CN109806003B - Actuating rod, surgical robot adopting actuating rod and robot positioning method - Google Patents
Actuating rod, surgical robot adopting actuating rod and robot positioning method Download PDFInfo
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- CN109806003B CN109806003B CN201910091254.1A CN201910091254A CN109806003B CN 109806003 B CN109806003 B CN 109806003B CN 201910091254 A CN201910091254 A CN 201910091254A CN 109806003 B CN109806003 B CN 109806003B
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Abstract
The invention provides an actuating rod, a surgical robot adopting the actuating rod and a positioning method of the surgical robot, so as to realize the rapid and accurate positioning of the surgical robot. The actuating rod is provided with a positioning sensor, the positioning sensor is a magnetic positioning sensor embedded in the actuating rod, and a signal wire of the magnetic positioning sensor is connected with an annular metal contact arranged on the surface of the actuating rod. The surgical robot of the invention has the following structure: the mechanical arm comprises a mechanical arm base, a mechanical arm and a tail end executing mechanism arranged on the mechanical arm, wherein the tail end executing mechanism consists of a sleeve and an executing rod, the sleeve is fixedly connected with the tail end of the mechanical arm, the executing rod can be rotatably arranged on the sleeve in a penetrating mode, one end of the executing rod is provided with an executing piece, and the other end of the executing rod is connected with a driving mechanism fixed on the sleeve; an electric brush is arranged on the inner wall of the sleeve at a position corresponding to the metal contact; the surgical robot further comprises a magnetic field generating device for cooperating with the magnetic positioning sensor.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to an actuating rod, a surgical robot adopting the actuating rod and a positioning method of the surgical robot.
Background
The following will describe the positioning problem of the current surgical robot by taking hip replacement surgery as an example.
In a conventional hip replacement operation, a doctor first grinds a lesion site using a grinding apparatus and then installs a prosthesis of a corresponding model. In recent years, doctors increasingly perform surgery by joint replacement surgical robots to improve the precision and efficiency of polishing and installation. The positioning accuracy of the end effector of the surgical robot is the most important factor affecting the quality of the surgery.
Currently, as shown in fig. 1, positioning of the actuator tip (3) of a hip joint robot depends on a positioning function built in the robot arm (2). The mechanical arm (2) can acquire accurate coordinates of the tail end of the arm in real time, and then the position and the posture of the tail end (3) of the executing mechanism are acquired by calculating the space mapping relation between the coordinates of the tail end of the arm and a coordinate system of the tail end (3) of the executing mechanism. The positioning method of the actuating mechanism tail end (3) of the hip joint robot has the following defects: 1. the positioning precision can be reduced due to the abrasion of the workpiece; the structure of the actuating rod (6) can amplify the positioning error of the tail end (3) of the actuating mechanism; the actuating rod (6) and the sleeve (7) must be kept relatively static; additional calibration operations are required to obtain the position and attitude of the actuator end (3).
Disclosure of Invention
The invention aims to provide an actuating rod, a surgical robot adopting the actuating rod and a positioning method of the surgical robot so as to realize quick and accurate positioning of the surgical robot.
The key point of the executive rod is that a positioning sensor is arranged on the rod body of the executive rod and used for detecting information such as coordinates, attitude angles and the like of the executive rod. The positioning sensor may be an optical sensor or the like.
Further, the actuating lever structure of the present invention is as follows: the positioning sensor is a magnetic positioning sensor embedded in the actuating rod, and a signal wire of the magnetic positioning sensor is connected with an annular metal contact arranged on the surface of the actuating rod. Specifically, the executing rod is formed by connecting a first rod body and a second rod body; the connection part of the first rod body and the second rod body is provided with an accommodating cavity for placing a magnetic positioning sensor, and a wire channel for communicating the accommodating cavity with the metal contact is arranged in the execution rod. The execution rod is designed to be a split structure, and the accommodating cavity is arranged at the joint surface of the two split rod bodies, so that the magnetic positioning sensor can be conveniently embedded into the execution rod, and the magnetic positioning sensor can be maintained or replaced more conveniently.
