CN114795495A - Master-slave operation minimally invasive surgery robot system - Google Patents
Master-slave operation minimally invasive surgery robot system Download PDFInfo
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- CN114795495A CN114795495A CN202210442681.1A CN202210442681A CN114795495A CN 114795495 A CN114795495 A CN 114795495A CN 202210442681 A CN202210442681 A CN 202210442681A CN 114795495 A CN114795495 A CN 114795495A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- 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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The invention relates to a master-slave operation minimally invasive surgery robot system, which comprises a force feedback handle, a mixed reality image 3D display, a controller, a double-arm cooperative robot and a surgery navigation camera, wherein the force feedback handle is connected with the controller through a mechanical connection; the double-arm cooperative robot comprises two intracavity double-hole flexible arms, wherein the first intracavity double-hole flexible arm comprises a first flexible operation execution arm and a second flexible operation execution arm, and the second intracavity double-hole flexible arm comprises a third flexible operation execution arm and a flexible endoscopic arm; the force feedback handle controls the three flexible operation execution arms and the flexible endoscope arm; the tail end of the flexible endoscopic arm is a binocular endoscope; the operation navigation camera is used for acquiring relative pose information between the double-hole flexible arm in the cavity and the mark points on the human body; the controller creates a three-dimensional image model according to image information acquired by the binocular endoscope, and the preset medical images are three-dimensionally synthesized and then registered to the three-dimensional image model; the mixed reality image 3D display displays the three-dimensional image model and the relative pose information. The invention improves the accuracy of operation.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a master-slave operation minimally invasive surgery robot system.
Background
Currently, surgical robotic systems have been developed due to the limitations of traditional surgery in narrow working environments and relieving the operator of fatigue. Modern minimally invasive surgery brings great innovation to traditional surgery, and surgical robots are also more and more widely applied to the field of modern minimally invasive surgery.
As an important component of the modern medical field, the surgical robot has been widely accepted by surgeons, and compared with the conventional surgery, the surgical robot can reduce the trauma of the surgery to the patient and shorten the surgery recovery period, and also can enable the surgeon to better adapt to the complex surgery environment to better complete the surgery, and has high reliability, high accuracy and high accuracy.
At present, the minimally invasive surgery robot has made a breakthrough progress, such as a da vinci surgery robot of the american intuition company, a "musty hand" abdominal cavity minimally invasive surgery robot in china, and the like. However, at present, the size of the surgical robot applied clinically is too large, and the slave arm entering the human body is still in a straight rod type structure, so that the flexibility is insufficient.
The minimally invasive surgery robot system can better solve the problem that the laparoscope shakes during moving, so that the laparoscope can move more stably, and images fed back by an image system are clearer and more stable. Meanwhile, the motion trail of the laparoscope can be preset, and the real-time adjustment is realized by a doctor in the actual operation, but the flexibility needs to be improved.
In foreign countries, the minimally invasive surgical robot represented by the DaVinci is the most classic, but the minimally invasive surgical robot has obvious defects, is too large in size and has a high-rise structure; the installation and debugging are complex, and the preoperative preparation process is long; high purchase cost, high material consumption cost and high maintenance cost.
Currently, the only da vinci surgical robot applied to thyroid surgery has been able to complete the excision of head and neck lesion tissues and the cleaning of lymph nodes, but has the following problems: (1) the patient enters the way through four holes of the axilla areola on two sides generally, and the wound is more; (2) the endoscope cannot be bent, and the flexibility is insufficient, so that the surgical field is limited; (3) the lack of the feedback of the robot force easily causes the misjudgment of the operation force to bring important organ damage.
Disclosure of Invention
The invention aims to provide a master-slave operation minimally invasive surgery robot system, which improves the accuracy of operation.
