device mechanical arm 4-2 relatively and the optical measuring instrument coordinate system { attitude of C}, and obtain optics target mirror 6-1 coordinate system { K} and optics target mirror 6-2 coordinate system { the attitude mapping transformation relation of M}.
Three, in operation process, be doctor's operated from a distance operating theater instruments, therefore doctor needs to understand the mapping of surgical device mechanical arm 4-1 far-end coordinate system under surgical device mechanical arm 4-2 far-end coordinate system.It solves the ordinate transform relation that relation solves by ordinate transform and kinematic relation between optics target mirror 6-1 and optics target mirror 6-2 and obtained and forms.Specifically, { in optics target mirror 6-1 coordinate system, { { in optics target mirror 6-2 coordinate system, { { at surgical device mechanical arm 4-2 (in the present embodiment, label is the type of the surgical device mechanical arm of 4-2 is endoscope's arm), { transformational relation between the mapping under E} just can obtain the mapping of surgical device mechanical arm 4-1 far-end coordinate system under surgical device mechanical arm 4-2 coordinate system to far-end coordinate system to M} to K} to T} for the mapping under M} and optics target mirror 6-2 (i.e. basic point optics target mirror) coordinate system for the mapping under K}, optics target mirror 6-1 coordinate system to go out operating theater instruments arm 4-1 far-end coordinate system by solving kinematic equation.
Concrete Mapping and Converting relation solves as follows:
1) can show that { { description under T}, is designated as K} (being equivalent to the coordinate system of the optics target mirror 6-1 on this mechanical arm) in arm tool 4-1 far-end coordinate system in adjustment arm 2-1 ending coordinates system by kinematical equation
tr
k;
2) when adjustment arm 2-1 pose change, { K} relative to optical tracker coordinate system, { can obtain according to optical tracker measuring principle, is designated as by the variation relation of C} in adjustment arm 2-1 ending coordinates system
cr
k;
3) when adjustment arm 2-2 pose change, { M} (being equivalent to the coordinate system of the optics target mirror 6-2 on this mechanical arm) relative to optical tracker coordinate system, { can obtain according to optical tracker measuring principle, is designated as by the variation relation of C} in adjustment arm 2-2 ending coordinates system
cr
m;
4) can show that { { description under E}, is designated as M} in endoscope arm 4-2 far-end coordinate system in adjustment arm 2-2 ending coordinates system by kinematical equation
er
m.
Can obtain finally by ordinate transform relation, { T} is in { the rotation transformation of E} of endoscope arm 4-2 far-end coordinate system for the surgical device mechanical arm 4-1 far-end coordinate system of trying to achieve
er
tfor:
ER
T＝
ER
M*(
CR
M)
-1*
CR
K*(
TR
K)
-1
In certain embodiments, described kinematical equation expression formula is as follows:
CnR
X＝Rz(
nθ
1)*Rz(
nθ
2)*Rz(
nθ
3)...Rz(
nθ
m)
In formula, n represents the sequence number of mechanical arm, and m represents the joint sequence number of mechanical arm, and C represents the coordinate system of optics target mirror on Current mechanical arm, and X represents the coordinate system of the surgical device mechanical arm on Current mechanical arm,
cnr
xrepresent the attitude mapping relations of the optics target mirror coordinate system of coordinate system on n mechanical arm of the surgical device mechanical arm of n mechanical arm, Rz (
nθ
m) represent the rotation operator in m joint of n mechanical arm, wherein, n>=1, m>=1.
