CN109288592A - The method of operating robot and detection mechanical arm collision with mechanical arm - Google Patents
The method of operating robot and detection mechanical arm collision with mechanical arm Download PDFInfo
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- CN109288592A CN109288592A CN201811169678.7A CN201811169678A CN109288592A CN 109288592 A CN109288592 A CN 109288592A CN 201811169678 A CN201811169678 A CN 201811169678A CN 109288592 A CN109288592 A CN 109288592A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Mechanical Engineering (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
This application provides a kind of operating robot with mechanical arm and utilize the method for robot detection mechanical arm collision, the robot includes controller, trolley and at least one mechanical arm connecting with trolley, mechanical arm includes multiple joints, each joint includes joint motor and the current detector for detecting joint motor electric current, and controller is used to acquire the current information of each driving motor and judges the collision status of surgery mechanical arm according to current information.By the operating robot and detection method, so that the motor at joint of mechanical arm is made to stop rotating when mechanical arm collides, avoid mechanical arm continues negative consequence caused by movement.
Description
Technical field
The present invention relates to the field of medical instrument technology more particularly to a kind of operating robots and detection machine with mechanical arm
The method of tool arm collision.
Background technique
In micro-wound surgical operation, it is often necessary to which doctor carries out the cutting, removing, suture etc. of tissue manually, for some
Complicated surgical operation needs doctor's standing for a long time and handhold mini-size surgical instrument is performed the operation, and doctor is easy to fatigue, from
And influence the quality of operation.Meanwhile conventional Minimally Invasive Surgery instrument is the simple imitation to conventional open surgical instrument, freely
Degree is less, flexibility is low and instrument internal friction is big, will lead to the decaying and doctor's fatigue of driving force, it is difficult to avoid the hand of doctor
The reduction for the accuracy quiver, performed the operation caused by fatigue, is not easy to the smooth development of operation.
Currently, there is the human-aided micro-wound surgical operation of machine to be gradually applied in actual clinic, these robots are usual
With multiple mechanical arms, in the course of surgery, different surgical instruments is installed on different mechanical arms according to division of labor difference,
Such as scalpel, operating scissors or endoscope.Medical worker operate these mechanical arms perform the operation during, it may occur that
Mutually collision or the case where by external force between mechanical arm, this aspect will lead to and damage between mechanical arm because of collision
It is bad, it is on the other hand unfavorable for the patient to be performed the operation.Therefore, it is necessary to develop a kind of operating robot, in machinery
Mechanical arm stop motion can be controlled when colliding between arm in time.
Summary of the invention
The present invention provides a kind of operating robot with mechanical arm and using its detection mechanical arm collision method,
By the electric current of detection mechanical arm joint motor, the collision status of mechanical arm is judged, so that the motor at shutdown be made to stop in time
Spin-ended turn, avoid mechanical arm continues negative consequence caused by movement.
In one aspect of the invention, provide a kind of operating robot with mechanical arm, including controller, trolley with
And at least one mechanical arm connecting with trolley, mechanical arm include multiple joints, which is characterized in that each joint includes joint electricity
Machine and current detector for detecting joint motor electric current, controller are used to acquire the current information and root of each driving motor
The collision status of surgery mechanical arm is judged according to current information.
In one embodiment, controller is also used to indicate that whole joint motors of mechanical arm stop operating.
In one embodiment, joint further includes motor locking device promptly to be locked to operation joint motor.
In one embodiment, mechanical arm has at least six freedom degrees.
In one embodiment, mechanical arm includes end joint and is connected respectively with the first link arm and the second link arm
Middle joint, end joint include the first joint being connected with trolley and the 6th joint being connected with slide unit.
In one embodiment, middle joint includes the second joint connecting with the first articulation, the first company of connection
The 4th joint and closed respectively with the 4th joint and the 6th that the third joint of arm and the second link arm and the second link arm are rotatablely connected
Save the 5th joint of rotation connection.
In one embodiment, the rotary shaft in the first joint and the short transverse of trolley are parallel, and with second joint
Rotary shaft is vertical.
In one embodiment, trolley side is equipped with telescopic arm, and one end of telescopic arm is connect with mechanical arm.
