CN116725698A - Main hand control clamp, signal acquisition circuit thereof and surgical robot - Google Patents
Main hand control clamp, signal acquisition circuit thereof and surgical robot Download PDFInfo
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- CN116725698A CN116725698A CN202310763104.7A CN202310763104A CN116725698A CN 116725698 A CN116725698 A CN 116725698A CN 202310763104 A CN202310763104 A CN 202310763104A CN 116725698 A CN116725698 A CN 116725698A
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- 230000009471 action Effects 0.000 claims abstract description 37
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- 230000010355 oscillation Effects 0.000 claims description 7
- 239000003990 capacitor Substances 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000007769 metal material Substances 0.000 claims description 3
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- 230000009286 beneficial effect Effects 0.000 description 5
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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
- A61B34/74—Manipulators with manual electric input means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- 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
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
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Abstract
The invention discloses a master hand control clamp, a signal acquisition circuit thereof and a surgical robot. The signal acquisition circuit of the master hand control clamp includes: the device comprises an action acquisition module, a clutch control module and a hand induction module. The action acquisition module is used for acquiring the action state of the pressing handle of the master hand control clamp; the clutch control module is used for establishing or disconnecting linkage between the master hand control clamp and the driven instrument; the hand induction module is used for determining the distance between the hand of the operator and the pressing handle according to the charge quantity around the pressing handle; when the distance between the hand of the operator and the pressing handle is greater than the preset distance, the main hand control clamp is separated from the control of the hand of the operator. The embodiment of the invention can perfect the signal acquisition function of the master hand control clamp and improve the operation safety.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a master hand control clamp, a signal acquisition circuit thereof and a surgical robot.
Background
The surgical robot has unique advantages in the fields of auxiliary surgery, health prevention, disease diagnosis and treatment, rehabilitation, medical service and the like; particularly in the auxiliary remote minimally invasive surgical operation process, the accuracy and the stability of the instruction realized by the surgical robot are very high.
The surgical robot may include a master control clamp and a slave instrument coupled to the mechanical arm, and an operator remotely controls the clamping of the slave instrument by pinching the master control clamp during a surgical procedure using the surgical robot. However, the signal acquisition circuit of the existing master hand control clamp is imperfect in function, whether the master hand control clamp is separated from the hands of the operator or not is difficult to judge in time, the linkage state of the master hand control clamp and the driven instrument is inconvenient to switch, and the situation of error follow-up of the driven instrument is easy to occur, so that the operation safety is affected.
Disclosure of Invention
The invention provides a main hand control clamp, a signal acquisition circuit thereof and a surgical robot, which are used for improving the signal acquisition function of the main hand control clamp and improving the surgical safety.
In a first aspect, an embodiment of the present invention provides a signal acquisition circuit of a master hand control clip, including:
the action collection module is used for collecting the action state of the pressing handle of the master hand control clamp;
the clutch control module is used for establishing or disconnecting linkage between the master hand control clamp and the driven instrument;
the hand induction module is used for determining the distance between the hand of the operator and the pressing handle according to the charge quantity around the pressing handle; when the distance between the hand of the operator and the pressing handle is greater than the preset distance, the main hand control clamp is separated from the control of the hand of the operator.
Optionally, the hand sensing module includes: a charge amount acquisition unit and a charge amount processing unit;
the electric charge quantity acquisition unit is electrically connected with the electric charge quantity processing unit; the electric charge amount acquisition unit is used for adjusting an output signal of the electric charge amount acquisition unit according to the electric charge amount around the pressing handle; the charge quantity processing unit is used for generating a distance state signal according to the output signal of the charge quantity acquisition unit; the distance status signal is used to characterize the distance between the operator's hand and the pressing handle.
Optionally, the pressing handle is made of a metal material, and the pressing handle is multiplexed into the electric charge amount acquisition unit; the pressing handle and the hand of the operator form a coupling capacitor, so that the pressing handle determines the output signal according to the charge quantity of the hand of the operator and the distance between the pressing handle and the hand of the operator.
Optionally, the charge amount processing unit includes: a relaxation oscillator; the charge quantity acquisition unit is connected with the negative electrode input end of a comparator in the relaxation oscillator, and the distance state signal comprises the oscillation frequency of a signal output by the relaxation oscillator.
