CN111870349A - Safety boundary and force control method of surgical robot - Google Patents
Safety boundary and force control method of surgical robot Download PDFInfo
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- CN111870349A CN111870349A CN202010724934.5A CN202010724934A CN111870349A CN 111870349 A CN111870349 A CN 111870349A CN 202010724934 A CN202010724934 A CN 202010724934A CN 111870349 A CN111870349 A CN 111870349A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
Abstract
The invention discloses a safety boundary and force control method of a surgical robot, which comprises the following steps: inputting patient condition information; acquiring physical size information of the robot and a surgical tool and safety range information of a surgical operation position; setting position information of a tail end point of the robot; acquiring a working area safety boundary of a robot tail end point and contact force range information of the robot tail end point according to the position information of the robot tail end point and the safety range information of the surgical operation position; generating a surgical operation instruction according to the patient information, the safety boundary information of the working area of the tail end point of the robot and the contact force range information of the tail end point of the robot, and sending the surgical operation instruction to the robot; and acquiring and analyzing the operation feedback information of the tail end point of the robot in real time, and generating and sending an adjusting instruction to the robot. The invention can control the position and force of the safe boundary of the operation robot effectively, and improve the operation efficiency.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a safety boundary and force control method of a surgical robot.
Background
At present, when an operation is performed, particularly when the operation is strictly limited to a working area, such as a hip joint replacement operation, the hip joint replacement operation is usually manually completed by a doctor, but the technical requirements on the doctor are very high, and for areas with laggard medical resources and lacking medical talents, the operation with higher difficulty needs to be completed by consuming larger resources, so that great trouble is brought to some patients with poorer conditions; although some known medical robots, such as da vinci, can perform surgical operations abroad at present, the medical robots are expensive in manufacturing cost and extremely high in cost, and operations such as hip joint replacement operations which strictly limit a working area are not involved at present, so that safety boundaries of robots for performing surgical tasks cannot be set and restricted, the surgical effect cannot be guaranteed, and medical accidents are easily caused.
Disclosure of Invention
In order to overcome the above problems or at least partially solve the above problems, embodiments of the present invention provide a method for controlling a safety boundary and a force of a surgical robot, which sets and restricts the safety boundary of a robot engaged in a surgical task, controls the strength of the surgical robot, sets different environmental rigidity measurements according to a distance limited by the distance boundary, prompts a doctor, implements a hierarchical force feedback strategy, constructs a collaborative safety strategy for targeted boundary force feedback according to different surgical operations and parameters of each safety hierarchy, ensures smooth and safe performance of the surgery, maintains the real-time operation capability of the doctor for the surgery based on the collaborative control strategy, implements a virtual safety boundary in a system control architecture by combining a robot force feedback technology, and visually feeds back the surgical safety boundary to the operator under a condition of minimum delay, compared with the self reaction speed of doctors, the operation safety is greatly improved.
The embodiment of the invention is realized by the following steps:
a safety boundary and force control method of a surgical robot includes the following steps:
inputting patient condition information;
acquiring physical size information of the robot and a surgical tool and safety range information of a surgical operation position;
setting position information of a tail end point of the robot according to physical size information of the robot and the surgical tool and safety range information of a surgical operation position;
acquiring a working area safety boundary of a robot tail end point and contact force range information of the robot tail end point according to the position information of the robot tail end point and the safety range information of the surgical operation position;
generating a surgical operation instruction according to the patient information, the safety boundary information of the working area of the tail end point of the robot and the contact force range information of the tail end point of the robot, and sending the surgical operation instruction to the robot;
and acquiring and analyzing the operation feedback information of the tail end point of the robot in real time, and generating and sending an adjusting instruction to the robot.
