CN113040923A - Operation controller and hovering control method thereof - Google Patents
Operation controller and hovering control method thereof Download PDFInfo
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- 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
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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
- A61B34/74—Manipulators with manual electric input means
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Abstract
The invention discloses a surgical manipulator and a hovering control method thereof, wherein the surgical manipulator comprises rotating members, electromagnetic joints, a holding part and a processing module, any two adjacent rotating members are connected through the electromagnetic joints, electromagnets are arranged in the electromagnetic joints, when an operator holds the holding part, the processor controls the electromagnets, so that each rotating member can rotate freely when the electromagnets are in a power-off state, and when the operator releases the holding part, the processor controls the electromagnets, so that the electromagnets are in a power-on state, each rotating member is locked, and the surgical manipulator hovers. When the surgical manipulator and the hovering control method are used for surgery, an operator can freely control the surgical manipulator only by holding the holding part, the surgical manipulator can automatically hover only by loosening the holding part, the control is convenient, and in the control process, each rotating member freely rotates, the resistance is small, and the control is more labor-saving.
Description
Technical Field
The invention relates to a medical instrument, in particular to a surgical manipulator and a hovering control method thereof.
Background
In a conventional surgical manner, a surgeon directly operates a surgical instrument to control the position and angle of the surgical instrument, and with the development of medical level, a surgical system has appeared in which the surgeon operates various manipulators at a main console and teleoperated the surgical instrument to perform surgical actions at a position far from a patient. The operators are mainly divided into two types, one type is to output operation commands for operation and control by adopting a mouse, a keyboard or a touch screen and the like; the other type is a mechanical operator with better control feeling, the operation of the mechanical operator is controlled to enable the surgical instrument to execute corresponding actions, but the operation principle of the existing mechanical operator is the same as that of a common execution instrument, a self-locking structure is arranged between joints of the mechanical operator and the common execution instrument, the operation principle of the common execution instrument is the same, the self-locking structure (such as gear transmission self-locking) is arranged between the joints, the operator can be driven to operate and control only after the self-locking force of the self-locking structure is overcome under the driving action of external force of an operator, the operation is labor-consuming, the operation time is long in complex operations, and the fatigue of wrists and arms of surgeons is easily caused.
Disclosure of Invention
The present invention is directed to a surgical manipulator and a method for controlling the same, so as to control the surgical manipulator more conveniently and more easily.
In order to achieve the above objects and other related objects, the technical solution of the present invention is as follows:
a surgical manipulator, comprising:
a plurality of rotating members;
the operation manipulator comprises an electromagnetic joint, wherein any two adjacent rotating members are connected through the electromagnetic joint, an electromagnet is arranged in the electromagnetic joint, when the electromagnet is in a power-on state, each rotating member can freely rotate, when the electromagnet is in a power-off state, each rotating member is locked, and the operation manipulator is suspended; and
the gripping part is used for an operator to input the rotating power of each rotating component, and a gripping data collector is further arranged on the gripping part and used for collecting real-time gripping data of the operator;
the processing module is used for judging the holding state according to the real-time holding data and controlling the power supply state of the electromagnet according to the holding state,
if the holding state is judged that the operator holds the holding part, the electromagnet is electrified, and each electromagnetic joint freely rotates;
if the holding state is judged that the operator does not hold the holding part, the electromagnet is powered off, and the operation controller hovers.
Optionally, the holding data collector includes a force sensor for collecting holding force, and the real-time holding data includes data collected by the force sensor;
if the holding force data acquired by the force sensor is larger than a preset holding force threshold value, judging that an operator holds the holding part;
and if the holding force data acquired by the force sensor is smaller than a preset holding force threshold value, judging that the operator does not hold the holding part.
Optionally, the holding portion data collector includes a photoelectric sensor, the photoelectric sensor includes a light receiving portion, and the real-time holding data includes data collected by the light receiving portion.
Optionally, the light receiving part is configured to receive ambient light outside the holding part and convert the ambient light into a real-time electrical signal;
when the real-time electric signal is larger than a preset electric signal threshold value, judging that the operator does not hold the holding part;
and when the real-time electric signal is smaller than a preset electric signal threshold value, judging that the operator holds the holding part.