Traditional method of adjustment is obtain surgical device mechanical arm 4-1 far-end coordinate system by the joint sensors on mechanical arm { T} is in { the mapping under H} of mechanical arm coordinate system, { E} is in { the mapping under B} of mechanical arm coordinate system for endoscope arm 4-2 far-end coordinate system, and according to known mechanical arm coordinate system, { { mapping of B}, { T} is in { the mapping of E} of endoscope arm 4-2 far-end coordinate system finally to obtain surgical device mechanical arm 4-1 far-end coordinate system for H} and mechanical arm coordinate system.Obviously, mapping relations between the operating robot adjustment arm coordinate system of composition graphs 2a, the present invention considerably reduces the Mapping and Converting of three coordinate systems, namely { { { { { B} is in { the mapping under M} of adjustment arm 2-2 far-end coordinate system for the mapping under B} and adjustment arm 2-2 base coordinate system in adjustment arm 2-2 base coordinate system for H} for the mapping under H}, adjustment arm 2-1 base coordinate system in its base coordinate system for K} to adjust arm 2-1 far-end coordinate system, decrease amount of calculation to a certain extent, thus improve the response frequency of operating robot, in addition, due on the joint of the mechanical arm between optics target mirror and base 1 without the need to arranging joint sensors, namely optics target mirror is equivalent to the joint sensors on the joint of the mechanical arm that substituted between optics target mirror and base 1, complete the relative position between real-time tracking two adjustment arm and the object of attitude, because the series connection in multiple joint calculates when reducing calculating, the accumulation of the measurement error that joint sensors exists is on the impact caused of the positioning precision of set frame mechanical arm, especially for the cascade machine mechanical arm that degree of freedom is larger, thus can make can realize accurately Pose Control between any two mechanical arms of minimally invasive surgical operation robot or multiple stage patient end operating robot.
Embodiment two
Please refer to Fig. 3, it is when in the embodiment of the present invention two, optics target mirror is arranged on master arm, the structural representation of operating robot adjustment system.Composition graphs 3 and Fig. 2 relative analysis known, the difference of Fig. 3 and Fig. 2 is the particular location that four optics target mirrors are arranged on the robotic arm, in Fig. 2, four optics target mirrors are all arranged at the end adjusting arm, and four optics target mirrors are all arranged on master arm in Fig. 3, the quantity of sensor required when therefore adopting operating robot adjustment system shown in Fig. 3 can reduce to some extent, reduce the consumption of material resources, reduce cost, and improve the positioning precision of mechanical arm.Concrete, as shown in Figure 3, optics target mirror 6-2 is arranged on the arm between master arm 3-2 primary nodal point and secondary nodal point, optics target mirror 6-1 is arranged on the arm between the primary nodal point of master arm 3-1 and secondary nodal point, which optics target mirror is specifically arranged on the position on master arm, here do not limit, as long as four optics target mirrors are all arranged on master arm.Be arranged on master arm due to optics target mirror, make on the joint of the mechanical arm between optics target mirror and base 1 without the need to adopting joint sensors to measure, the relative position between real-time tracking two adjustment arm and the object of attitude can be reached, when avoiding the existing mode of employing, each joint of the mechanical arm between optics target mirror and base 1 all needs arrange joint sensors measurement and positioning and be, the series connection calculating in multiple joint can cause the accumulation meeting of error, the final impact that the positioning precision of set frame mechanical arm is caused, make can realize accurately Pose Control between any two mechanical arms of minimally invasive surgical operation robot or multiple stage patient end operating robot.
Attitude mapping relations between surgical device mechanical arm are obtained in order to understand preferably how to calculate based on operating robot adjustment system of the present invention.Specifically please refer to Fig. 3 a, it is the schematic diagram indicating cartesian coordinate system of the adjustment system shown in Fig. 3; { in surgical device mechanical arm 4-2 far-end coordinate system, { the attitude mapping relations under E}, are designated as T} here finally can to obtain surgical device mechanical arm 4-1 far-end coordinate system based on the cartesian coordinate system shown in Fig. 3 a
er
t.According to the principle that the cartesian coordinate system in Fig. 2 a is set up, be separately positioned on active accommodation arm 3-1, active accommodation arm 3-2 by the optics target mirror 6-1 of optical tracker, optics target mirror 6-2, its coordinate system represents and is expressed as coordinate system { K} and coordinate system { M}; All the other coordinate system representations are consistent with statement in Fig. 2 a, and concrete analysis and calculating obtain
er
tprocess please refer to corresponding content in embodiment one, because principle is identical, just no longer do too much repeating here.
