CN111132629B - 手术机器人的边界缩放 - Google Patents
手术机器人的边界缩放 Download PDFInfo
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Abstract
一种用处理单元缩放手术机器人的工具的期望速度的方法包括接收输入信号;确定工具相对于手术部位的边界的位置;以及当工具在手术部位的边界的预定距离内时缩放工具的期望运动速度。输入信号包括工具的期望运动速度。
Description
背景技术
机器人手术系统已用于微创医疗手术。在医疗手术期间,机器人手术系统由与用户接口介接的外科医生控制。用户接口允许外科医生操控作用于患者的末端执行器。用户接口包含可由外科医生移动以控制机器人外科手术系统的输入控制器或手柄。
机器人手术系统通常使用缩放因子来按比例缩小外科医生手部的运动以确定末端执行器在患者体内的所要位置,使得外科医生可在患者体内更精确地移动末端执行器。当外科医生移动输入手柄时,手术机器人会在患者体内移动末端执行器。随着末端手术机器人移动末端执行器,手术机器人的臂和/或末端执行器可接近运动边界。该运动边界可以是人为的,例如虚拟墙,或者可以是实际边界,例如手术机器人的关节极限、手术空间的物理边缘或与另一个物体的碰撞。通常,当末端执行器或手术机器人到达边界时,末端执行器或机器人臂突然停止。当末端执行器或手术机器人向边界高速移动时,这种减速可能会加剧。末端执行器或手术机器人的这种突然减速可能损坏手术机器人和/或导致手术机器人的意外运动。
发明内容
本公开总体上涉及当末端执行器或手术机器人接近边界时末端执行器或手术机器人的运动的速度缩放。速度缩放会降低末端执行器或手术机器人的速度,因为它会接近边界达到期望的撞击速度。速度缩放将以受控的减速度将朝向边界的速度降低到期望的撞击速度。期望的撞击速度可以是突然停止不会对手术机器人造成损害的速度,或者期望的撞击速度可以是零。
在本公开的一方面,一种用处理单元缩放手术机器人的工具的期望速度的方法包括接收输入信号;确定工具相对于手术部位的边界的位置;以及当工具在手术部位的边界的预定距离内时缩放工具的期望运动速度。输入信号可以包括工具的期望运动速度。
在各方面中,缩放期望的运动速度包括减小工具的期望的运动速度。边界可以是手术部位的虚拟边界。
在一些方面,该方法包括确定工具相对于边界的运动方向。仅当工具的运动方向朝向边界时才可以缩放工具的期望运动速度。
在某些方面,缩放工具的期望运动速度包括将速度缩放因子应用于期望运动速度。该方法可以包括根据所确定的工具相对于边界的位置来确定速度缩放因子。确定速度缩放因子可以包括当确定的工具相对于边界的位置超过预定距离时速度缩放因子为一(1)。根据所确定的工具的位置来确定速度缩放因子可以包括当所确定的工具相对于边界的位置低于预定距离时将缩放因子从一减小到最小值。速度缩放因子的最小值可以为非零。
在特定方面,该方法包括在缩放工具的期望运动速度之后生成控制信号。该方法可以包括将控制信号传输到手术机器人。该方法可以包括当缩放工具的期望运动速度时,将反馈控制信号传输到用户控制台。
本公开的示例性实施例的其它细节和方面将参考附图在下文更详细地描述。
附图说明
下面参考附图描述本公开的各个方面,附图并入本说明书并构成本说明书的一部分,其中:
图1是根据本公开的用户控制台和机器人系统的示意性图解说明;
图2是在患者的手术部位内的图1的手术机器人的工具的透视图;
图3是示出最大速度与工具到边界的距离的函数的图;
图4是示出最大速度与工具到边界的距离的函数的另一图;和
图5是根据本公开的缩放工具的速度的方法的流程图。
具体实施方式
现在参照附图对本机器人手术系统的实施例进行详细的说明,在附图中,相似的附图标记指代若干视图中的每个视图中的完全相同或对应的元件。如本文所使用的,术语“临床医生”是指医生、护士或任何其他护理提供者,并且可以包含支援人员。贯穿本说明书,术语“近侧”是指装置或其组件最靠近诊治者的部分,术语“远侧”指装置或其组件最远离诊治者的部分。另外,如本文所用,术语“中性”应理解成意指未经缩放。
