CN115444565B - Surgical robot system, and feedback control system and method for execution end of surgical robot system - Google Patents
Surgical robot system, and feedback control system and method for execution end of surgical robot system Download PDFInfo
- Publication number
- CN115444565B CN115444565B CN202211010112.6A CN202211010112A CN115444565B CN 115444565 B CN115444565 B CN 115444565B CN 202211010112 A CN202211010112 A CN 202211010112A CN 115444565 B CN115444565 B CN 115444565B
- Authority
- CN
- China
- Prior art keywords
- surgical robot
- torque value
- actual
- execution
- executing
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 230000002159 abnormal effect Effects 0.000 claims abstract description 63
- 238000001514 detection method Methods 0.000 claims abstract description 51
- 230000009471 action Effects 0.000 claims abstract description 6
- 230000005856 abnormality Effects 0.000 claims description 28
- 238000004590 computer program Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 abstract description 15
- 238000012423 maintenance Methods 0.000 abstract description 7
- 238000004891 communication Methods 0.000 description 19
- 238000010586 diagram Methods 0.000 description 12
- 230000003287 optical effect Effects 0.000 description 9
- 238000005299 abrasion Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000007619 statistical method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention provides a surgical robot system, a feedback control system and a method of an execution end of the surgical robot system, wherein the feedback control system of the execution end of the surgical robot comprises: the device comprises a power device, a connecting device and an executing device, wherein the power device is connected with the executing device through the connecting device, the power device provides power for the executing device, and the power executing device rotates under the action of the power; the executing device is provided with an information acquisition device, and the information acquisition device is used for acquiring and sending state information of the executing device. According to the invention, the state information of the execution device is acquired, the state of the surgical robot is automatically detected according to the state information, whether the surgical robot system is abnormal or not is automatically monitored in real time, the surgical robot system is timely found out to be abnormal, the unplanned shutdown and misoperation in the operation process of the surgical robot are reduced, a reference is provided for the maintenance of the surgical robot system, the detection method is simple, and the detection efficiency and the detection precision are high.
Description
Technical Field
The invention relates to the technical field of medical automation, in particular to a surgical robot system and a feedback control system and method of an execution tail end of the surgical robot system.
Background
Surgical robots are a combination of various hardware and software, and are commonly used in conjunction with other devices during the full flow of surgery, or during the full surgery. For example, in an integrated orthopedic intelligent surgical system, imaging, navigation, power and nerve monitoring are included in addition to surgical robots.
At present, in the prior art, the operation robot system has less feedback working state information in actual work, and whether the operation robot system is abnormal or not cannot be determined according to the feedback information.
Disclosure of Invention
The invention provides a surgical robot system, a feedback control system and a feedback control method for an execution tail end of the surgical robot system, which are used for solving the defect that the abnormality of the surgical robot system is difficult to detect in the prior art and realizing the accurate detection of the abnormality of the surgical robot system.
The invention provides a feedback control system of an execution end of a surgical robot, comprising:
the device comprises a power device, a connecting device and an executing device, wherein the power device is connected with the executing device through the connecting device, the power device provides power for the executing device, and the power executing device rotates under the action of the power;
the executing device is provided with an information acquisition device, and the information acquisition device is used for acquiring and sending state information of the executing device.
Optionally, the information acquisition device comprises a temperature sensor, a torque sensor, a speed sensor and a wear sensor.
The present invention provides a surgical robot system comprising a feedback control system of a surgical robot execution end as described in the first aspect, the surgical robot system further comprising:
the main control trolley is used for sending a control command according to the input control command;
the manipulator trolley is provided with a manipulator, the tail end of the manipulator is connected with a connecting device of a feedback control system of the execution tail end of the surgical robot, and the manipulator trolley is used for executing a control command sent by the master control trolley;
and the NDI trolley is used for determining the position of the mechanical arm and sending the position information to the main control trolley.
Optionally, the main control trolley is provided with a display, and the display is used for displaying the state information of the execution device received by the main control trolley.
The present invention provides a detection method of the surgical robot system according to the second aspect, including:
acquiring state information of an execution device of the surgical robot system; the state information comprises an actual torque value, an actual temperature value and actual position information of the executing device;
and determining whether the executing device is abnormal according to the state information.
Optionally, the determining, according to the state information, whether the executing device has an abnormality includes:
acquiring a first theoretical torque value corresponding to a first actual torque value and a preset temperature threshold value;
if the first actual torque value is larger than the first theoretical torque value and/or the actual temperature value is higher than the preset temperature threshold value, determining that the executing device is abnormal; or,
acquiring preset position information of a target point on one end far away from a file grinding end of the execution device, acquiring a second actual torque value and a second theoretical torque value of the execution device when the actual position information of the target point is consistent with the preset position information, and determining that the execution device is abnormal if the second actual torque value is smaller than the second theoretical torque value.
Optionally, the method further comprises:
in the case that the executing device is determined to be abnormal, uploading the state information and/or the abnormal indication to at least one of the following: server, computer, equipment terminal, cell-phone, or the master control trolley.