Embodiment three
Please refer to Fig. 4, it is when in the embodiment of the present invention three, optics target mirror is arranged on master arm and adjustment arm end, the structural representation of operating robot adjustment system.The difference comparing the structure that embodiment one and embodiment two are set forth is, optics target mirror 6-1 is as on the arm between the primary nodal point of master arm 3-1 and secondary nodal point, and optics target mirror 6-2 is as the junction of master arm 3-2 and adjustment arm 2-2, another optics target mirror is as master arm and the junction adjusting arm.Be equivalent to the fusion of optics target mirror position on the robotic arm in Fig. 2 and Fig. 3, namely optics target mirror is existing is arranged on adjustment arm, has again and is arranged on master arm.In addition, quantity and the embodiment one and two of the mechanical arm that the quantity of the base of operating robot adjustment system and each base are arranged are different, in structure chart shown in Fig. 4, (number in the figure is 1 to the base of operating robot adjustment system; 1 "; 1 " ') be 3, each base is provided with a mechanical arm.As can be seen here, the quantity of the base of operating robot adjustment system of the present invention is at least one, the mechanical arm number that each base is arranged can be one or more, here too much restriction is not done to the quantity of base and the number of mechanical arm, as long as meet the demand of surgical, the quantity of corresponding design base and mechanical arm.
In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.
The selection of the present invention to optical tracker has no particular limits, and can be any one in prior art.Generally speaking, optical tracker can measure position and the Eulerian angles of optics target mirror.In certain embodiments, computing module, according to the measured value that optical tracker records, the definition (specifically being provided by optical tracker producer) of Eulerian angles coordinate system, obtain the attitude mapping relations between optics target mirror and optical tracker, obtain the attitude mapping relations between optics target mirror further.
To sum up, in operating robot adjustment system provided by the present invention, comprise computing module and optical tracking system, optical tracking system comprises optics target mirror and optical tracker, each mechanical arm is provided with optics target mirror, optical tracker measures position and the Eulerian angles of optics target mirror, , computing module is according to above-mentioned measured value, calculate the attitude mapping relations obtained between optics target mirror, and according to the attitude mapping relations between the optics target mirror calculated, and the attitude mapping relations between optics target mirror on the surgical device mechanical arm of each mechanical arm and this mechanical arm, calculate the attitude mapping relations between surgical device mechanical arm.Operating robot is according to the attitude mapping relations between surgical device mechanical arm, realize carrying out Pose Control to corresponding surgical device mechanical arm, improve motion control accuracy and the success rate of operation of operating robot, prevent surgical device mechanical arm in operation process from colliding outside the visual field.Meanwhile, utilize the position orientation relation that optical tracking system obtains between any two mechanical arms of operating robot, joint without the need to the mechanical arm between optics target mirror and base arranges joint sensors, the relative position between real-time tracking two adjustment arm and the object of attitude can be reached, the impact avoiding the series connection calculating in multiple joint can cause the positioning precision of set frame mechanical arm, makes can realize accurately Pose Control between any two mechanical arms of minimally invasive surgical operation robot or multiple stage patient end operating robot.
Foregoing description is only the description to present pre-ferred embodiments, any restriction not to the scope of the invention, and any change that the those of ordinary skill in field of the present invention does according to above-mentioned disclosure, modification, all belong to the protection domain of claims.
Claims (10)
1. an operating robot adjustment system, comprise base and be fixed at least one mechanical arm on described base, each described mechanical arm comprises the adjustment arm, master arm and the surgical device mechanical arm that connect successively, and described adjustment arm is connected with described base, it is characterized in that, also comprise:
Optical tracking system, described optical tracking system comprises optics target mirror and optical tracker, each mechanical arm is provided with described optics target mirror, and described optical tracker measures position and the Eulerian angles of optics target mirror;
Computing module, according to above-mentioned measured value, calculate the attitude mapping relations obtained between optics target mirror, and according to the attitude mapping relations between described optics target mirror, and the attitude mapping relations between optics target mirror on the surgical device mechanical arm of each mechanical arm and this mechanical arm, calculate the attitude mapping relations between surgical device mechanical arm.
2. operating robot adjustment system as claimed in claim 1, it is characterized in that, described optics target mirror is arranged on described master arm or described adjustment arm.
3. operating robot adjustment system as claimed in claim 1, is characterized in that, the attitude mapping relations between the optics target mirror that described computing module adopts kinematical equation to calculate on the surgical device mechanical arm of each mechanical arm and this mechanical arm.
