WO2021107817A1 - Contrôleur de la main d'un système de chirurgie robotique - Google Patents

Contrôleur de la main d'un système de chirurgie robotique Download PDF

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Publication number
WO2021107817A1
WO2021107817A1 PCT/RU2020/050340 RU2020050340W WO2021107817A1 WO 2021107817 A1 WO2021107817 A1 WO 2021107817A1 RU 2020050340 W RU2020050340 W RU 2020050340W WO 2021107817 A1 WO2021107817 A1 WO 2021107817A1
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WO
WIPO (PCT)
Prior art keywords
hand
controller
handle
operator
rotation
Prior art date
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PCT/RU2020/050340
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English (en)
Russian (ru)
Inventor
Дмитрий Юрьевич ПУШКАРЬ
Рахим Суфьянович НАХУШЕВ
Original Assignee
Общество С Ограниченной Ответственностью "Ассистирующие Хирургические Технологии"
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Publication of WO2021107817A1 publication Critical patent/WO2021107817A1/fr

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Classifications

    • 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
    • A61B34/75—Manipulators having means for prevention or compensation of hand tremors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • 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

Definitions

  • the invention relates to the field of mechanical engineering, namely, to mechanisms - controllers, designed to control the operator of mechatronic devices.
  • the controller can be applied in the following areas: medical equipment, gaming industry, 3D computer modeling and design.
  • the invention may relate to the field of monitoring and control of robotic surgical systems for minimally invasive surgical procedures.
  • the invention relates to devices for converting the movement of a surgeon's hand into a digital command for controlling a surgical instrument and for converting it in the reverse order, namely, converting digital commands into mechanical movements transmitted to the surgeon's hand.
  • Simple user interface systems can provide separate numerical control (CNC) control for each movable connection of a robot, robotic arm, or other slave device. More sophisticated systems may include hand controllers (sometimes in the form of a joystick or pistol grip) that sense movement by the user's hand. The robot control system responds to these control signals by activating certain servos, solenoids, or other devices in the robotic arm to provide the desired action.
  • the controller in the direct operating order, provides control and monitoring, on the other hand, in the reverse operating order, it provides a tactile sensation of interaction with the technical system through virtual contact with the actuator.
  • a robot or manipulator can act as an actuator, and a controller can act as a tactile device, the impact forces of which are limited and commensurate with the strength of the operator's hands.
  • the controller generates one or more control signals, which are then used to control various movements of the manipulator, converting the mechanical movements of the hand in six degrees of freedom into commands for the mechatronic complex.
  • the controller also provides the user with feedback on the force applied to the motion input or the force applied by the user.
  • the controller for remotely controlling the movement of the arm can be separated from the actuator by a considerable distance (for example, be in another room or in a completely different building). Alternatively, the controller can be located very close to the actuator.
  • the controller typically includes one or more control handles that provide direct contact with the operator's hand and that attach to the operator controller positioning unit. Such handles allow determining the coordinates of the operator's hand apparatus. By moving the control handle in three-dimensional space, the operator controls the movements of the manipulator.
  • solutions for determining the coordinates of the human hand By design features, solutions can be divided into the following categories:
  • Devices redesignated for putting on the hand are a class of devices that partially or completely repeat the degrees of freedom of the human hand and have a mechanical connection with the hand by means of movable elements external to the hand that are attached directly to the phalanges of the fingers, metacarpus or wrist.
  • Devices intended for manipulating as an object are a class of devices that partially or completely repeat the degrees of freedom of the human hand and have a mechanical connection with the hand by holding the manipulated object with the hand. Reinforcement of the hand or fingers may be present, but is not necessary for the operation of the device.
  • control handle of the controller is to control a surgical robot that is used to perform complex minimally invasive operations.
  • Robot-assisted surgeries have many advantages over traditional surgeries, for example, they can significantly reduce the volume of intraoperative blood loss and reduce the frequency of blood transfusions. Procedures of this kind are less traumatic and therefore, in the rehabilitation period, the pain syndrome in patients is not as pronounced as with the traditional approach.
  • Surgical robots are operated by a surgeon. By moving the control handle in three-dimensional space, in six degrees of freedom, the surgeon controls the movements of the final effector of the surgical instrument.
  • Modified laparoscopic handles are usually used for the case when the robotic surgical complex functionally implements only laparoscopic technologies (US 8080004 B2, US 6500188 B2, US 20050222587 A1, US 20050070764 A1, etc.).
  • Robotic surgery handles allow contact with the operator's hand, in which the hand covers the handle completely, partially, or only with two fingers.
  • the handles have movable closing / opening parts that move under the influence of fingers, usually two or more. Other devices for manipulating them with fingers are usually buttons.
  • the power elements of the handle are made as analog - cables, digital - encoders or encoders and motors (US 20110040305 A1, US 20030114962 A1, US 20100169815 A1, US 6587750 B2, US 20180132956 A1, US 20120071892 A1).
  • Known handle covered by the hand of the operator, made with the ability to control the surgical instrument in response to the movement of the hand of the operator by converting mechanical movement into an electrical signal (US 20180168758 A1).
  • the handle is made in the form of a body, articulated with an input device, which generates signals controlling the surgical instrument in response to the movement of the operator's hand.
