CN107743384B - 机器人外科手术系统扭矩传感感测 - Google Patents
机器人外科手术系统扭矩传感感测 Download PDFInfo
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Abstract
一种验证仪器驱动单元的反作用扭矩传感器的扭矩测量的方法包括控制器,其接收验证信号,产生可接受的扭矩范围,接收扭矩信号,将扭矩信号与可接受的扭矩范围进行比较,以及如果由马达施加的扭矩处于可接受的扭矩范围外,则停止马达。验证信号指示由马达汲取的电流,并且扭矩信号指示由马达施加的扭矩。
Description
相关申请的交叉引用
本申请要求2015年6月16日提交的美国临时专利申请号62/180,124的权益和优先权,其全部公开内容以引用方式并入本文中。
背景技术
机器人外科手术系统已经用于微创医疗手术中。在这样的医疗手术期间,机器人外科手术系统由与用户界面交互的外科医生控制。用户界面允许外科医生操纵作用于患者的端部执行器。用户界面具有可由外科医生移动以控制机器人外科手术系统的输入控制器或手柄。
机器人外科手术系统的端部执行器定位于连接到机器人臂的外科手术仪器的端部。每个端部执行器都可以由仪器驱动单元(IDU)操纵。IDU可以具有驱动马达,该驱动马达与端部执行器相关联并且被构造成使端部执行器围绕相应的轴线运动或者致动端部执行器的特定功能(例如,端部执行器的钳夹的接近、枢转等)。
机器人外科手术系统中的安全系统监测驱动马达电流。如果所测得的马达电流超过预设的安全阈值,则将推测到故障并且马达将被关闭。这些系统检测不同类型的故障的能力有限,因为它们没有考虑马达输出的实际力。
需要能够识别与纯高电流消耗相关的故障以外的不同类型故障的稳健的仪器驱动单元故障检测。
发明内容
在本发明的一个方面,验证仪器驱动单元的扭矩传感器的扭矩测量可以包括接收指示由仪器驱动单元的马达汲取的电流的验证信号。可以基于验证信号识别可接受的扭矩范围。扭矩测量可以与可接受的扭矩范围进行比较。如果扭矩测量处于可接受的扭矩范围外,则可停止马达。
在一些方面,该方法可以包括利用与马达电隔离的反作用扭矩传感器来测量由马达施加的扭矩。反作用扭矩传感器可以将扭矩信号传输到控制器。该方法还可以包括当由马达施加的扭矩处于可接受的扭矩范围外时产生故障信号。产生故障信号可以包括以临床医生可听、可视或触控反馈的形式向临床医生提供反馈。
在一些方面,传感器可以将验证信号传输到控制器。传感器可以测量由马达汲取的电流以产生验证信号。
在本发明的另一方面,一种用于仪器驱动单元的马达的控制电路包括传感器、反作用扭矩传感器和控制器。传感器被配置成检测由马达汲取的电流,并且反作用扭矩传感器被配置成检测由马达施加的扭矩。控制器与传感器和反作用扭矩传感器通信并且被配置成控制马达。控制器被配置成将由马达汲取的检测到的电流与由马达施加的检测到的扭矩进行比较,以验证检测到的扭矩处于由马达汲取的检测到的电流的可接受的扭矩值范围内。
在一些方面,控制电路包括与马达电连通的马达能量源。马达能量源可以与反作用扭矩传感器电隔离。传感器可以被配置成检测由马达从马达能量源汲取的电流。
在一些方面,反作用扭矩传感器被配置成检测由马达施加的扭矩引起的机械特性。机械特性可以是应变。
在本发明的另一方面,机器人外科手术系统的仪器驱动单元包括固定板、第一马达、第一反作用扭矩传感器、第一传感器和第一控制器。第一马达具有第一驱动轴,并且第一反作用扭矩传感器围绕第一驱动轴设置以将第一马达固定到固定板。第一反作用扭矩传感器被配置成检测由第一马达传递的扭矩。第一传感器被配置成检测由第一马达汲取的电流。第一控制器被配置成控制第一马达。第一控制器与第一传感器和第一反作用扭矩传感器通信。第一控制器被配置成将由第一马达汲取的检测到的电流与由第一马达传递的检测到的扭矩进行比较,以验证检测到的扭矩处于由第一马达汲取的检测到的电流的可接受的扭矩值范围内。
在一些方面,仪器驱动单元包括第二马达、第二反作用扭矩传感器和第二传感器。第二马达具有第二驱动轴,并且第二反作用扭矩传感器围绕第二驱动轴设置以将第二马达固定到固定板。第二反作用扭矩传感器被配置成检测由第二马达传递的扭矩。第二传感器被配置成检测由第二马达汲取的电流。第一控制器被配置成控制第二马达。第一控制器与第二传感器和第二反作用扭矩传感器通信。第一控制器被配置成将由第二马达汲取的检测到的电流与由第二马达传递的检测到的扭矩进行比较,以验证检测到的扭矩处于由第二马达汲取的检测到的电流的可接受的扭矩值范围内。