Firstly, inputting patient condition information, wherein the patient condition information comprises basic identity information of a patient, the condition of the patient, such as the name, age, historical case, physical health condition, a part to be operated and the like of the patient, then acquiring physical size information of a robot and a surgical tool and safety range information of a surgical operation position through measurement, setting the position of a tail end point of the robot according to the physical size information of the robot and the surgical tool and the safety range information of the surgical operation position, wherein the tail end point of the robot refers to the center of a tail end face of a medical surgical tool installed on the robot, calculating the position of the tail end point of the robot relative to the sixth joint of the robot according to the tool size, completing the setting, calculating the working area safety boundary robot tail end point contact force range of the tail end point of the robot according to the acquired position information of the tail end point of the robot and the safety range information of the surgical operation position, generating corresponding operation instructions such as operation speed, operation position range and the like of the robot to the robot according to the contact force range of the tail end point of the robot in the working area safety boundary of the tail end point of the robot, and controlling the robot to perform operation; when the robot carries out the operation, acquire the operation feedback information of robot terminal point in real time, carry out timely analysis, in time send adjustment instruction for the robot, in time adjust the robot terminal operation scope, operating speed, the operation contact force etc. of point, in time effectual assurance operation accurate nature, guarantee the security of operation process, improve operation efficiency simultaneously, reduce doctor's operation pressure.
In some embodiments of the present invention, a method for controlling a safety boundary and a force of a surgical robot further comprises:
dividing a safety boundary of a working area of a tail end point of the robot into a plurality of planes;
the parameter information of each plane is represented by six-dimensional coordinates.
In some embodiments of the present invention, a method for controlling safety margin and force of a surgical robot, operation feedback information includes operation speed, contact force information, and operation position information.
In some embodiments of the present invention, a method for controlling safety margin and force of a surgical robot, which acquires and analyzes operation feedback information of a robot end point in real time, and generates and transmits an adjustment command to the robot, comprises the following steps:
acquiring the operation speed of a tail end point of the robot in real time;
comparing the operation speed of the tail end point of the robot acquired in real time with the preset normal operation speed of the tail end point of the robot to generate a comparison result;
and generating and sending a speed adjusting instruction to the robot according to the comparison result.
In some embodiments of the present invention, a method for controlling safety margin and force of a surgical robot, which acquires and analyzes operation feedback information of a robot end point in real time, and generates and transmits an adjustment command to the robot, comprises the following steps:
a1, acquiring the operation position information of the robot terminal point in real time;
a2, judging whether the operation position of the robot end point acquired in real time exceeds the safety boundary of the working area of the robot end point, if so, entering the step A3; if not, go to step A1;
and A3, generating and sending a position adjusting instruction to the robot.
In some embodiments of the present invention, a method of controlling safety margin and force of a surgical robot, the method of generating and transmitting surgical operation instructions to the robot comprising the steps of:
the contact force information of the tail end point of the robot is obtained through a contact force sensor of the tail end point of the robot;
acquiring and recording dragging track information of a tail end point of a robot;
and generating a surgical operation instruction according to the dragging track information and sending the surgical operation instruction to the robot.
In some embodiments of the present invention, a method of controlling safety margin and force of a surgical robot, the method of generating and transmitting surgical operation instructions to the robot comprising the steps of:
setting the compensation gravity and the compensation friction of the robot so that the robot enters a zero-force mode;
acquiring and recording a shifting operation track of a robot joint and required time;
and generating a surgical operation instruction according to the shifting operation track of the robot joint and the required time and sending the surgical operation instruction to the robot.
In some embodiments of the present invention, a method of controlling safety margin and force of a surgical robot, the method of generating and transmitting surgical operation instructions to the robot comprising the steps of:
setting the operation speed of a tail end point of the robot;
and generating and sending an operating speed operating instruction of the tail end point of the robot to the robot in real time.
In some embodiments of the present invention, a method for controlling a safety boundary and a force of a surgical robot further comprises:
and carrying out grading processing on the obtained safety range of the operation position to obtain a safety region range, an alarm region range and a forbidden region range.
In some embodiments of the present invention, a method for controlling a safety boundary and a force of a surgical robot further comprises:
b1, acquiring operation feedback information of the robot terminal point;
b2, judging whether the safety boundary of the working area of the robot end point or/and the contact force range of the robot end point are exceeded or not according to the operation feedback information, and if so, entering the step B3; if not, the step B1 is carried out, and the operation feedback information of the robot terminal point is obtained again;
and B3, generating and sending early warning prompt information.
The embodiment of the invention at least has the following advantages or beneficial effects:
the embodiment of the invention provides a safety boundary and force control method of a surgical robot, which comprises the steps of measuring and acquiring physical size information of a robot and a surgical tool and safety range information of a surgical operation position, setting the position of a tail end point of the robot according to the physical size information of the robot and the surgical tool and the safety range information of the surgical operation position, calculating the contact force range of the tail end point of the robot in a working area safety boundary of the tail end point of the robot according to the acquired position information of the tail end point of the robot and the safety range information of the surgical operation position, generating corresponding surgical operation instructions such as operation speed, operation position range and the like of the robot to the robot according to the calculated and acquired contact force range of the tail end point of the robot in the working area safety boundary of the tail end point of the robot, and controlling the robot to perform surgical operation; when the robot carries out the operation, acquire the operation feedback information of robot terminal point in real time, carry out timely analysis, in time send adjustment instruction for the robot, in time adjust the robot terminal operation scope, operating speed, the operation contact force etc. of point, in time effectual assurance operation accurate nature, guarantee the security of operation process, improve operation efficiency simultaneously, reduce doctor's operation pressure.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a method for controlling safety margin and force of a surgical robot in accordance with an embodiment of the present invention;
FIG. 2 is a flowchart of a method for adjusting the operating speed of a surgical robot in a method for controlling the safety margin and force of the surgical robot according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for adjusting a position of a surgical robot in a method for controlling a safety margin and force of the surgical robot according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a position warning prompt in a method for controlling a safety margin and force of a surgical robot according to an embodiment of the present invention;
fig. 5 is a flowchart of a contact force warning prompt in a safety margin and force control method of a surgical robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It should be noted that, in this document, the term "comprises/comprising" or any other variation thereof is intended to cover a non-exclusive inclusion, so that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but also other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the embodiments of the present invention, it should be noted that if the orientation or positional relationship indicated by the term "center" or the like is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the product of the present invention is used, the description is only for convenience of describing the present invention and simplifying the description, but the indication or suggestion that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, cannot be understood as limiting the present invention.
In the description of the embodiments of the present invention, "a plurality" represents at least 2.
Examples
As shown in fig. 1, the present embodiment provides a method for controlling safety margin and force of a surgical robot, including the following steps:
s1, inputting patient condition information;
s2, acquiring physical size information of the robot and the surgical tool and safety range information of the surgical operation position;
s3, setting the position information of the end point of the robot according to the physical size information of the robot and the surgical tool and the safety range information of the surgical operation position;
s4, acquiring the safety boundary of the working area of the robot end point and the contact force range information of the robot end point according to the position information of the robot end point and the safety range information of the surgical operation position;
s5, generating a surgical operation instruction according to the patient information, the safety boundary information of the working area of the robot end point and the contact force range information of the robot end point, and sending the surgical operation instruction to the robot;
and S6, acquiring and analyzing the operation feedback information of the robot terminal point in real time, and generating and sending an adjusting instruction to the robot.
Firstly, inputting patient condition information, wherein the patient condition information comprises basic identity information of a patient, the condition of the patient, such as the name, age, historical case, physical health condition, a part to be operated and the like of the patient, then obtaining physical size information of a robot and a surgical tool and safety range information of a surgical operation position through measurement, setting the position of a tail end point of the robot according to the physical size information of the robot and the surgical tool and the safety range information of the surgical operation position, wherein the tail end point of the robot refers to the center of a tail end face of a medical surgical tool installed on the robot, calculating the position of the tail end point relative to a sixth joint of the robot according to the tool size, completing the setting, and the range in which the tail end point can work depends on two aspects, the physical size of the robot and the tool and the safety range allowed by the medical operation, calculating the critical state of the robot and the tool installed by the robot in the safe working boundary proposed by a doctor, namely starting a tail end dragging mode based on tail end force sensor feedback to enable a tail end point of the robot to reach the defined boundary and store the tail end point at the current position, obtaining a space virtual wall by six-dimensional information of the point, then taking the position of the virtual wall as one of the safety range constraint conditions of the work, repeatedly setting a plurality of virtual walls, and enabling the virtual walls to be superposed and effective; besides using a tail end dragging mode, a virtual boundary can be set by introducing accurate three-dimensional coordinates, and the motion range of a tail end point of the robot is restricted; calculating the contact force range of the tail end points of the robot at the working area safety boundary of the tail end points of the robot according to the acquired position information of the tail end points of the robot and the safety range information of the surgical operation positions of the robot, generating surgical operation instructions such as the operation speed, the operation position range and the like of the corresponding robot suitable for the surgical operation of the patient according to the contact force range of the tail end points of the working area safety boundary robot of the tail end points of the robot and the patient condition information, and controlling the robot to perform the surgical operation; when the robot carries out the operation, acquire the operation feedback information of robot terminal point in real time, carry out timely analysis, in time send adjustment instruction for the robot, in time adjust the robot terminal operation scope, operating speed, the operation contact force etc. of point, in time effectual assurance operation accurate nature, guarantee the security of operation process, improve operation efficiency simultaneously, reduce doctor's operation pressure. When the robot works normally, if the robot is about to arrive at the set approaching area, the robot starts to decelerate and stops braking within 10ms of arriving at the forbidden area, so that the arrival position of the medical robot at the work is ensured to be a reachable safe position, and the occurrence of human injury accidents is avoided.