本公开总体上涉及基于部件与边界之间的距离来缩放手术机器人的部件的速度。手术机器人的组件可以是例如关节、臂或工具。速度的缩放可以是手术器械的部件与边界之间的距离的函数,使得随着部件接近边界,部件的速度被缩小。
参照图1,根据本公开的机器人手术系统1通常被示出为手术机器人10、处理单元30以及用户控制台40。手术机器人10总体上包含连杆12和机器人底座18。连杆12可移动地支撑末端执行器或工具20,所述末端执行器或工具被配置成作用于组织。连杆12可以呈臂的形式,所述臂各自具有末端14,所述末端支撑末端执行器或工具20,所述末端执行器或工具被配置成作用于组织。此外,连杆12的末端14可以包含用于对手术部位“S”进行成像的成像装置16。用户控制台40通过处理单元30与机器人底座18通信。
用户控制台40包含显示装置44,所述显示装置被配置成显示三维图像。显示装置44显示手术部位“S”的三维图像,所述三维图像可以包含由定位在连杆12的末端14上的成像装置16捕获的数据和/或包含由围绕手术室定位的成像装置(例如,定位在手术部位“S”内的成像装置、邻近患者“P”定位的成像装置、定位在成像臂52的远端处的成像装置56)捕获的数据。成像装置(例如,成像装置16、56)可以捕获视觉图像、红外图像、超声图像、X射线图像、热图像和/或手术部位“S”的任何其它已知的实时图像。成像装置将捕获的成像数据传送到根据成像数据实时地创建手术部位“S”的三维图像的处理单元30并且将三维图像传送到显示装置44以供显示。
控制台40还包含在允许临床医师操纵手术机器人10(例如,移动连杆12、连杆12的末端14和/或工具20)的控制臂43上支撑的输入手柄42。输入手柄42中的每一个与处理单元30通信以将控制信号传送到所述处理单元并且从所述处理单元接收反馈信号。另外地或可替代地,输入手柄42中的每一个可以包含输入装置(未明确示出),所述输入装置允许外科医生操控(例如,夹持、抓握、击发、打开、闭合、旋转、推进、切开等)支撑在连杆12的末端14处的工具20。
输入手柄42中的每一个可穿过预先限定的工作空间移动以在手术部位“S”内移动连杆12的末端14,例如工具20。显示装置44上的三维图像被朝向成使得输入手柄42的移动使连杆12的末端14如在显示装置44上所观察到的进行移动。三维图像保持静止,同时输入手柄42的移动被缩放成三维图像内的连杆12的末端14的移动。为了维持三维图像的朝向,输入手柄42的运动学映射基于相对于连杆12的末端14的朝向的相机朝向。显示装置44上的三维图像的朝向可以相对于由成像装置16、56捕获的视图成镜像或旋转。此外,显示装置44上的三维图像的大小可以被缩放成比手术部位的实际结构大或小,从而准许临床医师更好地看到手术部位“S”内的结构。如以下详细描述的,当输入手柄42移动时,工具20在手术部位“S”内移动。工具20的移动还可以包含支撑工具20的连杆12的末端14的移动。
对于机器人手术系统1的构造和操作的详细描述,可参考美国专利8,828,023,所述专利的全部内容被以引用的方式并入本文中。
相对于输入手柄42的移动来缩放工具20的移动。当输入手柄42在预定义工作空间内移动时,输入手柄42发送控制信号到处理单元30。处理单元30分析控制信号以响应于控制信号而移动工具20。处理单元30将缩放的控制信号传输到机器人底座18以响应于输入手柄42的移动而移动工具20。处理单元30通过根据缩放因子SF来划分输入距离(例如通过输入手柄42中的一个移动的距离)而将控制信号缩放,从而达到缩放的输出距离(例如一个末端14移动的距离)。缩放因子SF在约一与约十之间的范围内(例如三)。此缩放由下式表示:
输出距离=输入距离/SF
应了解,缩放因子SF越大,工具20相对于输入手柄42的移动而进行的移动就越小。
对于将输入手柄42沿着X、Y和Z坐标轴的移动缩放到工具20的移动的详细描述,可参考2015年9月21日提交、标题为“用于机器人手术系统的控制的动态输入缩放(DynamicInput Scaling for Controls of Robotic Surgical System)”的共同拥有的第PCT/US2015/051130号国际专利申请以及2016年1月20日提交的第PCT/US2016/14031号国际专利申请,这些公开中的每一个的全部内容以引用的方式并入本文中。
参考图2,工具20可在手术部位“S”内朝向和远离边界“B”移动。边界“B”可以是工具20或连杆12的一部分的位置。例如,工具20可以正在接近限定手术部位“S”的壁,或者连杆12的一部分可以正在接近手术机器人10的另一连杆。另外,边界“B”可以是连杆12的接头的位置。例如,边界“B”可以限定在连杆12的关节的奇点处。
当工具20沿箭头“M”的方向朝向边界“B”移动时,工具20例如沿箭头“M”的方向朝向边界“B”的速度由处理单元30分析(图1)。当朝向边界“B”的速度大于可以在到达边界“B”之前安全地减速到预定边界速度的速度时,处理单元30将工具20在箭头“M”的方向上的速度以速度缩放因子“α”减小或缩小,以当工具20接近边界“B”时减小工具20在箭头“M”方向上的速度。
另外参考图3,速度缩放因子“α”根据工具20离边界“B”的距离“d”而变化。速度缩放因子“α”基于工具20在方向“M”上可具有的最大速度“V最大”的减速度,将工具20在方向“M”上的速度缩小,从而当工具20到达边界“B”使得距离“d”为零时减小到预定边界速度。如图3所示,当工具20距边界“B”的距离大于预定距离“D”时,速度缩放因子“α”为一(1),使得工具20的速度不受速度缩放因子“α”的影响。当工具20被移动使得工具20在距边界“B”的预定距离“d”内时,速度缩放因子“α”缩小了工具20的速度。当工具20在预定距离“d”内时,可以将速度缩放因子“α”应用于工具20的所有运动,或者可以将速度缩放因子“α”仅应用于工具20朝向边界“B”的运动。另外,速度缩放因子“α”可以用作对工具20的速度的限制,使得最大速度“V最大”线以下的运动不受速度缩放因子“α”的影响。如图3所示,当距离“d”为零时,速度缩放因子“α”减小为零。
参考图4,速度缩放因子“α”的函数可以具有非零的最小值。非零最小值在零和一之间,并且对应于等于工具20的最大速度“V最大”的按比例缩小的速度缩放因子“α”,以突然停止在边界“B”而不会造成损坏工具20、手术机器人1(图1)或边界“B”。
参考图5,根据图1和图2的的机器人手术系统1以及图4的功能,公开了一种利用处理单元30缩放工具20的速度的方法100。最初,输入手柄42沿移动工具20的方向移动。响应于输入手柄42的移动,用户控制台40将输入信号发送到处理单元30。处理单元30接收输入信号并生成控制信号,该控制信号被发送至手术机器人10以将工具20移动至期望位置(步骤110)。
为了产生控制信号(步骤150),处理单元30可以确定工具20朝向期望位置的移动方向(步骤120)。在一些实施例中,当工具20朝着期望位置的运动朝着边界“B”移动时(步骤124),处理单元30将速度缩放因子“α”应用于工具的期望运动速度(步骤130),并且当工具20朝着期望位置的移动远离边界“B”时,处理单元20不将速度缩放因子“α”应用于期望运动速度(步骤122)。在其他实施例中,处理单元30通过直接跳到步骤130而将速度缩放因子“α”应用于期望运动速度,而与工具20朝向期望位置的运动方向无关。
为了将速度缩放因子“α”应用于工具20的期望运动速度(步骤130),处理单元30确定工具20的位置和工具20相对于边界“B”的期望位置(步骤132)。如果工具20的位置和/或工具20的期望位置均大于或等于距边界“B”的预定距离“D”,则速度缩放因子“α”等于一,使得工具20的期望运动速度不受速度缩放因子“α”的影响。如果工具20的位置或工具20的期望位置小于预定距离“D”,则速度缩放因子“α”的应用可以按比例缩小工具20向期望位置的运动速度。具体地,在一些实施例中,速度缩放因子“α”被直接应用到工具20朝着期望位置的期望运动速度,使得期望速度减小了速度缩放因子,如图4所示(步骤134)。在其他实施例中,最大速度“V最大”减小,使得对于给定距离“d”,低于最大速度“V最大”的任何期望速度不变,并且仅减小超过最大速度“V最大”的期望速度(步骤140)。