Optionally, the photoelectric sensor further includes a light projecting part, the light receiving part is configured to receive an optical signal emitted by the light projecting part, a light transmission space is formed between the light projecting part and the light receiving part, the light transmission space is formed on the grip, and a channel for an operator to insert a finger into the light transmission space to block light is provided on the grip;
when the real-time electric signal is larger than a preset electric signal threshold value, judging that the operator does not hold the holding part;
and when the real-time electric signal is smaller than a preset electric signal threshold value, judging that the operator holds the holding part.
Optionally, an induction part is arranged on the outer wall of the holding part, the induction part senses the holding state, an insertion hole for inserting fingers of an operator is formed in the induction part, and the light projecting part and the light receiving part are respectively located on two sides of the insertion hole, so that the fingers are inserted into the insertion hole and then light transmission in the insertion hole is blocked.
Optionally, two adjacent rotating members are defined as a first rotating member and a second rotating member, and each of the electromagnetic joints includes:
a joint shaft rotating in synchronization with the first rotating member, the second rotating member being rotatably provided on the joint shaft;
the dynamic electromagnet is sleeved on the joint shaft, an anti-rotation structure is arranged between the dynamic electromagnet and the joint shaft, the dynamic electromagnet can move along the direction of the joint shaft away from or close to the second rotating component, and a locking structure which is triggered after contact is arranged between the dynamic electromagnet and the second rotating component;
the static electromagnet is arranged on the first rotating component or the second rotating component and is used for providing magnetic force for the dynamic electromagnet to approach or depart from the second rotating component;
the reset elastic piece is used for providing an elastic force for driving the dynamic electromagnet to be close to the second rotating component;
when the dynamic electromagnet and the static electromagnet are powered off, the dynamic electromagnet contacts the second rotating component, the locking structure takes effect, when the dynamic electromagnet and the static electromagnet are powered on, the dynamic electromagnet is separated from the second rotating component under the action of the elastic force, and the locking structure fails.
Optionally, the electromagnet is connected in series with a control switch for controlling the electromagnetic power supply state, and the control switch is opened or closed according to the holding state;
if the holding state is judged that the operator holds the holding part, the control switch is switched off, and the electromagnet is powered off;
if the holding state is judged that the operator does not hold the holding part, the control switch is closed, and the electromagnet is electrified.
Optionally, a main switch for controlling the power supply state of the whole manipulator is further arranged on the surgical manipulator, and the main switch, the control switch and the electromagnet are connected in series, so that the electromagnet is powered off after the main switch is turned off.
The invention also provides a hovering control method of the surgical manipulator, which comprises the following steps:
collecting real-time holding data of an operator;
judging the holding state according to the real-time holding data, and controlling the power supply state of the electromagnet according to the holding state;
if the holding state is judged that the operator holds the holding part, the electromagnet is electrified, and each electromagnetic joint of the surgical manipulator rotates freely;
if the holding state is judged that the operator does not hold the holding part, the electromagnet is powered off, and the operation controller hovers.
Optionally, the real-time holding data includes holding force data of an operator holding the holding portion, and the corresponding method for determining the holding state includes:
if the holding force data is larger than a preset holding force threshold value, judging that an operator holds the holding part;
and if the holding force data is smaller than a preset holding force threshold value, judging that the operator does not hold the holding part.
Optionally, the real-time holding data includes shading degree data indicating a degree of shading light by an operator, and the corresponding method for determining the holding state includes:
if the shading degree data is larger than a preset shading degree threshold value, judging that the holding part is not held by an operator;
and if the shading degree data is smaller than a preset shading degree threshold value, judging that the holding part is held by an operator.
Optionally, the light is ambient light outside the grip portion, or the light is an optical signal emitted by a light projecting portion of the photoelectric sensor.
When the surgical manipulator and the hovering control method are used for surgery, an operator can freely control the surgical manipulator only by holding the holding part, the surgical manipulator can automatically hover only by loosening the holding part, the control is convenient, and in the control process, each rotating member freely rotates, the resistance is small, and the control is more labor-saving.
Drawings
FIG. 1 is a schematic view of an exemplary surgical manipulator of the present invention;
FIG. 2 is a block diagram illustrating the control principles of the surgical manipulator of the present invention;
FIG. 3 illustrates an enlarged partial view of an exemplary grip portion;
FIG. 4 shows an enlarged partial view of another exemplary grip portion;
FIG. 5 is a schematic diagram illustrating an exemplary internal structure of an electromagnetic joint;
FIG. 6 is an enlarged partial schematic view of FIG. 5;
fig. 7 is a schematic diagram of another exemplary internal structure of an electromagnetic joint.