In some embodiments of the present invention, the safety margin and force control method of a surgical robot further comprises the steps of:
dividing a safety boundary of a working area of a tail end point of the robot into a plurality of planes;
the parameter information of each plane is represented by six-dimensional coordinates.
The size of the robot end tool and the range of the allowable movement of the robot end tool are obtained after measurement, a space area in which the robot end point can work is calculated according to the set condition of the robot end point, the boundary of the space area is composed of a plurality of planes, parameters of the planes are represented by 6-dimensional coordinates in a robot end system, namely, a position (x, y, z) and a direction (Rx, Ry, Rz), and the six-dimensional coordinates are adopted for representation, so that the accuracy and the comprehensiveness of space operation are improved.
In some embodiments of the invention, the operational feedback information comprises operational speed, contact force information, operational position information.
In some embodiments of the present invention, as shown in fig. 2, a method for acquiring and analyzing operation feedback information of a robot end point in real time, and generating and sending an adjustment instruction to the robot includes the following steps:
d1, acquiring the operation speed of the tail end point of the robot in real time;
d2, comparing the operation speed of the tail end point of the robot acquired in real time with the preset normal operation speed of the tail end point of the robot to generate a comparison result;
d3, generating and sending a speed adjusting instruction to the robot according to the comparison result.
In the operation process of the operation, the operation speed of the robot is acquired in real time and is compared with the preset normal operation speed, when the real-time operation speed of the robot exceeds the preset operation speed, an overspeed result report is generated, a speed adjusting instruction is generated in real time according to the overspeed result report and is sent to the robot, the robot is always kept in the normal operation speed, and the operation effect of the operation is guaranteed.
In some embodiments of the present invention, as shown in fig. 3, the method for acquiring and analyzing the operation feedback information of the end point of the robot in real time, and generating and sending the adjustment instruction to the robot includes the following steps:
a1, acquiring the operation position information of the robot terminal point in real time;
a2, judging whether the operation position of the robot end point acquired in real time exceeds the safety boundary of the working area of the robot end point, if so, entering the step A3; if not, go to step A1;
and A3, generating and sending a position adjusting instruction to the robot.
The method comprises the steps of acquiring operation position information of a tail end point of the robot in real time, analyzing the position in real time, immediately sending a position adjusting instruction to the robot when the operation position of the robot exceeds a safety boundary of a working area of the tail end point of the robot, adjusting the tail end point operation position of the robot in time, ensuring normal operation of the operation, and improving operation efficiency.
In some embodiments of the invention, a method of generating and transmitting surgical operating instructions to a robot includes the steps of:
the contact force information of the tail end point of the robot is obtained through a contact force sensor of the tail end point of the robot;
acquiring and recording dragging track information of a tail end point of a robot;
and generating a surgical operation instruction according to the dragging track information and sending the surgical operation instruction to the robot.
The tail end dragging function is realized by utilizing force feedback information of the tail end touch force sensor, the track of the robot in the dragging process is recorded, and then the robot reproduces the track in the joint movement mode.