The invention provides a detection device of a surgical robot system, comprising:
the acquisition module is used for acquiring state information of an execution device of the surgical robot system; the state information comprises an actual torque value, an actual temperature value and actual position information of the executing device;
and the determining module is used for determining whether the executing device is abnormal according to the state information.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the detection method of the surgical robot system according to any one of the above when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of detection of a surgical robotic system as described in any of the above.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method of detection of a surgical robotic system as described in any of the above.
According to the surgical robot system and the feedback control system and method for the execution tail end of the surgical robot system, the state information of the execution device is acquired, the state of the surgical robot is automatically detected according to the state information, whether the surgical robot system is abnormal or not is automatically monitored in real time, the surgical robot system is timely found out to be abnormal, unplanned shutdown and misoperation in the operation process of the surgical robot are reduced, reference is provided for maintenance of the surgical robot system, and the detection method is simple, and high in detection efficiency and detection precision.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a feedback control system for an execution end of a surgical robot according to the present invention;
FIG. 2 is a schematic flow chart of the control circuit board according to the present invention for collecting status information;
FIG. 3 is a second schematic flow chart of the control circuit board according to the present invention for collecting status information;
FIG. 4 is a schematic diagram of information transmission provided by the present invention;
FIG. 5 is a schematic view of a surgical robotic system provided by the present invention;
FIG. 6 is a schematic diagram of the positioning of an optical tracking system provided by the present invention;
FIG. 7 is one of the detection methods of the surgical robotic system provided by the present invention;
FIG. 8 is a second method of detecting a surgical robotic system provided by the present invention;
FIG. 9 is a third detection method of the surgical robotic system provided by the present invention;
FIG. 10 is a fourth embodiment of a method for detecting a surgical robotic system provided by the present invention;
FIG. 11 is a fifth method of detection of the surgical robotic system provided by the present invention;
FIG. 12 is a schematic diagram of an information acquisition device according to the present invention;
FIG. 13 is a second schematic diagram of an information acquisition device according to the present invention;
FIG. 14 is a flow chart of information feedback provided by the present invention;
FIG. 15 is a view of a detection device of the surgical robotic system provided by the present invention;
fig. 16 illustrates a physical structure diagram of an electronic device.
Reference numerals:
1: a main control trolley; 2: NDI trolley; 3: a power device; 4: and an execution device.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic structural diagram of a feedback control system of an execution end of a surgical robot, as shown in fig. 1, wherein the feedback control system of the execution end of the surgical robot comprises a power device, a connecting device and an execution device, the power device is connected with the execution device through the connecting device, the power device provides power for the execution device, and the power execution device rotates under the action of the power;
the executing device is provided with an information acquisition device, and the information acquisition device is used for acquiring and sending state information of the executing device.
Specifically, in order to collect the state information of the execution device in time, an information collection device can be arranged on the collection execution device, and the state information of the execution device collected by the information collection device is used for judging whether the execution device is abnormal or not, so that the real-time monitoring of the execution device can be realized, and the abnormal situation of the execution device can be found in time;
the feedback control system of the surgical robot execution end provided by the invention automatically detects the state of the surgical robot according to the state information by collecting the state information of the execution device, automatically monitors whether the surgical robot system is abnormal in real time, timely discovers the abnormality of the surgical robot system, reduces the unplanned shutdown and misoperation in the operation process of the surgical robot, provides a reference for the maintenance of the surgical robot system, and has the advantages of simple detection method, high detection efficiency and detection precision.
Optionally, the information acquisition device comprises a temperature sensor, a torque sensor, a speed sensor and a wear sensor.
Alternatively, if the abnormality of the executing device is affected more, the present invention may mainly consider a plurality of actual torque, position, temperature and wear values, but is not limited to these running information.
Alternatively, the status information of the execution apparatus may include: an actual torque value, an actual temperature value, and actual position information of the actuator;
optionally, the information acquisition device for acquiring the state information of the execution device may include a temperature sensor, a torque sensor, a speed sensor and a wear sensor, and may be configured to acquire an actual torque value and an actual temperature value, and may further determine, based on the actual torque value, a wear condition, for example, may determine that the rasping device is worn when it is determined that the rotation speed of the execution device is high and the torque is low.
Alternatively, the information acquisition device may include an information acquisition board in communicative connection with each sensor;
alternatively, the information acquisition board may be composed of one or more control circuit boards;
optionally, fig. 2 is one of the flow charts of the control circuit board provided by the present invention for collecting status information, and fig. 3 is the second flow chart of the control circuit board provided by the present invention for collecting status information of the executing device (such as the mechanical ARM system where the executing device is located) obtained by each sensor, and the control circuit board can convert the status information into signals of voltage, current or magnetism, and process the signals through the singlechip chip ARM (Advanced RISC Machines, advanced reduced instruction set processor), and convert and upload the processed information to the upper computer or the main control board according to the communication protocol.