Optionally, the action acquisition module includes: a position detection unit and a first sensing unit;
the position detection unit moves along with the pressing handle, the first sensing unit is fixedly arranged in the main hand control clamp, and the first sensing unit determines the action state of the pressing handle by sensing the distance between the position detection unit and the first sensing unit.
Optionally, the position detection unit includes a first magnet;
the first sensing unit includes a linear hall sensor.
Optionally, the master hand control clip further comprises a clutch switch;
the clutch control module includes: the clutch detection unit and the second sensing unit;
the clutch detection unit moves along with the clutch switch, and the second sensing unit is fixedly arranged in the main hand control clamp; the second sensing unit is used for determining the on-off state of the clutch switch by sensing the position of the clutch detection unit and outputting a switch state signal so as to establish or disconnect linkage between the master hand control clamp and the driven instrument.
Optionally, the clutch detection unit includes a second magnet;
the second sensing unit comprises a switch type Hall sensor.
In a second aspect, an embodiment of the present invention further provides a master hand control clip, including a signal acquisition circuit of the master hand control clip provided in any embodiment of the present invention.
In a third aspect, embodiments of the present invention also provide a surgical robot comprising a slave instrument, a console, and a master hand control clip provided by any of the embodiments of the present invention; the console is connected with the driven instrument and the master hand control clamp respectively.
The signal acquisition circuit of the main hand control clamp provided by the embodiment of the invention is provided with an action acquisition module, a clutch control module and a hand induction module. The accurate collection of the action state of the pressing handle can be realized through the action collection module. The clutch control module can control whether the master hand control clamp is linked with the slave instrument or not, which is beneficial to the operator to flexibly adjust the hand position and avoid misoperation as much as possible. The hand induction module inducts the electric charge of the hands of the operator based on a non-contact mode, so that whether the hands of the operator are positioned in the controllable space of the master hand control clamp is judged, the hands of the operator can be reacted in time when accidentally separated from the master hand control clamp, the connection between the master hand control clamp and the slave instrument is cut off, and the injury to a patient is avoided; and compared with a contact type induction mode, the method is more beneficial to reducing the misjudgment probability of hand separation. Therefore, compared with the prior art, the embodiment of the invention provides a more perfect signal acquisition circuit, and can effectively improve the operation safety.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a signal acquisition circuit of a master hand control clip according to an embodiment of the present invention;
FIG. 2 is a front view of a master hand control clip provided in accordance with an embodiment of the present invention;
FIG. 3 is a side view of a master hand control clip provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic diagram of a signal acquisition circuit of another master control clip according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a hand sensing module according to an embodiment of the present invention;
FIG. 6 is a schematic view of a master hand control clip according to an embodiment of the present invention;
fig. 7 is a schematic structural view of a surgical robot according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
The embodiment of the invention provides a signal acquisition circuit of a master hand control clamp, which is used for accurately acquiring the control state and the actual operation intention of an operator aiming at the master hand control clamp and ensuring the reliability and the safety of an operation process. Fig. 1 is a schematic structural diagram of a signal acquisition circuit of a master hand control clip according to an embodiment of the present invention. As shown in fig. 1, the signal acquisition circuit 100 includes: the device comprises an action acquisition module 10, a clutch control module 20 and a hand induction module 30.
The action acquisition module 10 is used for acquiring the action state of the pressing handle of the master hand control clamp; the clutch control module 20 is used for establishing or disconnecting the linkage between the master hand control clamp and the slave instrument; the hand sensing module 30 is used for determining the distance between the hand of the operator and the pressing handle according to the charge quantity around the pressing handle; when the distance between the hand of the operator and the pressing handle is larger than the preset distance, the main hand control clamp is separated from the control of the hand of the operator.
Fig. 2 and 3 exemplarily show a front view and a side view of the master hand control clip, referring to fig. 2 and 3, the master hand control clip may exemplarily comprise two pressing handles 40 symmetrically arranged, the pressing handles 40 for example comprising a connecting rod 41 and a pressing portion 42 connected to each other, and the two pressing handles 40 are movably connected by a portion of the connecting rod 41 thereof remote from the pressing portion 42. The operator can control the angle between the two pressing handles 40 by pressing or releasing the two pressing portions 42, thereby controlling the action state of the master hand control clip, such as pinching or releasing. The motion acquisition module 10 can determine the actual position of the pressing handle 40 according to, for example, the angle between the two links 41, the distance between the two pressing portions 42, the angle between any one of the links 41 and the symmetry axes of the two pressing handles 40, or the characteristic information that can characterize the motion degree of the pressing handle 40, such as the distance between any one of the pressing portions 42 and the symmetry axes of the two pressing handles 40, so as to acquire the motion state of the pressing handle 40. The motion acquisition module 10 may, for example, transmit a motion state signal of the pressing handle 40 to a console of the surgical robot, so that the console forms a motion command for the slave device according to the signal, so that the slave device moves synchronously with the master hand control clamp.
The clutch switch 50 which can be manually controlled by a user can be arranged on the main hand control clamp, and the clutch control module 20 can be used for collecting the action state of the clutch switch 50 and generating a switch state signal according to the action state of the clutch switch 50. The clutch control module 20 may, for example, transmit a switch status signal to a console of the surgical robot, causing the console to establish or break a linkage between the master hand control clamp and the slave instrument based on the signal to control whether the slave instrument follows the master hand control clamp in a synchronized motion. Illustratively, the clutch switch 50 may be a movable switch component such as a knob or a key; the default position of the clutch switch 50 may be a position indicating that the master hand control clip is in linkage with the slave instrument. When the operator needs to cut off the linkage between the master control clamp and the slave instrument, for example, needs to adjust the holding position or direction of the master control clamp, the clutch switch 50 can be rotated, pressed or pushed accordingly, so that the position of the clutch switch 50 deviates from the default position. The clutch control module 20 senses the position of the clutch switch 50 to determine the control intention of the operator and outputs a corresponding switch state signal.
The hand sensing module 30 mainly determines the distance between the hand of the operator and the pressing handle based on the non-contact charge amount collection technology, and based on the comparison between the distance and the preset distance, it can be determined whether the hand of the operator is located in the controllable space of the master hand control clamp, so as to determine whether the master hand control clamp is separated from the control of the hand of the operator. Specifically, when the distance between the hand of the operator and the pressing handle 40 is within the preset distance, the hand of the operator can be considered to be located in the controllable space of the main hand control clamp, and at this time, it can be determined that the hand of the operator is not separated from the main hand control clamp, and the action state of the main hand control clamp can be controlled normally, and in this case, the action state of the pressing handle 40 collected by the action collection module 10 can represent the actual action intention of the operator. On the contrary, when the distance between the hand of the operator and the pressing handle 40 exceeds the preset distance, the operator can be considered to have left the controllable range of the master hand control clamp, and the action state of the pressing handle 40 collected by the action collection module 10 can not represent the actual action intention of the operator, so that the console can cut off the linkage between the master hand control clamp and the slave device. Illustratively, the distance between the operator's hand and the pressing handle 40 may be understood as the minimum distance between the operator's hand and the pressing handle 40. For example, when the operator's finger touches the pressing portion 42, the distance between the operator's hand and the pressing handle 40 can be considered to be 0. The preset distance can be set according to practical application requirements, for example, 20mm. Taking the example that the closer the hand of the operator is to the main hand control clamp, the larger the electric charge amount that the hand sensing module 30 can sense, in practical application, the preset distance can be set correspondingly by setting the critical electric charge amount, that is, when the electric charge amount sensed by the hand sensing module 30 is greater than the critical electric charge amount, the distance between the hand of the operator and the pressing handle 40 is smaller than the preset distance, and accordingly, it is determined that the main hand control clamp is not separated from the hand control of the operator.
Illustratively, the distance comparison process may be performed in the hand sensing module 30, and the hand sensing module 30 may transmit the comparison result (i.e., the determination result of whether the master hand control grip is out of control of the operator's hand) to the console; alternatively, the hand sensing module 30 may also directly transmit the distance between the operator's hand and the pressing handle to the console, and the console performs the distance comparison process.