The description of reference numerals in the examples includes:
the device comprises a rotating component 100, an electromagnetic joint A, a holding part B, a processing module C, a first rotating component 1, a joint cavity 101, an opening 102, a cavity shell 11, a second rotating component 2, a connecting shaft sleeve 21, a joint shaft 3, a first sliding chute 31, a dynamic electromagnet 4, a friction plate 41, a second sliding chute 401, a static electromagnet 5, a reset elastic piece 6, a sliding key 7, a sensing part 8, a channel 801, a holding data acquisition device 9, a force sensor 91, a photoelectric sensor 92, a light receiving part 921 and a light projecting part 922.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, like reference numerals refer to like elements throughout.
Referring to fig. 1 to 4, the surgical manipulator of the present invention includes:
a plurality of rotating members 100;
any two adjacent rotating members 100 are connected through the electromagnetic joint A, an electromagnet is arranged in the electromagnetic joint A, when the electromagnet is in a power-on state, each rotating member 100 can freely rotate, when the electromagnet is in a power-off state, each rotating member 100 is locked, and the surgical manipulator hovers; and
the holding part B is used for allowing an operator to input the rotating power of each rotating component 100, a holding data collector 9 is further arranged on the holding part B, and the holding data collector 9 is used for collecting real-time holding data of the operator;
a processing module C for judging the holding state according to the real-time holding data and controlling the power supply state of the electromagnet (the reference numbers 4 and 5 refer to the electromagnet) according to the holding state,
if the holding state is judged that the operator holds the holding part B, the electromagnet is electrified, and each electromagnetic joint A rotates freely;
if the holding state is judged that the operator does not hold the holding part B, the electromagnet is powered off, and the operation controller hovers.
When an operator overrides a surgical instrument by using the surgical manipulator, the processing module C can judge that the operator holds the holding part B through data collected by the holding data collector 9 and control the electromagnets of the electromagnetic joints A to be electrified so that the electromagnetic joints A can rotate freely, the operator can freely operate the surgical manipulator to control the surgical instrument, the resistance in the operation process is small, and the operation is more labor-saving; if the operator releases the holding part B, the processing module C judges that the operator does not hold the holding part B through the data collected by the holding data collector 9, and controls the electromagnet of the electromagnet joint to lose power, so that each electromagnetic joint A is locked, the whole controller keeps hovering, the surgical instrument is also in a corresponding stagnation state, the operator can realize the automatic hovering of the whole controller without any other operation, and the control is more convenient. In the actual implementation process, the processing module C may be disposed on the controller, or may not be disposed on the controller, as long as the processing module C can receive the data collected by the holding data collector 9, and control the electromagnet according to the received data.
For example, referring to fig. 1, the manipulator is an open-chain spatial link mechanism, which includes a plurality of rotating members 100 connected in series in sequence, an electromagnetic joint a is disposed between each rotating member 100, an encoder is correspondingly disposed at each electromagnetic joint a, a surgical instrument performs corresponding actions according to data acquired by the encoder, there are 6 electromagnetic joints a in total, and a holding portion B is disposed on the rotating member 100 at the tail end.
In some embodiments, referring to fig. 1 to 3 in combination, the holding data collector 9 includes a force sensor 91 for collecting holding force, and the real-time holding data includes data collected by the force sensor 91;
if the holding force data acquired by the force sensor 91 is greater than a preset holding force threshold value, determining that the operator holds the holding part B;
and if the holding force data acquired by the force sensor 91 is smaller than a preset holding force threshold value, determining that the operator does not hold the holding part B.
In the practical implementation process, the sensitivity of the power-off and power-on switching response of the electromagnetic joint A can be adjusted by changing the preset threshold value of the holding force, and the sensitivity of the power-off and power-on switching response of the electromagnet can also be adjusted by selecting force sensors with different sensitivities. For example, it may be set so that when the gripping force acquired by the force sensor 91 is larger than zero, it is determined that the operator grips the gripping portion B. In actual implementation, the force sensor 91 may be provided at one position of the grip portion B, or the force sensors 91 may be provided at a plurality of positions of the grip portion B.
In some embodiments, the force sensor 91 is disposed at a position on the grip portion B where a palm or finger hill of the operator is in contact, which facilitates more accurate acquisition of real-time grip data.
In some embodiments, referring to fig. 1 to 4 in combination, the grip B data collector includes a photosensor 92, the photosensor 92 includes a light receiving portion 921, and the real-time grip data includes data collected by the light receiving portion 921.