In order to achieve the purpose, the invention provides the following scheme:
a master-slave operation minimally invasive surgery robot system comprises a force feedback handle, a mixed reality image 3D display, a controller, a double-arm cooperative robot and a surgery navigation camera; the double-arm cooperative robot comprises a first intracavity double-hole flexible arm and a second intracavity double-hole flexible arm, wherein the first intracavity double-hole flexible arm comprises a first flexible operation executing arm and a second flexible operation executing arm, and the second intracavity double-hole flexible arm comprises a third flexible operation executing arm and a flexible endoscopic arm; the first flexible operation executing arm, the second flexible operation executing arm, the third flexible operation executing arm and the flexible endoscope arm are all of a series structure with more than five degrees of freedom;
the force feedback handle is used for controlling the first flexible operation execution arm, the second flexible operation execution arm, the third flexible operation execution arm and the flexible endoscope arm through the controller; the tail end of the flexible endoscopic arm is a binocular endoscope; the operation navigation camera is used for acquiring relative pose information between the first intracavity double-hole flexible arm and the second intracavity double-hole flexible arm and mark points on a human body; the controller is used for creating a three-dimensional image model according to the image information acquired by the binocular endoscope, and registering a preset medical image after three-dimensional synthesis to the three-dimensional image model; the mixed reality image 3D display is used for displaying the three-dimensional image model and the relative pose information.
Optionally, the two-arm cooperative robot further comprises a cooperative robot base, a first seven-degree-of-freedom mechanical arm and a second seven-degree-of-freedom mechanical arm; one end of the first seven-degree-of-freedom mechanical arm is connected with the cooperative robot base, and the other end of the first seven-degree-of-freedom mechanical arm is connected with the first intracavity double-hole flexible arm; one end of the second seven-degree-of-freedom mechanical arm is connected with the cooperative robot base, the other end of the second seven-degree-of-freedom mechanical arm is connected with the double-hole flexible arm in the second cavity, and the cooperative robot base comprises a waist joint with one degree of freedom.
Optionally, torque sensors are integrated in the first seven-degree-of-freedom mechanical arm and the second seven-degree-of-freedom mechanical arm, or six-dimensional force sensors are integrated at the tail ends of the first seven-degree-of-freedom mechanical arm and the second seven-degree-of-freedom mechanical arm, and data collected by the torque sensors or the six-dimensional force sensors are fed back to the force feedback handle through the controller.
Optionally, the first flexible operation executing arm, the second flexible operation executing arm and the third flexible operation executing arm have the same structure and respectively comprise a modular electromechanical quick-change interface, a driving device, a two-degree-of-freedom shoulder joint, a two-degree-of-freedom wrist joint, a one-degree-of-freedom revolute joint and a one-degree-of-freedom opening and closing instrument which are sequentially connected; the flexible endoscopic arm comprises a modular electromechanical quick-change interface, a driving device, a two-degree-of-freedom shoulder joint, a two-degree-of-freedom wrist joint, a one-degree-of-freedom revolute joint and a binocular endoscope which are sequentially connected; the modularized electromechanical quick-change interface is used for controlling the switching between the motion state and the locking state of the corresponding flexible operation execution arm or the flexible endoscopic arm.
Optionally, the one degree of freedom opening and closing instrument comprises a grasper, a separation forceps, a needle holder, an ultrasonic blade, a double coagulation electrode blade, or a nerve probe.
Optionally, a first foot pedal and a second foot pedal are further included; one end of the force feedback handle is used for controlling the first flexible operation execution arm and the second flexible operation execution arm, and the other end of the force feedback handle is used for controlling the third flexible operation execution arm and the flexible endoscope arm; the first foot pedal is used for controlling the switching of the motion state and the locking state between the first flexible operation execution arm and the second flexible operation execution arm through the controller, and the second foot pedal is used for controlling the switching of the motion state and the locking state between the third flexible operation execution arm and the flexible endoscope arm through the controller.
Optionally, the glasses further comprise 3D glasses, and the 3D glasses are used for a doctor to wear and watch the mixed reality image 3D display.
Optionally, the force feedback handle is in a parallel-series seven degree of freedom configuration.
Optionally, the mixed reality image 3D display further comprises a feedback display and a display support, wherein the feedback display is disposed on the display support, and the feedback display is used for displaying the content displayed by the mixed reality image 3D display.
