CN113352351A - Method and system for measuring end emergency stop distance of medical surgical robot - Google Patents
Method and system for measuring end emergency stop distance of medical surgical robot Download PDFInfo
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- CN113352351A CN113352351A CN202110618292.5A CN202110618292A CN113352351A CN 113352351 A CN113352351 A CN 113352351A CN 202110618292 A CN202110618292 A CN 202110618292A CN 113352351 A CN113352351 A CN 113352351A
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Abstract
The invention relates to a method and a system for measuring the end emergency stop distance of a medical surgical robot, wherein the method for measuring the end emergency stop distance of the medical surgical robot comprises the following steps: sending a measurement trigger signal after receiving an emergency stop instruction; acquiring initial position information of the tail end of the medical surgical robot according to the measurement trigger signal; when the tail end of the medical operation robot is stable, acquiring the terminal position information of the tail end of the medical operation robot; and acquiring the emergency stop distance of the tail end of the medical operation robot according to the initial position information and the end position information of the tail end of the medical operation robot. The method for measuring the emergency stop distance of the tail end of the medical operation robot realizes the measurement of the emergency stop distance of the tail end of the medical operation robot.
Description
Technical Field
The invention relates to the technical field of medical surgical robots, in particular to a method and a system for measuring an end emergency stop distance of a medical surgical robot.
Background
Robot-assisted minimally invasive surgery is gradually becoming a significant trend. The successful application of surgical robot systems represented by the da vinci system in clinical practice has attracted great interest in the medical and scientific fields at home and abroad. At that time, minimally invasive surgical robots, represented by davinci, are becoming leading edges and research hotspots in the international robot field. The medical operation robot is also called a surgical operation robot, is a novel medical instrument integrating multiple disciplines, and is an important development direction for informatization, program control and intellectualization of the current medical instrument. The medical operation robot is mainly used for cranial neurosurgery, cardiac surgery and the like. Compared with the traditional operation, the medical operation robot has a plurality of obvious advantages in the operation; when the medical operation robot is used for operation, a doctor does not need to contact with a patient, and performs opening, operation and suturing actions by using other surgical tools after locating a focus by using the imaging equipment, and the doctor only needs to control the medical operation robot at the PC end to complete the operations.
Unexpected accidents may occur during the execution of the commanded movement of the medical surgical robot, for example, the medical surgical robot deviates from the preset movement path, and in this case, if the movement of the medical surgical robot is not terminated, the surgical tool loaded at the end of the medical surgical robot may injure the patient. Therefore, the medical operation robot system is provided with an emergency stop button, and the emergency stop button is pressed down to stop the work of the medical operation robot through human intervention when the medical operation robot deviates from a motion path and other unexpected application situations occur, so that a patient is prevented from being injured.
In the period from the time when the doctor beats the emergency stop button to the time when the tail end of the medical operation robot completely stops moving, the moving distance of the tail end of the medical operation robot is the emergency stop distance, the measurement of the emergency stop distance has important significance for improving the performance of the medical operation robot, and the technical scheme for measuring the emergency stop distance of the tail end of the medical operation robot is lacked in the prior art.
Disclosure of Invention
In view of the above, a method and a system for measuring the end emergency stop distance of the medical surgical robot are needed to solve the problem that the prior art lacks a technical solution for measuring the end emergency stop distance of the medical surgical robot.
The invention provides a method for measuring the end scram distance of a medical surgical robot, which comprises the following steps:
sending a measurement trigger signal after receiving an emergency stop instruction;
acquiring initial position information of the tail end of the medical surgical robot according to the measurement trigger signal;
when the tail end of the medical operation robot is stable, acquiring the terminal position information of the tail end of the medical operation robot;
and acquiring the emergency stop distance of the tail end of the medical operation robot according to the initial position information and the end position information of the tail end of the medical operation robot.
Further, a stop signal is sent while the measurement trigger signal is sent, and the medical operation robot terminal is controlled to stop running according to the stop signal.