Another aspect of the present invention provides the side of the operating robot detection mechanical arm collision using first aspect
Method, method includes the following steps: step 1, controller acquire current information, current information includes each joint of mechanical arm
Current detector detection corresponding joint motor current value；Step 2, controller are obtained according to current information by target algorithm
Obtain external force size suffered by mechanical arm；Step 3, when external force be greater than preset outer force threshold when, controller control mechanical arm it is complete
Portion's joint motor stops rotating.
In one embodiment, outer force threshold is 50~150N.
The present invention compared with the prior art the advantages of be: by the current detector detection mechanical arm in operating robot
Joint motor electric current, when mechanical arm collides, the electric current can moment rapidly increase, controller judges mechanical arm
Collision, and control joint motor locking mechanism for joint motor locking, avoid mechanical arm continue it is unfavorable caused by movement
Consequence.
Above-mentioned technical characteristic may be combined in various suitable ways or be substituted by equivalent technical characteristic, as long as can reach
To the purpose of the present invention.
Detailed description of the invention
The invention will be described in more detail below based on embodiments and refering to the accompanying drawings.Wherein:
Fig. 1 shows the schematic diagram of operating robot according to an embodiment of the present invention；
Fig. 2 shows the schematic diagram of mechanical arm according to another embodiment of the present invention；
Fig. 3 shows the schematic diagram of operating robot according to another embodiment of the present invention；
Fig. 4 shows the exemplary diagram of trolley according to another embodiment of the present invention；
Fig. 5 shows the exemplary diagram of telescopic arm according to another embodiment of the present invention；
Fig. 6 shows the enlarged drawing at the top of the trolley in Fig. 4 according to another embodiment of the present invention；
Fig. 7 shows the stream of the method according to another embodiment of the present invention using the collision of operating robot detection mechanical arm
Journey block diagram.
In the accompanying drawings, identical component uses identical appended drawing reference.Attached drawing is not according to actual ratio.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings.
As shown in Figure 1, the operating robot 1 includes pushing hands 2, mechanical arm 3, trolley 4, slide unit 5 and surgical instrument assemblies
6。
During installation, usually mechanical arm 3 and slide unit 5 are securely connected by the bindiny mechanism of mechanical arm, that is to say, that should
One end of the bindiny mechanism of mechanical arm connects slide unit 5, and the other end connects mechanical arm 3.
In the operating robot 1, each mechanical arm 3 all has at least six freedom degrees.For example, mechanical arm 3 can have
There are six rotational freedom and more than one translational degree of freedom.
According to an aspect of the present invention, the implementation of six rotational freedoms of mechanical arm 3 is as follows.
As shown in Fig. 2, during mechanical arm 3 includes end joint and is connected respectively with the first link arm 37 and the second link arm 38
Between joint, end joint includes the first joint 31 being connected with trolley 4 and the be connected with the mounting base 21 of operation tool 2 the 6th
Joint 36.Optionally, the 6th joint 36 is used as the bindiny mechanism of mechanical arm to connect slide unit 5 and mechanical arm 3.
Further, middle joint includes the second joint 32 being rotatablely connected with the first joint 31, connect the first link arm 37
With the third joint 33 of the second link arm 38, with the 4th joint 34 of the second link arm 38 rotation connection and respectively with the 4th joint 34
With the 5th joint 35 of the 6th joint 36 rotation connection.I.e. the both ends of the first link arm 37 respectively with second joint 32 and third joint
33 are connected, and the relative motion between the first link arm 37 and the second link arm 38 then leans on third joint 33 to realize.
As shown in figure 3, the rotary shaft L1 in the first joint 31 is parallel with the short transverse of trolley 4, and with second joint 32
Rotary shaft L2 is vertical.Rotary shaft L4, the rotary shaft L5 in the 5th joint 35 and the rotary shaft in the 6th joint 36 in the 4th joint 34
L6 is mutually perpendicular to.By the rotation in six above-mentioned joints, it can be realized six rotational freedoms of mechanical arm 3, thus mechanical
The movement of arm 3 can imitate the arm motion of human body completely, so that the lesions position of actual needs operation accurately be determined
Auxiliary operation of the position without doctor, is overlapped the sight of doctor with the lesions position that needs operate, avoids doctor's trick not
Risk that is consistent and increasing operation.
In addition, settable joint sensors on six above-mentioned joints, to measure the rotational angle in each joint, to obtain
Obtain endoscope current pose information；And six above-mentioned joints can be driven by joint motor.
