CN109223183A - Starting method, readable access to memory and the operating robot of operating robot - Google Patents
Starting method, readable access to memory and the operating robot of operating robot Download PDFInfo
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- CN109223183A CN109223183A CN201811158111.XA CN201811158111A CN109223183A CN 109223183 A CN109223183 A CN 109223183A CN 201811158111 A CN201811158111 A CN 201811158111A CN 109223183 A CN109223183 A CN 109223183A
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- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 238000001356 surgical procedure Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 238000004590 computer program Methods 0.000 claims description 9
- 230000000875 corresponding effect Effects 0.000 description 17
- 230000001105 regulatory effect Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 2
- 238000001727 in vivo Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000000262 cochlear duct Anatomy 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
Abstract
The present invention relates to starting method, computer-readable memory and the operating robots of a kind of operating robot, wherein, the operating robot includes handle and motion arm, the handle being capable of free movement, the motion arm has end instrument, the end instrument follows the handle motion for executing surgical procedure, and the starting method of operating robot includes: the first posture information for obtaining the end instrument；The second posture information of the handle is obtained in real time；Second posture information is compared with first posture information, when the two deviation is in predetermined deviation, the end instrument is aligned with the handle, and transmission follows signal, enters following state to start the end instrument.
Description
Technical field
The present invention relates to medical instruments field, more particularly to a kind of operating robot starting method, storage can be read
Device and operating robot.
Background technique
Minimally Invasive Surgery refers to be applied inside body cavity using the modern medical equipments such as laparoscope, thoracoscope and relevant device
A kind of modus operandi of row operation.There are the advantages such as wound is small, pain is light, recovery is fast compared to traditional operation mode Minimally Invasive Surgery.
With the development of science and technology micro-wound operation robot technology graduallys mature, and it is widely used.Micro-wound operation robot
It generally includes master operating station and from operation equipment, master operating station includes operating stick, doctor is set by operation operating stick to from operation
Preparation send control command, includes multiple motion arms from operation equipment, and motion arm has end instrument, in working condition, end
Instrument follows operating stick mobile, to realize that remote operation operates.In general, there are two operating stick tools, end instrument more than two, behaviour
It need to be switched over when making different end instruments, to switch to the end instrument of needs.It is opened when being located at the preparation of intracorporal end instrument
When moving and enter working condition, and operating stick being followed to move, for example, preparing to start to work or preparing to switch to new end instrument
When, the posture of end instrument and the posture of handle usually have deviation, if starting end instrument at this time, enable it that operating stick is followed to transport
It is dynamic, it is easy to causing to damage in vivo.
Summary of the invention
Based on this, it is necessary to provide one kind can clean boot, avoid opening the operating robot in vivo causing damage
Dynamic method, readable access to memory and operating robot based on the operation method
A kind of starting method of operating robot, the operating robot include handle and motion arm, and the handle can
Free movement, the motion arm have end instrument, and the end instrument follows the handle to transport for executing surgical procedure
Dynamic, the starting method includes:
Obtain the first posture information of the end instrument；
The second posture information of the handle is obtained in real time；
Second posture information is compared with first posture information, when the two deviation is in predetermined deviation
When, the end instrument is aligned with the handle, and transmission follows signal, enters following state to start the end instrument.
A kind of computer-readable memory, is stored thereon with computer program, and the computer program is executed by processor
The step of starting method described in Shi Shixian.