Furthermore, the two metal contacts are annular and are respectively positioned on different cross sections of the execution rod, so that the signal transmission requirement of the magnetic positioning sensor is met.
The surgical robot adopting the executing rod provided by the invention has the following structure: the mechanical arm comprises a mechanical arm base, a mechanical arm and a tail end executing mechanism arranged on the mechanical arm, and is characterized in that the tail end executing mechanism consists of a sleeve and an executing rod, the sleeve is fixedly connected with the tail end of the mechanical arm, the executing rod can be rotatably arranged on the sleeve in a penetrating way, one end of the executing rod is provided with an executing piece, and the other end of the executing rod is connected with a driving mechanism fixed on the sleeve; an electric brush is arranged on the inner wall of the sleeve at a position corresponding to the metal contact; the surgical robot further comprises a magnetic field generating device for cooperating with the magnetic positioning sensor.
The matching of the actuating rod and the sleeve can refer to a tail end actuating mechanism of a traditional hip joint robot, namely the sleeve is provided with an axial limiting structure, so that the actuating rod can be prevented from moving axially relative to the sleeve while being driven by a driving mechanism to rotate relative to the sleeve. The executing piece rotates synchronously with the executing rod to perform surgical operation, the magnetic positioning sensor and the executing rod are both positioned in the magnetic field generated by the magnetic field generating device, and the coordinate and the attitude angle of the magnetic positioning sensor can be accurately obtained through the signal of the magnetic positioning sensor, so that the coordinate and the attitude angle of the executing piece are calculated, and the positioning of the tail end of the executing mechanism (namely the executing piece) of the surgical robot is realized. Because the distance between the positioning sensor and the executive component is very close, under the condition that the accuracy of the positioning sensor is consistent, the positioning result of the executive component, which is more accurate than that of the traditional robot, can be obtained. The executing component can be a spherical grinding drill or a bone marrow drill and the like so as to meet the requirements of different operations.
The positioning method of the upper surgical robot comprises the following steps: the method is characterized in that a magnetic field generating device is started during operation, and a magnetic positioning sensor is utilized to detect the coordinate and the attitude angle of an executive component, and the method specifically comprises the following steps:
A. measuring the offset d of the magnetic positioning sensor towards the executing rod end point C and the executing piece center A;
B. real-time acquisition of coordinates S of magnetic positioning sensor through signals of magnetic positioning sensorsensorAnd attitude angle
qsensorWherein:
Ssensor＝(xc，yc，zc)·
qsensor＝qi*i+qj*j+qk*k+qw；
(xc，yc，zc) Respectively representing the coordinates of the sensor tip in the magnetic field coordinate system corresponding to the X, y, Z axes
And i is2＝j2＝k2The rotation matrix R of the magnetic positioning sensor is then expressed as:
and the transformation matrix M from the magnetic positioning sensor coordinate system to the magnetic field coordinate system is expressed as:
according to the rotation matrix R of the magnetic positioning sensor and the conversion matrix M, the coordinates of the center A of the executive component are obtained as follows:
the attitude angle of the center A of the executive component is the same as that of the center C of the magnetic positioning sensor.
The invention can directly, conveniently and real-timely track the coordinate and the posture of the execution rod by installing the positioning sensor on the execution rod of the operation robot tail end execution mechanism, and accurately calculate the coordinate and the posture of the execution piece by a unique method, thereby improving the reliable and accurate reference for the operation and being used for hip joint operation and the like.
Drawings
Fig. 1 is a schematic structural view of a hip joint robot in the related art.
Fig. 2 is a schematic structural view of the hip joint robot of the present invention.
FIG. 3 is a schematic view of the structure of an actuator lever in embodiment 1.
Fig. 4 is a schematic view showing the assembly of the sleeve and the actuating rod in embodiment 1.
Fig. 5 is a schematic view of the internal structure of the sleeve in embodiment 1.
FIG. 6 is a schematic view showing the positioning principle of the actuator in embodiment 1.
Fig. 7 is a schematic view of a connection structure of the first rod and the second rod in embodiment 1.
The figures are numbered: 1. a mechanical arm base; 2. a mechanical arm; 3. an actuator end; 4. a terminal actuator; 5. a handle; 6. an actuating lever; 61. a first rod body; 62. a second rod body; 63. locking a drill; 64. a blind hole for a wire; 65. a bearing; 66. a metal contact; 67. grinding and locking a drill; 68. an accommodating cavity; 69. a magnetic positioning sensor; 7. a sleeve; 71. an electric brush; 8. an executive component; 9. the tail end of the mechanical arm; 10. a magnetic field generating device; 11. the patient's hip bone; 12. a magnetic field region; 13. a wire; 14. a base; 15. self-locking drill clamping; 16. a small arm supporting block; 17. a first metal connecting member; 171. a first screw hole; 172. a convex portion; 18. a second metal connecting member; 181. a second screw hole; 182. a recess; 19. and (4) bolts.
Detailed Description
The following describes embodiments of the present invention, such as shapes and structures of respective members, mutual positions and connection relationships between respective portions, and actions and operation principles of the respective portions, in further detail, with reference to the accompanying drawings.
Example 1:
the embodiment provides an execution rod, a surgical robot adopting the execution rod and a positioning method of the surgical robot, so as to realize the rapid and accurate positioning of the surgical robot.
As shown in fig. 3, the actuating rod 6 of the present embodiment is formed by connecting a first rod 61 and a second rod 62; one end of the first rod body 61 is provided with a drilling machine lock catch 63, the end face of the other end of the first rod body 61 is provided with a lead blind hole 64 for accommodating a lead, the inner side end of the lead blind hole 64 is communicated with a contact channel vertical to the axial direction of the first rod body 61, the contact channel leads to the surface of the first rod body 61, and the surface of the first rod body 61 is provided with an annular metal contact 66 at the contact channel; one end of the second rod body 62 is provided with a grinding drill lock catch 67, and the end surface of the other end is provided with a blind hole-shaped accommodating cavity 68; the lead blind hole 64 is opposite to and connected with the accommodating cavity 68; a magnetic positioning sensor 69 is placed in the accommodating cavity 68, and a lead 13 of the magnetic positioning sensor 69 is connected with the metal contact 66 through a contact passage. In the present embodiment, there are two metal contacts 66, each located on a different cross-section of the actuator rod 6, to meet the signal transmission requirements of the magnetic position sensor 69.
The first rod 61 and the second rod 62 may be fixedly connected together by welding, fastening, etc. after the lead and the magnetic positioning sensor 69 are installed. In this embodiment, a first metal connecting member 17 is fixed to an end portion of the first rod 61 by sintering, a second metal connecting member 18 is fixed to an end portion of the second rod 62 by sintering, a protruding portion 172 is provided at an end portion of the first metal connecting member 17, a first screw hole 171 perpendicular to an axial direction of the actuating rod 6 is provided on the protruding portion 172, a recessed portion 182 into which the protruding portion 172 extends is provided at an end portion of the second metal connecting member 18, second screw holes 181 perpendicular to the axial direction of the actuating rod 6 are provided at both sides of the recessed portion 182, and the first metal connecting member 17 and the second metal connecting member 18 are connected by a bolt 19 passing through the first screw hole 171 and the second screw hole 181; of course, through holes for passing the wires of the magnetic position sensor 69 are provided in both the convex portion 172 and the concave portion 182.
The actuating rod 6 of the embodiment is formed by firing an alumina ceramic material, and the alumina ceramic material has the advantages of high temperature resistance, high hardness, light weight, environmental protection and insulation, so that the product structure is easy to realize, and electromagnetic shielding is not generated. Of course, the material of the actuating rod 6 can be replaced by a plastic material for cost reasons.
The bearing 65 is installed on the rod body of the first rod body 61, an annular groove is formed in the outer surface of the bearing 65, and in the process that the self-locking drill clamp 15 clamps the first rod body 61, the metal claw of the self-locking drill clamp 15 can gradually engage with the groove of the bearing 65 to prevent the actuating rod 6 from sliding along the axial direction of the sleeve 7. The bearing 65 is used, so that on one hand, the metal clamp is prevented from directly acting on the surface of the actuating rod 6 made of ceramic materials, and the action of protecting the actuating rod 6 is achieved; on the other hand, the free rotation of the actuating lever 6 in the fastened state of the self-locking clamp is ensured.
As shown in fig. 2, 4 and 5, the surgical robot using the above-described actuating rod 6 has the following structure: including arm base 1, arm 2, install terminal actuating mechanism 4 on arm 2, terminal actuating mechanism 4 by sleeve 7 and actuating lever 6 constitutes, sleeve 7 passes through handle 5 and the terminal 9 fixed connection of base 14 and arm, actuating lever 6 rotationally wears to locate on sleeve 7, and actuating member 8 is installed to the one end of actuating lever 6, and the other end is connected with the actuating mechanism (not drawn in the figure) that is fixed in on sleeve 7.
The end of the cylinder 7 is provided with a self-locking drill chuck 15, the self-locking drill chuck 15 is a standard component, and the structure and the design are not described in detail. The actuating rod 6 can be flexibly installed and disassembled by opening and closing the self-locking drill clamp 15. In the closed state, the actuating lever 6 is prevented from accidentally sliding and the free rotation of the actuating lever 6 is not affected. Two brushes 71 are mounted on the inner wall of the barrel of the sleeve 7. When the actuating lever 6 is mounted and fixed, the two brushes 71 are in contact with the two annular metal contacts 66 on the actuating lever 6, respectively, to ensure that the electrical signal of the magnetic position sensor 68 can be transmitted to the receiving terminal via the conductor 13 when the actuating lever 6 is rotated. The tip one side of sleeve 7 is equipped with forearm supporting shoe 16, and forearm supporting shoe 16 is at the one side that deviates from sleeve 7 recess, and when the operator gripped sleeve handle 5, the forearm could lean on this recess, and consequently, the forearm support can provide extra stress point, makes things convenient for the operation.
The surgical robot further comprises a magnetic field generating means 10 for cooperating with a magnetic positioning sensor 69. The first rod 61 is connected to a driving mechanism (in this embodiment, the driving mechanism is a drilling machine) through a drilling machine lock 63, and the second rod 62 is connected to the actuating member 8 (in this embodiment, the actuating member 8 is a ball-shaped drill) through a drill lock 67.
The mechanical arm base 1 is used for bearing the mechanical arm 2 and the tail end executing mechanism 4 and keeping static in the operation process; the mechanical arm 2 is a cooperative mechanical arm 2, and an operator applies external force through a handle 5 so as to move the mechanical arm 2 and the actuating mechanism; the sleeve 7 is used for locking and replacing surgical instruments and comprises an actuating rod 6; the driving mechanism applies torque to the actuating member 8 through the actuating rod 6, and drives the actuating member 8 to work. The annular metal contact 66 still ensures a reliable connection with the brush 71 of the sleeve 7 in the conditions in which a high-speed rotation of the rod 6 is performed, thus ensuring a non-destructive conduction of the signal of the magnetic position sensor 69.
In the operation process, a doctor controls the movement of the sleeve 7 and the actuating rod 6 by using the handle 5, the actuating rod 6 is driven by the driving mechanism to rotate, the actuating member 8 synchronously rotates along with the actuating rod 6 to perform the operation, the magnetic positioning sensor 69 and the actuating rod 6 are both positioned in the magnetic field area 12 generated by the magnetic field generating device 10, the coordinate and the attitude angle of the magnetic positioning sensor 69 can be accurately obtained through the signal of the magnetic positioning sensor 69, so that the coordinate and the attitude angle of the actuating member 8 are calculated, and the positioning of the end 3 (namely the actuating member 8) of the actuating mechanism of the surgical robot is realized.
