CN118121314A

CN118121314A - Gravity compensation method and system of surgical robot and surgical robot

Info

Publication number: CN118121314A
Application number: CN202410302309.XA
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Agile Medical Technology Suzhou Co ltd
Current assignee: Agile Medical Technology Suzhou Co ltd
Priority date: 2024-03-15
Filing date: 2024-03-15
Publication date: 2024-06-04

Abstract

The embodiment of the application belongs to the technical field of robot control, and provides a gravity compensation method and a gravity compensation system for a surgical robot and the surgical robot, wherein the method and the system comprise the steps of receiving signals of surgical instruments connected with an adjusting assembly and acquiring moment compensation values related to the surgical instruments; and sending the moment compensation value to the power assembly to instruct the power assembly to apply force to the adjusting assembly based on the moment compensation value, so that the adjusting assembly is in a static balance state. In the preoperative stage, the application can obtain the heavy moment of the surgical instrument and send the heavy moment to the power assembly as a relevant moment compensation value, so that the output moment is adjusted by the power assembly to enable the adjusting assembly to be in a static balance state. The compensation mode can solve the gravity compensation problem of changing different surgical instruments, and the problem of change of the adjusting component caused by time hysteresis does not exist.

Description

Gravity compensation method and system of surgical robot and surgical robot

Technical Field

The application relates to the field of medical instruments, in particular to a gravity compensation method and system of a surgical robot and the surgical robot.

Background

With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery has been increasingly used with the advantages of small surgical trauma, short rehabilitation time, less pain of patients and the like. The minimally invasive surgery robot has the characteristics of high dexterity, high control precision, visual surgery images and the like, can avoid operation limitations, such as tremble of hands during filtering operation, and is widely applied to surgery areas such as abdominal cavities, pelvic cavities, thoracic cavities and the like.

At present, the largest type of minimally invasive surgery robots is a endoscope (surgery) robot, which comprises a doctor control console and a surgery platform, wherein a plurality of surgery arms are arranged on the surgery platform, a main operation arm of the doctor control console collects operation signals of a doctor and generates control signals of the surgery arms after the operation signals are processed by a control system, and the surgery arms control surgical instruments clamped on the operation arms to perform surgery or an endoscope (endoscope) to perform image collection. The surgical arms on the surgical platform are generally three or four, one of which is required to be clamped with the endoscope, and the other surgical arms are clamped with different instruments. Then, there are three states for the surgical arm: 1. the gravity of different instruments is slightly different under the condition of no instrument, 2, instruments, 3 and a cavity mirror.

Before formally starting the operation, the assistant doctor needs to adjust the position of the operation arm/power box, and the operation arm/power box is required to be in a static balance state, so that the doctor can drag the operation arm/mobile power box easily, and all joints/power boxes of the operation arm cannot automatically move. Thus, gravity balancing is required to balance out the gravity of different loads under different conditions.

As shown in fig. 1, in a document with publication No. CN117017499a, the invention is entitled "a gravity self-balancing structure, a mechanical arm, and a surgical robot", which includes a mounting body 10 and an arm cylinder 20 slidably provided on the mounting body 10, and a constant force balancing unit 30 and a balancing compensation unit 40 connected to the arm cylinder 20, respectively, are mounted on the mounting body 10. Most of the load can be balanced by the constant force spring (constant force balance component 30), and the balance compensation component 40 is driven by the rotation of the motor to generate torsion to compensate the rest load. The control method comprises the steps of obtaining the up-and-down movement trend of the load through a tension detection assembly (a tension sensor), obtaining the movement state change of the load through a travel detection assembly (a magnetic grating ruler), and timely giving out gravity balance feedback to the dragging action of a user under double detection, so that the response speed of the torque adjustment of the clockwork spring and the overall gravity balance efficiency of the load are improved.

However, the above-mentioned unbalanced gravity part is compensated by the force provided by the motor, it is necessary to determine whether the gravity is balanced by the dual detection of the tension sensor and the magnetic grating ruler, and the motor is inserted again to realize gravity compensation when the gravity is unbalanced, which is a post-compensation scheme, and a certain response time is required, and the position of the end of the stab card/instrument still can be found to slightly change, however, the slight change is unacceptable for the abdomen incision pressure and the instrument; and need to set up extra sensor, both increased structure complexity and cost, still can have life weak point, change inconvenient problem.

Disclosure of Invention

The embodiment of the application provides a gravity compensation method and a system of a surgical robot and the surgical robot, which effectively solve the gravity compensation problem of changing different surgical instruments and do not have the problem of adjusting component change caused by time lag.

According to a first aspect of an embodiment of the present application, there is provided a gravity compensation method of a surgical robot including an adjustment assembly for driving movement of the adjustment assembly and a power assembly for connecting a surgical instrument, the gravity compensation method comprising:

receiving a signal of a surgical instrument connected with the adjusting assembly, and acquiring a moment compensation value related to the surgical instrument;

and sending the moment compensation value to the power assembly to instruct the power assembly to apply force to the adjusting assembly based on the moment compensation value, so that the adjusting assembly is in a static balance state.

In a possible implementation manner, the adjusting component is a power box, the power box is arranged on an arm rod component at the tail end of the surgical arm, a transmission component is arranged between the power box and the arm rod component, the transmission component is connected with the output end of the power component and used for driving the power box to move, and the power box is detachably clamped with the surgical instrument.