在一些方面,仪器驱动单元包括第三马达、第三反作用扭矩传感器、第三传感器和第二控制器。第三马达具有第三驱动轴,并且第三反作用扭矩传感器围绕第三驱动轴设置以将第三马达固定到固定板。第三反作用扭矩传感器被配置成检测由第三马达传递的扭矩。第三传感器被配置成检测由第三马达汲取的电流。第二控制器被配置成控制第三马达。第二控制器与第三传感器和第三反作用扭矩传感器通信。第二控制器被配置成将由第三马达汲取的检测到的电流与由第三马达传递的检测到的扭矩进行比较,以验证检测到的扭矩处于由第三马达汲取的检测到的电流的可接受的扭矩值范围内。
下面参考附图更详细地描述本发明的示例性实施例的更多细节和方面。
附图说明
下面参考附图描述本发明的各个方面,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系统的示意图;
图2是图1的机器人系统的仪器驱动单元的侧视横截面图;
图3是沿着图2的剖面线3-3截取的横截面图;
图4是图2的仪器驱动单元的控制电路的示意图;以及
图5是示出控制图1的仪器驱动单元的方法的流程图。
具体实施方式
现在参考附图详细描述本发明的实施例,其中在若干视图的每个视图中,相同的附图标记表示相同或相应的元件。如本文所使用,术语“临床医生”是指医生、护士或任何其他护理提供者,并且可以包括支援人员。在整个说明书中,术语“近侧”是指最靠近临床医师的装置部分或其部件,而术语“远侧”是指离临床医师最远的装置部分或其部件。
本发明通常涉及一种用于机器人外科手术系统的仪器驱动单元(IDU),其包括扭矩传感器(例如主传感器),该扭矩传感器测量由马达施加的扭矩并向驱动马达的控制器提供扭矩信号。IDU还包括辅助传感器,该辅助传感器测量马达的输入以向控制器提供验证信号。控制器将扭矩信号和验证信号进行比较以确保扭矩传感器正常工作。如果扭矩信号在用于给定的验证信号的可接受的值范围外,则控制器产生故障信号和/或停止机器人外科手术系统。
如本文详细描述,IDU包括作为主传感器的反作用扭矩传感器。然而,可以设想的是,主传感器可以是直列式扭矩传感器。
参考图1,示出了机器人外科手术系统1,其包括机器人系统10、处理单元30和用户界面40。机器人系统10通常包括连杆12和机器人基座18。连杆12可移动地支撑外科手术仪器,该外科手术仪器具有构造成作用于组织上的端部执行器或工具20。连杆12可以呈每一个具有多个部件13的臂的形式。多个部件13中的部件13a具有端部14,该端部支撑构造成作用于组织的端部执行器或工具20。另外,部件13a的端部14可以包括用于对外科手术部位“S”进行成像的成像装置16。连杆12的多个部件13中的每一个可以围绕接头15彼此连接。用户界面40通过处理单元30与机器人基座18通信。
用户界面40包括被配置成显示三维图像的显示装置44。显示装置44显示外科手术部位“S”的三维图像,其可包括由定位于部件13a的端部14上的成像装置16撷取的数据和/或包括由定位于外科手术室周围的成像装置撷取的数据(例如定位于外科手术部位“S”内的成像装置,定位于患者“P”附近的成像装置,定位于成像臂52的远端处的成像装置56)。成像装置(例如成像装置16、56)可以撷取外科手术部位“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。成像装置将撷取的成像数据传输到处理单元30,该处理单元从成像数据实时创建外科手术部位“S”的三维图像,并将三维图像传输到显示装置44以进行显示。
用户界面40还包括允许临床医生操纵机器人系统10(例如,移动连杆12、连杆12的端部14和/或工具20)的输入手柄42。每个输入手柄42与处理单元30通信以向其传输控制信号并从其接收反馈信号。每个输入手柄42可以包括输入装置,该输入装置允许外科医生操纵(例如,夹持、抓握、发射、打开、关闭、旋转、推进、切片等)支撑在部件13a的端部14处的工具20。
对于机器人外科手术系统1的构造和操作的详细讨论,可以参考题为《医疗工作站(Medical Workstation)》的美国专利公开号2012/0116416。
