CN109806003A - Execute bar, operating robot and robot localization method using the execution bar - Google Patents
Execute bar, operating robot and robot localization method using the execution bar Download PDFInfo
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- CN109806003A CN109806003A CN201910091254.1A CN201910091254A CN109806003A CN 109806003 A CN109806003 A CN 109806003A CN 201910091254 A CN201910091254 A CN 201910091254A CN 109806003 A CN109806003 A CN 109806003A
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Abstract
The invention proposes a kind of execution bar and using the operating robot of the execution bar and the localization method of the operating robot, to realize quick, the accurate positionin of operating robot.Execution bar of the invention is equipped with alignment sensor, and the alignment sensor is to be embedded in the magnetic position sensor executed in bar, and the signal wire of magnetic position sensor is connect with the annular metal contact for executing bar surface is set to.Operating robot structure of the invention is as follows: including mechanical arm pedestal, mechanical arm, the end effector mechanism being installed on mechanical arm, the end effector mechanism is made of sleeve and the execution bar, the sleeve is fixedly connected with mechanical arm tail end, the execution bar is rotatably penetrated and arranged on sleeve, the one end for executing bar is equipped with executive item, and the other end is connect with the driving mechanism being fixed on sleeve；The inner wall of the sleeve is equipped with brush in the position of corresponding hard contact；The operating robot further includes the field generator for magnetic for cooperating with magnetic position sensor.
Description
Technical field
The invention belongs to the field of medical instrument technology, and in particular to a kind of execution bar and using the surgical engine of the execution bar
The localization method of device people and the operating robot.
Background technique
Below by taking hip replacement surgery as an example, illustrate orientation problem present in current operating robot.
In traditional hip replacement surgery, doctor first has to polish to lesions position using equipment for grinding, so
The prosthese of corresponding model is installed afterwards.In recent years, doctor is more and more implements to perform the operation by joint replacement surgery robot, to be promoted
The precision and efficiency of polishing and installation.The positioning accuracy of the end effector mechanism of operating robot is the most heavy of influence surgical quality
Want factor.
Currently, as shown in Figure 1, the positioning of the executing agency end (3) of hip joint robot relies on built in mechanical arm (2)
Positioning function.Mechanical arm (2) can obtain the accurate coordinate of arm end in real time, then by calculating arm ending coordinates and executing agency
The space reflection relationship of end (3) coordinate system obtains position and the posture of executing agency end (3).Above-mentioned hip joint robot
The localization method of executing agency end (3) there are following disadvantages: 1, workpiece can reduce positioning accuracy using abrasion；Execute bar
(6) structure can amplify the position error of executing agency end (3)；Executing bar (6) must keep opposing stationary with sleeve (7)；It needs
Additional proving operation is wanted, position and the posture of executing agency end (3) could be obtained.
Summary of the invention
The purpose of the present invention is to propose to a kind of execution bar and using the operating robot and the surgical machine of the execution bar
The localization method of people, to realize quick, the accurate positionin of operating robot.
The key of execution bar of the invention is that the shaft for executing bar is equipped with alignment sensor, to hold for detecting
The information such as the coordinate of row bar and attitude angle.Above-mentioned alignment sensor can be optical sensor etc..
Further, execution rod structure of the invention is as follows: the alignment sensor is to be embedded in the magnetic executed in bar to determine
Level sensor, the signal wire of magnetic position sensor are connect with the annular metal contact for executing bar surface is set to.Specifically, institute
Execution bar is stated to be formed by connecting by first body of rod, second body of rod；First body of rod, second body of rod joint be equipped with it is fixed for placing magnetic
The accommodating cavity of level sensor, it is described to execute the wire channel that connection accommodating cavity and hard contact is equipped in bar.Bar will be executed
It is designed as separate structure, and the setting accommodating cavity at the abutted surface of two seperated bodies of rod, is conducive to magnetic position sensor more
It is easily embedded to and executes in bar, and more convenient maintenance or replacement magnetic position sensor.
Further, there are two simultaneously annularly, two hard contacts are located at the difference for executing bar for the hard contact
On cross section, to meet the signal transmission demand of magnetic position sensor.