Optionally, the means for processing the status information by the control circuit board may include at least one of: impedance transformation, amplification, filtering analog-to-digital conversion and digital signal processing;
optionally, fig. 4 is a schematic diagram of information transmission provided in the present invention, and as shown in fig. 4, a communication protocol may include at least one of the following: r232, R485, portal, wiFi and 5G.
Optionally, the upper computer or the main control board in the main control trolley can convert and translate the processed signals according to a communication protocol and display the signals on a software interface;
optionally, the master control trolley can transmit the processed signals back to the background for data storage and analysis.
Optionally, the background may include one or more of an internet of things platform, a server, a mobile terminal, a cell phone, and a computer.
According to the invention, the actual torque value and the actual temperature value of the executing device are obtained through the temperature sensor, the torque sensor, the speed sensor and the wear sensor, so that the wear information is determined, and the abnormality of the executing device can be detected more comprehensively.
Fig. 5 is a schematic structural view of the surgical robot system provided by the present invention, as shown in fig. 5, the surgical robot system further includes:
the main control trolley 1 is used for sending a control command according to an input control command;
the manipulator trolley is provided with a manipulator, the tail end of the manipulator is connected with a connecting device of a feedback control system of the execution tail end of the surgical robot, and the manipulator trolley is used for executing a control command sent by the master control trolley 1;
and the NDI trolley 2 is used for determining the position of the mechanical arm and sending the position information to the main control trolley 1.
Specifically, after the main control trolley 1 receives a control command input by a user, the main control trolley may send a control command, and after receiving the control command, the mechanical arm trolley may execute the control command through the mechanical arm, for example, a feedback control system controlling the execution end of the connected surgical robot executes an action corresponding to the control command.
Optionally, fig. 6 is a schematic diagram of positioning an optical tracking system provided by the present invention, as shown in fig. 6, an NDI trolley 2 may be equipped with an optical tracking system, and a mechanical arm or any point on the mechanical arm is positioned through optical tracking, so as to obtain a positioning result;
alternatively, the robot arm tip may be provided with a flange positioner, and the NDI trolley 2 may identify the robot arm or the position of any point on the robot arm through the flange positioner.
Alternatively, the positioning result may be three-dimensional coordinates;
optionally, a display may be further disposed on the NDI trolley 2, and after any point on the mechanical arm or the mechanical arm is located, the locating result may be displayed on the display.
According to the surgical robot system provided by the invention, the state information of the execution device is acquired, the state of the surgical robot is automatically detected according to the state information, whether the surgical robot system is abnormal or not is automatically monitored in real time, the surgical robot system is timely found out to be abnormal, the unplanned shutdown and misoperation in the operation process of the surgical robot are reduced, a reference is provided for the maintenance of the surgical robot system, and the detection method is simple, and the detection efficiency and the detection precision are high.
Optionally, the main control trolley 1 is provided with a display, and the display is used for displaying the state information of the execution device received by the main control trolley 1.
Optionally, in the operation process, the real-time state of the device and what stage and extent the operation is performed need to be known in time, and the invention can provide a quantitative and visual presentation; that is, in order to facilitate the user to know the status information of the execution device or other information related to the equipment or the operation condition, etc., the status information may be displayed on the display of the main control trolley 1.
Optionally, the state information can be transmitted to the main control trolley through a communication cable, and the main control trolley can display the state information through a display;
optionally, the display may be a display that can interact with the user, and may receive an input from the user, such as a touch screen input or an input through a keyboard or a mouse, and then the master control trolley may generate a control instruction that meets the user's requirement after receiving the input from the user.
Fig. 7 is a diagram showing one of the detection methods of the surgical robot system according to the present invention, and as shown in fig. 7, the method includes the following steps:
step 700, acquiring state information of an execution device of the surgical robot system; the state information comprises an actual torque value, an actual temperature value and actual position information of the executing device;
step 710, determining whether the executing device has an abnormality according to the status information.
Specifically, whether the abnormality of the executing device is affected is more, the present invention may mainly consider a plurality of actual torque, position, temperature and wear values, but is not limited to these running information.
Alternatively, the status information of the execution apparatus may include: an actual torque value, an actual temperature value, and actual position information of the actuator;
alternatively, it may be determined whether the executing device has an abnormality, such as whether the temperature is too high during operation, whether the torque is increased or decreased, whether there is wear or abnormal rotation, or the like, based on the actual torque value, the actual temperature value, and the actual position information of the executing device.
According to the detection method of the surgical robot system, provided by the invention, the state information of the execution device is acquired, the state of the surgical robot is automatically detected according to the state information, whether the surgical robot system is abnormal or not is automatically monitored in real time, the surgical robot system is timely found out, the unplanned shutdown and misoperation in the operation process of the surgical robot are reduced, a reference is provided for the maintenance of the surgical robot system, the detection method is simple, and the detection efficiency and the detection precision are high.