In one possible implementation, the acquiring a torque compensation value associated with the surgical instrument includes:

Acquiring the gravity and the mass center position prestored in the surgical instrument and acquiring the current angle information of the surgical instrument;

Outputting the moment compensation value according to the gravity, the centroid position and the angle information;

or the acquiring a torque compensation value associated with the surgical instrument comprises:

acquiring parameter information of the surgical instrument; wherein the parameter information characterizes ID information of the surgical instrument;

based on the parameter information, the corresponding gravity and the centroid position are called from a prestored statics parameter table;

acquiring current angle information of the surgical instrument;

and outputting the moment compensation value according to the gravity, the centroid position and the angle information.

In a possible implementation, the outputting the torque compensation value according to the gravitational torque and the angle information includes:

Acquiring a corresponding moment compensation value from a pre-stored moment compensation table according to the gravity, the centroid position and the angle information;

Or alternatively

And inputting the gravity, the centroid position and the angle information into a pre-established calculation model to output a corresponding moment compensation value.

In one possible implementation, each joint of the surgical arm is provided with an encoder;

The obtaining the angle information of the current surgical instrument includes:

and receiving data information of a plurality of encoders and generating the angle information.

In one possible implementation, the adjusting component is a surgical arm, a proximal end of the surgical arm is connected to a vertical shaft through a constant force balancing component, a transmission component is arranged between the surgical arm and the vertical shaft, the transmission component is connected with an output end of the power component, and a distal end of the surgical arm is detachably connected with the surgical instrument.

acquiring a pre-stored gravitational moment in the surgical instrument; wherein the gravitational torque is used as the torque compensation value for direct transmission to the power assembly;

Or acquiring parameter information of the surgical instrument; wherein the parameter information characterizes ID information of the surgical instrument;

Based on the parameter information, a corresponding gravity moment is called from a prestored statics parameter table; wherein the gravitational torque is used as the torque compensation value for transmission to the power assembly.

In one possible implementation, the parameter information includes instrument type, weight, centroid position, and serial number.

According to a second aspect of embodiments of the present application, there is provided a gravity compensation system for a surgical robot, the surgical robot comprising an adjustment assembly for driving the adjustment assembly in motion and a power assembly for connecting a surgical instrument; the gravity compensation system includes:

The compensation value acquisition unit is used for receiving signals of the surgical instrument connected with the adjusting assembly and acquiring moment compensation values related to the surgical instrument;

And the sending unit is used for sending the moment compensation value to the power assembly so as to instruct the power assembly to apply force to the adjusting assembly based on the moment compensation value, and further enable the adjusting assembly to be in a static balance state.

In one possible implementation of this method,

The adjusting component is a power box, the power box is arranged on an arm rod component at the tail end of the operation arm, a transmission component is arranged between the power box and the arm rod component, the transmission component is connected with the output end of the power component and used for driving the power box to move, and the power box is detachably clamped with the operation instrument;

The compensation value acquisition unit includes:

the first acquisition unit is used for acquiring the gravity and the mass center position prestored in the surgical instrument and acquiring the current angle information of the surgical instrument;

A first output unit configured to output the moment compensation value according to the gravitational moment, the centroid position, and the angle information;

or the compensation value acquisition unit includes:

a second acquisition unit for acquiring parameter information of the surgical instrument; wherein the parameter information characterizes ID information of the surgical instrument;

a calling unit, based on the parameter information, for calling the corresponding gravity moment from a prestored statics parameter table;

A third obtaining unit, configured to obtain angle information of the surgical instrument currently;

And the second output unit is used for outputting the moment compensation value according to the gravity moment and the angle information.

In one possible implementation of this method,

The adjusting component is an operation arm, the proximal end of the operation arm is connected with the vertical shaft through the constant force balancing component, a transmission component is arranged between the operation arm and the vertical shaft, the transmission component is connected with the output end of the power component, and the distal end of the operation arm is detachably connected with the operation instrument;

The compensation value acquisition unit includes:

A fourth acquisition unit for acquiring a pre-stored gravitational moment in the surgical instrument; wherein the gravitational torque is used as the torque compensation value for direct transmission to the power assembly;

or a fifth acquisition unit for acquiring parameter information of the surgical instrument; wherein the parameter information characterizes ID information of the surgical instrument;

A calling unit, based on the parameter information, for calling the corresponding gravity moment from a prestored statics parameter table; wherein the gravitational torque is used as the torque compensation value for transmission to the power assembly.

According to a third aspect of embodiments of the present application, there is provided a surgical robot including a surgical arm and a power pack provided on the surgical arm; the surgical robot is configured to provide a compensation torque to the power assembly prior to surgery using the gravity compensation method described in the embodiments above to achieve a static balance of the surgical arm or the power box.

The embodiment of the application provides a gravity compensation method and a gravity compensation system for a surgical robot and the surgical robot. By adopting the gravity compensation method, the gravity moment of the surgical instrument can be obtained in the preoperative stage, and the gravity moment is used as a relevant moment compensation value to be sent to the power assembly, so that the output moment is adjusted by the power assembly, and the adjusting assembly is in a static balance state. The compensation mode can solve the gravity compensation problem of changing different surgical instruments, namely, the surgical arm can be rapidly and accurately forced by the power component, so that the surgical arm is in a gravity balance state, and the compensation mode belongs to feedforward compensation and has no problem that the surgical arm is easy to slightly change due to time lag; and no additional sensor is required, the increase of the structural complexity and the cost is avoided, and the device has the advantages of high reliability and no need of replacement or maintenance.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, 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 the drawings without inventive effort for those skilled in the art.