Optionally, an operating table is also included.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses a master-slave operation minimally invasive surgery robot system.A double-arm cooperative robot comprises a first intracavity double-hole flexible arm and a second intracavity double-hole flexible arm, wherein the first intracavity double-hole flexible arm comprises a first flexible operation executing arm and a second flexible operation executing arm, and the second intracavity double-hole flexible arm comprises a third flexible operation executing arm and a flexible endoscopic arm; and the first flexible operation executing arm, the second flexible operation executing arm, the third flexible operation executing arm and the flexible endoscope arm are all in a series structure with more than five degrees of freedom, so that the flexible operation of the flexible endoscope arm and each flexible operation executing arm is improved, and the operation navigation function is realized by the mixed reality image 3D display used for displaying the three-dimensional image model and the relative pose information, so that the accuracy of operation is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a master-slave operation minimally invasive surgical robot system according to the present invention;
FIG. 2 is a schematic diagram of a two-arm cooperative robot according to the present invention;
FIG. 3 is a schematic view of a flexible manipulator actuator arm according to the present invention;
FIG. 4 is a flow chart of a mixed reality display interactive navigation system of the present invention;
description of the symbols:
1. a double-bore flexible arm within the second lumen; 2. an operating table; 3. a force feedback handle; 4. an operation table base; 5. a mixed reality image 3D display; 6. a display stand; 7. a feedback display; 8. a controller; 9. a console; 10. a collaborative robot base; 11. a first seven degree-of-freedom mechanical arm; 12. a first foot pedal; 13. a surgical navigation camera; 14. a third flexible operation execution arm; 15. a flexible endoscopic arm; 16. 3D glasses; 101. a modular electromechanical quick-change interface; 102. a drive device; 103. a two degree of freedom shoulder joint; 104. a two degree of freedom wrist joint; 105. a degree of freedom revolute joint; 106. an electromechanical integrated interface; 107. a degree of freedom instrument opens and closes.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a master-slave operation minimally invasive surgery robot system, which improves the accuracy of operation.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic structural diagram of a master-slave operation minimally invasive surgical robot system of the present invention, and as shown in fig. 1, the master-slave operation minimally invasive surgical robot system includes a force feedback handle 3, a mixed reality image 3D display 5, an operating table 2, an operating table, a controller 8, a two-arm cooperative robot, a surgical navigation camera 13, 3D glasses 16, a first foot pedal 12, a second foot pedal, a feedback display 7, and a display support 6.
The two-arm cooperative robot comprises a first intra-cavity two-hole flexible arm and a second intra-cavity two-hole flexible arm 1. The first intracavity double-hole flexible arm and the second intracavity double-hole flexible arm 1 are arranged at the tail ends of the double-arm cooperative robots and used for entering a human body through an entrance to perform operation in an intracavity complex environment.
The first intracavity double-hole flexible arm comprises a first flexible operation executing arm and a second flexible operation executing arm, and the second intracavity double-hole flexible arm 1 comprises a third flexible operation executing arm 14 and a flexible endoscopic arm 15; the first flexible operation executing arm, the second flexible operation executing arm, the third flexible operation executing arm 14 and the flexible endoscope arm 15 are all in a series structure with more than five degrees of freedom.
The force feedback handle 3 is used for controlling the first flexible operation execution arm, the second flexible operation execution arm, the third flexible operation execution arm 14 and the flexible endoscope arm 15 through the controller 8; the tail end of the flexible endoscopic arm 15 is a binocular endoscope; the operation navigation camera 13 is used for acquiring relative pose information between the first intracavity double-hole flexible arm and the second intracavity double-hole flexible arm 1 and mark points on the human body; the controller 8 is used for creating a three-dimensional image model according to image information acquired by the binocular endoscope, and registering a preset medical image after three-dimensional synthesis to the three-dimensional image model; the mixed reality image 3D display 5 is used for displaying a three-dimensional image model and relative pose information and realizing visualization of virtual and real fusion of operation area information.
The operation navigation camera 13 is positioned on one side of the operating table 2, the operation navigation camera 13 measures mark points on the first intracavity double-hole flexible arm, the second intracavity double-hole flexible arm 1 and the human body, and the relative pose relation between the first intracavity double-hole flexible arm, the second intracavity double-hole flexible arm 1 and the human body is calculated, so that medical images before operation, nuclear magnetism, CT and the like are three-dimensionally synthesized and then registered and registered on a three-dimensional reconstruction model of the intraoperative binocular endoscope, and the three-dimensional reconstruction model is displayed on the mixed reality image 3D display 5; the mixed reality image 3D display 5 is used for providing operation navigation information and endoscope three-dimensional images. The mixed reality image 3D display 5 combines the mixed reality display technology, strengthens the real-time video source data acquisition of binocular endoscope in the art district and projection technology thereof, realizes the visual of the virtual reality of art district and the virtual reality of art district under the polarization environment field of vision of main sword doctor and fuses the effect.
The operation panel is installed at doctor's operating position, and the operation panel keeps the level, is equipped with mixed reality image 3D display 5 and force feedback handle 3 on the operation panel, and the operation panel below is provided with operation panel base 4, is provided with first running-board 12 and second running-board on the operation panel base 4.
The operation navigation camera 13, the mixed reality image 3D display 5 and the controller 8 constitute an operation navigation system, and the operation navigation system provides positioning information of operation navigation to realize mapping of a plurality of working spaces, as shown in fig. 4. The operation navigation system realizes operation navigation based on mapping of a plurality of working spaces, the working spaces comprise a head and neck region model space, an optical navigation unit positioning space, a robot flexible operation execution arm operation space, an intraoperative cavity mirror image space and an intraoperative mixed reality display space which are established based on preoperative CT data, and the mapping relation of different working spaces is established through structural parameters of the operation navigation system and a mechanical arm.
The console 9 performs the operation of the kinematics and dynamics of the dual-arm cooperative robot and the flexible arm with two holes in the cavity, communicates with the controller 8, and provides the driving perception and control of the master-slave operation minimally invasive surgery robot.
The binocular endoscope has two degrees of freedom, a driftage degree of freedom, a every single move degree of freedom, and driftage degree of freedom and every single move degree of freedom pass through the universal joint structural connection, the binocular endoscope can enlarge intracavity field of vision angle, adjustable illumination to carry out automatic focusing.
Binocular endoscope combines the VR technique, advanced stereoscopic imaging technique, binocular endoscope with 3D glasses cooperation is used, when wearing when 3D glasses's doctor's eyes remove, binocular endoscope moves along with doctor's eyes in step and carries out all-round inspection to the patient internal, binocular endoscope shows the internal 360 degrees fields of vision of patient to the doctor to what provide is the visual picture of 3D.
The binocular endoscope and the 3D glasses are used for acquiring positions and postures through a master-slave tracking vision control algorithm, the master-slave tracking vision control algorithm is used for establishing pose coordinate definition under master-slave tracking vision mapping, and for the postures of the 3D glasses on the head of a doctor, the position of the initial dynamic zero point is set to be P M0 Pose of dynamic zero point is R M0 . When the head of the doctor moves to a certain moment, setting the current dynamic position of the 3D glasses to be P Md The current dynamic pose of the 3D glasses is R Md . Similarly, for the binocular endoscope, the position of the initial dynamic zero point is set to be P S0 Pose of dynamic zero point is R S0 Setting the current target dynamic position of the binocular endoscope to be P Sd The current target dynamic pose of the binocular endoscope is R Sd 。
The incremental changes of the position and the posture of the 3D glasses can be obtained by a master-slave tracking vision mapping relation and are respectively as follows:
ΔP M ＝P Md -P M0 (1)
ΔR M ＝R Md ·R M0 -1 (2)
the position relation between the 3D glasses and the binocular endoscope can be established according to the incremental master-slave position mapping relation, and the position relation comprises the following steps:
P Sd ＝P S0 +ΔP M (3)
or P Sd ＝P S0 +(P Md -P M0 ) (4)
The posture relation between the 3D glasses and the binocular endoscope is as follows:
R Sd ＝ΔR M ·R S0 (5)
or R Sd ＝R Md ·R M0 -1 ·R S0 (6)
And establishing a pose (position and posture) relation between the 3D glasses and the binocular endoscope to enable the binocular endoscope and the 3D glasses to move in a consistent manner, namely, tracking the consistency of master-slave vision, wherein the 3D glasses are master, and the binocular endoscope is slave (how the 3D glasses move is the motion of the binocular endoscope). The positive kinematics is that the moving pose of the 3D glasses is mapped into the moving pose of the binocular endoscope through a formula (3) and a formula (5), so that joint motors of arms of the binocular endoscope are controlled; inverse kinematics is the mapping of the corresponding binocular endoscope acquired by the camera navigation into the 3D glasses.