A kind of operating robot, comprising:
Motion arm has end instrument, and the end instrument is for executing surgical procedure；
Motion arm has end instrument, for executing surgical procedure；
First posture acquisition unit, for obtaining the first posture information of the motion arm；
Handle, being capable of free movement；
Second posture acquisition unit, for obtaining the second posture information of the handle in real time；
Controller is connected comprising memory and place with the first posture acquisition unit, the second posture acquisition unit
Device is managed, computer program is stored in the memory, the processor is used for the step of realizing the starting method when executing.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of operating robot of the present invention；
Fig. 2 is the partial schematic diagram of operating robot shown in Fig. 1；
Fig. 3 is the partial schematic diagram of operating robot shown in Fig. 1；
Fig. 4 is the flow chart that operating robot starts one embodiment of method；
Fig. 5 is the flow chart that operating robot starts one embodiment of method；
Fig. 6 is the partial schematic diagram of operating robot；
Fig. 7 is the local display schematic diagram in graphical interfaces shown in Fig. 6；
Fig. 8 is the local display schematic diagram in graphical interfaces shown in Fig. 6；
Fig. 9 is the flow chart that operating robot starts that method enters following state latter embodiment.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being set to " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.When an element is considered as " coupling " another element, it can
To be to be directly coupled to another element or may be simultaneously present centering elements.Term as used herein " vertically ", " water
It is flat ", "left", "right" and similar statement for illustrative purposes only, be not meant to be the only embodiment.Herein
Used term " distal end ", " proximal end " are used as the noun of locality, which is interventional medical device field common terminology, wherein
" distal end " indicates that one end in surgical procedure far from operator, " proximal end " indicate one end that proximal operator is depended in surgical procedure.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
It as shown in Figure 1 to Figure 3, is respectively the structural schematic diagram of one embodiment of operating robot of the present invention, and its part
Schematic diagram.
Operating robot include master operating station 2 and from operation equipment 3.Master operating station 2 has handle 21 and display 22, doctor
It is raw that control command is sent to from operation equipment 3 by operation handle 21, to enable from operation equipment 3 according to doctor's operation handle 21
Control command executes corresponding operating, and observes operative region by display 22, wherein handle 21 can be moved freely and be revolved
Turn, enables doctor that there is biggish operating space.There is motion arm 31 from operation equipment 3, motion arm includes sequentially connected connecting rod
32, connection component 33 and end instrument 34, wherein connection component 33 has multiple joint assemblies, and motion arm 31 is closed by adjusting
Section component adjusts the posture of the end instrument 34；End instrument 34 has image end instrument 34A and operational tip instrument
34B。
As shown in figure 4, its flow chart for one embodiment of starting method of operating robot.
The starting method of operating robot includes the following steps.
Step S110 obtains the first posture information of end instrument.
Specifically, the location information based on specified point in the instrument of end obtains the first posture information of end instrument.One is real
It applies in example, specified point is located at the remote area of end instrument, for example, being located at end head part of apparatus.In other embodiments, specified point
Other regions of end instrument can also be located at, for example, being located at the central region of end instrument.Wherein, specified point can for one or
It is multiple.
In one embodiment, the first posture information includes first of end instrument based at least one reference axis in coordinate system
Angle information.For example, the first posture information includes the first angle information based on two reference axis, one of them is based on X-axis, separately
Outer one is based on Y-axis based on Z axis or Y-axis or one, another is based on Z axis；For another example, the first posture information includes being based on
The first angle information of three reference axis；For another example, the first posture information only includes first based on a reference axis in coordinate system
Angle information.
Wherein, when the first posture information includes the posture information of multiple points, the first angle letter based on each reference axis
Breath includes the angle information of multiple points.It should be noted that the posture information of each point both may include based on each at this time
The angle information of reference axis can also only include the angle information of part of reference axis.For example, the posture letter of one of point
Breath includes the angle information based on X-axis, Y-axis, and the information of another point only has the angle information based on X-axis.
Step S120 obtains the second posture information of handle in real time.
Identical as the first posture information, the second posture information is obtained based on the location information of specified point in handle, middle finger
The quantity of fixed point and position can be set as needed.Similarly, the second posture information includes being based in the same coordinate system where handle
The second angle information of at least one reference axis.It no longer repeats herein.