Optionally, the determining, according to the state information, whether the executing device has an abnormality includes:
acquiring a first theoretical torque value corresponding to a first actual torque value and a preset temperature threshold value;
if the first actual torque value is larger than the first theoretical torque value and/or the actual temperature value is higher than the preset temperature threshold value, determining that the executing device is abnormal; or,
acquiring preset position information of a target point on one end far away from a file grinding end of the execution device, acquiring a second actual torque value and a second theoretical torque value of the execution device when the actual position information of the target point is consistent with the preset position information, and determining that the execution device is abnormal if the second actual torque value is smaller than the second theoretical torque value.
Alternatively, the theoretical torque value may be obtained from a configuration parameter of a feedback control system of the surgical robot execution end. The theoretical torque value is calculated as follows:
wherein M is a theoretical torque value, and the unit is Newton meters; p is the power of the power plant, obtained from the configuration parameters of the power plant, known; n is the rotational speed of the actuator in revolutions per minute, and is known.
Alternatively, the theoretical torque value may be a known value that is preconfigured as a configuration parameter;
alternatively, the theoretical torque value may be determined by means of an empirical value;
alternatively, the theoretical torque value may be determined based on statistical analysis of the big data;
alternatively, the theoretical torque value may be determined after machine learning based on the history state information of the execution apparatus and the normal/abnormal condition as training samples;
comparing the actual torque of the executing device with the theoretical torque to obtain a first comparison result;
alternatively, whether the executing device is abnormal may be determined based on only the actual temperature value, for example, it may be determined that the executing device is abnormal once it is determined that the actual temperature value is greater than a preset temperature threshold;
alternatively, whether the executing device is abnormal may be determined based on only the actual torque value, such as upon determining that the first actual torque value is greater than the first theoretical torque value, it may be determined that the executing device is abnormal;
alternatively, whether the executing device is abnormal may be determined based on the actual temperature value and the actual torque value, for example, it may be determined that the executing device is abnormal once it is determined that the first actual torque value is greater than the first theoretical torque value or once it is determined that the actual temperature value is greater than a preset temperature threshold value;
optionally, whether the executing device is abnormal may be determined based on the actual temperature value and the actual torque value, for example, if it is determined that the first actual torque value is greater than the first theoretical torque value and it is determined that the actual temperature value is greater than a preset temperature threshold, it may be determined that the executing device is abnormal;
fig. 8 is a second detection method of the surgical robot system provided by the present invention, as shown in fig. 8, the method includes: the temperature information and/or temperature change information acquired by the temperature sensor is sent to the information acquisition board through the communication cable, the information acquisition board processes the temperature information and/or temperature change information to obtain an actual temperature value, the actual temperature value is sent to the main control board, data comparison is carried out between the main control board and a preset temperature threshold, and if the actual temperature value is determined to be greater than the preset temperature threshold, the executing device can be determined to be abnormal;
fig. 9 is a third detection method of the surgical robot system according to the present invention, as shown in fig. 9, the method includes: the torque information and/or torque change information acquired by the torque sensor is sent to the information acquisition board through the communication cable, the information acquisition board processes the torque information and/or torque change information to obtain a first actual torque value, the first actual torque value is sent to the main control board, data comparison is carried out between the main control board and a first theoretical torque value, if the first actual torque value is determined to be greater than the first theoretical torque value, the rotating abnormality of the executing device can be considered, for example, the executing device is blocked and not rotated, and the abnormality of the executing device can be determined;
optionally, when determining whether the executing device is worn, a preset point of the rasping end of the executing device may be preset first, and the NDI trolley is positioned to the point (i.e. the actual position information of the target point is satisfied to be consistent with the preset position information), so that a second actual torque value corresponding to the point may be obtained, and compared with the second theoretical torque value, to determine whether the executing device is abnormal.
Fig. 10 is a fourth detection method of the surgical robot system provided by the present invention, as shown in fig. 10, the method includes: the positioning module performs optical tracking on the mechanical arm by using an NDI trolley to obtain preset position information of a target point on one end of a file grinding end of the execution device, for example, the preset position information can be any point at the connection position of the file grinding rod and the file grinding flange, the position coordinate of the target point can be determined by using the NDI trolley, the position coordinate can be sent to the information acquisition board by using the communication cable, after the information acquisition board processes the position coordinate to obtain actual position information of the target point, the actual position information of the target point is sent to the main control board, when the main control board determines that the actual position information of the target point is consistent with the preset position information, the torque information and the temperature information (such as a previously determined second actual torque value and/or actual temperature value) can be further extracted, if the second actual torque value is less than the second theoretical torque value and/or the actual temperature value is greater than the preset temperature threshold, the file grinding device of the execution device can be considered to have abrasion, the speed is high, and the execution device can be determined to have abnormality.
