WO2021107818A1 - Plateforme tensiométrique pour système de chirurgie robotique - Google Patents

Plateforme tensiométrique pour système de chirurgie robotique Download PDF

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Publication number
WO2021107818A1
WO2021107818A1 PCT/RU2020/050341 RU2020050341W WO2021107818A1 WO 2021107818 A1 WO2021107818 A1 WO 2021107818A1 RU 2020050341 W RU2020050341 W RU 2020050341W WO 2021107818 A1 WO2021107818 A1 WO 2021107818A1
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WO
WIPO (PCT)
Prior art keywords
strain
pairs
platform
strain gauges
force
Prior art date
Application number
PCT/RU2020/050341
Other languages
English (en)
Russian (ru)
Inventor
Дмитрий Юрьевич ПУШКАРЬ
Рахим Суфьянович НАХУШЕВ
Original Assignee
Общество С Ограниченной Ответственностью "Ассистирующие Хирургические Технологии"
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Общество С Ограниченной Ответственностью "Ассистирующие Хирургические Технологии" filed Critical Общество С Ограниченной Ответственностью "Ассистирующие Хирургические Технологии"
Publication of WO2021107818A1 publication Critical patent/WO2021107818A1/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
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G01L5/161—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance

Definitions

  • the invention relates to a force-measuring technique and can be used in medical technology, in particular, to measure the forces applied to the control elements of the controller of the robotic-surgical complex.
  • Simple user interface systems can provide separate 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 and convert it into a digital signal. 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 hand controller is the basic element and enables the operation of the surgical robot. The controller is held and moved by the operator's hand, so the weight of the moving parts of the controller and inertial loads during operation act on the operator's hand, creating a significant additional load.
  • the objective of the present invention is to provide a strain gauge platform that allows high accuracy to obtain information about the force applied by the operator's hand to the controller and information about the moment of this force; convert this information into a digital signal; transfer it to the control unit of the robotic surgical complex; process this signal, and return the control commands received on the basis of this signal to the controller, namely, to its actuators and to the control unit in order to implement a mechanism to minimize the load of the controller's weight on the hand.
  • a tensoplatform was created for a robotic surgical complex.
  • the base of the strain gauge platform is a strain gauge block that measures displacement / deformation under the influence of force.
  • a power platform is fixed on the strain gauge platform, which perceives and transmits to the strain gauge platform the force effect from the operator's hand.
  • the strain-gauge blocks in pairs are located parallel to each other and are connected by fastening elements in such a way that the measured force perceived by the force area is applied to each strain-gauge block of a pair with an oppositely directed vector, but exclusively along one axis.
  • two pairs of strain-gauge blocks are located in parallel planes so that strain-gauge blocks from the first pair are parallel to the strain-gauge blocks from the second pair.
  • the third pair of strain-gauge blocks is located either in the plane of one of the pairs of strain-gauge blocks, or in a plane parallel to the above planes and located between them, while the third pair is rotated 90 ° relative to the other two pairs of strain-gauge blocks.
  • each strain gauge block contains a hole in the center, made with the possibility of minimizing the influence of the bending moment on the readings of the strain gauges.
  • the power platform is located and fixed in the center of the strain gauge platform equidistant from all strain gauges with the possibility of transmitting force to each strain gauge and is rigidly connected to the entire three-dimensional structure in such a way as to transmit the actions from the operator's hand without distortion, while at least one of the pairs of strain gauges is configured rigid connection with the element of the operator's controller for controlling the robotic surgical complex.
  • the strain gauge platform includes a unit for receiving, processing and transmitting information from strain gauges.
  • the strain gauges forming the strain gauge platform may have different sensitivity ranges.
  • each of the pairs of strain gauges has its own sensitivity range.
  • each strain-gauge unit is designed in such a way as to increase the measurement accuracy by minimizing the influence of the bending moment due to the presence of a hole (s) in the strain-gauge unit.
  • Strain blocks form pairs in which they are located parallel to each other, equidistant from the center of the strain gauge platform and connected by fastening elements. The total number of pairs of strain-gauge blocks is selected from the condition of reliable determination of displacement along three coordinate axes.
  • All elements of the platform can be made of metal.
  • Each strain-gauge block can have two pairs of strain-gauges, while the strain-gauges can be located on parallel planes of each strain-gauge.
  • FIG. 1 shows an embodiment of a displacement / deformation measuring unit (strain gauge unit).
  • FIG. 2 and 3 show a general view of an embodiment of a strain gauge platform from different sides.
  • FIG. 4 shows a block diagram of the work of the strain gauge platform.
  • strain gauge is understood as a sensor that converts the amount of deformation into a convenient for measurement signal, for example, an electrical one.
  • any method of measuring deformations can act: tensoresistive, piezoelectric, optical-polarizing, piezoresistive, fiber-optic, or simple reading of readings from the ruler of a mechanical strain gauge.
  • strain gauge is a special resilient structure with at least one strain gauge and other auxiliary parts attached to it.