还参考图2和图3,仪器驱动单元(IDU)60设置在邻近端部14的部件13a内或支撑在部件13a上。IDU 60与联接到端部14的工具20可操作地关联,以响应于工具从处理单元30传输的工具信号来操纵工具20。IDU 60包括马达62,每个马达62可操作地联接到相应的转换器64和相应的反作用扭矩传感器68。每个马达62响应于提供给马达62的能量旋转驱动轴63,该驱动轴延伸穿过主传感器或反作用扭矩传感器68。转换器64将马达62的驱动轴63的旋转转换为驱动杆和/或电缆(未示出)的线性运动。转换器64可以固定到IDU 60的固定板61上。反作用扭矩传感器68测量由马达62施加或传递到转换器64的扭矩,并因此测量施加到工具20上的力。反作用扭矩传感器68围绕马达62的驱动轴63定位,并将马达62固定在IDU60的固定板61上。
对于反作用扭矩传感器68的构造和操作的详细讨论,可以参考2015年2月5日提交的题为《用于机器人外科手术系统的输入装置组件(Input Device Assemblies forRobotic Surgical Systems)》的国际专利申请号PCT/US15/14542,其全部内容以引用方式并入本文中。
参考图2和图3,IDU 60包括一个或多个电路板80,每个电路板包括根据本发明提供的控制器126。如以下详细描述,控制器126根据单个控制器126进行详述;然而,将理解的是,IDU 60可以具有一个或多个控制器126。控制器126与一个或多个反作用扭矩传感器68通信。如图所示,控制器126通过引线142与反作用扭矩传感器68通信并通过引线144与另一个反作用扭矩传感器68通信。每个引线142、144将扭矩信号输送到控制器126,该扭矩信号指示由相应扭矩传感器68感测到的由马达62施加的扭矩。
尽管由马达62施加的扭矩可以由反作用扭矩传感器68精确地测量,但是也可以从由马达62汲取的电流量来计算由马达62施加的扭矩。如下详述,该计算出的扭矩可以用于验证所测得的扭矩(即,由反作用扭矩传感器68检测到的扭矩)是否处于由马达62汲取的检测到的电流量的可接受的值范围内。通过验证检测到的扭矩处于检测到的电流量的可接受的值范围内,如果检测到的扭矩处于检测到的电流量的可接受的值范围外,则可能产生故障和/或马达62可能停止。将理解的是,当检测到的扭矩处于检测到的电流量的可接受的值范围外时,反应扭矩传感器68可能已经失效。
继续参考图2和图3,IDU 60包括向电路板80提供验证信号的传感器152、154。传感器152、154各自与相应的马达62相关联以检测由相应的马达62汲取的电流量。每个传感器接着将相应的验证信号发送到控制器126,该验证信号指示由相应的马达62汲取的电流量。控制器126将验证信号与扭矩信号进行比较,以验证扭矩信号相对于验证信号处于可接受的值范围内。
可以设想的是,传感器152、154可以检测扭矩并且从检测到的电流产生电流。在这类实施例中,控制器将验证信号的电流与扭矩信号进行比较,以验证扭矩信号相对于验证信号处于可接受的值范围内。
参考图4,控制电路120将扭矩信号与验证信号进行比较,以验证检测到的扭矩处于由马达62汲取的电流量的可接受的值范围内。控制电路120检测马达62的反作用扭矩,并检测由马达62汲取的电流量,以验证检测到的扭矩处于由马达62汲取的电流量的可接受的值范围内。
控制电路120包括马达62、反作用扭矩传感器68、电压源121、滤波器122、放大器124、控制器126和传感器152。反作用扭矩传感器68产生扭矩信号,该扭矩信号由引线132输送到滤波器122。滤波器122是用于从扭矩信号中去除噪声的低通滤波器。滤波器122将经滤波的扭矩信号传输到放大器124,该放大器将放大的经滤波的扭矩信号传输到控制器126。控制器126由扭矩信号确定马达62的反作用扭矩。
控制器126发送控制信号以控制马达62(例如,马达62的转速)。控制器126可以将信号发送到马达62或发送到为马达62提供能量的马达能量源69。当马达62从马达能量源69汲取能量时,传感器152检测由马达62从马达能量源69汲取的电流量。传感器152产生指示由马达62汲取的电流量的验证信号,并将验证信号发送到控制器126。
