CN106714722A - 用于控制机器人手术系统的动态输入缩放 - Google Patents
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Abstract
一种机器人手术系统,其包括臂、工具、输入控制器和处理单元。臂包括支撑工具的端部,该工具可在手术部位内移动输出距离。输入控制器可以以输入速度和加速度移动输入距离。处理单元与输入控制器通信并且与臂可操作地相关联以使工具移动输出距离。处理单元被配置为响应于输入距离、速度和/或加速度而动态地缩放输出距离。
Description
相关专利的交叉引用
本申请要求于2014年9月29日提交的编号为62/056,767的美国临时专利申请的权益和优先权,其全部公开内容通过参见的方式并入本文。
背景技术
机器人手术系统已经用于微创医疗操作中。在医疗操作期间,外科医生移动机器人手术系统的输入控制器以控制机器人臂和附接到其上的手术器械。输入控制器可在有限的动作范围内移动,以控制机器人臂和/或手术工具的移动。当输入控制器达到该动作范围的极限时,外科医生将输入控制器的移动与机器人臂的移动分离或“脱开”,以继续沿相同方向移动工具。
机器人手术系统的一个优点是能够按比例缩小输入控制器的移动。输入控制器的大的移动被减少至手术工具的较小的移动。这种按比例缩小的移动允许外科医生在机器人手术操作期间比传统的手术操作更精确。输出距离(即,机器人系统的移动)由输入距离(即,输入控制器的移动)利用缩放因子Sf来按比例缩小(即,输出距离=输入距离/Sf)。对移动进行的按比例缩小还使得外科医生移动中的小抖动、摇动或震颤最小化。
按比例缩小输入控制器的移动的缺点是输入控制器的有限动作范围的加剧。随着缩放因子增大,由于输入控制器必须进一步移动以使工具行进相似的距离,并且因此在其动作范围内更快地达到极限,要求外科医生更频繁地进行“脱开”。
对机器人手术系统来说,要求在减少外科医生达到输入控制器的动作范围的极限而不得不在机器人手术操作期间进行“脱开”的情况的同时,按比例减小外科医生的移动。
发明内容
机器人手术系统可包括支撑手术工具的机器人臂、在至少三维上可移动的输入控制器、传感器和处理单元。当输入控制器在至少三维中移动时,传感器可以检测输入控制器的移动距离、速度和/或加速度。处理单元可以与机器人臂可操作地相关联以将工具移动输出距离。处理单元还可以被配置为基于移动速度或加速度来动态地缩放移动距离,并且根据动态缩放来计算输出距离。
传感器可以被配置为向处理单元发送指示输入控制器的移动距离、速度和/或加速度的信号。处理单元可以被配置为以不同的方式计算输出距离。例如,处理单元可以通过将移动距离乘以移动速度来计算输出距离,或者处理单元可以通过将移动距离乘以根据移动速度和/或加速度而变化的预定缩放因子来计算输出距离。当移动速度和/或加速度在第一范围内时,预定缩放因子可以是第一值,而当速度和/或加速度在不同于第一范围的第二范围内时,预定缩放因子可以是第二值。
处理单元可以被配置为通过距离、速度和/或加速度缩放因子来缩放移动距离。缩放因子可以是恒定的或可以变化。在手术之前或期间,至少一个缩放因子可以是可改变的。在一些情况下,缩放因子中的至少一个可以在大约1到大约10的范围内,但是在其它情况下,该范围可以不同。处理单元可以被配置为将输出距离缩放为输入距离除以距离缩放因子得到的值和输入速度除以速度缩放因子得到的值的乘积。
机器人手术系统还可以包括与处理单元通信的电机。电机可以被配置为响应于从处理单元接收的经缩放的控制信号来移动机器人臂。
一种操作手术机器人的方法,其可以包括:使机器人手术系统的工具移动输出距离,该输出距离由处理设备基于输入控制器移动的距离、速度和加速度中的至少一个而动态缩放。可以将指示输入控制器移动的距离、速度和/或加速度的控制信号发送到处理单元。经缩放的控制信号可以被发送到机器人手术系统的臂以将工具移动输出距离。
动态地缩放控制信号可以包括将输入速度除以速度缩放因子。附加地或替代地,动态地缩放控制信号可以包括将输入距离除以距离缩放因子、根据输入距离除以距离缩放因子得到的值和输入速度除以速度缩放因子得到的值的乘积来计算输出距离、和/或调节所述距离缩放因子或所述速度缩放因子中的至少一个。
附图说明
参考附图来描述本公开的各个方面,附图被并入并构成本说明书的一部分,其中:
图1是用户界面和机器人控制台的示意图。
图2示出示例性的方法。
具体实施方式