Operating robot structure proposed by the present invention using above-mentioned execution bar is as follows: including mechanical arm pedestal, machinery
Arm, the end effector mechanism being installed on mechanical arm, key are the end effector mechanism by sleeve and the execution bar structure
At the sleeve is fixedly connected with mechanical arm tail end, and the execution bar is rotatably penetrated and arranged on sleeve, executes one end peace of bar
Equipped with executive item, the other end is connect with the driving mechanism being fixed on sleeve；The inner wall of the sleeve is in corresponding hard contact
Position is equipped with brush；The operating robot further includes the field generator for magnetic for cooperating with magnetic position sensor.
The cooperation of above-mentioned execution bar and sleeve can refer to the end effector mechanism of traditional hip joint robot, i.e. sleeve is equipped with
Axial limit structure can avoid executing bar phase ensuring to execute bar while relative sleeve rotates under driving mechanism drives
Sleeve is moved axially.Executive item is rotated synchronously with bar is executed, and is operated, and magnetic position sensor and execution
In the magnetic field that bar is generated all in field generator for magnetic, by the signal of magnetic position sensor, it can accurately know that magnetic orientation passes
The coordinate and attitude angle of sensor realize the executing agency end of operating robot to calculate the coordinate and attitude angle of executive item
Hold the positioning of (i.e. executive item).Since the alignment sensor in the present invention is very close at a distance from executive item, passed in positioning
Under sensor precision unanimous circumstances, executive item positioning result more more accurate than traditional robot can be also obtained.Above-mentioned executive item
It can be pot mill brill or bone marrow harvesting drill etc., to meet the needs of different operations.
The localization method of upper operating robot is as follows: opening field generator for magnetic during operation, utilizes magnetic position sensor
It detects the coordinate and attitude angle of executive item, specifically comprises the following steps:
A, magnetic position sensor is measured towards the offset d for executing rod end point C and executive item center A point；
B, know the coordinate S of magnetic position sensor in real time by the signal of magnetic position sensorsensorAnd attitude angle
qsensor, in which:
Ssensor=(xc, yc, zc)·
qsensor=qi*i+qj*j+qk*k+qw；
(xc, yc, zc) respectively indicate the coordinate that sensor tip corresponds to X, y, Z axis in magnetic system of coordinatesAnd i2=j2=k2=-1, then the spin matrix R of magnetic position sensor is indicated are as follows:
And the transition matrix M of magnetic position sensor coordinate system to magnetic system of coordinates is indicated are as follows:
According to the spin matrix R of the magnetic position sensor and transition matrix M, executive item center A point coordinate is obtained such as
Under:
The attitude angle of the executive item center A point is identical as the attitude angle of magnetic position sensor central point C.
The present invention by installing alignment sensor on the execution bar of operating robot end effector mechanism, can directly,
Conveniently, tracking in real time executes the coordinate and posture of bar, and the coordinate of executive item is accurately extrapolated by unique method
And posture can be used for operation on hip joint etc. to improve reliable accurate reference for operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of existing hip joint robot.
Fig. 2 is the structural schematic diagram of hip joint robot of the invention.
Fig. 3 is the structural schematic diagram that bar is executed in embodiment 1.
Fig. 4 is 1 middle sleeve of embodiment and the assembling schematic diagram for executing bar.
Fig. 5 is 1 middle sleeve schematic diagram of internal structure of embodiment.
Fig. 6 is executive item positioning principle schematic diagram in embodiment 1.
Fig. 7 is the attachment structure schematic diagram of first body of rod and second body of rod in embodiment 1.
Attached drawing mark: 1, mechanical arm pedestal；2, mechanical arm；3, executing agency end；4, end effector mechanism；5, handle；
6, bar is executed；61, first body of rod；62, second body of rod；63, drilling machine latches；64, conducting wire blind hole；65, bearing；66, hard contact；
67, abrasive drilling latches；68, cavity is accommodated；69, magnetic position sensor；7, sleeve；71, brush；8, executive item；9, mechanical arm tail end；
10, field generator for magnetic；11, patient's hipbone；12, field region；13, conducting wire；14, pedestal；15, self-locking drill point；16, forearm
Supporting block；17, the first metal connecting piece；171, the first screw hole；172, protrusion；18, the second metal connecting piece；181, the second spiral shell
Hole；182, recess portion；19, bolt.