Further, acquiring the end emergency stop distance of the medical operation robot according to the initial position information and the end position information of the end of the medical operation robot, specifically including acquiring a euclidean distance between an initial space coordinate and an end space coordinate of the end of the medical operation robot, and taking the euclidean distance as the end emergency stop distance of the medical operation robot.
The invention also provides a system for measuring the emergency stop distance of the tail end of the medical surgical robot, which comprises a signal source circuit, an optical measuring device and an emergency stop distance acquisition module;
the signal source circuit is used for receiving the emergency stop instruction and sending a trigger signal to the optical measuring device after receiving the emergency stop instruction;
the optical measuring device is used for acquiring initial position information of the tail end of the medical operation robot according to the measuring trigger signal and acquiring terminal position information of the tail end of the medical operation robot at the moment after the tail end of the medical operation robot is stopped stably;
the emergency stop distance acquisition module is used for acquiring the emergency stop distance of the tail end of the medical operation robot according to the initial position information and the end position information of the tail end of the medical operation robot.
Further, the system for measuring the end emergency stop distance of the medical surgical robot further comprises an emergency stop switch of the medical surgical robot, the signal source circuit receives an emergency stop instruction and sends a trigger signal to the optical measuring device after receiving the emergency stop instruction, and the system specifically comprises: the medical surgical robot emergency stop switch sends the emergency stop instruction, and the signal source circuit receives the emergency stop instruction and sends a trigger signal to the optical measuring device after receiving the emergency stop instruction.
Further, the system for measuring the end emergency stop distance of the medical surgical robot further comprises a medical surgical robot control device, the signal source circuit sends a trigger signal to the optical measuring device and simultaneously sends a control instruction to the medical surgical robot control device, and the medical surgical robot control device is used for controlling the medical surgical robot to stop running after receiving the control instruction.
Further, the signal source circuit sends a trigger signal to the optical measurement device after receiving the emergency stop instruction, and specifically includes that the signal source circuit sends a level trigger signal to the optical measurement device after receiving the emergency stop instruction.
Further, the optical measuring device comprises a laser tracker, a binocular camera and a depth camera.
Further, a marker ball is arranged at the end of the medical operation robot for tracking measurement of the end of the medical operation robot by the optical measuring device.
Furthermore, the signal source circuit comprises a direct current power supply and a resistor R1-R3, the direct current power supply is connected with one end of the resistor R1 through an emergency stop button, the other end of the resistor R1 is connected with the optical measuring device through a resistor R2, and the other end of the resistor R1 is also connected with the ground through a resistor R3.
Further, the signal source circuit includes DC power supply one, DC power supply two, resistance R1-R4, DC power supply one connects resistance R1's one end through the scram button, resistance R1's another termination passes through resistance R3 ground connection, resistance R1's the other end still connects resistance R2's one end, resistance R2's the other end passes through resistance R4 and connects DC power supply two, resistance R2's one end still connects optical measurement device.
Further, the emergency stop distance obtaining module obtains the emergency stop distance of the end of the medical surgical robot according to the initial position information and the end position information of the end of the medical surgical robot, and specifically includes obtaining a euclidean distance between an initial space coordinate and an end space coordinate of the end of the medical surgical robot, and taking the euclidean distance as the emergency stop distance of the end of the medical surgical robot.
Compared with the prior art, the invention has the beneficial effects that: sending a measurement trigger signal after receiving an emergency stop instruction; acquiring initial position information of the tail end of the medical surgical robot according to the measurement trigger signal; when the tail end of the medical operation robot is stable, acquiring the terminal position information of the tail end of the medical operation robot; acquiring the emergency stop distance of the tail end of the medical operation robot according to the initial position information and the end point position information of the tail end of the medical operation robot; the measurement of the emergency stop distance of the tail end of the medical surgical robot is realized.