FIG. 1 is a schematic diagram of a prior art structure;

FIG. 2 is a flow chart of a method of gravity compensation for a surgical robot provided in accordance with an embodiment of the present application;

FIG. 3 is one of the flow charts of the gravity compensation method for the power box provided according to the embodiment of the application;

FIG. 4 is a second flow chart of a gravity compensation method for a power box according to an embodiment of the present application;

Fig. 5 is a schematic frame diagram of a gravity compensation system of a surgical robot according to an embodiment of the present application.

Reference numerals:

100. A compensation value acquisition unit; 200. and a transmitting unit.

Detailed Description

The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

In this specification, numerous specific details are set forth in some places. It is understood, however, that embodiments of the invention may be practiced without these specific details. Such detailed description is not to be taken in a limiting sense, and the scope of the present invention is defined only by the appended claims. Well-known structures, circuits, and other details have not been shown in detail in order not to obscure the gist of the present invention.

In this specification, the drawings show schematic representations of several embodiments of the invention. However, the drawings are merely schematic, and it is to be understood that other embodiments or combinations may be utilized and that mechanical, physical, electrical and step changes may be made without departing from the spirit and scope of the present invention.

The terminology used herein below is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Spatially relative terms, such as "below," "lower," "above," "upper," and the like, may be used for ease of description to describe one element or feature's relationship to another element or feature's illustrated in the figures. It will be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. While the device may be otherwise oriented (e.g., rotated 90 deg. or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As used herein, "a" and "an" in the singular are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.

The term "object" generally refers to a component or group of components. Throughout the specification and claims, the terms "object," "component," "portion," "part" and "piece" are used interchangeably.

The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe a medical device, including an end effector, configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. The end effector may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizer or retractor, clip applier, stapling apparatus, imaging apparatus (e.g., endoscope or ultrasound probe), and the like. Some instruments used with embodiments of the present invention further provide an articulating support (sometimes referred to as a "wrist") for a surgical tool such that the position and orientation of the end effector can be manipulated with one or more mechanical degrees of freedom relative to the instrument shaft. Further, many end effectors include functional mechanical degrees of freedom such as open or closed jaws or knives that translate along a path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. Accordingly, the system may provide for one-way or two-way information communication between the instrument and one or more system components.

The term "mated" may be understood in a broad sense as any situation in which two or more objects are connected in a manner that allows the mated objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather, many objects or components may be used to mate two or more objects. For example, objects a and B may be mated by using object C. Furthermore, the term "detachably coupled" or "detachably mated" may be interpreted to mean a non-permanent coupling or mating situation between two or more objects. This means that the detachably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

Finally, the terms "or" and/or "as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means any one of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C. An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.

Summary of master slave teleoperated laparoscopic surgical robot:

Endoscopic surgical robots typically include a doctor control platform, a patient surgical platform, and an image platform, where a surgeon sits on the doctor control platform, views two-or three-dimensional images of a surgical field transmitted by a scope placed in a patient, and manipulates movements of a robotic arm on the patient surgical platform, as well as surgical instruments or scopes attached to the robotic arm. The mechanical arm is equivalent to an arm simulating a human, the surgical instrument is equivalent to a hand simulating the human, and the mechanical arm and the surgical instrument provide a series of actions simulating the wrist of the human for a surgeon, and meanwhile tremble of the human hand can be filtered.

The patient surgical platform includes a chassis, a column, robotic arms connected to the column, and one or more surgical instrument manipulators at an end of a support assembly of each robotic arm. A surgical instrument and/or endoscope is removably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and/or a scope that are operated at a surgical site within a patient. Each surgical instrument manipulator may be permitted to provide the associated surgical instrument in a variety of forms that move in one or more mechanical degrees of freedom (e.g., all six cartesian degrees of freedom, five or fewer cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located where the surgical instrument enters the body and is referred to as a "telecentric point".

The image platform typically includes one or more video displays having video image capturing functionality (typically endoscopes) and for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, the endoscope includes optics that transfer images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, which in turn transfer the video images to a host computer of an image platform by photoelectric conversion or the like. The processed image is then displayed on a video display for viewing by an assistant through image processing.

The physician control platform may be at a single location in a surgical system consisting of an endoscopic surgical robot or it may be distributed at two or more locations in the system. The remote master/slave operation may be performed according to a predetermined control degree. In some embodiments, the physician control platform includes one or more manually operated input devices, such as a joystick, exo-skeletal glove, power and gravity compensation manipulator, or the like. The input devices collect operation signals of a surgeon, and control signals of the mechanical arm and the surgical instrument manipulator are generated after the operation signals are processed by the control system, so that remote control motors on the surgical instrument manipulator are controlled, and the motors further control the movement of the surgical instrument.

Typically, the force generated by the teleoperated motor is transmitted via a transmission system, transmitting the force from the teleoperated motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device controlling the manipulator may be located remotely from the patient, either in or out of the room in which the patient is located, or even in a different city. The input signal of the input device is then transmitted to the control system. Those familiar with tele-manipulation, tele-control and tele-presentation surgery will appreciate such systems and components thereof.