Further, above-mentioned each joint is the execution unit of movement, is connected between each execution unit, so that each
There is preferable isotropism, and without accumulated error between joint, so that robot complete machine precision with higher, and have dynamic
State responds good Deng technical characterstics.
When second link arm 38 is rotated using the axis in third joint 33 as rotary shaft, maximum rotation angle is 360 °.
When first link arm 37 is rotated using the axis of second joint 32 as rotary shaft, maximum rotation angle is 180 °.
In one embodiment of the invention, the quantity of above-mentioned mechanical arm 3 can be two or more, multiple
Mechanical arm 3, which can be fixed on the different sides of trolley 4 and the end of mechanical arm 3, can be equipped with different operation tools 2,
To meet the requirement of complicated operation.
More than one translational degree of freedom of mechanical arm 3 includes upward-downward translation freedom degree and front and back translational degree of freedom, the two
Implementation is as follows.
As shown in figure 3, being provided with outer sliding sleeve 13 on column 12, which is configured to perpendicular to 12 short transverse of column
Tubular structure, inside be fitted with the inner sliding sleeve 14 with small diameter and enable inner sliding sleeve 14 in the inside of outer sliding sleeve 13
It is free to slide in cavity, wherein the inner sliding sleeve 14 can be column or tubular.One end of mechanical arm 3 and inner sliding sleeve 14 is fixed to be connected
It connects, meanwhile, the first joint 31 of mechanical arm 3 can be rotated around rotary shaft L1.On the one hand, edge is offered in the side of column 12
The sliding groove that 12 short transverse of column extends, outer sliding sleeve 13 can slide on column 12 along the sliding groove, to realize machine
The upward-downward translation freedom degree of tool arm 3；On the other hand, free to slide before and after by inner sliding sleeve 14 in outer sliding sleeve 13, driving should
The front and back of mechanical arm 3 is free to slide.
In one embodiment of the invention, the top of column 12 is arranged in mechanical arm 3.Wherein, the top of column 12 is set
It is equipped with mechanical interface, mechanical arm 3 is fixedly connected with mechanical interface.
When the side of column 12 is arranged in mechanical arm 3, the upper end of the shell of column 12 is provided with indicator light and/or control
Button controls mechanical arm 3 with facilitating.
Optionally, the first joint 31 and 4 connecting place of trolley are provided with conduit, and the axis direction of conduit is respectively with first
The axis direction in joint 31 and the short transverse of column 12 are vertical.Similarly, the 6th joint 36 and mechanical arm connection structure phase
It is also equipped with conduit at even, to protect to the conducting wire drawn in joint.
As shown in figure 4, trolley 4 includes trolley pedestal 11 and the column 12 being fixed on trolley pedestal 11, it is mechanical
Arm 3 is arranged on column 12.Trolley pedestal 11 and column 12 are arranged at the inside of trolley shell, and trolley shell not only will control
Component and mechanical part are integrated, and beautiful, protection internal structure can be more played the role of.
The quadrangle of the bottom of trolley pedestal 11 is respectively arranged with hydraulic lifting castor, and hydraulic lifting castor includes hydraulic pressure support
Foot 111 and universal wheel 112.
Hydraulic supporting feet 111 is connected by hydraulic tube with the hydraulic pump 113 that pallet bottom is arranged in, and hydraulic pump 113 is set
It is equipped with rocker lever, by artificially controlling rocker lever, can control the flexible of hydraulic supporting feet 111 and universal wheel 112, when
Rocker lever is shaken when packing up hydraulic supporting feet 111, universal wheel 112 land, it can be achieved that trolley 4 movement, when shaking rocking bar
When handle stretches out hydraulic supporting feet 111, hydraulic supporting feet 111 can support trolley to make universal wheel 112 liftoff, realize trolley 4
Park.
It is connected with pushing hands 2 at the rear portion of trolley 4, can be used for pushing trolley 4.
