CN114767272A - Human-computer interaction system and method based on operator intention correction - Google Patents

Human-computer interaction system and method based on operator intention correction Download PDF

Info

Publication number
CN114767272A
CN114767272A CN202210208916.0A CN202210208916A CN114767272A CN 114767272 A CN114767272 A CN 114767272A CN 202210208916 A CN202210208916 A CN 202210208916A CN 114767272 A CN114767272 A CN 114767272A
Authority
CN
China
Prior art keywords
force sensor
surgical tool
dimensional force
dimensional
mechanical arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202210208916.0A
Other languages
Chinese (zh)
Inventor
陈晓军
郭妍
胡俊磊
张陈平
刘剑楠
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Jiaotong University
Original Assignee
Shanghai Jiaotong University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Jiaotong University filed Critical Shanghai Jiaotong University
Priority to CN202210208916.0A priority Critical patent/CN114767272A/en
Publication of CN114767272A publication Critical patent/CN114767272A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • 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
    • 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
    • A61B34/75—Manipulators having means for prevention or compensation of hand tremors
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Robotics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a human-computer interaction system and a human-computer interaction method based on operator intention correction, wherein the human-computer interaction system comprises a mechanical arm, a surgical tool, a six-dimensional force sensor, a force sensor and a controller; the six-dimensional force sensor is arranged at the tail end of the mechanical arm, the surgical tool is arranged on the six-dimensional force sensor through the fixing device, and the force sensor is arranged on the surgical tool; when an operator pulls a part, which is provided with a force sensor, on the surgical tool to operate, whether the reading of the force sensor reaches a preset threshold value is detected; if not, the mechanical arm does not move, otherwise, the moment read by the six-dimensional force sensor is corrected according to the reading of the force sensor and the position relation between the six-dimensional force sensor and the force sensor, and the movement of the mechanical arm is controlled according to the force signal of the six-dimensional force sensor and the corrected moment signal. Compared with the prior art, the invention solves the problem that the intention of an operator is inconsistent with the actual motion of the mechanical arm in the man-machine cooperation process by utilizing admittance control.