Specific embodiment
It is for example related each to a specific embodiment of the invention by the description to embodiment below against attached drawing
The shape of component, construction, the mutual alignment between each section and connection relationship, the effect of each section and working principle etc. are made into one
The detailed description of step.
Embodiment 1:
The present embodiment proposes a kind of execution bar and operating robot and the operating robot using the execution bar
Localization method, to realize quick, the accurate positionin of operating robot.
As shown in figure 3, the execution bar 6 of the present embodiment is formed by connecting by first body of rod 61, second body of rod 62；First body of rod 61
One end be equipped with drilling machine lock 63, the end face of the other end is equipped with the conducting wire blind hole 64 for accommodating conducting wire, the conducting wire blind hole 64
Inner end communicated with perpendicular to the axial contact channel of first body of rod 61, the contact channel leads to first body of rod, 61 surface,
The surface of first body of rod 61 is equipped with endless metal contact 66 at contact channel；One end of second body of rod 62 is latched equipped with abrasive drilling
67, the end face of the other end is equipped with the accommodating cavity 68 of blind hole shape；The conducting wire blind hole 64 68 face of cavity and connects with accommodating；Hold
It sets and is placed with magnetic position sensor 69 in cavity 68, the conducting wire 13 of magnetic position sensor 69 is by contact channel and hard contact 66
Connect.In the present embodiment, it there are two two hard contacts 66, and is located on the varying cross-section for executing bar 6, to meet
The signal transmission demand of magnetic position sensor 69.
Above-mentioned first body of rod 61, second body of rod 62 can after installing conducting wire and magnetic position sensor 69, by welding,
The forms such as buckle are fixed together.In the present embodiment, the end of first body of rod 61 has been sintered to fix the connection of the first metal
Part 17, the end of second body of rod 62 have been sintered to fix the second metal connecting piece 18, and the end of the first metal connecting piece 17 is equipped with prominent
Protrusion 172 out, protrusion 172 are equipped with perpendicular to the first screw hole 171 for executing 6 axial direction of bar, the end of the second metal connecting piece 18
Portion is equipped with the recess portion 182 protruded into for the protrusion 172, and is equipped in the two sides of recess portion 182 perpendicular to execution bar 6 axial second
Screw hole 181, the first metal connecting piece 17, the second metal connecting piece 18 pass through the spiral shell across the first screw hole 171, the second screw hole 181
Bolt 19 connects；Certainly, the through-hole passed through for the conducting wire of magnetic position sensor 69 is equipped at protrusion 172 and recess portion 182.
The execution bar 6 of the present embodiment is made of being fired as alumina ceramic material, and alumina ceramic material has resistance to height
The advantages of temperature, hardness high, light-weight, environmentally friendly insulation, is not only easy to realization product structure, while will not generate electromagnetic shielding.When
So, for cost consideration, the material of above-mentioned execution bar 6 can also be changed to plastic material.
Bearing 65 is installed, the outer surface of bearing 65 is equipped with annular groove, bores in self-locking on the shaft of first body of rod 61
During folder 15 clamps first body of rod 61, the metal claw of self-locking drill point 15 can gradually be engaged the groove of bearing 65, prevent from holding
Row bar 6 slides axially along sleeve 7.On the one hand the use of bearing 65 avoids metal fixture from directly acting on holding for ceramic material
6 surface of row bar plays the role of protection and executes bar 6；On the other hand, it ensure that and execute bar 6 under self-locking clamp tightening state
Be freely rotated.
As shown in Fig. 2,4,5, the operating robot structure using above-mentioned execution bar 6 is as follows: including mechanical arm pedestal 1,
Mechanical arm 2, the end effector mechanism 4 being installed on mechanical arm 2, end effector mechanism 4 are made of sleeve 7 and the execution bar 6,
The sleeve 7 is fixedly connected by handle 5 and pedestal 14 with mechanical arm tail end 9, and the execution bar 6 is rotatably penetrated and arranged in sleeve
On 7, the one end for executing bar 6 is equipped with executive item 8, and the other end is connect with the driving mechanism being fixed on sleeve 7 (to be not drawn into figure
Driving mechanism).