As shown in figure 5 and figure 7, column 12 includes column main body 121, outer guide component 122, movable pulley component 123 and determines
Pulley assembly 124, outer guide component 122 are respectively arranged in the left and right sides of column main body 121, and movable pulley component 123 is set respectively
It sets on outer guide assembly 122, the top of trolley 1 is arranged in fixed pulley assembly 124, will be located at column by fixed pulley group 124
The movable pulley component of two sides links together,
Outer guide component 122 includes that the adapter flange 1221 at left and right sides of column is arranged in and is arranged on front side of column 12
Second drag chain 1222, adapter flange 1221 can do upper and lower linear motion along the axis of column.One end of second drag chain 1222 with
Adapter flange 1221 is connected, and the other end is connected on the mounting plate of 1222 lower section of the second drag chain, while the second drag chain
1222 bend to a semicircular arc by self structure.Cable is then nested in the hollow structure of the second drag chain 1222 formation,
When adapter flange 1221 moves up and down, the servo-actuated state of the second drag chain 1222 can make its shape be maintained at certain spatial dimension
It is interior, at the same the semi arch of the tip flexion of the second drag chain 1222 remain unchanged and with the linear motion of adapter flange 1222 carry out with
It is dynamic.Both it had protected cable not cause abrasion to be leaked electricity with external structural friction, while having eliminated because of the cable movement that there is no limit
Abnormal sound caused by collision with other structures scrapes.
As shown in fig. 6, fixed pulley assembly 124 includes electromagnetic brake 1241 and main fixed pulley 1242 and from fixed pulley 1243,
Electromagnetic brake 1241 is attached with main fixed pulley 1241 by axis respectively, and fixed pulley is wound with wirerope 1244, wirerope
After 1244 connect with mounting base on the outside of column, pass through the movable pulley of fixed pulley, movable pulley component 123 with fixed pulley assembly 124
Winding combination, then with inside column 12 interior guide rail and balance weight assembly be connected fitting.It is opened by the energization of electromagnetic brake 1241
Open the unlatching and stopping that control pulley rotation function is closed with power-off.The energization of electromagnetic brake 1241 can move up and down outer after opening
Guide assembly 122 realizes the open and close of a freedom of motion, outer guide component can be realized after power-off to target position
122 hoverings.
The shell of trolley 4 includes front housing and rear shell, and the centre at trolley front and rear casing fastening is equipped with connecting plate, trolley 4
Front and rear casing the right and left is designed with strip groove and opening, and the external structure connected for adapter flange 1222 is coupled and carries out
Linear motion, connecting plate are then used to cover opening up and down, facilitate the maintenance of internal part.Strip groove side is provided with scale
Ruler, the telescopic arm 13 to move along a straight line above and below provide the height enlightenment relative to ground.
In one embodiment of the invention, the top of column 12 is arranged in mechanical arm 3.Wherein, the top of column 12 is set
It is equipped with mechanical interface, mechanical arm 3 is fixedly connected with mechanical interface.
When the side of column 12 is arranged in mechanical arm 3, the upper end of the shell of column 12 is provided with indicator light and/or control
Button controls mechanical arm 3 with facilitating.
Optionally, the first joint 31 and 4 connecting place of trolley are provided with conduit, and the axis direction of conduit is respectively with first
The axis direction in joint 31 and the short transverse of column 12 are vertical.Similarly, the 6th joint 36 and mechanical arm connection structure phase
It is also equipped with conduit at even, to protect to the conducting wire drawn in joint.
Usually there are multiple mechanical arms 3 in operating robot 1, the top or side for trolley 4 can be set in they,
In the course of surgery, the surgical instrument on multiple mechanical arm 3 is also different according to different settings of dividing the work, such as scalpel, operation
It cuts or endoscope etc..Medical worker operates different machinery 3 at different times as needed and moves, however it is also possible that can occur
The case where colliding between mechanical arm 3, this aspect will lead to and be damaged between mechanical arm because of collision, on the other hand for quilt
It is unfavorable for the patient of operation.
In mechanical arm 3 of the invention, each intra articular in six joints of example as shown in figure 1 is provided with joint electricity
Machine and current detector for the real-time detection joint motor size of current.The operating robot further includes controller,
It can be separately set in console, the inside with mechanical arm 3 can also be inherited, the present invention is not limited thereto.
As shown in fig. 7, the method collided using 1 detection mechanical arm 3 of operating robot in another aspect of the invention
In 100, this method 100 includes:
S110, controller acquire current information, and current information includes the current detector inspection of each joint of mechanical arm
The current value of the corresponding joint motor of survey；
S120, controller obtain external force size suffered by mechanical arm by target algorithm according to current information；
S130, when external force is greater than preset outer force threshold, whole joint motors that controller controls mechanical arm stop rotation
Turn.