As shown in fig. 2, the two-arm cooperative robot further includes a cooperative robot base 10, a first seven-degree-of-freedom mechanical arm 11, and a second seven-degree-of-freedom mechanical arm; one end of a first seven-degree-of-freedom mechanical arm 11 is connected with the cooperative robot base 10, and the other end of the first seven-degree-of-freedom mechanical arm is connected with a first intracavity double-hole flexible arm; one end of the second seven-degree-of-freedom mechanical arm is connected with the cooperative robot base 10, the other end of the second seven-degree-of-freedom mechanical arm is connected with the double-hole flexible arm 1 in the second cavity, and the cooperative robot base 10 comprises a waist joint with one degree of freedom and can perform rotary motion on a horizontal plane. The cooperative robot base 10, the first seven-degree-of-freedom mechanical arm 11 and the second seven-degree-of-freedom mechanical arm are responsible for positioning the double-hole flexible arm in the cavity in vitro, and the waist joint enables the robot to be more flexible. The tail end of the double-arm cooperative robot is connected with the double-hole flexible arm in the cavity, and the first double-hole flexible arm in the cavity and the second double-hole flexible arm 1 in the cavity are conveyed to the head and the neck based on the position posture of the double-arm cooperative robot.
The first flexible operation executing arm, the second flexible operation executing arm and the third flexible operation executing arm 14 have the same structure and respectively comprise a modular electromechanical quick-change interface 101, a driving device 102, a two-degree-of-freedom shoulder joint 103, a two-degree-of-freedom wrist joint 104, a one-degree-of-freedom revolute joint 105, an electromechanical integrated interface 106 and a one-degree-of-freedom opening and closing instrument 107 which are sequentially connected; the flexible endoscopic arm 15 comprises a modularized electromechanical quick-change interface 101, a driving device 102, a two-degree-of-freedom shoulder joint 103, a two-degree-of-freedom wrist joint 104, a one-degree-of-freedom revolute joint 105, an electromechanical integrated interface 106 and a binocular endoscope which are sequentially connected; the modular electromechanical quick-change interface 101 is used for controlling the switching between the motion state and the locking state of the corresponding flexible operation execution arm or the flexible endoscopic arm 15. The first, second and third flexible operation performing arms 14 are constructed as shown in fig. 3.
The flexible endoscopic arm 15 and each flexible operation execution arm calculate the shape, the end position and the posture of the flexible arm by collecting the angle information of the shoulder joint, the wrist joint and the revolute joint and combining the known structural parameters of the rod length, the rod diameter and the like and by utilizing forward kinematics.
The precise movement of each flexible operation execution arm is realized through the driving device 102, and the flexibility of the flexible arm in a complex environment is enhanced.
The flexible endoscopic arm 15 or the flexible operation execution arm and the in-vitro cooperation arm (seven-degree-of-freedom mechanical arm) in the double-hole flexible arm in the cavity are quickly replaced and locked by adopting the modularized electromechanical quick-change interface 101.
The flexible operation execution arm in the body is butted with the external interface of the flexible endoscope arm and the terminal interface of the external cooperation arm.
The flexible arm with double holes in the cavity is driven by a lead screw, a connecting rod or a built-in motor through a driving device 102, so that the precise movement of the flexible arm with double holes in the cavity is realized, and the flexibility of the flexible arm in a complex environment is enhanced. The electromechanical quick-change interface 101 is modularized, and the flexible endoscopic arm 15 or the flexible operation execution arm in the double-hole flexible arm in the cavity and the in-vitro cooperation arm are quickly replaced and locked.
The intracavity double-hole flexible arm adopts a position measurement method, the states of all joints of the flexible arm are collected through the surgical navigation camera 13, and the shape and the terminal position of the flexible arm are calculated through the structural parameters of the flexible arm.
The surgical robot system is operated in a master-slave mode, a master hand, namely a force feedback handle 3 operated by a doctor, and a slave hand, namely an in-vivo flexible arm, are mapped to the master hand operated by the doctor through calculating the angular posture and the tail end state of a joint of the flexible arm in a body and a posture matrix master-slave mode (namely the action and state consistency of the master hand operated by the doctor and the in-vivo flexible arm).
The one degree-of-freedom opening and closing instrument 107 includes, but is not limited to, a grasper, a split forceps, a needle holder, an ultrasonic blade, a double coagulation electrode blade, or a nerve probe. The integration of the end instrument with the flexible arms of the double holes in the cavity is realized through the mechatronic interface 106.
One end of the force feedback handle 3 is used for controlling a first flexible operation execution arm and a second flexible operation execution arm, and the other end of the force feedback handle is used for controlling a third flexible operation execution arm 14 and a flexible endoscope arm 15; the first foot pedal 12 is used for controlling the switching of the motion state and the locking state between the first flexible operation execution arm and the second flexible operation execution arm through the controller 8, and the second foot pedal is used for controlling the switching of the motion state and the locking state between the third flexible operation execution arm 14 and the flexible endoscope arm 15 through the controller 8.