In some embodiments of the invention, a method of generating and transmitting surgical operating instructions to a robot includes the steps of:
setting the compensation gravity and the compensation friction of the robot so that the robot enters a zero-force mode;
acquiring and recording a shifting operation track of a robot joint and required time;
and generating a surgical operation instruction according to the shifting operation track of the robot joint and the required time and sending the surgical operation instruction to the robot.
The robot enters a zero-force mode by compensating the gravity of the robot and the friction force between joints, the zero-force mode refers to an operation mode that each operation part of the robot is in a weightless state, namely, the influence of the gravity on each operation part is counteracted, the operation mode is similar to a space weightless state, each joint of the robot can be easily shifted, in the shifting process, the track of a required time period is recorded, and then the operation is repeated.
In some embodiments of the invention, a method of generating and transmitting surgical operating instructions to a robot includes the steps of:
setting the operation speed of a tail end point of the robot;
and generating and sending an operating speed operating instruction of the tail end point of the robot to the robot in real time.
When the speed of the robot is controlled, the robot can directly enter a terminal speed instruction mode, the operation speed is set, and the terminal motion of the robot is controlled in real time.
In some embodiments of the present invention, the safety margin and force control method of a surgical robot further comprises the steps of:
and carrying out grading processing on the obtained safety range of the operation position to obtain a safety region range, an alarm region range and a forbidden region range.
The working range of the robot is graded, the blocking effects in areas with different grades are different, the operation process is not influenced as far as possible on the premise of ensuring safety, when the robot works normally, if the robot is about to reach the range of the set warning area, the robot can start to decelerate, and the robot can complete braking within 10ms of reaching the forbidden area, so that the reaching position of the medical robot in working is ensured to be a safe position which can be reached, and the occurrence of human injury accidents is avoided.
In some embodiments of the present invention, as shown in fig. 4, the safety margin and force control method of a surgical robot further comprises the steps of:
b1, acquiring operation feedback information of the robot terminal point;
b2, judging whether the safety boundary of the working area of the robot end point is exceeded or not according to the operation position information of the robot end point in the operation feedback information, and if so, entering the step B3; if not, the step B1 is carried out, and the operation feedback information of the robot terminal point is obtained again;
and B3, generating and sending early warning prompt information.
The method comprises the steps of acquiring operation feedback information of a tail end point of the robot in real time, judging whether the operation feedback information exceeds a working area safety boundary of the tail end point of the robot according to operation position information of the tail end point of the robot in the operation feedback information, immediately generating and sending early warning prompt information if the operation feedback information exceeds the working area safety boundary, carrying out early warning prompt, and re-acquiring the operation feedback information of the tail end point of the robot if the operation feedback information does not exceed the working area safety boundary.
In some embodiments of the present invention, as shown in fig. 5, the safety margin and force control method of a surgical robot further comprises the steps of:
c1, acquiring operation feedback information of the robot terminal point;
c2, judging whether the contact force range of the robot end point is exceeded or not according to the contact force information of the robot end point in the operation feedback information, and if so, entering the step C3; if not, the step C1 is carried out, and the operation feedback information of the robot terminal point is obtained again;
and C3, generating and sending early warning prompt information.
Acquiring operation feedback information of a tail end point of the robot in real time, judging whether the contact force range of the tail end point of the robot is exceeded or not according to contact force information of the tail end point of the robot in the operation feedback information, if the contact force range of the tail end point is exceeded, if the tail end of the robot is touched by an object which is not to be touched due to misoperation of medical personnel, immediately generating and sending early warning prompt information, carrying out early warning prompt, then carrying out instant adjustment based on force feedback, and when the 6-dimensional contact force of the tail end reaches a set limit, driving the robot to move towards the direction of force/moment reduction; and if the contact force range of the terminal point is not exceeded, the operation feedback information of the terminal point of the robot is acquired again, and the detection and judgment are carried out again.