  • the handle has an ergonomically shaped body with two finger grips made with the possibility of retraction from the longitudinal axis of the body to move the shaft handle coaxial axis.
  • a sensor linear encoder
  • Known controller handle for robotic-assisted surgical operations which allows you to transfer hand movements in the movement of structural elements of the complex (US 2014192020 A1, publ. 10.07.2014).
  • Mechanical connection with the operator's hand is provided by holding the handle body with the operator's fingers.
  • the hand controller (handle) allows the operator's hand movements to be transmitted by the structural element of the surgical complex.
  • the operator's hand controller has two degrees of freedom. The degree of freedom in the yaw angle is implemented by rotating the device body. The gripping degree of freedom is represented as a movable element controlled by the index finger.
  • control knob is the final link of the controller. Any modification or improvement of the handle with the use of new parts increases its weight, which leads to additional stress on the operator's hand during operation.
  • the use of cables to move the masses of new parts to the fulcrum and to reduce unloading is limited by the size of the control handle and access to it.
  • the use of counterweights to counterbalance the additional weight of the handle doubles the dynamic load on the operator's arms as they move.
  • the technical problem to be solved by the present invention is to create a universal hand controller that allows converting the coordinates of a human hand into a digital form, and which is part of a system for controlling a surgical instrument of a robotic technological complex.
  • the hand controller should most accurately, at all amplitude and at all angles, allow to control at least one angle of rotation of the hand in the wrist, as well as the movement and relative position of at least two fingers, converting this information into a digital signal transmitted to the controlled element robotic technological complex.
  • the hand controller must ensure the minimum weight load on the operator's hand during control, have and implement a feedback channel from the element of the robotic technological complex or the control system as a whole, converting the digital control signal into mechanical movement, such as turning the operator's hand holding the handle and / or mechanical movement of at least two fingers of the operator.
  • the hand controller must be able to participate in scenarios of the control system, such as blocking the system as a whole, holding a fixed position of the operator's controller.
  • the hand controller must digitize the operator's hand movements without significantly limiting the natural movement of the hand.
  • the operator's hand controller is used as part of the operator's controller to control the robotic surgical complex and includes a handle with finger grips and a hand controller control unit; moreover, the handle has an elongated ergonomic shape, covered and held by the entire surface of the operator's hand during operation, the handle is functionally configured to provide the function of rotating the surgical instrument around one axis.
  • the body of the handle in the upper part has a base with a platform for attachment to an element included in the operator's controller, which provides the function of controlling the rotation of the manipulator with the surgical instrument and / or deviation of the surgical instrument from its longitudinal axis.
  • the base platform is functionally configured to transmit electrical signals
  • the control unit of the hand controller is located inside the body of the above element, which is part of the operator's controller, to which the base platform is attached.
  • the finger grips are made with the possibility of placing the operator's fingers on them, at least one of the finger grips is movable and made with the possibility of rotation around its own axis, coinciding with the longitudinal axis of the handle, in the sagittal plane to provide the function of closing or opening the jaws of the surgical instrument.
  • a handle rotation mechanism including a rotation sensor, providing electrical signals corresponding to a change in the position of the handle body when the operator's hand is deflected in the sagittal plane relative to the transverse axis of the hand lying in the frontal plane, and transmitting them to the hand controller control unit through the platform of the base of the handle body, and the drive element of the handle; a mechanism for turning at least one finger grip, including a rotation sensor providing electrical signals corresponding to a change in the position of at least one finger grip when the operator's fingers move in the sagittal plane relative to the transverse axis of the hand lying in the frontal plane, and transmitting them to the control unit of the hand controller through the platform of the base of the handle body; and a finger grip drive element.
  • control unit of the hand controller is functionally configured for: transmitting the received signals to the digital unit of the operator's controller and to the external control system of the robotic surgical complex to transfer the movement of the handle and / or at least one finger grip to the corresponding movements of the surgical instrument; receiving control signals from the external control system of the robotic surgical complex and transmitting them to the handle drive element and / or the drive element of at least one finger grip for transmitting the movement of the surgical instrument to the corresponding movement of the handle and / or finger grips.
  • at least one finger grip is attached to the handle body.
  • the handle body is equipped with light and / or sound and / or tactile sensors as well as pressure sensors.
  • the handle body is also equipped with a proximity sensor.
  • the digital controller control unit generates control signals through the hand control unit to the grip actuator and / or the finger grip actuator to rotate the grip and / or movable grip to coincide with the rotation of the hand and / or movable grip. finger coverage or to the side opposite to the rotation of the hand and / or movable finger coverage, respectively.
  • the hand controller is equipped with tachometers, accelerometers, and force display load elements.
  • these tasks are achieved by changing the configuration of the controller as a whole, and in particular, the constituent element of the controller - the hand controller, which has direct contact with the entire surface of the operator's hand and at least two fingers of the operator.
  • the solution belongs to the category of controllers designed to manipulate as an object, and does not require the mandatory mechanical fastening of the operator's hand to the structural elements, but this possibility is present.
  • FIG. 1 illustrates a perspective view of an operator controller of the present invention for operator control of mechatronic devices and incorporating an operator control handle.