Drawings
Fig. 1 is a schematic flow chart of a method for measuring a sudden stop distance of a medical surgical robot according to the present invention;
FIG. 2 is a block diagram of a system for measuring the end scram distance of a medical surgical robot according to the present invention;
FIG. 3 is a first circuit schematic of a signal source circuit provided by the present invention;
FIG. 4 is a second circuit schematic of the signal source circuit provided by the present invention;
FIG. 5 is a schematic diagram of the triggering condition and the emergency stop distance provided by the present invention;
fig. 6 is a schematic view of the end mark of the medical surgical robot provided by the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Example 1
The embodiment of the invention provides a method for measuring a sudden stop distance of a tail end of a medical surgical robot, which is shown in a flow chart of the method, and as shown in fig. 1, the method for measuring the sudden stop distance of the tail end of the medical surgical robot comprises the following steps:
s1, sending a measurement trigger signal after receiving an emergency stop instruction, where the emergency stop instruction may be an emergency stop instruction triggered after an operator taps an emergency stop button/emergency stop switch, a simulated emergency stop instruction sent by a terminal control device (such as a computer, an industrial personal computer, etc.) connected to the surgical robot, and the like, and is not limited herein;
s2, acquiring initial position information of the tail end of the medical operation robot according to the measurement trigger signal; the measurement trigger signal may be a level signal or a wireless signal;
s3, acquiring the terminal position information of the medical operation robot terminal when the medical operation robot terminal is stable; taking a plurality of seconds after the emergency stop button/emergency stop switch is shot as the time for the terminal of the medical operation robot to be stopped stably, and judging whether the terminal of the medical operation robot is stopped stably or not through camera vision;
and S4, acquiring the terminal emergency stop distance of the medical operation robot according to the initial position information and the terminal position information of the terminal of the medical operation robot. And taking the Euclidean distance between the initial position information and the end point position information as the terminal emergency stop distance of the medical operation robot.
It should be noted that, a measurement trigger signal is sent after an emergency stop instruction is received; acquiring initial position information of the tail end of the medical surgical robot according to the measurement trigger signal; when the tail end of the medical operation robot is stable, acquiring the terminal position information of the tail end of the medical operation robot; acquiring the emergency stop distance of the tail end of the medical operation robot according to the initial position information and the end point position information of the tail end of the medical operation robot; the measurement of the emergency stop distance of the tail end of the medical operation robot is realized; the medical surgical robot tip usually fixes instruments used for performing an operation, and has an important meaning for improving the performance of the medical surgical robot and preventing a patient from being injured by measuring a measured emergency stop distance of the medical surgical robot tip.
Preferably, a stop signal is transmitted at the same time of transmitting the measurement trigger signal, and the medical surgical robot terminal is controlled to stop operating according to the stop signal. The medical operation robot is provided with a matched medical operation robot control device. The trigger signal and the stop signal can be two paths of signals of the same signal source, and the trigger signal and the stop signal are simultaneously sent, so that the accuracy of obtaining the initial position information of the tail end of the medical surgical robot is ensured, and the error of the initial position information is reduced.
In specific implementation, the medical surgical robot control device controls the tail end of the medical surgical robot to stop running according to the stop signal, the measurement trigger signal is a level signal, and the tail end of the medical surgical robot is controlled to stop running through level inversion; the level may be inverted from high output to low output or from low output to high output.
Preferably, the method for acquiring the emergency stop distance of the end of the medical surgical robot according to the initial position information and the end position information of the end of the medical surgical robot includes acquiring a euclidean distance between an initial space coordinate and an end space coordinate of the end of the medical surgical robot, and using the euclidean distance as the emergency stop distance of the end of the medical surgical robot.