The surgical instrument is installed on the surgical arm of the surgical robot, specifically on the power box of the surgical arm, and the surgical arm generally weighs twelve to twenty four kilograms, before the formal surgery starts, an assistant doctor must move the surgical instrument to a proper position above a focus of a patient, in order to conveniently, flexibly and safely adjust the position of the surgical arm or the power box, the surgical arm or the power box is required to be in a static balanced state, besides the mode of judging whether gravity is balanced or not firstly and realizing gravity compensation by motor intervention when unbalanced is adopted in the related art, the conventional means also comprise adding a certain damping to the surgical arm, so that the influence of different load weights and/or centroid positions under different conditions is avoided, but the damping is unfavorable for manual adjustment before surgery, the assistant doctor is unfavorable for timely adjusting the surgical instrument in place, and the addition of the damping can increase the load of the motor and influence the service life of the motor.

Based on the above-mentioned problems, the embodiment of the present application provides a gravity compensation method of a surgical robot, where the surgical robot provided by this example may include an adjusting component and a power component, where the power component is used to drive the adjusting component to move, and the adjusting component is used to connect with a surgical instrument.

It will be appreciated that the adjustment assembly is primarily used to connect surgical instruments such that the surgical instruments have multiple degrees of freedom, thereby enabling the surgical instruments to perform highly complex, high precision surgical procedures. The adjusting assembly in this example may include the whole surgical arm, or one or more joints in the surgical arm, or a power box on the surgical arm, without limitation in particular; since in the preoperative adjustment phase (hereinafter preoperative phase) it is necessary to have, for example, the surgical arm or the power box in a static equilibrium state, i.e. so that the surgical arm or the power box can be moved with the pushing of the hand, without self-movement. In one example, the surgical instrument includes an implement or endoscope, which may be, for example, forceps, needle holders, scissors, bipolar cautery, tissue stabilizer or retractor, clip applier, stapling device, or the like.

And the surgical arm or the power box comprises at least three states of no instrument, instruments (including different execution instruments), and a endoscope. Taking the surgical arm as an example, a constant force spring is arranged between the surgical arm and a surgical robot main body (a vertical shaft is described below), and the constant force spring can balance most of the gravity of the surgical arm in a state of no instrument. However, when the endoscope or different instruments are clamped on the operation arm, as the endoscope and various instruments have different weight, mass center position and other parameters, a driving motor connected with the operation arm is required to compensate different gravity moments for the operation arm, so that the operation arm or a power box is in a static balance state, and the effect of 'pushing and stopping' is realized in the preoperative stage.

Fig. 2 is a flow chart of a gravity compensation method of a surgical robot according to an embodiment of the present application, where the gravity compensation method provided in this example includes:

step S101, receiving a signal of a surgical instrument connected with the adjusting component, and acquiring a moment compensation value related to the surgical instrument;

step S102, sending the torque compensation value to the power assembly to instruct the power assembly to apply a force to the adjustment assembly based on the torque compensation value, so as to make the adjustment assembly in a static balance state.

It will be appreciated that in step S101, after the surgical instrument is snapped onto the adjustment assembly (in this example, the power box) via the spacer plate, it may be determined whether the instrument is present on the surgical arm by means of a physical probe and/or hall sensor, and in particular, the adjustment assembly may be provided with a reading module, which is communicatively connected to the surgical instrument (e.g., a probe). The reading module on the adjusting assembly can acquire surgical instrument information which can be ID information or serial number information and is arranged in a memory chip in the surgical instrument through the probe. Of course, the reading module on the adjustment assembly can also acquire information about the moment compensation, such as the gravitational moment information, in the memory chip of the surgical instrument via the probe.

For example, the reading module may send the read related information to a controller or processor of the surgical robot (the controller is described below as an example). In one embodiment, when the related information is the corresponding gravity and centroid position obtained directly from the surgical instrument, the controller may directly calculate the obtained gravity and centroid position to generate a corresponding gravity moment, and send the gravity moment (the gravity moment, that is, the moment compensation value) to a power component connected with the adjusting component, or calculate the gravity and centroid position in combination with the angle information of the current adjusting component to obtain a corresponding component force, calculate the component force in combination with the moment arm to generate the moment compensation value, and then send the component force to the power component connected with the adjusting component, so that the moment is applied to the adjusting component through the power component, and the adjusting component is in a static equilibrium state.

It should be noted that, the centroid position of the surgical instrument represents three coordinate values of the centroid of the surgical instrument in a specified coordinate system (for example, coordinate values corresponding to x, y and z coordinate systems), and when the surgical instrument is mounted on the adjusting component (the surgical arm or the power box), the center of gravity of the adjusting component and the entire surgical instrument will be changed, so that the weight of the adjusting component and the surgical instrument and the center of gravity of the adjusting component need to be combined to calculate the weight moment to be compensated for the power component, if the angle exists in the adjusting component, the component of the surgical instrument in the corresponding angle needs to be calculated first, and then the center of gravity of the adjusting component and the center of gravity of the adjusting component need to be combined (to determine the moment arm) to obtain the final weight moment.

In one embodiment, when the related information is surgical instrument parameter information (such as ID information, serial number information, and the like, which can represent unique characteristics of the surgical instrument) obtained from the surgical instrument, the controller may retrieve a gravitational moment corresponding to the surgical instrument from a prestored static parameter table according to the obtained parameter information, and then send the retrieved gravitational moment (the gravitational moment is a moment compensation value) to a power component connected with the adjusting component, or retrieve the gravitational force and a centroid position corresponding to the surgical instrument from the prestored static parameter table, and obtain a corresponding component force by combining with angle information of the current adjusting component, calculate the component force with a moment arm to generate a moment compensation value, and then send the moment compensation value to the power component connected with the adjusting component, so that the adjusting component is in a static equilibrium state by applying a moment to the adjusting component by the power component.