Specifically, in some embodiments, referring to fig. 3, the light receiving unit 921 is configured to receive the ambient light outside the holding unit B and convert the ambient light into a real-time electrical signal; when the real-time electric signal is larger than a preset electric signal threshold value, judging that the operator does not hold the holding part B; and when the real-time electric signal is smaller than a preset electric signal threshold value, judging that the operator holds the holding part B. In an actual implementation, the light receiving unit 921 may be provided directly on the surface of the grip B, or the grip B may be provided with a mounting hole for the light receiving unit 921, and the light receiving unit 921 may be mounted in the mounting hole such that the light receiving surface of the light receiving unit 921 faces the outside of the grip. The ambient light may be natural light, light or any other light that can be sensed by the light-receiving portion.
Specifically, in another embodiment, referring to fig. 4, the photoelectric sensor 92 further includes a light projecting part 922, the light receiving part 921 is configured to receive an optical signal emitted by the light projecting part 922, a light transmission space is formed between the light projecting part 922 and the light receiving part 921, the light transmission space is formed on the grip B, and a channel 801 for allowing a finger of an operator to insert into the light transmission space to block light is disposed on the grip B; when the real-time electric signal is larger than a preset electric signal threshold value, judging that the operator does not hold the holding part B; and when the real-time electric signal is smaller than a preset electric signal threshold value, judging that the operator holds the holding part B.
In some embodiments, a sensing portion 8 is disposed on an outer wall of the holding portion B, the sensing portion 8 senses a holding state, a jack (i.e., a channel 801) into which a finger of an operator is inserted is disposed on the sensing portion 8, and the light projecting portion 922 and the light receiving portion 921 are respectively located on two sides of the jack, so that the finger is inserted into the jack and then light transmission in the jack is blocked. In this arrangement, the light receiving unit 921 can sense whether the operator holds the holding unit B more accurately by inserting the fingers into the insertion holes, and the signal of the holding can be determined more accurately. In practical implementation, the sensing portion 8 may be a finger button disposed on the holding portion B, and the aperture of the finger button may be slightly larger than the maximum diameter of the index finger, so as to facilitate accurate sending of a power-off or power-on signal by inserting or extracting the finger into or out of the hole of the finger button, and to better conform to the operation habit of a person by inserting the index finger into the hole of the finger button.
In some embodiments, two adjacent rotating members 100 are defined as a first rotating member 1 and a second rotating member 2, and referring to fig. 5 to 7 in combination, each of the electromagnetic joints a includes:
a joint shaft 3, the joint shaft 3 rotating synchronously with the first rotating member 1, the second rotating member 2 being rotatably provided on the joint shaft 3;
the dynamic electromagnet 4 is sleeved on the joint shaft 3, an anti-rotation structure is arranged between the dynamic electromagnet 4 and the joint shaft 3, the dynamic electromagnet 4 can move along the joint shaft 3 in a direction far away from or close to the second rotating component 2, and a locking structure which is triggered after contact is arranged between the dynamic electromagnet 4 and the second rotating component 2;
the static electromagnet 5 is arranged on the first rotating component 1 or the second rotating component 2, and the static electromagnet 5 is used for providing a magnetic force for the dynamic electromagnet 4 to approach or depart from the second rotating component 2;
the reset elastic piece 6 is used for providing an elastic force for driving the dynamic electromagnet 4 to be close to the second rotating member 2;
when the dynamic electromagnet 4 and the static electromagnet 5 are both powered off, the dynamic electromagnet 4 contacts the second rotating member 2, the locking structure is effective, when the dynamic electromagnet 4 and the static electromagnet 5 are powered on, the dynamic electromagnet 4 is separated from the second rotating member 2 under the action of the elastic force, and the locking structure fails.
In some embodiments, referring to fig. 5 to 7 in combination, the first rotating member 1 is provided with a joint cavity 101, the joint shaft 3 is disposed in the joint cavity 101, the dynamic electromagnet 4 and the static electromagnet 5 are both located in the joint cavity 101, the second rotating member 2 is provided with a connecting shaft sleeve 21, and the connecting shaft sleeve 21 extends into the joint cavity 101 and is sleeved on the joint shaft 3, so that the first rotating member 1 and the second rotating member 2 are rotatably connected. At this moment, the parts such as the dynamic electromagnet 4 and the static electromagnet 5 of the magnetic joint a are located in the joint cavity 101, and can play a certain protection role for the parts in the joint cavity 101, and in the actual implementation process, if the joint cavity 101 is enclosed by a cavity shell 11 arranged on the first rotating member 1, the shell can also play a magnetic shielding role, so that the external setting of the magnetic influence in the joint is prevented.