In one embodiment, the initial position information and the end position information of the medical surgical robot end are obtained by an optical measurement device, and particularly, an image coordinate system of the optical measurement device is used as a coordinate system of position measurement, and initial space coordinates and end space coordinates are obtained in the coordinate system. The optical measuring device is a laser tracker, a binocular camera or a depth camera, and any one of the optical measuring devices can be selected to obtain the initial position information and the end position information of the tail end of the medical operation robot. The initial space coordinate and the final space coordinate are three-dimensional space coordinates, and the three-dimensional space coordinate system comprises an X axis and a Y axisAn axis and a Z axis; obtaining the initial position information and the end position information of the medical operation robot end is to obtain the three-dimensional space coordinate (x) of the medical operation robot end at the initial position1,y1,z1) And three-dimensional space coordinates (x) of the end of the medical surgical robot at the end position2,y2,z2)。
Example 2
The invention provides a method for measuring the end scram distance of a medical surgical robot, which comprises the following steps:
sending a trigger signal to the optical measuring device when the medical surgical robot emergency stop switch is pressed;
the optical measurement device receives the trigger signal and then acquires initial position information of the tail end of the medical surgical robot;
when the tail end of the medical operation robot is stable, the optical measuring device acquires the position information of the tail end of the medical operation robot at the moment, and the position information is used as the terminal point position information of the tail end of the medical operation robot;
and acquiring the emergency stop distance of the tail end of the medical operation robot according to the initial position information and the end position information of the tail end of the medical operation robot.
It should be noted that, when the medical operation robot emergency stop switch is pressed, a trigger signal is sent to the optical measurement device; the optical measurement device receives the trigger signal and then acquires initial position information of the tail end of the medical surgical robot; when the tail end of the medical operation robot is stable, the optical measuring device acquires the position information of the tail end of the medical operation robot at the moment, and the position information is used as the terminal point position information of the tail end of the medical operation robot; acquiring an emergency stop distance of the tail end of the medical operation robot according to the initial position information and the end position information of the tail end of the medical operation robot; the measurement of the emergency stop distance of the tail end of the medical surgical robot is realized.
In one embodiment, the medical surgical robot emergency stop switch is connected with the signal source circuit, and after the emergency stop switch is pressed, the signal source is subjected to level inversion, specifically, the output high level is changed into the output low level, or the output low level is changed into the output high level. When the medical operation robot emergency stop switch is pressed, a trigger signal is sent to the optical measuring device, and meanwhile a stop signal is sent to the medical operation robot control device.
The reason why the trigger signal is transmitted to the optical measurement device and the stop signal is transmitted to the medical surgical robot control device is to ensure the accuracy of the optical measurement device in acquiring the initial position information of the distal end of the medical surgical robot.
The method specifically comprises the step of triggering a signal source circuit when the medical surgical robot emergency stop switch is pressed, and the signal source circuit transmits a level triggering signal to the optical measuring device.
In a specific embodiment, the level trigger signal sent by the trigger signal source circuit may be a high level signal or a low level signal. The optical measurement device is used for measuring the initial position information and the end position information of the tail end of the medical operation robot, and the optical measurement device can be a laser tracker, a binocular camera, a depth camera and other equipment capable of acquiring the position information. And a marker ball is arranged at the tail end of the medical operation robot and is used for tracking measurement of the tail end of the medical operation robot by the optical measuring device.
It should be noted that, because the end of the medical surgical robot is not easy to judge, a marker ball is provided at the end of the medical surgical robot, and the tracking measurement of the end of the medical surgical robot can be realized through the marker ball. The method comprises the steps of acquiring an emergency stop distance of the tail end of the medical surgical robot according to initial position information and end point position information of the tail end of the medical surgical robot, specifically, acquiring a Euclidean distance between an initial space coordinate and an end point space coordinate of the tail end of the medical surgical robot, and taking the Euclidean distance as the emergency stop distance of the tail end of the medical surgical robot.
Example 3
The embodiment of the invention provides a system for measuring the end emergency stop distance of a medical surgical robot, which has a structural block diagram, as shown in fig. 2, the system for measuring the end emergency stop distance of the medical surgical robot comprises a signal source circuit 1, an optical measuring device 2 and an emergency stop distance acquisition module 3;
the signal source circuit 1 is used for receiving an emergency stop instruction and sending a trigger signal to the optical measuring device 2 after receiving the emergency stop instruction;
the optical measuring device 2 is used for acquiring initial position information of the tail end of the medical surgical robot according to the measuring trigger signal and acquiring terminal position information of the tail end of the medical surgical robot at the moment after the tail end of the medical surgical robot is stopped;
the emergency stop distance acquisition module 3 is configured to acquire an emergency stop distance of the end of the medical surgical robot according to the initial position information and the end position information of the end of the medical surgical robot.
