CN115553930A - Force feedback method - Google Patents

Force feedback method Download PDF

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Publication number
CN115553930A
CN115553930A CN202211420922.9A CN202211420922A CN115553930A CN 115553930 A CN115553930 A CN 115553930A CN 202211420922 A CN202211420922 A CN 202211420922A CN 115553930 A CN115553930 A CN 115553930A
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China
Prior art keywords
force
feedback
driving
handle
sensing
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CN202211420922.9A
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Chinese (zh)
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CN115553930B (en
Inventor
旷静
史文勇
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Kochi Medical Technology Beijing Co ltd
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Kochi Medical Technology Beijing Co ltd
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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A force feedback method for use in a force feedback system comprising a master end and a slave end, the slave end being configured to move under the control of the master end; the force feedback method comprises the following steps: acquiring an active end sensing force applied to the active end; acquiring a driven end sensing force from the driven end, wherein the driven end sensing force is an effective acting force applied to the target object by the driven end; calculating to obtain driving parameters according to the sensing force of the driving end and the sensing force of the driven end; and controlling a force feedback device connected with the active end to work under the action of the driving parameters so as to generate a feedback force applied to the active end.

Description

Force feedback method
Technical Field
The invention relates to a force feedback method.
Background
In robotic-assisted or telerobotic surgery, a surgeon typically operates master controllers to remotely control the movement of surgical instruments at a surgical site at a location remote from the patient (e.g., across an operating room, in a different room or building completely different from the patient). The master controller typically includes one or more manual input devices, such as joysticks, exoskeleton gloves or the like, that are coupled to the surgical instruments through servomotors that articulate the instruments at the surgical site. The servo motors are typically part of an electromechanical device or surgical manipulator that supports and controls a surgical instrument that has been introduced directly into an open surgical site or into a body cavity through a trocar sleeve. During surgery, the surgical manipulator provides articulation and control of various surgical instruments, such as tissue graspers, needle drivers, electrocautery probes, and the like, each of which performs a different function for the surgeon, such as grasping or driving a needle, grasping a blood vessel, or dissecting, cauterizing, or coagulating tissue.
The traditional surgical operation is that a doctor uses medical instruments to perform excision, suture and other treatments on body lesions of a patient. The operation is performed on the local part of the human body by using instruments such as a knife, a scissors, a needle and the like, so as to remove the pathological tissues, repair the injury, transplant the organs, improve the function and the shape and the like. However, in some procedures, the patient is subjected to great suffering. Compared with the traditional surgical operation, the surgical robot has the advantages of short positioning time, small wound, precise positioning, reduction of human errors, capability of replacing medical staff to perform operation with damage and the like.
Surgical robots have been developed over the last 20 centuries and are specifically used in the implementation of medical procedures. Surgical robots have been continuously updated for decades. In terms of the market share of the application, the widest part of the current practice includes the illio surgical robot, the aeus surgical robot and the davinci surgical robot.
Taking the da vinci surgical robot system as an example, the latest da vinci system at present comprises three parts, namely a physician operating table conforming to ergonomics, a patient operating cart equipped with four interactive robotic arms, and a video tower integrating a three-dimensional high-definition video system and a special system processor. Wherein the four interactive instrument arms respectively comprise three main instrument arms and a lens arm. The main instrument arm is used for clamping surgical instruments to complete specific surgical actions, and the lens arm is used for erecting an endoscope to provide a visual angle for a surgeon.
However, one disadvantage of the current system is that: the surgeon cannot obtain a specific tactile sensation of surgery on the surgeon's console outside the sterile room. In the normal operation process in the past, the doctor only relies on oneself, and the handheld surgical instruments carries out the surgery, can obtain the sensation through the collision of hand and surgical instruments and patient's flesh, and after the doctor carries out a large amount of surgeries, because the accumulation of sense of touch experience, can form valuable hand sensation, feel is good to going on of surgery, plays very big effect usually. However, when minimally invasive surgery is performed on a patient using a conventional minimally invasive surgical robot system, since a doctor does not make direct contact with the patient, all the procedures are performed by a surgical robot. In the whole operation process, a doctor can only obtain limited information resources including auditory sense, visual sense and the like, and the doctor determines the specific action of the mechanical arm according to judgment by combining the obtained auditory sense and visual sense information.
Every action of a doctor is finished by means of vision, so that the operation finishing time of the doctor is greatly delayed, the attention of the doctor is increased, the error probability of the doctor is increased, and the operation risk is improved. Therefore, it is very important for the surgeon to know and control whether the force applied by the surgical instrument tip is appropriate that the surgeon can obtain the feedback force from the force applied by the surgical instrument tip in real time by the finger controlling the operation platform.
Disclosure of Invention
At least one embodiment of the present invention provides a force feedback method applied to a force feedback system including a master end and a slave end configured to move under control of the master end; the force feedback method comprises the following steps: acquiring an active end sensing force applied to an active end; acquiring a driven end sensing force from a driven end, wherein the driven end sensing force is an effective acting force applied to the target object by the driven end; calculating to obtain driving parameters according to the sensing force of the driving end and the sensing force of the driven end; and controlling a force feedback device connected with the active end to work under the action of the driving parameters so as to generate a feedback force applied to the active end.
For example, an embodiment of the present invention provides a force feedback method, further including: comparing the feedback force obtained by the active end with a target feedback force in real time to judge whether the effective acting force reaches the target acting force; if the feedback force is smaller than the target feedback force, judging that the effective acting force is smaller than the target acting force, and increasing the effective acting force in real time; and if the feedback force is greater than the target feedback force, the effective acting force is reduced in real time until the effective acting force reaches the target acting force according to the judgment result that the effective acting force is greater than the target acting force.
For example, in the force feedback method provided by an embodiment of the present invention, the driven end includes a surgical instrument, and the effective acting force is a clamping force applied by a working end of the surgical instrument, or the effective acting force and the clamping force applied by the driven end are in positive correlation; an operator contacts with the active end force sensing device, the active end sensing force is the pressure applied to the active end force sensing device by the operator, and the feedback force is the pressure fed back to the operator by the force feedback device.
For example, in the force feedback method provided by an embodiment of the present invention, the driven end includes a surgical instrument, and the effective acting force is a clamping force applied by a working end of the surgical instrument, or the effective acting force and the clamping force applied by the driven end are in positive correlation; an operator contacts with the active end force sensing device, the active end sensing force is the pressure applied to the active end force sensing device by the operator, and the feedback force is the pressure fed back to the operator by the force feedback device.
For example, in the force feedback method according to an embodiment of the present invention, the calculating the driving parameter according to the driving end sensing force and the driven end sensing force includes: executing a control quantity output in real time according to the following formula according to the driving end sensing force and the driven end sensing force, and obtaining the driving current value according to the control quantity: v pwm = Kp(aF Target clamping force t - F Actual clamping force t) + Kd(aF Target clamping force t - F Actual clamping force t - aF Target clamping force t-1 + F Actual clamping force t-1 ) Wherein V is pwm Representing the control quantity of the output, kp representing the proportional regulation factor, kd representing the control quantity of the outputDifferential adjustment coefficient, a representing target clamping force coefficient, F Target clamping force t Representing the sensed force of the driven end received at time t, F Actual clamping force t Representing the sensed force of the active terminal measured at time t, F Target clamping force t-1 Representing the sensed force of said driven end received at time t-1, F Actual clamping force t-1 Representing the sensing force of the active end measured at the moment t-1, wherein the moment t-1 is before the moment t.
For example, in the force feedback method provided by an embodiment of the present invention, the force feedback transmission device includes a first transmission mechanism and a second transmission mechanism, and the first transmission mechanism is connected to the first motor rotating shaft; the second transmission mechanism extends along the axial direction and is provided with a first end and a second end in the axial direction, the first end of the second transmission mechanism is connected with the first transmission mechanism, and the second end of the second transmission mechanism is connected with the active end force sensing device; the force feedback method comprises the following steps: and driving the first motor rotating shaft to rotate so as to drive the first transmission mechanism to rotate, wherein the second transmission mechanism generates a trend of moving along the axial direction under the driving of the rotation of the first transmission mechanism so as to apply the feedback force to the driving end.
For example, in a force feedback method provided in an embodiment of the present invention, the active end includes: a first active shank and a first connecting member; the first driving handle is provided with a first working surface, a nonzero first included angle is formed between the first working surface and the axial direction, the driving end force sensing device comprises a first driving end force sensor, the first driving end force sensor is arranged on the first working surface and is configured to sense a first driving end sensing force, and the obtaining of the driving end sensing force comprises obtaining of the first driving end sensing force; a first connecting member connects a second end of the second transmission mechanism and the first driving handle, wherein the second transmission mechanism generates a trend of moving along the axial direction to generate a trend of driving the first driving handle to move through the first connecting member to generate a first feedback force on the first driving handle, and the acquiring the feedback force comprises acquiring the first feedback force; the force feedback method comprises the following steps: decreasing the first included angle to increase the effective acting force in real time; and increasing the first included angle to reduce the effective acting force in real time.
For example, in the force feedback method provided in an embodiment of the present invention, the active end further includes: a second active shank and a second connecting member. The second driving handle is provided with a second working surface, a nonzero second included angle is formed between the second working surface and the axial direction, the driving end force sensing device comprises a second driving end force sensor, the second driving end force sensor is arranged on the second working surface and is configured to sense a second driving end sensing force, and the acquiring of the driving end sensing force further comprises acquiring of the second driving end sensing force; a second connecting member connecting a second end of the second transmission mechanism and the second driving handle, wherein the second transmission mechanism generates a tendency to move along the axial direction to generate a tendency to drive the second driving handle to move through the second connecting member to generate a second feedback force on the second driving handle, and the acquiring the feedback force further comprises acquiring the second feedback force; the force feedback method comprises the following steps: decreasing the second included angle to increase the effective acting force in real time; and increasing the second included angle to reduce the effective acting force in real time.
For example, an embodiment of the present invention provides a force feedback method, further including: a driving handle shaft rotates around the axial direction to drive the driven end to move, the handle shaft extends along the axial direction and is connected with the first driving handle and the second driving handle; the handle shaft comprises a cavity extending along the axial direction, the second end of the second transmission mechanism is connected with the handle shaft and is positioned in the cavity, and the second transmission mechanism generates a trend of moving along the axial direction in the cavity under the driving of the rotation of the first transmission mechanism so as to generate the first feedback force and/or the second feedback force.
For example, an embodiment of the present invention provides a force feedback method, wherein the first transmission mechanism is a first gear that rotates around a rotation axis perpendicular to the axial direction; the second transmission mechanism comprises a rack extending along the axial direction and a guide rod extending along the axial direction; the first end of the rack is meshed with the first gear, the first end of the guide rod in the axial direction is connected with the second end of the rack, the second end of the guide rod in the axial direction is used as the second end of the second transmission mechanism and is connected with the handle shaft, and the guide rod is located in the cavity and moves in the cavity under the driving of the rotation of the first transmission mechanism.
For example, in the force feedback method provided by an embodiment of the present invention, the first driving handle has a first end and a second end in the axial direction, the first end of the first driving handle is movably connected to the handle shaft, the second end of the first driving handle is movably connected to the second end of the second transmission mechanism through the first connection member, and the first included angle is an included angle between the first working surface and the axis of the handle shaft; the second initiative handle is in first end and second end have in the axial, the first end of second initiative handle with handle axle swing joint, the second end of second initiative handle passes through the second connecting elements with second drive mechanism's second end swing joint, the second contained angle is the second working face with the contained angle of the axis of handle axle.
For example, an embodiment of the present invention provides a force feedback method, including: changing the first active end sensing force to enable the first active handle to move so as to change the first included angle, and/or changing the second active end sensing force to enable the second active handle to move so as to change the second included angle, wherein the second transmission mechanism moves along the axial direction under the driving of the movement of the first active handle and/or the second active handle; the force feedback method further comprises: and controlling the motion of the driven end according to the axial movement distance of the second transmission mechanism so as to adjust the effective acting force to the target acting force.
For example, an embodiment of the present invention provides a force feedback method, further including: measuring a distance that the second transmission mechanism moves in the axial direction and outputting the distance as a driven end target amount; and controlling the motion of the driven end according to the driven end target amount to adjust the effective acting force to a target acting force.
For example, in the force feedback method provided by an embodiment of the present invention, the driven end target amount includes at least one of the changed first included angle, the changed second included angle, the changed included angle between the first working surface and the second working surface, a change amount of the first included angle, a change amount of the second included angle, and a change amount of the included angle between the first working surface and the second working surface.
For example, an embodiment of the present invention provides a force feedback method, further including: measuring and outputting an angular displacement result of the handle shaft rotating around the axial direction; and controlling the driven end to move to a target position according to the angular displacement result.
For example, in the force feedback method provided in an embodiment of the present invention, the force feedback system further includes: a second motor, a second gear and a third gear. The second motor is provided with a second motor rotating shaft; the second gear is connected with the second motor rotating shaft; the third gear is fixed on the handle shaft and is meshed with the second gear; the force feedback method further comprises: the second motor rotating shaft is driven to rotate to drive the second gear to rotate around the extending direction of the second motor rotating shaft, wherein the third gear is driven to rotate by the second gear to drive the handle shaft to rotate around the axial direction.
Drawings
To illustrate the technical solutions of the embodiments of the present invention more clearly, the drawings of the embodiments will be briefly introduced, and it is obvious that the drawings in the following description only relate to some embodiments of the present invention, and are not to limit the present invention.
Fig. 1 is a schematic structural diagram of a master-slave device including a master end and a slave end according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a handle assembly of a master control apparatus including an active end according to an embodiment of the present invention;
FIG. 3 is an enlarged schematic view of the handle assembly of FIG. 2;
FIG. 4 is a schematic diagram of a force feedback system provided in accordance with an embodiment of the present invention;
FIG. 5 is a first schematic diagram of the active end and the force feedback device of a force feedback system according to an embodiment of the present invention;
FIG. 6 is a second schematic diagram of the active end and the force feedback device of the force feedback system according to an embodiment of the present invention;
FIG. 7 is a cross-sectional view of the active end and force feedback device of a force feedback system according to an embodiment of the present invention;
FIG. 8 is a schematic view of a displacement sensor of a force feedback system according to an embodiment of the present invention;
fig. 9 is a schematic diagram of a surgical robotic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and in the claims of the present application does not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. "inner", "outer", "upper", "lower", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
The drawings in the present application are not necessarily to scale, and the exact dimensions and quantities of the various features may be determined according to actual needs. The drawings described in this disclosure are for illustrative purposes only.
Although the current surgical robot obtains the feedback of the force applied from the end of the surgical instrument, i.e. the thrust force applied to the handle operated by the doctor, the current surgical robot has the following two disadvantages that the force fed back by the master hand to the human hand is indirectly controlled by the motor current: 1. because the force transmission process from the motor output shaft to the handle is long, friction and damping exist in each moving part in the force transmission process, so that the pressure at the handle is distorted; 2. the torque output by the motor is controlled by the current on the armature, and the motor current is very weak, so that the error in the detection and control of the current causes a large error in the feedback force obtained at the handle.
In addition, because the reaction force feedback generated at the handle and sensed by the finger surface of the doctor is transmitted to the handle by the transmission part, the structure of a plurality of force feedback structures is complex, the output force is inaccurate, and because a large amount of friction and damping exist and the nonlinearity of motion resolving exists, for example, the force which is output by the motor and is converted to the hand at the handle is greatly different from the real value.
At least one embodiment of the present invention provides a force feedback system, comprising: the device comprises an active end, a control system and a force feedback device. The active end comprises an active end force sensing device configured to obtain an active end sensing force applied by the active end; the driving end is configured to move under the control of the driving end and comprises a driven end force sensing device, the driven end force sensing device is configured to obtain a driven end sensing force from the driven end, and the driven end sensing force is an effective acting force applied to the target object by the driven end; the control system is configured to receive the driving end sensing force and the driven end sensing force and calculate to obtain a driving parameter according to the driving end sensing force and the driven end sensing force; the force feedback device is in signal connection with the control system, is in connection with the active end, and is configured to operate under the action of the driving parameters to generate a feedback force applied to the active end.
At least one embodiment of the invention also provides a surgical robotic device comprising any one of the force feedback systems provided by embodiments of the invention.
At least one embodiment of the present invention also provides a force feedback method applied to a force feedback system including a master end and a slave end, the slave end being configured to move under the control of the master end; the force feedback method comprises the following steps: acquiring an active end sensing force applied to an active end; acquiring a driven end sensing force from a driven end, wherein the driven end sensing force is an effective acting force applied to the target object by the driven end; calculating to obtain driving parameters according to the sensing force of the driving end and the sensing force of the driven end; and controlling a force feedback device connected with the active end to work under the action of the driving parameters so as to generate a feedback force applied to the active end.
Exemplarily, fig. 1 is a schematic structural diagram of a master-slave device including a master end and a slave end according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a handle assembly of a master control device including an active end according to an embodiment of the present invention. As shown in fig. 1, the force feedback system provided in the embodiment of the present invention may be applied to a master slave device, where the master slave device according to the embodiment of the present invention includes a master control apparatus 100 and a controlled apparatus 200; the master control device 100 comprises a handle assembly 110, wherein the handle assembly 110 comprises a bracket and a handle 112 rotatably connected with the bracket; the controlled device 200 is in signal connection with the master control device 100 and comprises an actuator 210, wherein the actuator 210 can rotate around the instrument axis A1; the carriage includes a plurality of rotatable joints, and the actuator 210 rotates about the instrument axis A1 in response to rotation of the handle 112 relative to the carriage and/or rotation of the plurality of joints of the carriage; and handle 112 has a first rotation control that controls the rotation of actuator 210 about instrument axis A1.
For example, referring to fig. 1 and 2, the master control device includes a workspace 130 and a crossbar 120, with the handle assembly 110 disposed within the workspace 130. An arm of a user 140 (e.g., a physician) rests on the cross-beam 120 to manipulate the handle assembly 110 disposed in the workspace 130. For example, two handle assemblies 110 with the same structure are arranged in the working space 130 of the main control device, and the two handle assemblies 110 are respectively operated by the left hand and the right hand of the user 140; only one handle assembly 110 is shown in fig. 2, and the other handle assembly 110 is identical in structure to the handle assembly 110 shown in fig. 2 and will not be described again. For example, a viewer (not shown) is also disposed in the working space 130 of the master device, and the user 140 can observe real-time conditions at the controlled device (e.g., real-time surgical conditions at the surgical site) through the viewer and manipulate the handle assembly 110 based on the observation result.
Referring to fig. 2, the control end for user control of the motion of the driven end according to the embodiment of the present invention has 7 rotatable joints, which are joint 111J1, joint 111J2, joint 111J3, joint 111J4, joint 111J5, joint 111J6, and joint 111J7, respectively; at the joint 111J1, the integration seat 102 is rotatably connected to the mount 101 so that the integration seat 102 is rotatable about the first axis S1; at joint 111J2, the first end of the first arm 103 is rotatably connected to the integration base 102, so that the first arm 103 is rotatable about the second axis S2; at joint 111J3, the first end of the second arm 104 is rotatably connected to the second end of the first arm 103, such that the second arm 104 is rotatable about the third axis S3; at joint 111J4, the handle assembly 106 is rotatably connected to the second end of the second arm 104 such that the handle assembly 106 is rotatable about the fourth axis S4; handle assembly 106 includes joint 111J5, joint 111J6, and joint 111J7. The manipulator according to the embodiment of the present invention includes 7 rotatable joints as described above, so that the manipulator has 7 degrees of freedom, has a very high degree of flexibility, is convenient for the user 140 to manipulate, and can follow any hand motion of the user 140. The user 140 operates the manipulator, and the 7 joints of the manipulator rotate, so that the position and the posture of the manipulator change, and the actuator 210 on the controlled device 200 correspondingly moves along with the change of the position and the posture of the manipulator. It should be noted that when the user 140 operates the manipulator, the 7 joints rotate simultaneously, or one of the 7 joints rotates while the other joint does not rotate. For example, the first axis S1 intersects the second axis S2 and intersects the third axis S3. For example, the first axis S1 is perpendicular to the second axis S2, perpendicular to the third axis S3, and parallel to the fourth axis S4; thus, the second and third axes S2, S3 are parallel, and the fourth axis S4 is perpendicular to the second and third axes S2, S3, respectively.
Fig. 3 is an enlarged schematic view of the handle assembly of fig. 2. Referring to fig. 1, 2 and 3, the handle assembly 106 of the manipulator includes joints 111J5, 111J6, 111J7 and a handle 112; at joint 111J5, at least a portion of handle assembly 106 is rotatable about fifth axis S5; at joint 111J6, at least a portion of handle assembly 106 is rotatable about sixth axis S6; at joint 111J7, handle 112 is rotatable about seventh axis S7; the fifth axis S5, the sixth axis S6 and the seventh axis S7 are perpendicular to each other and may intersect at a point. For example, the handle assembly further includes a manual member 113 rotatably coupled to the handle 112 and a rotation controller 112C1 provided on the handle 112. For example, the manual member 113 is a member that the finger of the user 140 directly contacts. For example, a finger ring 114 is further provided on the hand member 113 for fixing the finger of the user 140. For example, the handle assembly 106 includes two hand members 113 as described above and two finger loops 114 as described above. For example, rotation controller 112C1 is used to control the rotation of actuator 210 (e.g., the rotation of actuator 210 about its elongated actuation axis 210S). For example, in practice, the thumb of the user 140 is inserted into the left finger ring 114 and controls the left hand-operated member 113, the middle finger of the user 140 is inserted into the right finger ring 114 and controls the right hand-operated member 113, and the other fingers of the user 140, such as the index finger, can flexibly and conveniently control the rotation controller 112C1. For example, the manual member 113 includes a first end and a second end opposite to each other in an extending direction thereof, and the first end is rotatably connected to the handle 112 to move the second end closer to or away from the handle 112. For example, a finger of the user 140 presses the hand member 113, a first end of the hand member 113 rotates inward relative to the handle 112, and a second end of the hand member 113 moves closer to the handle 112; the fingers of the user 140 drag the hand member 113 outwardly by the finger loops 114, a first end of the hand member 113 rotates outwardly relative to the handle 112, and a second end of the hand member 113 moves away from the handle 112.
For example, the mount 101 is fixedly connected to the table 130 of the main control device 100 to mount the robot to the table 130 of the main control device 100. For example, the integration socket 102 has electrical components integrated thereon, such as motors, encoders, current sensors (not shown), etc., required for the operation of the robot.
Illustratively, fig. 4 is a schematic diagram of a force feedback system provided by an embodiment of the present invention. As shown in fig. 4, the force feedback system 10 provided by the embodiment of the present invention includes: the system comprises a driving end 01, a driven end 02, a control system 03 and a force feedback device 04. The active end 01 comprises an active end force sensing device A, and the active end force sensing device A is configured to acquire an active end sensing force applied to the active end 01; the driven end 02 is configured to move under the control of the active end 01, for example, the force feedback system 10 may be applied in a surgical device, with the driven end 02 being configured to perform a surgical procedure under the control of the active end 01. The driven end 02 includes a driven end force sensing device B configured to acquire a driven end sensing force from the driven end 02, which is an effective force applied by the driven end 02 to the target object. For example, the control system 03 is configured to receive the master and slave sensing forces and calculate drive parameters from the master and slave sensing forces; the force feedback device 04 is in signal connection with the control system 03, for example, the signal connection of the force feedback device 04 with the control system 03 may be a wired signal connection or a wireless signal connection. And, the force feedback device 04 is connected with the active end 01 and configured to operate under the action of the driving parameters to generate a feedback force applied to the active end 01.
The feedback force is the force transmitted to the driving end 01 according to the sensing force of the driven end from the driven end 02, and can reflect the force sensed by the driven end, namely the magnitude of the effective acting force. The force feedback system can obtain real-time feedback force, so that a user of the force feedback system can judge whether the effective acting force of the driven end meets the requirement or not in real time according to the feedback force in the process of controlling the operation of the driving end to the driven end, and the operation index can be better controlled.
The force feedback system provided by the invention can be applied to the fields and scenes of various force feedback requirements. For example, the target object may be a target tissue of a living being, such as a human or an animal, and the effective force of the driven end is a holding or cutting force of an end effector (e.g., a clamp, a cutting blade, etc.) of the surgical instrument against the target tissue during a surgical procedure. For example, the force feedback system 10 is applied to a surgical device, and an operator (e.g., a doctor) can press the active end force sensing device a with a finger of the operator, so that the active end force sensing device a obtains a pressure applied by the finger of the operator on the active end 01 as an active end sensing force, and the operator can control the sensed feedback force by adjusting the size of the active end sensing force.
For example, the target object may be a non-biological object, such as a raw material of a component of a precision machine or an intermediate product in a machining process, and the effective force from the driven end is a clamping force or a cutting force for the material of the component or the intermediate product in the machining process of the component of the precision machine.
The term "effective force" herein means: the force exerted by the driven end on the target object, or a force having a mathematical relationship in value with the force exerted by the driven end on the target object, for example a positive, e.g. linear, relationship with the force exerted by the driven end on the target object, for example proportional. For example, the effective force may be a clamping force or a cutting force or the like, preferably a clamping force, applied by the driven end to the target object. For example, the target object may be a target tissue of a living body such as a human or an animal, and the scheme can meet the requirement of the end of the surgical actuator on the clamping force or the cutting force of the target tissue in the surgical process, or meet the requirement on the clamping force or the cutting force when any other target object is subjected to clamping operation.
In the force feedback system 10 provided in the embodiment of the present invention, the active end force sensing device a is used as a force feedback element, and the control system 03 and the force feedback device 04 are combined to obtain a feedback force, so that the force feedback can be achieved by directly measuring an acting force applied by a finger of an operator to the active end 01, for example, a pressure applied when the operator presses the active end force sensing device, by the active end force sensing device a, and the effective acting force of the slave end is adjusted to a target value, for example, a target pressure value, in real time according to the feedback force, so that external interference can be avoided, the feedback force does not need to be calculated by detecting other quantities, and the problems of distortion and inaccuracy of the obtained force feedback are solved. The target pressure value is a pressure value at which the effective acting force of the driven end reaches a target value.
For example, referring to fig. 4 and 1, driven end 02 includes an actuator 210, e.g., actuator 210 is a surgical instrument, e.g., a clamp for clamping a target tissue, e.g., a surgical forceps, a hemostat, etc., or a scalpel for performing a cut on a target tissue, etc. As mentioned above, for example, the effective force is a clamping force applied by the working end of the surgical instrument to the target tissue, or the effective force is a force having a positive mathematical relationship with the clamping force applied by the driven end 02, for example a positive relationship, for example a linear relationship, with the force applied by the driven end to the target object. The operator contacts the active end force sensing device A, the active end sensing force is the pressure applied to the active end force sensing device A by the operator, and the feedback force is the pressure fed back to the operator by the force feedback device 04.
FIG. 5 is a schematic diagram of the active end and the force-feedback device of a force-feedback system according to an embodiment of the present invention, that is, FIG. 5 is a schematic diagram of the active end and the force-feedback device in a portion P of FIG. 2; FIG. 6 is a second schematic diagram of the active end and the force feedback device of the force feedback system according to an embodiment of the present invention; FIG. 7 is a cross-sectional view of the active end and force feedback device of a force feedback system according to an embodiment of the present invention. Referring to fig. 5-7, for example, the force feedback device 04 includes the first electric machine 1 and a force feedback transmission. The first motor 1 is provided with a first motor rotating shaft 1a, the driving parameter is a driving current value Ic, and the value of the working current of the first motor 1 is the driving current value Ic; the force feedback transmission device is connected with the first motor rotating shaft 1a and the driving end force sensing device a of the driving end 01, and the first motor rotating shaft 1a rotates under the action of the driving current value Ic to enable the force feedback transmission device to generate a motion trend so as to apply feedback force to the driving end 01. For example, the rotating shaft 1a of the first motor is directly connected to the force feedback transmission device, so that the output end of the first motor is directly connected to the load (i.e., the force feedback transmission device), and is not connected to the force feedback transmission device through the speed reducer, thereby avoiding excessive loss in the transmission process of the feedback force, and improving the actual degree of the feedback force finally fed back to the driving end 01, which is felt by the operator. The first electric motor 1 is, for example, a direct current motor. The driving end force sensing device A is used as a force feedback element, the first motor 1 is used as a power element, the working current of the first motor 1 is controlled to be a driving current value Ic through the control system 03, therefore, the pressure at the position of the first driving handle 12 is directly controlled by an operator to realize the force feedback, the target acting force of the driven end is adjusted to be a target pressure value in real time according to the feedback force, the first motor runs stably and can run under the action of the driving current value Ic in real time, the driving force feedback transmission device transmits the feedback force to the driving end 01, the force feedback mode is direct and stable, the feedback force does not need to be calculated through detecting other quantities, and the accuracy of the force feedback transmitted to the driving end 01 is improved.
For example, the control system 03 includes a processor, and the processor can calculate a real-time output control amount according to the input driving end sensing force and the driven end sensing force, so as to obtain the driving current value Ic, that is, to control such that the operating current of the first motor is the driving current value Ic. For example, taking the active end sensing force and the active end sensing force as the clamping force as an example, the processor may perform the following formula.
V pwm = Kp(aF Target clamping force t - F Actual clamping force t) + Kd(aF Target clamping force t - F Actual clamping force t - aF Target clamping force t-1 + F Actual clamping force t-1 )
In the above formula, V pwm Representing the control quantity of the output, kp representing a proportional adjustment coefficient, kd representing a differential adjustment coefficient, a representing a target clamping force coefficient, F Target clamping force t Representing the sensed force at the driven end received at time t, F Actual clamping force t Representing the active-end sensing force (e.g. clamping force applied by the operator's hand) measured at time t, F Target clamping force t-1 Representing the sensed force of the driven end received at time t-1, F Actual clamping force t-1 Representing the active-end sensing force (e.g., the clamping force applied by the operator's hand) measured at time t-1. With this calculation method, the operation is simple, the distortion of the output control amount can be reduced to reduce the distortion of the drive current value Ic, and the distortion of the feedback force value to be finally obtained can be reduced.
For example, the control system 03 includes a PD controller, and the PD controller and the operating current of the first motor 1 are controlled to be the driving current value Ic, and there is no integration effect when the PD controller is used to perform the above calculation, so that the calculation is simple and the control robustness is high.
Referring to fig. 5-7, for example, a force feedback actuator includes: a first transmission 31 and a second transmission 32. The first transmission mechanism 31 is connected with the first motor rotating shaft 1a and configured to rotate under the driving of the rotation of the first motor rotating shaft 1 a; the second transmission mechanism 32 extends along the axial direction X and has a first end and a second end in the axial direction X, the first end of the second transmission mechanism 32 is connected with the first transmission mechanism 31, the second end of the second transmission mechanism 32 is connected with the active end force sensing device a, and the second transmission mechanism 32 is configured to generate a tendency of moving along the axial direction X under the driving of the rotation of the first transmission mechanism 31 so as to apply a feedback force to the active end 01. For example, the first transmission mechanism 31 is directly connected to the first motor rotating shaft 1a, so that the output end of the first motor is directly connected to the first transmission mechanism 31, and is not connected to the first transmission mechanism 31 through a speed reducer, thereby avoiding excessive loss in the transmission process of the feedback force, and improving the true degree of the feedback force finally fed back to the active end 01 to be felt by an operator. The force feedback transmission device is simple in structure, and the force feedback transmission device is combined with the first motor 1 and the driving end force sensing device A to transmit the feedback force to the driving end 01, so that friction and damping in the force transmission process can be reduced, and the accuracy of the feedback force is improved.
Referring to fig. 5 to 7, for example, the active end 01 includes: a first driving shank 12 and a first connecting member 51. The first driving handle 12 has a first working surface 121, the first working surface 121 has a non-zero first included angle with the axial direction X, the driving end force sensing device includes a first driving end force sensor 13, the first driving end force sensor 13 is disposed on the first working surface 121 and configured to sense a first driving end sensing force, for example, when an operator's finger can press the first driving end force sensor 13, the sensed first driving end sensing force is a pressure applied to the first driving end force sensor 13 by the operator's finger, and the driving end sensing force includes the first driving end sensing force; the first connecting member 51 connects the second end of the second transmission mechanism 32 and the first driving handle 12, the second transmission mechanism 32 generates a tendency to move along the axial direction X to generate a tendency to drive the first driving handle 12 to move through the first connecting member 51 to generate a first feedback force on the first driving handle 12, and the operator presses the finger on the first driving end force sensor 13 to feel the first feedback force, which includes the first feedback force. Therefore, the feedback force is transmitted to the first driving handle 12 through the second transmission mechanism 32 and the first connecting member 51, the structure is simple, the operation is reliable, the friction and the damping existing in the force transmission process can be reduced, and the accuracy of the feedback force is improved.
For example, the first active tip force sensor 13 is a contact pressure membrane sensor. The contact pressure film sensor is used as a force feedback element, and the first motor 1, for example, a direct current motor, is used as a power element, so that the force feedback at the position of the first driving handle 12 is realized by directly controlling the pressure at the position of the first driving handle 12 by an operator. Thus, the pressure fed back to the fingers of the operator is obtained by detecting the pressure applied to the pressure-sensitive material, and the control system 03 controls the working current of the first motor 1 to be the driving current value Ic, so as to obtain the first feedback force, so that the effective acting force is adjusted to the target pressure value in real time according to the pressure of the first feedback force on the first driving handle 12, namely the sensing force of the first driving end, and the target pressure value refers to the pressure value when the effective acting force of the driven end reaches the target value. The pressure-sensitive material used for the sensing sheet of the first active end force sensor 13 is not affected by an external electric field and a magnetic field in the working process, the pressure of the finger fed back to the operator is obtained by directly measuring the pressure applied to the first active end force sensor 13 by the finger surface of the operator, the external interference can be avoided, the feedback force does not need to be calculated by detecting other quantities, and the problems of distortion and inaccuracy of the obtained force feedback are solved.
Referring to fig. 5-7, for example, the active end 01 further includes a second active handle 20, the second active handle 20 has a second working surface 201, the second working surface 201 has a second non-zero included angle with the axial direction X, the active end force sensing device a includes a second active end force sensor 22, the second active end force sensor 22 is disposed on the second working surface 201 and configured to sense a second active end sensing force, and the active end sensing force includes a second active end sensing force; for example, the active tip sensing force is an average of the first active tip sensing force and the second active tip sensing force. The second connecting member 52 connects the second end of the second transmission mechanism 32 and the second driving shaft 20, and the second transmission mechanism 32 generates a tendency to move along the axial direction X to generate a tendency to drive the second driving shaft 20 to move through the second connecting member 52 to generate a second feedback force on the second driving shaft 20, wherein the feedback force further comprises the second feedback force.
For example, the second active tip force sensor 22 is a contact pressure membrane sensor. The contact pressure film sensor is used as a force feedback element, and the first motor 1, for example, a direct current motor, is used as a power element, so that the force feedback at the active handle is realized by directly controlling the pressure at the second active handle 20 by an operator. In this way, the pressure of the finger fed back to the operator is obtained by detecting the pressure applied to the pressure-sensitive material, and the control system 03 controls the working current of the first motor 1 to be the driving current value Ic, so as to obtain the second feedback force, so as to adjust the effective acting force to the target pressure value in real time according to the pressure of the second feedback force on the driving handle, i.e. the sensing force of the second driving end, where the target pressure value refers to the pressure value when the effective acting force of the driven end reaches the target value. The pressure-sensitive material used for the sensing sheet of the second active end force sensor 22 is not affected by an external electric field and a magnetic field in the working process, and the pressure of the finger fed back to the operator is obtained by directly measuring the pressure applied to the second active end force sensor 22 by the finger surface of the operator, so that the external interference can be avoided, the feedback force does not need to be calculated by detecting other quantities, and the problems of distortion and inaccuracy of the obtained force feedback are solved.
Referring to fig. 5-7, for example, force feedback system 10 further includes a handle shaft 17, handle shaft 17 extending along an axial direction X, coupled to both first and second drive tangs 12 and 20, and configured to rotate about axial direction X to drive movement of driven end 02. In connection with fig. 1, for example, driven end 02 includes, for example, a surgical instrument (i.e., actuator 210) having an end effector 021a, handle shaft 17 is configured to rotate about axial direction X to control movement of end effector 021a in one dimension, for example, to drive rotation of the surgical instrument (i.e., actuator 210) about instrument axis A1, to control the pose of the surgical instrument, and to control the position of end effector 021 a. The handle shaft 17 is rotatable in response to movement of the operator's hand to control movement of the surgical instrument. For example, the driven end also includes a robotic arm, and the surgical instrument is coupled to a working end of the robotic arm. For example, the handle shaft 17 includes a cavity extending along the axial direction X, and the second end of the second transmission mechanism 32 is connected to the handle shaft 17, located in the cavity, and configured to move along the axial direction X in the cavity under the driving of the rotation of the first transmission mechanism 31. For example, the first transmission mechanism 31 is a first gear that rotates about a rotation axis perpendicular to the axial direction X; the second transmission mechanism 32 includes a rack 6 extending in the axial direction X and a guide rod 15 extending in the axial direction X; the first end of the rack 6 is meshed with the first gear, the first end of the guide rod 15 in the axial direction X is connected with the second end of the rack 6, the second end of the guide rod 15 in the axial direction X is connected with the handle shaft 17 as the second end of the second transmission mechanism 32, and the guide rod 15 is located in the cavity and is configured to generate a trend of moving in the axial direction in the cavity under the driving of the rotation of the first transmission mechanism 31 so as to generate a first feedback force and/or a second feedback force, so that the guide rod can move in the axial direction X in the cavity under the driving of the rotation of the first transmission mechanism 31. For example, the handle shaft 17 is the same component as the handle 112 in fig. 3, so that the handle 112 for controlling the rotation of the actuator 210 is connected with the second transmission mechanism of the force feedback device to achieve the effect of force feedback, the structure of the force feedback system is simplified, and the mechanical structure experienced during the transmission process of the feedback force is reduced, thereby facilitating the stability and accuracy of the force feedback.
Referring to fig. 5-7, for example, the first driving handle 12 has a first end and a second end in the axial direction X, the first end of the first driving handle 12 is movably connected to the handle shaft 17 to be capable of rotating relative to the handle shaft 17, for example, the first end of the first driving handle 12 is movably connected to the handle shaft 17 through a first hinge member 16, for example, the first hinge member 16 is a first hinge; the second end of the first driving handle 12 is movably connected with the second end of the second transmission mechanism 32 through a first connecting member 51 so as to be capable of rotating relative to the second transmission mechanism 32, for example, the movable connection is an articulated connection; the first included angle is an included angle between the first working surface 121 and the axis of the handle shaft 17; the second driving handle 20 has a first end and a second end in the axial direction X, the first end of the second driving handle 20 is movably connected with the handle shaft 17 to be capable of rotating relative to the handle shaft 17, for example, the first end of the second driving handle 20 is movably connected with the handle shaft 17 through a second hinge 18, for example, the second hinge 18 is a second hinge; the second end of the second driving handle 20 is movably connected to the second end of the second transmission mechanism 32 through a second connecting member 52, and the second included angle is an included angle between the second working surface 201 and the axis of the handle shaft 17. As such, it is possible to achieve a transmission of the first force feedback through the first connecting member 51 to the first active handle 12 to be felt by the finger of the operator pressing the first active handle 12, and a transmission of the second force feedback through the second connecting member 52 to the second active handle 20 to be felt by the finger of the operator pressing the second active handle 20.
For example, a first end of the handle shaft 17 in the axial direction is movably connected with a first end of the first driving handle 12; for example, the first motor 1, the first transmission mechanism 31, the second motor 2, the second gear 5 and the third gear 7 are located on the side of the whole of the first driving handle 12 and the second driving handle 20 away from the first end of the handle shaft 17, that is, on the side of the handle shaft 17 in the axial direction away from the first driving handle 12 and the second driving handle 20, so as to utilize the space of the region of the handle shaft 17 away from the operator to provide the force feedback device 04 and a part of the force feedback transmission device; meanwhile, the second end of the second transmission mechanism 32 is connected with the handle shaft 17, is positioned in the cavity and is configured to move along the axial direction X in the cavity under the driving of the rotation of the first transmission mechanism 31, so that the space is fully utilized, the structure of the force feedback system is compact, and the operation of the operator on the first driving handle 12 and the second driving handle 20 to control the work of the driven end is not hindered.
For example, the first connecting member 51 includes a first link 11, a first hinge 10, and a second hinge 14. The first end of the first connecting rod 11 is hinged with the second end of the second transmission mechanism 32 through the first hinge 10, and the second end of the first connecting rod 11 is hinged with the second end of the first driving handle 12 through the second hinge 14. The second connecting member 52 includes a second link 21, a third hinge 19, and a fourth hinge 23. The first end of the second connecting rod 21 is hinged with the second end of the second transmission mechanism 32 through a third hinge 19, and the second end of the second connecting rod 21 is hinged with the second end of the second driving handle 20 through a fourth hinge 23. Of course, the specific structure of the first and second connecting members is not limited to the above example, and the movable connection manner of the first and second connecting members with the second transmission mechanism 32 is not limited to the hinge connection, as long as the above transmission function of the first and second connecting members to transmit the feedback force can be achieved.
For example, changing the first active tip sensing force to move the first active handle 12 to change the first included angle, and/or changing the second active tip sensing force to move the second active handle 20 to change the second included angle; the force feedback system 10 further comprises a driven end adjusting device 05, the driven end adjusting device 05 being connected to the driven end 02 and configured to control the movement of the driven end 02 depending on the distance the second transmission 32 moves in the axial direction X to adjust the effective force to a target force, for example, the target pressure value described above. In this way, the operator can judge whether the magnitude of the sensing force of the driven end needs to be further adjusted according to the magnitude of the feedback force so as to adjust the effective acting force to the target acting force in real time and meet the requirement of the effective acting force from the driven end which needs to be changed in real time. For example, the second transmission mechanism 32 moves in the axial direction X by a distance corresponding to the displacement of the second transmission mechanism 32 in the axial direction X relative to the housing 9, and the housing 9 is fixed.
If the feedback force is smaller than the target feedback force, the judgment result is as follows: the effective force is less than the target force. At this time, the operator may further press the first active end force sensor 13, that is, increase the first active end sensing force, so as to move the first active handle 12 to decrease the first included angle. If the feedback force is greater than the target feedback force, the operator can decrease the first included angle by decreasing the degree of pressing the first active end force sensor 13, i.e., increasing the first active end sensing force, so that the first active handle 12 moves. And/or the operator may decrease the second included angle by further depressing the second active tip force sensor 22, i.e., increasing the second active tip sense force, to move the second active handle 20. Accordingly, the second transmission mechanism 32 moves in the axial direction X under the driving of the movement of the first driving handle 12, and the distance of the second transmission mechanism 32 moving in the axial direction X can be measured, so that the driven end adjusting device 05 controls the movement of the driven end 02 according to the distance of the second transmission mechanism 32 moving in the axial direction X to increase the effective acting force.
If the feedback force is larger than the target feedback force, the judgment result is as follows: the effective force is greater than the target force. At this time, the operator may decrease the pressing degree of the first driving end force sensor 13, that is, decrease the first driving end sensing force, so as to move the first driving handle 12 to increase the first included angle. And/or, the operator may increase the second included angle by decreasing the degree of depression of the second active tip force sensor 22, i.e., decreasing the second active tip sensing force, to move the second active handle 20. Accordingly, the second transmission mechanism 32 moves in the axial direction X under the driving of the movement of the first driving handle 12, and the distance of the second transmission mechanism 32 moving in the axial direction X can be measured, so that the driven end adjusting device 05 controls the movement of the driven end 02 according to the distance of the second transmission mechanism 32 moving in the axial direction X to reduce the effective acting force.
In this way, the operator can judge whether the magnitude of the sensing force of the driven end needs to be further adjusted according to the magnitude of the feedback force until the effective acting force is adjusted to the target acting force in real time, and the requirement of the effective acting force from the driven end, which needs to be changed in real time, is met.
For example, the operator may determine whether the first feedback force and the second feedback force are appropriate at this time according to the magnitudes of the first feedback force and the second feedback force received by the hand feeling; alternatively, the first active end force sensor 13 and the second active end force sensor 22 may output the real-time first feedback force and the real-time second feedback force, respectively, and the control system 03 may calculate a value of the real-time feedback force, and output the calculated real-time feedback force, and the operator may determine whether the magnitudes of the first feedback force and the second feedback force are appropriate by the output first feedback force and second feedback force or the value of the feedback force.
For example, the operator may independently control the movement of the first and second active handles 12, 20 based on the magnitude of the first and second feedback forces, respectively, i.e., the control of the movement of the first and second active handles 12, 20 is uncoupled, i.e., the control of increasing or decreasing the magnitude of the first and second feedback forces is independent, uncoupled. For another example, the operator may perform the operation of simultaneously increasing or simultaneously decreasing the magnitude of the first feedback force and the magnitude of the second feedback force according to the magnitude of the feedback force obtained by averaging the magnitude of the first feedback force and the magnitude of the second feedback force. In this way, the need for more complex and multiple effective forces from the driven end can be met.
In addition, the operator can control the position and the movement speed of the driven end while the operator adjusts the target acting force applied by the driven end according to the feedback force. Taking the driven end as the clamp as an example, the position of the clamp is controlled by at least one of the above 7 rotatable joints, and the gripping speed of the clamp is controlled by a driven end driving circuit connected with the driven end.
For example, the slave-end force sensing device B includes a slave-end sensor configured to acquire a slave-end sensing force, and when the slave-end 02 moves, for example, the first jaw and the second jaw of the clamp approach each other to close or move away from each other, the slave-end sensing force acquired by the slave-end sensor changes, the slave-end sensor sends the slave-end sensing force to the control system 03 in real time, and the processor of the slave-end sensing force performs the above calculation to obtain the driving current value Ic, thereby achieving real-time adjustment of the target acting force applied by the slave-end.
For example, the control system 03 may include multiple processors that perform different functions as needed. The processor may be implemented by a general-purpose integrated circuit chip or an application-specific integrated circuit chip, for example, the integrated circuit chip may be disposed on a motherboard, and for example, the motherboard may further be disposed with a memory, a power circuit, and the like; further, a processor may also be implemented by circuitry, or in software, hardware (circuitry), firmware, or any combination thereof. In embodiments of the invention, the processor may include various computing architectures such as a Complex Instruction Set Computer (CISC) architecture, a Reduced Instruction Set Computer (RISC) architecture, or an architecture that implements a combination of instruction sets. In some embodiments, the processor may also be a microprocessor, such as an X86 processor or an ARM processor, or may be a Digital Signal Processor (DSP), or the like.
For example, in an embodiment of the present invention, a storage medium may be further disposed on the motherboard, and the storage medium may store instructions and/or data executed by the processor. For example, the storage medium may store the driving end sensing force and the driven end sensing force collected by the driving end force sensing device and the driven end force sensing device, and store the calculated driving current value Ic, the first angle and the second angle, and the like. The information stored in the storage medium can be called as needed to implement desired functions.
For example, a storage medium may include one or more computer program products that may include various forms of computer-readable memory, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, read Only Memory (ROM), magnetic disks, optical disks, semiconductor memory (e.g., flash memory, etc.), and so forth. On which one or more computer program instructions may be stored which may be executed by a processor to implement the desired functionality of embodiments of the invention (as implemented by the processor).
Referring to fig. 5 to 7, for example, the force feedback system 10 further includes a displacement sensor 4, the displacement sensor 4 is connected to the second transmission mechanism 32, and is configured to measure a distance that the second transmission mechanism 32 moves in the axial direction X and output the distance as a driven-end target amount, and the driven-end adjusting device 05 is configured to control the movement of the driven end 02 according to the driven-end target amount to adjust the effective acting force to the target acting force.
For example, the driven end target amount includes at least one of a changed first angle, a changed second angle, a changed angle between the first working surface 121 and the second working surface 201, a changed amount of the first angle, a changed amount of the second angle, and a changed amount of the angle between the first working surface 121 and the second working surface 201.
Fig. 8 is a schematic diagram of a displacement sensor of a force feedback system according to an embodiment of the present invention. With reference to fig. 5-7 and 8, the displacement sensor 4 is, for example, a linear displacement sensor 4, for example, a sliding rheostat. For example, the displacement sensor 4 is fixed to a base (not shown) to fix the displacement sensor 4. For example, the displacement sensor 4 includes a slide rod 41 and a resistive sheet 42; for example, a resistive sheet 42 is fixed to the housing to fix the displacement sensor 4. For example, the rack 6 drives the shift lever through a mechanical structure such as a slot, so that the shift lever and the rack 6 move synchronously.
Of course, the displacement sensor 4 may also be other types of structures that can detect the distance moved in the axial direction X by the second transmission mechanism 32 and output the distance as an electrical signal, for example, a linear grating, a linear magnetic grating, a Linear Variable Differential Transformer (LVDT), an inductive displacement sensor 4, or the like.
For example, the force feedback system 10 further includes an angular displacement measuring mechanism 8, the angular displacement measuring mechanism 8 is disposed on the handle shaft 17 and configured to measure and output an angular displacement result of the handle shaft 17 rotating around the axial direction X, and the driven end adjusting device 05 is connected with the driven end 02 and configured to control the driven end 02 to move to a target position according to the angular displacement result. For example, the driven end adjusting device 05 controls the working angle, the coordinate position, and the like of the actuator 210 of the driven end 02 according to the angular displacement result. Therefore, the technical scheme that the angular displacement measuring mechanism 8 is matched with the handle shaft 17 and the driven end adjusting device 05 is adopted to realize the alignment, the handle shaft 17 is fully utilized to be connected with the force feedback device 04 to realize force feedback, and meanwhile, the actuator 210 is moved to the target position. In the case that the actuator 210 is a surgical instrument and the force feedback system 10 is applied to a surgical device, it is possible to control the working angle, the coordinate position, and the like of the surgical instrument in real time, and control the angle, the coordinate position, and the like of the end effector 021a of the surgical instrument, so as to perform a surgical operation on a target tissue accurately. For example, the angular displacement of the handle shaft 17 about the axial direction X is the angle of rotation of the handle shaft 17 about the axial direction X relative to the housing 9.
For example, the angular displacement measuring mechanism 8 is a rotary encoder, and is a device for measuring the rotation speed and matching with the PWM technology to realize fast speed regulation, and the photoelectric rotary encoder can convert mechanical quantities such as angular displacement and angular velocity of the output shaft into corresponding electric pulses through photoelectric conversion to output the electric pulses as digital quantities (REP).
Referring to fig. 5-7, for example, the force feedback system 10 further includes a second motor 2, a second gear 5, and a third gear 7. The second motor 2 is provided with a second motor rotating shaft 2a; the second gear 5 is connected with the second motor rotating shaft 2a, and the second motor rotating shaft 2a rotates to drive the second gear 5 to rotate around the extending direction of the second motor rotating shaft 2a; the third gear 7 is fixed on the handle shaft 17, is meshed with the second gear 5, and rotates under the driving of the second gear 5 to drive the handle shaft 17 to rotate around the axial direction X. For example, the second gear 5 and the third gear 7 are both bevel gears, that is, the surface provided with the gears is a tapered surface such as a conical surface. For example, the second gear 5 is sleeved on the second motor shaft 2a, and the third gear 7 is sleeved on the handle shaft 17.
The second motor 2 transmits the movement of the second motor rotating shaft 2a to the handle shaft 17 through the second gear 5 and the third gear 7 to control the driving end 01 and the driven end 02 to be consistent with each other when the pose states of the driving end 01 and the driven end 02 are inconsistent. The consistent posture keeping state of the driving end 01 and the driven end 02 means that: the angle, the rotating speed and other parameters of the driving end 01 and the driven end 02 are basically consistent, and the change of the angle, the rotating speed and other parameters of the driving end 01 is consistent with the change of the angle, the rotating speed and other parameters of the driving end 01 controlled by an operator, so that the motion of the driven end can be accurately controlled by the driving end in real time to meet the working requirement of the driven end, such as accurately clamping and cutting a target component, or accurately clamping and cutting a target tissue in the process of performing an operation.
At least one embodiment of the present invention also provides a surgical robotic device 1000, the surgical robotic device 1000 including a force feedback system 10 provided in accordance with at least one embodiment of the present invention.
For example, the surgical robot apparatus 1000 further includes a controlled device 200 (i.e., a surgical operation platform) and a master device 100 (i.e., a surgeon control platform). The controlled device 200 comprises a robotic arm, the working end of which is configured to be connected to the driven end 02, for example to a surgical instrument of the driven end 02; the main control device 100 is connected with the robot arm wirelessly or in a wired manner to control the operation of the robot arm, and the active end 01 is located in the doctor control platform.
At least one embodiment of the invention also provides a force feedback method, which is applied to any one of the force feedback systems provided by the invention. The force feedback method comprises the following steps of Step 1-Step 4.
Step1: acquiring an active end sensing force applied to the active end 01;
step2: acquiring a driven end sensing force from a driven end 02, wherein the driven end sensing force is an effective acting force applied to the target object by the driven end 02;
step3: calculating to obtain a driving parameter according to the driving end sensing force and the driven end sensing force;
step4: and controlling a force feedback device 04 connected with the active end 01 to work under the action of the driving parameters so as to generate a feedback force applied to the active end 01.
By adopting the force feedback method, the real-time feedback force can be obtained, so that a user of the force feedback system can judge whether the target acting force of the driven end meets the requirement or not in real time according to the feedback force in the process of controlling the operation of the driving end to the driven end, and the operation index can be better controlled.
The force feedback method provided by the invention can be applied to the fields and scenes of various force feedback requirements. For example, the target object may be a target tissue of a living body such as a human or an animal, and the effective force of the driven end is a holding force or a cutting force of an end effector (e.g., a clamp, a cutting blade, etc.) of the surgical instrument on the target tissue during a surgical procedure; for example, the target object may be a non-biological object, such as a raw material of a component of a precision machine or an intermediate product in a machining process, and the effective force from the driven end is a clamping force or a cutting force for the material of the component or the intermediate product in the machining process of the component of the precision machine.
For example, the driving parameter in Step3 is the driving current value Ic, and the force feedback method includes: setting the value of the working current of the first motor 1 as the driving current value Ic, and controlling the rotating shaft 1a of the first motor to rotate under the action of the driving current value Ic so as to enable the force feedback transmission device to generate a motion trend and apply the feedback force to the driving end 01.
For example, step3 includes: and executing a control quantity output in real time by using the control system 03 according to the driving end sensing force and the driven end sensing force by using a formula as follows, and obtaining the driving current value Ic according to the control quantity:
V pwm = Kp(aF target clamping force t - F Actual clamping force t) + Kd(aF Target clamping force t - F Actual clamping force t - aF Target clamping force t-1 + F Actual clamping force t-1 ) ，
Wherein, V pwm Representing the control quantity of the output, kp representing a proportional regulation coefficient, kd representing a differential regulation coefficient, a representing a target clamping force coefficient, F Target clamping force t Representing the sensed force of the driven end received at time t, F Actual clamping force t Representing the sensed force of the active terminal measured at time t, F Target clamping force t-1 Representing the sensed force of said driven end received at time t-1, F Actual clamping force t-1 Representing the sensing force of the active end measured at the moment t-1, wherein the moment t-1 is before the moment t.
For example, the force feedback method further includes Step5.
Step5: comparing the feedback force obtained by the active end 01 with the target feedback force in real time to judge whether the effective acting force reaches the target acting force; if the feedback force is smaller than the target feedback force, judging that the effective acting force is smaller than the target acting force, and increasing the effective acting force in real time; and if the feedback force is greater than the target feedback force, the effective acting force is reduced in real time until the effective acting force reaches the target acting force according to the judgment result that the effective acting force is greater than the target acting force. For example, the first angle and/or the second angle is/are decreased to increase the effective acting force in real time; increasing the first and/or second included angles to reduce the effective force in real time.
For example, the first included angle is changed by changing the first active tip sensing force to move the first active handle 12, and/or the second included angle is changed by changing the second active tip sensing force to move the second active handle 20; the force feedback system 10 further comprises a driven end adjusting device 05, the driven end adjusting device 05 being connected to the driven end 02 and configured to control the movement of the driven end 02 depending on the distance the second transmission 32 moves in the axial direction X to adjust the effective force to a target force, for example, the target pressure value described above. In this way, the operator can judge whether the magnitude of the sensing force of the driven end needs to be further adjusted according to the magnitude of the feedback force so as to adjust the effective acting force to the target acting force in real time and meet the requirement of the effective acting force from the driven end which needs to be changed in real time.
If the feedback force is smaller than the target feedback force, the judgment result is as follows: the effective force is less than the target force. At this time, the operator may further press the first active end force sensor 13, that is, increase the first active end sensing force, so as to move the first active handle 12 to decrease the first included angle. If the feedback force is greater than the target feedback force, the operator can decrease the first included angle by decreasing the degree of pressing the first active end force sensor 13, i.e., increasing the first active end sensing force, so that the first active handle 12 moves. And/or the operator may decrease the second included angle by further depressing the second active tip force sensor 22, i.e., increasing the second active tip sense force, to move the second active handle 20. Accordingly, the second transmission mechanism 32 moves in the axial direction X under the driving of the movement of the first driving handle 12, and the distance of the second transmission mechanism 32 moving in the axial direction X can be measured, so that the driven end adjusting device 05 controls the movement of the driven end 02 according to the distance of the second transmission mechanism 32 moving in the axial direction X to increase the effective acting force.
If the feedback force is larger than the target feedback force, the judgment result is as follows: the effective force is greater than the target force. At this time, the operator may decrease the pressing degree of the first driving end force sensor 13, that is, decrease the first driving end sensing force, so as to move the first driving handle 12 to increase the first included angle. And/or, the operator may increase the second included angle by decreasing the degree of depression of the second active tip force sensor 22, i.e., decreasing the second active tip sensing force, to move the second active handle 20. Accordingly, the second transmission mechanism 32 moves in the axial direction X under the driving of the movement of the first driving handle 12, and the distance of the second transmission mechanism 32 moving in the axial direction X can be measured, so that the driven end adjusting device 05 controls the movement of the driven end 02 according to the distance of the second transmission mechanism 32 moving in the axial direction X to reduce the effective acting force.
In this way, the operator can judge whether the magnitude of the sensing force of the driven end needs to be further adjusted according to the magnitude of the feedback force until the effective acting force is adjusted to the target acting force in real time, and the requirement of the effective acting force from the driven end which needs to be changed in real time is met.
For example, the operator may determine whether the first feedback force and the second feedback force are appropriate at this time according to the magnitudes of the first feedback force and the second feedback force received by the hand feeling; alternatively, the first active end force sensor 13 and the second active end force sensor 22 may output the real-time first feedback force and the real-time second feedback force, respectively, and the control system 03 may calculate a value of the real-time feedback force, and output the calculated real-time feedback force, and the operator may determine whether the magnitudes of the first feedback force and the second feedback force are appropriate by the output first feedback force and second feedback force or the value of the feedback force.
For example, the operator may independently control the movement of the first and second active handles 12, 20 based on the magnitude of the first and second feedback forces, respectively, i.e., the control of the movement of the first and second active handles 12, 20 is uncoupled, i.e., the control of increasing or decreasing the magnitude of the first and second feedback forces is independent and uncoupled. For another example, the operator may perform the operation of simultaneously increasing or simultaneously decreasing the magnitude of the first feedback force and the magnitude of the second feedback force according to the magnitude of the feedback force obtained by averaging the magnitude of the first feedback force and the magnitude of the second feedback force. In this way, the need for more complex and multiple effective forces from the driven end can be met.
In addition, the operator can control the position and the movement speed of the driven end while the operator adjusts the target acting force applied by the driven end according to the feedback force. Taking the driven end as the clamp as an example, the position of the clamp is controlled by at least one of the above 7 rotatable joints, and the gripping speed of the clamp is controlled by a driven end driving circuit connected to the driven end.
Other specific methods may be referred to as previously described in relation to embodiments of the force feedback system and will not be repeated here.
The above description is intended to be illustrative of the present invention and is not intended to limit the scope of the invention, which is defined by the appended claims.

Claims (16)

1. A force feedback method is applied to a force feedback system, wherein the force feedback system comprises an active end and a driven end, and the driven end is configured to move under the control of the active end; the force feedback method comprises the following steps:
acquiring an active end sensing force applied to the active end;
acquiring a driven end sensing force from the driven end, wherein the driven end sensing force is an effective acting force applied to a target object by the driven end;
calculating to obtain driving parameters according to the sensing force of the driving end and the sensing force of the driven end; and
and controlling a force feedback device connected with the active end to work under the action of the driving parameters so as to generate a feedback force applied to the active end.
2. The force feedback method of claim 1, further comprising:
comparing the feedback force obtained by the active end with a target feedback force in real time to judge whether the effective acting force reaches the target acting force;
if the feedback force is smaller than the target feedback force, judging that the effective acting force is smaller than the target acting force, and increasing the effective acting force in real time; and if the feedback force is greater than the target feedback force, the effective acting force is reduced in real time until the effective acting force reaches the target acting force according to the judgment result that the effective acting force is greater than the target acting force.
3. The force feedback method of claim 1, wherein the slave end comprises a surgical instrument, the effective force is a clamping force applied by a working end of the surgical instrument, or the effective force is positively correlated with the clamping force applied by the slave end;
an operator contacts with the active end force sensing device, the active end sensing force is pressure applied to the active end force sensing device by the operator, and the feedback force is pressure fed back to the operator by the force feedback device.
4. A force feedback method according to claim 1, wherein said force feedback device comprises a first motor having a first motor shaft and a force feedback actuator, said drive parameter being a drive current value; the force feedback transmission device is connected with the first motor rotating shaft and the driving end force sensing device; the force feedback method comprises the following steps:
and setting the working current value of the first motor as the driving current value, and controlling the rotating shaft of the first motor to rotate under the action of the driving current value so as to enable the force feedback transmission device to generate a movement trend and apply the feedback force to the driving end.
5. The force feedback method of claim 4, wherein said calculating a drive parameter from said active end sensed force and said driven end sensed force comprises:
executing a control quantity output in real time according to the following formula according to the sensing force of the driving end and the sensing force of the driven end, and obtaining the driving current value according to the control quantity:
V pwm = Kp(aF target clamping force t - F Actual clamping force t) + Kd(aF Target clamping force t - F Actual clamping force t - aF Target clamping force t-1 + F Actual clamping force t-1 ) ，
Wherein, V pwm Representing the control quantity of the output, kp representing a proportional regulation coefficient, kd representing a differential regulation coefficient, a representing a target clamping force coefficient, F Target clamping force t Representing the sensed force of the driven end received at time t, F Actual clamping force t Representing the sensed force of the active terminal measured at time t, F Target clamping force t-1 Representing the sensed force of said driven end received at time t-1, F Actual clamping force t-1 Representing the sensing force of the active end measured at the moment t-1, wherein the moment t-1 is before the moment t.
6. The force feedback method of claim 4, wherein the force feedback actuator comprises a first actuator and a second actuator, the first actuator being coupled to the first motor shaft; the second transmission mechanism extends along the axial direction and is provided with a first end and a second end in the axial direction, the first end of the second transmission mechanism is connected with the first transmission mechanism, and the second end of the second transmission mechanism is connected with the active end force sensing device;
the force feedback method comprises the following steps:
and driving the first motor rotating shaft to rotate so as to drive the first transmission mechanism to rotate, wherein the second transmission mechanism generates a trend of moving along the axial direction under the driving of the rotation of the first transmission mechanism so as to apply the feedback force to the driving end.
7. The force feedback method of claim 6, wherein the active end comprises:
the first driving handle is provided with a first working surface, wherein a nonzero first included angle is formed between the first working surface and the axial direction, the driving end force sensing device comprises a first driving end force sensor, the first driving end force sensor is arranged on the first working surface and is configured to sense a first driving end sensing force, and the acquiring of the driving end sensing force comprises acquiring of the first driving end sensing force; and
a first connecting member connecting a second end of the second transmission mechanism and the first driving handle, wherein the second transmission mechanism generates a tendency to move along the axial direction to generate a tendency to drive the first driving handle to move through the first connecting member to generate a first feedback force on the first driving handle, and the acquiring the feedback force comprises acquiring the first feedback force;
the force feedback method comprises the following steps:
decreasing the first included angle to increase the effective acting force in real time; and
increasing the first included angle to decrease the effective force in real time.
8. The force feedback method of claim 7, wherein the active end further comprises:
the second driving handle is provided with a second working surface, a non-zero second included angle is formed between the second working surface and the axial direction, the driving end force sensing device comprises a second driving end force sensor, the second driving end force sensor is arranged on the second working surface and configured to sense a second driving end sensing force, and the acquiring of the driving end sensing force further comprises acquiring of the second driving end sensing force;
a second connecting member connecting a second end of the second transmission mechanism and the second driving handle, wherein the second transmission mechanism generates a tendency to move along the axial direction to generate a tendency to drive the second driving handle to move through the second connecting member to generate a second feedback force on the second driving handle, and the acquiring the feedback force further comprises acquiring the second feedback force;
the force feedback method comprises the following steps:
decreasing the second included angle to increase the effective acting force in real time; and
increasing the second included angle to reduce the effective force in real time.
9. The force feedback method of claim 8, further comprising:
a driving handle shaft rotates around the axial direction to drive the driven end to move, wherein the handle shaft extends along the axial direction and is connected with the first driving handle and the second driving handle; the handle shaft comprises a cavity extending along the axial direction, the second end of the second transmission mechanism is connected with the handle shaft and is positioned in the cavity, and the second transmission mechanism generates a trend of moving along the axial direction in the cavity under the driving of the rotation of the first transmission mechanism so as to generate the first feedback force and/or the second feedback force.
10. The force feedback method of claim 9, wherein the first transmission mechanism is a first gear rotating about a rotation axis perpendicular to the axial direction;
the second transmission mechanism comprises a rack extending along the axial direction and a guide rod extending along the axial direction; the first end of the rack is meshed with the first gear, the first end of the guide rod in the axial direction is connected with the second end of the rack, the second end of the guide rod in the axial direction is used as the second end of the second transmission mechanism and is connected with the handle shaft, and the guide rod is located in the cavity and moves in the cavity under the driving of the rotation of the first transmission mechanism.
11. The force feedback method of claim 9,
the first driving handle is provided with a first end and a second end in the axial direction, the first end of the first driving handle is movably connected with the handle shaft, the second end of the first driving handle is movably connected with the second end of the second transmission mechanism through the first connecting member, and the first included angle is the included angle between the first working surface and the axis of the handle shaft;
the second initiative handle is in first end and second end have in the axial, the first end of second initiative handle with handle axle swing joint, the second end of second initiative handle passes through the second connecting elements with second drive mechanism's second end swing joint, the second contained angle is the second working face with the contained angle of the axis of handle axle.
12. The force feedback method of claim 9, comprising:
changing the first driving end sensing force to enable the first driving handle to move so as to change the first included angle, and/or changing the second driving end sensing force to enable the second driving handle to move so as to change the second included angle, wherein the second transmission mechanism moves along the axial direction under the driving of the movement of the first driving handle and/or the second driving handle;
the force feedback method further comprises:
and controlling the motion of the driven end according to the axial moving distance of the second transmission mechanism so as to adjust the effective acting force to the target acting force.
13. The force feedback method of claim 12, further comprising:
measuring a distance that the second transmission mechanism moves in the axial direction and outputting the distance as a driven end target amount; and
and controlling the motion of the driven end according to the driven end target amount so as to adjust the effective acting force to the target acting force.
14. The force feedback method according to claim 13, wherein the driven end target amount comprises at least one of the changed first included angle, the changed second included angle, the changed included angle between the first working surface and the second working surface, a change amount of the first included angle, a change amount of the second included angle, and a change amount of the included angle between the first working surface and the second working surface.
15. The force feedback method of claim 12, further comprising:
measuring and outputting an angular displacement result of the handle shaft rotating around the axial direction; and
and controlling the driven end to move to a target position according to the angular displacement result.
16. The force feedback method of claim 9, wherein the force feedback system further comprises:
a second motor having a second motor shaft;
the second gear is connected with the rotating shaft of the second motor; and
a third gear fixed on the handle shaft and engaged with the second gear, wherein,
the force feedback method further comprises:
the second motor rotating shaft is driven to rotate to drive the second gear to rotate around the extending direction of the second motor rotating shaft, wherein the third gear is driven to rotate by the second gear to drive the handle shaft to rotate around the axial direction.
CN202211420922.9A 2022-11-15 2022-11-15 Force feedback method Active CN115553930B (en)

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