Specifically, in S110, the current detector of each joint detects phase in real time, answers the current value of joint motor
Size, and respective testing result is sent to controller；Controller then collects the current value of each joint of mechanical arm
The current information of composition；
In S120, it is current to obtain the mechanical arm in conjunction with preset algorithm according to the collected current information of institute for controller
The size of suffered external force, the process specifically can be as described below.
Motor is electrically driven:
In s complex field, the electric equilibrium equation group of armature described below:
Va=(Ra+s*La) * Ia+Vg； ①
Vg=kv*Om； ②
Wherein Va and Ia is armature voltage and electric current respectively, and Ra and La are armature resistance and inductance coefficent respectively, and Vg is indicated
Counter electromotive force, it is directly proportional by voltage constant kv and angular speed Om, and kv is determined by motor specific structure and coil flux amount.
Mechanical balance is described by following equations:
Cm=(s*Im+Fm) * Om+C1； ③
Cm=kt*Ia； ④
Wherein Cm and C1 respectively indicates driving moment and load torque, and Im and Fm are respectively on rotator inertia and motor shaft
Viscous friction coefficient, torque constant kt are equal with the kv numerical value of small electromotor on standard international unit.
Using Newton-Euler formula, after calculating base linkage to the velocity and acceleration of end effector with forward recursion,
Backward recursion must contribute again, and specifically, as long as providing he=[fn+1T un+1T] (final he=0), formula is used in (7.87)
The Newton's formula of iteration is as follows:
Fi=fi+1+mi*Ci； ⑤
Gravitational acceleration component is already contained in Ci, and Euler's formula are as follows:
Ui=-fi X (ri-1, I+ri, ci)+ui+1+f i+1X ri, ci+i*wi+wi X (i*wi)+
kr,i+1i+1Imi+1zmi+1+kr,i+1i+1Imi+1wi X zmi+1 ⑥
Ui: the connecting rod i-1 torque to connecting rod i about coordinate system i-1 origin；
Fi: the active force that connecting rod i-1 applies connecting rod i；
F i+1: the active force that connecting rod i+1 applies connecting rod i；
Ui+1: the connecting rod i+1 torque to connecting rod i about coordinate system i origin；
Ri, ci: vector of the origin of coordinate system i to mass center Ci；
Ci: the linear acceleration of mass center Ci；
Imi: the rotary inertia of rotor；
I: the inertial tensor of connecting rod is extended；
Ci: mass center acceleration；
I+1: joint i+1 acceleration；
I+1: joint i+1 speed；
Wi: joint i angular speed.
Act on the generalized force on joint are as follows:
Ti=uiT*zi-1+kri Imi miT zmi+Fvi I+Fsi sgn (Qi)；
Wherein contain the viscous torque in joint and Coulomb friction torque.
Therefore, by the way that 5. 6. formula and the linear velocity in each joint, acceleration can calculate the stress f0-f5 in each joint
And corresponding torque u0-u5, driving torque can be calculated by 4. formula, then load output torque is calculated by 3. formula, born
Load output torque and the difference of torque (desired output torque) are the fluctuation situation of torque, eventually by torque=power * arm of force
The size of power is obtained, whether system is able to detect by external active force by the variation of torque and power.
In S130, controller makes comparisons the external force size with preset outer force threshold, since mechanical arm is touching
When hitting, the current value of joint motor can rapidly increase, so that corresponding external force size also will increase.If the external force size is greater than pre-
If outer force threshold, then controller judges that the mechanical arm 3 is currently at collision status, then controller indicates the mechanical arm at this time
All joint motors stop rotating, to organize the further movement of mechanical arm.
Optionally, controller can indicate to cut off the power, and the joint motor is made to stop rotating due to power-off；
Preferably, motor locking device is respectively provided with inside each joint motor, controller can be to the motor locking device
Instruction is sent, indicates that it implements promptly to lock to corresponding joint motor, to prevent the further movement of mechanical arm.
Specifically, when mechanical arm 3 collides, the electric current of the joint motor of internal each joint can be with outer
The increase of portion's resistance (external loading) and rapidly increase.After current detector detects that the electric current increases, refer to controller transmission
It enables, controller after receiving the instruction then sends locked instruction to joint motor locking mechanism, and instruction joint motor is locked
Mechanism locks joint motor, to prevent the further movement of mechanical arm 3.