In some embodiments, the magnetic force is a magnetic attraction force or a magnetic repulsion force.
In some embodiments, referring to fig. 5, the dynamic electromagnet 4 and the static electromagnet 5 are disposed on a single side of the connecting sleeve 21 along the direction of the joint axis 3, the dynamic electromagnet 4 is located between the connecting sleeve 21 and the static electromagnet 5, and the static electromagnet 5 is used for providing a magnetic force attracting the dynamic electromagnet 4. When the power-on, the magnetic force between dynamic electromagnet and static electromagnet 5 attracts each other, dynamic electromagnet 4 is close to static electromagnet 5 under the attraction of the magnetic force, and is separated from connecting shaft sleeve 21, the locking structure is invalid, the electromagnetic joint freely rotates, and when the power is lost, dynamic electromagnet 4 presses and connects the end face of shaft sleeve 21 under the action of elastic force, so that the locking structure is triggered to take effect, and hovering is realized.
In some embodiments, referring to fig. 5, in the axial direction of the joint shaft 3, the dynamic electromagnets 4 are symmetrically arranged on both sides of the connecting shaft sleeve 21, and the static electromagnets 5 are symmetrically arranged on both sides of the connecting shaft sleeve 21, so that the stress on both sides of the whole joint during hovering is more balanced.
In some embodiments, referring to fig. 7, in the axial direction of the joint shaft 3, the dynamic electromagnet 4 is disposed on one side of the connecting sleeve 21, the dynamic electromagnet 4 is disposed on the other side of the connecting sleeve 21, and the static electromagnet 5 is configured to provide a magnetic force that is repelled by the dynamic electromagnet 4. When the power is on, the dynamic electromagnet 4 is far away from the static electromagnet 5 under the repulsion of the magnetic force, namely is far away from and separated from the connecting shaft sleeve 21, the locking structure is invalid, and the free rotation of the magnetic joint is realized.
In some embodiments, referring to fig. 6, the anti-swiveling structure includes a first sliding groove 31, a second sliding groove 401, and a sliding key 7, the first sliding groove 31 being disposed on the joint shaft 3; the second sliding groove 401 is disposed on the dynamic electromagnet 4, a part of the sliding key 7 extends into the first sliding groove 31, another part of the sliding key 7 extends into the second sliding groove 401, and the width of the first sliding groove 31, the width of the second sliding groove 401 and the width of the sliding key 7 are equal, so that the sliding key 7 slides along the length direction of the first sliding groove 31 or the second sliding groove 401 under the driving of the dynamic electromagnet 4, that is, along the axial direction of the joint shaft 3. In other embodiments, the anti-rotation structure includes an internal spline and an external spline (not shown), the internal spline is disposed on the dynamic electromagnet 4, the external spline is disposed on the joint shaft 3, and the internal spline and the external spline are engaged with each other, so that the anti-rotation and the mutual sliding between the dynamic electromagnet 4 and the joint shaft 3 can also be realized.
In some embodiments, referring to fig. 5 and 7, the first rotating member 1 is provided with an opening 102 for limiting the rotation angle of the second rotating member 2, the connecting sleeve 21 of the second rotating member 2 is inserted into the joint cavity 101 from the opening 102, and the opening 102 extends along the swinging direction of the second rotating member 2.
In some embodiments, the dynamic electromagnet 4 is provided with a friction plate 41, the friction plate 41 faces the connecting shaft sleeve 21, when the dynamic electromagnet 4 drives the friction plate 41 to press on the connecting shaft sleeve 21 by magnetic force, friction force is generated between the friction plate 41 and the connecting shaft sleeve 21, and the dynamic electromagnet 4 is locked; in actual practice, the friction plate 41 may be provided on the coupling boss 21, and the friction plate 41 may be directed toward the dynamic electromagnet 4. In other embodiments, the locking structure comprises a first face tooth provided on the connecting sleeve 21 and a second face tooth (not shown) provided on the dynamic electromagnet 4, the first face tooth and the second face tooth being engaged with each other. At this time, the connecting sleeve 21 and the dynamic electromagnet 4 are locked after the first end face teeth and the second end face teeth are meshed.