During the operation, the hands of the operator are constantly moving and do not always maintain the same motion, so that the hands of the operator do not always touch the pressing handle 40 during the operation. Then, compared with the contact sensing mode, the non-contact type electric charge collection is adopted in the embodiment, which is equivalent to providing a larger fault tolerance space, and the situation that the hand of the operator is judged to be separated from the control of the operator as soon as the hand leaves the pressing handle 40 can be avoided to a certain extent, so that the risk of misjudgment is reduced, and the influence on the operation caused by frequently cutting off the linkage between the master hand control clamp and the driven instrument by the control console is avoided.
In the signal acquisition circuit of the main hand control clamp provided by the embodiment of the invention, an action acquisition module 10, a clutch control module 20 and a hand induction module 30 are arranged. Wherein, the accurate collection of the action state of the pressing handle 40 can be realized by the action collection module 10. The clutch control module 20 can control whether the master hand control clamp is linked with the slave instrument or not, so that the operator can flexibly adjust the hand position, and misoperation is avoided as much as possible. The hand induction module 30 inducts the electric charge of the hands of the operator based on a non-contact mode, so that whether the hands of the operator are positioned in the controllable space of the master hand control clamp is judged, the hands of the operator can be reacted in time when the hands of the operator are accidentally separated from the master hand control clamp, the connection between the master hand control clamp and the slave instrument is cut off, and the injury to a patient is avoided; and compared with a contact type induction mode, the method is more beneficial to reducing the misjudgment probability of hand separation. Therefore, compared with the prior art, the embodiment of the invention provides a more perfect signal acquisition circuit, and can effectively improve the operation safety.
The above embodiments are exemplary of the functions of the functional blocks in the signal acquisition circuit, and the specific configuration of the functional blocks in the signal acquisition circuit is described below, but the present invention is not limited thereto.
With continued reference to fig. 2 and 3, the master hand control fixture body may illustratively include a hollow upright 60 open on both sides and two pressing handles 40. The two pressing handles 40 are symmetrically arranged along the central axis L of the upright post 60, and are movably connected in the accommodating space at the top of the upright post 60. The exterior surface of the post 60 may be provided with a clutch switch 50. A control board (not shown) may be fixedly disposed in the inner cavity of the upright post 60 to integrally house the signal processing components in the motion acquisition module 10, the clutch control module 20 and the hand sensing module 30. The post 60 is, for example, a plastic housing.
Fig. 4 is a schematic structural diagram of a signal acquisition circuit of another master control clip according to an embodiment of the present invention. Referring to fig. 4, in one embodiment, optionally, the motion acquisition module 10 includes: a position detection unit 110 and a first sensing unit 120. The position detecting unit 110 is movable along with the pressing handles 40, and is provided in, for example, a pressing portion 42 of any one of the pressing handles 40; the first sensing unit 120 is fixedly disposed in the master hand control clamp, for example, fixedly disposed on the control board. The first sensing unit 120 may determine an action state of the pressing handles 40, for example, determine an angle between the pressing handles 40 or an angle between the pressing handles 40 and the central axis L by sensing a distance between the position detecting unit 110 and the first sensing unit 120.
Specifically, a non-contact sensing manner may be adopted between the position detecting unit 110 and the first sensing unit 120, so as to reduce the requirement on the mechanical structure of the master control clamp. Alternatively, the position detecting unit 110 may be provided to include a first magnet 111. Illustratively, the first magnet 111 may be disposed on a side of the pressing portion 42 of any one of the pressing handles 40 adjacent to the upright 60. Since the pressing portion 42 is located at the distal end of the pressing handle 40, and is away from the joint between the pressing handles 40, and the displacement of the pressing portion 42 is large when the pressing handles 40 are opened at the same angle, fixing the first magnet 111 to the pressing portion 42 is advantageous in improving the sensitivity and accuracy of sensing. And, the first sensing unit 120 may be provided to include a linear hall sensor. The linear hall sensor may be provided on the control board and on an extension of an arc of the movement path of the first magnet 111 in order to more accurately sense the position of the first magnet 111. The linear hall sensor can convert the sensed magnetic field information into corresponding voltage signals to be output, the corresponding relation between the voltage signals output by the linear hall sensor and the opening angle of the pressing handle 40 can be prestored in the control console, the opening angle of the pressing handle 40 is determined based on the received voltage signals and the corresponding relation, and the action of the driven instrument is correspondingly controlled. Illustratively, the greater the opening angle of the push handle 40, the further the first magnet 111 is from the linear hall sensor, and the correspondingly smaller the voltage signal output by the linear hall sensor.