  • FIG. 2 illustrates a general view of a hand controller for use as part of an operator controller to control a robotic surgical complex.
  • FIG. 3 schematically reflects the planes in which the operator's hand moves in the wrist joint.
  • FIG. 4 illustrates a general view of the robotic surgical complex.
  • FIG. 5 illustrates a perspective perspective view of a brush controller with a body.
  • FIG. 6 depicts a general perspective view of a brush controller without a housing.
  • FIG. 7 is a general view of the installation of a coiled cable transmitting an electrical control signal.
  • FIG. 8 is a general view of the loosened stowage of the loop.
  • FIG. 9 schematically depicts an example of a closed control structure according to the present invention.
  • FIG. 10 is a schematic block diagram of a brush controller control.
  • FIG. 11 shows an assembly drawing of a printed circuit board for installing a digital magnetic encoder.
  • robot technological complex means complex systems or complexes in surgery using a robot assistant during the operation.
  • Robot assistive systems or “robotic assisted surgical systems” are robotic systems designed to perform medical operations. These are not standalone devices. During the operation, the robotic assistive systems are controlled by surgeons.
  • chatronic complex or “mechatronic system” means a complex or system with computer control of motion, which is based on knowledge in the field of mechanics, electronics and microprocessor technology, computer science and computer control of the movement of machines and assemblies.
  • the anteroposterior axis BB 'lies in the sagittal plane S and controls the adduction and abduction movements occurring in the frontal plane:
  • Sweat by the term "absolute position" in this document means a coordinate defined relative to a fixed structural member.
  • rotation sensor in this document means a device designed to convert the angle of rotation of a rotating object into electrical or analog signals, allowing you to determine the angle of rotation.
  • all types of angle encoders are suitable for determining the value of the angle of rotation of an element.
  • most of the sensors used require, first of all, permanent registration and storage of the current data on the rotation of the element.
  • Rotary encoders can be used based on incremental and absolute encoders.
  • the sensors have digital output signals Linedriver (TTL, RS422), Push-Pull (HTL), SSI, CAN, Profibus, Profmet and others. Sensors based on analog steering angle sensors and / or magnetic steering angle sensors can also be used.
  • connection means functionally connected, and may be any number or combination of intermediate elements between the components to be connected is used (including the absence of intermediate elements).
  • the controller belongs to the class of mechanisms that ensure the conversion into an electronic digital signal of commands that a person sets with a movement of the hand.
  • the general view of the controller is shown in Fig. 1.
  • the digital command controller 1000 as a whole consists of a control handle 1100, a positioning platform unit 1200 and a digital control unit (not shown in the drawing).
  • Said controller 1000 has a feed-forward loop for giving commands from the operator through the movement of his hand to the mechatronic device, and a feedback loop for sending back commands-responses from the mechatronic device back to the operator's hand.
  • the controller 1000's feedback loop is designed to convey tactile sensations to the hand.
  • the hand contact of the controller 1000 is realized at the control handle 1100.
  • the control handle 1100 is generally composed of a hand controller 100 and a wrist controller 200, each of which provides two rotational degrees of freedom for the controller 1000.
  • the controller 1200 positioning platform is a hand controller providing three translational degrees of freedom of the controller 1000 by reciprocating the mechanism of the controller 1000 along three mutually orthogonal axes.
  • the controller of the hand 1200 is attached to the controller of the wrist 200, which is part of the control handle of the controller 1100.
  • the controller of the operator 1000 controls and converts into a digital signal of the movement of the hand in six degrees of freedom.
  • the present invention generally relates to an operator hand controller 100.
  • the operator's hand controller 100 is used as part of the operator's controller for controlling the mechatronic complex, in particular, it is an element of the control handle 1100, on which the operator's controller 1000 contacts the operator's hand (Fig. 2).
  • the hand controller 100 is intended both for actuating the elements of the mechatronic complex in response to the movement of the operator's fingers, and in response to the deviation (deviation) of the hand relative to the transverse axis of the hand in the wrist joint, carried out in the sagittal plane (Fig. 3, movements 1 and 2 ), and to transfer forces to the operator's hand when simulating an action.
  • Using a hand controller reduces the stress on the operator's hand, improves the accuracy of the hand position, and increases the possible range of motion of the hand, while providing feedback, tactile sensations and mobility by minimizing restrictions on the operator's ability to manipulate one or another element of the mechatronic complex.
  • the mobility of the hand controller is understood as its characteristic that provides the ability not to limit the dynamic characteristics of the operator's hand during a particular operation.
  • the task of the hand controller is most accurately, over the entire range of motion of the hand and at all angles of motion of the hand, to control at least one angle of rotation of the hand, which is the angle of deflection of the hand in the wrist joint in the sagittal plane relative to the transverse axis lying in the frontal plane , and control the movement, relative position of at least two fingers, converting this information into a digital signal.
  • the hand controller must provide a minimum weight load on the hand during control and implement a feedback channel from the digital control unit of the controller and from the control system of the mechatronic complex as a whole, converting the digital control signal into mechanical movement - the deviation (deviation) of the operator's hand into sagittal plane relative to the transverse axis of the hand and mechanical movement of at least two fingers of the operator in the same plane.
  • the hand controller 100 (FIG. 2) is characterized in that it includes a grip with finger grips 110.
  • the grip has a housing 120 that is gripped and held by an operator during operation.
  • the finger grips 110 are configured to position the operator's fingers thereon during operation.
  • the handle body 120 has an upper portion 121 and a lower portion 122, a longitudinal axis of the handle 123.
  • the hand controller 100 is provided with a base 130 for attaching an element included in the operator controller that provides the function of controlling the rotation of the manipulator with the surgical instrument and / or deflection of the surgical instrument from its longitudinal axis.
  • an element is the wrist controller 200.
  • One of the components of the wrist controller 200, the movable console unit, is attached to the base.
  • the specified console is fixed on the platform of the base 130 in such a way as to provide independent rocking movements directly to the console itself relative to the axis of the hand, which in the initial position lies in the plane passing through the middle finger, the third metacarpal bone and the longitudinal axis of the forearm, by the force transmitted by the handle, covered hand of the operator, and rotation of the handle of the controller of the hand 100 relative to the axis of the handle 123 by the force transmitted by the handle, covered by the operator's hand.
  • the force transmitted to the grip for the rocking motion of the wrist controller 200 console is provided by adduction and / or retract movements of the hand occurring in the frontal plane.
  • the force transmitted to the handle for turning the handle around its axis 123 is provided due to the deviation (deviation) of the operator's hand in the sagittal plane relative to the transverse axis of the hand, which lies in the frontal plane.
  • the load is redistributed to the entire hand, for which the body 120 of the handle is ergonomically shaped to comfortably cover the entire surface of the operator's hand.
  • the housing 120 can be made individually for the operator's hand.
  • the handle body 120 is hollow inside.
  • one finger grip 110 is integrally formed with the handle body 120 and is stationary with respect to it.
  • the other finger grip 110 is movable and has one rotation (one degree of freedom), rotating around its axis coinciding with the longitudinal axis 123 of the handle.
  • both finger grips 110 may be rotatable about their own axis substantially coincident with the longitudinal axis 123 of the handle.
  • the finger grips 110 may be a replaceable member.
  • the number of finger grips 110 is set individually for each operator.
  • one of the finger grips may be configured to accommodate two to four fingers of an operator.
  • a frame on which the hand controller elements are mounted such as at least a grip pivot mechanism and a finger grip pivot mechanism so as to provide optimal weight distribution of the unit.
  • a hand controller control unit (not shown) is also disposed within the grip body 120. In some embodiments of the hand controller according to the present invention, said control unit is located within the body of the wrist controller 200.
  • the control unit of the hand controller monitors and controls all electronic parts of the hand controller 100, such as actuators, rotation sensors, hand sensor, gripping force sensor, and others, - ensures their interaction according to the specified algorithms.
  • the handle rotation mechanism includes at least a rotation sensor for determining the absolute position of the handle about its longitudinal axis and a drive element for rotating the handle about its longitudinal axis.
  • the handle rotation actuator and the rotation sensor are located on the same axis coinciding with the longitudinal axis of the handle.
  • the elements are electrically connected to each other. The handle rotates due to the applied force from the operator's hand when it is deflected (deviated) in the sagittal plane relative to the transverse axis of the hand, which lies in the frontal plane.
  • the finger gripper rotation mechanism includes at least a rotation sensor for determining the absolute position of the fingers with respect to the rotation axis of the fingers substantially coinciding with the longitudinal axis of the handle, and a drive element for rotating at least one movable wrap about its axis about motionless finger coverage.
  • the drive element of the at least one finger grip and the rotation sensor are located on the axis of rotation of the finger grip. All elements are electrically connected to each other.
  • the hand controller can solve as a direct task - to control the angle of rotation the operator's hand relative to the transverse axis of the hand and the angle of rotation of at least one finger of the operator relative to the transverse axis of the hand and relative to the stationary finger grip - and the inverse problem, namely: to rotate the hand controller held by the operator's hand by the amount calculated by the digital control unit controller. This is necessary for the implementation of a mechanism that allows the hand to feel the moment the controlled tool touches any object or fabric.
  • the hand controller monitors and digitizes the deviation of the operator's hand in the sagittal plane relative to the transverse axis of the hand located in the frontal plane (deviation of the hand in the wrist joint), as well as the position (approach / closure / removal) of at least two grasping the grip of the hand controller together with the operator's hand in the area of the finger grips.
  • the handle rotation sensor When the handle is rotated by the operator's hand, the handle rotation sensor generates a digital signal about the rotation angle and transmits it to the hand controller control unit, which calculates the angle of the handle deflection relative to its longitudinal axis and transmits this information to the digital controller control unit, which is made with the possibility of transmitting the received signals to the numerical control system (CNC) of the controller, which can be performed on the basis of a computer.
  • CNC numerical control system
  • Finger grips work in combination.
  • one finger grip is integral with the handle body and is stationary relative thereto.
  • the other finger grip is movable and has one turn, rotating around its axis coinciding with the longitudinal axis of the handle.
  • the rotation sensor of the finger gripper rotation mechanism counts the rotation angle of the movable finger grip around its axis of rotation and transmits a digital signal to the hand controller control unit, which calculates its position relative to the stationary finger grip and transmits this information to the digital controller, which is configured to transmit received signals to the system of numerical control (CNC) of the controller, which can be performed on the basis of a computer.
  • CNC system of numerical control
  • the digital controller control unit based on the received data, plans / calculates the trajectory of rotation of the handle and / or fingers about the longitudinal axis of the handle and the axis of rotation of the fingers, which coincides with the longitudinal axis of the handle, and by sending a control signal to the drive element of the handle and / or the finger grips actuator moves the handle and / or the finger grips and directly the operator's hand itself, which is in close contact with the handle body, to the required position.
  • the digital controller control unit may provide control signals via the hand controller control unit to the grip actuator and / or the finger grip actuator to accelerate and / or resist rotation of the grip and / or move the grip.
  • finger grip with set / design forces and accelerations when applied by the operator.
  • the acceleration / counteraction mechanism can be constantly activated by sending a signal to the digital control unit of the controller from the numerical control system (CNC) of the controller.
  • CNC numerical control system
  • the digital controller control unit may indirectly send control commands to the handle actuator in order to implement turning the handle to the side coinciding with the hand rotation or, conversely, to the side opposite to the hand rotation to counter the hand.
  • a control signal from the digital control unit of the controller can be applied to the drive element of the movable finger sweep to ensure that the movable finger sweep rotates to the side following the rotation of the fingers when forces are applied by the operator, or to the other, opposite side, thus counteracting force applied by fingers.
  • the implementation of the "passing" movement of these elements of the controller of the brush leads to easier movement of the controller by the operator, reducing the mass and weight of the moving elements.
  • the numerical control system (CNC) of the controller provides the transformation of the coordinates of the handle and finger grips into the coordinates of the controlled actuator of the mechatronic complex and the generation of drive control signals for each degree of mobility of the actuator so that one or another movement of the actuator corresponds to the direction in which the operator operated on the handle of the hand controller as part of the controller.
  • the digital controller control unit is generally part of a multifunction controller and provides bi-directional communication between the controller drive unit, hand controller and wrist controller control units, and accessories.
  • the digital control unit also has the ability to synchronously control the specified controller mechanisms.
  • the handle drive element rotates the handle together with a rigidly attached body with a hand holding this body.
  • the preset angle of rotation is controlled by the rotation sensor of the handle rotation mechanism.
  • the drive element of at least one finger grip when receiving a control signal to drive the drive element, rotates the movable finger grip by the calculated radius, thus moving at least one finger holding the finger grip by an amount set by the digital signal from the digital control unit of the controller.
  • the swing radius of the movable finger grip is monitored by the swing sensor of the finger grip swing mechanism.
  • the grip and movable finger grip can be rotated upon command from the digital controller of the controller and without the operator's hand and fingers on the finger grips on the grip.
  • the implementation of the handle can be equipped with light, sound, tactile sensors, as well as pressure sensors, which allows the hand controller to respond to a variety of influences when necessary to implement additional functions.
  • the handle may be equipped with a motion sensor based on any known principle of operation.
  • a motion sensor sensors selected from: infrared sensor, ultrasonic sensor can be used.
  • a presence sensor is used as a motion sensor to track minimal movements, for example, movements of the hand or fingers, in principle, the operation of which uses two technologies: ultrasonic and infrared, to detect the presence of people in the room.
  • ultrasonic and infrared two technologies
  • the presence sensor on the hand controller handle allows the operator to monitor the presence of the operator in the area where the monitor is located, transmitting image information of the work area.
  • the presence sensor is configured to transmit a signal to a hand controller control unit, a wrist controller, a digital controller control unit.
  • the digital controller control unit when the operator's hand is removed from the handle of the hand controller, indirectly through the hand controller control unit receives a signal from the presence sensor and sends control signals to the controller drive unit, to the wrist controller control unit, to the hand control unit, which in In turn, they control the operation of the drive elements of the wrist controller and the drive elements of the handle and the movable finger grip, respectively, and are equipped with electromagnetic brakes.
  • the electromagnetic brakes are activated when a control signal is received from the digital control unit of the controller.
  • the controller is locked in the position in which it was at the moment the signal was sent from the presence sensor, when the operator removed his hands from the handle of the hand controller.
  • the electromagnetic brakes are also activated if the power supply is accidentally cut off.
  • the mechanism for turning the finger grips implements the "electronic spring" function due to the presence of a drive element.
  • the forces on the electronic spring can be adjusted, including individually for each operator.
  • the handle rotation signal may be transmitted to the hand controller control unit via the sliding contact.
  • these elements may be equipped with tachometers, accelerometers and load force indicators, each of which may provide electrical signals, related to the speed, acceleration and force applied to the corresponding element.
  • the control unit of the hand controller can be interfaced with the digital control unit of the controller via a common data bus.
  • the digital control unit of the controller is configured to record data on received or transmitted commands.
  • the means of data transmission are selected from devices designed to implement the process of communication between various devices via wired and / or wireless communication, in particular, such devices can be: GSM modem, Wi-Fi transceiver, Bluetooth or BLE module, GPRS module, Glonass module, NFS, Ethernet, etc.
  • GSM modem Wi-Fi transceiver
  • Bluetooth or BLE module GPRS module
  • Glonass module Glonass module
  • NFS NFS
  • Ethernet etc.
  • the controller Before each use of the controller, it is calibrated for the user.
  • the controller has flexible settings, which allows it to be oriented to different tasks. When using the controller, it can be fully adapted to the operator and his tasks.
  • controllers are used in surgeon simulators to study a virtual patient in a virtual environment.
  • the user can move objects in a virtual environment, rotate, grab and perform all surgical manipulations.
  • the controller described above can be used in a robotic surgical complex for various surgical procedures, including urology, gynecology, abdominal, neuro- and cardiac surgery.
  • An example of a robotic surgical complex is shown in Fig. four.
  • the robotic system 300 includes at least one manipulator 310 with a surgical instrument 320 attached to it, a manipulator control unit 330 and an operator interface 340, which receives commands from a surgeon, converts them into the movement of a surgical instrument 320 inside the patient's body during carrying out a surgical operation and / or provides all control commands from the surgeon with the components of the robotic-surgical complex.
  • the main source of commands is the surgeon's hand.
  • the hand controls the surgeon controller, which is part of the surgeon interface.
  • the surgeon's controller converts the mechanical movements of the hand in six degrees of freedom into commands for the robotic system 300.
  • the controller generates a command to move the surgical instrument. Additionally, the controller controls the turning and opening-closing of the jaw on the surgical instrument.
  • manipulators with a surgical instrument are mounted on the surgical table, on which the patient lies during the operation.
  • the manipulators can be placed on a cart or some other device in which the manipulators will be located proximal to the patient's level.
  • the robotic system 300 can have any number of manipulators, such as one or more manipulators.
  • the manipulators can be of any configuration.
  • Each manipulator 310 has a manipulator body and assembly to which a surgical instrument 320 can be detachably coupled, the movement and location of which is manipulated by a surgeon using a controller that digitizes the surgeon's hand.
  • the surgeon can control the movement and orientation of the surgical instruments without actually holding the ends of the surgical instruments, the surgeon can use the complex in either a sitting or standing position.
  • the complex can be provided with a chair.
  • the present invention disclosed in this application is essentially a hand controller capable of digitizing the coordinates of a surgeon's hand.
  • the hand controller is used as part of the controller of a robotic complex for both driving a surgical instrument and controlling a grip or other technological action arising from the opening and closing of jaws a surgical instrument in response to the movement of the surgeon's fingers, and to guide or transfer forces to the surgeon's hand.
  • the proposed hand controller is designed for contact and interaction with the surgeon's hand, in particular with the hand. Since the hand controller is part of the surgeon's controller, which has several modes of operation, these modes also apply to the hand controller:) obtaining the coordinates of the surgeon's hand,) moving the surgeon's hands using drive elements,) completely blocking the system's movements,) blocking some degrees of freedom systems.
  • the modes of operation in relation to the hand controller can be divided into two phases in the direction of command transmission: the phase of transmitting commands from the surgeon's hand to the hand controller and the phase of transmitting commands from the hand controller, respectively, to the surgeon's hand.
  • the surgeon's hand controller is a handle with a longitudinal axis 123, having a hollow body 120 for covering and holding it with the surgeon's hand during operation (during a surgical operation or during the use of a robotic surgical complex as a simulator for practicing the actions of a surgeon), and finger grips 110 for positioning on them or, if necessary, securing the surgeon's thumb and forefinger during operation.
  • the housing in FIG. Embodiment 5 is an anatomically optimized handle designed to be held in the surgeon's palm and wrapped around the surgeon's fingers.
  • the lower portion 122 of the housing 120 is formed with a lower abutment.
  • the upper part 121 of the housing 120 is in close contact with the upper platform 140, along the perimeter of which at least four holes are made for installing frame elements therein, and on which the finger gripper 110 is rotated.
  • the frame members are cylindrical tubes with threaded holes at the ends.
  • a base 130 is mounted on the pivot mechanism of the finger grips 110 for attaching one of the ends of the movable console block included in the wrist controller.
  • An opening 150 is formed on the upper outer surface of the finger grips 110 for additional installation of the finger mount, if necessary.
  • the finger mounts can be cylindrical tubes that are made of a resilient material (such as rubber) or a rigid material (such as plastic or metal). If necessary, the finger mounts can be made in the form of releasable cylindrical elements (for example, in the form of clamps or tightening bands) of fabric, polymer or other materials.
  • FIG. 6 of an embodiment of a hand controller according to the invention shows a view of the hand controller without a housing.
  • frame elements 160 are fixed, between which a handle rotation mechanism is threadedly mounted, including a handle drive element for rotating the handle around its longitudinal axis 123 and a rotation sensor (not shown in the drawing) for determining its absolute position when the emergence of efforts on the part of the surgeon's hand with deviations of the hand carried out in the sagittal plane relative to the transverse axis of the hand lying in the frontal plane.
  • a handle rotation mechanism including a handle drive element for rotating the handle around its longitudinal axis 123 and a rotation sensor (not shown in the drawing) for determining its absolute position when the emergence of efforts on the part of the surgeon's hand with deviations of the hand carried out in the sagittal plane relative to the transverse axis of the hand lying in the frontal plane.
  • the handle drive element is made in the form of a rotor of the motor 161, a stator of the motor 162, mounted on the longitudinal axis 123 of the handle by means of threaded connections.
  • the finger gripper rotation mechanism located on the upper platform 140 consists of a finger grip drive element located on the axis of rotation of at least one finger grip, which coincides with the longitudinal axis 123 of the handle, and a rotation sensor for determining the absolute position of the finger grips when creating an effort of the fingers when they move relative to the transverse axis of the hand, which lies in the frontal plane and coincides with the longitudinal axis of the handle body in the sagittal plane.
  • the finger gripper rotation sensor can be made in the form of an encoder of an optical, magnetic or other principle of operation, or in the form of a variable resistive element (not shown in the drawing).
  • the encoder microcircuit is located on the printed circuit board under the corresponding pad in the same way as described above.
  • the drive element of the finger grips is made in the form of a rotor of the motor 171, a stator of the motor 172, mounted on the longitudinal axis of rotation of the finger grips by means of a threaded connection, which coincides with the longitudinal axis of the handle 123.
  • One finger grip 110 is made integrally with the pad for fixing the finger grips 111, which is located below close to the upper platform 140 and has coaxial holes for mounting frame elements 160 therein.
  • the specified finger grip is stationary relative to the specified platform 111 and the handle in the whole.
  • the second finger grip 110 is secured to the platform 111 by means of a threaded connection and is movable relative to the platform and the handle as a whole.
  • Encoders can be implemented as analog devices such as potentiometers, rotating transformer systems; or as digital devices such as a Gray Code optical absolute angle encoder or some other digital device.
  • the hand controller is equipped with a presence sensor, the location of which is chosen in such a way as to prevent false alarms and to prevent the occurrence of the surgeon's hand from being missed.
  • the hand presence sensor can be used to prevent unexpected rotation of the hand controller or to transmit hand presence information to the digital controller unit.
  • the sensor can be made in the form of an optical or other type of distance sensor, a capacitive touch sensor, or in any other form.
  • the presence sensor may be located on the bottom surface of the pad 111 of the finger grip 110 on which the surgeon's index finger is located.
  • the hand controller has a gripping force sensor located between the thumb and forefinger grips to convert the grip force data into an electrical signal.
  • the force data can be used to perform functions such as measuring the compression force for gripping objects with different pressures with a surgical instrument, as a signal for quick access to additional functions, if necessary, for example, blocking capture, or others.
  • the sensor can be a digital device, such as a tact switch, or an analog device, such as a strain gauge, or the like.
  • All elements of the brush controller are electrically connected to each other.
  • the structure uses a method of circular laying of a wound loop, conventionally called a "snail”.
  • the principle of operation is to transmit electrical signals through a flat cable, one end of which is fixed to a fixed base, the other to a rotating part.
  • the plane of the train is parallel to the axis of rotation of the structural elements, which makes it possible to organize winding and unwinding of the train when the structure makes angular displacements.
  • FIG. 7 shows a general view of the laying of the wound stub 400.
  • the numbers in FIG. 7 denoted: 410 - rotor; 420 - flat cable; 430 - stator; 440 - places for fixing the loop on fixed and rotating assemblies of the handle drive element.
  • FIG. 8 is a general view of stowage of stub 400 in a weakened state.
  • the described principle has the following advantages:
  • the control unit of the hand controller monitors and controls all electronic parts, such as actuators, rotation sensors, position sensors, hand sensor, gripping force sensor and others, and ensures their interaction according to predetermined algorithms.
  • the control unit of the hand controller generates digital commands transmitted through the digital unit of the controller, the numerical control system (CNC) of the controller, the control system of the robotic surgical complex to the control elements of the surgical instrument, controlling it.
  • CNC numerical control system
  • the hand controller operates as follows. The operator positions the hand on the grip body in such a way that the index and thumb are on the finger grips, and the grip body is sandwiched between the palm and fingers. Hand deviation in the wrist joint causes the body to rotate. Moving the surgeon's index finger causes the finger grip to move relative to the hand controller housing. At the same time, the emergence of efforts on the part of the surgeon when the hand covers the body of the hand controller to rotate it causes the surgical instrument to rotate one axis, and the emergence of forces on the part of the surgeon when moving the finger grips ensures the closure or opening of the jaws of the surgical instrument. It should be noted that the hand controller allows simultaneous implementation of several actions of a surgical instrument.
  • the handle rotation sensor When the handle body is rotated by the surgeon's hand, the handle rotation sensor generates a digital signal about the rotation angle and transmits it to the hand controller control unit, which calculates the position of the handle relative to its longitudinal axis and transmits this information to the digital control unit of the controller, which is made with the possibility of transmitting the received signals to the numerical control system (CNC) of the controller.
  • CNC numerical control system
  • Finger grips work in combination.
  • the rotation sensor of the finger grips rotation mechanism calculates the angle of rotation of the movable finger grip around its axis and transmits a digital signal to the control unit of the hand controller, which calculates its position relative to the stationary finger grip and transmits this information to the digital controller, which is configured to transmit the received signals to the numerical control system (CNC) of the controller.
  • CNC numerical control system
  • the hand controller can solve both the direct problem - to control the angle of rotation of the hand, and the inverse problem, namely, to rotate the hand holding the controller by the amount calculated by the controller's numerical control (CNC) system. This is necessary to implement a mechanism that allows the hand to feel the moment the tool touches any object or fabric.
  • CNC controller's numerical control
  • the signal from the control system of the robotic surgical complex is transmitted to the numerical control system (CNC), then to the digital control unit of the controller, which, based on the data obtained, plans the trajectory of the handle and / or finger grips rotation relative to the transverse axis of the hand and by sending a control signal onto the handle drive element and / or the finger grips drive element moves the handle together with the hand holding it and / or the finger grips together with the surgeon's fingers holding them to the required position.
  • the power of the used drive elements allows for the transfer of significant force to the operator's hand.
  • FIG. 9 An example of a block diagram of such a system is shown in FIG. 9.
  • the brush controller control unit is connected to the motor drivers, motors and encoders.
  • FIG. 10 is a general diagram of the control of the brush controller.
  • the digital controller control unit is connected to the elements of the brush controller through a common data bus.
  • the use of a common bus is optional; implementation with multiple buses or with a star topology is possible.
  • the control unit of the hand controller receives a signal indirectly from the control system of the robotic surgery unit, and then generates a control signal to the motor driver of either the finger gripper rotation mechanism or the rotation mechanism handles.
  • the engine rotates the design elements of the hand controller according to the law set by the control system.
  • the rotation process is transferred to the encoder, which is connected directly to the brush control unit.
  • a structure of this type can have different modes of operation, such as:
  • Nominal sampling rate for data transmission to the master 250 Hz;
  • Nominal frequency of the automatic control system 1000 Hz;
  • Type and number of motors 2 brushless direct current motors (BLDC);
  • Motor control interface connection to control windings
  • Encoders and motors can be either standard, purchased, or specially designed for a specific task.
  • an encoder-motor design may be a one-piece, separate unit integrated into a brush controller.
  • Brushless DC motors can be used as driving elements.
  • the choice of motors is dictated by the requirements for the system: relatively low speed, high torque, low weight and overall dimensions.
  • the disadvantage of such motors is the need for an automatic control system to regulate the turnover and torque, which is not a significant difficulty within the framework of the described solution.
  • the advantages of using brushless motors are high reliability and durability due to the absence of a commutator assembly subject to wear.
  • This type of encoder offers the advantages of high resolution (14 bits, 0.0219 degrees), digital zero setting, high speed, digital status and diagnostics loop.
  • the hand controller uses a digital I2C bus operating at 400 kHz to provide access to the encoders.
  • the bus allows access to all encoder registers.
  • a common bus topology has a significant advantage in reducing the number of pins required over a star topology, which reduces the number of points of failure in the system.
  • Magnetic encoders have a number of operational features that affect measurement accuracy:
  • FIG. 11 shows an assembly drawing of a printed circuit board 500 for installing a digital magnetic encoder.
  • FIG. 11 denoted: 520 - encoder microcircuit seat, 510 - PCB mounting holes, 530 - power and data pads.
  • the developed hand controller makes it possible to digitize the movements of the surgeon's hand without creating significant restrictions on the natural mobility of the hand and taking part in the scenarios of the external control system, such as blocking the system, holding a fixed position, and feedback.
  • the hand controller allows for complex use cases such as control lock, position hold, motor feedback.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un contrôleur de la main pour commander un système de chirurgie robotique. La poignée du contrôleur assurer la rotation d'un instrument chirurgical autour d'un axe. Des pinces digitales sont réalisées mobiles pour pouvoir tourner autour de leur axe qui coïncide avec l'axe longitudinal de la poignée afin de rouvrir ou de refermer les branches de l'instrument chirurgical..Dans le corps de la poignée se trouvent sur un même axe des mécanismes de rotation de la poignée et des pinces digitales. Le capteur du mécanisme de rotation des pinces digitales assure l'émission de signaux correspondant à leur changement de position lors d'un déplacement des doigts dans un plan sagittal par rapport à l'axe de la main et les transmet à l'unité de commande. L'unité de commande transmet les mouvements de la poignée et/ou des pinces digitales aux mouvements de l'outil chirurgical, et les mouvements de l'outil chirurgical en mouvements de la poignée et/ou des pinces digitales. On réduit ainsi la charge sur la main de l'opérateur, on améliore la précision avec laquelle est déterminée la position de la main et on élargit la gamme de déplacements de manière à assurer la rétroaction et la transmission des sensations tactiles et la mobilité grâce à l'utilisation de l'architecture proposée du contrôleur de la main, ce qui réduit au minimum les limitations pesant sur la capacité d'un chirurgien de manipuler un instrument chirurgical.
PCT/RU2020/050340 2019-11-25 2020-11-23 Contrôleur de la main d'un système de chirurgie robotique WO2021107817A1 (fr)

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RU2019138037A RU2716353C1 (ru) 2019-11-25 2019-11-25 Контроллер кисти для использования в контроллере оператора роботохирургического комплекса
RU2019138037 2019-11-25

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