CN116236289A - Main end manipulator of vascular intervention operation robot and force feedback method thereof - Google Patents
Main end manipulator of vascular intervention operation robot and force feedback method thereof Download PDFInfo
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- CN116236289A CN116236289A CN202211687410.9A CN202211687410A CN116236289A CN 116236289 A CN116236289 A CN 116236289A CN 202211687410 A CN202211687410 A CN 202211687410A CN 116236289 A CN116236289 A CN 116236289A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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Abstract
The invention discloses a main end manipulator of a vascular interventional operation robot and a force feedback method thereof, wherein the manipulator comprises a main end base, a delivery guide rail, a delivery rack, a right-hand operation part and a left-hand operation part; one side of the main end base is fixedly provided with a delivery rack and a delivery guide rail which are arranged in parallel; the right-hand operation component comprises a right-hand delivery component and a right-hand twist clamping component; the left hand operating component comprises a left hand delivery assembly and a left hand clamping assembly; the right hand delivery assembly and the left hand delivery assembly are each in sliding engagement with the delivery track and are each provided with an end gear that meshes with the delivery rack. The manipulator has a force feedback function, an operation object is a real surgical instrument, the operation skills of a doctor are reserved, the training period of the doctor is shortened, the information of the operation force position of the doctor can be acquired in real time, and the remote operation force sense of presence of the doctor is constructed.
Description
Technical Field
The invention relates to the technical field of medicine, in particular to a main end manipulator of a vascular intervention surgical robot and a force feedback method thereof.
Background
Cardiovascular disease is a great threat to human health. According to statistics of 2020 world health report issued by WHO (World Health Organization ), in 2016, 1790 ten thousand people in the world die from cardiovascular and cerebrovascular diseases (CVD), accounting for 44% of people dying from non-infectious diseases, mortality is far more than cancer (22%), chronic respiratory diseases (9%), diabetes (4%), and morbidity is still in a rapid rising trend, becoming the first killer threatening human health.
PCI (Percutaneous Coronary Intervention), percutaneous coronary intervention, is one of the main means for treating cardiovascular diseases due to the advantages of small trauma, rapid postoperative recovery, etc. However, with the development of interventional procedures, manual interventional procedures increasingly expose significant drawbacks in terms of safety and flexibility-cumulative injury to the physician from the surgical procedure; the doctor is easy to fatigue to cause insufficient precision; the operation experience is high. The vascular intervention surgical robot avoids the defects by the characteristics of master-slave remote operation, high precision, high digitization degree, high calculation speed and the like. A doctor can control the slave-end operation robot in the operating room to perform an operation by using the master-end operator of the master-slave vascular intervention operation robot outside the operating room, so that radiation in the operating room is isolated, and the physical health of the doctor is protected. Wherein, the original operation skills and the true force feedback of doctors are reserved, which is important to shorten the learning period of doctors and ensure the operation safety.
However, the existing surgical robot main end manipulator generally does not consider to preserve the operation skills of a doctor, and an operation object is not a real surgical instrument, so that not only is the learning period of the doctor for using the robot for teleoperation increased, but also inaccurate and unrealistic force feedback is difficult to ensure the safety of the teleoperation.
Disclosure of Invention
In view of the above, the invention provides a main end manipulator of a vascular interventional surgical robot and a force feedback method thereof, wherein the manipulator is used for remotely controlling the vascular interventional surgical robot, has a force feedback function, adopts a fingerstall design, adopts a true surgical instrument as an operation object, reserves the operation skills of a doctor, shortens the training period of the doctor, can acquire the operation force position information of the doctor in real time, and constructs the remote operation force sense of presence of the doctor; the defects that the shape of a remote operation object and the shape of an operated surgical instrument are large in difference, the clamping force applied by hands of a doctor cannot be measured, the feedback of the delivery force is inaccurate, the manufacturing cost is high and the like in the main end technology of the existing master-slave vascular interventional surgical robot are overcome.
The invention adopts the following specific technical scheme:
the invention provides a main end manipulator of a vascular interventional operation robot, which comprises a main end base, a delivery guide rail, a delivery rack, a right-hand operation part and a left-hand operation part, wherein the delivery rack is arranged on the main end base;
one side of the main end base is fixedly provided with the delivery rack and the delivery guide rail which are arranged in parallel;
the right-hand operation component comprises a right-hand delivery assembly and a right-hand twist clamping assembly; the left hand operating component comprises a left hand delivery assembly and a left hand clamping assembly;
the right hand delivery assembly and the left hand delivery assembly are each in sliding engagement with the delivery track and are each provided with an end gear that meshes with the delivery rack.