Based on the characteristics of high accuracy, high sensitivity and good linearity of the linear Hall sensor, the accuracy and reliability of identifying the position (or opening angle) of the pressing handle 40 can be effectively improved; meanwhile, the linear Hall sensor is small in size, and the size and design difficulty of the master hand control clamp can be effectively reduced.
With continued reference to FIG. 4, in one embodiment, the clutch control module 20 may optionally include: a clutch detection unit 210 and a second sensing unit 220. The clutch detection unit 210 moves along with the clutch switch 50, for example, is fixedly connected with the clutch switch 50; the second sensing unit 220 is fixedly disposed in the master hand control clip, for example, on a control board. The second sensing unit 220 determines the on-off state of the clutch switch 50 by sensing the position of the clutch detecting unit 210, and outputs an on-off state signal according thereto, and the console can establish or disconnect the linkage between the master hand control clamp and the slave instrument according to the on-off state signal.
Specifically, a non-contact sensing manner may be adopted between the clutch detection unit 210 and the second sensing unit 220, so as to reduce the requirement on the mechanical structure of the master control clamp. The clutch detection unit 210 may include a second magnet (not shown) that may be fixed to a side of the clutch switch 50 near the column 60. And, the second sensing unit 220 may be provided to include a switch type hall sensor, for example, provided on the control board, and its setting position may correspond to a default position of the clutch switch 50. The switch-type hall sensor senses the magnetic field of the second magnet and outputs a digital quantity signal, wherein the digital quantity signal can comprise an on state and an off state, and the on-off state of the clutch switch 50 can be accurately represented.
Alternatively, two clutch switches 50 may be respectively disposed on the front and rear sides of the upright 60, and a second magnet may be fixed in each clutch switch. Correspondingly, two second sensing units 220 may be disposed on the control board for sensing the positions of the two second magnets, respectively. Alternatively, the second sensing unit 220 may be provided to include a switch type hall sensor having a dual output channel, and two second magnets are provided to face the control board side with different polarities, so that two hall elements in the switch type hall sensor are respectively used to sense positions of the two second magnets. By such arrangement, the grasping direction of the hand of the operator to the master hand control grip can be determined by determining which clutch switch is being shifted, thereby assisting in determining the actual action intention of the operator in conjunction with the acquisition result of the action acquisition module 10.
With continued reference to fig. 4, in one embodiment, the hand sensing module 30 optionally includes: a charge amount acquisition unit 310 and a charge amount processing unit 320. The charge amount acquisition unit 310 is electrically connected to the charge amount processing unit 320. The charge amount collection unit 310 is, for example, disposed on the pressing handle 40, and is configured to adjust an output signal of the charge amount collection unit 310 according to the charge amount around the pressing handle 40; the charge amount processing unit 320 is fixed on the control board, for example, and is used for generating a distance state signal according to the output signal of the charge amount acquisition unit 310; the distance status signal is used to characterize the distance between the operator's hand and the pressing handle.
Illustratively, the charge amount collection unit 310 may be a metal electrode disposed outside the pressing handle 40, which may form a coupling capacitance with the operator's hand, so that the charge amount collection unit 310 determines an output signal (e.g., an output voltage) according to the charge amount of the operator's hand and the distance between the charge amount collection unit 310 and the operator's hand.
Alternatively, the pressing handle 40 itself is made of a metal material, and the pressing handle 40 may be directly reused as the charge amount collection unit 310 to simplify the structure of the master hand control clip. Then, the pressing handle 40 may form a coupling capacitance with the operator's hand, so that the pressing handle 40 determines an output signal transmitted to the charge amount processing unit 320 according to the amount of charge of the operator's hand and the distance between the pressing handle 40 and the operator's hand.