Description

Human-computer interaction system and method based on operator intention correction
Technical Field
The invention relates to the field of surgical robots, in particular to a human-computer interaction system and a human-computer interaction method based on operator intention correction.
Background
In the technical field of surgical robots, as the conditions in the operation are varied, the possibility of inapplicability exists in preoperative planning, so that an operator needs to adjust an operation scheme according to clinical experience and directly control a mechanical arm to reposition and operate. For example, in an actual clinical scenario, an active surgical robot cannot fully meet the requirement of oral and maxillofacial surgery, and a passive surgical robot, in which a doctor can continuously adjust the state of the robot during the surgery, is more required.
The human-computer cooperative control realizes the robot to cooperate with human for operation through the cooperative control based on force-position mixing, combines the high-precision control of the robot with the high dynamic decision-making capability of the human, and is a common robot control mode. The robot mainly adopts admittance control or impedance control, a force sensor is generally arranged at the tail end of a mechanical arm, when an operator applies force at the tail end, the external force applied to the tail end of the robot arm is mapped to the motion of the mechanical arm, a quantitative relation can be established between the operation output force of a human and the output motion of the robot, and the problem of flexibility of human-computer cooperation control is solved, so that the aims of actively controlling the robot by a doctor and maintaining the skill level of the doctor in an operation occasion are fulfilled.
Currently, in the field of surgical robots, common interaction methods include two types, namely, directly pulling a surgical tool mounted at the end of a mechanical arm and pulling a handle mounted with a force sensor.
In the first interaction mode, such as the Yomi dental implant robot navigation system developed by Neociss, the medical company of America, a doctor interacts by directly dragging a surgical tool installed at the end of a mechanical arm. However, the working freedom of the planting drill only needs 5 degrees (the rotation of the drill does not need to be considered, and only the axial direction and the position of the drill need to be determined), and the adjustment range of the rotation motion of the planting drill is not large and mainly comprises translation motion.
The second interactive mode is how to think about the research related to the mechanism design and safety control research of the auxiliary robot for the nasal endoscope operation, the auxiliary robot for the nasal endoscope operation adopts two force sensors, one of which is arranged on an operation tool (a nasal endoscope) and is used for sensing the force on the operation tool during operation; and the other is positioned on the operating handle and used for man-machine cooperation control. The doctor finishes the control of the robot by pulling the operation handle.
However, the above approaches all have disadvantages. In the first case, the surgical tool needs to make a large rotation and the operator's hand is far from the sensor position, which results in a phenomenon in which the robot movement differs from the operator's intention. Since there is a displacement between the point of application of force and the sensor, the force in the direction X, Y, Z does not change according to the force translation principle, but the moments received by the sensor and the point of application of force are different, resulting in a problem that the rotation of the robot arm is different from the intention of the operator. In the second case, because the operator only pinches the handle, the mechanical arm can be executed according to the intention of the operator, but the implementation of the scheme needs two six-dimensional force sensors, the cost is high, and the six-dimensional force sensors are large in size and difficult to be installed on the handle of the surgical tool in many clinical scenes.
In conclusion, the existing interaction device and method have the defects of poor precision, poor stability, overhigh technical cost and the like. Therefore, there is a need for a human-machine interaction solution that enables the movement of a robotic arm according to the operator's intent.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned drawbacks of the prior art and providing a human-computer interaction system and method based on operator intention correction.
The purpose of the invention can be realized by the following technical scheme:
in a first aspect, the invention discloses a human-computer interaction system based on operator intention correction, comprising a mechanical arm, a surgical tool, a six-dimensional force sensor S1, a force sensor S2 and a controller;
the six-dimensional force sensor S1 is mounted at the tail end of the mechanical arm, the surgical tool is mounted on the six-dimensional force sensor S1 through a fixing device, the force sensor S2 is mounted on the surgical tool, and the controller is in communication connection with the mechanical arm, the six-dimensional force sensor S1 and the force sensor S2;
when an operator pulls a part of the surgical tool, which is provided with the force sensor S2, to operate, the controller detects whether the reading of the force sensor S2 reaches a preset threshold value; if the reading of the force sensor S2 does not reach the preset threshold value, the mechanical arm does not move, otherwise, the controller corrects the torque read by the six-dimensional force sensor S1 according to the reading of the force sensor S2 and the position relation between the six-dimensional force sensor S1 and the force sensor S2, and controls the movement of the mechanical arm according to the force signal of the six-dimensional force sensor S1 and the corrected torque signal.
Further, the preset threshold is the reading of the force sensor S2 when the operator' S hand is stationary and holding the surgical tool stably.
Further, the positional relationship between the six-dimensional force sensor S1 and the force sensor S2 is determined according to the mechanical dimensions of the robot arm, the surgical tool, and the fixture.
Further, the correction of the torque of the six-dimensional force sensor S1 according to the reading of the force sensor S2 is specifically:
Figure BDA0003532295560000031
Figure BDA0003532295560000032
is the center O of a six-dimensional force sensor S1SAnd center O of force sensor S2DocIs determined by the positional relationship between the six-dimensional force sensor S1 and the force sensor S2, F is the force read by the six-dimensional force sensor S1, T is the torque read by the six-dimensional force sensor S1, and T is the torque read by the six-dimensional force sensor S1SThe corrected torque for the six-dimensional force sensor S1.