According to the technical scheme, the signal source circuit receives an emergency stop instruction, and sends a trigger signal to the optical measuring device after receiving the emergency stop instruction; acquiring initial position information of the tail end of the medical operation robot through the optical measuring device according to the measuring trigger signal, and acquiring terminal position information of the tail end of the medical operation robot at the moment after the tail end of the medical operation robot is stably stopped; the emergency stop distance acquisition module is used for acquiring the emergency stop distance of the tail end of the medical operation robot according to the initial position information and the end position information of the tail end of the medical operation robot, so that the measurement of the emergency stop distance of the tail end of the medical operation robot is realized.
In a specific embodiment, the measurement trigger signal of the emergency stop distance is triggered by an electric signal on a control board card, the control board card is connected with the medical surgical robot control device through a safety bus, and compared with the emergency stop triggered by the customs clearance software (certain delay exists in program execution), the emergency stop distance can be reduced from 20mm to 5-10 mm.
In another embodiment, the signal source circuit sends a trigger signal to the optical measuring device and sends the trigger signal to the medical surgical robot control device when the medical surgical robot emergency stop switch is pressed; the optical measuring device is used for acquiring initial position information of the tail end of the medical operation robot after receiving the trigger signal, and is also used for acquiring the position information of the tail end of the medical operation robot at the moment after the tail end of the medical operation robot is stably stopped, and the position information is used as the terminal position information of the tail end of the medical operation robot; the emergency stop distance acquisition module acquires the emergency stop distance of the tail end of the medical operation robot according to the initial position information and the end position information of the tail end of the medical operation robot.
Preferably, the system for measuring the end emergency stop distance of the medical surgical robot further includes an emergency stop switch of the medical surgical robot, the signal source circuit receives an emergency stop instruction, and sends a trigger signal to the optical measurement device after receiving the emergency stop instruction, and the system specifically includes: the medical surgical robot emergency stop switch sends the emergency stop instruction, and the signal source circuit receives the emergency stop instruction and sends a trigger signal to the optical measuring device after receiving the emergency stop instruction.
In a specific embodiment, the IO trigger box may detect a level inversion to trigger the laser tracker to operate, the optical measurement device collects a spatial position P _ star of the mark point at the end of the medical surgical robot at this time, and after the end of the medical surgical robot is stopped (after the emergency stop switch of the medical surgical robot is pressed for 5-10S), the optical measurement device collects a spatial position P _ end of the mark point at the end of the medical surgical robot again to complete the emergency stop distance measurement of the medical surgical robot, where the emergency stop distance S _ distance is | P _ star-P _ end |; the medical operation robot control device is used for controlling the medical operation robot to stop working.
Preferably, the system for measuring the end emergency stop distance of the medical surgical robot further comprises a medical surgical robot control device, the signal source circuit sends a trigger signal to the optical measuring device and simultaneously sends a control instruction to the medical surgical robot control device, and the medical surgical robot control device is used for controlling the medical surgical robot to stop running after receiving the control instruction.
The medical surgical robot control device controls the sequence signals of the operation sequence of each of the movement joints or the drive motor of the surgical robot by the movement commands. The medical operation robot control device controls the motion joint and the internal driving motor of the medical operation robot so as to control the medical operation robot to stop. The driving mechanism in the medical surgical robot includes a gear reducer in addition to a driving motor, and an output shaft of the motor is connected to a rotating member through the gear reducer to drive the rotating member to rotate. The gear reducer can comprise a driving gear and a driven gear, the driving gear is fixedly sleeved on an output shaft of the motor, and the driven gear is fixedly sleeved on the rotating part.