  • strain gauge is a three-dimensional structure containing several measurement units (strain gauges) connected to each other, with strain gauges attached to them.
  • the strain platform is installed in the control controller of the robotic surgical complex between the movable platform and the fixed platform and is connected to the latter by means of cylindrical guides.
  • the strain gauge platform is made with the possibility of obtaining digital information in three-dimensional space about the applied force, the force vector and the acceleration of the force applied by the hand and other upper parts of the operator's hand to the controller during the control of the robotic surgical complex.
  • the strain gauge platform (see Fig. 1 - 3) contains three pairs of identical displacement measurement units - strain gauges (1), on each of which strain gauges (2) are located. All displacement measuring units are rigidly fastened with fasteners through fastening holes (9) and with fasteners, for example, corners (3). On each displacement measurement unit (strain-gauge block), two pairs of strain gauges are installed, and the strain gauges of one pair are placed in the same plane, and different pairs of strain gauges are placed in planes parallel to each other.
  • Each displacement measuring unit (1) is designed in such a way as to exclude the influence of the bending moment arising in it on the readings of the strain gauges. For this, a hole (4) is made in the center of each block.
  • the displacement measuring units themselves are made of metal and are rigidly connected to each other by means of attachment points in pairs parallel to each other, equidistant from the center so that the strain gauges of a pair of displacement measuring units take readings of displacement along one coordinate axis.
  • the result is a three-dimensional structure representing displacement measuring blocks stacked on top of each other, in which each pair is located in its plane perpendicular to another pair of blocks located in the next plane parallel to the first.
  • the assembly of the strain gauge platform is carried out in a certain sequence using fasteners and attachment points in such a way that, if necessary, it would be possible to provide a quick replacement of the displacement measuring units.
  • three pairs of displacement measurement units are used, which makes it possible to reliably determine the movement of the platform along all three coordinate axes.
  • a platform (power platform) (5), which perceives the force action from the operator's hand, rigidly connected to the entire three-dimensional structure in such a way as to transfer forces from the hands without distortion.
  • a unit for receiving, processing and transmitting information (6) from all strain gauges which interacts with the controller's control unit.
  • the entire three-dimensional structure in the part opposite to the platform (5) is equipped with two located on the same diagonal with platforms for basing and fastening (7).
  • the other diagonal is rigidly connected by a jumper (8) to increase the rigidity of the entire structure.
  • All elements of the platform can be made of metal.
  • the strain gauges perceive the applied mechanical force (Fx, Fy, Fz - see FIGS. 2-3). It is converted into electrical signals in sensors along each axis. These signals are fed to the input connectors of the digital processing unit (6), after which they are amplified and fed to the inputs of analog-to-digital converters, turning into a stream of numerical data. Then the received discrete digital signals are processed to filter them from unwanted noise.
  • the values of the forces acting on the units of the sensors are divided into packets and transmitted via the digital data transfer interface to the control unit of the surgical robot, which, based on the data obtained, makes the necessary calculations and generates commands: to set the force on the surgical instrument controlled by the controller, fixed in the robot arm; to compensate for the weight of the controller.
  • the control unit of the surgical robot moves the positioning unit to the required position, thus compensating for the weight of the controller.
  • the data transmission interface can be means designed to implement the process of communication between various devices via wired and / or wireless communication, in particular, such devices can be: Wi-Fi transceiver, Bluetooth or BLE module, Ethernet, etc.
  • the structural diagram of the strain gauge platform is shown in Fig. 3.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (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 se rapporte aux techniques de mesure de forces et peut être utilisée pour mesurer des efforts appliqués à des éléments de commande d'un contrôleur d'un système de chirurgie robotique. Cette plateforme tensiométrique se présente sous forme d'une structure tridimensionnelle qui comprend une surface de force recevant une action de force de commande depuis la main d'un opérateur et la transmet à trois paires d'unités tensiométriques connectées entre elles par des éléments de fixation et comportant des capteurs tensiométriques. Les unités tensiométriques dans les paires sont disposées parallèlement les unes aux autres et sont connectées par les éléments de fixation de sorte que l'effort à mesurer et reçu par la surface de force soit appliqué à chaque unité tensiométrique d'une paire selon un vecteur directionnel opposé, mais exclusivement dans le sens d'un axe. La surface de force est disposée et fixée au centre de la plateforme tensionmétrique à égale distance de tous les capteurs tensiométriques de manière à transmettre l'effort vers chaque capteur tensiométrique, et est fixée rigidement sur toute la structure tridimensionnelle de manière à transmettre l'action de la main de l'opérateur sans distorsions. Cette invention permet d'augmenter la précision de détermination de la force appliquée par le poignet du chirurgien lors de la commande du contrôleur de l'opérateur.
PCT/RU2020/050341 2019-11-25 2020-11-23 Plateforme tensiométrique pour système de chirurgie robotique WO2021107818A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RU2019138034 2019-11-25
RU2019138034A RU2715400C1 (ru) 2019-11-25 2019-11-25 Тензоплатформа для роботохирургического комплекса