随着手术期间用户移动输入控制器,可以动态地调节缩放因子,该缩放因子按比例缩小输入控制器的移动。缩放因子的动态调节可以基于用户移动输入控制器的速度或加速度。如果用户更快地移动输入控制器,则可以减小缩放因子,使得相关联的机器人臂和/或手术工具相比于如果用户以较慢速度移动输入控制器时成比例地移动得更远。如果用户较慢地移动输入控制器,则可以增加缩放因子,使得相关联的机器人臂和/或手术工具相比于较快速时成比例地移动得较少。通过随着输入控制器的越快速移动而将手术工具按比例地移动得更远距离,动态地调节缩放因子减少了用户到达输入控制器的动作范围的极限的次数。
临床医生可以包括医生、护士或任何其他护理提供者,并且可以包括支援人员。装置或部件的近侧部分可以指,与位于离临床医生最远的远侧部分相比最靠近临床医生和/或更靠近临床医生的部分。
参考图1,根据本公开的机器人手术系统1通常被示为机器人系统10、一个或多个传感器11、处理单元30和用户界面40。机器人系统10通常包括多个臂12和机器人底座18。每个臂12的端部14支撑被配置为作用在组织上的末端执行器或工具20。此外,臂12的端部14可以包括成像装置16,其用于对与工具20相邻的手术部位“S”成像。用户界面40通过处理单元30与机器人底座18通信。
用户接口40包括被配置为显示图像的显示装置44。在一些情况下,显示装置44可以显示手术部位“S”的二维或三维图像,其可以包括由位于臂12的端部14上的成像设备16捕获的数据和/或包括通过定位在手术室附近的成像装置(未示出)(例如,定位在手术部位“S”内的成像设备、定位在患者“P”附近的成像设备)捕获的数据。成像装置(例如,成像装置16)可捕获手术部位“S”的视觉图像、红外图像、超声图像、X射线图像、热图像和/或任何其它已知的实时图像。成像装置将捕获的成像数据发送到处理单元30,处理单元30根据成像数据实时创建手术部位“S”的三维图像,并将三维图像发送到显示装置44用于显示。成像装置16可以是工具20或否则与工具20相集成。
用户接口还包括输入控制器42,其允许外科医生操纵机器人系统10(例如,移动臂12、臂12的端部14和/或工具20)。每个输入控制器42均与处理单元30通信以向其发送控制信号并从其接收反馈信号。附加地或替代地,每个输入控制器42中均可以包括控制接口(未示出),其允许外科医生操纵(例如夹紧、抓紧、发射、打开、关闭、旋转、推动、切片(slice)等)支撑在臂12的端部14处的工具20。
输入控制器42可以包括一个或多个传感器11。当输入控制器在至少三维中移动时,传感器11可以检测输入控制器的移动距离和/或移动速度。在一些情况下,传感器11可以集成到输入控制器42中,但是在其它情况下,传感器11可以远离输入控制器42定位。例如,位置感测检测器或图像传感器(例如CCD或CMOS传感器)可以指向输入控制器42的一部分,以检测输入控制器的移动距离和/或速度,而不必位于输入控制器42上或输入控制器42中。
每个输入控制器42可移动通过预定的三维动作范围,以在手术部位“S”内移动工具20。显示装置44上的三维图像被定向为使得,在显示装置44上观察到输入控制器42的移动使工具20移动。应当理解,三维图像在显示装置上的定向可以是镜像的或者由临床医生旋转到期望的观察方向,以允许外科医生具有针对手术部位“S”的更佳的视野或取向。另外,应当理解,三维图像在显示装置44上的尺寸可以被缩放为大于或小于手术操作部位的实际结构,从而允许外科医生针对手术部位“S”内的结构具有更佳的视野。如下面详细描述的,由于输入控制器42的移动,工具20在手术部位“S”内移动。如本文详细描述的,工具的移动可以包括移动臂12的支撑工具20的端部14。
对于机器人手术系统1的构造和操作的详细讨论,可以参考2011年11月3日提交的名为“医疗工作站”的公开号为2012/0116416的美国专利,其全部内容通过引用的方式并入本文。
工具20的移动相对于输入控制器42的移动被缩放。当输入控制器42在预定动作范围内移动时,输入控制器42向处理单元30发送控制信号。处理单元30分析控制信号以响应于控制信号来移动工具20。处理单元30将经缩放的控制信号发送到机器人底座18以响应于输入控制器42的移动来移动工具20。处理单元30通过将输入距离(例如,输入控制器42中的一个所移动的距离)除以距离缩放因子DSf来缩放控制信号以获得经缩放的输出距离(例如,工具20中的一个所移动的距离)。在一些情况下,距离缩放因子DSf在大约1和大约10之间的范围内(例如,3),但是在其它情况下,可以使用其它缩放因子。缩放等式的该部分由以下等式表示:
输出距离=输入距离/DSf
应当理解,距离缩放因子DSf越大,工具20的移动相对于输入控制器42的移动越小。
在手术操作期间,如果外科医生达到输入控制器42的预定动作范围的边缘或极限,则外科医生必须在继续沿相同方向移动输入控制器42之前离合输入控制器42(即,将输入控制器42重新定位回预定动作范围内)。可能需要外科医生在手术操作期间离合输入控制器42一次或多次,以完成单个动作(例如,切割手术部位“S”内的结构)。随着距离缩放因子DSf增大,可能需要外科医生更频繁地离合输入控制器42,这增加了步骤的数量,并且因此增加了手术操作的时间和/或成本。
为了减少外科医生需要离合输入控制器42以执行单个动作的次数以及外科医生在手术操作期间需要离合的次数,处理单元30可以动态地缩放控制信号以引起输入速度(例如,输入控制器42移动的速度和/或加速度)。在一些情况下,除了速度之外或代替速度,控制信号可以被动态地缩放以引起输入控制器的加速度。因此,术语输入输入速度可以指输入控制器42移动的速度、输入控制器42移动的加速度或输入控制器42移动的速度和加速度。处理单元30可以通过速度缩放因子VSf动态地缩放输入速度,并将结果乘以输入距离除以距离缩放因子DSf的结果。在一些情况下,速度缩放因子VSf在大约1和大约10之间的范围内(例如,1.5、2或3),但是在其它情况下,可以使用其它缩放因子。该动态缩放可以由以下等式表示:
输出距离=(输入距离/DSf)*(输入速度/VSf)
应当理解,速度缩放因子VSf越大,速度将越少影响输出距离。
在臂12的端部14的移动的缩放中包括输入速度允许端部14的移动的动态缩放。动态缩放在能够快速移动大的距离而无需离合的同时,还允许外科医生执行小的精确动作。另外,单个连续行程(例如,切割)较有益的动作可以在较大距离上以单个不间断动作完成。例如,以相对恒定的速度发生不间断动作。
应当理解,尽管将基于输入控制器42移动的距离和速度将输入距离动态地缩放至输出距离,但是缩放因子DSf和速度缩放因子VSf可以在单个动作期间保持恒定。在一些情况下,可以在处理单元30的制造或编程时初始地固定距离缩放因子DSf和速度缩放因子VSf,然后可以在每个手术操作之前选择性地切换到动态可调节模式,或者可以在手术操作期间由外科医生选择性地切换到动态可调模式。
图2示出了操作手术机器人的示例性方法。在框201中,识别在至少三维中可移动的机器人手术系统的输入控制器的移动距离、速度和/或加速度。在框204中,输入控制器的移动距离、速度和/或加速度可以由一个或多个传感器感测到,一个或多个传感器可以集成到输入控制器中或与输入控制器分开。
在框202中,基于所识别的移动速度和加速度中的至少一个来动态地缩放所识别的移动距离。在框205中,可以将基于经动态缩放的移动距离的控制信号发送到机器人臂。动态缩放可以包括本文讨论的算法和/或其它算法中的一个或多个。例如,动态缩放可以包括将所识别的移动距离乘以所识别的移动速度和/或加速度。动态缩放还可以包括将识别的移动速度除以速度缩放因子。动态缩放还可以包括将所识别的移动距离除以距离缩放因子。可以基于预定标准来调节距离缩放因子或速度缩放因子中的至少一个。标准可以包括附接到机器人臂的工具的类型、联接到输入控制器的机器人臂的类型、用户所选择的与预定缩放因子相关联的功能或特征、或其它预定标准。
动态缩放可以包括计算移动距离除以距离缩放因子得到的值和移动速度和/或加速度除以速度缩放因子得到的值的乘积。
在框203中,基于经动态缩放的移动距离来移动联接到机器人臂的手术工具。在一些情况下,可以基于在机器人臂处接收的控制信号来移动机器人臂,并且机器人臂的移动使手术工具移动。
在框206中,可以在预定时间内检测输入控制器的两个或更多个不同的移动速度。如果用户通过例如突然加速或减速来改变其移动输入控制器的速度,则可能发生这种情况。在框207中,可以针对各个检测到的移动速度改变中的每一个来动态地更新移动距离的缩放。在一些情况下,可以根据经更新的动态缩放来将手术工具移动不同的相对量,使得相对移动量随着动态缩放值改变而改变。
虽然已经在附图中示出了本公开的若干实施例,但是并不旨在将本公开限制于此,因为本公开旨在如本领域允许的范围那样宽泛并且以同样方式来阅读本说明书。上述实施例的任何组合均是可想象的并且在所附权利要求的范围内。因此,上述描述不应被解释为限制,而仅仅是特定实施例的示例。本领域技术人员将想到在所附权利要求的范围内的其它修改。