Preferably, S920 further include: the electric current and safe current threshold value that current detector will test compare.The safety electricity
Stream threshold value can be set in advance, that is to say, that the electric current of each joint of mechanical arm 3 is only more than the safe current threshold value
After, controller can just issue locked instruction.By this way, it can be avoided motor Caton caused by the maloperation of medical worker
And make mechanical arm mistakenly emergency stop the case where generation.
Preferably, which is 50~100N, it is highly preferred that the outer force threshold is 100N.
The present invention passes through the electric current of the joint motor of the current detector detection mechanical arm in operating robot, in mechanical arm
When colliding, which can rapidly increase moment, and controller judges that mechanical arm collides, and controls joint motor and lock machine
Joint motor locking is avoided the negative consequence caused by continuing movement of mechanical arm by structure.
In the description of the present invention, it is to be understood that, term " on ", "lower", "bottom", "top", "front", "rear", "inner",
The orientation or positional relationship of the instructions such as "outside", "left", "right" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and can be designed that other arrangements, without departing from spirit of the invention as defined in the appended claims
And range.It should be understood that different appurtenances can be combined by being different from mode described in original claim
Benefit requires and feature described herein.It will also be appreciated that the feature in conjunction with described in separate embodiments can be used
In other described embodiments.
Claims (10)
1. a kind of operating robot with mechanical arm, including controller, trolley and at least one being connect with the trolley
The mechanical arm, the mechanical arm include multiple joints, which is characterized in that each joint includes joint motor and for examining
The current detector of the joint motor electric current is surveyed, the controller is used to acquire the current information and basis of each driving motor
The current information judges the collision status of surgery mechanical arm.
2. operating robot according to claim 1, which is characterized in that the controller is also used to indicate the mechanical arm
Whole joint motors stop operating.
3. operating robot according to claim 2, which is characterized in that the joint further includes motor locking device with right
Operation joint motor is promptly locked.
4. operating robot according to claim 1, which is characterized in that the mechanical arm has at least six freedom degrees.
5. operating robot according to claim 2, which is characterized in that the mechanical arm includes end joint and difference
The middle joint being connected with the first link arm and the second link arm, the end joint include the first joint for being connected with the trolley with
And the 6th joint being connected with the slide unit.
6. operating robot according to claim 3, which is characterized in that the middle joint includes and first joint
The second joint of rotation connection, the third joint for connecting first link arm and second link arm turn with second link arm
4th joint of dynamic connection and the 5th joint being connect respectively with the 4th joint and the 6th articulation.
7. operating robot according to claim 4, which is characterized in that the rotary shaft in first joint and the trolley
Short transverse it is parallel and vertical with the rotary shaft of the second joint.
8. operating robot according to claim 1, which is characterized in that the trolley side is equipped with telescopic arm, described
One end of telescopic arm is connect with the mechanical arm.
9. a kind of method collided using operating robot detection mechanical arm described in any one of any one of claims 1 to 88, feature
It is, which comprises
Step 1, the controller acquire the current information, and the current information includes each joint of the mechanical arm
The current value of the corresponding joint motor of the current detector detection；
Step 2, the controller obtain external force size suffered by the mechanical arm by target algorithm according to the current information；
Step 3, when the external force be greater than preset outer force threshold when, the controller control the mechanical arm whole joints electricity
Machine stops rotating.