In summary, embodiments of the present invention provide a method for controlling a safety boundary and a force of a surgical robot, wherein physical dimension information of the robot and a surgical tool and safety range information of a surgical operation position are obtained by measuring, and a position of a terminal point of the robot is set according to the physical dimension information of the robot and the surgical tool and the safety range information of the surgical operation position, the terminal point of the robot refers to a center of a terminal surface of the surgical tool mounted on the robot, and a position of the terminal point relative to a sixth joint of the robot can be calculated according to the tool dimension, and the setting is completed, wherein a range in which the terminal point can operate depends on two aspects, the physical dimension of the robot and the tool and a safety range allowed by the surgical operation, and a critical state of the robot and the mounted tool within a safety working boundary proposed by a doctor is calculated, that is, that the terminal point of the robot reaches the defined boundary by starting a terminal drag mode based on feedback of a terminal force sensor The position of the virtual wall is used as one of the working safety range constraint conditions, a plurality of virtual walls can be repeatedly set and superposed to take effect; besides using a tail end dragging mode, a virtual boundary can be set by introducing accurate three-dimensional coordinates, and the motion range of a tail end point of the robot is restricted; calculating the contact force range of the tail end points of the robot at the working area safety boundary of the tail end points of the robot according to the acquired position information of the tail end points of the robot and the safety range information of the surgical operation positions of the robot, generating surgical operation instructions such as the operation speed, the operation position range and the like of the corresponding robot suitable for the surgical operation of the patient according to the contact force range of the tail end points of the working area safety boundary robot of the tail end points of the robot and the patient condition information, and controlling the robot to perform the surgical operation; when the robot carries out the operation, acquire the operation feedback information of robot terminal point in real time, carry out timely analysis, in time send adjustment instruction for the robot, in time adjust the robot terminal operation scope, operating speed, the operation contact force etc. of point, in time effectual assurance operation accurate nature, guarantee the security of operation process, improve operation efficiency simultaneously, reduce doctor's operation pressure. When the robot works normally, if the robot is about to arrive at the set approaching area, the robot starts to decelerate and stops braking within 10ms of arriving at the forbidden area, so that the arrival position of the medical robot at the work is ensured to be a reachable safe position, and the occurrence of human injury accidents is avoided. The method comprises the steps of obtaining operation feedback information of a tail end point of the robot in real time, judging whether the operation feedback information exceeds a working area safety boundary or a contact force range of the tail end point of the robot according to operation position information or contact force information of the tail end point of the robot in the operation feedback information, if the operation feedback information exceeds the working area safety boundary or the contact force range, immediately generating and sending early warning prompt information, carrying out early warning prompt, if the operation feedback information does not exceed the working area safety boundary or the contact force range, obtaining operation feedback information of the tail end point of the robot again, feeding back in time, and giving early warning prompt.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A safety boundary and force control method of a surgical robot is characterized by comprising the following steps:
inputting patient condition information;
acquiring physical size information of the robot and a surgical tool and safety range information of a surgical operation position;
setting position information of a tail end point of the robot according to physical size information of the robot and the surgical tool and safety range information of a surgical operation position;
acquiring a working area safety boundary of a robot tail end point and contact force range information of the robot tail end point according to the position information of the robot tail end point and the safety range information of the surgical operation position;
generating a surgical operation instruction according to the patient information, the safety boundary information of the working area of the tail end point of the robot and the contact force range information of the tail end point of the robot, and sending the surgical operation instruction to the robot;
and acquiring and analyzing the operation feedback information of the tail end point of the robot in real time, and generating and sending an adjusting instruction to the robot.
2. A method of controlling a safety margin and force of a surgical robot as claimed in claim 1, further comprising the steps of:
dividing a safety boundary of a working area of a tail end point of the robot into a plurality of planes;
the parameter information of each plane is represented by six-dimensional coordinates.
3. A method of controlling a safety boundary and force of a surgical robot according to claim 1, wherein the operation feedback information includes operation speed, contact force information, and operation position information.
4. A method of controlling a safety boundary and force of a surgical robot according to claim 3, wherein the method of acquiring and analyzing operation feedback information of a robot end point in real time, generating and sending an adjustment command to the robot comprises the steps of:
acquiring the operation speed of a tail end point of the robot in real time;
comparing the operation speed of the tail end point of the robot acquired in real time with the preset normal operation speed of the tail end point of the robot to generate a comparison result;
and generating and sending a speed adjusting instruction to the robot according to the comparison result.