Fig. 11 is a fifth detection method of the surgical robot system provided by the present invention, as shown in fig. 11, the method includes:
firstly, recognizing the position of a patient through an NDI trolley, issuing a control instruction by a main control trolley, positioning a mechanical arm based on the control instruction, and starting to grind files, namely, enabling an execution device to be in a working state; FIG. 12 is a schematic diagram of an information collecting device according to the present invention, as shown in FIG. 12, torque, position, and temperature may be collected by a torque detection module (such as a torque sensor) and a temperature detection module (such as a temperature sensor) in the information collecting device, and the torque, position, and temperature may be compared with preset values, for example, when it is determined that a first actual torque value is greater than or equal to a first theoretical torque value, and it is determined that an actual temperature value is greater than a preset temperature threshold, it may be determined that an abnormality exists in an executing device;
or if it is determined that the second actual torque value and the actual temperature value are within the preset range, as shown in fig. 13, the NDI trolley may perform optical tracking on the mechanical arm to obtain preset position information of the target point on one end of the file grinding end of the execution device, for example, may be any point at the connection position of the file grinding rod and the file grinding flange, and the NDI trolley may determine the position coordinate of the target point, and may send the position coordinate to the information acquisition board through the communication cable, where the information acquisition board processes the position coordinate to obtain the actual position information of the target point, and then sends the actual position information of the target point to the master control board, and when determining that the actual position information of the target point is consistent with the preset position information, the master control board further determines that the second actual torque value is less than the second theoretical torque value and/or the actual temperature value is greater than the preset temperature threshold, and may consider that the file grinding device of the execution device has wear, high speed and small torque, and may determine that the execution device has abnormality.
Optionally, the method further comprises:
in the case that the executing device is determined to be abnormal, uploading the state information and/or the abnormal indication to at least one of the following: server, computer, equipment terminal, cell-phone, or the master control trolley.
Alternatively, as shown in fig. 8-11, after determining that the execution device is abnormal, the abnormal state information may be uploaded to at least one of: server, computer, equipment terminal, cell-phone, or the master control trolley.
Alternatively, as shown in fig. 8-11, after determining that the execution device is abnormal, an indication of the abnormality (e.g., may be an alarm for characterizing the abnormality of the execution device) may be uploaded to at least one of: server, computer, equipment terminal, cell-phone, or the master control trolley.
Optionally, fig. 14 is a schematic flow chart of information feedback provided by the present invention, as shown in fig. 14, the present invention may quantitatively or promptly present by means of joint feedback of a tracking system and an information collecting device (including a sensor), including feedback of status information, such as temperature, rotation speed, torque, wear, etc., and the present invention may not only feed back a device terminal in real time, but also feed back to a cloud (server, computer, mobile phone), that is, through a network port, wiFi, 5G.
Alternatively, the NDI trolley may utilize the optical tracking system of the surgical robot to locate the position of the effector. The information acquisition board acquires the position positioned by the positioning module through the communication cable and processes the time of the positioning position, and the processed data is sent to the main control board through the communication cable.
The main control board can calculate the displacement of the execution device according to the position of the execution device. The time required for the displacement of the execution device is determined according to the time of the execution device at each position. The actual running speed of the actuator is obtained by dividing the displacement of the actuator by the time required to generate the displacement.
Comparing the actual running speed of the executing device with a preset speed range of the executing device to obtain a comparison result;
the main control board compares the actual running speed of the execution device with a preset speed range, and if the actual running speed is not in the preset speed range, the execution device is indicated to be abnormal; if the actual running speed is within the preset speed range, continuing to execute the subsequent steps, and judging whether the executing device meets other conditions.
Alternatively, a difference between the actual torque value and the theoretical torque value may be taken as the first comparison result;
alternatively, a difference between the actual torque value and the theoretical torque value of the actuator may be calculated, and in case the difference is large, such as greater than a preset difference threshold, an abnormality of the surgical robot system may be determined.
Alternatively, in the case where the actual running speed of the executing device is smaller than the minimum value of the preset speed range, a difference between the actual running speed and the minimum value may be used as the second comparison result;
optionally, in the case that the actual running speed of the executing device is smaller, a difference between the actual running speed and the minimum value of the preset speed range is calculated, and in the case that the difference is larger, abnormality of the executing device is determined.
Alternatively, in the case where the actual operation speed is greater than the maximum value of the preset speed range, a difference between the actual operation speed and the maximum value may be used as the second comparison result;
alternatively, the difference between the actual running speed and the maximum value of the preset speed range may be calculated in the case where the actual running speed of the execution device is large, and in the case where the difference is large, the abnormality of the execution device may be determined.
Alternatively, a difference between the temperature and the preset maximum temperature may be used as the third comparison result.
Alternatively, a difference between the temperature of the execution device and a preset maximum temperature may be calculated, and in the case where the difference is large, abnormality of the execution device is determined.
On the basis of the above embodiments, in this embodiment, whether the executing device is abnormal is determined according to the first comparison result, the second comparison result, and the third comparison result;
optionally, obtaining a first correlation coefficient between the torque of the actuator and the wear value of the actuator;
optionally, obtaining a second correlation coefficient between the actual running speed of the execution device and the wear value of the execution device;
optionally, obtaining a third correlation coefficient between the temperature of the actuator and the wear value of the actuator;
the wear value of the executing device is obtained through the wear sensor, the information acquisition board acquires and processes the data of the wear sensor through the communication cable, and the processed data is sent to the main control board through the communication cable.