As shown in fig. 4, the positioning method of the surgical robot is as follows: during operation, the magnetic field generating device 10 is turned on, the magnetic positioning sensor 69 is positioned in the magnetic field area 12, and the magnetic positioning sensor 69 is used for detecting the coordinate and the attitude angle of the actuating member 8, which specifically comprises the following steps:
A. measuring the offset d of the magnetic positioning sensor 69 towards the end point C of the actuating rod 6 and the point A of the center of the actuating piece 8;
B. the coordinates S of the magnetic position sensor 69 are determined in real time from the signals of the magnetic position sensor 69sensorAnd
attitude angle qsensorWherein:
Ssensor＝(xc，yc，zc)；
qsensor＝qi*i+qj*j+qk*k+qw；
(xc，yc，zc) Respectively, representing the coordinates of the tip of the magnetic positioning sensor 69 corresponding to the axis X, Y, Z in the magnetic field coordinate system
And i is2＝j2＝k2Then the rotation matrix R of the magnetic position sensor 69 is represented as:
and the transformation matrix M from the magnetic positioning sensor coordinate system to the magnetic field coordinate system is expressed as:
according to the rotation matrix R of the magnetic positioning sensor 69 and the transformation matrix M, the coordinates of the central point a of the actuator 8 are obtained as follows:
the attitude angle of the center point a of the actuator 8 is the same as the attitude angle of the center point C of the magnetic position sensor 69.
Compared with the traditional actuating rod 6, the invention can more conveniently acquire the pose information of the actuating rod 6, effectively simplify the registration link, reduce the introduced operation error and improve the positioning precision (from millimeter level to submillimeter level) of the actuating member 8.
The invention has been described in connection with the accompanying drawings, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of the components set forth in the following description, as long as the invention is capable of being practiced without modification in any way whatsoever, and is capable of other applications without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (1)
1. The utility model provides an adopt surgical robot of actuating lever, includes arm base, arm, installs the terminal actuating mechanism on the arm, its characterized in that:
a positioning sensor is arranged on the body of the executive rod, the positioning sensor is a magnetic positioning sensor embedded in the executive rod, and a signal wire of the magnetic positioning sensor is connected with an annular metal contact arranged on the surface of the executive rod;
the executing rod is formed by connecting a first rod body and a second rod body, an accommodating cavity used for placing a magnetic positioning sensor is arranged at the joint of the first rod body and the second rod body, and a wire channel communicated with the accommodating cavity and the metal contact is arranged in the executing rod; the two metal contacts are annular and are respectively positioned on different cross sections of the actuating rod; a bearing is arranged on the first rod body or the second rod body;
the tail end executing mechanism consists of a sleeve and the executing rod, the sleeve is fixedly connected with the tail end of the mechanical arm, the executing rod can be rotatably arranged on the sleeve in a penetrating mode, one end of the executing rod is provided with an executing piece, and the other end of the executing rod is connected with a driving mechanism fixed on the sleeve; an electric brush is arranged on the inner wall of the sleeve at a position corresponding to the metal contact; the surgical robot further comprises a magnetic field generating device for cooperating with the magnetic positioning sensor.
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| CN111134846B (en) * | 2020-01-10 | 2021-05-07 | 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 |
| CN111467036B (en) * | 2020-04-15 | 2023-12-26 | 上海电气集团股份有限公司 | Surgical navigation system, acetabular osteotomy surgical robot system and control method thereof |
| CN112057119B (en) * | 2020-09-11 | 2021-05-18 | 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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| CN1323571A (en) * | 1999-10-28 | 2001-11-28 | 北方数字股份有限公司 | System for defining one of several targets space poshtion and/or directions |
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| CN108324373B (en) * | 2018-03-19 | 2020-11-27 | 南开大学 | Accurate positioning implementation method of puncture surgery robot based on electromagnetic positioning system |
| CN109124769B (en) * | 2018-09-10 | 2021-06-04 | 上海电气集团股份有限公司 | Method and system for calibrating and controlling coordinate system of surgical robot |
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| CN1323571A (en) * | 1999-10-28 | 2001-11-28 | 北方数字股份有限公司 | System for defining one of several targets space poshtion and/or directions |
| CN101160104A (en) * | 2005-02-22 | 2008-04-09 | 马科外科公司 | Haptic guidance system and method |
| CN102665591A (en) * | 2009-10-01 | 2012-09-12 | 马科外科公司 | Tool, kit-of-parts for multi-functional tool, and robotic system for same |
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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. |
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