The control program of the surgical robot is pre-stored with a statics parameter table, the statics parameter table comprises gravity and mass center positions corresponding to different instruments and cavity mirrors, the gravity and mass center positions of the adjusting component are combined to calculate the assembled gravity and mass center positions of the instruments or the cavity mirrors, and then a final moment compensation value is obtained rapidly, so that the adjusting component is regulated to a static equilibrium state rapidly and accurately through the power component.

Of course, the gravity moment may also be directly stored in the surgical instrument or the statics parameter table, for example, the gravity moment under a specific initial condition may be prestored, when the surgical instrument is clamped to the adjusting component, the prestored gravity moment may be obtained, the relationship (such as angle, each joint position, etc.) between the current condition and the initial condition may be compared, and then the gravity moment may be converted to obtain the gravity moment (i.e. moment compensation value) corresponding to the current condition.

In the application, in the preoperative stage, the compensation torque can be sent to the power assembly connected with the adjusting assembly according to the acquired torque compensation value related to the surgical instrument, so that the compensating torque can be applied to the adjusting assembly through the power assembly according to the torque compensation value, and the adjusting assembly is in a static balance state. The compensation mode can effectively solve the problem of gravity compensation of the adjusting component when different surgical instruments are replaced, and belongs to feedforward compensation, and the problem of adjusting component change caused by time lag is avoided.

Hereinafter, the gravity compensation method provided by the present application will be described in detail with reference to specific examples.

Example one, the adjustment assembly is a power box:

in some embodiments, the adjusting component is a power box, the power box is arranged on an arm rod component at the tail end of the operation arm, a transmission component is arranged between the power box and the arm rod component, the transmission component is connected with the output end of the power component and used for driving the power box to move, and the power box is detachably clamped with the operation instrument.

Specifically, the power box can be installed on the arm rod assembly through the transmission assembly, the transmission assembly can be specifically screw rod transmission, a linear guide rail is arranged on the arm rod assembly, and the power box is in sliding connection with the linear guide rail through the sliding block. The power assembly can be a driving motor, and is arranged on the arm rod assembly, the output end of the driving motor is connected with a screw rod, and the screw rod is connected with a sliding block, so that the power box is driven to do linear motion along the linear guide rail. The construction of the specific transmission assembly is understood with reference to the prior art and will not be described in detail herein.

In this example, when performing an operation on, for example, the abdominal cavity with a surgical instrument, in order to facilitate the operation performed by the endoscope and the surgical instrument driven by the multiple (two or three) surgical arms in the abdominal cavity, the surgical instrument is typically disposed obliquely, i.e., the arm assemblies where the power box is disposed are disposed obliquely, so that extension lines of the multiple arm assemblies have a convergence tendency. The inclined arm rod assembly causes the power box to move in the vertical (gravity) direction, and the component of the surgical instrument in the direction of the linear guide rail needs to be calculated, so that the accurate compensation moment of the driving motor can be obtained.

In this example, the specific moment compensation value may be obtained by a first method, fig. 3 is one of flow diagrams of a gravity compensation method for a power box according to an embodiment of the present application, and as shown in fig. 3, step S101 further includes, step S1014, obtaining a gravity and a centroid position pre-stored in a surgical instrument, and obtaining angle information of a current surgical instrument; and step S1015, outputting a moment compensation value according to the gravity, the centroid position and the angle information.

It will be appreciated that each surgical instrument is designed with various pieces of parameter information such as dimensions, materials, etc. known, and the weight, centroid position, etc. of the surgical instrument can be easily obtained according to the parameter information and stored in the memory chip of the surgical instrument in advance. When the controller obtains signals of the surgical instrument connected to the surgical arm, namely, obtains gravity and mass center positions from the storage chip, the power box needs to calculate components of the surgical instrument along the direction of the linear guide rail, the calculation of the components needs to obtain angle data of the current surgical instrument, the gravity and mass center positions generate component forces along the direction of the linear guide rail according to the angle data, then a sub-compensation moment (namely, moment compensation value) is obtained according to the current moment arm, and then the sub-compensation moment is sent to the driving motor through a current command so that the driving motor can apply force to the transmission assembly to the power box, and the whole power box is in a gravity balance state.

FIG. 4 is a second flow chart of a gravity compensation method for a power box according to an embodiment of the present application, as shown in FIG. 4, step S101 further includes, step S1016, obtaining parameter information of a surgical instrument; wherein the parameter information characterizes ID information of the surgical instrument; step S1017, based on the parameter information, calling the corresponding gravity and centroid position from a prestored statics parameter table; step S1018, obtaining angle information of the current surgical instrument; step S1019, outputting a moment compensation value according to the gravity, the centroid position and the angle information.