Publications (1)

Publication Number Publication Date
WO2021107818A1 true WO2021107818A1 (fr) 2021-06-03

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PCT/RU2020/050341 WO2021107818A1 (fr) 2019-11-25 2020-11-23 Plateforme tensiométrique pour système de chirurgie robotique

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RU (1) RU2715400C1 (fr)
WO (1) WO2021107818A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4821582A (en) * 1987-12-02 1989-04-18 Mts Systems Corporation Load transducer
US4849730A (en) * 1986-02-14 1989-07-18 Ricoh Company, Ltd. Force detecting device
US20160220319A1 (en) * 2015-02-03 2016-08-04 Stryker Corporation Force/torque transducer and method of operating the same
DE102017102343A1 (de) * 2017-02-07 2018-08-09 Technische Universität Darmstadt Sensoranordnung zur Kraft- oder Drehmomentmessung und ein Verfahren zur Herstellung derselben

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005051495A1 (de) * 2005-10-26 2007-05-03 Otto Bock Healthcare Ip Gmbh & Co. Kg Sensoranordnung für die Messung von Kräften und/oder Momenten und Verwendung der Sensoranordnung

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4849730A (en) * 1986-02-14 1989-07-18 Ricoh Company, Ltd. Force detecting device
US4821582A (en) * 1987-12-02 1989-04-18 Mts Systems Corporation Load transducer
US20160220319A1 (en) * 2015-02-03 2016-08-04 Stryker Corporation Force/torque transducer and method of operating the same
DE102017102343A1 (de) * 2017-02-07 2018-08-09 Technische Universität Darmstadt Sensoranordnung zur Kraft- oder Drehmomentmessung und ein Verfahren zur Herstellung derselben

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Publication number Publication date
RU2715400C1 (ru) 2020-02-27

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