KR101740547B1 - Method to determine location of robot and system thereof - Google Patents

Method to determine location of robot and system thereof Download PDF

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Publication number
KR101740547B1
KR101740547B1 KR1020150127614A KR20150127614A KR101740547B1 KR 101740547 B1 KR101740547 B1 KR 101740547B1 KR 1020150127614 A KR1020150127614 A KR 1020150127614A KR 20150127614 A KR20150127614 A KR 20150127614A KR 101740547 B1 KR101740547 B1 KR 101740547B1
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KR
South Korea
Prior art keywords
robot
light emitting
light receiving
devices
medical
Prior art date
Application number
KR1020150127614A
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Korean (ko)
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KR20170030692A (en
Inventor
김남국
서준범
Original Assignee
울산대학교 산학협력단
재단법인 아산사회복지재단
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Priority to KR1020150127614A priority Critical patent/KR101740547B1/en
Publication of KR20170030692A publication Critical patent/KR20170030692A/en
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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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4458—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being attached to robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4464—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit or the detector unit being mounted to ceiling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/548—Remote control of the apparatus or devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1064—Monitoring, verifying, controlling systems and methods for adjusting radiation treatment in response to monitoring
    • A61N5/1069—Target adjustment, e.g. moving the patient support
    • A61N5/107—Target adjustment, e.g. moving the patient support in real time, i.e. during treatment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • 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
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Abstract

According to one aspect of the present disclosure, there is provided a medical robotic system comprising: a first medical device located in a treatment field; at least two light emitting devices and a light receiving device; And a control unit for recognizing the spatial coordinates of the first medical device and the robot using signals of the light receiving device, wherein the first medical device includes at least two reflecting devices 411 and 412 corresponding to the light emitting device , 413) are provided.

Description

TECHNICAL FIELD [0001] The present invention relates to a robot position setting method,

Disclosure relates to a method of positioning a robot and a system thereof, and more particularly, to a method for setting the spatial coordinates of a medical robot and its peripheral devices used in a treatment field.

Herein, the background art relating to the present disclosure is provided, and these are not necessarily meant to be known arts.

1 is a block diagram of a robotic patient positioning assembly 100 disclosed in U.S. Patent No. 8,160,205, which includes a patient treatment couch 103, a robotic arm 102 connected to the couch, . The robot arm is set so as to move the patient couch 103 in accordance with the 5-degree of freedom. The 5 axes are one substantial vertical, linear degrees of freedom. The robotic patient positioning assembly 100 may further include a sensor system 104 for sensing the position of the patient couch 103. The robot patient positioning assembly includes a controller 101 for controlling the movement of the robot arm 102 and the patient couch 103, a user interface unit 105 capable of allowing the user to move directly by hand, (Therapeutic radiation treatment system 109) and an imaging system 107 (imaging system). A controller 101 is connected to a sensor system (not shown) and a user interface unit 105 of the robot patient positioning assembly 100 to control the operation of the patient couch 103 ) Is calculated. The sensor system of the robot patient positioning assembly 100 senses the position of the patient couch 103 and may be a resolver-based sensor system. Or an infrared triangulation system, a laser scanning system, or an optical tracking system.

Finding the position of the patient couch 103 and the position of the other medical equipment in coordinates within the procedure will be a very important part in automating the procedure, and thus, various sensing systems are used as in the disclosure of FIG. However, since these devices are mostly expensive and require a long initial set-up time, there is a disadvantage that medical institutions without absolute space for surgical instruments are difficult to easily access these surgical instruments. Therefore, a method for solving such a problem is needed.

This will be described later in the Specification for Implementation of the Invention.

SUMMARY OF THE INVENTION Herein, a general summary of the present disclosure is provided, which should not be construed as limiting the scope of the present disclosure. of its features).

According to one aspect of the present disclosure, there is provided a medical robotic system comprising: a first medical device located in a treatment field; at least two light emitting devices and a light receiving device; And a control unit for grasping the spatial coordinates of the first medical device and the robot using a signal of the light receiving device, wherein the first medical device is a medical device having two or more reflecting devices corresponding to the light emitting device A robotic system is provided.

This will be described later in the Specification for Implementation of the Invention.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a diagram illustrating an example of a robot patient position assembly shown in U.S. Patent No. 8,160,205,
2 is a diagram for explaining an example of a robot position setting system,
3 (a), 3 (b) and 3 (c) are views for explaining an example of a sensor system of a robot positioning system,
Figures 4 (a), 4 (b), 4 (c), 4 (d), and 4 (e) illustrate various embodiments of the arrangement of reflectors in a robot positioning system,
5 is a view for explaining another embodiment of a light emitting portion and a light receiving portion provided in a robot arm of the robot positioning system.