It can be understood that the static parameter table prestores the gravity and the mass center positions of various instruments and cavity mirrors, when the surgical arm is clamped with the surgical instrument, the gravity and the mass center positions corresponding to the surgical instrument can be obtained through a table look-up mode, and the power box needs to calculate the components of the surgical instrument along the direction of the linear guide rail, and the calculation of the components needs to obtain the angle data of the current surgical instrument, so that after the corresponding gravity and mass center positions are obtained, the component force along the direction of the linear guide rail is generated according to the angle data through the gravity and mass center positions, then the sub-compensation moment (namely the moment compensation value) is obtained according to the current moment, and then the sub-compensation moment is sent to the driving motor in a current command so as to facilitate the driving motor to apply force to the position of the power box. The compensation mode can rapidly and accurately apply force to the power box through the power assembly, so that the power box is in a static balance state, and the compensation mode belongs to feedforward compensation, and the problem that the power box is easy to generate fine change due to time lag is solved.

In this example, the order of obtaining the parameter information of the surgical instrument and retrieving the corresponding gravity and centroid position and obtaining the angle information of the current surgical instrument based on the parameter information is not limited, and for example, the obtaining of the parameter information and the obtaining of the angle information may be performed synchronously, or the retrieving of the gravity and centroid position and the obtaining of the angle information may be performed synchronously.

Of course, the foregoing surgical instrument or the static parameter table may also directly store a gravity moment, for example, the gravity moment under a specific initial condition may be prestored, and after the surgical instrument is clamped to the adjusting component, the prestored gravity moment may be obtained, and the relationship (such as angle, each joint position, etc.) between the current condition and the initial condition may be compared, and then the gravity moment may be converted to obtain the gravity moment (i.e. moment compensation value) corresponding to the current condition.

The method for obtaining the sub-compensation torque may be that in the method 1), the step S1015 includes the step S10151 of obtaining a corresponding torque compensation value from a pre-stored torque compensation table according to the gravity, the centroid position and the angle information.

It will be appreciated that, similar to the above-mentioned pre-storing of the statics parameter table in the surgical robot, the correlation mapping table between the angle and the gravity, centroid position, i.e. the moment compensation table, may also be pre-stored in the surgical robot, so that after the gravity, centroid position is obtained directly from the surgical instrument or by looking up the table from the statics parameter table, the moment compensation value under the angle corresponding to the gravity moment is obtained from the pre-stored moment compensation table through the gravity and centroid position, so as to send the moment compensation value to the driving motor.

Mode 2), step S1015 further includes step S10152 of inputting the gravity, centroid position and angle information into a pre-established calculation model to output a corresponding moment compensation value.

It can be understood that, besides the table look-up mode, a calculation model can be pre-established in the surgical robot, so that gravity and centroid positions can be obtained directly from a surgical instrument or obtained through table look-up in a statics parameter table, and obtained angle information is input into the calculation model as an input value, and the obtained output value is a moment compensation value, and the moment compensation value can be sent to a driving motor through a controller, so that compensation moment is provided for a power box, and static balance of the power box is realized.

The acquisition of the angle information may be, in some embodiments, that each joint of the surgical arm is provided with an encoder. In particular, the encoders provided at each joint of the surgical arm may be absolute value encoders or incremental encoders, or other encoders. A specific implementation manner may include S10141 in step S1014 or step S1018, receiving data information of a plurality of encoders, and generating angle information.

It can be understood that the controller can receive the data information of the encoders arranged on the joints of the surgical arm in real time after the surgical robot is electrified, so as to obtain the angle information of the current arm rod assembly/power box, and the obtained gravity and mass center positions are combined to obtain the sub-compensation moment (namely the moment compensation value) of the power box along the direction of the linear guide rail.

It should be noted that, for the weight of the power box (including the isolation board), the stress moment is known in advance and loaded onto the driving motor, and the gravity compensation method of this example obtains the final compensation moment value through the gravity compensation mode when the power box is clamped with the cavity mirror or different instruments to cause the unbalanced state of the power box, so that the power assembly loads different balance forces, and the power box achieves the static equilibrium state, that is, achieves the effects of pushing and stopping without pushing.

Example two, case where the adjustment assembly is a surgical arm:

In some embodiments, the adjustment assembly is a surgical arm, the proximal end of the surgical arm is connected to the vertical shaft through a constant force balancing assembly, and a transmission assembly is provided between the surgical arm and the vertical shaft, the transmission assembly is connected with the output end of the power assembly, and the distal end of the surgical arm is detachably connected with a surgical instrument.

It will be appreciated that in this example, the majority of the load of the surgical arm (having been clamped with the surgical instrument) is balanced by the constant force balancing assembly disposed between the surgical arm and the vertical shaft, the power assembly may be a driving motor disposed on the vertical shaft, and the transmission assembly is a structure for transmitting power from the driving motor to the mechanical arm, and the transmission assembly may include a belt transmission mechanism, a linear guide and a screw rod, which are sequentially connected in a transmission manner, an output end of the driving motor is connected with the belt transmission mechanism, the screw rod is connected with the surgical arm, and a structure of the specific transmission assembly may be understood with reference to the prior art, which is not repeated herein. By sending the compensation value (gravitational moment) under the corresponding surgical instrument to the driving motor, the driving motor applies force to the surgical arm through the transmission assembly by controlling the torque output of the driving motor, namely, the stress condition of the surgical arm in the vertical direction can be simply understood as constant force balance assembly tension + transmission assembly tension = surgical arm self gravity + surgical instrument gravity.

The specific moment compensation value in this example may be obtained in a first manner, including in step S101, step S1011, of obtaining a gravity and a centroid position pre-stored in the surgical instrument, and calculating a gravity moment of the surgical arm; wherein the gravitational moment is used as a moment compensation value for direct transmission to the power assembly.