The 3D glasses 16 are used for the doctor to wear and watch the mixed reality image 3D display 5.
Torque sensors are integrated in the first seven-degree-of-freedom mechanical arm 11 and the second seven-degree-of-freedom mechanical arm, or six-dimensional force sensors are integrated at the tail ends of the first seven-degree-of-freedom mechanical arm 11 and the second seven-degree-of-freedom mechanical arm, and data collected by the torque sensors or the six-dimensional force sensors are fed back to the force feedback handle 3 through the controller 8.
The feedback display 7 is arranged on the display support 6, and the feedback display 7 is used for displaying the content displayed by the mixed reality image 3D display 5.
The double-arm cooperative robot adopts a serial redundant-freedom double-arm structure and is provided with a waist joint, the freedom degrees are distributed into the waist joint with one freedom degree and two mechanical arms with seven freedom degrees, torque sensors are integrated in the joints of the two mechanical arms or six-dimensional force sensors are integrated at the tail ends of the two mechanical arms, the mechanical arms adopt a dynamic feedforward compensation control method, and driving controllers 8 of all the joints are connected through an Ether CAT bus.
According to the master-slave operation minimally invasive surgery robot system, a force feedback handle 3 located at a master end is in a parallel-series seven-degree-of-freedom configuration, a slave end is configured to be a force sensor (a torque sensor or a six-dimensional force sensor), the spatial six-dimensional force can be calculated, doctor force feedback control is provided, and meanwhile force control of a double-arm cooperative robot is achieved. The master-slave operation mode with the force feedback handle 3 controls the two-arm cooperative robot to complete the operation task, and meanwhile, the two-arm cooperative robot realizes the cooperative collision prevention technology in a null space by utilizing the redundant degree of freedom of seven degrees of freedom.
According to the invention, a pair of seven-freedom force feedback handles 3 is operated through a force feedback console 9, a doctor wears 3D glasses 16 to observe a mixed reality image 3D display 5, and the operation of the double-hole flexible arm in the cavity is controlled. The minimally invasive surgical robot system for operating master-slave operation can be suitable for head and neck surgical operation.
The use method of the master-slave operation minimally invasive surgery robot system comprises the following steps: the doctor operates the force feedback handle 3 with both hands, and steps on the pedals with the feet (the left foot steps on the first pedal 12, the right foot steps on the second pedal) to adjust the focal length and control the operation of the two-hole flexible arm in the cavity. Specifically the surgeon sees the surgical field in the 3D glasses 16, the surgical instrument tips (endoscope, grasper, separation forceps, needle holder, etc.) move in synchronization with the force feedback handle 3 held by the surgeon's two hands. After the controller 8 controls the two-arm cooperative robot and the intracavity two-hole flexible arm to drive the flexible operation execution arm and the surgical instrument arranged on the flexible operation execution arm to the designated position, the controller controls each joint of the two-arm cooperative robot to realize the control of the intracavity two-hole flexible arm and the flexible operation execution arm. Based on the clinical mode and the approach mode, the two-arm cooperative robot and the operation navigation camera 13 perform proper adjustment of the body position coordinate of the patient according to the position of the patient operating table 2 relative to the patient so as to provide operation navigation. The robot is cooperated by two arms to reach a preset access position, so that the flexible arm with two holes in the cavity enters the operation area from the body of a patient, under a complex operation environment, the feedback display 7 is image processing equipment of the operation robot, the flexible endoscopic arm 15 is provided with a binocular 3D lens, the operation visual field can be enlarged, the obtained image is three-dimensional, the anatomical structure is larger and clearer, and the operation accuracy is improved. The surgical navigation camera 13 provides a video navigation for the primary surgeon integrating the channel signal to provide a continuous three-dimensional image. The home doctor wears 3D glasses 16 to observe the mixed reality image 3D display 5. The pose tracking of the end effector is to obtain the pose of the surgical instrument in a certain known space in real time, the pose signal is obtained from the robot controller 8, the pose of the surgical instrument is displayed on an imaging system in real time, and the visual monitoring function in the operation time is provided. The intracavity double-hole flexible arm arranged at the tail end of the double-arm cooperative robot is indirectly controlled by operating the handle 3 with force feedback to carry out head and neck surgery. The invention can realize the head and neck operation.