Still further, the right hand delivery assembly includes a right hand base, a first brushless motor assembly, a force measuring gear, a force measuring encoder, a first force measuring spring, a second force measuring spring, a first spring stopper, a second spring stopper, and a first sliding assembly;
the right-hand base is in sliding fit with the delivery guide rail and fixedly connected with the first brushless motor component;
an end gear is arranged at the output end of the first brushless motor component;
the force measuring encoder is fixedly connected with the right-hand base, and the output shaft of the force measuring encoder is coaxially and fixedly connected with the force measuring gear;
the right-hand base is provided with two limiting shafts parallel to the delivery guide rail at one side facing the first brushless motor assembly, one limiting shaft is coaxially and fixedly connected with one end of the first force measuring spring, and the other limiting shaft is coaxially and fixedly connected with one end of the second force measuring spring;
the other end of the first force measuring spring is fixedly connected with the first spring limiting block, and the other end of the second force measuring spring is fixedly connected with the second spring limiting block;
the guide rail of the first sliding assembly is fixedly connected with the right-hand base, and the sliding direction of the guide rail of the first sliding assembly is the same as the extending and contracting directions of the first force measuring spring and the second force measuring spring.
Further, the right-hand twisting clamping assembly comprises a right-hand clamping assembly, a right-hand twisting assembly, a right-hand clamping twisting base and a force measuring rack;
the right-hand clamping and twisting base is in sliding connection with the right-hand base through the first sliding component and is fixedly connected with the first spring limiting block and the second spring limiting block; and the force measuring rack is fixedly connected with the right-hand clamping and twisting base and meshed with the force measuring gear.
Still further, the right hand clamping assembly includes a right clamping moving member, a right clamping fixed member, a second sliding assembly, a first pressure sensor, and a third sliding assembly; the right clamping moving piece is in sliding connection with the right clamping fixing piece through the second sliding component, and one end of the right clamping moving piece is in contact with the force measuring surface of the first pressure sensor; the first pressure sensor is fixedly connected with the right clamping fixing piece; the right clamping fixing piece is in sliding connection with the right hand clamping twisting base through a third sliding assembly.
Further, the right-hand twisting component comprises a right-hand twisting bracket, a bearing end cover, a twisting bearing, a twisting coupler, a twisting encoder, an encoder bracket, a limiting sleeve, a clamping spring and a twisting guide pipe; the right-hand clamping and twisting base is fixedly connected with the right-hand clamping and twisting support through bolts; the encoder bracket is fixedly connected with the right-hand twisting bracket and fixedly connected with the twisting encoder; the rotary twisting shaft coupler is coaxially and fixedly connected with an output shaft of the rotary twisting encoder and is rotationally connected with the right-hand rotary twisting bracket through the rotary twisting bearing; two end faces of the outer ring of the rotary twisting bearing are respectively fixed through steps of the right rotary twisting support and the end faces of the bearing end cover; one side end surface of the limiting sleeve is propped against the inner ring of the rotary twisting bearing, and the other side end surface is propped against the clamping spring; one end of the twisting guide pipe is coaxially and fixedly connected with the twisting coupler, and the outer surface of the twisting guide pipe is tangential to the right clamping moving piece.
Still further, the left hand delivery assembly includes a left hand base and a second brushless motor assembly; the left-hand base is in sliding fit with the delivery guide rail and fixedly connected with the second brushless motor assembly; an end gear is arranged at the output end of the second brushless motor assembly;
the left hand clamping assembly comprises a left clamping moving piece, a left clamping fixing piece, a fourth sliding assembly and a second pressure sensor; the left clamping moving piece is in sliding fit with the left clamping fixing piece through the fourth sliding component, and the end part protrusion is in contact with the force measuring surface of the second pressure sensor; the left clamping fixing piece is fixedly connected with the left hand base through a screw.
Further, the first brushless motor assembly and the second brushless motor assembly have the same structure, and each of the first brushless motor assembly and the second brushless motor assembly comprises a brushless motor rear end cover, a magnetic encoder, a first transition piece, a mirror magnet, a brushless motor, a second transition piece and the end gear;
the rear end cover of the brushless motor is fixedly connected to the right-hand base through screws;
the magnetic encoder is coaxially and fixedly connected with the rear end cover of the brushless motor through a screw;
the first transition piece is coaxially and fixedly connected with the rear end cover of the brushless motor through a screw, and is coaxially and fixedly connected with one side end surface of the brushless motor through the screw;
the mirror magnet is adsorbed to the end part of the central shaft of the brushless motor through self-contained magnetism, and the coaxial distance between the mirror magnet and the magnetic encoder is 1 mm-2 mm;
the second transition piece is coaxially and fixedly connected between the end face of the other side of the brushless motor and the face gear through a screw.