5. A method of controlling a safety boundary and force of a surgical robot according to claim 3, wherein the method of acquiring and analyzing operation feedback information of a robot end point in real time, generating and sending an adjustment command to the robot comprises the steps of:
a1, acquiring the operation position information of the robot terminal point in real time;
a2, judging whether the operation position of the robot end point acquired in real time exceeds the safety boundary of the working area of the robot end point, if so, entering the step A3; if not, go to step A1;
and A3, generating and sending a position adjusting instruction to the robot.
6. A method of controlling a safety boundary and force of a surgical robot according to claim 1, wherein the method of generating and transmitting surgical operation commands to the robot comprises the steps of:
the contact force information of the tail end point of the robot is obtained through a contact force sensor of the tail end point of the robot;
acquiring and recording dragging track information of a tail end point of a robot;
and generating a surgical operation instruction according to the dragging track information and sending the surgical operation instruction to the robot.
7. A method of controlling a safety boundary and force of a surgical robot according to claim 1, wherein the method of generating and transmitting surgical operation commands to the robot comprises the steps of:
setting the compensation gravity and the compensation friction of the robot so that the robot enters a zero-force mode;
acquiring and recording a shifting operation track of a robot joint and required time;
and generating a surgical operation instruction according to the shifting operation track of the robot joint and the required time and sending the surgical operation instruction to the robot.
8. A method of controlling a safety boundary and force of a surgical robot according to claim 1, wherein the method of generating and transmitting surgical operation commands to the robot comprises the steps of:
setting the operation speed of a tail end point of the robot;
and generating and sending an operating speed operating instruction of the tail end point of the robot to the robot in real time.
9. A method of controlling a safety margin and force of a surgical robot as claimed in claim 1, further comprising the steps of:
and carrying out grading processing on the obtained safety range of the operation position to obtain a safety region range, an alarm region range and a forbidden region range.
10. A method of controlling a safety margin and force of a surgical robot as claimed in claim 1, further comprising the steps of:
b1, acquiring operation feedback information of the robot terminal point;
b2, judging whether the safety boundary of the working area of the robot end point or/and the contact force range of the robot end point are exceeded or not according to the operation feedback information, and if so, entering the step B3; if not, the step B1 is carried out, and the operation feedback information of the robot terminal point is obtained again;
and B3, generating and sending early warning prompt information.
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| CN112587244A (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 |
| CN112618020A (en) * | 2020-12-15 | 2021-04-09 | 深圳市精锋医疗科技有限公司 | Surgical robot and control method and control device thereof |
| CN112641513A (en) * | 2020-12-15 | 2021-04-13 | 深圳市精锋医疗科技有限公司 | Surgical robot and control method and control device thereof |
| CN112998863A (en) * | 2021-03-12 | 2021-06-22 | 杭州柳叶刀机器人有限公司 | Robot safety boundary interaction method and device, electronic equipment and storage medium |
| CN113276111A (en) * | 2021-04-30 | 2021-08-20 | 武汉联影智融医疗科技有限公司 | Surgical robot control system and control method |
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| CN112618020A (en) * | 2020-12-15 | 2021-04-09 | 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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| CN113413214B (en) * | 2021-05-24 | 2022-12-30 | 上海交通大学 | Surgical robot manpower feedback method and device based on mixed reality guidance |
| CN113413214A (en) * | 2021-05-24 | 2021-09-21 | 上海交通大学 | Surgical robot manpower feedback method and device based on mixed reality guidance |
| CN114145848A (en) * | 2021-12-09 | 2022-03-08 | 南京佗道医疗科技有限公司 | Constrained mechanical arm zero-force control system and control method thereof |
| CN114145848B (en) * | 2021-12-09 | 2023-08-25 | 佗道医疗科技有限公司 | Constrained mechanical arm zero-force control system and control method thereof |
| CN116473678A (en) * | 2023-06-21 | 2023-07-25 | 杭州键嘉医疗科技股份有限公司 | Method and device for guiding movement of end effector by virtual wall |
| CN116473678B (en) * | 2023-06-21 | 2023-09-29 | 杭州键嘉医疗科技股份有限公司 | Method and device for guiding movement of end effector by virtual wall |
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