The invention adopts a flexible arm position measuring method, accurately senses the shape and the tail end position of the flexible arm, enlarges the operation field and the instrument motion range, and ensures that the flexible arm has better flexibility and higher motion resolution. The dual-force feedback handle is used for performing cooperative control on the redundant series dual arms, an active and passive gravity compensation strategy is adopted, the operation hand feeling is improved, the operation fatigue is eliminated, the feedback correction and self-adaptive motion control capabilities are realized, good master-slave control can be performed, and the mechanical arm and the tail end executing mechanism are intuitively controlled to complete a fine operation task.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A master-slave operation minimally invasive surgery robot system is characterized by comprising a force feedback handle, a mixed reality image 3D display, a controller, a double-arm cooperative robot and a surgery navigation camera; the double-arm cooperative robot comprises a first intracavity double-hole flexible arm and a second intracavity double-hole flexible arm, wherein the first intracavity double-hole flexible arm comprises a first flexible operation executing arm and a second flexible operation executing arm, and the second intracavity double-hole flexible arm comprises a third flexible operation executing arm and a flexible endoscopic arm; the first flexible operation executing arm, the second flexible operation executing arm, the third flexible operation executing arm and the flexible endoscope arm are all of a series structure with more than five degrees of freedom;
the force feedback handle is used for controlling the first flexible operation execution arm, the second flexible operation execution arm, the third flexible operation execution arm and the flexible endoscope arm through the controller; the tail end of the flexible endoscopic arm is a binocular endoscope; the operation navigation camera is used for acquiring relative pose information between the first intracavity double-hole flexible arm and the second intracavity double-hole flexible arm and mark points on a human body; the controller is used for creating a three-dimensional image model according to the image information acquired by the binocular endoscope, and registering a preset medical image after three-dimensional synthesis to the three-dimensional image model; the mixed reality image 3D display is used for displaying the three-dimensional image model and the relative pose information.
2. The master-slave operation minimally invasive surgical robot system according to claim 1, wherein the two-arm cooperative robot further comprises a cooperative robot base, a first seven-degree-of-freedom mechanical arm, and a second seven-degree-of-freedom mechanical arm; one end of the first seven-degree-of-freedom mechanical arm is connected with the cooperative robot base, and the other end of the first seven-degree-of-freedom mechanical arm is connected with the first intracavity double-hole flexible arm; one end of the second seven-degree-of-freedom mechanical arm is connected with the cooperative robot base, the other end of the second seven-degree-of-freedom mechanical arm is connected with the double-hole flexible arm in the second cavity, and the cooperative robot base comprises a waist joint with one degree of freedom.
3. The master-slave operation minimally invasive surgical robot system according to claim 2, characterized in that torque sensors are integrated inside the first seven-degree-of-freedom mechanical arm and the second seven-degree-of-freedom mechanical arm, or six-dimensional force sensors are integrated at the inner tail ends of the first seven-degree-of-freedom mechanical arm and the second seven-degree-of-freedom mechanical arm, and data collected by the torque sensors or the six-dimensional force sensors are fed back to the force feedback handle through the controller.
4. The master-slave operation minimally invasive surgical robot system according to claim 1, wherein the first flexible operation execution arm, the second flexible operation execution arm and the third flexible operation execution arm are identical in structure and each comprise a modular electromechanical quick-change interface, a driving device, a two-degree-of-freedom shoulder joint, a two-degree-of-freedom wrist joint, a one-degree-of-freedom revolute joint and a one-degree-of-freedom opening and closing instrument which are connected in sequence; the flexible endoscopic arm comprises a modular electromechanical quick-change interface, a driving device, a two-degree-of-freedom shoulder joint, a two-degree-of-freedom wrist joint, a one-degree-of-freedom revolute joint and a binocular endoscope which are sequentially connected; the modularized electromechanical quick-change interface is used for controlling the switching between the motion state and the locking state of the corresponding flexible operation execution arm or the flexible endoscopic arm.
5. The master-slave operation minimally invasive surgical robot system according to claim 4, wherein the one-degree-of-freedom opening and closing instrument comprises a grasper, a separation forceps, a needle holder, an ultrasonic blade, a double coagulation electrode blade, or a nerve probe.