Further, at least one second angle information and first angle information are based on the same reference axis, for example, second
Posture information includes two second angle information, and the first posture information includes two first angle information, two first angle letters
Breath, second angle information can be based on any two reference axis in X-axis, Y-axis, Z axis；For another example, the second posture information includes one
Second angle information based on X-axis, the first posture information include two first angle information, are based respectively on X-axis, Y-axis, Huo Zheji
In X-axis, Z axis.
It should be noted that when the second posture information includes the posture information of multiple points, wherein each point on handle
Posture information both can be corresponding with the posture information of end instrument corresponding points, can also be corresponding with partial dot.Wherein, every on handle
The posture information of a point is corresponding with the corresponding angle information for referring to the two of the posture information of end instrument corresponding points, i.e., when on handle
When the posture information of point includes the angle information based on X-axis and Y-axis, the posture information of the point on the instrument of end also includes based on X
The angle information of axis and Y-axis.
Second posture information is compared step S130 with the first posture information, when the two deviation is in predetermined deviation
When, end instrument is aligned with handle, and transmission follows signal, enters following state to start end instrument.
Wherein, when the first posture information includes multiple first angle information and/or the second posture information includes multiple second
When angle information, first angle information, second angle information based on the same reference axis are compared by when comparison.For example,
When the first posture information includes based on X-axis, the first angle information of Y-axis, the second posture information includes the second angle based on X-axis
When information, first angle information and second angle information based on X-axis are compared.When the first posture information includes the posture of multiple points
When information and/or the second posture information include the posture information of multiple points, the posture letter of corresponding points is compared according to the method described above
Breath.
In one embodiment, when the deviation of any one or more second angle information and corresponding first angle information
When in predetermined deviation, starting end instrument enters following state.For example, the first posture information include based on X-axis, Y-axis
One angle information, the second posture information include based on X-axis, the second angle information of Y-axis, when the second angle based on X-axis or Y-axis
When information and the first angle information based on X-axis or Y-axis are in predetermined deviation, handle is aligned with end instrument, end instrument into
Enter following state.For another example, when based on X-axis, Y-axis, three second angle information of Z axis with corresponding first angle information
Deviation in predetermined deviation when, starting end instrument enter following state.It should be noted that obtain the first posture information and
When the second posture information, the angle information based on three reference axis of coordinate system can be both obtained simultaneously, and it is any number of right to compare
Angle information is answered, also the available angle information based on partial coordinates axis, and compared.
It is inclined when specified one or more second angle information and corresponding first angle information in one embodiment
When difference is in predetermined deviation, starting end instrument enters following state.For example, specified second angle information is based on Z axis
Second angle information.Similarly, it when obtaining the first posture information and the second posture information, can both obtain simultaneously based on coordinate system three
The angle information of a reference axis, and specified angle information is compared, the angle information that can also only obtain needs is compared.
In one embodiment, the predetermined deviation based on different reference axis is at least partly identical, for example, first based on X-axis jiao
Spend the predetermined deviation between information and second angle information, with based on Z axis first angle information, between second angle information
Predetermined deviation is identical, different with the predetermined deviation based on Y-axis.For another example, the predetermined deviation based on X-axis, Y-axis, Z axis is all the same.Its
In his embodiment, the predetermined deviation based on different reference axis can also be different.
It should be noted that each point is based on different or phase when the first posture information includes the posture information of multiple points
Both can be identical with the predetermined deviation of reference axis, it can also be different.
In one embodiment, predetermined deviation is 2~15 degree, such as predetermined deviation is 3 degree, 5 degree, 10 degree.
When deviation is greater than predetermined deviation, continue regulation handle until deviation is less than predetermined deviation.
Above-mentioned starting method enables the operation of operating robot safer, and due to can be aligned in predetermined deviation,
Enable starting fast speed.
As shown in figure 5, its flow chart for one embodiment of starting method of operating robot.
The starting method of operating robot includes the following steps.
Step S210 obtains the first posture information of end instrument.It is identical as step S110, no longer repeats herein.