控制器126将来自反作用扭矩传感器68的扭矩信号与来自传感器152的验证信号进行比较。首先,控制器126从验证信号产生由马达62施加的扭矩的可接受的值范围。例如,当验证信号指示马达62正在汲取0.80安培的电流时,由马达62施加的扭矩的可接受的值范围为约0.20N-m至约.030N-m。将理解的是,随着马达62所汲取的电流量的增加,马达所施加的扭矩的可接受的值范围的上限和下限增加。另外,随着马达62所汲取的电流量的增加,可接受的值范围可以增加。如果扭矩信号处于可接受的值范围内,则控制器126继续发送指示马达62继续旋转的控制信号。
当扭矩信号处于可接受的值范围外时,反作用扭矩传感器68可能发生故障并且因此提供对由马达62施加的扭矩的不准确测量,或者工具20可能已经碰到障碍物。因此,如果扭矩信号处于可接受的值范围外,则控制器126可以产生故障信号和/或发送控制信号以停止马达62的旋转。故障信号可以向与用户界面40(图1)交互的临床医生提供可视的、可听的或触控反馈。
参考图5,根据本发明公开了一种用传感器152验证仪器驱动单元60的主传感器或反作用扭矩传感器68的扭矩测量的方法200。最初,控制器126接收指令信号以使马达62旋转。响应于该指令信号,控制器126向马达62发送控制信号以使驱动轴63旋转。
当马达62正在旋转时,马达62从马达能量源69(图4)汲取电流。该电流由传感器152测量(步骤210)。传感器152产生指示所测得电流的验证信号(步骤212),并将验证信号传输到控制器126(步骤214)。另外,当马达62正在旋转时,反作用扭矩传感器68测量由马达62施加的扭矩(步骤220)。反作用扭矩传感器68产生指示所测得扭矩的扭矩信号(步骤222),并将扭矩信号传输到控制器126(步骤224)。
控制器126接收验证信号(步骤230),并针对给定的验证信号产生可由马达62施加的可接受的扭矩范围(步骤240)。如上所述,可接受的扭矩范围与马达62所汲取的电流成比例。接着,控制器126从反作用扭矩传感器68接收扭矩信号并将扭矩信号与可接受的扭矩范围进行比较(步骤250)。如果扭矩信号处于可接受的扭矩范围内,则控制器126继续向马达62发送控制信号以使驱动轴63旋转(步骤255)。相反,如果扭矩信号处于可接受的扭矩范围外,则控制器126通过发送控制信号或停止发送控制信号来停止马达62的旋转(步骤260)。接着,控制器126产生指示由马达62施加的扭矩处于可接受的扭矩值范围外的故障信号。故障信号可以是可听的、可视的、触控的,或其任何组合以提醒临床医生有故障。
尽管在附图中已经示出了本发明的几个实施例,但是本发明并不意图限于此,因为本发明旨在与本领域将允许的范围一样宽,并且以同样方式阅读说明书。上述实施例的任何组合也是可预想的并且在所附权利要求的范围内。因此,以上描述不应该被解释为限制性,而仅仅是作为特定实施例的例证。熟悉本领域的技术人员将预想到处于所附权利要求的范围内的其它修改。
Claims (13)
1.一种验证仪器驱动单元的扭矩传感器的扭矩测量的方法,所述方法包括:
利用所述扭矩传感器测量由所述仪器驱动单元的马达施加的扭矩;
利用传感器测量由所述仪器驱动单元的马达汲取的电流;
接收指示由所述仪器驱动单元的马达汲取的电流的验证信号;
基于所述验证信号识别可接受的扭矩范围;
将所述扭矩测量与所述可接受的扭矩范围进行比较;以及
如果所述扭矩测量处于所述可接受的扭矩范围外,则停止所述马达。
2.根据权利要求1所述的方法,其中利用所述扭矩传感器测量由所述仪器驱动单元的马达施加的扭矩的步骤包括利用与所述马达电隔离的反作用扭矩传感器测量由所述马达施加的所述扭矩,所述反作用扭矩传感器将扭矩信号传输到执行所述比较的控制器。
3.根据权利要求1所述的方法,其进一步包括当所述扭矩测量处于所述可接受的扭矩范围外时产生故障信号。
4.根据权利要求3所述的方法,其中产生所述故障信号包括向临床医生提供反馈,所述反馈是可听的、可视的、触控的或其组合。
5.根据权利要求1所述的方法,其进一步包括利用所述传感器产生所述验证信号,所述传感器将所述验证信号传输到控制器。
6.一种用于仪器驱动单元的马达的控制电路,所述控制电路包括:
传感器,其被配置成检测由所述马达汲取的电流;
反作用扭矩传感器,其被配置成检测由所述马达施加的扭矩;以及
控制器,其与所述传感器和所述反作用扭矩传感器通信并且被配置成控制所述马达,所述控制器被配置成将由所述马达汲取的所述检测到的电流与由所述马达施加的所述检测到的扭矩进行比较,以验证所述检测到的扭矩处于由所述马达汲取的所述检测到的电流的可接受的扭矩值范围内,并且所述控制器被配置成,当由所述反作用扭矩传感器检测的所述扭矩处于所述可接受的扭矩值范围外时,停止所述马达。
7.根据权利要求6所述的控制电路,其进一步包括与所述马达电连通的马达能量源,所述马达能量源与所述反作用扭矩传感器电隔离。
8.根据权利要求7所述的控制电路,其中所述传感器被配置成检测由所述马达从所述马达能量源汲取的电流。
9.根据权利要求6所述的控制电路,其中所述反作用扭矩传感器被配置成检测由所述马达施加的扭矩引起的机械特性。
10.根据权利要求9所述的控制电路,其中所述机械特性是应变。
11.一种机器人外科手术系统的仪器驱动单元,所述仪器驱动单元包括:
固定板;
具有第一驱动轴的第一马达;
第一反作用扭矩传感器,其围绕所述第一驱动轴设置以将所述第一马达固定到所述固定板,并被配置成检测由所述第一马达传递的扭矩;
第一传感器,其被配置成检测由所述第一马达汲取的电流;以及
第一控制器,其用于控制所述第一马达,所述第一控制器与所述第一传感器和所述第一反作用扭矩传感器通信,所述第一控制器被配置成将由所述第一马达汲取的所述检测到的电流与由所述第一马达传递的所述检测到的扭矩进行比较,以验证所述检测到的扭矩处于由所述第一马达汲取的所述检测到的电流的可接受的扭矩值范围内,并且所述控制器被配置成,当由所述第一反作用扭矩传感器检测的所述扭矩处于所述可接受的扭矩值范围外时,停止所述第一马达。
12.根据权利要求11所述的仪器驱动单元,其进一步包括:
具有第二驱动轴的第二马达;
第二反作用扭矩传感器,其围绕所述第二驱动轴设置以将所述第二马达固定到所述固定板,并被配置成检测由所述第二马达传递的扭矩;以及
第二传感器,其被配置成检测由所述第二马达汲取的电流,其中所述第一控制器被配置成控制所述第二马达,所述第一控制器与所述第二传感器和所述第二反作用扭矩传感器通信,所述第一控制器被配置成将由所述第二马达汲取的所述检测到的电流与由所述第二马达传递的所述检测到的扭矩进行比较,以验证所述检测到的扭矩处于由所述第二马达汲取的所述检测到的电流的可接受的扭矩值范围内。
13.根据权利要求11所述的仪器驱动单元,其进一步包括:
具有第三驱动轴的第三马达;
第三反作用扭矩传感器,其围绕所述第三驱动轴设置以将所述第三马达固定到所述固定板,并被配置成检测由所述第三马达传递的扭矩;
第三传感器,其被配置成检测由所述第三马达汲取的电流;
第二控制器,其用于控制第三马达,所述第二控制器与所述第三传感器和所述第三反作用扭矩传感器通信,第二控制器被配置成将由所述第三马达汲取的所述检测到的电流与由所述第三马达传递的所述检测到的扭矩进行比较,以验证所述检测到的扭矩处于由所述第三马达汲取的所述检测到的电流的可接受的扭矩值范围内。
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JP2020168453A (ja) | 2020-10-15 |
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CN112294439A (zh) | 2021-02-02 |
CA2987637A1 (en) | 2016-12-22 |
JP6761822B2 (ja) | 2020-09-30 |
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US20230233276A1 (en) | 2023-07-27 |
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US20180168747A1 (en) | 2018-06-21 |
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US20200113638A1 (en) | 2020-04-16 |
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