CN115452444A - Medical surgical robot angle performance detection device and method - Google Patents
Medical surgical robot angle performance detection device and method Download PDFInfo
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- CN115452444A CN115452444A CN202211417409.4A CN202211417409A CN115452444A CN 115452444 A CN115452444 A CN 115452444A CN 202211417409 A CN202211417409 A CN 202211417409A CN 115452444 A CN115452444 A CN 115452444A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
Abstract
The invention belongs to the technical field of variable measurement, and provides a device and a method for detecting the angle performance of a medical surgical robot, which comprises a magnet, a magnetic sensor and an angle detection controller, wherein the magnet is arranged on a tail end instrument of the medical surgical robot and comprises at least one of a first magnet, a second magnet and a third magnet, the first magnet is used for detecting the clamping angle of the tail end instrument, the second magnet is used for detecting the rotation angle of the tail end instrument, and the third magnet is used for detecting the traction angle of the tail end instrument; the magnetic sensor is used for sensing the state change of the first magnet, the second magnet or/and the third magnet; the angle detection controller is electrically connected with the magnetic sensor and used for acquiring the voltage value change value of the magnetic sensor and calculating the angle corresponding to the state change.
Description
Technical Field
The invention belongs to the technical field of variable measurement, and relates to a device and a method for detecting the angle performance of a medical surgical robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
The surgical robot can be used in partial operations (such as abdominal cavity operations), and the input device of the surgical robot is a hand simulation handle, so that the input device accords with human mechanics, can provide doctors with good experience, and is the current mainstream technology.
In order to ensure the accuracy of the operation, the detection or test of the surgical robot is essential, and the detection of the action angle of the instrument is an important part. However, as the inventor knows, a hand-simulated joystick typically contains a variety of inputs, such as traction (i.e., movement in pitch and yaw degrees of freedom), grip, and rotation, which involve angular transitions that need to be detected. Most of the existing detection equipment can only be suitable for detecting one action angle, and if a measuring scale is used for detection, the data is difficult to achieve accuracy. If select electric sensor test, nevertheless because the irregularity of apparatus movement track, there is the surplus in actual test, leads to the test inaccurate, and need measure multiple angle, need set up many sets of equipment, and surgical robot's apparatus volume is less, can't install some equipment.
Disclosure of Invention
In order to solve the problems, the invention provides a device and a method for detecting the angle performance of a medical surgical robot.
According to some embodiments, the invention adopts the following technical scheme:
the utility model provides a medical treatment surgical robot angle performance detection device, includes to be provided with magnet, magnetic sensor and angle detection controller on the distal end apparatus of medical treatment surgical robot, wherein:
the magnet comprises at least one of a first magnet, a second magnet and a third magnet, wherein the first magnet is used for detecting the clamping angle of the tail end instrument and selecting an axial magnet; the second magnet is used for detecting the rotation angle of the tail end instrument, and a radial magnet is selected; the third magnet is used for detecting the traction angle of the tail end instrument, and an axial magnet is selected;
the magnetic sensors comprise a first magnetic sensor and a second magnetic sensor, the first magnetic sensor detects the axial magnet and outputs a voltage value for sensing the state change of the first magnet and the third magnet; the second magnetic sensor detects the radial magnet, and the bus outputs an angle value for sensing the second magnet.
The angle detection controller is electrically connected with the magnetic sensors and is used for acquiring output data of the first magnetic sensor and the second magnetic sensor, the first magnetic sensor outputs two paths of voltage values, and the angle corresponding to the target magnet is acquired by calculating the two paths of voltage value data; the second magnet outputs data on the bus, and absolute angle values of the radial magnets are obtained through data analysis.
In an alternative embodiment, the first magnet is an axial magnet fixed to at least one opening/closing portion of the distal end instrument.
In an alternative embodiment, the second magnet is a radial magnet circumferentially disposed on the distal instrument.
In an alternative embodiment, the third magnet is an axial magnet disposed at the distal end of the distal instrument.
In an alternative embodiment, the end instrument is a forceps.