4. operating robot adjustment system as claimed in claim 3, it is characterized in that, each ingredient of described mechanical arm is connected by joint, and described kinematical equation is as follows:
CnR
X＝Rz(
nθ
1)*Rz(
nθ
2)*Rz(
nθ
3)*...*Rz(
nθ
m)
In formula, n represents the sequence number of mechanical arm, and m represents the joint sequence number of mechanical arm,
cnr
xrepresent the attitude mapping relations of the optics target mirror coordinate system of coordinate system on n mechanical arm of the surgical device mechanical arm of n mechanical arm, Rz (
nθ
m) represent the rotation operator in m joint of n mechanical arm, wherein, n>=1, m>=1.
5. operating robot adjustment system as claimed in claim 4, it is characterized in that, the attitude mapping relations between described surgical device mechanical arm adopt following formula to obtain:
TmR
Tn＝
TmR
Km*(
CR
Km)
-1*
CR
Kn*(
TnR
Kn)
-1
In formula,
tmr
kmdescription under representative adopts kinematical equation to obtain optics target mirror coordinate system on m the mechanical arm surgical device mechanical arm coordinate system on m mechanical arm;
cr
kmrepresent the variation relation of the optics target mirror coordinate system on m mechanical arm relative to optical tracker coordinate system;
cr
knrepresent the variation relation of coordinate system relative to optical tracker coordinate system of the optics target mirror on the n-th mechanical arm;
tnr
kndescription under the coordinate system of the surgical device mechanical arm of coordinate system on the n-th mechanical arm of the optics target mirror on the n-th mechanical arm that representative adopts kinematical equation to obtain.
6. operating robot adjustment system as claimed in claim 4, it is characterized in that, the described surgical device mechanical arm of a mechanical arm is endoscope's arm, and the described surgical device mechanical arm of all the other mechanical arms is arm tool.
7. operating robot adjustment system as claimed in claim 6, it is characterized in that, described arm tool obtains as follows relative to the attitude mapping relations of endoscope's arm:
Optics target mirror on the mechanical arm at endoscope's arm place is set as basic point optics target mirror, and the optics target mirror on all the other mechanical arms is all the other optics target mirrors;
Optical tracker is utilized to measure position and the Eulerian angles of optics target mirror;
Described computing module is according to above-mentioned measured value, calculate the attitude mapping relations obtained between all the other optics target mirrors and described basic point optics target mirror, and according to the attitude mapping relations between all the other optics target mirrors above-mentioned and described basic point optics target mirror, and the attitude mapping relations between optics target mirror on the surgical device mechanical arm of each mechanical arm and this mechanical arm, calculate the attitude mapping relations of coordinate system under endoscope's arm coordinate system obtaining arm tool.
8. operating robot adjustment system as claimed in claim 7, it is characterized in that, the attitude mapping relations of coordinate system under endoscope's arm coordinate system of described arm tool adopt following formula to obtain:
ER
T＝
ER
M*(
CR
M)
-1*
CR
K*(
TR
K)
-1，
In formula,
tr
kwhen to represent surgical device mechanical arm be arm tool, kinematical equation is adopted to obtain the description of coordinate system under this arm tool coordinate system of the optics target mirror on the mechanical arm at this arm tool place;
cr
krepresent the variation relation of coordinate system relative to optical tracker coordinate system of the optics target mirror on the mechanical arm at this arm tool place;
cr
mwhen to represent surgical device mechanical arm be endoscope's arm, the coordinate system of the optics target mirror on the mechanical arm at this endoscope place is relative to the variation relation of optical tracker coordinate system;
er
mthe description of coordinate system under the coordinate system of described endoscope arm of the optics target mirror on the mechanical arm at endoscope's arm place that representative adopts kinematical equation to obtain.
9. operating robot adjustment system as claimed in claim 1, it is characterized in that, the quantity of described base is at least one.
10. operating robot adjustment system as claimed in claim 1, it is characterized in that, the degree of freedom of described adjustment arm is greater than 2, and the degree of freedom of described master arm is greater than 1.
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Address after: Room 101, area B, building 1, 1601 Zhangdong Road, China (Shanghai) pilot Free Trade Zone, 201203 Patentee after: Shanghai minimally invasive medical robot (Group) Co.,Ltd. Address before: 201203, 501, Newton Road, Zhangjiang hi tech park, Shanghai, Pudong New Area Patentee before: Microport (Shanghai) Medbot Co.,Ltd. |