It can be understood that each surgical instrument is known to be of various dimensions, materials and other parameter information during design, and the weight, mass center position and other data of the surgical instrument can be easily obtained according to the parameter information, and the weight and mass center position are stored in the memory chip of the surgical instrument in advance. When the controller obtains a signal that the surgical instrument is connected to the surgical arm, the gravity and the mass center position obtained from the storage chip are calculated to obtain the gravity moment of the surgical arm, and the gravity moment is sent to the driving motor through a current instruction, so that the driving motor can conveniently apply force to the transmission assembly to the surgical arm, and the whole surgical arm is in a gravity balance state.

Step S1012 includes acquiring parameter information of the surgical instrument; wherein the parameter information characterizes ID information of the surgical instrument; step S1013, based on the parameter information, calling the corresponding gravity moment from the prestored statics parameter table; wherein the gravitational moment is used as a moment compensation value for transmission to the power assembly.

It can be understood that the statics parameter table prestores the gravity moment information of various instruments and cavity mirrors, and when the surgical arm is clamped with the surgical instrument, the gravity moment corresponding to the surgical instrument can be obtained in a table look-up mode, for example, the statics parameter table prestores the gravity moment corresponding to the gravity and mass center positions of different surgical instruments, and the gravity moment can be used as a moment compensation value directly sent to the driving motor. Since the driving motor in the surgical robot is generally controlled by adopting a current loop control system, that is, current is used as a feedback signal to detect the torque output of the driving motor, and the torque and the speed are kept at a certain level through the adjustment of a loop, so that the driving motor is ensured to maintain the stability of the surgical arm in a gravity balance state. The gravitational torque is understood to be the drive signal (current command) sent by the controller (e.g. PID controller) to the drive motor. The compensation mode can rapidly and accurately apply force to the operation arm through the power component, so that the operation arm is in a gravity balance state, and the compensation mode belongs to feedforward compensation, and the problem that fine change of the operation arm is easy to generate due to time lag is solved.

In some embodiments, the parameter information includes instrument type, weight, centroid position, and serial number.

Specifically, each surgical instrument is known about various parameter information at the time of design, and the parameter information may be stored in a memory chip of the surgical instrument in advance, or in a memory chip of the surgical robot in advance, and the memory chip of the surgical instrument may store unique parameters representing the instrument, such as ID information or a product serial number. When an actuator or controller in the surgical robot obtains ID information or product serial number of the surgical instrument, the required parameter information such as weight, centroid position, etc. of the surgical instrument can be retrieved from the database. Because the consistency of the parameter information design value and the actual value of the surgical instrument is high, the difference can be disregarded.

In an embodiment of the present application, there is further provided a gravity compensation system of a surgical robot, which may include an adjusting assembly and a power assembly, and fig. 5 is a schematic frame diagram of the gravity compensation system of the surgical robot, and referring to fig. 5, the gravity compensation system may include: a compensation value acquisition unit 100 and a transmission unit 200.

The compensation value obtaining unit 100 is configured to receive a signal of a surgical instrument connected to the adjusting assembly, and obtain a torque compensation value related to the surgical instrument; the transmitting unit 200 is configured to transmit the torque compensation value to the power assembly, so as to instruct the power assembly to apply a force to the adjustment assembly based on the torque compensation value, thereby placing the adjustment assembly in a static equilibrium state.

The gravity compensation system provided by the example can provide gravity compensation for the operation arm or the power box in the preoperative stage, and can effectively solve the problem of gravity compensation for replacing different surgical instruments, and the specific implementation manner can be understood by referring to the gravity compensation method, and is not repeated here.

In some embodiments, the compensation value acquisition unit includes a first acquisition unit and a first output unit. The first acquisition unit is used for acquiring the gravity and the mass center position prestored in the surgical instrument and acquiring the angle information of the current surgical instrument; the first output unit is used for outputting moment compensation values according to gravity, centroid position and angle information.

In some embodiments, the compensation value acquisition unit includes a second acquisition unit, a retrieval unit, a third acquisition unit, and a second output unit. The second acquisition unit is used for acquiring parameter information of the surgical instrument; wherein the parameter information characterizes ID information of the surgical instrument; the calling unit is used for calling the corresponding gravity and centroid positions from a prestored statics parameter table based on the parameter information; the third acquisition unit is used for acquiring the angle information of the current surgical instrument; the second output unit is used for outputting moment compensation values according to the gravity, the centroid position and the angle information.

In some embodiments, the compensation value acquisition unit includes a fourth acquisition unit. The fourth acquisition unit is used for acquiring the gravity and the mass center position prestored in the surgical instrument and calculating the gravity moment of the surgical arm; wherein the gravitational moment is used as a moment compensation value for direct transmission to the power assembly.

In some embodiments, the compensation value acquisition unit includes a fifth acquisition unit and a retrieval unit. The fifth acquisition unit is used for acquiring parameter information of the surgical instrument; wherein the parameter information characterizes ID information of the surgical instrument; the retrieving unit is used for retrieving the corresponding gravity moment from a prestored statics parameter table based on the parameter information; wherein the gravitational moment is used as a moment compensation value for transmission to the power assembly.

The embodiment of the application also provides a surgical robot which comprises a surgical arm and a power box arranged on the surgical arm; the surgical robot is configured to provide a compensation torque to the power assembly prior to surgery using the gravity compensation method of the above embodiments to achieve a static balance of the surgical arm or power box.