In an alternative embodiment, the angle detection controller is configured such that the first magnetic sensor outputs a voltage value according to the position of the first magnet, the voltage value at any position is defined as (x, y), the angle is defined as α, and the angle is calculated in this case
And (x 0, y 0) is the voltage value of the tail end instrument when the tail end instrument is closed, when the tail end instrument is opened, the output voltage value of the first magnetic sensor changes, and when the tail end instrument is opened to the maximum angle, the voltage value of the magnetic sensor changes to the maximum value.
As an alternative embodiment, the angle detection controller is configured to convert the unit into the corresponding angle based on an absolute angular position change of the second magnetic sensor generated based on the position change of the second magnet, the angular position being binary data.
As an alternative embodiment, the angle detection controller is configured to establish an X-axis and a Y-axis, regarding the pitch (i.e. left and right) motion of the traction as a reciprocating motion in the X-axis, regarding the yaw (i.e. up and down) motion of the traction as a reciprocating motion in the Y-axis, the tip instrument can reach any point on the circle and within the circle, determining the voltage based on the X-axis and the voltage based on the Y-axis of the first magnetic sensor according to the position of the third magnet, calculating the included angle with the X-axis and the Y-axis, and further obtaining the angle of the traction.
In an alternative embodiment, the angle detection controller is configured to record each angle value over a time period and to note a value at which the change in angle produced by the distal instrument at an adjacent time exceeds a set value.
The working method of the device comprises the following steps:
detecting the clamping angle of the tail end instrument by using a first magnet, detecting the rotating angle of the tail end instrument by using a second magnet, and detecting the traction angle of the tail end instrument by using a third magnet;
sensing the state change of the first magnet, the second magnet or/and the third magnet by using a magnetic sensor;
the angle detection controller acquires a voltage value change value of the magnetic sensor and calculates an angle corresponding to the state change.
Compared with the prior art, the invention has the beneficial effects that:
the invention utilizes the magnet and the magnetic sensor for detection, only needs to arrange the magnet on the tail end instrument, has smaller occupied area on the tail end instrument, does not influence the instrument to act, does not need to greatly improve the structure of the instrument, has simple test process and can effectively improve the test working efficiency.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention.
FIG. 1 is a schematic view of the manner in which the instrument is clamped;
FIG. 2 is a schematic view of the manner in which rotation of the instrument is detected;
FIG. 3 is a schematic diagram of the manner in which lateral misalignment is detected during distraction of the device;
FIG. 4 is a schematic diagram of the manner in which up and down deviation is detected during distraction of the device;
fig. 5 is a calculated schematic of instrument traction.
The device comprises a detection magnet 1, a signal receiving chip 2, a magnetic induction line 3, and a magnetic sensor 4.
A. A state, B and B states, and C states.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
Example one
Taking an abdominal cavity surgical robot as an example for explanation, the motion completion process of the abdominal cavity surgical robot mainly comprises the steps that an input device sends a signal to a controller, the controller sends a command to a transmission mechanism represented by a motor, the transmission mechanism pulls an output device, namely a terminal instrument, the instrument executes corresponding motion, and a sensor of a feedback part acquires an instrument position signal in real time and transmits the instrument position signal to the controller to realize closed-loop control.
The input device (i.e. the handle) comprises three actions of traction, clamping and rotation, and controls the output device (i.e. the apparatus) to complete the three actions of traction, clamping and rotation.
The measuring of the action angle of the handle is easy, and the measuring equipment can be directly used or the existing method can be used.
However, the distal instrument is often small and difficult to detect. In the present embodiment, a forceps will be described as an example.
The binding clip traction action is to realize the pitching and yawing actions of the binding clip, and the binding clip rotation action is to realize the circumferential direction rotation of the binding clip; the clamping action of the clamp heads is to realize the clamping of the two clamp parts.
It can be seen that the clamp head is small in size, multiple in action, fine in action, small in action range, not easy to install precision detection equipment and detect accurate information.
In order to solve the above problem, the present embodiment provides a detection device including an angle detection controller, a detection magnet 1, and a magnetic sensor 4. A detection magnet 1 is arranged at the tail end of the instrument, a magnetic sensor 4 (namely a Hall sensor) senses the change of the detection magnet 1, and data are connected to an angle detection controller through a lead. The angle detection controller calculates the angle of the tail end of the analysis instrument, and the analysis effect can be displayed in real time through the display screen.
Certainly, the angle detection of the handle can be directly connected with the debugging interface of the robot through the angle acquisition controller through the serial port, after the connection is successful, when the robot is in debugging state operation, the robot internal controller can send out through the serial port after detecting the data change of the handle, and thus the data of the handle can be acquired by the angle detection controller in real time.
Emphasis is placed on the detection of angular changes at the tip of the instrument. The different actions are described separately below.
As shown in fig. 1, the detection means of the instrument clamping includes an axial magnet or a radial magnet, and a magnetic sensor 4. The magnetic sensor 4 is provided with a signal receiving chip 2 for magnetic detection, and the signal receiving chip 2 generally has two types of outputs, namely, directly outputting an AD signal or a PWM signal, and outputting an SPI bus or an IIC bus. Any connection mode can be adopted, and actual test is not influenced.
The magnetic sensor 4 is connected with an angle acquisition controller, and the angle acquisition controller acquires angle signals in real time.
In this embodiment, an axial magnet is disposed on one of the clamping pieces of the binding clip, and the binding clip drives the magnet to reciprocate when performing a clamping motion. When the clamp head is closed, the angle is 0 degree, the magnetic sensor 4 outputs two paths of analog voltage values which are marked as (x 0, y 0), the voltage value at any position is defined as (x, y), the angle is marked as alpha, and the calculation mode of the angle is that
When x = x0, y = y0, i.e. the result is 0 degrees; when the distal end instrument is opened, the output voltage value (x, y) of the magnetic sensor 4 changes to be opened to the maximum angleWhen the voltage value of the magnetic sensor 4 changes to the maximum value, the arbitrary angle is
。
As shown in fig. 2, the rotation detection method of the bit is also tested by a magnetic sensor 4, and the magnet is a radial magnet. The magnet is fixed at the circumferential position of the tong head. When the clamp head rotates, the sensor outputs an absolute angle value. Firstly, acquiring an angle of an initial position, recording the angle as a1 (a 1 is more than or equal to 0 and less than or equal to 360), and recording the current turn number as k (k is an integer), wherein a1 is an arbitrary number, and k =0; then defining the value of any angle of the magnet as beta (a 1 is more than or equal to 0 and less than or equal to 360); when the magnet is in the initial position, β = a1; when the rotation direction of the binding clip is clockwise, the position alpha of the magnet read by the magnetic sensor 4 is increased, when the angle is more than 360 degrees, the angle of the magnet is changed to 0 degree, and k is added by 1; when the rotation direction of the binding clip is anticlockwise, the position alpha of the magnet read by the magnetic sensor 4 is reduced, when the position alpha is less than 0 degree, the angle of the magnet is changed to 360 degrees, and k is reduced by 1; defining the value of the angle of change as β, then β = α + k × 360-a1;
as shown in fig. 3 and 4, the pulling detection mode of the binding clip is tested by a magnetic sensor 4, and the magnet is an axial magnet. As shown in fig. 5, the left and right movements of the traction can be regarded as reciprocating movements of the forceps head on the X axis, and the up and down movements of the traction can be regarded as reciprocating movements of the forceps head on the Y axis. The binding clip can reach any point on and in the circle.
The magnet is arranged on the binding clip, the axial magnet is selected to the magnet, and the magnet does traction movement along with the binding clip. The magnetic sensor 4 selects two paths of magnetic sensors for outputting the AD signals, and the magnetic sensor 4 outputs a voltage based on an X axis and a voltage based on a Y axis when the magnet is at different positions in the coordinate system. According to the trigonometric function, the included angle between any point and the X axis and the Y axis can be obtained. The angle of the draft is thus known.
Both instrument and handle data are collected in real time and uploaded to the controller, but not every embodiment requires real time reading.
In some embodiments, taking rotation as an example, it is specified that the angle of the instrument rotation input at the current time is α 1, and the next time is α 2, and when the difference between α 2 and α 1 is greater than a set value, the updated angular position of the instrument is acquired.
The obtained detection data are discrete, so that the reading of the data can be reduced, and the difference value between input and output can be directly seen; and secondly, a curve graph which is easy to observe is conveniently generated after the data are dispersed, and a controller does not need to be relied on to acquire and generate a continuous curve at regular time.
Example two
The second embodiment provides a device, which comprises the traction detection system of the binding clip and the rotation detection system of the binding clip in the first embodiment, wherein the magnetic sensor 4 and the angle acquisition controller are shared.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. The utility model provides a medical treatment surgical robot angle performance detection device, characterized by includes and is provided with magnet, magnetic sensor and angle detection controller on the distal end apparatus of medical treatment surgical robot, wherein:
the magnet comprises at least one of a first magnet, a second magnet and a third magnet, an axial magnet or a radial magnet is selected, and the first magnet is used for detecting the clamping angle of the tail end instrument; the second magnet is used for detecting the rotation angle of the end instrument; the third magnet is used for detecting the traction angle of the end instrument;
the magnetic sensors comprise a first magnetic sensor and a second magnetic sensor, the first magnetic sensor is used for detecting the axial magnet and outputting a voltage value for sensing the state change of the first magnet and the third magnet; the second magnetic sensor is used for detecting the radial magnet, and the bus outputs an angle value for sensing the second magnet;
the angle detection controller is electrically connected with the magnetic sensors and is used for acquiring output data of the first magnetic sensor and the second magnetic sensor, the first magnetic sensor outputs two paths of voltage values, and the angle corresponding to the target magnet is obtained by calculating the two paths of voltage value data; the second magnet outputs data on the bus, and absolute angle values of the radial magnets are obtained through data analysis.
2. The medical surgical robot angle performance detecting apparatus as claimed in claim 1, wherein said first magnet is an axial magnet fixed to at least one of the opening and closing portions of the distal end instrument for opening and closing.
3. The medical surgical robot angle performance detecting apparatus of claim 1, wherein the second magnet is a radial magnet circumferentially disposed on the distal end instrument.
4. The medical surgical robot angle performance detecting apparatus as set forth in claim 1, wherein said third magnet is an axial magnet disposed at a tip end of said distal end instrument.
5. The medical surgical robot angle performance detecting apparatus as set forth in claim 1, wherein said distal end instrument is a forceps.
6. The medical surgical robot angle performance detecting device as claimed in claim 1, wherein the angle detection controller is configured such that the first magnetic sensor outputs a voltage value according to the position of the first magnet, and defines an arbitrary position voltage value as (x, y) and an angle as α, and the angle is calculated in such a manner that the angle is calculated
And (x 0, y 0) is the voltage value of the tail end instrument when the tail end instrument is closed, when the tail end instrument is opened, the output voltage value of the first magnetic sensor changes, and when the tail end instrument is opened to the maximum angle, the voltage value of the magnetic sensor changes to the maximum value.
7. The medical surgical robot angle performance detecting apparatus as set forth in claim 1, wherein the angle detection controller is configured to convert the unit into the corresponding angle by converting the absolute angle position change of the second magnetic sensor based on the position change of the second magnet, the angle position being binary data.
8. The medical surgical robot angle performance detecting apparatus as claimed in claim 1, wherein the angle detection controller is configured to establish an X-axis and a Y-axis, regarding the pitch motion of the traction as the reciprocating motion in the X-axis and the yaw motion of the traction as the reciprocating motion in the Y-axis, and the distal end instrument can reach any point on a circle and within the circle, determine the X-axis based voltage and the Y-axis based voltage of the first magnetic sensor based on the position of the third magnet, and calculate the angle to the X-axis and the Y-axis, thereby obtaining the angle of the traction.
9. The medical surgical robot angle performance sensing device of claim 1, wherein the angle sensing controller is configured to record each angle value according to a time period and mark a value at which the change in angle produced by the distal end instrument at an adjacent time exceeds a set value.
10. A medical surgical robot angle performance detection method based on the medical surgical robot angle performance detection device according to any one of claims 1 to 9, characterized by comprising the steps of:
detecting the clamping angle of the tail end instrument by using a first magnet, detecting the rotating angle of the tail end instrument by using a second magnet, and detecting the traction angle of the tail end instrument by using a third magnet;
sensing the state change of the first magnet, the second magnet or/and the third magnet by using a magnetic sensor;
the angle detection controller acquires a voltage value change value of the magnetic sensor and calculates an angle corresponding to the state change.
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