Preferably, the signal source circuit sends the trigger signal to the optical measurement device after receiving the emergency stop instruction, and specifically includes that the signal source circuit sends the level trigger signal to the optical measurement device after receiving the emergency stop instruction.
Preferably, the optical measuring device comprises a laser tracker, a binocular camera and a depth camera.
In another specific embodiment, the optical measuring device comprises a laser tracker, a binocular camera and a depth camera, wherein the measuring precision of the laser tracker can be 0.01mm, and the measuring precision of the laser tracker is 5-10mm far beyond the braking distance of the medical operation robot terminal emergency stop braking time; when the scram button is pressed until the mechanical arm of the medical operation robot stops moving completely, the whole process lasts for about 0.1s, the sampling rate of the laser tracker can be 1000hz (0.001s), which is far higher than the duration time in the measurement process, so that the measurement error is small enough; when the mechanical arm of the medical operation robot stops moving, the position of the marking device at the tail end of the medical operation robot is continuously collected, and whether the mechanical arm completely stops moving or not can be judged.
Preferably, a marker ball is arranged at the distal end of the medical operation robot for tracking measurement of the distal end of the medical operation robot by the optical measurement device.
It should be noted that, because the end of the medical surgical robot is not easy to judge, a marker ball is provided at the end of the medical surgical robot, and the tracking measurement of the end of the medical surgical robot can be realized through the marker ball. The medical surgical robot end can be specifically an end execution instrument of the medical surgical robot, and the end execution instrument is arranged on an operation arm or an arm of the medical surgical robot; according to different types of medical surgical robots, the marker balls may be mounted on the robot end effector or at equivalent positions for measuring effects.
Preferably, the signal source circuit comprises a direct current power supply and resistors R1-R3, the direct current power supply is connected with one end of the resistor R1 through an emergency stop button, the other end of the resistor R1 is connected with the optical measuring device through a resistor R2, and the other end of the resistor R1 is also connected with the ground through a resistor R3.
It should be noted that the emergency stop button may be a relay switch or other switches, if the emergency stop button is turned off, V _ Out outputs a low level, and at this time, the medical surgical robot mechanical arm is continuously operating, and if the emergency stop button is turned off, V _ Out outputs a high level, and at this time, the medical surgical robot mechanical arm starts to stop operating.
In one embodiment, the first schematic circuit diagram of the signal source circuit, as shown in fig. 3, the emergency stop button is an emergency stop switch, and a high level is output at the V _ Out pin in fig. 3. In fig. 3, the structure formed by the resistors R1 and R3 is used for voltage division, the resistor R2 is used for current limiting, and the values of the resistors R1 to R3 may be set according to actual conditions, or the resistors R1 to R3 are set as sliding resistors, and in specific implementation, voltage division and current limiting may be realized by other circuit structures.
Preferably, the signal source circuit includes DC power supply one, DC power supply two, resistance R1-R4, DC power supply one connects resistance R1's one end through the scram button, resistance R1's another termination passes through resistance R3 ground connection, resistance R1's the other end still connects resistance R2's one end, resistance R2's the other end passes through resistance R4 and connects DC power supply two, resistance R2's one end still connects optical measurement device.
If the emergency stop button is turned off, V _ Out outputs a low level, V _ REF outputs a high level, and the medical surgical robot arm continues to operate at this time, and if the emergency stop button is turned off, V _ Out outputs a high level, and V _ REF outputs a low level, and the medical surgical robot arm starts to stop operating at this time. The structure formed by the resistors R1 and R3 is used for voltage division, the resistor R2 is used for current limiting, and voltage division and current limiting can be realized by other circuit structures during specific implementation.
In a specific embodiment, in the second schematic circuit diagram of the signal source circuit, as shown in fig. 4, the V _ Out pin, the second dc power supply and the resistor R4 form a signal trigger circuit, the V _ Out pin outputs a high level, the high level jumps in the signal trigger circuit, and the V _ REF pin outputs a low level. The method has the advantages that the initial position measurement of the tail end of the medical surgical robot is triggered by using a hardware circuit, the signal delay is greatly reduced, and the measurement precision of the sudden stop distance of the tail end of the medical surgical robot is improved.