The torque, actual operating speed and temperature of the actuator are all related to the wear value of the actuator. The correlation coefficient between these three factors and the wear value of the actuator is calculated.
Alternatively, the first correlation coefficient, the second correlation coefficient, and the third correlation coefficient are pearson correlation coefficients, which represent correlations between two variables, and may be determined or preset based on a correlation technique.
Determining an average value of the first, second and third correlation coefficients and determining a product between the average value and the wear value;
the average value of the first correlation coefficient, the second correlation coefficient, and the third correlation coefficient is used as the weight of the abrasion value, and the importance degree of the abrasion value on the abnormality detection of the execution device is represented.
And determining whether the executing device is abnormal according to the first comparison result, the second comparison result, the third comparison result and the product.
Optionally, the first comparison result, the second comparison result, the third comparison result, and the product of the average value of the three correlation coefficients and the wear value of the execution device are added, and the added result is compared with a set value to determine whether the execution device is abnormal.
If the addition result is larger than the set value, the executing device is abnormal, otherwise, the executing device is not abnormal.
According to the embodiment, by considering the comparison result of the actual torque, the position and the temperature and the abrasion value of the executing device, whether the executing device is abnormal or not is comprehensively judged, and the influence degree of the abrasion value on detection is determined according to the correlation between other factors and the abrasion value, so that the abnormal detection of the executing device is more accurate.
On the basis of the foregoing embodiments, in this embodiment, the step of determining whether the execution device is abnormal according to the first comparison result, the second comparison result, and the third comparison result includes:
multiplying the first comparison result, the second comparison result and the third comparison result by corresponding weights respectively, and then adding to obtain an addition result;
and comparing the addition result with a preset threshold value, and determining whether the executing device is abnormal.
The weights corresponding to the first comparison result, the second comparison result and the third comparison result respectively represent the importance degrees of the three comparison results on the abnormality detection influence of the execution device.
And under the condition that the weighted sum of the three comparison structures is larger than a preset threshold value, acquiring that the executing device is abnormal, otherwise, the executing device is not abnormal.
The embodiment comprehensively judges whether the executing device is abnormal or not by considering the comparison result of the actual torque, the position and the temperature, thereby enabling the abnormality detection of the executing device to be more accurate.
On the basis of the above embodiments, this embodiment further includes:
and displaying whether the operation information and the execution device are abnormal or not.
According to the communication protocol, the main control board or the upper computer in the embodiment translates the operation information and whether the operation system is abnormal into information parameters or prompts visible on a software interface. The information displayed on the software interface can be used for equipment maintenance personnel to know the running state of the equipment in real time.
The abnormality detection device for the surgical robot performing apparatus provided by the present invention will be described below, and the abnormality detection device for the surgical robot performing apparatus described below and the abnormality detection method for the surgical robot performing apparatus described above may be referred to correspondingly to each other.
Fig. 15 is a view showing a detection apparatus of a surgical robot system according to the present invention, as shown in fig. 15, the apparatus including: an acquisition module 1510, and a determination module 1520; wherein:
the acquisition module 1510 is used for acquiring state information of an execution device of the surgical robot system; the state information comprises an actual torque value, an actual temperature value and actual position information of the executing device;
the determining module 1520 is configured to determine whether the executing device has an exception according to the status information.
The detection device of the surgical robot system provided by the invention can realize the processes realized by the method embodiments and achieve the same technical effects, and in order to avoid repetition, the description is omitted here.
According to the detection device of the surgical robot system, provided by the invention, the state information of the execution device is acquired, the state of the surgical robot is automatically detected according to the state information, whether the surgical robot system is abnormal or not is automatically monitored in real time, the surgical robot system is timely found out, the unplanned shutdown and misoperation in the operation process of the surgical robot are reduced, a reference is provided for the maintenance of the surgical robot system, the detection method is simple, and the detection efficiency and the detection precision are high.
Fig. 16 illustrates a physical structure diagram of an electronic device, as shown in fig. 16, which may include: a processor 1610, a communication interface (Communications Interface) 1620, a memory 1630, and a communication bus 1640, wherein the processor 1610, the communication interface 1620, and the memory 1630 perform communication with each other via the communication bus 1640. Processor 1610 can invoke logic instructions in memory 1630 to perform a surgical robotic system anomaly detection method comprising: acquiring state information of an execution device of the surgical robot system; the state information comprises an actual torque value, an actual temperature value and actual position information of the executing device; and determining whether the executing device is abnormal according to the state information.