In some embodiments, referring to fig. 5 and 7, a bearing is disposed between the joint shaft 3 and the connecting shaft sleeve 21 to facilitate smooth rotation between the joint shaft 3 and the connecting shaft sleeve 21.
In some embodiments, the joint shaft 3 is provided with a retainer ring for limiting the axial position of the bearing.
In some embodiments, referring to fig. 2, the electromagnet is connected in series with a control switch S1 for controlling the electromagnetic power supply state, and the control switch S1 is opened or closed according to the holding state;
if the holding state is judged that the operator holds the holding part B, the control switch S1 is switched off, and the electromagnet is powered off;
if the grip state is determined that the operator does not grip the grip portion B, the control switch S1 is closed, and the electromagnet is energized.
In some embodiments, referring to fig. 2, a master switch S2 is further disposed on the surgical manipulator for controlling the power supply status of the whole manipulator, and the master switch S2, the control switch S1 and the electromagnet are connected in series, so that the electromagnet is de-energized after the master switch S2 is turned off.
Correspondingly, the invention also provides a hovering control method of the surgical manipulator, which comprises the following steps:
collecting real-time holding data of an operator;
judging the holding state according to the real-time holding data, and controlling the power supply state of the electromagnet according to the holding state;
if the holding state is judged that the operator holds the holding part B, the electromagnet is electrified, and each electromagnetic joint A of the surgical manipulator rotates freely;
if the holding state is judged that the operator does not hold the holding part B, the electromagnet is powered off, and the operation controller hovers.
In some embodiments, the real-time holding data includes holding force data of the operator holding the holding part B, and the corresponding method for determining the holding state includes:
if the holding force data is larger than a preset holding force threshold value, judging that the operator holds the holding part B;
and if the holding force data is smaller than a preset holding force threshold value, judging that the operator does not hold the holding part B.
In some embodiments, the real-time holding data includes shading degree data indicating a degree of shading by an operator, and the corresponding method for determining the holding state includes:
if the shading degree data is larger than a preset shading degree threshold value, judging that the holding part B is not held by an operator;
and if the shading degree data is smaller than a preset shading degree threshold value, judging that the holding part B is held by an operator.
In some embodiments, the light is ambient light outside the grip B, or the light is an optical signal emitted by the light projecting portion 922 of the photosensor 92.
In the description of the present invention, unless otherwise expressly specified or limited, the first feature "on" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact with each other through another feature therebetween.
In the description of the invention, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, components, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, and/or groups thereof.
The Processing module may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (13)
1. A surgical manipulator, comprising:
a plurality of rotating members;
the operation manipulator comprises an electromagnetic joint, wherein any two adjacent rotating members are connected through the electromagnetic joint, an electromagnet is arranged in the electromagnetic joint, when the electromagnet is in a power-on state, each rotating member can freely rotate, when the electromagnet is in a power-off state, each rotating member is locked, and the operation manipulator is suspended; and
the gripping part is used for an operator to input the rotating power of each rotating component, and a gripping data collector is further arranged on the gripping part and used for collecting real-time gripping data of the operator;
the processing module is used for judging the holding state according to the real-time holding data and controlling the power supply state of the electromagnet according to the holding state,
if the holding state is judged that the operator holds the holding part, the electromagnet is electrified, and each electromagnetic joint freely rotates;
if the holding state is judged that the operator does not hold the holding part, the electromagnet is powered off, and the operation controller hovers.
2. The surgical manipulator of claim 1, wherein: the holding data collector comprises a force sensor for collecting holding force, and the real-time holding data comprises data collected by the force sensor;
if the holding force data acquired by the force sensor is larger than a preset holding force threshold value, judging that an operator holds the holding part;
and if the holding force data acquired by the force sensor is smaller than a preset holding force threshold value, judging that the operator does not hold the holding part.
3. The surgical manipulator of claim 1, wherein: the holding part data collector comprises a photoelectric sensor, the photoelectric sensor comprises a light receiving part, and the real-time holding data comprises data collected by the light receiving part.
4. The surgical manipulator of claim 3, wherein: the light receiving part is used for receiving the ambient light outside the holding part and converting the ambient light into a real-time electric signal;
when the real-time electric signal is larger than a preset electric signal threshold value, judging that the operator does not hold the holding part;
and when the real-time electric signal is smaller than a preset electric signal threshold value, judging that the operator holds the holding part.