在将速度缩放因子“α”应用于工具20的期望运动速度之后,处理单元30生成控制信号(步骤150),并将控制信号传输至手术机器人10以将工具20以缩放的期望速度移动至期望的位置(步骤160)。
在一些实施例中,当速度缩放因子“α”小于一时,处理单元30将反馈控制信号发送到用户控制台40,以向临床医生提供工具20的速度正在被缩放的反馈。例如,用户控制台40可提供抵抗输入手柄42在将工具20朝边界“B”移动的方向上的运动的力反馈。
如相对于本文的说明性实施例所详细描述的,速度缩放因子“α”被缩小为距离边界“B”的距离“d”的线性函数。但是,速度缩放因子“α”可以基于距边界“B”的距离“d”以逐步方式或其他合适的函数按指数比例缩小。
虽然已经在附图中示出本公开的若干实施例,但是本公开并且不旨在受其限制,因为本公开的范围旨在如领域将允许的一样广泛并且说明书同样以此方式阅读。也可以设想上述实施例的任何组合,并且上述实施例的任何组合在所附权利要求的范围内。因此,以上描述不应被解释为限制性的,而仅仅是特定实施例的范例。本领域的技术人员将设想到在本文所附的权利要求书的范围内的其它修改。
Claims (7)
1.一种用处理单元缩放手术机器人的工具的期望速度的方法,所述方法包括:
接收包括工具的期望运动速度的输入信号;
确定工具相对于手术部位的边界的位置;
当所述工具在所述手术部位的边界的预定距离内时,缩放所述工具的所述期望运动速度;以及
应用速度缩放因子至所述工具在其运动方向上能够具有的最大速度,使得如果大于对于所述工具相对于所述边界的位置的预定距离的最大速度,减小期望速度,
其中缩放所述期望运动速度包括减小所述工具的期望运动速度,
其中所述方法还包括确定所述工具相对于所述边界的运动方向,
其中缩放所述工具的期望运动速度仅当所述工具的运动方向朝向所述边界时进行,
其中缩放所述工具的期望运动速度包括将速度缩放因子应用于所述期望运动速度,
其中确定所述速度缩放因子包括当确定的所述工具相对于所述边界的位置超过预定距离时所述速度缩放因子为一,
其中根据确定的所述工具的位置确定所述速度缩放因子包括当确定的所述工具相对于所述边界的位置低于预定距离时将所述缩放因子从一减小到最小值,
其中当所述速度缩放因子小于一时,发送反馈控制信号以向临床医生提供所述工具的速度正在被缩放的反馈。
2.根据权利要求1所述的方法,其中所述边界是所述手术部位的虚拟边界。
3.根据权利要求1所述的方法,还包括根据确定的所述工具相对于所述边界的位置确定所述速度缩放因子。
4.根据权利要求1所述的方法,其中所述速度缩放因子的最小值是非零。
5.根据权利要求1所述的方法,还包括在缩放所述工具的期望运动速度之后生成控制信号。
6.根据权利要求5所述的方法,还包括将所述控制信号传送到手术机器人。
7.根据权利要求1所述的方法,还包括当缩放所述工具的期望运动速度时将反馈控制信号传输到用户控制台。
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WO2019050878A2 (en) | 2019-03-14 |
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US20210059781A1 (en) | 2021-03-04 |
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EP3678573A4 (en) | 2021-06-02 |
CN111132629A (zh) | 2020-05-08 |
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