Preferably, the emergency stop distance obtaining module obtains the emergency stop distance of the end of the medical surgical robot according to the initial position information and the end position information of the end of the medical surgical robot, and specifically includes obtaining a euclidean distance between an initial space coordinate and an end space coordinate of the end of the medical surgical robot, and taking the euclidean distance as the emergency stop distance of the end of the medical surgical robot.
In an embodiment, the trigger condition and the emergency stop distance are illustrated schematically as fig. 5, in fig. 5, a solid line represents a level, a dashed line labeled v is a moving speed of the medical surgical robot tip, a time t1 is a time when the emergency stop button is pressed, a time t2 is a time when the medical surgical robot tip starts to move, and a time t3 is a time when the medical surgical robot tip stops moving; when the scram button is pressed, in fig. 4, V _ REF generates a level jump and jumps from a high level to a low level, and an optical measuring device (laser tracker) is triggered to act; the sudden stop distance refers to the sudden stop button pressed at the time t1, the medical surgical robot responds at the time t2 and starts to decelerate until the medical surgical robot stops moving at the time t3, and the distance of the displacement of the tail end of the medical surgical robot is the sudden stop distance from the time t1 to the time t 3; the medical surgical robot end mark schematic diagram is shown in fig. 6, the marking device is located at the medical surgical robot end (a box in fig. 6), and the position information acquired by the optical measurement device is the position information of the marking device in space.
The invention discloses a method and a system for measuring the end emergency stop distance of a medical surgical robot, wherein a measurement trigger signal is sent after an emergency stop instruction is received; acquiring initial position information of the tail end of the medical surgical robot according to the measurement trigger signal; when the tail end of the medical operation robot is stable, acquiring the terminal position information of the tail end of the medical operation robot; acquiring the emergency stop distance of the tail end of the medical operation robot according to the initial position information and the end point position information of the tail end of the medical operation robot; the measurement of the emergency stop distance of the tail end of the medical surgical robot is realized. The medical surgical robot tip usually fixes instruments used for performing an operation, and has an important meaning for improving the performance of the medical surgical robot and preventing a patient from being injured by measuring a measured emergency stop distance of the medical surgical robot tip.
In the technical scheme of the invention, the trigger signal is sent and the stop signal is sent at the same time, so as to ensure the accuracy of obtaining the initial position information of the tail end of the medical operation robot and reduce the error of the initial position information; the measurement trigger signal of the emergency stop distance is triggered by an electric signal on the control board card, the control board card is connected with the medical surgical robot control device through a safety bus, and compared with the method that emergency stop is triggered by the pass software (certain delay exists in program execution), the emergency stop distance can be reduced from 20mm to 5-10mm, meanwhile, the measurement of the initial position of the tail end of the medical surgical robot is triggered in a hardware circuit mode, so that the signal delay is greatly reduced, and the measurement precision of the emergency stop distance of the tail end of the medical surgical robot is improved; because the tail end of the medical operation robot is not easy to judge, the tail end of the medical operation robot is provided with the marker ball, and the tracking measurement of the tail end of the medical operation robot can be realized through the marker ball.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (12)
1. A method for measuring the end emergency stop distance of a medical surgical robot is characterized by comprising the following steps:
sending a measurement trigger signal after receiving an emergency stop instruction;
acquiring initial position information of the tail end of the medical surgical robot according to the measurement trigger signal;
when the tail end of the medical operation robot is stable, acquiring the terminal position information of the tail end of the medical operation robot;
and acquiring the emergency stop distance of the tail end of the medical operation robot according to the initial position information and the end position information of the tail end of the medical operation robot.
2. The method for measuring the sudden stop distance of the distal end of the medical surgical robot according to claim 1, wherein a stop signal is transmitted simultaneously with the transmission of the measurement trigger signal, and the distal end of the medical surgical robot is controlled to stop operating according to the stop signal.