5. The surgical manipulator of claim 3, wherein: the photoelectric sensor also comprises a light projecting part, the light receiving part is used for receiving an optical signal emitted by the light projecting part, a light transmitting space is formed between the light projecting part and the light receiving part, the light transmitting space is formed on the holding part, and a channel for an operator to insert a finger into the light transmitting space to block light is arranged on the holding part;
when the real-time electric signal is larger than a preset electric signal threshold value, judging that the operator does not hold the holding part;
and when the real-time electric signal is smaller than a preset electric signal threshold value, judging that the operator holds the holding part.
6. The surgical manipulator of claim 5, wherein: the outer wall of the holding part is provided with an induction part, the induction part is used for inducing the holding state, the induction part is provided with a jack for fingers of an operator to insert, the light projecting part and the light receiving part are respectively positioned at two sides of the jack, and the fingers are inserted into the jack and then the light transmission in the jack is blocked.
7. The surgical manipulator of claim 1, wherein: two adjacent rotating members are defined as a first rotating member and a second rotating member, and each of the electromagnetic joints includes:
a joint shaft rotating in synchronization with the first rotating member, the second rotating member being rotatably provided on the joint shaft;
the dynamic electromagnet is sleeved on the joint shaft, an anti-rotation structure is arranged between the dynamic electromagnet and the joint shaft, the dynamic electromagnet can move along the direction of the joint shaft away from or close to the second rotating component, and a locking structure which is triggered after contact is arranged between the dynamic electromagnet and the second rotating component;
the static electromagnet is arranged on the first rotating component or the second rotating component and is used for providing magnetic force for the dynamic electromagnet to approach or depart from the second rotating component;
the reset elastic piece is used for providing an elastic force for driving the dynamic electromagnet to be close to the second rotating component;
when the dynamic electromagnet and the static electromagnet are powered off, the dynamic electromagnet contacts the second rotating component, the locking structure takes effect, when the dynamic electromagnet and the static electromagnet are powered on, the dynamic electromagnet is separated from the second rotating component under the action of the elastic force, and the locking structure fails.
8. The surgical manipulator of claim 1, wherein: the electromagnet is connected in series with a control switch for controlling the electromagnetic power supply state, and the control switch is opened or closed according to the holding state;
if the holding state is judged that the operator holds the holding part, the control switch is switched off, and the electromagnet is powered off;
if the holding state is judged that the operator does not hold the holding part, the control switch is closed, and the electromagnet is electrified.
9. The surgical manipulator of claim 7, wherein: the surgical manipulator is further provided with a main switch for controlling the power supply state of the whole manipulator, and the main switch, the control switch and the electromagnet are connected in series, so that the electromagnet is powered off after the main switch is turned off.
10. A hover control method for a surgical manipulator, comprising:
collecting real-time holding data of an operator;
judging the holding state according to the real-time holding data, and controlling the power supply state of the electromagnet according to the holding state;
if the holding state is judged that the operator holds the holding part, the electromagnet is electrified, and each electromagnetic joint of the surgical manipulator rotates freely;
if the holding state is judged that the operator does not hold the holding part, the electromagnet is powered off, and the operation controller hovers.
11. The surgical manipulator hovering control method according to claim 10, wherein: the real-time holding data comprises holding force data of an operator holding the holding part, and the corresponding method for judging the holding state comprises the following steps:
if the holding force data is larger than a preset holding force threshold value, judging that an operator holds the holding part;
and if the holding force data is smaller than a preset holding force threshold value, judging that the operator does not hold the holding part.
12. The surgical manipulator hovering control method according to claim 10, wherein: the real-time holding data comprises shading degree data of the degree of shading light of an operator, and the corresponding method for judging the holding state comprises the following steps:
if the shading degree data is larger than a preset shading degree threshold value, judging that the holding part is not held by an operator;
and if the shading degree data is smaller than a preset shading degree threshold value, judging that the holding part is held by an operator.
13. The surgical manipulator hover control method of claim 12, wherein:
the light is ambient light outside the grip portion,
or
The light is an optical signal emitted by a light projecting part of the photoelectric sensor.
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| CN201911376333.3A CN113040923A (en) | 2019-12-27 | 2019-12-27 | Operation controller and hovering control method thereof |
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| CN201911376333.3A CN113040923A (en) | 2019-12-27 | 2019-12-27 | Operation controller and hovering control method thereof |
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Application publication date: 20210629 |