Claims (20)
1.一种机器人手术系统,其包括:
机器人臂,其支撑手术工具;
输入控制器,其在至少三维上可移动;
传感器,当所述输入控制器在所述至少三维中移动时,所述传感器检测所述输入控制器的移动速度和加速度中的至少一个以及移动距离;和
处理单元,其与所述机器人臂可操作地相关联以将所述工具移动输出距离,所述处理单元被配置为基于所述移动速度和所述加速度中的至少一个来动态缩放所述移动距离,并且被配置为根据所述动态缩放来计算所述输出距离。
2.根据权利要求1所述的系统,其中,所述传感器被配置为向所述处理单元发送指示所述输入控制器的移动距离和移动速度的信号。
3.根据权利要求1所述的系统,其中,所述处理单元被配置为通过将所述移动距离乘以所述移动速度来计算所述输出距离。
4.根据权利要求1所述的系统,其中,所述处理单元被配置为通过将所述移动距离乘以根据所述移动速度和所述加速度中的至少一个而变化的预定缩放因子来计算所述输出距离。
5.根据权利要求4所述的系统,其中,当所述移动速度或所述加速度在第一范围内时,所述预定缩放因子是第一值,而当所述移动速度或所述加速度在不同于所述第一范围的第二范围内时,所述预定缩放因子是第二值。
6.根据权利要求1所述的系统,其中,所述处理单元被配置为通过距离缩放因子和速度缩放因子缩放所述移动距离。
7.根据权利要求6所述的系统,其中,所述距离缩放因子和所述速度缩放因子是常数。
8.根据权利要求6所述的系统,其中,在手术操作之前或期间,所述距离缩放因子和所述速度缩放因子中的至少一个是可变的。
9.根据权利要求8所述的系统,其中,所述距离缩放因子和所述速度缩放因子中的至少一个在大约1到大约10的范围内。
10.根据权利要求6所述的系统,其中,所述处理单元被配置为将所述输出距离缩放到所述输入距离除以距离缩放因子得到的值和所述输入速度除以速度缩放因子得到的值的乘积。
11.根据权利要求1所述的系统,其还包括与所述处理单元通信的电机,所述电机被配置为响应于从所述处理单元接收的经缩放的控制信号移动所述机器人臂。
12.一种操作手术机器人的方法,所述方法包括:
识别在至少三维中可移动的机器人手术系统的输入控制器的移动距离和移动速度;
基于所识别的移动速度动态缩放所识别的移动距离;和
基于经动态缩放的移动距离移动联接到机器人臂的手术工具。
13.根据权利要求12所述的方法,其还包括由一个或多个传感器感测所述输入控制器的移动距离和移动速度。
14.根据权利要求12所述的方法,其还包括:
将基于经动态缩放的移动距离的控制信号发送至所述机器人臂;和
基于在所述机器人臂处接收到的控制信号移动所述机器人臂,所述机器人臂的移动使所述手术工具移动。
15.根据权利要求12所述的方法,其还包括将所识别的移动距离乘以所识别的移动速度作为所述动态缩放的一部分。
16.根据权利要求15所述的方法,其还包括将所识别的移动速度除以速度缩放因子作为所述动态缩放的一部分。
17.根据权利要求16所述的方法,其还包括将所识别的移动距离除以距离缩放因子作为所述动态缩放的一部分。
18.根据权利要求17所述的方法,其还包括基于预定标准来调节所述距离缩放因子或所述速度缩放因子中的至少一个。
19.根据权利要求12所述的方法,其还包括计算所述移动距离除以距离缩放因子得到的值和所述移动速度除以速度缩放因子得到的值的乘积作为所述动态缩放的一部分。
20.根据权利要求12所述的方法,其还包括:
检测在所述输入控制器的所识别的移动速度中的多次改变;
针对所检测的移动速度改变中的至少两次来更新所述动态缩放;和
根据所更新的动态缩放将所述手术工具移动不同的相对量。
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Also Published As
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JP2017529907A (ja) | 2017-10-12 |
EP3200716A1 (en) | 2017-08-09 |
US20170224428A1 (en) | 2017-08-10 |
WO2016053657A1 (en) | 2016-04-07 |
EP3200716A4 (en) | 2018-05-16 |
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