3. The method for measuring the emergency stop distance of the distal end of the medical surgical robot according to claim 1, wherein the step of obtaining the emergency stop distance of the distal end of the medical surgical robot according to the initial position information and the end position information of the distal end of the medical surgical robot comprises the step of obtaining a euclidean distance between an initial space coordinate and an end space coordinate of the distal end of the medical surgical robot, and the euclidean distance is used as the emergency stop distance of the distal end of the medical surgical robot.
4. A measurement system for the emergency stop distance of the tail end of a medical surgical robot is characterized by comprising a signal source circuit, an optical measurement device and an emergency stop distance acquisition module;
the signal source circuit is used for receiving the emergency stop instruction and sending a trigger signal to the optical measuring device after receiving the emergency stop instruction;
the optical measuring device is used for acquiring initial position information of the tail end of the medical operation robot according to the measuring trigger signal and acquiring terminal position information of the tail end of the medical operation robot at the moment after the tail end of the medical operation robot is stopped stably;
the emergency stop distance acquisition module is used for acquiring the emergency stop distance of the tail end of the medical operation robot according to the initial position information and the end position information of the tail end of the medical operation robot.
5. The system for measuring the sudden stop distance of the distal end of the medical surgical robot according to claim 4, further comprising a sudden stop switch of the medical surgical robot, wherein the signal source circuit receives the sudden stop command and sends a trigger signal to the optical measuring device after receiving the sudden stop command, and specifically comprises: the medical surgical robot emergency stop switch sends the emergency stop instruction, and the signal source circuit receives the emergency stop instruction and sends a trigger signal to the optical measuring device after receiving the emergency stop instruction.
6. The system for measuring the sudden stop distance of the distal end of the medical surgical robot according to claim 4, further comprising a medical surgical robot control device, wherein the signal source circuit sends a trigger signal to the optical measuring device and simultaneously sends a control command to the medical surgical robot control device, and the medical surgical robot control device is configured to control the medical surgical robot to stop operating after receiving the control command.
7. The method for measuring the sudden stop distance of the distal end of the medical surgical robot according to claim 4, wherein the signal source circuit sends a trigger signal to the optical measurement device after receiving the sudden stop command, and particularly comprises the signal source circuit sending a level trigger signal to the optical measurement device after receiving the sudden stop command.
8. The method of measuring a medical surgical robot tip scram distance according to claim 4, wherein the optical measuring device includes a laser tracker, a binocular camera, a depth camera.
9. The method for measuring the sudden stop distance of the medical surgical robot tip according to claim 4, wherein a marker ball is provided at the medical surgical robot tip for tracking measurement of the medical surgical robot tip by the optical measuring device.
10. The system for measuring the end scram distance of the medical surgical robot as claimed in claim 4, wherein the signal source circuit comprises a DC power source and a resistor R1-R3, the DC power source is connected with one end of a resistor R1 through a scram button, the other end of the resistor R1 is connected with the optical measuring device through a resistor R2, and the other end of the resistor R1 is further connected with the ground through a resistor R3.
11. The system for measuring the end emergency stop distance of the medical surgical robot as claimed in claim 10, wherein the signal source circuit comprises a first dc power supply, a second dc power supply and a resistor R1-R4, the first dc power supply is connected to one end of a resistor R1 through an emergency stop button, the other end of the resistor R1 is connected to ground through a resistor R3, the other end of the resistor R1 is connected to one end of a resistor R2, the other end of the resistor R2 is connected to the second dc power supply through a resistor R4, and one end of the resistor R2 is connected to an optical measuring device.
12. The system for measuring the emergency stop distance of the distal end of the medical surgical robot according to claim 4, wherein the emergency stop distance obtaining module obtains the emergency stop distance of the distal end of the medical surgical robot according to the initial position information and the end position information of the distal end of the medical surgical robot, and specifically comprises obtaining a Euclidean distance between an initial space coordinate and an end space coordinate of the distal end of the medical surgical robot, and taking the Euclidean distance as the emergency stop distance of the distal end of the medical surgical robot.
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