6. The master-slave operation minimally invasive surgical robot system of claim 1, further comprising a first foot pedal and a second foot pedal; one end of the force feedback handle is used for controlling the first flexible operation execution arm and the second flexible operation execution arm, and the other end of the force feedback handle is used for controlling the third flexible operation execution arm and the flexible endoscope arm; the first foot pedal is used for controlling the switching of the motion state and the locking state between the first flexible operation execution arm and the second flexible operation execution arm through the controller, and the second foot pedal is used for controlling the switching of the motion state and the locking state between the third flexible operation execution arm and the flexible endoscope arm through the controller.
7. The master-slave operation minimally invasive surgical robot system according to claim 1, further comprising 3D glasses for a doctor to wear to view the mixed reality image 3D display.
8. The master-slave operation minimally invasive surgical robot system according to claim 1, wherein the binocular endoscope has two degrees of freedom, one yaw degree of freedom, one pitch degree of freedom, the yaw degree of freedom and the pitch degree of freedom being connected by a gimbal structure, the binocular endoscope being capable of expanding an intra-cavity view angle, adjusting illumination, and performing auto-focusing.
9. The master-slave minimally invasive surgical robot system according to claim 7, wherein the binocular endoscope employs VR technology and stereo imaging technology, the binocular endoscope is used in cooperation with the 3D glasses, when the eyes of the doctor wearing the 3D glasses move, the binocular endoscope synchronously performs viewing in 360-degree visual field range in the patient body along with the movement of the eyes of the doctor, and the binocular endoscope presents 3D visual pictures to the doctor.
10. The master-slave operation minimally invasive surgical robot system according to claim 9, wherein the acquisition of the positions and attitudes of the binocular endoscope and the 3D glasses is performed by a master-slave tracking vision control algorithm, which is a pose coordinate definition under establishing master-slave tracking vision mapping;
setting the position of a dynamic zero point to be P for the posture of the 3D glasses on the head of the doctor M0 Pose of dynamic zero point is R M0 And when the head of the doctor moves to the moment t, setting the dynamic position of the 3D glasses at the moment t as P Md The 3D glasses timeDynamic pose at t is R Md (ii) a Setting the position of a dynamic zero point to be P for the binocular endoscope S0 Pose of dynamic zero point is R S0 Setting the target dynamic position of the binocular endoscope at the time t as P Sd And the target dynamic pose at the moment t of the binocular endoscope is R Sd ；
Determining a position delta change Δ P of the 3D glasses from a master-slave tracking visual mapping relationship M And incremental change in attitude Δ R M Respectively as follows:
ΔP M ＝P Md -P M0 ；
ΔR M ＝R Md ·R M0 -1 ；
establishing a position relationship between the 3D glasses and the binocular endoscope according to the incremental master-slave position mapping relationship, wherein the position relationship comprises the following steps:
P Sd ＝P S0 +ΔP M ；
establishing an attitude relationship between the 3D glasses and the binocular endoscope according to the incremental master-slave position mapping relationship as follows:
R Sd ＝ΔR M ·R S0 。
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115068113A (en) * | 2022-08-22 | 2022-09-20 | 科弛医疗科技(北京)有限公司 | Master-slave teleoperation orthopedic robot system |
| CN116459013A (en) * | 2023-04-24 | 2023-07-21 | 北京微链道爱科技有限公司 | Control method based on 3D visual recognition and cooperative robot |
| CN116999177A (en) * | 2023-10-07 | 2023-11-07 | 北京科鹏医疗器械有限公司 | Contact force autonomous protection algorithm operated by natural channel endoscope |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115068113A (en) * | 2022-08-22 | 2022-09-20 | 科弛医疗科技(北京)有限公司 | Master-slave teleoperation orthopedic robot system |
| CN116459013A (en) * | 2023-04-24 | 2023-07-21 | 北京微链道爱科技有限公司 | Control method based on 3D visual recognition and cooperative robot |
| CN116459013B (en) * | 2023-04-24 | 2024-03-22 | 北京微链道爱科技有限公司 | Collaborative robot based on 3D visual recognition |
| CN116999177A (en) * | 2023-10-07 | 2023-11-07 | 北京科鹏医疗器械有限公司 | Contact force autonomous protection algorithm operated by natural channel endoscope |
| CN116999177B (en) * | 2023-10-07 | 2024-01-12 | 北京科鹏医疗器械有限公司 | Contact force autonomous protection algorithm operated by natural channel endoscope |
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