The end of cylinder 7 is equipped with self-locking drill point 15, which is standard component, and structure and design are no longer
It repeats.Flexibly it can install and dismantle by the folding of self-locking drill point 15 and execute bar 6.In closed state, it prevents from executing bar 6
Unexpected sliding, and do not influence execution bar 6 and be freely rotated.The stack shell inner wall of sleeve 7 installs two brushes 71.It is installed when executing bar 6
After fixation, two brushes 71 contact respectively with the two endless metal contacts 66 executed on bar 6, to guarantee executing 6 turns of bar
When dynamic, the electric signal of magnetic position sensor 68 can be transmitted to reception terminal by conducting wire 13.The end side of sleeve 7 is equipped with small
Arm supporting block 16, forearm supporting block 16 is fluted in the side away from sleeve 7, and when operator holds sleeve handle 5, forearm can
With on the groove, therefore, forearm support can provide additional stress point, facilitate surgical procedure.
The operating robot further includes the field generator for magnetic 10 for cooperating with magnetic position sensor 69.First body of rod
61 are connect by drilling machine lock 63 with driving mechanism (driving mechanism in the present embodiment is drilling machine), and second body of rod 62 passes through abrasive drilling
Lock 67 is connect with executive item 8 (executive item 8 in the present embodiment is spherical abrasive drilling).
Mechanical arm pedestal 1 is responsible for carrying mechanical arm 2 and end effector mechanism 4, remain stationary in the course of surgery；Mechanical arm
2 be collaborative mechanical arm 2, and operator applies external force by handle 5, thus mobile mechanical arm 2 and executing agency；Sleeve 7 is used for
Locking and replacement surgical instrument, including execute bar 6；Driving mechanism applies torsion moment to executive item 8 by executing bar 6, and driving is held
Row part 8 works.Endless metal contact 66 still can guarantee and 7 brush 71 of sleeve under conditions of executing 6 high-speed rotation of bar
It is reliably connected, to guarantee the lossless conduction of 69 signal of magnetic position sensor.
In the course of surgery, doctor executes bar 6 in driving machine using handle 5 come the movement of control sleeve 7 and execution bar 6
It being rotated under the drive of structure, executive item 8 is rotated synchronously with bar 6 is executed, it is operated, and magnetic position sensor 69 and execution bar
In 6 field regions 12 generated all in field generator for magnetic 10, by the signal of magnetic position sensor 69, can accurately it know
The coordinate and attitude angle of magnetic position sensor 69 realize operating robot to calculate the coordinate and attitude angle of executive item 8
The positioning of executing agency end 3 (i.e. executive item 8).
As shown in figure 4, the localization method of above-mentioned operating robot is as follows: opening field generator for magnetic 10 during operation, make
Magnetic position sensor 69 is in field region 12, and the coordinate and attitude angle of executive item 8 are detected using magnetic position sensor 69,
Specifically comprise the following steps:
A, magnetic position sensor 69 is measured towards the offset d for executing 6 endpoint C of bar and 8 center A point of executive item；
B, know the coordinate S of magnetic position sensor 69 in real time by the signal of magnetic position sensor 69sensorWith
Attitude angle qsensor, in which:
Ssensor=(xc, yc, zc)；
qsensor=qi*i+qj*j+qk*k+qw；
(xc, yc, zc) respectively indicate the coordinate that 69 tip of magnetic position sensor corresponds to X, Y, Z axis in magnetic system of coordinatesAnd i2=j2=k2=-1, then the spin matrix R of magnetic position sensor 69 is indicated are as follows:
And the transition matrix M of magnetic position sensor coordinate system to magnetic system of coordinates is indicated are as follows:
According to the spin matrix R of the magnetic position sensor 69 and transition matrix M, 8 center A point coordinate of executive item is obtained
It is as follows:
The attitude angle of the 8 center A point of executive item is identical as the attitude angle of 69 central point C of magnetic position sensor.
Compared to using tradition to execute bar 6, the posture information for executing bar 6 can be more easily obtained using the present invention,
And the present invention can effectively simplify registration link, reduce and introduce operating error, improve the positioning accuracy of executive item 8 (by grade
It is increased to submillimeter level).
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention specifically designs not by aforesaid way
Limitation, if use the improvement for the various unsubstantialities that conception and technical scheme of the invention carry out, or it is not improved will
Conception and technical scheme of the invention directly apply to other occasions, within the scope of the present invention.
Claims (7)
1. a kind of execution bar, it is characterised in that the shaft for executing bar is equipped with alignment sensor.
2. execution bar according to claim 1, it is characterised in that the alignment sensor is to be embedded in the magnetic executed in bar
Alignment sensor, the signal wire of magnetic position sensor are connect with the annular metal contact for executing bar surface is set to.
3. execution bar according to claim 2, it is characterised in that the execution bar by first body of rod, second body of rod connection and
At；First body of rod, second body of rod joint be equipped with accommodating cavity for placing magnetic position sensor, set in the execution bar
There is the wire channel of connection accommodating cavity and hard contact.
4. execution bar according to claim 2 or 3, it is characterised in that there are two the hard contacts and annular in shape, and two
Hard contact is located on the varying cross-section for executing bar.
5. execution bar according to claim 2 or 3, it is characterised in that first body of rod or second body of rod are equipped with axis
It holds.
6. a kind of using the operating robot for executing bar described in Claims 2 or 3 or 4 or 5, including mechanical arm pedestal, machinery
Arm, the end effector mechanism being installed on mechanical arm, it is characterised in that the end effector mechanism is by sleeve and the execution bar
It constitutes, the sleeve is fixedly connected with mechanical arm tail end, and the execution bar is rotatably penetrated and arranged on sleeve, executes one end of bar
Executive item is installed, the other end is connect with the driving mechanism being fixed on sleeve；The inner wall of the sleeve is in corresponding hard contact
Position be equipped with brush；The operating robot further includes the field generator for magnetic for cooperating with magnetic position sensor.
7. the localization method of operating robot according to claim 5, opens field generator for magnetic during operation, magnetic is utilized
Alignment sensor detects the coordinate and attitude angle of executive item, it is characterised in that includes the following steps:
A, magnetic position sensor is measured towards the offset d for executing rod end point C and executive item center A point；
B, know the coordinate S of magnetic position sensor in real time by the signal of magnetic position sensorsensorWith attitude angle qsensor,
In:
Ssensor=(xc, yc, zc)；
qsensor=qi*i+qj*j+qk*k+qw；
Wherein, (xc, yc, zc) respectively indicate the coordinate that sensor tip corresponds to X, Y, Z axis in magnetic system of coordinates, qi, qj,And i2=j2=k2=-1, then the spin matrix R of magnetic position sensor is indicated are as follows:
And the transition matrix M of magnetic position sensor coordinate system to magnetic system of coordinates is indicated are as follows:
According to the spin matrix R of the magnetic position sensor and transition matrix M, it is as follows to obtain executive item center A point coordinate:
The attitude angle of the executive item center A point is identical as the attitude angle of magnetic position sensor central point C.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910091254.1A CN109806003B (en) | 2019-01-30 | 2019-01-30 | Actuating rod, surgical robot adopting actuating rod and robot positioning method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910091254.1A CN109806003B (en) | 2019-01-30 | 2019-01-30 | Actuating rod, surgical robot adopting actuating rod and robot positioning method |
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| CN109806003A true CN109806003A (en) | 2019-05-28 |
| CN109806003B CN109806003B (en) | 2021-08-06 |
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Cited By (4)
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| CN111134846A (en) * | 2020-01-10 | 2020-05-12 | 北京天智航医疗科技股份有限公司 | Assembly and method for detecting precision of active grinding surgical robot system |
| CN111467036A (en) * | 2020-04-15 | 2020-07-31 | 上海电气集团股份有限公司 | Surgical navigation system, surgical robot system for acetabular osteotomy and control method thereof |
| CN112057119A (en) * | 2020-09-11 | 2020-12-11 | 杭州键嘉机器人有限公司 | End effector |
| CN113069207A (en) * | 2021-03-24 | 2021-07-06 | 杭州键嘉机器人有限公司 | Robot-assisted hip joint replacement surgery navigation system |
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Address after: Room 305 and 306, building 8, No. 181, Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou, Zhejiang 311100 Patentee after: Hangzhou Jianjia Medical Technology Co.,Ltd. Address before: 310000 room 201-15, building 9, No. 181, Wuchang Avenue, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU JIANJIA ROBOT Co.,Ltd. |