CN109965981A - 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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- CN109965981A CN109965981A CN201910424372.XA CN201910424372A CN109965981A CN 109965981 A CN109965981 A CN 109965981A CN 201910424372 A CN201910424372 A CN 201910424372A CN 109965981 A CN109965981 A CN 109965981A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000033001 locomotion Effects 0.000 claims abstract description 31
- 238000001356 surgical procedure Methods 0.000 claims abstract description 9
- 238000010586 diagram Methods 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 description 21
- 230000000875 corresponding effect Effects 0.000 description 19
- 238000001727 in vivo Methods 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000013507 mapping 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
- 230000008859 change Effects 0.000 description 1
- 210000000262 cochlear duct Anatomy 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
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process 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
-
- 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 a kind of starting methods of operating robot, and readable access to memory, operating robot based on the operation method.The operating robot includes handle and motion arm, and the motion arm has end instrument, and the end instrument follows the handle motion for executing surgical procedure, and the starting method includes: the first posture information for obtaining the end instrument；Show that the first pose presentation, first pose presentation are used to show the posture of the end instrument on graphical interfaces based on first posture information；The second posture information of the handle is obtained in real time；The second pose presentation, posture of second pose presentation for handle described in real-time display are shown on the graphical interfaces based on second posture information；First pose presentation and second pose presentation are for assisting the handle to adjust.
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 handle, doctor is sent out by operation handle to from operation equipment
Control command is sent, includes multiple motion arms from operation equipment, motion arm has end instrument, in working condition, end instrument
Follow handle mobile, to realize that remote operation operates.There are two handle tools, and end instrument more than two operates different end devices
It need to be switched over when tool, to switch to the end instrument of needs.Work shape is launched into when being located at the preparation of intracorporal end instrument
State, and when following handle motion, for example, when preparing to start to work or prepare to switch to new end instrument, the appearance of end instrument
State and the posture of handle usually have deviation, if starting end instrument at this time, it are enabled to follow handle motion, are easy to causing in vivo
Damage, when being adjusted to eliminate deviation, cannot intuitively observe.
Summary of the invention
Based on this, it is necessary to a kind of starting method that can intuitively observe adjustment deviation is provided, based on the operation method
Readable access to memory and operating robot.
The starting method of operating robot, the operating robot include handle and motion arm, and the motion arm has end
End-apparatus tool, the end instrument follow the handle motion for executing surgical procedure, and the starting method includes:
Obtain the first posture information of the end instrument；
Show that the first pose presentation, first pose presentation are used on graphical interfaces based on first posture information
Show the posture of the end instrument；
The second posture information of the handle is obtained in real time；
The second pose presentation, second pose presentation are shown on the graphical interfaces based on second posture information
Posture for handle described in real-time display；
First pose presentation and second pose presentation are for assisting the handle to adjust.
Computer-readable memory is stored thereon with computer program, real when the computer program is executed by processor
The step of existing starting method.
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.
Above-mentioned starting method can intuitively obtain between handle and end instrument according to the first pose presentation, the second pose presentation
Deviation, to avoid starting when in vivo caused by damage.
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.
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, enable doctor that there is biggish operating space, for example, handle is connect by line with master operating station.There is behaviour from operation equipment 3
Make arm 31, motion arm includes sequentially connected connecting rod 32, connection component 33 and end instrument 34, wherein connection component 33 has
Multiple joint assemblies, motion arm 31 adjust the posture of the end instrument 34 by adjusting joint assembly；End instrument 34 has
Image end instrument 34A and operational tip instrument 34B.In other embodiments, handle can also pass through the connecting rod of rotation and main behaviour
It is connected as platform.
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.First posture information can both obtain in real time according to preset rules, can also only obtain in stationary state primary.
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, orientation 420 is the orientation of end instrument in figure, and orientation 520 is the orientation of handle, and one implements
In example, the first pose presentation 400 includes the first image coordinate 410 of end instrument 34 in a coordinate system, at this point, display end device
The step of first pose presentation 400 of tool 34, includes the following steps.
(1) based on the first coordinate information on the first posture information acquisition end instrument in a coordinate system respective coordinates axis.
Wherein, the first coordinate axis information can be to be multiple, for example, the first coordinate axis information is two, and respectively X-axis, first in Y-axis sit
Parameter 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, at least partly the first image coordinate is corresponding with the first angle information to be compared.For example,
The quantity of first image coordinate is identical as the quantity that first angle to be compared is believed and corresponds, intuitively in graphical interfaces
Middle display.For another example, the quantity of the first image coordinate can also be greater than first angle information to be compared, part of first coordinate
Image is corresponding with first angle information, and for another example the first image coordinate quantity is less than first angle information content to be compared, the
One image coordinate is corresponded with 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 respectively the image that end instrument is projected to handle on graphical interfaces,
It is adjusted for assist handle, to enable user more intuitively perceive the deviation between handle and end instrument, and then according to two appearances
State Image Adjusting handle, enables 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 acquisition handle in a coordinate system respective coordinates axis.
(2) the second image coordinate is shown along corresponding reference axis on graphical interfaces based on the second coordinate information.
It is identical with above-mentioned first pose presentation related content in second pose presentation, it no longer repeats herein.Wherein, at least
One the first image coordinate and the second image coordinate are the image shown based on the same reference axis.For example, the first pose presentation,
Second image coordinate includes two and is based respectively on X-axis, the first image coordinate of Y-axis.For another example, the first pose presentation includes two
Based on X-axis, the first image coordinate of Y-axis, the second pose presentation includes the second image coordinate based on X-axis.
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 image-region setting of end instrument is closed on.Wherein, the original of two pose presentations
Point both can specified region on graphical interfaces, can also be moved 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,
First posture information is corresponding information.For example, the first pose presentation, the second pose presentation are the profile of end instrument
Image；For another example, the first pose presentation is the image of end instrument, and the second pose presentation is linear image.When handle and end device
When tool is aligned, the first pose presentation, the second pose presentation are essentially coincided, or instruction direction is identical.
In one embodiment, step S250 also can be omitted, starting method at this time can be according to the first pose presentation, the second posture
Image intuitively obtains the deviation between handle and end instrument, enters following state by observing to start end instrument, to keep away
Exempt from starting when in vivo caused by damage.
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, into after following state, starting method can also have for compensate end instrument and handle it
Between deviation alignment schemes, alignment schemes include the following steps.
Automatic adjustment information is obtained based on the deviation between the first posture information and the second posture information, it is described inclined to compensate
Difference.Starting method adjusts the posture of end instrument by the step, so that its posture between the instrument of end is consistent.
Wherein, the first posture information, the second posture information are the information obtained in real time, i.e. mistake of the end instrument in adjustment
Cheng Zhong persistently obtains the second posture information of handle, the first posture information of end instrument.It should be noted that end instrument
Adjusting compensation deviation can both have been continued in following state non-continuous can also be adjusted, so that the two posture is consistent for example, only
The adjusting deviation when following state starts, to compensate deviation when alignment.
In one embodiment, adjust automatically information includes the information of regulating the speed of end instrument.Wherein, adjust automatically letter is obtained
The step of information of regulating the speed in breath, includes the following steps.
(1) deviation and default adjustment deviation are compared.
Wherein, presetting adjustment deviation both can be identical as predetermined deviation when entering following state, might be less that this is pre-
If deviation.Also, default adjustment deviation both can be definite value, or variable.For example, default adjustment is partially predetermined deviation
0.1~0.4, and be definite value.For another example, the default deviation that adjusts is smaller when end instrument has just enter into adjustment process, with adjustment time
It is gradually increased.For another example, it presets adjustment deviation and deviation is negatively correlated.
(2) if deviation, which is greater than or equal to, presets adjustment deviation, information of regulating the speed is obtained according to default adjustment deviation, if
Deviation is less than default adjustment deviation, then obtains information of regulating the speed according to deviation.
In the present embodiment, information of regulating the speed is based on deviation/default adjustment deviation, preset time obtains, wherein when default
Between be definite value, in other embodiments, preset time may be variable, for example, preset time is gradually as adjustment time increases
Reduce.It is understood that can also be regulated the speed information based on deviation acquisition when deviation is equal to default adjustment deviation.One
In embodiment, obtains the step of regulating the speed information and include the following steps.
(1) it is based on deviation acquisition speed information.At this point, according to preset time acquisition speed information.
(2) if velocity information is greater than or equal to pre-set velocity information, letter of regulating the speed is set by pre-set velocity information
Breath sets information of regulating the speed for velocity information if velocity information is less than pre-set velocity information.
In one embodiment, the positive correlation of regulating the speed of deviation and end instrument.I.e. when the first posture information and the second posture
When the deviation of information is larger, regulating the speed for end instrument is very fast, and when deviation is smaller, the adjustment posture of end instrument is slower.
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, adjust automatically information includes pre-set velocity information, adjustment direction information.Wherein, end instrument base
It is adjusted in pre-set velocity information, adjustment direction information.In the present embodiment, pre-set velocity information independently of deviation, i.e., its with
Deviation is uncorrelated, and end instrument is adjusted with pre-set velocity along adjustment direction.For example, end instrument is based on adjust automatically information
It is adjusted with uniform motion；For another example, end instrument is adjusted based on adjust automatically information with uniformly accelerated motion.
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) based on handle between posture information, world coordinate system and the graphical interfaces coordinate system in world coordinate system
Mapping relations obtain second posture information of the handle in graphical interfaces coordinate system.
(2) posture information based on end instrument in link rod coordinate system, link rod coordinate system and graphical interfaces coordinate system it
Between mapping relations obtain first posture information of the end instrument in graphical interfaces coordinate system.
Wherein, motion arm includes sequentially connected connecting rod, connection component and the end instrument, and end instrument has image
End instrument and operational tip instrument, posture of the operational tip instrument in the instrument coordinate system of image end are it in graphical interfaces
Posture in coordinate system.
Computer-readable memory is stored thereon with computer program, the realization when computer program is executed by processor
The step of starting method of 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 other embodiments, the
Two posture acquisition units can also take the combination of other positioning systems such as optical positioning system, gyroscope or multiple systems.
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 deviation, adjust automatically letter is sent
Breath.Further, the first posture acquisition unit is also used to obtain first location information in real time at this time, so that controller is based on the first appearance
Deviation between state 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.It is aligned and adjusts
Method can be identical as the method in the various embodiments described above, for example, when the deviation of first location information and second location information is pre-
If when in deviation, end instrument enters following state, into after following state, deviation of the alignment is compensated.
Aligned portions, which are equipped with, places position, matches 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
Motion arm has end instrument, and the end instrument follows the handle motion for executing surgical procedure, the starting side
Method includes:
Obtain the first posture information of the end instrument；
The first pose presentation is shown on graphical interfaces based on first posture information, first pose presentation is for showing
The posture of the end instrument；
The second posture information of the handle is obtained in real time；
Show that the second pose presentation, second pose presentation are used on the graphical interfaces based on second posture information
The posture of handle described in real-time display；
First pose presentation and second pose presentation are for assisting the handle to adjust.
2. the starting method of operating robot according to claim 1, which is characterized in that by second posture information with
First posture information is compared, and when the two deviation is in predetermined deviation, transmission follows signal, to start the end
Instrument enters following state.
3. the starting method of operating robot according to claim 1, which is characterized in that first pose presentation includes
The step of the first image coordinate of the end instrument in a coordinate system, the first pose presentation of the display includes:
First coordinate of the end instrument in the coordinate system on respective coordinates axis is obtained based on first posture information
Information；
First coordinate diagram is shown along the corresponding reference axis on the graphical interfaces based on first coordinate information
Picture；
Second pose presentation includes second image coordinate of the handle in the same coordinate system, the display second
The step of pose presentation includes:
Second coordinate information of the handle in the coordinate system on respective coordinates axis is obtained based on second posture information；
Second coordinate diagram is shown along the corresponding reference axis on the graphical interfaces based on second coordinate information
Picture.
4. the starting method of operating robot according to claim 3, which is characterized in that first image coordinate, institute
The second image coordinate is stated as one or more, and at least one described first image coordinate and second image coordinate be based on
The image that the same reference axis is shown.
5. the starting method of operating robot according to claim 4, which is characterized in that first posture information includes
First angle information of the end instrument in the coordinate system based at least one reference axis, the second posture information packet
Second angle information based on reference axis described at least one in the coordinate system where including the handle, at least one described the
Two angle informations 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 be compared, at least partly described first image coordinate with it is to be compared
The first angle information it is corresponding, and/or at least partly described second image coordinate and the second angle to be compared
Information is corresponding.
6. the starting method of operating robot according to claim 5, which is characterized in that first image coordinate with
The first angle information to be compared is corresponding and/or second image coordinate with the second angle to be compared
Information is corresponding.
7. the starting method of operating robot according to claim 4, which is characterized in that first image coordinate is more
A, the color of at least two first image coordinates is different,
And/or second image coordinate be it is multiple, the color of at least two second image coordinates is different.
8. the starting method of operating robot according to claim 4, which is characterized in that first image coordinate, institute
Stating the second image coordinate is three.
9. 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 8 starting method is realized when device executes.
10. 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 8
The step of starting method.
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| 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 |
| CN201811158111X | 2018-09-30 |
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| CN109965981A true CN109965981A (en) | 2019-07-05 |
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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 |
| 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 |
| CN201910424362.6A Active CN109965980B (en) | 2018-09-30 | 2019-05-21 | Starting method of surgical robot, readable memory and surgical robot |
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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 |
| CN201910425073.8A Active CN109965982B (en) | 2018-09-30 | 2019-05-21 | Starting method of surgical robot, readable memory and surgical robot |
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| CN111991085A (en) * | 2020-10-08 | 2020-11-27 | 深圳市精锋医疗科技有限公司 | Surgical robot, graphical control device thereof and graphical display method |
| 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 |
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| CN110559083B (en) * | 2019-09-10 | 2020-08-25 | 深圳市精锋医疗科技有限公司 | Surgical robot and control method and control device for tail end instrument of surgical robot |
| CN110464469B (en) * | 2019-09-10 | 2020-12-01 | 深圳市精锋医疗科技有限公司 | Surgical robot, method and device for controlling distal end instrument, and storage medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109965982A (en) | 2019-07-05 |
| CN109223183A (en) | 2019-01-18 |
| CN109965981B (en) | 2020-09-22 |
| CN109965980B (en) | 2020-10-09 |
| CN109965982B (en) | 2020-10-09 |
| CN109965980A (en) | 2019-07-05 |
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