Further, the controller converts a force signal and a corrected moment signal of the six-dimensional force sensor S1 into a motion signal of the mechanical arm according to admittance control, the mechanical arm moves according to the motion signal, and the motion of the mechanical arm drives the surgical tool to move.
Further, the six-dimensional force sensor S1 is fixedly mounted at the end of the mechanical arm, the fixing device is a clamp, and the surgical tool is mounted on the six-dimensional force sensor S1 through the clamp.
Further, the force sensor S2 is mounted on a handle of the surgical tool, and the operator pulls the handle of the surgical tool to operate.
In a second aspect, the invention discloses a human-computer interaction method based on operator intention correction, which comprises the following steps:
checking a mechanical arm, a surgical tool, a six-dimensional force sensor S1, a force sensor S2 and a controller, wherein the six-dimensional force sensor S1 is arranged at the tail end of the mechanical arm, the surgical tool is arranged on the six-dimensional force sensor S1 through a fixing device, the force sensor S2 is arranged on the surgical tool, and the controller is in communication connection with the mechanical arm, the six-dimensional force sensor S1 and the force sensor S2;
an operator pulls a part of the surgical tool, on which the force sensor S2 is installed, to operate, and the controller detects whether the reading of the force sensor S2 reaches a preset threshold value;
if the reading of the force sensor S2 does not reach the preset threshold value, the mechanical arm does not move, otherwise, the torque of the six-dimensional force sensor S1 is corrected according to the reading of the force sensor S2 and the position relation between the six-dimensional force sensor S1 and the force sensor S2, and the movement of the mechanical arm is controlled according to the force signal of the six-dimensional force sensor S1 and the corrected torque signal.
Further, the preset threshold is the reading of the force sensor S2 when the operator' S hand is stationary and holding the surgical tool stably.
Further, the positional relationship between the six-dimensional force sensor S1 and the force sensor S2 is determined according to the mechanical dimensions of the robot arm, the surgical tool, and the fixture.
Further, the correction of the torque of the six-dimensional force sensor S1 according to the reading of the force sensor S2 is specifically:
Figure BDA0003532295560000041
Figure BDA0003532295560000042
is the center O of the six-dimensional force sensor S1SAnd center O of force sensor S2DocIs determined by the positional relationship between the six-dimensional force sensor S1 and the force sensor S2, F is the force read by the six-dimensional force sensor S1, T is the torque read by the six-dimensional force sensor S1SCorrected moment for the six-dimensional force sensor S1.
Further, the controller converts a force signal and a corrected torque signal of the six-dimensional force sensor S1 into a motion signal of the mechanical arm according to admittance control, the mechanical arm moves according to the motion signal, and the motion of the mechanical arm drives the surgical tool to move.
Further, the six-dimensional force sensor S1 is fixedly mounted at the end of the mechanical arm, the fixing device is a clamp, and the surgical tool is mounted on the six-dimensional force sensor S1 through the clamp.
Further, the force sensor S2 is mounted on a handle of the surgical tool, and the operator pulls the handle of the surgical tool to operate.
Compared with the prior art, the invention has the following beneficial effects:
(1) through the preset threshold value, when the reading of the force sensor is smaller than the preset threshold value, the mechanical arm does not move, after the preset threshold value is reached, the moment of the six-dimensional force sensor is corrected, the movement of the mechanical arm is controlled by taking the corrected moment as a basis, and the problem that the intention of an operator is inconsistent with the actual movement of the mechanical arm in the man-machine cooperation process controlled by admittance is solved.
(2) The force sensor is installed on the surgical tool, the preset threshold value is the reading of the force sensor when the hand of an operator is static and stably holds the surgical tool, the force sensor stress and the preset threshold value can be compared to judge whether the operator needs to pull the mechanical arm, the control safety is improved, only when the force sensor stress reaches the preset threshold value, the mechanical arm can move according to the stress condition, and the normal movement of the mechanical arm is prevented from being disturbed and damaged.
(3) The operation is carried out by drawing the handle of the surgical tool, the operation habit of a doctor during operation is fully considered, the man-machine interaction is good, the mechanical arm moves according to the intention of an operator, the learning cost of the operator is reduced, the robot can be accurately operated, the surgical tool is suitable for various operation processes, and the universality is good.
Drawings
FIG. 1 is a schematic diagram of a human-computer interaction system based on operator intent correction;
reference numerals: 1. mechanical arm, 2, surgical tool, S1, six-dimensional force sensor, S2, force sensor.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
In the drawings, elements that are structurally identical are represented by like reference numerals, and elements that are structurally or functionally similar in each instance are represented by like reference numerals. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. Parts are exaggerated in the drawing where appropriate for clarity of illustration.
Example 1:
in a first aspect, the invention discloses a human-computer interaction system based on operator intention correction, which comprises a mechanical arm 1, a surgical tool 2, a six-dimensional force sensor S1, a force sensor S2 and a controller;
as shown in fig. 1, the six-dimensional force sensor S1 is mounted at the end of the robot arm 1, the surgical tool 2 is mounted on the six-dimensional force sensor S1 through a fixing device, the force sensor S2 is mounted on the surgical tool 2, and the controller is connected with the robot arm 1, the six-dimensional force sensor S1 and the force sensor S2 in a communication manner;
when the operator pulls the part of the surgical tool 2 on which the force sensor S2 is installed to operate, the controller detects whether the reading of the force sensor S2 reaches a preset threshold value; if the reading of the force sensor S2 does not reach the preset threshold, the robot arm 1 does not move, otherwise, the controller corrects the torque read by the six-dimensional force sensor S1 according to the reading of the force sensor S2 and the positional relationship between the six-dimensional force sensor S1 and the force sensor S2, and controls the movement of the robot arm 1 according to the force signal of the six-dimensional force sensor S1 and the corrected torque signal.
The preset threshold value is a reading of the force sensor S2 when the operator holds the surgical tool 2 stably with a stationary hand. The readings of the force sensor S2 may be recorded several times before the operation when the operator is holding the surgical tool 2 stationary and steady, and the average value is taken as the preset threshold.
The correction of the torque of the six-dimensional force sensor S1 according to the reading of the force sensor S2 is specifically:
Figure BDA0003532295560000051
Figure BDA0003532295560000052
is the center O of a six-dimensional force sensor S1SCenter O of force sensor S2DocThe position vector of (2), i.e., the position of the hand held by the operator with respect to the center of the six-dimensional sensor S1, is determined by the positional relationship between the six-dimensional force sensor S1 and the force sensor S2, and the robot arm 1 and the surgical tool 2 are moved in synchronization, so that the center O of the six-dimensional force sensor S1 is located during operationSAnd center O of force sensor S2DocIs relatively invariant and the method is characterized in that,
Figure BDA0003532295560000053
the change is not changed; f is the force read by the six-dimensional force sensor S1, actually the external force applied by the operator, T is the torque read by the six-dimensional force sensor S1, TSThe corrected torque for the six-dimensional force sensor S1.
In use, the procedure is as follows:
(1) a six-dimensional force sensor S1 is arranged at the tail end of the mechanical arm 1, and a six-dimensional force sensor S1 is fixedly arranged at the tail end of the mechanical arm 1 through screws and the like;
(2) the surgical tool 2 is arranged on the six-dimensional force sensor S1 through a fixing device, the force sensor S2 is arranged on the surgical tool 2, the fixing device is a clamp, the surgical tool 2 is arranged on the six-dimensional force sensor S1 through the clamp, the surgical tool 2 is convenient to replace and adjust, the force sensor S2 is arranged on a handle of the surgical tool 2, an operator holds the handle of the surgical tool 2, and the position held by the operator is ensured to be the center of the force sensor S2;
(3) the positional relationship between the six-dimensional force sensor S1 and the force sensor S2 is determined based on the mechanical dimensions of the robotic arm 1, the surgical tool 2, and the fixture, S and Doc, respectively, the six-dimensional force sensor S1 and the force sensor S2 coordinate systems, O, as shown in FIG. 1SIs the mounting position, O, of the six-dimensional force sensor S1DocThe position of (a) is the installation position of the force sensor S2;
(4) the operator pulls the part of the surgical tool 2 on which the force sensor S2 is mounted to operate, that is, the operator pulls the handle of the surgical tool 2 to operate;
(5) judging whether the reading of the force sensor S2 reaches a preset threshold value, if not, indicating that the intention of the operator is not to pull the manipulator 1, the manipulator 1 does not move, otherwise, indicating that the intention of the operator is to pull the manipulator 1, correcting the torque read by the six-dimensional force sensor S1 according to the reading of the force sensor S2 and the position relation between the six-dimensional force sensor S1 and the force sensor S2 by the controller, eliminating the displacement between the force application point and the six-dimensional force sensor S1, enabling the motion of the manipulator 1 to accord with the intention of the operator, and particularly, according to admittance control, the controller enables the force signal F of the six-dimensional force sensor S1 and the corrected torque signal T to accord with the intention of the operatorSThe motion signal is converted into a motion signal of the mechanical arm 1, the mechanical arm 1 moves according to the motion signal, and the motion of the mechanical arm 1 drives the operation tool 2 to move.
The invention has the following advantages:
(1) through the preset threshold, when the reading of the force sensor S2 is smaller than the preset threshold, the mechanical arm 1 does not move, after the preset threshold is reached, the torque of the six-dimensional force sensor S1 is corrected, the corrected torque is used as the basis to control the movement of the mechanical arm 1, and the problem that the intention of an operator is inconsistent with the actual movement of the mechanical arm 1 in the man-machine cooperation process of utilizing admittance control is solved.
(2) Install force sensor S2 on surgical tool 2, predetermine the threshold value for the static and reading of force sensor S2 when stably holding surgical tool 2 of operator' S hand, can compare force sensor S2 atress and predetermine the threshold value and judge whether the operator needs to pull arm 1, increase the security of control, only when force sensor S2 atress reaches predetermineeing the threshold value, arm 1 can just move according to the atress condition, avoid disturbing the normal motion of destroying arm 1.
(3) The handle of the surgical tool 2 is pulled to operate, the operation habit of a doctor during surgery is fully considered, the man-machine interaction is good, the mechanical arm 1 moves according to the intention of an operator, the learning cost of the operator is reduced, the robot can be accurately operated, the surgical tool is suitable for various surgical processes, and the surgical tool has good universality.
In a second aspect, the invention discloses a human-computer interaction method based on operator intention correction, which comprises the following steps:
checking a mechanical arm 1, a surgical tool 2, a six-dimensional force sensor S1, a force sensor S2 and a controller, wherein the six-dimensional force sensor S1 is installed at the tail end of the mechanical arm 1, the surgical tool 2 is installed on the six-dimensional force sensor S1 through a fixing device, the force sensor S2 is installed on the surgical tool 2, and the controller is in communication connection with the mechanical arm 1, the six-dimensional force sensor S1 and the force sensor S2;
an operator pulls the part of the surgical tool 2, which is provided with the force sensor S2, to operate, and the controller detects whether the reading of the force sensor S2 reaches a preset threshold value;
thirdly, if the reading of the force sensor S2 does not reach the preset threshold value, the mechanical arm 1 does not move, otherwise, the torque of the six-dimensional force sensor S1 is corrected according to the reading of the force sensor S2 and the position relation between the six-dimensional force sensor S1 and the force sensor S2, and the movement of the mechanical arm 1 is controlled according to the force signal of the six-dimensional force sensor S1 and the corrected torque signal.
The human-computer interaction method and the system embodiment based on operator intention correction provided by the invention are based on the same inventive concept, and please refer to the system embodiment for details, which are not repeated herein.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the above teachings. Therefore, the technical solutions that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection determined by the claims.

Claims (10)

1. A human-computer interaction system based on operator intention correction is characterized by comprising a mechanical arm, a surgical tool, a six-dimensional force sensor, a force sensor and a controller;
the six-dimensional force sensor is arranged at the tail end of the mechanical arm, the surgical tool is arranged on the six-dimensional force sensor through a fixing device, the force sensor is arranged on the surgical tool, and the controller is in communication connection with the mechanical arm, the six-dimensional force sensor and the force sensor;
when an operator pulls a part, which is provided with a force sensor, on the surgical tool to operate, a controller detects whether the reading of the force sensor reaches a preset threshold value; and if the reading of the force sensor does not reach the preset threshold value, the mechanical arm does not move, otherwise, the controller corrects the torque read by the six-dimensional force sensor according to the reading of the force sensor and the position relation between the six-dimensional force sensor and the force sensor, and controls the movement of the mechanical arm according to the force signal of the six-dimensional force sensor and the corrected torque signal.
2. The human-computer interaction system based on operator intention correction of claim 1, wherein the preset threshold is a reading of a force sensor when an operator's hand is stationary and holding a surgical tool stably.
3. The human-computer interaction system based on operator intention correction as claimed in claim 1, wherein the correction of the moment of the six-dimensional force sensor according to the reading of the force sensor is specifically:
Figure FDA0003532295550000011
Figure FDA0003532295550000012
is the center O of a six-dimensional force sensorSAnd force sensor center ODocIs determined by the position relation between the six-dimensional force sensor and the force sensor, F is the force read by the six-dimensional force sensor, T is the torque read by the six-dimensional force sensorSThe corrected torque of the six-dimensional force sensor is obtained.
4. The system of claim 1, wherein the controller converts the force signal and the corrected torque signal of the six-dimensional force sensor into a motion signal of the robotic arm according to the admittance control, the robotic arm moves according to the motion signal, and the motion of the robotic arm moves the surgical tool.
5. The human-computer interaction system based on operator intention correction of claim 1, wherein the six-dimensional force sensor is fixedly installed at the end of the mechanical arm, the fixing device is a clamp, and the surgical tool is installed on the six-dimensional force sensor through the clamp.
6. The human-computer interaction system based on operator intention correction of claim 1, wherein the force sensor is installed on a handle of a surgical tool, and an operator pulls the handle of the surgical tool to operate.
7. A human-computer interaction method based on operator intent correction, comprising the steps of:
the device comprises an inspection mechanical arm, a surgical tool, a six-dimensional force sensor, a force sensor and a controller, wherein the six-dimensional force sensor is arranged at the tail end of the mechanical arm, the surgical tool is arranged on the six-dimensional force sensor through a fixing device, the force sensor is arranged on the surgical tool, and the controller is in communication connection with the mechanical arm, the six-dimensional force sensor and the force sensor;
an operator pulls a part, on which a force sensor is installed, of the surgical tool to operate, and a controller detects whether the reading of the force sensor reaches a preset threshold value;
and if the reading of the force sensor does not reach the preset threshold value, the mechanical arm does not move, otherwise, the moment of the six-dimensional force sensor is corrected according to the reading of the force sensor and the position relation between the six-dimensional force sensor and the force sensor, and the movement of the mechanical arm is controlled according to the force signal of the six-dimensional force sensor and the corrected moment signal.
8. The human-computer interaction method based on operator intention correction of claim 7, wherein the preset threshold is a reading of a force sensor when an operator's hand is stationary and stably holding a surgical tool.
9. The human-computer interaction method based on operator intention correction as claimed in claim 7, wherein the correction of the torque of the six-dimensional force sensor according to the reading of the force sensor is specifically:
Figure FDA0003532295550000021
Figure FDA0003532295550000022
is the center O of a six-dimensional force sensorSAnd force sensor center ODocIs determined by the position relation between the six-dimensional force sensor and the force sensor, F is the force read by the six-dimensional force sensor, T is the torque read by the six-dimensional force sensorSThe corrected moment of the six-dimensional force sensor is obtained.
10. The human-computer interaction method based on operator intention correction of claim 7, wherein the controller converts the force signal and the corrected moment signal of the six-dimensional force sensor into a motion signal of the robot arm according to the admittance control, the robot arm moves according to the motion signal, and the motion of the robot arm drives the surgical tool to move.
CN202210208916.0A 2022-03-04 2022-03-04 Human-computer interaction system and method based on operator intention correction Pending CN114767272A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210208916.0A CN114767272A (en) 2022-03-04 2022-03-04 Human-computer interaction system and method based on operator intention correction

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210208916.0A CN114767272A (en) 2022-03-04 2022-03-04 Human-computer interaction system and method based on operator intention correction

Publications (1)

Publication Number Publication Date
CN114767272A true CN114767272A (en) 2022-07-22

Family

ID=82423386

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210208916.0A Pending CN114767272A (en) 2022-03-04 2022-03-04 Human-computer interaction system and method based on operator intention correction

Country Status (1)

Country Link
CN (1) CN114767272A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116619393A (en) * 2023-07-24 2023-08-22 杭州键嘉医疗科技股份有限公司 Mechanical arm admittance variation control method, device and equipment based on SVM

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116619393A (en) * 2023-07-24 2023-08-22 杭州键嘉医疗科技股份有限公司 Mechanical arm admittance variation control method, device and equipment based on SVM
CN116619393B (en) * 2023-07-24 2023-11-14 杭州键嘉医疗科技股份有限公司 Mechanical arm admittance variation control method, device and equipment based on SVM

Similar Documents

Publication Publication Date Title
JP6469304B1 (en) Surgery support apparatus, control method thereof, and program
EP1645374B1 (en) Gripping hand with strain detecting means for adjusting its gripping force
US7646161B2 (en) Method for controlling a robot arm, and robot for implementing the method
CN106625653B (en) Industrial robot auxiliary assembly flexible docking method based on force feedback
EP3946833B1 (en) Reducing energy buildup in servo-controlled mechanisms
CN102764157A (en) Robot for orthopaedic surgery
CN114767272A (en) Human-computer interaction system and method based on operator intention correction
CN110621448B (en) Robot control
US10518415B2 (en) Method for safe coupling and decoupling of an input device
JP2020138292A (en) Robot system and control method
JP6562174B1 (en) Surgery support device
CN110914025B (en) Gripping system
CN116494250B (en) Mechanical arm control method, controller, medium and system based on speed compensation
JP2017007010A (en) Robot, control device, and robot system
CN211067009U (en) Dynamic adjustment device and dynamic adjustment system
CN113855257A (en) Self-adaptive adjustment method for surgical visual field
EP4171420A1 (en) Controlling a surgical instrument
JPH06126665A (en) Robot dislocation compensating method and device
CN113729944A (en) Automated surgical device using monocular positioning tracker
CN213758536U (en) Speed limiting device is adjusted to arm gesture
CN115998389B (en) Composite guiding front-end device of surgical robot and positioning method
JP2015155135A (en) Robot, control device and control method
CA2974996C (en) Navigation by bending forces
WO2024045695A1 (en) Catheter robot, detection method therefor, and computer-readable storage medium
JP7300508B2 (en) robot joint control

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination