CN115553930B

CN115553930B - Force feedback method

Info

Publication number: CN115553930B
Application number: CN202211420922.9A
Authority: CN
Inventors: 旷静; 史文勇
Original assignee: Kochi Medical Technology Beijing Co ltd
Current assignee: Kochi Medical Technology Beijing Co ltd
Priority date: 2022-11-15
Filing date: 2022-11-15
Publication date: 2023-04-25
Anticipated expiration: 2042-11-15
Also published as: CN115553930A

Abstract

A force feedback method applied to a force feedback system comprising a master end and a slave end, the slave end configured to move under control of the master end; the force feedback method comprises the following steps: acquiring a driving end sensing force applied by the driving end; acquiring a driven end sensing force from the driven end, wherein the driven end sensing force is an effective acting force applied by the driven end to the target object; calculating to obtain driving parameters according to the driving end sensing force and the driven end sensing force; and controlling a force feedback device connected to the drive end to operate under the drive parameters to generate a feedback force applied to the drive 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 a master controller to tele-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 in a completely different building than the patient). The master controller typically includes one or more manual input devices, such as a joystick, exoskeleton glove or the like, that are connected to the surgical instrument by a servo motor that articulates the instrument at the surgical site. The servo motor is typically part of an electromechanical device or surgical manipulator that supports and controls surgical instruments that have 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, electro-cautery 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.

Traditional surgery involves the removal, suturing, etc. of a patient's body focus with medical instruments by a physician. The operation is carried out on the local part of the human body by using instruments such as a knife, a scissors, a needle and the like, thereby removing pathological tissues, repairing injuries, transplanting organs, improving functions, improving forms and the like. However, in some procedures, the patient is required to suffer from great pain. Compared with the traditional surgical operation, the surgical robot has the advantages of short positioning time, small wound, accurate positioning, reduced human error, capability of replacing medical staff to perform damaging operation and the like.

Surgical robots were developed by the last 20 th century and find particular application in medical surgical practice. In decades so far, surgical robots have been continuously updated. The most widespread current use market place includes mainly the ifer surgical robot, the aeus surgical robot and the da vinci surgical robot.

Taking the da vinci surgical robot system as an example, the current up-to-date da vinci system comprises three parts, namely a doctor console according with human engineering, a patient operation vehicle with four interactive instrument arms, and a video tower integrating a three-dimensional high-definition video system and a special system processor. Wherein the four interacting instrument arms respectively comprise three main instrument arms and one lens arm. The main instrument arm is used for clamping the surgical instrument 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 present system is that: the surgeon cannot obtain a specific surgical tactile sensation on the surgeon's console outside the sterile room. In the conventional normal operation process, a doctor only carries out the surgery by relying on the doctor to hold the surgical instrument, the doctor can obtain the feeling through touching the hands and the surgical instrument with the body of the patient, after a great amount of surgery is carried out, the doctor can form precious hand feeling, namely hand feeling due to the accumulation of touch experience, and the hand feeling plays a very great role in the good performance of the surgery. However, when performing minimally invasive surgery on a patient using a conventional minimally invasive surgical robot system, the doctor does not make direct contact with the patient, but is done by the surgical robot. In the whole operation process, a doctor can only obtain limited information resources including hearing and vision, and the doctor decides specific actions of the mechanical arm according to judgment by combining the obtained hearing and vision information.

Each action of the doctor is required to be finished by vision, so that the operation completion time of the doctor can be greatly delayed, the input energy of the doctor is increased, the error probability of the doctor is increased, and the operation risk is increased. Thus, the ability of a physician controlling the fingers of the operating platform to obtain feedback forces from the forces applied by the distal end of the surgical instrument in real time is important for the physician to know and control whether the forces applied by the distal end of the surgical instrument are appropriate.

Disclosure of Invention

At least one embodiment of the present invention provides a force feedback method applied to a force feedback system comprising a driving end and a driven end configured to move under control of the driving end; the force feedback method comprises the following steps: acquiring a driving end sensing force applied by a driving end; acquiring a driven end sensing force from a driven end, wherein the driven end sensing force is an effective acting force applied by the driven end to the target object; calculating to obtain driving parameters according to the driving end sensing force and the driven end sensing force; and controlling a force feedback device connected to the drive end to operate under the drive parameters to generate a feedback force applied to the drive end.

For example, the force feedback method provided in an embodiment of the present invention further includes: comparing the feedback force obtained by the driving end with a target feedback force in real time to judge whether the effective acting force reaches the target acting force or not; if the feedback force is smaller than the target feedback force, the effective acting force is smaller than the target acting force as a judgment result, and the effective acting force is increased in real time; and if the feedback force is larger than the target feedback force, the effective acting force is larger than the target acting force as a judgment result, and the effective acting force is reduced in real time until the effective acting force reaches 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 is positively correlated with the clamping force applied by the driven end; the operator contacts with the main power sensing device, the main power sensing force is the pressure applied by the operator to the main power sensing device, 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 the following formula to a control amount of real-time output according to the driving end sensing force and the driven end sensing force, and obtaining the driving current value according to the control amount: v (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 Represents the output control amount, kp represents the proportional adjustment coefficient, kd represents the differential adjustment coefficient, a represents the target clamping force coefficient, F _{Target clamping force t} Representing the driven end sensing force received at the moment t, F _{Actual clamping force t} Representing the active end sensing force measured at time t, F _{Target clamping force t-1} Representing the said driven-end sensing force received at time t-1, F _{Actual clamping force t-1} Representing the active-end sensed force measured at time t-1, the time t-1 being prior to the time 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, where the first transmission mechanism is connected with the first motor shaft; the second transmission mechanism extends along the axial direction and is provided with a first end and a second end which are 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 driving 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 is driven by the rotation of the first transmission mechanism to generate a trend of moving along the axial direction so as to apply the feedback force to the driving end.

For example, in the force feedback method provided in an embodiment of the present invention, the active end includes: a first drive handle and a first connecting member; the first driving handle is provided with a first working surface, a first included angle which is non-zero is formed between the first working surface and the axial direction, the driving end power sensing device comprises a first driving end power sensor, the first driving end power 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; a first connecting member connecting a second end of the second transmission mechanism and the first drive handle, wherein the second transmission mechanism generates a trend of movement in the axial direction to generate a trend of driving the first drive handle to move by the first connecting member to generate a first feedback force to the first drive handle, the acquiring the feedback force including acquiring the first feedback force; the force feedback method comprises the following steps: reducing the first included angle to increase the effective force in real time; and increasing the first included angle to reduce the effective force in real time.

For example, in the force feedback method provided by an embodiment of the present invention, the active end further includes: a second drive handle and a second connecting member. The second driving handle is provided with a second working surface, a second included angle which is non-zero is formed between the second working surface and the axial direction, the driving end power sensing device comprises a second driving end power sensor, the second driving end power sensor is arranged on the second working surface and is configured to sense second driving end sensing force, and the acquiring of the driving end sensing force further comprises the acquiring of the second driving end sensing force; a second connecting member connecting a second end of the second transmission mechanism and the second drive handle, wherein the second transmission mechanism produces a trend of movement in the axial direction producing a trend of driving the second drive handle through the second connecting member producing a second feedback force to the second drive handle, the obtaining the feedback force further comprising obtaining the second feedback force; the force feedback method comprises the following steps: reducing the second included angle to increase the effective force in real time; and increasing the second included angle to reduce the effective force in real time.

For example, the force feedback method provided in an embodiment of the present invention further includes: driving a handle shaft to rotate around the axial direction so as 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 is driven by rotation of the first transmission mechanism to generate a trend of moving along the axial direction in the cavity so as to generate the first feedback force and/or the second feedback force.

For example, in the force feedback method provided by an embodiment of the present invention, 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 to be connected with the handle shaft, and the guide rod is positioned in the cavity and moves in the cavity under the driving of rotation of the first transmission mechanism.

For example, in the force feedback method provided by the embodiment of the 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 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 an included angle between the first working surface and the axis of the handle shaft; the second driving handle is provided with a first end and a second end in the axial direction, the first end of the second driving handle is movably connected with the handle shaft, the second end of the second driving handle is movably connected with the second end of the second transmission mechanism through the second connecting component, and the second included angle is an included angle between the second working surface and the axis of the handle shaft.

For example, a force feedback method provided by an embodiment of the present invention includes: changing the first drive end sensing force to move the first drive handle to change the first angle, and/or changing the second drive end sensing force to move the second drive handle to change the second angle, wherein the second transmission mechanism is driven by the movement of the first and/or second drive handles to move in the axial direction; the force feedback method further comprises: and controlling the movement of the driven end according to the distance of the second transmission mechanism moving in the axial direction so as to adjust the effective acting force to the target acting force.

For example, the force feedback method provided in an embodiment of the present invention further includes: 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 movement of the driven end according to the driven end target amount to adjust the effective force to a target force.

For example, in the force feedback method according to an embodiment of the present invention, the driven end target amount includes at least one of the changed first angle, the changed second angle, the changed angle between the first working surface and the second working surface, the changed amount of the first angle, the changed amount of the second angle, and the changed amount of the angle between the first working surface and the second working surface.

For example, the force feedback method provided in an embodiment of the present invention further includes: 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 according to an embodiment of the present invention, the force feedback system further includes: the second motor, the second gear and the third gear. The second motor is provided with a second motor rotating shaft; the second gear is connected with the second motor rotating shaft; a third gear is fixed on the handle shaft and meshed with the second gear; the force feedback method further comprises: the second motor rotating shaft is driven to rotate so as to drive the second gear to rotate around the extending direction of the second motor rotating shaft, wherein the third gear is driven by the second gear to rotate so as to drive the handle shaft to rotate around the axial direction.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following brief description of the drawings of the embodiments will make it apparent that the drawings in the following description relate only to some embodiments of the present invention and are not limiting of the present invention.

FIG. 1 is a schematic diagram of a master-slave follower device including a master end and a slave end according to an embodiment of the present invention;

FIG. 2 is a schematic illustration of a handle assembly including a master device at a drive end according to one 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 according to an embodiment of the present invention;

FIG. 5 is a schematic diagram I of a force feedback system active end and force feedback device according to an embodiment of the present invention;

FIG. 6 is a schematic diagram II of a driving end and a force feedback device of a force feedback system according to an embodiment of the present invention;

FIG. 7 is a schematic cross-sectional view of a force feedback device and a driving end of a force feedback system according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a displacement sensor of a force feedback system according to an embodiment of the present invention;

fig. 9 is a schematic view of a surgical robotic device according to an embodiment of the present invention.

Description of the embodiments

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.

Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. "inner", "outer", "upper", "lower", etc. are used merely to denote relative positional relationships, which may also change accordingly when the absolute position of the object to be described changes.

The drawings in the present invention are not necessarily to scale, and the specific dimensions and numbers of the various features may be determined according to actual needs. The drawings described in the present invention are only schematic in structure.

Although in the current surgical robots, in order to obtain force feedback applied from the distal end of a surgical instrument, i.e. to obtain pushing force to a handle operated by a doctor, the force fed back to the hands by the main hand of the current surgical robots is indirectly controlled by motor current, and the scheme has the following two defects: 1. because the force transmission process from the motor output shaft to the handle is longer, in the force transmission process, friction and damping exist on each moving part, so that the pressure at the handle is distorted; 2. the torque output by the motor is controlled by the current on the armature of the motor, and the motor current is very weak, so that the error in detection and control of the current causes a larger error in the feedback force obtained at the handle.

In addition, because the reaction force feedback which is generated at the handle and perceived by the finger surface of the doctor is transmitted to the handle by the transmission part, the structure of many force feedback structures is complex, the output force is inaccurate, and because of the nonlinearity of a large amount of friction and damping and motion calculation, for example, the force which is output by a motor and converted to the handle and is applied to the human hand is greatly different from the true value.

At least one embodiment of the present invention provides a force feedback system comprising: the device comprises a driving end, a control system and a force feedback device. The drive end comprises a drive end force sensing device configured to acquire a drive end sensing force applied by the drive end; the drive end is configured to move under control of the drive end and includes a driven end force sensing device configured to acquire a driven end sensing force from the driven end, the driven end sensing force being an effective force applied by the driven end to the target object; the control system is configured to receive the driving end sensing force and the driven end sensing force, and calculate a driving parameter according to the driving end sensing force and the driven end sensing force; a force feedback device is in signal communication with the control system, is in communication with the drive end, and is configured to operate under the drive parameter to generate a feedback force applied to the drive end.

The invention also provides surgical robot equipment, which comprises any force feedback system provided by the embodiment of the invention.

At least one embodiment of the present invention also provides a force feedback method applied to a force feedback system comprising a driving end and a driven end, the driven end configured to move under control of the driving end; the force feedback method comprises the following steps: acquiring a driving end sensing force applied by a driving end; acquiring a driven end sensing force from a driven end, wherein the driven end sensing force is an effective acting force applied by the driven end to the target object; calculating to obtain driving parameters according to the driving end sensing force and the driven end sensing force; and controlling a force feedback device connected to the drive end to operate under the drive parameters to generate a feedback force applied to the drive end.

Illustratively, FIG. 1 is a schematic diagram of a master-slave follower device including a master end and a slave end provided in accordance with an embodiment of the present invention; fig. 2 is a schematic structural view of a handle assembly including a master device at a driving end according to an embodiment of the present invention. As shown in fig. 1, the force feedback system provided by the embodiment of the present invention may be applied to a master slave device, and 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 apparatus 100 includes a handle assembly 110, the handle assembly 110 including a bracket and a handle 112 rotatably coupled to the bracket; the controlled device 200 is in signal connection with the master device 100 and includes an actuator 210, the actuator 210 being rotatable about an instrument axis A1; the carriage includes a plurality of joints that are rotatable, 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 rotational control that controls the rotation of actuator 210 about instrument axis A1.

For example, referring to fig. 1 and 2, the master control apparatus includes a workspace 130 and a cross-beam 120, and the handle assembly 110 is disposed within the workspace 130. An arm of a user 140 (e.g., a doctor) rests on the cross-beam 120 to operate the handle assembly 110 disposed in the workspace 130. For example, two handle assemblies 110 of identical construction are disposed within the workspace 130 of the master device, the two handle assemblies 110 being operated by left and right hands, respectively, 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 provided within the workspace 130 of the master device, through which the user 140 can observe real-time conditions at the controlled device (e.g., real-time surgical conditions at the surgical site) and manipulate the handle assembly 110 based on the observations.

Referring to fig. 2, a control terminal for user-controlled movement of a driven terminal according to an embodiment of the present invention has 7 rotatable joints, respectively, joint 111J1, joint 111J2, joint 111J3, joint 111J4, joint 111J5, joint 111J6 and joint 111J7; at joint 111J1, integration seat 102 is rotatably connected to mount 101 such that integration seat 102 is rotatable about first axis S1; at joint 111J2, a first end of first arm 103 is rotatably connected to integration seat 102 such that first arm 103 is rotatable about second axis S2; at joint 111J3, the first end of second arm 104 is rotatably connected to the second end of first arm 103 such that second arm 104 is rotatable about third axis S3; at joint 111J4, handle assembly 106 is rotatably connected to the second end of second arm 104 such that handle assembly 106 is rotatable about fourth axis S4; handle assembly 106 includes joint 111J5, joint 111J6, and joint 111J7. The manipulator according to the embodiment of the invention comprises 7 rotatable joints as described above, so that the manipulator has 7 degrees of freedom, has very high flexibility, is convenient for the user 140 to operate and can also follow any hand action of the user 140. The user 140 manipulates the manipulator, and the 7 joints of the manipulator rotate, so that the position and the gesture of the manipulator change, and the actuator 210 on the controlled device 200 moves correspondingly along with the position and the gesture of the manipulator. It should be noted that, when the user 140 manipulates the manipulator, 7 joints simultaneously rotate, 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 axis S2 and the third axis S3 are parallel, and the fourth axis S4 is perpendicular to the second axis S2 and the third axis 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 rotational control 112C1 disposed 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 manual member 113 for fixing a finger of the user 140. For example, handle assembly 106 includes two manual members 113 as described above and two finger rings 114 as described above. For example, the rotation controller 112C1 is used to control rotation of the actuator 210 (e.g., rotation of the actuator 210 about its elongate actuation axis 210S). For example, in actual operation, the thumb of the user 140 is inserted into the left ring 114 and controls the left hand member 113, the middle finger of the user 140 is inserted into the right ring 114 and controls the right hand 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 to approach or separate from the handle 112. For example, a finger of the user 140 presses the manual member 113, a first end of the manual member 113 rotates inward with respect to the handle 112, and a second end of the manual member 113 moves closer to the handle 112; the finger of the user 140 pulls the manual member 113 outwardly through the finger ring 114, a first end of the manual member 113 rotates outwardly relative to the handle 112, and a second end of the manual member 113 moves away from the handle 112.

For example, the mount 101 is fixedly connected to the table 130 of the master device 100 to mount the robot to the table 130 of the master device 100. For example, the integrated base 102 has integrated thereon electrical components such as a motor, an encoder, a current sensor (not shown), and the like, which are 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 in the embodiment of the present invention includes: a driving end 01, a driven end 02, a control system 03 and a force feedback device 04. The driving end 01 comprises a driving end power sensing device A, wherein the driving end power sensing device A is configured to acquire driving end sensing force applied by the driving end 01; driven end 02 is configured to move under control of drive end 01, for example force feedback system 10 may be employed in a surgical device, with driven end 02 configured to perform a surgical procedure under control of drive end 01. The slave 02 includes a slave force sensing device B configured to acquire a slave sensing force from the slave 02, the slave sensing force being an effective force applied by the slave 02 to the target object. For example, the control system 03 is configured to receive the driving-end and driven-end sensing forces and calculate driving parameters from the driving-end and driven-end sensing forces; the force feedback device 04 is in signal connection with the control system 03, for example, the force feedback device 04 may be in signal connection with the control system 03 by a wired signal connection or a wireless signal connection. And, the force feedback device 04 is connected with the driving end 01 and is configured to operate under the action of the driving parameters to generate a feedback force applied to the driving end 01.

The feedback force refers to the force transmitted to the driving end 01 according to the sensing force of the driven end from the driven end 02, and the feedback force can reflect the sensing force of the driven end, namely the magnitude of the effective acting force. By adopting the force feedback system, real-time feedback force can be obtained, 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 operation control process of the driven end by the driving end, and the operation index can be controlled better.

The force feedback system provided by the invention can be applied to various fields and scenes with force feedback requirements. For example, the target object may be a target tissue of a living being such as a human or animal, and the effective force of the driven end is the holding or cutting force of the end effector (e.g., clamp, cutter, etc.) of the surgical instrument against the target tissue during the surgical procedure. For example, the force feedback system 10 is applied to a surgical device, an operator (e.g., a doctor), and the operator's finger may press the active-end force sensing device a so that the active-end force sensing device a obtains the pressure applied by the operator's finger at the active end 01 as an active-end sensing force, and the operator may control the sensed feedback force by adjusting the magnitude of the active-end sensing force.

For example, the target object may be a non-living body, such as a component material of a precision instrument or an intermediate product during processing, and the effective force of the driven end is a clamping force or a cutting force on the component material or the intermediate product during processing of the component of the precision instrument.

The term "effective force" herein refers to: the force applied by the driven end to the target object is, or is, a force having a mathematical relationship in value to the force applied by the driven end to the target object, e.g., a positive correlation, e.g., a linear correlation, e.g., a proportional, to the force applied by the driven end to the target object. For example, the effective force may be a clamping force or a cutting force or the like applied by the driven end to the target object, preferably a clamping force. For example, taking a target object, which may be a target tissue of a living body such as a human or animal, the solution can meet the requirements of the surgical actuator end on the clamping force or cutting force of the target tissue during the surgical procedure, or meet the requirements of the clamping force or cutting force when any other target object is clamped.

In the force feedback system 10 provided in the embodiment of the present invention, the active end force sensing device a is adopted as a force feedback element, and the control system 03 and the force feedback device 04 are combined to obtain the feedback force, so that the active end force sensing device a can directly measure the acting force exerted by the finger of the operator on the active end 01, such as the pressure exerted when the operator presses the active end force sensing device, to realize the force feedback, and the effective acting force of the passive end is adjusted to the target value, such as the target pressure value, in real time according to the feedback force, so that external interference can be avoided, and the feedback force is calculated without detecting other quantities, thereby solving the problems of distortion and inaccuracy of the obtained force feedback. The target pressure value is a pressure value at which the effective force of the driven end reaches the target value.

For example, in connection with fig. 4 and 1, the driven end 02 includes an actuator 210, e.g., the actuator 210 is a surgical instrument, e.g., a clamp for clamping a target tissue, e.g., a surgical clamp, hemostat, etc., or a scalpel for performing a cut of the target tissue, etc. As described above, the effective force is, for example, the clamping force exerted by the working end of the surgical instrument on the target tissue, or the effective force is a force having a mathematical relationship in value, such as a positive correlation, such as a linear correlation, with the clamping force exerted by the driven end 02. The operator contacts with the active end force sensing device A, the active end sensing force is the pressure applied by the operator to the active end force sensing device A, 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 an active end and a 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 the portion P of FIG. 2; FIG. 6 is a schematic diagram II of a driving end and a force feedback device of a force feedback system according to an embodiment of the present invention; fig. 7 is a schematic cross-sectional view of a driving end and a force feedback device of a force feedback system according to an embodiment of the present invention. Referring to fig. 5-7, for example, force feedback device 04 includes a first motor 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 so that the force feedback transmission device generates a movement trend to apply feedback force to the driving end 01. For example, the first motor shaft 1a is directly connected with the force feedback transmission device, so that the output end of the first motor is directly connected with the load (i.e. the force feedback transmission device) without being connected with the force feedback transmission device through a speed reducer, so that excessive loss in the feedback force transmission process is avoided, and the actual degree of the feedback force felt by an operator due to final feedback to the driving end 01 is improved. The first motor 1 is, for example, a direct current motor. The driving end force sensing device A is adopted as a force feedback element, the first motor 1 is combined 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, so that the force feedback is realized by directly controlling the pressure at the first driving handle 12 through an operator, the target acting force of the driven end is regulated to 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 is calculated without 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 that calculates a control amount of the output in real time according to the input driving end sensing force and the output driven end sensing force, for obtaining the driving current value Ic, that is, for controlling the operation current of the first motor to be the driving current value Ic. For example, where the active-end sensing force and the active-end sensing force are both clamping forces, the processor may perform the calculations of the following equations.

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 Represents the output control amount, kp represents the proportional adjustment coefficient, kd represents the differential adjustment coefficient, a represents the target clamping force coefficient, F _{Target clamping force t} Representing the driven end sensing force received at the moment 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 driven-end sensing force 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. By adopting the calculation mode, the calculation is simple, the distortion degree of the output control quantity can be reduced to reduce the distortion degree of the driving current value Ic, and the distortion degree of the finally obtained feedback force value can be reduced.

For example, the control system 03 includes a PD controller, and the PD controller is used to perform the above calculation without an integration effect by controlling the operating current of the first motor 1 to be the driving current value Ic, so that the calculation is simple and the control robustness is high.

Referring to fig. 5-7, for example, a force feedback transmission includes: a first transmission 31 and a second transmission 32. The first transmission mechanism 31 is connected to the first motor shaft 1a and configured to rotate under the drive of the rotation of the first motor shaft 1 a; the second transmission 32 extends in 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 32 being connected to the first transmission 31, the second end of the second transmission 32 being connected to the driving end force sensing device a, the second transmission 32 being configured to generate a tendency to move in the axial direction X under the drive of the rotation of the first transmission 31 to apply a feedback force to the driving end 01. For example, the first transmission mechanism 31 is directly connected with the first motor rotating shaft 1a, so that the output end of the first motor is directly connected with the first transmission mechanism 31, and is not connected with the first transmission mechanism 31 through a speed reducer, so that excessive loss is avoided in the transmission process of the feedback force, and the actual degree of the feedback force which is finally fed back to the driving end 01 and is felt by an operator is improved. The force feedback transmission device has a simple structure, and the force feedback transmission device is combined with the first motor 1 and the driving end force sensing device A to transmit feedback force to the driving end 01, so that friction and damping existing in the force transmission process can be reduced, and the accuracy of the feedback force is improved.

Referring to fig. 5-7, for example, the active end 01 includes: first drive handle 12 and first connecting member 51. The first driving handle 12 has a first working surface 121, the first working surface 121 having a first angle with the axial direction X that is non-zero, the driving end force sensing device includes a first driving end force sensor 13, the first driving end force sensor 13 being disposed on the first working surface 121 and configured to sense a first driving end sensing force, such as a pressure applied to the first driving end force sensor 13 by an operator's finger when the operator's finger can press the first driving end force sensor 13, the driving end sensing force including a first driving end sensing force; the first connecting member 51 connects the second end of the second transmission mechanism 32 to the first driving handle 12, and the second transmission mechanism 32 generates a tendency to move in 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 to the first driving handle 12, which is felt by the operator's finger pressing on the first driving end force sensor 13, the feedback force including the first feedback force. In this way, 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, friction and damping existing in the force transmission process can be reduced, and the accuracy of the feedback force is improved.

For example, the first active end sensor 13 is a contact pressure membrane sensor. The force feedback at the first driving handle 12 is realized by adopting a contact pressure film sensor as a force feedback element and combining the first motor 1, such as a direct current motor, as a power element and directly controlling the pressure at the first driving handle 12 by an operator. In this way, the pressure of the finger fed back to the operator is obtained by detecting the pressure exerted by the pressure sensitive material, and the operating current of the first motor 1 is controlled to be the driving current value Ic by the control system 03, 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 at the first driving handle 12, i.e. the first driving end sensing force, according to the first feedback force, 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 by the sensor chip of the first active end force sensor 13 is not influenced by external electric fields and magnetic fields in the working process, and the pressure fed back to the finger of the operator is obtained by directly measuring the finger surface of the operator to apply pressure to the first active end force sensor 13, so that the external interference can be avoided, the feedback force is not required to be calculated by detecting other quantities, and the problems of obtained force feedback distortion and inaccuracy are solved.

Referring to fig. 5-7, for example, drive end 01 further includes a second drive shank 20, the second drive shank 20 having a second working surface 201, the second working surface 201 having a non-zero second angle with respect to the axial direction X, drive end force sensing device a including a second drive end force sensor 22, the second drive end force sensor 22 disposed on the second working surface 201 and configured to sense a second drive end sensing force, the drive end sensing force including a second drive end sensing force; for example, the active-end sensing force is an average of the first active-end sensing force and the second active-end sensing force. The second connecting member 52 connects the second end of the second transmission 32 to the second drive handle 20, and the second transmission 32 creates a tendency to move in the axial direction X and creates a tendency to drive the second drive handle 20 through the second connecting member 52 to create a second feedback force to the second drive handle 20, the feedback force also including the second feedback force.

For example, the second active end sensor 22 is a contact pressure membrane sensor. The force feedback at the driving handle is realized by adopting a contact pressure film sensor as a force feedback element and combining the first motor 1, such as a direct current motor, as a power element and directly controlling the pressure at the second driving handle 20 by an operator. In this way, the pressure of the finger fed back to the operator is obtained by detecting the pressure exerted by the pressure sensitive material, and the control system 03 controls the working current of the first motor 1 to the driving current value Ic, so as to obtain the second feedback force, so that the effective acting force is adjusted to the target pressure value in real time according to the pressure at the driving handle, i.e. the second driving end sensing force, according to the second feedback force, 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 by the sensor chip of the second active end force sensor 22 is not influenced by external electric field and magnetic field in the working process, and the pressure fed back to the finger of the operator is obtained by directly measuring the finger surface of the operator to apply pressure to the second active end force sensor 22, so that the external interference can be avoided, the feedback force is not required to be calculated by detecting other quantities, and the obtained force feedback distortion and inaccuracy problem 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 handles 12, 20, and configured to rotate about axial direction X to drive movement of driven end 02, such as, for example, driven end 02 including a surgical instrument (i.e., actuator 210) having an end effector 021a, in conjunction with fig. 1, such as, for example, the driven end 02 including a surgical instrument (i.e., actuator 210), handle shaft 17 configured to rotate about axial direction X to control movement of end effector 021a in one dimension, such as 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 with movement of the operator's hand to control movement of the surgical instrument. For example, the driven end also includes a robotic arm to which the surgical instrument is coupled at the working end. For example, the handle shaft 17 comprises a cavity extending in the axial direction X, and the second end of the second transmission 32 is connected to the handle shaft 17, is located in the cavity, and is configured to move in the axial direction X in the cavity under the drive of the rotation of the first transmission 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 in engagement with the first gear, the first end of the guide rod 15 in the axial direction X is connected to the second end of the rack 6, the second end of the guide rod 15 in the axial direction X is connected as a second end of the second transmission 32 to the handle shaft 17, is located in the cavity and is configured to generate a tendency to move in said axial direction in the cavity under the drive of the rotation of the first transmission 31 to generate a first feedback force and/or a second feedback force, thereby enabling movement in the axial direction X in the cavity under the drive of the rotation of the first transmission 31. For example, the handle shaft 17 is the same component as the handle 112 in fig. 3, whereby the handle 112 that controls the rotation of the actuator 210 is coupled to the second transmission mechanism of the force feedback device to achieve the force feedback effect described above, simplifying the structure of the force feedback system, thereby reducing the mechanical structure experienced during feedback force transfer to facilitate stability and accuracy of force feedback.

Referring to fig. 5-7, for example, first drive handle 12 has a first end and a second end in axial direction X, the first end of first drive handle 12 being movably coupled to handle shaft 17 to be rotatable with respect to handle shaft 17, for example, in a hinged manner, for example, the first end of first drive handle 12 being movably coupled to handle shaft 17 by first hinge 16, for example, first hinge 16 being 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 by a first connecting member 51 so as to be rotatable relative to the second transmission mechanism 32, for example, in a hinged manner; the first included angle is the 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 being movably connected with the handle shaft 17 to be rotatable with respect to the handle shaft 17, e.g. in a hinged manner, e.g. the first end of the second driving handle 20 being movably connected with the handle shaft 17 by means of a second hinge 18, e.g. the second hinge 18 being a second hinge; the second end of the second driving handle 20 is movably connected with the second end of the second transmission mechanism 32 through the 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. In this way, it is possible to achieve the feeling of the finger of the operator who transmits the first force feedback to the first active handle 12 through the first connecting member 51 to be pressed against the first active handle 12, and the feeling of the finger of the operator who transmits the second force feedback to the second active handle 20 through the second connecting member 52 to be pressed against the second active handle 20.

For example, the first end of the handle shaft 17 in the axial direction is movably connected with the first end of the first driving handle 12; for example, the first motor 1, the first transmission mechanism 31, the second motor 2, and the second gear 5 and the third gear 7 are located on a side of the entirety of the first drive handle 12 and the second drive handle 20 away from the first end of the handle shaft 17, that is, on a side of the handle shaft 17 in the axial direction away from the first drive handle 12 and the second drive handle 20, to set the force feedback device 04 and a part of the force feedback transmission device using a space of an area of the handle shaft 17 away from the operator; at the same time, the second end of the second transmission 32 is coupled to the handle shaft 17, is located in the cavity, and is configured to move in the cavity along the axial direction X under the drive of the rotation of the first transmission 31, making full use of space, making the force feedback system compact, and not impeding the operator from operating the first and second drive handles 12 and 20 to control the operation of the driven end.

For example, the first connection member 51 includes a first link 11, a first hinge 10, and a second hinge 14. The first end of the first link 11 is hinged to the second end of the second transmission mechanism 32 by the first hinge 10, and the second end of the first link 11 is hinged to the second end of the first driving handle 12 by 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 link 21 is hinged to the second end of the second transmission mechanism 32 by a third hinge 19, and the second end of the second link 21 is hinged to the second end of the second driving handle 20 by a fourth hinge 23. Of course, the specific structure of the first and second connection members is not limited to the above example, nor is the manner of movable connection of the first and second connection members to the second transmission mechanism 32 limited to articulation, as long as the above transmission functions of the first and second connection members can be achieved to transmit the feedback force.

For example, changing the first drive side sensing force to move the first drive handle 12 to change the first angle, and/or changing the second drive side sensing force to move the second drive handle 20 to change the second angle; the force feedback system 10 further comprises a driven end adjustment device 05, which driven end adjustment device 05 is connected to the driven end 02 and is configured to control the movement of the driven end 02 in accordance with 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. Therefore, an operator can judge whether the sensing force of the driven end needs to be further adjusted according to the feedback force so as to adjust the effective acting force to the target acting force in real time, and the requirement on the effective acting force of the driven end which needs to be changed in real time is met. For example, the distance the second transmission 32 moves in the axial direction X is the displacement of the second transmission 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: the effective force is less than the target force. At this point, the operator may decrease the first included angle by further depressing the first drive end force sensor 13, i.e., increasing the first drive end sensing force, to move the first drive handle 12. If the feedback force is greater than the target feedback force, the operator may decrease the first angle by decreasing the degree of compression of the first active end force sensor 13, i.e., decreasing the first active end sensing force, to move the first active handle 12. And/or the operator may decrease the second included angle by further depressing the second drive end force sensor 22, i.e., increasing the second drive end sensing force, to move the second drive handle 20. Accordingly, the second transmission 32 is moved in the axial direction X by the movement of the first driving handle 12, and the distance that the second transmission 32 is moved 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 that the second transmission 32 is moved in the axial direction X to increase the effective force.

If the feedback force is greater than the target feedback force, the judgment result is: the effective force is greater than the target force. At this time, the operator may increase the first included angle by decreasing the degree of depression of the first drive end force sensor 13, i.e., decreasing the first drive end sensing force, to move the first drive handle 12. And/or the operator may increase the second included angle by decreasing the degree of depression of the second drive end force sensor 22, i.e., decreasing the second drive end sensing force, to move the second drive handle 20. Accordingly, the second transmission 32 is moved in the axial direction X by the movement of the first driving handle 12, and the distance that the second transmission 32 moves 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 that the second transmission 32 moves in the axial direction X to reduce the effective force.

Therefore, an operator can judge whether the sensing force of the driven end needs to be further adjusted according to the feedback force until the effective acting force is adjusted to the target acting force in real time, and the requirement for the effective acting force of the driven end which needs to be changed in real time is met.

For example, the operator can determine whether the first feedback force and the second feedback force are suitable according to the magnitude of the first feedback force and the second feedback force sensed by the hand feel; alternatively, the first active force sensor 13 and the second active force sensor 22 may output the real-time first feedback force and the real-time second feedback force, respectively, and the control system 03 calculates the real-time feedback force value, and the operator may determine whether the first feedback force and the second feedback force are appropriate according to the output first feedback force and second feedback force, or the feedback force value.

For example, an 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 second feedback force according to the magnitude of the feedback force obtained by averaging the magnitude of the first feedback force and the second feedback force. In this way, the need for more complex multiple effective forces from the driven end can be met.

In addition, the operator can control the position and movement speed of the driven end while the operator adjusts the target force applied by the driven end according to the feedback force. Taking the driven end as an example, the position of the clamp is controlled by at least one of the 7 rotatable joints, and the clamping speed of the clamp is controlled by a driven end driving circuit connected with the driven end.

For example, the driven end force sensing device B includes a driven end sensor configured to acquire a driven end sensing force, and when the driven end 02 moves, for example, the first and second jaws of the clamp come close to each other or come away from each other, the driven end sensing force acquired by the driven end sensor changes, the driven end sensor sends the driven end sensing force to the control system 03 in real time, and the processor of the driven end sensing force performs the above calculation to obtain the driving current value Ic, thereby realizing real-time adjustment of the target force applied by the driven end.

For example, the control system 03 may include a plurality of 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, for example, a memory, a power circuit, etc. may be disposed on the motherboard; furthermore, the processor may be implemented as a circuit or in software, hardware (circuitry), firmware, or any combination thereof. In embodiments of the invention, a processor may include various computing structures, such as a Complex Instruction Set Computer (CISC) structure, a Reduced Instruction Set Computer (RISC) structure, or a structure that implements a combination of instruction sets. In some embodiments, the processor may also be a microprocessor, such as an X86 processor or ARM processor, or may be a digital processor (DSP) or the like.

For example, in an embodiment of the present invention, a storage medium may also be provided on the motherboard, where the storage medium may store instructions and/or data executed by the processor. For example, the storage medium may store the driving-side sensing force and the driven-side sensing force acquired by the driving-side force sensing device and the driven-side force sensing device, and store the calculated driving current value Ic, the first included angle, the second included angle, and so on. The information stored in the storage medium may be called upon to implement the desired functionality, if desired.

For example, the storage medium may include one or more computer program products, which 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) and/or cache memory (cache), and the like. The nonvolatile memory may include, for example, read Only Memory (ROM), magnetic disk, optical disk, semiconductor memory (e.g., flash memory, etc.), and the like. One or more computer program instructions may be stored on the computer readable memory that can be executed by a processor to perform the functions desired in embodiments of the present invention (as implemented by the processor).

Referring to fig. 5-7, for example, force feedback system 10 further includes a displacement sensor 4, displacement sensor 4 coupled to second transmission 32 and configured to measure a distance traveled by second transmission 32 in axial direction X and output the distance as a driven end target amount, and driven end adjustment device 05 is configured to control movement of driven end 02 in accordance with the driven end target amount to adjust the effective force to the target force.

For example, the driven end target amount includes at least one of a changed first angle, a changed second angle, an angle between the changed first working surface 121 and the second working surface 201, a change amount of the first angle, a change amount of the second angle, and a change 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. Referring to fig. 5-7 and 8, for example, the displacement sensor 4 is a linear displacement sensor 4, such as a slide rheostat. For example, the displacement sensor 4 is fixed to a housing (not shown) to fix the displacement sensor 4. For example, the displacement sensor 4 includes a slide lever 41 and a resistance sheet 42; for example, a resistor 42 is fixed to the housing to fix the displacement sensor 4. For example, the rack 6 drives the deflector rod through a mechanical structure such as a clamping groove, so that the deflector rod and the rack 6 synchronously move.

Of course, the displacement sensor 4 may also be other types of structures that can detect the distance that the second actuator 32 moves in the axial direction X and output the distance as an electrical signal, including, for example, a linear grating, or a linear magnetic grating, or a Linear Variable Differential Transformer (LVDT), or an inductive displacement sensor 4, or the like.

For example, the force feedback system 10 further includes an angular displacement measuring mechanism 8 provided on the handle shaft 17 and configured to measure and output an angular displacement result of the rotation of the handle shaft 17 about the axial direction X, and the driven end adjusting device 05 is connected to the driven end 02 and configured to control the driven end 02 to move to the target position according to the angular displacement result. For example, the driven end adjusting device 05 controls the operation angle, the coordinate position, and the like of the actuator 210 of the driven end 02 according to the angular displacement result. In this way, the cooperation of the angular displacement measuring mechanism 8, the handle shaft 17 and the driven end adjusting device 05 is realized, and the handle shaft 17 is fully utilized to realize force feedback while being connected with the force feedback device 04 so as to realize the movement of the actuator 210 to the target position. In the case where the actuator 210 is a surgical instrument, the force feedback system 10 is applied to a surgical device, real-time control of the operating angle, the coordinate position, etc. of the surgical instrument, and control of the angle, the coordinate position, etc. of the end effector 021a of the surgical instrument can be achieved 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 by which the handle shaft 17 rotates about the axial direction X relative to the housing 9.

For example, the angular displacement measuring mechanism 8 is a rotary encoder, which is a device for measuring rotational speed and realizing rapid speed adjustment by combining PWM technology, and the photoelectric rotary encoder can convert mechanical quantities such as angular displacement and angular velocity of an output shaft into corresponding electric pulses by photoelectric conversion and output the corresponding electric pulses in digital quantity (REP).

Referring to fig. 5-7, for example, force feedback system 10 further includes a second motor 2, a second gear 5, and a third gear 7. The second motor 2 has a second motor 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 to the handle shaft 17, meshes with the second gear 5, and rotates by the drive of the second gear 5 to drive the handle shaft 17 to rotate about the axial direction X. For example, the second gear 5 and the third gear 7 are bevel gears, i.e. the face provided with gears is a conical face, for example a conical face. For example, the second gear 5 is sleeved on the second motor rotating 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 shaft 2a to the handle shaft 17 through the second gear 5 and the third gear 7 to control the pose of the driving end 01 and the driven end 02 to be consistent when the pose state of the driving end 01 and the driven end 02 are inconsistent. The consistent state of the pose of the driving end 01 and the driven end 02 means that: the parameters of the angle, the rotation speed and the like of the driving end 01 and the driven end 02 are basically consistent, and the changes of the parameters of the angle, the rotation speed and the like of the driving end 01 are consistent with the changes of the parameters of the angle, the rotation speed and the like of the driving end 01 controlled by an operator, so that the movement of the driven end can be accurately controlled through the driving end in real time to meet the working requirements of the driven end, such as accurately clamping and cutting target components, or accurately clamping and cutting target tissues in the process of performing surgery.

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 robotic apparatus 1000 further includes a controlled device 200 (i.e., a surgical operating platform) and a master device 100 (i.e., a doctor control platform). The controlled device 200 includes a robotic arm having a working end configured to be coupled to the driven end 02, such as to a surgical instrument of the driven end 02; the master control device 100 is connected with the mechanical arm in a wireless or wired way to control the work of the mechanical arm, and the driving end 01 is positioned in the doctor control platform.

The invention also provides a force feedback method, which is applied to any force feedback system provided by the invention. The force feedback method comprises the following steps Step1 to Step4.

Step1: acquiring a driving end sensing force applied by the driving 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 by the driven end 02 to the target object;

step3: calculating to obtain driving parameters according to the driving end sensing force and the driven end sensing force;

Step4: a force feedback device 04 connected to the driving end 01 is controlled to operate under the action of the driving parameters to generate a feedback force applied to the driving 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 operation control process of the driven end by the driving end, and the operation index can be controlled better.

The force feedback method provided by the invention can be applied to various fields and scenes with force feedback requirements. For example, the target object may be a target tissue of a living being such as a human or animal, and the effective force of the driven end is the holding or cutting force of the end effector (e.g., clamp, cutter, etc.) of the surgical instrument against the target tissue during the surgical procedure; for example, the target object may be a non-living body, such as a component material of a precision instrument or an intermediate product during processing, and the effective force of the driven end is a clamping force or a cutting force on the component material or the intermediate product during processing of the component of the precision instrument.

For example, the driving parameter in Step3 is a 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 first motor rotating shaft 1a to rotate under the action of the driving current value Ic so as to enable the force feedback transmission device to generate a movement trend so as to apply the feedback force to the driving end 01.

For example, step3 includes: executing a control amount from the following formula to real-time output by using the control system 03 according to the driving end sensing force and the driven end sensing force, and obtaining the driving current value Ic according to the control amount:

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 Represents the output control amount, kp represents the proportional adjustment coefficient, kd represents the differential adjustment coefficient, a represents the target clamping force coefficient, F _{Target clamping force t} Representing the driven end sensing force received at the moment t, F _{Actual clamping force t} Representing the active end sensing force measured at time t, F _{Target clamping force t-1} Representing the said driven-end sensing force received at time t-1, F _{Actual clamping force t-1} Representing the active-end sensed force measured at time t-1, the time t-1 being prior to the time t.

For example, the force feedback method further includes Step5.

Step5: comparing the feedback force obtained by the driving end 01 with the target feedback force in real time to judge whether the effective acting force reaches the target acting force or not; if the feedback force is smaller than the target feedback force, the effective acting force is smaller than the target acting force as a judgment result, and the effective acting force is increased in real time; and if the feedback force is larger than the target feedback force, the effective acting force is larger than the target acting force as a judgment result, and the effective acting force is reduced in real time until the effective acting force reaches the target acting force. For example, decreasing the first angle and/or the second angle to increase the effective force in real time; the first angle and/or the second angle are increased to reduce the effective force in real time.

For example, a first included angle may be changed by changing the first drive end sensing force to move the first drive handle 12 and/or a second included angle may be changed by changing the second drive end sensing force to move the second drive handle 20; the force feedback system 10 further comprises a driven end adjustment device 05, which driven end adjustment device 05 is connected to the driven end 02 and is configured to control the movement of the driven end 02 in accordance with 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. Therefore, an operator can judge whether the sensing force of the driven end needs to be further adjusted according to the feedback force so as to adjust the effective acting force to the target acting force in real time, and the requirement on the effective acting force of the driven end which needs to be changed in real time is met.

If the feedback force is smaller than the target feedback force, the judgment result is: the effective force is less than the target force. At this point, the operator may decrease the first included angle by further depressing the first drive end force sensor 13, i.e., increasing the first drive end sensing force, to move the first drive handle 12. If the feedback force is greater than the target feedback force, the operator may decrease the first angle by decreasing the degree of compression of the first active end force sensor 13, i.e., increasing the first active end sensing force, to move the first active handle 12. And/or the operator may decrease the second included angle by further depressing the second drive end force sensor 22, i.e., increasing the second drive end sensing force, to move the second drive handle 20. Accordingly, the second transmission 32 is moved in the axial direction X by the movement of the first driving handle 12, and the distance that the second transmission 32 is moved 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 that the second transmission 32 is moved in the axial direction X to increase the effective force.

active handles

Other specific methods may be referred to the previous description in relation to embodiments of the force feedback system and are not repeated here.

The foregoing is merely exemplary embodiments of the present invention and is not intended to limit the scope of the invention, which is defined by the appended claims.

Claims

1. A force feedback system, comprising a control system and a storage medium, the control system comprising a processor, the storage medium comprising instructions and/or data for implementing a force feedback method, the instructions and/or data configured to be executed by the processor;

the force feedback system includes a drive end and a driven end configured to move under control of the drive end;

the driving end comprises a driving end force sensing device, a force feedback device is connected with the driving end, the force feedback device comprises a first motor and a force feedback transmission device, the first motor is provided with a first motor rotating shaft, and 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:

acquiring real-time active end sensing force applied by the active end through the active end sensing device, wherein the active end sensing force is pressure applied by an operator to the active end sensing device;

Acquiring a real-time driven end sensing force from the driven end, wherein the driven end comprises a surgical instrument, and the driven end sensing force is a clamping force applied by a working end of the surgical instrument to a target object, or the driven end sensing force is positively correlated with the clamping force applied by the driven end;

calculating a driving current value related to the real-time driven end sensing force and the real-time driving end sensing force in real time according to the driving end sensing force and the driven end sensing force; and

setting the value of the working current of the first motor as the driving current value in real time, controlling the rotation of the first motor rotating shaft under the action of the driving current value in real time so as to enable the force feedback transmission device to generate a motion trend to generate a feedback force applied to the driving end and related to the real-time magnitude of the sensing force of the driven end, and applying the feedback force to the driving end force sensing device through the force feedback transmission device.

2. The force feedback system of claim 1, wherein the force feedback method further comprises:

comparing the feedback force obtained by the driving end with a target feedback force in real time to judge whether the sensing force of the driven end reaches the target acting force or not;

If the feedback force is smaller than the target feedback force, the judgment result is that the driven end sensing force is smaller than the target acting force, and the driven end sensing force is increased in real time; and if the feedback force is larger than the target feedback force, the judgment result is that the driven end sensing force is larger than the target acting force, and the driven end sensing force is reduced in real time until the driven end sensing force reaches the target acting force.

3. The force feedback system of claim 1, wherein the force feedback transmission comprises a first transmission mechanism and a second transmission mechanism, the first transmission mechanism 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 which are 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 driving 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 is driven by the rotation of the first transmission mechanism to generate a trend of moving along the axial direction so as to apply the feedback force to the driving end.

4. A force feedback system according to claim 3, wherein the active end comprises:

a first drive handle having a first working surface, wherein the first working surface has a non-zero first included angle with the axial direction, the drive end force sensing device comprising a first drive end force sensor disposed on the first working surface and configured to sense a first drive end sensing force, the acquiring the drive end sensing force comprising acquiring the first drive end sensing force; and

a first connecting member connecting a second end of the second transmission mechanism and the first drive handle, wherein the second transmission mechanism generates a trend of movement in the axial direction to generate a trend of driving the first drive handle to move through the first connecting member to generate a first feedback force to the first drive handle, the acquiring the feedback force including acquiring the first feedback force;

the force feedback method comprises the following steps:

reducing the first included angle to increase the driven-side sensing force in real time; and

the first included angle is increased to reduce the driven-end sensing force in real time.

5. The force feedback system of claim 4, wherein the active end further comprises:

The second driving handle is provided with a second working surface, a 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 the acquiring of the second driving end sensing force;

a second connecting member connecting a second end of the second transmission mechanism and the second drive handle, wherein the second transmission mechanism produces a trend of movement in the axial direction producing a trend of driving the second drive handle through the second connecting member producing a second feedback force to the second drive handle, the obtaining the feedback force further comprising obtaining the second feedback force;

the force feedback method comprises the following steps:

reducing the second included angle to increase the driven-side sensing force in real time; and

the second included angle is increased to reduce the driven-end sensing force in real time.

6. The force feedback system of claim 5, wherein the force feedback method further comprises:

driving a handle shaft to rotate 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 is driven by rotation of the first transmission mechanism to generate a trend of moving along the axial direction in the cavity so as to generate the first feedback force and/or the second feedback force.

7. The force feedback system of claim 6 wherein the first transmission is a first gear that rotates about a rotational 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 to be connected with the handle shaft, and the guide rod is positioned in the cavity and moves in the cavity under the driving of rotation of the first transmission mechanism.

8. The force feedback system of claim 6 wherein the first drive handle has a first end and a second end in the axial direction, the first end of the first drive handle being movably coupled to the handle shaft, the second end of the first drive handle being movably coupled to the second end of the second drive mechanism by the first coupling member, the first angle being an angle between the first working surface and an axis of the handle shaft;

the second driving handle is provided with a first end and a second end in the axial direction, the first end of the second driving handle is movably connected with the handle shaft, the second end of the second driving handle is movably connected with the second end of the second transmission mechanism through the second connecting component, and the second included angle is an included angle between the second working surface and the axis of the handle shaft.

9. The force feedback system of claim 6, wherein the force feedback method comprises:

changing the first drive end sensing force to move the first drive handle to change the first angle, and/or changing the second drive end sensing force to move the second drive handle to change the second angle, wherein the second transmission mechanism is driven by the movement of the first and/or second drive handles to move in the axial direction;

the force feedback method further comprises:

and controlling the movement of the driven end according to the distance of the second transmission mechanism moving in the axial direction so as to adjust the force sensed by the driven end to the target acting force.

10. The force feedback system of claim 9, wherein the force feedback method further comprises:

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 movement of the driven end according to the target amount of the driven end to adjust the sensing force of the driven end to the target acting force.

11. The force feedback system of claim 10, wherein the driven end target amount comprises at least one of the first angle after change, the second angle after change, an angle between the first working surface and the second working surface after change, an amount of change in the first angle, an amount of change in the second angle, and an amount of change in an angle between the first working surface and the second working surface.

12. The force feedback system of claim 9, wherein the force feedback method further comprises:

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.

13. The force feedback system of claim 6, further comprising:

a second motor having a second motor shaft;

the second gear is connected with the second motor rotating shaft; 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 so as to drive the second gear to rotate around the extending direction of the second motor rotating shaft, wherein the third gear is driven by the second gear to rotate so as to drive the handle shaft to rotate around the axial direction.