Step S220 shows the first pose presentation of end instrument based on the first posture information on graphical interfaces.
Graphical interfaces can be the graphical interfaces in the display of master operating station, or figure circle in secondary monitor
Face, wherein secondary monitor is separately positioned with master operating station.
As shown in Figure 6, Figure 7, in an embodiment, the first pose presentation 400 includes the of end instrument 34 in a coordinate system
One image coordinate 410, at this point, the step of the first pose presentation 500 of display end instrument 34 include the following steps.
(1) based on the first coordinate information on the first posture information 420 acquisition end instrument in a coordinate system reference axis.Its
In, the first coordinate axis information can be to be multiple, for example, the first coordinate axis information is two, respectively X-axis, the first coordinate in Y-axis
Axis information；For another example, the first coordinate axis information is three, respectively X-axis, Y-axis, the first coordinate axis information on Z axis.
(2) the first image coordinate is shown along corresponding reference axis on graphical interfaces based on the first coordinate information.Wherein,
One image coordinate is the image along reference axis.
In one embodiment, the quantity of the first image coordinate is identical as the quantity that first angle to be compared is believed and corresponding, with
Intuitively shown in graphical interfaces.In other embodiments, the quantity of the first image coordinate can also be greater than to be compared first
Angle information.
When the first image coordinate is multiple, the color of at least two first image coordinates is different, to distinguish.Example
Such as, the first image coordinate is three, and the color of three image coordinates is different or the color phase of two of them image coordinate
It is different.As needed, the color of three the first image coordinates can also be all the same.
Step S230 obtains the second posture information of free lever in real time.It is identical as step S120, no longer multiple herein
It states.
Step S240 shows the second pose presentation of handle based on the second posture information on graphical interfaces.
First pose presentation and the second pose presentation are adjusted for assist handle, to enable user more intuitively perceive handle
Deviation between the instrument of end, and then handle is adjusted according to two pose presentations, enable end instrument enter following state.
Identical as the first pose presentation 400 as shown in Fig. 6, Fig. 8, the second pose presentation 500 includes handle 21 with first
Second image coordinate 510 of the pose presentation 400 in the same coordinate system, shows the second pose presentation 500 of handle 21 at this time
Step includes the following steps.
(1) based on the second coordinate information on the second posture information 520 acquisition handle in a coordinate system reference axis
(2) the second image coordinate is shown along corresponding reference axis on graphical interfaces based on the second coordinate information.
Wherein, at least one first image coordinate and the second image coordinate are the image shown based on the same reference axis.
For example, the first pose presentation, the second image coordinate, which include two, is based respectively on X-axis, the first image coordinate of Y-axis.For another example,
One pose presentation includes two based on X-axis, the first image coordinate of Y-axis, and the second pose presentation includes the second coordinate based on X-axis
Image.
In one embodiment, the first pose presentation is overlapped with the datum mark of the second pose presentation, for example, the first image coordinate with
The origin of second image coordinate is overlapped.In other embodiments, the datum mark of two pose presentations non-coincidence can also be arranged, and two
Pose presentation is set side by side.
Further, the position of the first pose presentation, the second pose presentation in graphical interfaces can be set as needed, example
Such as, positioned at the fringe region of graphical interfaces；For another example the setting of end instrument is closed on.Wherein, the origin of two pose presentations both can be
Specified region on graphical interfaces, can also move on graphical interfaces, such as follow end instrument mobile.
It is identical as the first image coordinate, when the second image coordinate is multiple, the color of at least two second image coordinates
It is different, to distinguish, no longer repeat herein.
In one embodiment, the first image coordinate based on same reference axis is corresponding with the color of the second image coordinate, with
Enable user can more intuitively regulation handle, be directed at it with end instrument, for example, the first image coordinate is dark green at this time
Color, the second image coordinate are light green color.
Second posture information is compared step S250 with the first posture information, when the two deviation is in predetermined deviation
When, end instrument is aligned with handle, and transmission follows signal, enters following state to start end instrument.
The alignments and related content of two posture informations are identical as step S130, no longer repeat herein.
Further, when the deviation of second angle information and corresponding first angle information is in predetermined deviation,
End instrument is aligned in this direction with handle, the second image coordinate display alignment color of alignment.At this point, the first of alignment sits
Logo image can also show alignment color.Wherein, each first image coordinate, the color of the second image coordinate and to be directed at color homogeneous
It is different.
In one embodiment, when the deviation of second angle information and corresponding first angle information is in predetermined deviation
When, end instrument is aligned in this direction with handle, if the first pose presentation is overlapped with the origin of the second pose presentation at this time,
The second image coordinate of alignment is enabled to be overlapped with the first image coordinate.In this way, enabling display more intuitive, it is conveniently adjusted.It needs to illustrate
, when predetermined deviation is smaller, also can be omitted the step of enabling two projections be overlapped, at this time since deviation is smaller, visually not
Easily discover.
It should be noted that the first pose presentation and/or the second pose presentation may be in coordinate system in an embodiment
Trace image, i.e. the pose presentation of end instrument and handle in coordinate system, and by the posture each in than the above-mentioned ones
Component image in reference axis.At this point, each pose presentation both can be threadiness, or the profile of end instrument or handle.
For example, the first pose presentation, the second pose presentation are the profile of end instrument；For another example, the first pose presentation is end instrument
Image, the second pose presentation be linear image.When handle is aligned with end instrument, the first pose presentation, the second posture figure
Picture essentially coincides, or instruction direction is identical.
Step S260 when end instrument enters following state, hides the first pose presentation, the second pose presentation.
In one embodiment, after the second image coordinate is aligned with the first image coordinate, first, second coordinate diagram is hidden
Picture, i.e., as the image coordinate in different reference axis is aligned one by one, image coordinate is hidden one by one, until the first pose presentation, the
Two pose presentations are hidden., can also be when end instrument enter following state in other embodiments, each image coordinate is hidden simultaneously
Hiding, rather than hide one by one.
It should be noted that according to actual needs, also can be omitted step S260.
In one embodiment, after step S130, step S260, it can also include the following steps.
Step S310 is based on the second posture information into after following state, adjust automatically information is sent, to adjust end
The posture of instrument, deviation when compensation is aligned.
In one embodiment, the positive correlation of regulating the speed of deviation and end instrument.It is i.e. inclined when the first posture and the second posture
When difference is larger, regulating the speed for end instrument is very fast, and when deviation is smaller, the adjustment posture of end instrument is slower.
Specifically, as shown in figure 9, step S310 includes the following steps.
Step S311 obtains the first posture information of the end instrument into after following state in real time.
Step S312 obtains the adjustment speed of end instrument based on the deviation between the first posture information and the second posture information
Spend information.
Step S313 based on the second posture information, acquisition of information adjust automatically information of regulating the speed, and sends adjust automatically
Information, the deviation to adjust the posture of end instrument, when compensation is aligned.
In one embodiment, end instrument is regulated the speed in the initial and/or ending phase of adjust automatically less than scala media
Section is regulated the speed.Wherein the initial stage, ending phase can according to deviation, estimate the information such as adjustment time and be determined, estimate
Adjustment time is that adjustment started to the time terminated.For example, determining according to adjustment time is estimated, the initial stage is that adjustment starts
When, the duration is estimate adjustment time 1/5~1/3.
Further, in each stage regulate the speed can and deviation be positively correlated, i.e., in each adjusting stage, regulate the speed
It is different according to deviation difference.
In one embodiment, the range regulated the speed at least partly phase of the end instrument in coordinate system based on different reference axis
It is different.For example, end instrument is the first range in the range of X-axis regulated the speed, it is the second model in the range of Y-axis regulated the speed
It encloses, is third range in the range of Z axis regulated the speed, wherein at least two range is different.It should be noted that the present embodiment
Adjusting stage and deviation in the adjusting range and above-described embodiment of middle speed is unrelated, i.e., in different adjusting ranges, may be used also
It is regulated the speed with further carrying out setting according to adjusting stage, deviation.
It should be noted that the above-mentioned input order regulated the speed to handle is uncorrelated, if during the adjustment, handle is same
When input order, change the first posture information, then regulate the speed and obtained based on input order and/or above-mentioned each combined factors.This
Outside, according to actual needs, regulating the speed may be definite value, or be set according to user's operating habit.
In one embodiment, above-mentioned coordinate system is graphical interfaces coordinate system.The starting method of robot further includes following steps.
(1) posture of the handle in graphical interfaces coordinate system is obtained.Wherein, the second posture information is based on handle in figure circle
Posture in areal coordinate system obtains.
Specifically, posture of the handle in world coordinate system is obtained, and obtains appearance of the graphical interfaces in world coordinate system
Posture of the handle in world coordinate system is converted to the posture in graphical interfaces in coordinate system according to above- mentioned information by state.
(2) posture of the end instrument in graphical interfaces coordinate system is obtained.Wherein, the first posture information is based on end instrument
Posture in graphical interfaces coordinate system obtains.
Specifically, posture of the image end instrument in link rod coordinate system is obtained, and obtains operational tip instrument in connecting rod
Posture in coordinate system is converted to posture of the operational tip instrument in link rod coordinate system in image end according to above- mentioned information
Posture in instrument coordinate system.Wherein, posture of the operational tip instrument in the instrument coordinate system of image end is in figure circle
Posture in areal coordinate system.
Computer readable storage medium is stored thereon with computer program, real when computer program is executed by processor
The step of starting method of existing any of the above-described embodiment.
In one embodiment, master operating station further includes the second posture acquisition unit, further includes that the first posture obtains from operation equipment
Portion, operating robot further include controller.
Wherein, the first posture acquisition unit, for obtaining the first posture information of motion arm；Second posture acquisition unit, is used for
The second posture information of handle is obtained in real time；Controller is connected with the first posture acquisition unit, the second posture acquisition unit comprising
Above-mentioned memory and processor store computer program in memory, and processor is for realizing starting side described above when executing
The step of method.For example, the controller for obtain the first posture information, the second posture information, and by the second posture information with
First posture information is compared, and when the two deviation is in predetermined deviation, transmission follows signal, to enable end instrument with conveniently
Motion of handle.The related content of other steps is identical as the various embodiments described above, no longer repeats herein.
It should be noted that controller can be to be multiple, multiple controllers can handle different information respectively, wherein more
Can have a master controller in a controller, other be from controller, can also be independent opposite to each other.
In one embodiment, the first posture acquisition unit includes sensor, for obtaining the joint assembly position of each joint assembly
Information and/or deflection information, and the first posture information is obtained according to joint assembly location information and/or deflection information.Other realities
It applies in example, first in posture acquisition unit also may include processor, for according to joint assembly location information and/or deflection information
Obtain the first posture information, it should be noted that the processor can be located in controller at this time.
Further, sensor both can be set on the motor of driving motion arm movement, be obtained by the rotation of motor
Relevant information also can be set on joint assembly, obtain relevant information by the movement of joint assembly.An and joint group
Part can both correspond to a sensor or correspond to multiple sensors, obtain different information.
In one embodiment, the second posture acquisition unit is the magnetic navigation system being connected with controller.
In one embodiment, there is pattern manipulation interface on the display of surgical machine, display is used for according to the first posture
Information, the second posture information show the first pose presentation, the second pose presentation on graphical interfaces.
In one embodiment, after when end, instrument enters following state, end instrument is also used to according to adjust automatically information tune
The posture of whole end instrument, deviation when compensation is aligned.At this point, controller is used to be based on the second posture information, send certainly
Dynamic adjustment information.Further, the first posture acquisition unit is also used to obtain first location information in real time at this time, so that controller base
Deviation between the first posture information and the second posture information obtains the information of regulating the speed of end instrument.
In one embodiment, the master operating station of operating robot further includes the aligned portions being connected with controller, wherein handle
It is removable installed in aligned portions, to be aligned by aligned portions.I.e. when handle needs to be aligned, aligned portions can be placed in
On, it is aligned by aligned portions, handle is removed after alignment, during taking out handle, the offset that handle generates be may result in
It needs to realign, but its approximate location is close with alignment, therefore user can be finely adjusted under current state at this time
Just enter alignment, enable alignment more convenient.
Specifically, controller is used to send aligned portions tune based on the deviation between first location information and second location information
Whole information, aligned portions are based on aligned portions adjustment information and are adjusted, to be consistent with end instrument posture.Aligned portions are equipped with
Position is placed, is matched with handle, for placing handle.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of starting method of operating robot, which is characterized in that the operating robot includes handle and motion arm, described
Handle can free movement, the motion arm has end instrument, and the end instrument follows institute for executing surgical procedure
Handle motion is stated, the starting method includes:
Obtain the first posture information of the end instrument；
The second posture information of the handle is obtained in real time；
Second posture information is compared with first posture information, when the two deviation is in predetermined deviation, institute
It states end instrument to be aligned with the handle, transmission follows signal, enters following state to start the end instrument.
2. the starting method of operating robot according to claim 1, which is characterized in that first posture information includes
First angle information of the end instrument in coordinate system based at least one reference axis, second posture information include institute
Handle is stated in the same coordinate system based on the second angle information of reference axis described at least one, at least one described second
Angle information and the first angle information are based on the same reference axis, and when comparison will be based on the same reference axis
The first angle information, the second angle information are compared.
3. the starting method of operating robot according to claim 2, which is characterized in that first posture information includes
Multiple first angle information based on the different reference axis, second information include multiple based on the different coordinates
The second angle information of axis.
4. the starting method of operating robot according to claim 3, which is characterized in that first posture information includes
Three first angle information based on three reference axis, second information include described three based on three coordinates
The second angle information of axis.
5. according to the starting method of operating robot described in claim 2 to 4 any one, which is characterized in that when any one
When the deviation of a or multiple second angle information and the corresponding first angle information is in the predetermined deviation,
Start the end instrument and enters following state.
6. according to the starting method of operating robot described in claim 2 to 4 any one, which is characterized in that when specified
The deviation of one or more second angle information and the corresponding first angle information is in the predetermined deviation
When, start the end instrument and enters following state.
7. the starting method of the operating robot according to claim 4, which is characterized in that when three second angles
When information is respectively and the deviation of the corresponding first angle information is in the predetermined deviation, start the end instrument
Into following state.
8. a kind of computer-readable memory, is stored thereon with computer program, which is characterized in that the computer program is located
Manage the step of any one of claim 1 to the 7 starting method is realized when device executes.
9. a kind of operating robot characterized by comprising
Motion arm has end instrument, and the end instrument is for executing surgical procedure；
Motion arm has end instrument, for executing surgical procedure；
First posture acquisition unit, for obtaining the first posture information of the motion arm；
Handle, being capable of free movement；
Second posture acquisition unit, for obtaining the second posture information of the handle in real time；
Controller is connected comprising memory and processing with the first posture acquisition unit, the second posture acquisition unit
Device stores computer program in the memory, and the processor when executing for realizing described in any one of claim 1 to 7
The step of starting method.
10. operating robot according to claim 9, which is characterized in that the operating robot further includes display, institute
Stating has pattern manipulation interface on display, the display is used to be believed according to first posture information, second posture
Breath, shows the first pose presentation, the second pose presentation on graphical interfaces.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811158111.XA CN109223183A (en) | 2018-09-30 | 2018-09-30 | Starting method, readable access to memory and the operating robot of operating robot |
| CN201910425073.8A CN109965982B (en) | 2018-09-30 | 2019-05-21 | Starting method of surgical robot, readable memory and surgical robot |
| CN201910424362.6A CN109965980B (en) | 2018-09-30 | 2019-05-21 | Starting method of surgical robot, readable memory and surgical robot |
| CN201910424372.XA CN109965981B (en) | 2018-09-30 | 2019-05-21 | Starting method of surgical robot, readable memory and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811158111.XA CN109223183A (en) | 2018-09-30 | 2018-09-30 | Starting method, readable access to memory and the operating robot of operating robot |
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| CN109223183A true CN109223183A (en) | 2019-01-18 |
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| CN201811158111.XA Pending CN109223183A (en) | 2018-09-30 | 2018-09-30 | Starting method, readable access to memory and the operating robot of operating robot |
| CN201910424362.6A Active CN109965980B (en) | 2018-09-30 | 2019-05-21 | Starting method of surgical robot, readable memory and surgical robot |
| CN201910425073.8A Active CN109965982B (en) | 2018-09-30 | 2019-05-21 | Starting method of surgical robot, readable memory and surgical robot |
| CN201910424372.XA Active CN109965981B (en) | 2018-09-30 | 2019-05-21 | Starting method of surgical robot, readable memory and surgical robot |
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| CN201910424362.6A Active CN109965980B (en) | 2018-09-30 | 2019-05-21 | Starting method of surgical robot, readable memory and surgical robot |
| CN201910425073.8A Active CN109965982B (en) | 2018-09-30 | 2019-05-21 | Starting method of surgical robot, readable memory and surgical robot |
| CN201910424372.XA Active CN109965981B (en) | 2018-09-30 | 2019-05-21 | Starting method of surgical robot, readable memory and surgical robot |
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| CN112450995A (en) * | 2020-10-28 | 2021-03-09 | 杭州无创光电有限公司 | Situation simulation endoscope system |
| CN112587243A (en) * | 2020-12-15 | 2021-04-02 | 深圳市精锋医疗科技有限公司 | Surgical robot and control method and control device thereof |
| CN112618020A (en) * | 2020-12-15 | 2021-04-09 | 深圳市精锋医疗科技有限公司 | Surgical robot and control method and control device thereof |
| CN113612928A (en) * | 2021-10-09 | 2021-11-05 | 深圳市越疆科技有限公司 | Teleoperation system, teleoperation method and chip |
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| CN113812902B (en) * | 2021-11-22 | 2022-02-18 | 极限人工智能有限公司 | Method and device for controlling tail end of flexible instrument, electronic equipment and storage medium |
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| CN112450995A (en) * | 2020-10-28 | 2021-03-09 | 杭州无创光电有限公司 | Situation simulation endoscope system |
| CN112587243A (en) * | 2020-12-15 | 2021-04-02 | 深圳市精锋医疗科技有限公司 | Surgical robot and control method and control device thereof |
| CN112618020A (en) * | 2020-12-15 | 2021-04-09 | 深圳市精锋医疗科技有限公司 | Surgical robot and control method and control device thereof |
| CN112587243B (en) * | 2020-12-15 | 2022-06-07 | 深圳市精锋医疗科技股份有限公司 | Surgical robot and control method and control device thereof |
| CN113612928A (en) * | 2021-10-09 | 2021-11-05 | 深圳市越疆科技有限公司 | Teleoperation system, teleoperation method and chip |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109965980B (en) | 2020-10-09 |
| CN109965981A (en) | 2019-07-05 |
| CN109965982A (en) | 2019-07-05 |
| CN109965980A (en) | 2019-07-05 |
| CN109965981B (en) | 2020-09-22 |
| CN109965982B (en) | 2020-10-09 |
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