Alternatively, the core of the charge amount processing unit 320 may be a relaxation oscillator on the basis of the above embodiments; an output of the charge amount acquisition unit 310 may be connected to a negative input of a comparator in the relaxation oscillator, and the distance state signal includes an oscillation frequency of a signal output by the relaxation oscillator.
For example, the specific structure of the relaxation oscillator can be seen in fig. 5, which comprises a comparator CMP and an impedance network, which for example comprises a capacitor C1, resistors R1, R2 and R3. One end of the capacitor C1 is connected with the negative electrode input end of the comparator CMP, and the other end of the capacitor C is grounded. The first end of the resistor R1 is connected with the output end of the comparator CMP, the second end of the resistor R1 is respectively connected with the first end of the resistor R2 and the positive electrode input end of the comparator CMP, and the second end of the resistor R2 is grounded. Resistor R3 is connected between the negative input and the output of comparator CMP, the output of comparator CMP acting as the output of the relaxation oscillator.
Specifically, when the charge amount acquisition unit 310 is not connected, for the relaxation oscillator itself, the impedance network is used to provide a reference voltage for the comparator CMP and receive the feedback influence of the output of the comparator CMP, forming an oscillation signal with a fixed frequency. In the case that the negative input terminal of the comparator CMP is connected with the charge amount collection unit 310, when the operator's hand approaches the pressing handle 40, the charge amount around the pressing handle 40 is changed, and the charge amount collection unit 310 may convert the change of the charge amount into an output voltage, which may affect the charging and discharging process of the capacitor C1, to transmit the output voltage to the negative input terminal of the comparator CMP, thereby causing the oscillation frequency to change. Therefore, the subsequent judging part can judge whether the hands of the operator are nearby or not according to the difference between the oscillation frequency of the output signal OUT of the relaxation oscillator and the fixed frequency of the output signal OUT. The corresponding relation between the distance between the hand of the operator and the pressing handle and the oscillation frequency, and the sensitivity of the relaxation oscillator can be adjusted by adjusting the resistance-capacitance value in the impedance network.
In summary, the signal acquisition circuit provided by the embodiment of the invention has higher integration level, small volume and stable and reliable signal transmission, is applied to the master hand control clamp for the medical operation robot, and can reduce the volume and design difficulty of the mechanical structure of the control clamp. Specifically, based on the action acquisition module 10 and the clutch control module 20 in the signal acquisition circuit and the setting of the double clutch switch 50 in the main hand control clamp, the hand actions of the operator can be accurately reflected. The hand sensing module 30 in the signal acquisition circuit can be used as a safety device to effectively prevent the hands of the operator from being accidentally separated to cause injury to the patient.
The embodiment of the invention also provides a master hand control clamp which comprises the signal acquisition circuit provided by any embodiment of the invention and has corresponding beneficial effects. Fig. 6 is a schematic structural view of a master control clip according to an embodiment of the present invention. Referring to fig. 6, the master hand control clip 101 illustratively includes a signal acquisition circuit 100 and an interface module 200. The action acquisition module 10, the clutch control module 20 and the hand induction module 30 can be connected with the interface module 200, and signals are uniformly transmitted to an external circuit through the interface module 200. The interface module 200 is, for example, provided on a control board for connecting to a console of a surgical robot. The main hand control clamp 101 can accurately reflect the hand motion of the operator, is small in size, stable and reliable in signal transmission, and can timely detect whether the main hand control clamp is separated from the hand control of the operator. And the interface module can be provided with a protective element such as electrostatic protection and the like, so that the master control clamp meets the medical electromagnetic compatibility standard.
The embodiment of the invention also provides a surgical robot which comprises the master hand control clamp provided by any embodiment of the invention and has corresponding beneficial effects. Fig. 7 is a schematic structural view of a surgical robot according to an embodiment of the present invention. Referring to fig. 7, illustratively, a surgical robot may include a master hand control clamp 101, a console 103, and a slave instrument 102. The console 103 is connected to the slave instrument 102 and the master hand control clamp 101, respectively. The console 103 is used to control the operational state of the slave device based on the output signal of the master control clamp.