10. according to the method described in claim 9, it is characterized in that, the outer force threshold is 50~150N.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109940622A (en) * | 2019-04-28 | 2019-06-28 | 西安交通大学 | It is a kind of based on the robot arm of current of electric without sensing collision checking method |
| CN110000815A (en) * | 2019-04-09 | 2019-07-12 | 深圳前海达闼云端智能科技有限公司 | Collision detection method and device, electronic equipment and storage medium |
| CN110053043A (en) * | 2019-03-05 | 2019-07-26 | 华南理工大学 | A kind of industrial robot collision checking method, device, electronic equipment and medium |
| CN110340942A (en) * | 2019-07-16 | 2019-10-18 | 北京北方华创微电子装备有限公司 | Manipulator collision parameter calibration method and system |
| CN110355786A (en) * | 2019-06-21 | 2019-10-22 | 珠海格力电器股份有限公司 | A kind of robot hits detection method and robot |
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| CN112566583A (en) * | 2019-06-03 | 2021-03-26 | 柯惠Lp公司 | System and apparatus for external torque observation and compensation of surgical robotic arms |
| CN112618024A (en) * | 2021-01-05 | 2021-04-09 | 上海交通大学医学院附属第九人民医院 | Multi-arm cooperative surgical robot |
| CN113478493A (en) * | 2021-09-07 | 2021-10-08 | 成都博恩思医学机器人有限公司 | Collision protection method and system for mechanical arm, robot and storage medium |
| CN113796962A (en) * | 2021-08-27 | 2021-12-17 | 天津大学医疗机器人与智能系统研究院 | Instrument arm |
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2018
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| CN110053043A (en) * | 2019-03-05 | 2019-07-26 | 华南理工大学 | A kind of industrial robot collision checking method, device, electronic equipment and medium |
| CN110000815A (en) * | 2019-04-09 | 2019-07-12 | 深圳前海达闼云端智能科技有限公司 | Collision detection method and device, electronic equipment and storage medium |
| CN109940622A (en) * | 2019-04-28 | 2019-06-28 | 西安交通大学 | It is a kind of based on the robot arm of current of electric without sensing collision checking method |
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| CN112566583A (en) * | 2019-06-03 | 2021-03-26 | 柯惠Lp公司 | System and apparatus for external torque observation and compensation of surgical robotic arms |
| CN110355786A (en) * | 2019-06-21 | 2019-10-22 | 珠海格力电器股份有限公司 | A kind of robot hits detection method and robot |
| CN110340942B (en) * | 2019-07-16 | 2021-01-29 | 北京北方华创微电子装备有限公司 | Manipulator collision parameter calibration method and system |
| CN110340942A (en) * | 2019-07-16 | 2019-10-18 | 北京北方华创微电子装备有限公司 | Manipulator collision parameter calibration method and system |
| CN110988526A (en) * | 2019-11-21 | 2020-04-10 | 珠海格力电器股份有限公司 | Robot assembly inspection method and device and storage medium |
| CN110928236A (en) * | 2019-11-21 | 2020-03-27 | 珠海格力智能装备有限公司 | Robot stress data detection method, device and system |
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| CN111557739A (en) * | 2020-01-14 | 2020-08-21 | 杭州法博激光科技有限公司 | Control method of soft lens auxiliary device |
| CN111513856A (en) * | 2020-04-28 | 2020-08-11 | 苏州立威新谱生物科技有限公司 | Multi-mechanical-arm linkage type surgical operation robot |
| CN112618024A (en) * | 2021-01-05 | 2021-04-09 | 上海交通大学医学院附属第九人民医院 | Multi-arm cooperative surgical robot |
| WO2022160877A1 (en) * | 2021-01-28 | 2022-08-04 | 哈尔滨思哲睿智能医疗设备有限公司 | Voice prompt control method and system for laparoscopic surgery robot |
| CN113796962A (en) * | 2021-08-27 | 2021-12-17 | 天津大学医疗机器人与智能系统研究院 | Instrument arm |
| CN113796962B (en) * | 2021-08-27 | 2024-01-30 | 天津大学医疗机器人与智能系统研究院 | Instrument arm |
| CN113478493A (en) * | 2021-09-07 | 2021-10-08 | 成都博恩思医学机器人有限公司 | Collision protection method and system for mechanical arm, robot and storage medium |
| WO2023093735A1 (en) * | 2021-11-23 | 2023-06-01 | 上海微创医疗机器人（集团）股份有限公司 | System and method for detecting collision force on robot arm, and electronic device and storage medium |
| CN114750153A (en) * | 2022-04-13 | 2022-07-15 | 上海电气集团股份有限公司 | Motion control system for robot arm, cooperative robot, and storage medium |
| CN114750153B (en) * | 2022-04-13 | 2024-03-19 | 上海电气集团股份有限公司 | Motion control system for robot arm, cooperative robot and storage medium |
| CN116370082A (en) * | 2022-07-01 | 2023-07-04 | 北京和华瑞博医疗科技有限公司 | Mechanical arm system and surgical system |
| CN116370082B (en) * | 2022-07-01 | 2024-03-12 | 北京和华瑞博医疗科技有限公司 | Mechanical arm system and surgical system |
| CN117796913A (en) * | 2024-03-01 | 2024-04-02 | 科弛医疗科技(北京)有限公司 | surgical robot |
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