The present disclosure will now be described in detail with reference to the accompanying drawings.

Figure 2 shows an example of a robot positioning system according to the present disclosure. (Hereinafter, referred to as a first medical device 200), a robot having a robot base 310 and a manipulator 320, and a control unit for integrating them, Can be. If necessary, the control unit may be integrated into the first medical device 200 or the robot, or may be a separate device. Each component in the procedure field is movable as needed. It is necessary to check whether or not they are in positions necessary for a procedure recognized by the control unit, or to move them to such positions. At least two light emitting devices 401, 402, 403 and light receiving devices 421, 422, 423 are located in the robot and light emitting devices 401, 402, 403 and light receiving devices The reflection devices 411, 412, and 413 are placed at positions corresponding to the devices 421, 422, and 423, respectively.

There are many ways to accurately locate the equipment needed for the procedure within the procedure field. The position of the surgical tool, the patient, and the image equipment located at the end of the manipulator 320 can be grasped in real time by the optical device using the infrared sensor and the method using the marker. If you do not use these optical devices and want to know their position, the robot must be able to tell its location to the controller. The robot is provided with an encoder capable of measuring movements (rotation, extension of length) of each joint of the manipulator 320 or an encoder capable of measuring the joints of the joints (the first arm 322, the second arm 323, ), And the displacement value can be known through these sensors. The displacement value allows the position of the end of the manipulator 320 to be known kinematically along with the basic length of each robot arm. Therefore, the control unit can find the movement of the robot as the coordinate value.

The position determined by the control unit is a relative value to the robot base 310, not an absolute coordinate in the space within the treatment field. If the robot base 310 can be in a predetermined position with respect to the fixed first medical device 200 in the procedure field, the control unit can determine the absolute coordinates of the manipulator 320 movement with respect to the procedure field space Will be.

There are various methods for accurately positioning the robot in a predetermined position in the treatment field. A plurality of light emitting devices 401, 402, and 403 and light receiving devices 421, 422, and 423 are provided at a designated position of the manipulator 320 for this purpose, (411, 412, 413) are provided on a first medical device (for example, a patient couch 200 or an imaging device where a patient is located) at a fixed position, and a plurality of light emitting devices 401, 402 and 403 are reflected by the corresponding reflecting devices 411, 412 and 413 to enter the corresponding light receiving devices 421, 422 and 423 so that the control unit recognizes that the robot is located at a predetermined position can do. Then, the control unit recognizes that the robot is in the predetermined position and can display the movement of the manipulator 320 as an absolute coordinate value in the procedure field.

The operator may arbitrarily move or automate the robot so that the reflecting devices 411, 412, and 413 and the light emitting devices 401, 402, and 403 find corresponding points. To this end, the robot base 310 may include an automatic running system. The robot base 310 automatically searches for a predetermined position in the procedure field and if the control unit finds all the points corresponding to the light receiving devices 421, 422 and 423 and the reflecting devices 411, 412 and 413, The robot base 310 operates the fixing device to fix the robot base 310 so that it no longer moves.

The robot may be a medical robot equipped with an operation tool within the operation field to perform biopsy, surgical intervention, and the like. The robot has a robot base 310 on which the manipulator 320 is mounted. The robot base 310 has at least one pair of wheels 311 and a fixing device at a lower portion thereof. When the movement of the robot is required, the fixing device is moved away from the ground. When the robot base 310 recognizes that the robot base 310 is located at a predetermined position in the treatment field or that the operator needs to fix the robot base 310, the robot base 310 is brought into contact with the ground at a constant pressure and is no longer moved. There can be more than one fixture.

The articulated manipulator 320 is mounted on the robot base 310. An end effector equipped with a medical instrument may be mounted at the end of the manipulator 320. Or a medical tool may be mounted at the end of the manipulator 320. [ The manipulator 320 has a multi-joint structure in which one or more arms are rotatably connected. According to the present embodiment, the manipulator 320 includes a base 321 mounted on the base, a first arm 322 connected to the arm base 321, a second arm 323 connected to the first arm 322, And a third arm 324 connected to the second arm 323. The third arm 324 can mount the manipulator 320 or mount a medical tool.

The articulated structure of this manipulator 320 can be modified as needed. It is possible to have as many joints and respective shapes as necessary depending on the purpose of the manipulator such as a structure having two arms, four structures, and the like.

3 shows how light emitting devices 401, 402 and 403, reflecting devices 411, 412 and 413 and light receiving devices 421, 422 and 423 exchange light. The light emitting devices 401, 402, and 403 may be laser or infrared light emitting devices 401, 402, and 403. 3 (a), the reflection devices 411, 412, and 413 have a structure in which light emitted from the light emitting devices 401, 402, and 403 can be reflected twice vertically. In brief, it is possible to configure the two reflecting surfaces at a 90 degree angle (not shown), or to have a funnel shape as shown in FIG. 3 (b). The light which is deflected twice by the reflecting devices 411, 412 and 413 is again directed toward the light emitting devices 401, 402 and 403 but to a part slightly distant from the light emitting devices 401, 402 and 403. There are light receiving devices 421, 422, and 423 at reaching positions of light.

The control unit is connected to the light emitting devices 401, 402, and 403 and the light receiving devices 421, 422, and 423 so as to be able to transmit signals. The control unit can instruct the light emitting devices 401, 402, and 403 to emit light. When the light is received by the light receiving devices 421, 422 and 423, a signal is sent to the control unit so that the light emitting devices 401, 402 and 403 or the light receiving devices 421, 422 and 423 and the reflecting devices 411, 413) is recognized at the correct position.

Fig. 3 (c) shows the configuration of another embodiment without the reflection devices 411, 412 and 413. The light receiving devices 421, 422, and 423 are positioned at the positions of the reflecting devices 411, 412, and 413, respectively. Light emitted from the light emitting devices 401, 402 and 403 enters the light receiving devices 421, 422 and 423 when the light receiving devices 421, 422 and 423 correspond to the correct positions. The light receiving devices 421, 422, and 423 have a communication device that can notify the control unit whether light is detected. Accordingly, the light emitting device emits light in response to a command from the control unit, and the light receiving devices 421, 422 and 423 are located at positions corresponding to the light emitting devices 401, 402, and 403 and the light receiving devices 421, 422, and 423, The controller informs the control unit whether light is detected.

Fig. 4 shows various embodiments of the method of arranging the reflection devices 411, 412, 413. The robot position setting system has a structure for confirming that the devices are in a predetermined position when it is confirmed that the devices requiring position setting have two points in front of each other. Accordingly, various embodiments may be provided depending on the structure and shape of the robot and the first medical instrument. Fig. 4 (a) shows that the first medical device has an array of reflectors 411, 412, and 413 at three points so that two straight lines are formed on one plane. 4 (b) shows that the reflecting devices 411, 412 and 413 are arranged at two points on one plane of the first medical instrument. Fig. 4 (c) allows the first medical device to arrange the reflection devices 411, 412, and 413, respectively, on two planes facing the robot. The positions of the light emitting devices 401, 402, and 403 and the light receiving devices 421, 422, and 423 of the robot will be changed to correspond to each other according to the arrangement of the reflecting devices 411, 412, and 413 on the first medical device. The distance between the reflection devices 411, 412 and 413 needs to be sufficiently short. In order to allow the robot to be positioned at a desired position, the distance between the reflecting devices 411, 412, and 413 may be sufficiently shortened to reduce the position error.

4D and 4E show a method of arranging the light emitting devices 401, 402 and 403 and the light receiving devices 421, 422 and 423 when the reflecting devices 411, 412 and 413 are planar . 4 (d) is a view showing a state in which light emitted from the light emitting devices 401, 402, 403 is reflected by the reflection devices 411, 412, 413 at the same angle as the incident angle, (421, 422, 423). According to Fig. 4 (e), the light emitting devices 401, 402, and 403 and the light receiving devices 421, 422, and 423 are formed integrally. In the same device, the irradiated light is reflected and diffused to detect the returned light. This configuration allows the distance to be detected using a laser. Even if there are no reflectors 411, 412 and 413 in particular, this equipment allows the user to know that the light emitting devices 401, 402 and 403 are contrasted with the patient couch having a specific position.

The light emitting devices 401, 402, and 403 and the light receiving devices 421, 422, and 423 may be mounted on each arm of the manipulator 320 in consideration of the characteristics of the manipulator 320, as shown in FIG. If the light emitting devices 401, 402, and 403 and the light receiving devices 421, 422, and 423 are configured as described above, the system can verify whether there is a defect in the manipulator 320 itself.

The robot positioning system described in this disclosure allows the operator to know the spatial absolute coordinates of the required equipment without expensive optical equipment in the field. The operator can easily and accurately place the movable robot in a predetermined position. It is possible to shorten the positioning time of the robot and to perform the operation more quickly and efficiently.

Hereinafter, embodiments of the present invention will be described. The robot positioning system according to the present disclosure can be implemented by various combinations of the following embodiments.

(1) A medical robot system, comprising: a first medical device located in a treatment field, a robot having at least two light emitting devices and a light receiving device, placed on one side of the first medical device, And a control unit for grasping by using a signal of the light receiving device, wherein the first medical device has two or more reflecting devices corresponding to the light emitting device.

(2) the at least one reflecting device is disposed facing the top of the first medical device, and wherein the robot is at least partially movable at the top of the first medical device.

(3) A medical robot system in which two reflecting devices are provided on the upper part of a first medical device, and two corresponding light emitting devices and light receiving devices are mounted on the robot.

(4) The medical medical system according to any one of (1) to (4), wherein at least one reflecting device is provided on a side surface of the first medical device, and at least one light emitting device and a light receiving device are mounted on the robot.

(5) The medical robot system in which the light emitting device is mounted on the first medical device instead of the reflecting device.

(6) The medical robot system in which the light emitting device is a laser and the light receiving device is an optical detector.

(7) A medical robot system that automatically travels so that the light from the light receiving device is reflected by the reflection device and can be detected by the light receiving device.

(8) The medical medical system according to (8), wherein the first medical device is a patient table, and the light emitting unit and the light receiving unit are mounted on a manipulator formed on the robot.

(9) A medical robot system comprising: a patient table located in a treatment field; a robot having a manipulator equipped with at least two integrally formed light emitting devices and light receiving devices, a robot placed on one side of the patient table, Wherein the patient table has at least two reflecting devices corresponding to the light emitting device.

(10) A medical robot system in which a light emitting device and a light receiving device are integrally formed.

200 First medical device
310 Robot Base 311 Wheels
320 manipulator
322 First arm 323 Second arm 324 Third arm
401, 402, 403 Light emitting device
411, 412, 413 Reflector

Claims (10)

In a medical robotic system,
A first medical device located within the treatment field;
A robot having at least two light emitting devices and a light receiving device and placed on one side of the first medical device; And
And a control unit for grasping the spatial coordinates of the first medical device and the robot using a signal of the light receiving device,
Wherein the first medical device has two or more reflection devices respectively corresponding to two or more light emitting devices. The method according to claim 1,
Wherein at least one of the at least one reflective device is disposed toward the top of the first medical device, and wherein the at least one portion of the robot is movable at an upper portion of the first medical device. The method of claim 2,
There are two reflection devices on the upper part of the first medical device, and the robot includes two light emitting devices and two light receiving devices respectively corresponding to the two reflection devices. The method of claim 3,
At least one light emitting device and at least one light receiving device are mounted on the robot, at least one light emitting device corresponding to at least one reflecting device, and at least one light receiving device is mounted on the side of the first medical device. The method according to claim 1,
Wherein the light emitting device is mounted in place of the reflecting device on the first medical device. The method according to claim 1,
Wherein the light emitting device is a laser, and the light receiving device is an optical detector. The method according to claim 1,
A medical robotic system that automatically runs so that the light from the light receiving device is reflected on the reflection device and can be detected by the light receiving device. The method according to claim 1,
Wherein the first medical device is a patient table, and the light emitting unit and the light receiving unit are mounted on a manipulator formed on the robot. In a medical robotic system,
A patient table located within the treatment field;
A robot having a manipulator equipped with at least two light emitting devices and a light receiving device, the robot being disposed on one side of a patient table; And
And a control unit for grasping spatial coordinates of the patient table and the robot using a signal of the light receiving device,
Wherein the patient table has two or more reflecting devices corresponding to the light emitting device.
The method of claim 9,
A medical robot system in which a light emitting device and a light receiving device are integrally formed.
KR1020150127614A 2015-09-09 2015-09-09 Method to determine location of robot and system thereof KR101740547B1 (en)

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KR101983789B1 (en) * 2017-05-26 2019-09-03 재단법인대구경북과학기술원 System for controlling microrobot combined with vision system
CN107485800B (en) * 2017-09-13 2019-09-13 吉林省科英激光股份有限公司 A kind of laser therapy hand tool controlling out light by idler wheel

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013537651A (en) 2010-05-20 2013-10-03 アイロボット コーポレイション Mobile human interface robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013537651A (en) 2010-05-20 2013-10-03 アイロボット コーポレイション Mobile human interface robot

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