Still further, the right-hand operating member further includes a right-hand first slider in sliding engagement with the delivery rail; the right-hand first sliding block is fixedly connected to the right-hand base;
the left-hand operating member further comprises a left-hand first slider in sliding engagement with the delivery track; the left-hand first sliding block is fixedly connected to the left-hand base;
the sliding direction of the first sliding component coincides with the extending direction of the delivery guide rail;
the third sliding component slides along the vertical direction;
the sliding direction of the second sliding component is perpendicular to the extending direction of the delivery guide rail and the sliding direction of the third sliding component.
Further, the main end base is of an L-shaped plate structure and comprises a horizontal flat plate and a vertical plate;
the delivery guide rail extends along the horizontal direction and is fixedly arranged on one side surface of the vertical plate, which faces the flat plate;
the delivery rack is fixedly arranged on the lower side of the delivery guide rail.
In addition, the invention also provides a delivery force feedback method of any one of the main end operators in the technical scheme, which comprises the following steps:
calibrating the first force measuring spring and the second force measuring spring, and determining the elastic coefficients of the first force measuring spring and the second force measuring spring;
the compression amount of the first force measuring spring and the second force measuring spring which are connected in parallel is measured by adopting a force measuring encoder, and the right hand delivery force is the interaction force of the right hand delivery assembly and the right hand twist clamping assembly and can be expressed as-
F real (t)＝k c ·l(t)；
k c ＝k 1 +k 2 ；
l(t)＝θ(t)·r；
Wherein F is real (t) right hand delivery force at time t, k c Representing the total spring rate, k, of two parallel force springs 1 Representing the spring constant, k, of the first force-measuring spring 2 The elastic coefficient of the second force measuring spring is represented, l (t) represents the spring compression amount at the moment t, θ (t) represents the rotation angle of the force measuring encoder shaft at the moment t, and r represents the pitch circle radius of the force measuring gear;
a PID (Proportional-Integral-Derivative) based control algorithm forms a delivery force closed loop control with the first brushless motor assembly, controlling the right hand delivery force.
The beneficial effects are that:
1. the main end manipulator of the vascular intervention surgical robot adopts a fingerstall design, an operation object is a surgical instrument with a real size, the problem that the shape of the main end operation object of the existing master-slave vascular intervention surgical robot is greatly different from that of the operated surgical instrument is solved, the operation skills of doctors are reserved, and the training period of the doctors is shortened.
2. The main end manipulator of the vascular intervention operation robot acquires the twisting motion information of an operator through the twisting encoder, and simultaneously acquires the hand clamping force of the operator through the first pressure sensor, so that the acquisition of the clamping force can be used for controlling the clamping force of the slave end of the vascular intervention operation robot to a catheter and a guide wire, and the functions of nondestructive clamping, safe delivery based on the controllable clamping force and the like can be realized.
3. The delivery force feedback method of the vascular interventional operation robot main end manipulator constructs a main end delivery force feedback closed loop based on SEA (Series Elastic Actuator, elastic serial driver), and the SEA formed by a force measuring gear, a force measuring encoder, a first force measuring spring, a second force measuring spring, a first sliding component and a force measuring rack converts the measurement of the elasticity generated by compressing the two force measuring springs into the measurement of the compression quantity of the force measuring springs, so that the method has the characteristics of easiness in realization and stable measurement result. The main end delivery force feedback closed loop is constructed based on SEA, and compared with the conventional force sensor directly used, the elastic element of SEA enables human-computer interaction to be more flexible and friendly; the SEA can relieve impact in the operation process on a physical level, protects a clamping object and a clamp holder, and saves cost by adopting a force measuring scheme of the SEA consisting of two force measuring springs and one force measuring encoder, which is cheaper than a conventional force sensor; the absolute value encoder has higher signal-to-noise ratio than the force sensor, and the signal acquisition is more stable.
Drawings
FIG. 1 is a schematic perspective view of a main end effector according to an embodiment of the present invention;
FIG. 2 is a side view of the main components of the main end effector of FIG. 1;
FIG. 3 is another side view of the major components of the main end effector of FIG. 1;
FIG. 4 is a schematic perspective view of the right hand operating member of FIG. 1;
FIG. 5 is a perspective view of the right hand twist grip assembly of FIG. 4;
FIG. 6 is a schematic perspective view of the left hand operating member of FIG. 1;
FIG. 7 is a schematic perspective view of the first brushless motor assembly of FIG. 4;
fig. 8 is a delivery force closed loop control block diagram of a delivery force feedback method in an embodiment of the present invention.
Wherein 1-main end base, 2-delivery track, 3-delivery rack, 4-right hand operating part, 5-left hand operating part, 6-right hand, 7-left hand, 41-right hand delivery assembly, 42-right hand twist grip assembly, 43-right hand first slider, 411-right hand base, 412-first brushless motor assembly, 413-load gear, 414-load encoder, 415-first load spring, 416-second load spring, 417-first spring stopper, 418-second spring stopper, 419-first slide assembly, 4121-brushless motor rear end cap, 4122-magnetic encoder, 4123-first transition piece, 4124-mirror magnet, 4125-brushless motor, 4126-second transition piece, 4127-end gear, 421-right hand grip assembly, 422-right hand twist assembly, 423-right hand grip twist base, 424-force rack, 4211-right grip movement, 4212-right grip mount, 4213-second slide assembly, 4214-first pressure sensor, 4215-third slide assembly, 4221-right hand twist mount, 4222-bearing cap, 4223-twist bearing, 4224-twist coupler, 4225-twist encoder, 4226-encoder mount, 4227-limit sleeve, 4228-snap spring, 4229-twist catheter, 51-left hand delivery assembly, 52-left hand grip assembly, 53-left hand first slider, 511-left hand base, 512-second brushless motor assembly, 521-left grip movement, 522-left clamp fixture, 523-fourth slide assembly, 524-second pressure sensor.
Detailed Description
The invention will now be described in detail by way of example with reference to the accompanying drawings.
Example 1
The embodiment of the invention provides a main end manipulator of a vascular interventional operation robot, which comprises a main end base 1, a delivery guide rail 2, a delivery rack 3, a right-hand operation part 4 and a left-hand operation part 5 as shown in fig. 1, 2 and 3; wherein:
one side of the main end base 1 is fixedly provided with a delivery rack 3 and a delivery guide rail 2 which are arranged in parallel; as shown in fig. 1 and 2, the main end base 1 may be an L-shaped plate-like structure, and includes a horizontal flat plate and a vertical upright plate, serving as a mounting platform for respective components in the main end operator; the delivery guide rail 2 extends in the horizontal direction and is fixedly arranged on one side surface of the vertical plate facing the flat plate, and is used for guiding the movement of the right-hand operation part 4 and the left-hand operation part 5; the delivery rack 3 is disposed in parallel with the delivery rail 2, and the delivery rack 3 is fixedly installed at the lower side of the delivery rail 2, by being engaged with the end gear 4127 of the brushless motor assembly in the left-hand operating member 5 and the right-hand operating member 4, the left-hand operating member 5 and the right-hand operating member 4 are driven to reciprocate along the delivery rack 3 and the delivery rail 2 by the brushless motor assembly;
the right hand delivery assembly 4 and the left hand delivery assembly 5 are each in sliding engagement with the delivery rail 2 and are each provided with an end gear 4127 that meshes with the delivery rack 3; the left-hand operating member 5 and the right-hand operating member 4 are spaced apart along the extending direction of the delivery rail 2, and are each capable of sliding along the delivery rail 2;
as shown in fig. 3, the right-hand operation member 4 includes a right-hand delivery assembly 41, a right-hand twist grip assembly 42, and a right-hand first slider 43; the right-hand first sliding block 43 is in sliding fit with the delivery guide rail 2, and the right-hand operation part 4 slides along the delivery guide rail 2 through the sliding fit of the right-hand first sliding block 43 and the delivery guide rail 2 so as to perform reciprocating movement;
as shown in fig. 4 and 5, the right hand delivery assembly 41 includes a right hand base 411, a first brushless motor assembly 412, a force gear 413, a force encoder 414, a first force spring 415, a second force spring 416, a first spring stopper 417, a second spring stopper 418, and a first slide assembly 419; the right-hand base 411 is fixedly connected with the right-hand first sliding block 43 and is fixedly connected with one end of the first brushless motor assembly 412; the end gear 4127 of the first brushless motor assembly 412 meshes with the delivery rack 3; the force measuring encoder 414 is fixedly connected with the right-hand base 411, and the output shaft of the force measuring encoder is coaxially and fixedly connected with a force measuring gear 413; the right-hand base 411 is provided with two limiting shafts parallel to the delivery guide rail 2 on one side facing the first brushless motor assembly 412, wherein one limiting shaft is coaxially and fixedly connected with one end of the first force measuring spring 415, and the other limiting shaft is coaxially and fixedly connected with one end of the second force measuring spring 416; the other end of the first force measuring spring 415 is fixedly connected with a first spring limiting block 417, and the other end of the second force measuring spring 416 is fixedly connected with a second spring limiting block 418; the guide rail of the first sliding component 419 is fixedly connected with the right-hand base 411, and the sliding direction is the same as the extending and retracting directions of the first force measuring spring 415 and the second force measuring spring 416;
as shown in fig. 4 and 5, the right hand twist grip assembly 42 includes a right hand grip assembly 421, a right hand twist assembly 422, a right hand grip twist base 423, and a force measuring rack 424; the right hand clamping and twisting base 423 is in sliding connection with the right hand base 411 through a first sliding component 419 and is fixedly connected with a first spring limiting block 417 and a second spring limiting block 418; the force measuring rack 424 is fixedly connected with the right hand clamping and twisting base 423 and meshed with the force measuring gear 413;
as shown in fig. 5, the right hand grip assembly 421 includes a right grip moving member 4211, a right grip fixing member 4212, a second slide assembly 4213, a first pressure sensor 4214, and a third slide assembly 4215; the right clamping moving member 4211 is slidably connected with the right clamping fixing member 4212 through the second sliding assembly 4213, and one end is in contact with the force measuring surface of the first pressure sensor 4214; the first pressure sensor 4214 is fixedly connected with the right clamping fixture 4212; the right clamping fixture 4212 is slidably connected to the right hand clamping twist base 423 via a third slide assembly 4215; the sliding direction of the first sliding assembly 419 coincides with the extending direction of the delivery rail 2; the third sliding assembly 4215 slides in a vertical direction; the sliding direction of the second sliding assembly 4213 is perpendicular to the extending direction of the delivery guide rail 2 and the sliding direction of the third sliding assembly 4215;
as shown in fig. 5, the right hand twist assembly 422 includes a right hand twist bracket 4221, a bearing cap 4222, a twist bearing 4223, a twist coupler 4224, a twist encoder 4225, an encoder bracket 4226, a stop sleeve 4227, a snap spring 4228, and a twist guide tube 4229; the right-hand twisting bracket 4221 is fixedly connected with the right-hand clamping twisting base 423 through bolts; the encoder support 4226 is fixedly connected with the right-hand twist support 4221 and is fixedly connected with the rotary twist encoder 4225; the rotary twisting shaft coupling 4224 is coaxially and fixedly connected with an output shaft of the rotary twisting encoder 4225 and is rotationally connected with the right rotary twisting bracket 4221 through a rotary twisting bearing 4223; the two end surfaces of the outer ring of the rotary twisting bearing 4223 are respectively fixed by the steps of the right rotary twisting bracket 4221 and the end surfaces of the bearing end cover 4222; one side end surface of the limiting sleeve 4227 is propped against the inner ring of the rotary twisting bearing 4223, and the other side end surface is propped against the clamping spring 4228; one end of the twisting guide pipe 4229 is coaxially and fixedly connected with the twisting coupler 4224, and the outer surface of the twisting guide pipe is tangential to the right clamping moving member 4211;
as shown in fig. 3, the left-hand operation member 5 includes a left-hand delivery assembly 51, a left-hand clamping assembly 52, and a left-hand first slider 53;
as shown in fig. 6, left hand delivery assembly 51 includes a left hand base 511 and a second brushless motor assembly 512; the left-hand base 511 is fixedly connected with the left-hand first sliding block 53 through a screw and is fixedly connected with one end of the second brushless motor assembly 512, and an end gear 4127 of the second brushless motor assembly 512 is meshed with the delivery rack 3; the left-hand first sliding block 53 is in sliding fit with the delivery guide rail 2, and the sliding of the left-hand operating part 5 along the delivery guide rail 2 is realized through the sliding fit of the left-hand first sliding block 53 and the delivery guide rail 2, so that the reciprocating movement is realized;
as shown in fig. 6, the left hand clamping assembly 52 includes a left clamping mover 521, a left clamping fixture 522, a fourth slide assembly 523, and a second pressure sensor 524; the left clamping moving member 521 is in sliding fit with the left clamping fixing member 522 through the fourth sliding assembly 523, and the end protrusion is in contact with the force measuring surface of the second pressure sensor 524; the left clamp mount 522 is attached to the left hand base 511 by screws.
As shown in fig. 7, the first brushless motor assembly 412 and the second brushless motor assembly 512 have the same structure, and each includes a brushless motor rear end cap 4121, a magnetic encoder 4122, a first transition piece 4123, a mirror magnet 4124, a brushless motor 4125, a second transition piece 4126, and an end gear 4127; the brushless motor rear end cover 4121 is fixedly connected to the right-hand base 411 by a screw; the magnetic encoder 4122 is coaxially and fixedly connected with the brushless motor rear end cover 4121 through a screw; the first transition piece 4123 is coaxially and fixedly connected with the brushless motor rear end cover 4121 through a screw, and is coaxially and fixedly connected with one side end surface of the brushless motor 4125 through the screw; the mirror magnet 4124 is attracted to the central axis end of the brushless motor 4125 by self-contained magnetism and is coaxial with the magnetic encoder 4122 by a distance of 1mm to 2mm; the second transition piece 4126 is coaxially and fixedly connected between the other side face of the brushless motor 4125 and the face gear by screws. The first transition piece 4123 and the second transition piece 4126 are flange-like structures.
When the vascular interventional operation robot main end manipulator is used, as shown in fig. 1, a left hand operation part 5 is operated by a left hand 7, a right hand operation part 4 is operated by a right hand 6, and the left hand operation part 5 and the right hand operation part 4 respectively correspondingly control a front execution module and a rear execution module of the slave end robot; the right-hand operation part 4 is a main operation part and is used for collecting the operation information of the right hand of a doctor, and then the master-slave control of the clamping, twisting and pushing of the slave-end instrument; the left-hand operating member 5 mainly serves as an auxiliary function for assisting in gripping the instrument and adjusting the gripping position. The index finger of the doctor's right hand is inserted into the right clamping fixture 4212, the thumb of the right hand presses the twisting catheter 4229 on the plane outside the right clamping moving part 4211, and the twisting catheter 4229 is twisted in cooperation with the index finger of the right hand; the clamping force between the thumb and index finger of the right hand during operation is measured by the first pressure sensor 4214; the twist angle of the twist catheter 4229 is measured by a twist encoder 4225; the right hand push to pull the right hand operating member 4 and through the end gear 4127 and the delivery rack 3 drive, the push-pull position is converted into the angle measured by the magnetic encoder 4122 of the first brushless motor assembly 412 calculated as follows:
x right (t)＝θ right (t)·r right ；
wherein x is right (t) represents the right hand pulling position, θ right (t) represents the angle measured by the magnetic encoder 4122, r right The pitch circle radius of the end gear 4127 is shown.
The index finger of the left hand is inserted into the left grip fixing 522, and the thumb of the left hand is pressed on the plane outside the left grip moving 521; the clamping force between the thumb and index finger of the left hand during operation is measured by the second pressure sensor 524; the left hand pushes and pulls the left hand operation member 5 and is driven by the end gear of the second brushless motor assembly 512 and the delivery rack 3, and the push and pull position is converted into the angle measured by the magnetic encoder of the second brushless motor assembly 512, and the calculation formula is as follows:
xleft(t)＝θleft(t)·rleft；
wherein x is left (t) represents the left hand pull position, θ left (t) represents the angle, r, measured by the magnetic encoder of the second brushless motor assembly 512 le ft Representing the pitch circle radius of the end gear of the second brushless motor assembly 512.
The main end manipulator of the vascular interventional operation robot decouples hand movements of a right hand 6 and a left hand 7 of a doctor through a right hand operation part 4 and a left hand operation part 5, and respectively acquires operation information such as hand twisting, delivery, clamping force and the like through a twisting encoder 4225, a magnetic encoder 4122 of a brushless motor 4125 and a pressure sensor; the right hand 6 and the left hand 7 adopt fingerstall designs, the right hand operation part 4 and the left hand operation part 5 mutually cooperate to realize the operation of the vascular intervention surgical instrument, an operation object is an actual surgical intervention instrument, the problem that the shape of the main end operation object of the existing master-slave vascular intervention surgical robot is large with the difference of the operated surgical instrument is solved, the operation skills of doctors are reserved, and the training period of the doctors is shortened; the hand clamping force of the operator is acquired through the first pressure sensor 4214 while the twisting motion information of the operator is acquired through the twisting encoder 4225, the acquisition of the clamping force can be used for controlling the clamping force of the vascular interventional surgical robot from the end to the catheter and the guide wire, and the functions of nondestructive clamping, safe delivery based on the controllable clamping force and the like can be realized.
Example two
The embodiment of the invention provides a delivery force feedback method of a main end operator in the embodiment, which comprises the following steps:
calibrating the first force measuring spring 415 and the second force measuring spring 416, and determining the elastic coefficients of the first force measuring spring 415 and the second force measuring spring 416;
the compression amount of the first force measuring spring 415 and the second force measuring spring 416 which are connected in parallel is measured by the force measuring encoder 414 through the transmission of the force measuring gear 413 and the force measuring rack 424, and the right hand delivery force is the interaction force of the right hand delivery assembly 41 and the right hand twist clamping assembly 42, and can be expressed as:
F real (t)＝k c ·l(t)；
k c ＝k 1 +k 2 ；
l(t)＝θ(t)·r；
wherein F is real (t) right hand delivery force at time t, k c Representing the total spring rate, k, of two parallel force springs 1 Representing the spring constant, k, of the first force-measuring spring 415 2 The elastic coefficient of the second force measuring spring 416, i (t) represents the spring compression amount at time t, θ (t) represents the rotation angle of the force measuring encoder 414 shaft at time t, and r represents the pitch circle radius of the force measuring gear 413;
based on the PID control algorithm and the closed loop control of the delivery force of the first brushless motor assembly 412, the right hand delivery force is controlled, and a specific control flow chart is shown in fig. 8: first, the SEA measures and calculates the current man-machine interaction force F real (t-1) and delivering force F with the slave insert (t) making a difference to obtain a master-slave delivery force error e F Then the current signal I (T) obtained after the adjustment by the PID controller is transmitted to a brushless motor FOC (Field-Oriented Control, magnetic Field vector Control) for driving, and the driving motor adjusts the motor torque T motor (t) converting the force into feedback force F along the push-pull direction of the hand through the gear-rack transmission Feedback (t) then proceed to the next cycle, continually detecting master slave delivery force errors and correcting force errors.
According to the delivery force feedback method of the vascular interventional operation robot main end manipulator, the main end delivery force feedback closed loop is constructed based on SEA, and the SEA formed by the force measuring gear 413, the force measuring encoder 414, the first force measuring spring 415, the second force measuring spring 416, the first sliding component 419 and the force measuring rack 424 is used for converting the elastic force measurement generated by compressing the two force measuring springs into the compression amount of the measuring spring, so that the method has the characteristics of easiness in realization and stable measurement result. The main end delivery force feedback closed loop is constructed based on SEA, and compared with the conventional force sensor directly used, the elastic element of SEA enables human-computer interaction to be more flexible and friendly; the SEA can relieve impact in the operation process on a physical level, protects a clamping object and a clamp holder, and saves cost compared with a conventional force sensor by adopting a force measuring scheme of the SEA consisting of two force measuring springs and one force measuring encoder 414; the absolute value encoder has higher signal-to-noise ratio than the force sensor, and the signal acquisition is more stable.
In the above embodiment, the fixation may be achieved by means of screws, riveting, welding, or the like.
In summary, the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A main end manipulator of a vascular interventional operation robot, which is characterized by comprising a main end base, a delivery guide rail, a delivery rack, a right-hand operation part and a left-hand operation part;
one side of the main end base is fixedly provided with the delivery rack and the delivery guide rail which are arranged in parallel;
the right-hand operation component comprises a right-hand delivery assembly and a right-hand twist clamping assembly; the left hand operating component comprises a left hand delivery assembly and a left hand clamping assembly;
the right hand delivery assembly and the left hand delivery assembly are each in sliding engagement with the delivery track and are each provided with an end gear that meshes with the delivery rack.
2. The master end effector of claim 1, wherein the right hand delivery assembly comprises a right hand base, a first brushless motor assembly, a force gear, a force encoder, a first force spring, a second force spring, a first spring stop, a second spring stop, and a first slide assembly;
the right-hand base is in sliding fit with the delivery guide rail and fixedly connected with the first brushless motor component;
an end gear is arranged at the output end of the first brushless motor component;
the force measuring encoder is fixedly connected with the right-hand base, and the output shaft of the force measuring encoder is coaxially and fixedly connected with the force measuring gear;
the right-hand base is provided with two limiting shafts parallel to the delivery guide rail at one side facing the first brushless motor assembly, one limiting shaft is coaxially and fixedly connected with one end of the first force measuring spring, and the other limiting shaft is coaxially and fixedly connected with one end of the second force measuring spring;
the other end of the first force measuring spring is fixedly connected with the first spring limiting block, and the other end of the second force measuring spring is fixedly connected with the second spring limiting block;
the guide rail of the first sliding assembly is fixedly connected with the right-hand base, and the sliding direction of the guide rail of the first sliding assembly is the same as the extending and contracting directions of the first force measuring spring and the second force measuring spring.
3. The main end effector as set forth in claim 2 wherein said right hand twist grip assembly comprises a right hand grip assembly, a right hand twist assembly, a right hand grip twist base, and a force measuring rack;
the right-hand clamping and twisting base is in sliding connection with the right-hand base through the first sliding component and is fixedly connected with the first spring limiting block and the second spring limiting block; and the force measuring rack is fixedly connected with the right-hand clamping and twisting base and meshed with the force measuring gear.
4. The main end effector as set forth in claim 3 wherein said right hand clamp assembly comprises a right clamp shift, a right clamp mount, a second slide assembly, a first pressure sensor, and a third slide assembly; the right clamping moving piece is in sliding connection with the right clamping fixing piece through the second sliding component, and one end of the right clamping moving piece is in contact with the force measuring surface of the first pressure sensor; the first pressure sensor is fixedly connected with the right clamping fixing piece; the right clamping fixing piece is in sliding connection with the right hand clamping twisting base through a third sliding assembly.