It should be understood that the surgical arm is movably supported to the swing arm of the suspension disc through the vertical shaft, a constant force spring is arranged between the surgical arm and the vertical shaft and used for balancing most of the load of the surgical arm (the surgical instrument is clamped), and the moment compensation of the surgical arm through the power assembly is needed to be directly obtained from a memory chip of the surgical instrument or the compensation moment corresponding to different surgical instruments is obtained from a pre-stored statics parameter table, so that the compensation moment is loaded to the power assembly, different moments are loaded to the power assembly by clamping different surgical instruments, and the purpose of gravity balance of the surgical arm is ensured. The principle of static force balance of the power box is similar to that of the surgical arm, and the power box only needs to consider the problem of inclination angle, and different moments can be loaded to the power assembly under the condition of clamping different surgical instruments by inquiring the pre-stored static force parameter table, so that the purpose of static force balance of the power box is ensured. Other structures related to the surgical robot can be understood with reference to the prior art structures and are not described in detail herein.

It should be noted that although the steps of the method of the present application are depicted in the drawings in a particular order, this does not require or imply that the steps must be performed in that particular order or that all of the illustrated steps be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc. In addition, it is also readily understood that these steps may be performed synchronously or asynchronously, for example, in a plurality of modules/processes/threads.

It should be noted that although several units and modules of the system for action execution are mentioned in the above detailed description, this division is not mandatory. Indeed, the features and functions of two or more units or modules described above may be embodied in one unit or module in accordance with embodiments of the application. Conversely, the features and functions of one unit or module described above may be further divided into a plurality of units or modules to be embodied. The components shown as units or modules may or may not be physical units, may be located in one place, or may be distributed across multiple network elements. Some or all of the units or modules may be selected according to actual needs to achieve the purposes of the present application. Those of ordinary skill in the art will understand and implement the present application without undue burden.

Claims

1. A method of gravity compensation for a surgical robot, the surgical robot comprising an adjustment assembly and a power assembly, the power assembly for driving the adjustment assembly in motion, the adjustment assembly for coupling to a surgical instrument, the method comprising:

2. The gravity compensation method according to claim 1, wherein the adjusting component is a power box, the power box is arranged on an arm rod component at the tail end of the surgical arm, a transmission component is arranged between the power box and the arm rod component, the transmission component is connected with the output end of the power component and used for driving the power box to move, and the power box is detachably clamped with the surgical instrument.

3. The gravity compensation method according to claim 2, wherein the obtaining a torque compensation value associated with the surgical instrument comprises:

based on the parameter information, corresponding gravity and centroid positions are called from a prestored statics parameter table;

acquiring current angle information of the surgical instrument;

4. A gravity compensation method according to claim 3, wherein said outputting said moment compensation value according to said gravity, said centroid position and said angle information comprises:

Or alternatively

5. The gravity compensation method according to claim 3 or 4, wherein each joint of the surgical arm is provided with an encoder;

6. The gravity compensation method according to claim 1, wherein the adjustment assembly is a surgical arm, a proximal end of the surgical arm is connected to a vertical shaft by a constant force balancing assembly, and a transmission assembly is provided between the surgical arm and the vertical shaft, the transmission assembly is connected to an output end of the power assembly, and a distal end of the surgical arm is detachably connected to the surgical instrument.

7. The method of gravity compensation according to claim 6, wherein the obtaining a moment compensation value associated with the surgical instrument comprises:

Acquiring pre-stored gravity and centroid positions in the surgical instrument, and calculating the gravity moment of the surgical arm; wherein the gravitational torque is used as the torque compensation value for direct transmission to the power assembly;

8. The gravity compensation method according to claim 3 or 7, wherein the parameter information comprises instrument type, weight, centroid position and serial number.

9. A gravity compensation system of a surgical robot, the surgical robot comprising an adjustment assembly and a power assembly, the power assembly for driving the adjustment assembly into motion, the adjustment assembly for connecting a surgical instrument; characterized in that the gravity compensation system comprises:

10. The gravity compensation system according to claim 9, wherein the adjusting component is a power box, the power box is arranged on an arm rod component at the tail end of the surgical arm, a transmission component is arranged between the power box and the arm rod component, the transmission component is connected with the output end of the power component and used for driving the power box to move, and the power box is detachably clamped with the surgical instrument;

The compensation value acquisition unit includes:

a first output unit configured to output the torque compensation value according to the gravity, the centroid position, and the angle information;

or the compensation value acquisition unit includes:

The calling unit is used for calling the corresponding gravity and centroid positions from a prestored statics parameter table based on the parameter information;

and the second output unit is used for outputting the moment compensation value according to the gravity, the centroid position and the angle information.

11. The gravity compensation system according to claim 9, wherein the adjustment assembly is a surgical arm, a proximal end of the surgical arm is connected to a vertical shaft by a constant force balancing assembly, and a transmission assembly is provided between the surgical arm and the vertical shaft, the transmission assembly is connected to an output end of the power assembly, and a distal end of the surgical arm is detachably connected to the surgical instrument;

The compensation value acquisition unit includes:

12. The surgical robot is characterized by comprising a surgical arm and a power box arranged on the surgical arm; the surgical robot is configured to provide a compensation torque to a power assembly prior to surgery using the gravity compensation method of any of claims 1-8 to achieve a static balance of the surgical arm or the power box.