It should be noted that, the console 103 herein refers generally to all connection components between the slave device 102 and the master control clip 101, and may include, for example, a slave control board that receives an output signal of the master control clip 101, a central control unit connected to the slave control board, and a mechanical arm connected to the central control unit and the slave device 102, respectively. And the rear end of the main hand control clamp can be connected with a part for collecting the arm pose of the operator, and then connected with the central control machine, so that the operator can be more completely and accurately captured.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A signal acquisition circuit for a master hand control clamp, comprising:
the action collection module is used for collecting the action state of the pressing handle of the master hand control clamp;
the clutch control module is used for establishing or disconnecting linkage between the master hand control clamp and the driven instrument;
the hand induction module is used for determining the distance between the hand of the operator and the pressing handle according to the charge quantity around the pressing handle; when the distance between the hand of the operator and the pressing handle is greater than the preset distance, the main hand control clamp is separated from the control of the hand of the operator.
2. The signal acquisition circuit of the master hand control clip of claim 1, wherein the hand sensing module comprises: a charge amount acquisition unit and a charge amount processing unit;
the electric charge quantity acquisition unit is electrically connected with the electric charge quantity processing unit; the electric charge amount acquisition unit is used for adjusting an output signal of the electric charge amount acquisition unit according to the electric charge amount around the pressing handle; the charge quantity processing unit is used for generating a distance state signal according to the output signal of the charge quantity acquisition unit; the distance status signal is used to characterize the distance between the operator's hand and the pressing handle.
3. The signal acquisition circuit of the master hand control clip of claim 2, wherein the pressing handle is made of a metal material, and the pressing handle is multiplexed into the charge amount acquisition unit; the pressing handle and the hand of the operator form a coupling capacitor, so that the pressing handle determines the output signal according to the charge quantity of the hand of the operator and the distance between the pressing handle and the hand of the operator.
4. A signal acquisition circuit of a master hand control clip according to claim 2 or 3, wherein the charge amount processing unit comprises: a relaxation oscillator; the charge quantity acquisition unit is connected with the negative electrode input end of a comparator in the relaxation oscillator, and the distance state signal comprises the oscillation frequency of a signal output by the relaxation oscillator.
5. The signal acquisition circuit of the master hand control clip of claim 1, wherein the action acquisition module comprises: a position detection unit and a first sensing unit;
the position detection unit moves along with the pressing handle, the first sensing unit is fixedly arranged in the main hand control clamp, and the first sensing unit determines the action state of the pressing handle by sensing the distance between the position detection unit and the first sensing unit.
6. The signal acquisition circuit of the master hand control clip of claim 5, wherein the position detection unit comprises a first magnet;
the first sensing unit includes a linear hall sensor.
7. The signal acquisition circuit of the master hand control clip of claim 1, wherein the master hand control clip further comprises a clutch switch;
the clutch control module includes: the clutch detection unit and the second sensing unit;
the clutch detection unit moves along with the clutch switch, and the second sensing unit is fixedly arranged in the main hand control clamp; the second sensing unit is used for determining the on-off state of the clutch switch by sensing the position of the clutch detection unit and outputting a switch state signal so as to establish or disconnect linkage between the master hand control clamp and the driven instrument.
8. The signal acquisition circuit of the master hand control clip of claim 7, wherein the clutch detection unit comprises a second magnet;
the second sensing unit comprises a switch type Hall sensor.
9. A master hand control clip comprising a signal acquisition circuit of the master hand control clip of any one of claims 1 to 8.
10. A surgical robot comprising a slave instrument, a console, and the master hand control clip of claim 9; the console is connected with the driven instrument and the master hand control clamp respectively.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310763104.7A CN116725698A (en) | 2023-06-26 | 2023-06-26 | Main hand control clamp, signal acquisition circuit thereof and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310763104.7A CN116725698A (en) | 2023-06-26 | 2023-06-26 | Main hand control clamp, signal acquisition circuit thereof and surgical robot |
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| CN116725698A true CN116725698A (en) | 2023-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310763104.7A Pending CN116725698A (en) | 2023-06-26 | 2023-06-26 | Main hand control clamp, signal acquisition circuit thereof and surgical robot |
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| Country | Link |
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| CN (1) | CN116725698A (en) |
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