5. The main end effector of claim 4, wherein the right hand twist assembly comprises a right hand twist mount, a bearing end cap, a twist bearing, a twist coupler, a twist encoder, an encoder mount, a limit sleeve, a snap spring, and a twist guide tube; the right-hand clamping and twisting base is fixedly connected with the right-hand clamping and twisting support through bolts; the encoder bracket is fixedly connected with the right-hand twisting bracket and fixedly connected with the twisting encoder; the rotary twisting shaft coupler is coaxially and fixedly connected with an output shaft of the rotary twisting encoder and is rotationally connected with the right-hand rotary twisting bracket through the rotary twisting bearing; two end faces of the outer ring of the rotary twisting bearing are respectively fixed through steps of the right rotary twisting support and the end faces of the bearing end cover; one side end surface of the limiting sleeve is propped against the inner ring of the rotary twisting bearing, and the other side end surface is propped against the clamping spring; one end of the twisting guide pipe is coaxially and fixedly connected with the twisting coupler, and the outer surface of the twisting guide pipe is tangential to the right clamping moving piece.
6. The master end effector of claim 5, wherein the left hand delivery assembly comprises a left hand base and a second brushless motor assembly; the left-hand base is in sliding fit with the delivery guide rail and fixedly connected with the second brushless motor assembly; an end gear is arranged at the output end of the second brushless motor assembly;
the left hand clamping assembly comprises a left clamping moving piece, a left clamping fixing piece, a fourth sliding assembly and a second pressure sensor; the left clamping moving piece is in sliding fit with the left clamping fixing piece through the fourth sliding component, and the end part protrusion is in contact with the force measuring surface of the second pressure sensor; the left clamping fixing piece is fixedly connected with the left hand base through a screw.
7. The primary end effector of claim 6, wherein the first brushless motor assembly and the second brushless motor assembly are of identical construction, each comprising a brushless motor rear end cap, a magnetic encoder, a first transition piece, a mirror magnet, a brushless motor, a second transition piece, and the end gear;
the rear end cover of the brushless motor is fixedly connected to the right-hand base through screws;
the magnetic encoder is coaxially and fixedly connected with the rear end cover of the brushless motor through a screw;
the first transition piece is coaxially and fixedly connected with the rear end cover of the brushless motor through a screw, and is coaxially and fixedly connected with one side end surface of the brushless motor through the screw;
the mirror magnet is adsorbed to the end part of the central shaft of the brushless motor through self-contained magnetism, and the coaxial distance between the mirror magnet and the magnetic encoder is 1 mm-2 mm;
the second transition piece is coaxially and fixedly connected between the end face of the other side of the brushless motor and the face gear through a screw.
8. The primary end effector of claim 6, wherein the right-hand operating member further comprises a right-hand first slider in sliding engagement with the delivery rail; the right-hand first sliding block is fixedly connected to the right-hand base;
the left-hand operating member further comprises a left-hand first slider in sliding engagement with the delivery track; the left-hand first sliding block is fixedly connected to the left-hand base;
the sliding direction of the first sliding component coincides with the extending direction of the delivery guide rail;
the third sliding component slides along the vertical direction;
the sliding direction of the second sliding component is perpendicular to the extending direction of the delivery guide rail and the sliding direction of the third sliding component.
9. The primary end effector of any one of claims 1-8, wherein the primary end base is an L-shaped plate-like structure comprising a horizontal plate and a vertical riser;
the delivery guide rail extends along the horizontal direction and is fixedly arranged on one side surface of the vertical plate, which faces the flat plate;
the delivery rack is fixedly arranged on the lower side of the delivery guide rail.
10. The delivery force feedback method of a primary end effector as claimed in any one of claims 2-9, comprising the steps of:
calibrating the first force measuring spring and the second force measuring spring, and determining the elastic coefficients of the first force measuring spring and the second force measuring spring;
the compression amount of the first force measuring spring and the second force measuring spring which are connected in parallel is measured by adopting a force measuring encoder, and the right hand delivery force is the interaction force of the right hand delivery assembly and the right hand twist clamping assembly, and can be expressed as:
F real (t)＝k c ·l(t)；
k c ＝k 1 +k 2 ；
l(t)＝θ(t)·r；
wherein F is real (t) right hand delivery force at time t, k c Representing the total spring rate, k, of two parallel force springs 1 Representing the spring constant, k, of the first force-measuring spring 2 The elastic coefficient of the second force measuring spring is represented, l (t) represents the spring compression amount at the moment t, θ (t) represents the rotation angle of the force measuring encoder shaft at the moment t, and r represents the pitch circle radius of the force measuring gear;
and controlling the right hand delivery force based on the PID control algorithm and the first brushless motor component to form a delivery force closed loop control.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117814923A (en) * | 2024-03-05 | 2024-04-05 | 北京中科鸿泰医疗科技有限公司 | Vascular interventional surgical robot and delivery method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117814923A (en) * | 2024-03-05 | 2024-04-05 | 北京中科鸿泰医疗科技有限公司 | Vascular interventional surgical robot and delivery method |
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