Further, the logic instructions in memory 1630 described above may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the method of detecting a surgical robot system provided by the above methods, the method comprising: acquiring state information of an execution device of the surgical robot system; the state information comprises an actual torque value, an actual temperature value and actual position information of the executing device; and determining whether the executing device is abnormal according to the state information.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the method of detecting a surgical robotic system provided by the above methods, the method comprising: acquiring state information of an execution device of the surgical robot system; the state information comprises an actual torque value, an actual temperature value and actual position information of the executing device; and determining whether the executing device is abnormal according to the state information.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A method of detecting a surgical robot system, the method being applied to a surgical robot system, the surgical robot system comprising:
the feedback control system of the execution tail end of the surgical robot comprises a power device, a connecting device and an execution device, wherein the power device is connected with the execution device through the connecting device, the power device provides power for the execution device, and the execution device rotates under the action of the power; the execution device is provided with an information acquisition device, and the information acquisition device is used for acquiring and transmitting state information of the execution device;
the main control trolley is used for sending a control command according to the input control command;
the manipulator trolley is provided with a manipulator, the tail end of the manipulator is connected with a connecting device of a feedback control system of the execution tail end of the surgical robot, and the manipulator trolley is used for executing a control command sent by the master control trolley;
the NDI trolley is used for determining the position of the mechanical arm and sending the position to the main control trolley;
the method comprises the following steps:
acquiring state information of an execution device of the surgical robot system; the state information comprises an actual torque value, an actual temperature value and actual position information of the executing device;
determining whether the executing device is abnormal according to the state information;
wherein, according to the state information, determining whether the executing device has an abnormality includes:
acquiring a first theoretical torque value corresponding to a first actual torque value and a preset temperature threshold value;
if the first actual torque value is larger than the first theoretical torque value and/or the actual temperature value is higher than the preset temperature threshold value, determining that the executing device is abnormal; or,
acquiring preset position information of a target point on one end far away from a file grinding end of the execution device, acquiring a second actual torque value and a second theoretical torque value of the execution device when the actual position information of the target point is consistent with the preset position information, and determining that the execution device is abnormal if the second actual torque value is smaller than the second theoretical torque value.
2. The method of claim 1, further comprising:
in the case that the executing device is determined to be abnormal, uploading the state information and/or the abnormal indication to at least one of the following: server, computer, equipment terminal, cell-phone, or the master control trolley.
3. A detection device of a surgical robot system, characterized by being applied to a surgical robot system, the surgical robot system comprising:
the feedback control system of the execution tail end of the surgical robot comprises a power device, a connecting device and an execution device, wherein the power device is connected with the execution device through the connecting device, the power device provides power for the execution device, and the execution device rotates under the action of the power; the execution device is provided with an information acquisition device, and the information acquisition device is used for acquiring and transmitting state information of the execution device;
the main control trolley is used for sending a control command according to the input control command;
the manipulator trolley is provided with a manipulator, the tail end of the manipulator is connected with a connecting device of a feedback control system of the execution tail end of the surgical robot, and the manipulator trolley is used for executing a control command sent by the master control trolley;
the NDI trolley is used for determining the position of the mechanical arm and sending the position to the main control trolley;
the device comprises:
the acquisition module is used for acquiring state information of an execution device of the surgical robot system; the state information comprises an actual torque value, an actual temperature value and actual position information of the executing device;
the determining module is used for determining whether the executing device is abnormal according to the state information;
the determining module is specifically configured to:
acquiring a first theoretical torque value corresponding to a first actual torque value and a preset temperature threshold value;
if the first actual torque value is larger than the first theoretical torque value and/or the actual temperature value is higher than the preset temperature threshold value, determining that the executing device is abnormal; or,
acquiring preset position information of a target point on one end far away from a file grinding end of the execution device, acquiring a second actual torque value and a second theoretical torque value of the execution device when the actual position information of the target point is consistent with the preset position information, and determining that the execution device is abnormal if the second actual torque value is smaller than the second theoretical torque value.
4. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of detection of the surgical robotic system according to any one of claims 1 to 2 when executing the program.
5. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements a method of detection of a surgical robotic system according to any one of claims 1 to 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211010112.6A CN115444565B (en) | 2022-08-22 | 2022-08-22 | Surgical robot system, and feedback control system and method for execution end of surgical robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211010112.6A CN115444565B (en) | 2022-08-22 | 2022-08-22 | Surgical robot system, and feedback control system and method for execution end of surgical robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115444565A CN115444565A (en) | 2022-12-09 |
| CN115444565B true CN115444565B (en) | 2024-01-30 |
Family
ID=84298395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211010112.6A Active CN115444565B (en) | 2022-08-22 | 2022-08-22 | Surgical robot system, and feedback control system and method for execution end of surgical robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115444565B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116597975A (en) * | 2023-04-04 | 2023-08-15 | 上海神玑医疗科技有限公司 | Vascular intervention operation auxiliary system and control method thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110712205A (en) * | 2019-10-11 | 2020-01-21 | 深圳前海达闼云端智能科技有限公司 | Anomaly monitoring method, electronic device and computer-readable storage medium |
| CN111299786A (en) * | 2019-07-01 | 2020-06-19 | 北京实耐固连接技术有限公司 | Intelligent resistance welding clamp system |
| CN111813047A (en) * | 2020-07-31 | 2020-10-23 | 西北工业大学 | Real-time monitoring system and method for robot automatic drilling and riveting operation state |
| CN112245012A (en) * | 2020-11-12 | 2021-01-22 | 重庆金山医疗机器人有限公司 | Surgical robot safety monitoring equipment and surgical robot system |
| CN112641510A (en) * | 2020-12-18 | 2021-04-13 | 北京长木谷医疗科技有限公司 | Joint replacement surgical robot navigation positioning system and method |
| CN112789006A (en) * | 2018-10-03 | 2021-05-11 | Cmr外科有限公司 | Monitoring execution during manipulation of a user input control of a robotic system |
| CN112809676A (en) * | 2021-01-11 | 2021-05-18 | 达闼机器人有限公司 | Joint actuator, robot, storage medium, and electronic device |
| WO2022073342A1 (en) * | 2020-10-08 | 2022-04-14 | 深圳市精锋医疗科技有限公司 | Surgical robot and motion error detection method and detection device therefor |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107921639B (en) * | 2015-08-25 | 2021-09-21 | 川崎重工业株式会社 | Information sharing system and information sharing method between multiple robot systems |
-
2022
- 2022-08-22 CN CN202211010112.6A patent/CN115444565B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112789006A (en) * | 2018-10-03 | 2021-05-11 | Cmr外科有限公司 | Monitoring execution during manipulation of a user input control of a robotic system |
| CN111299786A (en) * | 2019-07-01 | 2020-06-19 | 北京实耐固连接技术有限公司 | Intelligent resistance welding clamp system |
| CN110712205A (en) * | 2019-10-11 | 2020-01-21 | 深圳前海达闼云端智能科技有限公司 | Anomaly monitoring method, electronic device and computer-readable storage medium |
| CN111813047A (en) * | 2020-07-31 | 2020-10-23 | 西北工业大学 | Real-time monitoring system and method for robot automatic drilling and riveting operation state |
| WO2022073342A1 (en) * | 2020-10-08 | 2022-04-14 | 深圳市精锋医疗科技有限公司 | Surgical robot and motion error detection method and detection device therefor |
| CN112245012A (en) * | 2020-11-12 | 2021-01-22 | 重庆金山医疗机器人有限公司 | Surgical robot safety monitoring equipment and surgical robot system |
| CN112641510A (en) * | 2020-12-18 | 2021-04-13 | 北京长木谷医疗科技有限公司 | Joint replacement surgical robot navigation positioning system and method |
| CN112809676A (en) * | 2021-01-11 | 2021-05-18 | 达闼机器人有限公司 | Joint actuator, robot, storage medium, and electronic device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115444565A (en) | 2022-12-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6451662B2 (en) | Abnormality determination device, abnormality determination program, abnormality determination system, and motor control device | |
| JP5991042B2 (en) | Anomaly monitoring system and anomaly monitoring method | |
| CN115444565B (en) | Surgical robot system, and feedback control system and method for execution end of surgical robot system | |
| US20150012121A1 (en) | Automation management system and method | |
| CN115437358A (en) | Intelligent state monitoring and fault diagnosis system and fault diagnosis method for industrial robot | |
| CN116902536A (en) | Intelligent deviation rectifying system of belt conveyor | |
| EP4123327B1 (en) | Cable deterioration diagnosis device, cable deterioration diagnosis method, and program | |
| JP5765881B2 (en) | Equipment diagnostic equipment | |
| JP2023026787A (en) | Vibration monitoring device of machine plant | |
| CN110058983A (en) | Abnormal examination parameter adjusts display device | |
| CN117562674A (en) | Surgical robot and method performed by the same | |
| CN116733688A (en) | Operation monitoring method, device, equipment and medium of wind generating set | |
| CN111563932A (en) | Overlapping coaxial surgical operation control method, system and readable storage medium | |
| CN116408801A (en) | Robot fault positioning method, device, computer equipment and storage medium | |
| JP2021060633A (en) | Diagnostic device | |
| CN117760481A (en) | Method and device for monitoring faults of cutting part of coal mining machine | |
| JP2019024305A (en) | Motor control system | |
| JP2021076597A (en) | Detecting rotor anomalies by determining vibration trends during transient speed operation | |
| EP3623892A1 (en) | Anomaly assessment device, anomaly assessment method, and anomaly assessment program | |
| US20240095589A1 (en) | Information processing device, information processing program, and information processing method | |
| CN113743224B (en) | Method and system for monitoring wearing of safety belt of ascending operator based on edge calculation | |
| US12064882B2 (en) | Method for diagnosing a robot, device and server | |
| JP2022137947A (en) | State monitoring system | |
| CN116664100B (en) | BIM+AI-based intelligent operation and maintenance management system | |
| JP7518105B2 (en) | Predictive diagnosis process generation device, predictive diagnosis system, and program |
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 | ||
| CB02 | Change of applicant information |
Address after: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Applicant after: Beijing Changmugu Medical Technology Co.,Ltd. Applicant after: Zhang Yiling Address before: 100176 2201, 22 / F, building 1, yard 2, Ronghua South Road, Beijing Economic and Technological Development Zone, Daxing District, Beijing Applicant before: BEIJING CHANGMUGU MEDICAL TECHNOLOGY Co.,Ltd. Applicant before: Zhang Yiling |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |