WO2021107820A1

WO2021107820A1 - Wrist controller for robotic surgical complex

Info

Publication number: WO2021107820A1
Application number: PCT/RU2020/050343
Authority: WO
Inventors: Дмитрий Юрьевич ПУШКАРЬ; Рахим Суфьянович НАХУШЕВ
Original assignee: Общество С Ограниченной Ответственностью "Ассистирующие Хирургические Технологии"
Priority date: 2019-11-25
Filing date: 2020-11-23
Publication date: 2021-06-03
Also published as: RU2718568C1

Abstract

The invention relates to a wrist controller for controlling a robotic surgical complex. A controller turning mechanism assembly is connected to an element in the operator controller for controlling movement and rotation of a manipulator with a surgical tool about one axis. A moveable arm assembly of the controller is secured to an upper part of the turning mechanism assembly and to an upper part of a handle of the operator controller. Arranged inside the housing of the turning mechanism assembly are a controller control unit, a turning sensor and a drive element of the moveable arm assembly, and on the outside of the housing are a turning sensor and a drive element of the turning mechanism assembly. The control unit converts motion of the turning mechanism assembly and/or the moveable arm assembly into motion of the manipulator and/or the surgical tool and converts motion of the manipulator and/or the surgical tool into motion of said assemblies. The invention achieves more maneuverable and precise control of an element of the robotic complex on account of use of the proposed architecture of the controller while reducing static and dynamic load on the wrist of the operator and ensuring a minimal weight load on the wrist during control.

Description

WRIST CONTROLLER FOR ROBOTSURGICAL COMPLEX

The technical field to which the invention relates

[001] 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. More specifically, the invention may relate to the field of monitoring and control of robotic surgical systems for minimally invasive surgical procedures. In particular, the invention relates to devices for converting the movement of a surgeon's wrist 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 wrist.

Background of the invention

[002] Modern robots increase production efficiency, primarily by automating the execution of technological processes. However, robots have other advantages as well, which form the basis for innovative technologies and products.

[003] 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. [004] On the one hand, 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.

[005] 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. [006] The controller for remotely controlling the movement of the arm may be separated from the actuator by a considerable distance (for example, the controller may be in a different room or in a completely different building). Alternatively, the controller can be located very close to the actuator.

[007] One of the widely used areas of application of such controllers is robotic surgical systems, which are used in minimally invasive medical operations. During the operation, the manipulators and the surgical instruments attached to them are controlled by the surgeon using controllers. The control system of the robotic surgical complex reacts to control signals from the controller in digital form. Such a control procedure makes it possible to transfer to the executive instrument the movements of the surgeon's hands with a scale and to increase the accuracy of the corresponding movements of these instruments.

[008] To carry out such operations, it is necessary to provide at least six degrees of freedom for the medical instrument, which must carry out translational and rotational movements. Particular attention is paid to the methods and methods of converting the mechanical rotational movements of the operator's hand into control commands for the robotic surgical complex, since a significant part of the operational actions is carried out directly with the tip of the medical instrument, for example, suturing, coagulation, etc.

[009] In addition to providing control, the controller is required for a tactile sensation of interaction with the robotic surgical system, which is an important feature for improving the efficiency of operations performed using such systems. At the same time, the ranges of motion of the control controller are limited both by the mechanical features of the implementation and by the biological features of the structure of the human hand, wrist, hand.

[010] An important factor is to ensure the convenience and ergonomics of this kind of controllers, since the operations can take a long time, which should not affect the fatigue and fatigue of the operator-surgeon.

[011] Thus, there is a need to provide a wrist controller that is part of a control controller for a robotic surgical system, with the lowest possible weight load on the arm, and that accurately converts mechanical rotations of the surgeon's wrist around two axes into control actions on a surgical instrument, with the ability to reverse the conversion of a digital signal into control actions on the wrist controller to provide tactile communication.

[012] An example of such developments is the control controller disclosed in US application 2014192020 A1. The controller provides at least three rotational degrees of freedom and is attached to a parallel kinematic device that provides at least three translational degrees of freedom. Structurally, the controller contains three rotary articulated joints, each of which provides a rotational degree of freedom relative to the local point of connection of the handle with the device providing translational movements, and contains at least one rotation position sensor and at least one actuator. This design allows tactile feedback to be transmitted to the control controller.

[013] The described control controller conventionally consists of two different systems, a wrist controller and a hand controller, necessary to provide the corresponding degrees of freedom.

[014] Of particular interest is the design of the wrist controller that describes roll and pitch rotations implemented by pivot joints. Mounted in the pivot joints, the actuators provide tactile feedback to the operator's wrist when needed. When the operator is working, the common center of rotation is located within the user's palm between the thumb and the fingers in contact with the grip. To ensure contact with the fingers, a grip is used that attaches to the rotary joint. The wrist controller uses a counterweight design to compensate for gravity.

[015] Significant disadvantages of the considered prototype include:

1. Locating the swivel in the wrist controller on the left for the right hand and locating the swivel on the right for the left-handed controller design significantly reduce the translational work area when the surgeon is holding hands together.

2. The design of the wrist controller does not guarantee rigidity, and as a consequence, the accuracy of the design, which is an important factor for the driver during robotic surgery.

3. Limiting the range of rotation of the wrist controller relative to the pitch axis due to the geometric shape of the sweep and due to the location of the pitch axis, which is initially deflected relative to the roll axis. This initial position is necessary to ensure the parallelism of the gripping planes and the plate by means of which the active gripper device is attached to the device with a parallel kinematic structure.

4. Restriction of the range of rotation of the wrist controller relative to the roll axis due to the geometric shape of the coverage, designed in such a way as to provide a comfortable positioning of the wrist of the operator-surgeon at the initial moment of time. However, during a surgical operation, if it is necessary to tilt the wrist controller forward relative to the roll axis, difficulties may arise associated with the physiological features of the structure of the human wrist, since the initial tilt of the control controller forces the operator to use elbow movement to provide large angles along the roll axis. [016] The existing developments of the wrist controller included in the control controller do not allow one known design to solve the following set of problems:

[017] 1. Provides structural rigidity to ensure accurate measurement of the operator's wrist position.

[018] 2. Ergonomics and convenience of the active gripping device, taking into account the biological features of the structure of the human wrist.

[019] 3. The presence of mechanical design features that can indirectly affect the movement and rotation of the wrist controller in the work area, in particular, the design should be lightweight so that the operator does not have to exert unnecessary effort.

[020] 4. Lack of sufficient working area, allowing to perform all the necessary operational actions using the wrist controller, without applying additional movements of the elbows.

[021] 5. The presence of at least one actuator on each axis of rotation to provide tactile feedback.

[022] This application is dedicated to the solution of the listed problems.

The essence of the invention

[023] The technical problem to be solved by the present invention is to create a wrist controller, which is part of the control controller, which provides the surgeon with the possibility of improved, more maneuverable and precise control of an element of a robotic technological complex with an enlarged, ergonomically convenient working area as a control controller in general as well as the wrist controller.

[024] In this case, the wrist controller must most accurately control at least one angle of rotation of the operator's wrist over the entire amplitude and at all angles, converting this information into a digital signal transmitted to the controlled element of the robotic technological complex.

[025] Additionally, the wrist controller must implement a feedback channel from the controlled element of the robotic technological complex of the control system, converting the digital control signal into mechanical movement - the rotation of the operator's wrist.

[026] In addition, the wrist controller should reduce the static and dynamic stress on the operator's wrist during operation, while maintaining a minimum weight load on the wrist during operation.

[027] Additionally, the wrist controller must digitize the operator's wrist movements without significantly limiting the natural mobility of the operator's hand. [028] In order to solve the set tasks, the operator's wrist controller together with the hand controller forms a control handle used as part of the operator's controller for controlling the robotic surgical complex. The operator's wrist controller includes a pivot assembly that has an upper and a lower portion, an ergonomically shaped housing; the rotation mechanism block is functionally configured for connection with another element that is part of the operator's controller, which is designed to provide the function of moving the manipulator with a surgical instrument along three mutually orthogonal axes, and independent rotation around a predetermined center, repeating the rotation of the radius together with the hand around the ulnar bones relative to the longitudinal axis of the operator's hand, to ensure the function of rotation of the manipulator with a surgical instrument around one axis; at least one block of the movable console, which is a flat open mechanism of a parallel rigid structure, consisting of three links and three kinematic pairs; the movable console unit is functionally configured to be attached on one side to the top of the swing mechanism unit and, on the other, to the top of the handle, which is covered and held by the entire surface of the operator's hand during operation, which is also part of the operator's controller, and pivot that repeats the swing the operator's hand in the frontal plane around the anteroposterior axis lying in the sagittal plane to provide the function of rotating the surgical instrument around one axis. At the same time, the following are located inside the body of the rotation mechanism unit: a wrist controller control unit, at least one rotation sensor of the movable console unit, which provides electrical signals corresponding to a change in the position of the movable console unit relative to the rotation mechanism unit when the operator's hand is turned around the handle in the frontal plane around the anteroposterior axis lying in the sagittal plane and transmitting them to the control unit of the wrist controller, the drive element of the movable console unit. At the same time, on the outer side of the body of the rotation mechanism unit, there are: a rotation sensor of the rotation mechanism unit, which provides electrical signals corresponding to a change in the position of the rotation mechanism unit relative to a predetermined center when the radius is rotated together with the operator's hand around the ulna relative to the longitudinal axis of the operator's hand and transmitting them to the control unit of the wrist controller, a drive element of the rotation mechanism unit, and the rotation sensor of the rotation mechanism unit is located on the rotation axis of the drive element of the rotation mechanism unit. Moreover, the control unit of the wrist controller is functionally configured to transmit the received signals to the digital unit of the operator controller and to the external control system of the robotic surgical complex to transfer the movement of the rotation mechanism unit and / or the movable console unit to the corresponding independent movement of the manipulator with the surgical instrument and / or surgical instrument, obtaining control signals from the external control system of the robotic surgical complex and their transmission to the drive element of the rotation mechanism unit and / or a drive element of the movable console unit for transmitting the movement of the manipulator with the surgical instrument and / or the surgical instrument into the corresponding independent movement of the said units.

[029] In some embodiments, the pivot assembly housing is ergonomically recessed and recessed to approximate the handle housing as close as possible to the operator's wrist while still providing full travel path for the handle.

[030] In some embodiments of the invention, the digital control unit of the operator controller generates control signals through the wrist control unit to the drive element of the pivot mechanism unit and / or the drive element of the movable console unit to provide rotation of these units in the direction coinciding with the rotation of the operator's hand together with the radius around the ulna and / or when the operator's hand is deflected towards the ulna or to the side opposite to the rotation of the hand and / or abduction of the hand, respectively.

[031] In some embodiments of the invention, a static balance and vertical balance weight system is mounted at the bottom of the pivot housing.

[032] In some embodiments of the invention, the drive member of the movable arm assembly is mechanically coupled to the movable arm assembly using a flexible transmission.

[033] These problems are achieved by changing the configuration of the controller as a whole, and in particular, the constituent element of the controller - the wrist controller.

[034] 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.

[035] The objects and advantages of the present invention will become more apparent to those skilled in the art upon consideration of the following detailed description and drawings.

Brief Description of Drawings

[036] The accompanying drawings, which are incorporated and form part of the present specification, illustrate embodiments of the invention and together with the foregoing general description of the invention and the following detailed description of the embodiments serve to explain the principles of the present invention.

[037] FIG. 1 illustrates a perspective view of an operator controller of the present invention for operator control of mechatronic devices.

[038] FIG. 2a and FIG. 26 illustrates a general view of a wrist controller for use in the control handle of an operator controller for controlling a robotic surgical system without a housing and in a housing, respectively. [039] FIG. 3 schematically reflects the planes in which the operator's hand moves in the wrist joint.

[040] FIG. 4 illustrates a general view of the robotic surgical complex.

[041] FIG. 5 illustrates a general view of a wrist controller with a hand controller attached thereto, including a flex transmission attachment for carrying a drive element, a drive element attachment for a pivot unit included in the wrist controller.

[042] FIG. 6 illustrates an assembly drawing of a printed circuit board for installing a digital magnetic encoder.

[043] FIG. 7 shows a 3D model of a power printed circuit board.

[044] FIG. 8 shows a three-dimensional model of the control PCB.

[045] FIG. 9 schematically depicts an example of an unpackaged wrist controller with printed circuit boards installed according to the present invention.

Terms and Definitions

[046] For a better understanding of the present invention, below are some of the terms used in the present description of the invention. Unless otherwise specified, technical and scientific terms in this application have the standard meanings generally accepted in the scientific and technical literature.

[047] In the present description and in the claims, the terms "includes", "including" and "includes", "having", "equipped", "containing" and their other grammatical forms are not intended to be construed in an exclusive sense, but on the contrary, they are used in a non-exclusive sense (ie, in the sense of "having in its composition"). Only expressions of the type “consisting of” should be considered as an exhaustive list.

[048] In the present application materials, the terms “robotic technological complex”, “robotic system”, “robotic complex”, “robotic surgical complex”, “robotic surgical system” mean complex systems or complexes in surgery using a robotic assistant during an operation. "Robot assistive systems" or "robotic assisted surgical systems" are robotic systems designed to perform medical operations. These are not autonomous devices, robotic assistive systems are controlled by surgeons during the operation.

[049] In these application materials, the term "mechatronic 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.

[050] In this application, the term "operator" refers to the performing the operation of the surgeon. The terms "operator" and "surgeon" in the present specification are synonyms.

[051] In this application, the following terms are used to describe hand movements in the wrist joint (Fig. 3). The movements of the hand occur around two axes when the hand is in the anatomical position, i.e., in the position of complete supination.

[052] The transverse axis AA 'lies in the frontal plane T and controls the flexion and extension movements carried out in the sagittal plane:

- deviation (deviation) of the hand or flexion (arrow 1) - the front (palmar) surface of the hand moves to the front surface of the forearm,

- deviation (deviation) of the hand or extension (arrow 2) - the posterior (dorsal) surface of the hand moves to the posterior surface of the forearm.

[053] The anteroposterior axis BB 'lies in the sagittal plane S and controls the adduction and abduction movements occurring in the frontal plane:

- adduction or elbow deviation (arrow 3) - movement of the hand towards the longitudinal axis of the body, its inner (ulnar) edge forms an obtuse angle with the inner edge of the forearm;

- abduction or radial deviation (arrow 4) - movement of the hand from the longitudinal axis of the body, its outer (radial) edge forms an obtuse angle with the outer edge of the forearm

[054] The longitudinal axis CC 'lies at the intersection of the sagittal plane S and the frontal plane T, controls the movement of rotation of the hand:

- rotation of the radius (arrow 5) together with the hand around the ulna relative to the longitudinal axis.

[055] Under the term "universal" in terms of its use in relation to the controller in this document, the controller is raised, which "digitizes" the operator's hand and allows you not to train the operator's hand for each new tool without subsequent changes to the controller design. Having mastered the controller once, the operator uses it for a long period of his practice, thanks to the controller's property to integrate ("represent" the surgeon's hand) in various, including remote mechatronic devices.

[056] Sweat by the term "absolute position" in this document means a coordinate defined relative to a fixed structural member.

[057] The term "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. In principle, all types of angle encoders are suitable for determining the value of the angle of rotation of an element. However, 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 angle sensors and / or magnetic sensors can also be used. angle of rotation.

[058] In addition, the terms "first", "second", "third", etc. are used simply as conditional markers, without imposing any numerical or other restrictions on the enumerated objects.

[059] The term "connected" means operatively connected, and any number or combination of intermediate elements between the connected components (including the absence of intermediate elements) can be used.

Detailed description of the invention

[060] The description of exemplary embodiments of the present invention below is by way of example only and is intended for illustrative purposes and is not intended to limit the scope of the disclosed invention.

[061] 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).

[062] 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 transmitting in reverse order to the operator's hand the response commands-responses from the mechatronic device. The controller 1000's feedback loop is designed to convey tactile sensations to the hand.

[063] Hand contact of the controller 1000 is realized at the control handle 1100. The control handle 1100 generally consists of a hand controller 100 and an attached wrist controller 200, each of which provides two rotational degrees of freedom of the controller 1000. The controller 1200 positioning platform unit is a hand controller that provides three translational degrees of freedom for the controller 1000 by reciprocating the mechanism of the controller 1000 along three mutually orthogonal axes. In this case, 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. Thus, the controller of the operator 1000 controls and converts into a digital signal of the movement of the hand in six degrees of freedom.

[064] The present invention generally relates to an operator wrist controller 200.

[065] The controller of the operator's wrist 200 is used as part of the controller for controlling the mechatronic complex, in particular, it is an element of the control handle 1100, on which the controller 1000 contacts the operator's hand.

[066] The main purpose of a wrist controller attached to one end of the wrist controller is to provide contact and interaction through the wrist with the wrist. operator and providing at least two rotational degrees of freedom both for realizing the orientation of an element of the mechatronic complex in response to the rotation of the operator's wrist, and for transferring forces to the operator's wrist when in the feedback mode.

[067] The wrist controller is configured to most accurately determine the angle of rotation of the wrist in two orthogonal directions relative to a given center of rotation (relative to the place of attachment of the wrist controller to the hand controller) over the entire amplitude to obtain digital information about the turns in the operator's wrist during control of the mechatronic complex ... The design of the wrist controller is limited and specified by the physiological angle of the possible rotation of the hand in these planes.

[068] The wrist controller has at least two units that provide two degrees of freedom for the wrist and a wrist controller control unit. The following is a more detailed description of one preferred embodiment of a wrist controller for use in an operator controller. A general view of the wrist controller is shown in FIG. 2a.

[069] The wrist controller includes at least one movable console unit 210 and a stationary (relative to the console unit) pivot unit 220. The pivot unit 220 represents a substantially vertically located attachment area 221 of the movable console unit 210 and has an upper portion and a lower portion. The block of the movable console 210 is, on the one hand, adapted to be attached to the hand controller 100, and on the other hand, is rigidly connected to the block of the rotation mechanism 220.

[070] In a preferred embodiment of the wrist controller 200 according to the present invention, the movable console unit 210 is fixed to the top of the pivot unit 220. This arrangement is due to the configuration of both units and is intended for the convenience of the operator, in particular so that during operation the unit the movable console 210 does not touch the operator's knees, which provides a comfortable working area. Moreover, this design reduces the overall dimensions of the operator controller, which includes the wrist controller. Also, the design allows you to increase the operator's working area, as it will allow the operator's hands to be kept as close to each other as possible.

[071] In some embodiments, the wrist controller may be a pivot assembly with corresponding movable arm assemblies attached to the top and bottom of which.

[072] The method of securing the movable arm assembly 210 to the stationary pivot assembly 220 and to the hand controller 100 may be selected from any suitable known attachment method. As a rule, fastening is carried out by means of a bearing assembly. In addition, this attachment can be realized using a sliding sleeve. [073] The structure of the movable cantilever unit 210, which provides one degree of freedom with respect to the pivot unit 220 (the link assumed to be stationary, although the pivot unit itself moves when the wrist controller moves), is a flat, open mechanism of a parallel rigid structure, consisting of three links and three kinematic pairs. The main elements of this mechanism are: a) a stand, b) a rocker, c) a rocker that provides a swinging movement (abduction and adduction) of the hand in the wrist joint in the frontal plane. The swinging movement is carried out relative to the axis of the hand, which in the initial position lies in the plane passing through the middle finger and the third metacarpal bone, and the longitudinal axis of the forearm (the hand performs a swinging movement relative to the anteroposterior axis BB 'in the frontal plane T (movements are indicated by arrow 3 and arrow 4 The amplitude of these movements is measured from the axis of the hand. The volume of this movement can vary from 30 ° to 55 ° depending on the physiological capabilities of the operator. Compared to existing designs, this design allows you to increase the amplitude of rotation of the wrist along this axis and expand the working the area of the operator's controller so that when the controller is lowered, there will be no collision with the operator's knees.

[074] Regardless of whether the wrist controller moves or not, the movement pattern of the movable console unit relative to the rotation unit remains unchanged.

[075] The pivot assembly 220 is attached to the arm controller 1200 so as to be rotatable about the longitudinal axis of the arm controller 1200 (this axis is shown in FIG. 2a) while providing one degree of freedom. For the operator's wrist, such a rotation of the rotation unit 220 is a normal rotation of the radius with the hand around the ulna relative to the longitudinal axis.

[076] The pivot assembly has an ergonomically shaped housing within which a frame is located, which is a substantially vertical platform 221. Elements of the pivot assembly are mounted on the pivot assembly frame in such a way as to maximize the compactness of the structure and optimal weight distribution of the unit. In some embodiments, a weight system is located on the bottom of the platform 221 that attaches to the bottom of the frame to provide balance in a static position and in an upright position. The weight of the weight system can be determined by calculation based on the integration. The weight of the system of loads and its location is calculated from the condition of equilibrium of the moments of rotation.

[077] The shape of the housing 222 of the pivot mechanism 220 assembly is geometrically such as to be able to bring the hand controller as close as possible while providing the full path of movement of the hand controller 100 (FIG. 26). In the preferred embodiment of the wrist controller 200 according to the invention, the body 222 is shaped like a parallelepiped, one side of which, facing towards the hand controller 100, has a small radius concave surface. Using case 222 is ergonomic shape provides maximum compactness of the design and optimal weight distribution of the unit.

[078] The wrist controller pivot assembly 220 includes the following elements: a movable console unit drive member 223, a pivot unit rotation sensor, a pivot unit drive member 224, at least one wrist controller and / or hand controller control unit (not shown in Fig. 2), configured to read signals from the rotation sensors of the rotation mechanism unit and the movable console unit and supply control signals to the drive elements of these units. In preferred embodiments, the rotation unit 220 also includes a moveable arm unit rotation sensor. FIG. 2 shows the possible options for the location and fastening 225 of the rotation sensor of the movable console unit. In some embodiments, it is possible to install multiple rotation sensors of the movable console unit. Installing an excessive number of rotation sensors will improve the accuracy of measuring the angle of the wrist and provide an opportunity to use angle correction algorithms. The preferred arrangement of the rotation sensor of the rotation unit measuring the angle of inclination of the rotation mechanism is indicated at 226.

[079] In one embodiment, a frame 221 is disposed within the wrist controller housing 222, on which a moveable arm unit rotation sensor is mounted, a movable arm unit actuator 223 mechanically coupled to the movable arm unit 210, for example, via flex or any other in a known manner, and at least one control unit of the wrist controller and / or the hand controller. All of these elements are electrically connected to each other. The rotation sensor of the movable console unit is located so as to determine the absolute position of the specified console (angle) when it is rotated, repeating the rotation of the hand relative to the anteroposterior axis, which lies in the sagittal plane and controls the adduction and abduction movements occurring in the frontal plane.

[080] In one embodiment of the wrist controller according to the invention, a plate-shaped attachment plate is attached to the body 222 of the fixed rotation unit on the side opposite to the concave surface. The plate is preferably flat. Any geometry of the insert can be chosen without going beyond the body. On the outer side of the said plate, a drive element 224 of the rotation mechanism unit is mounted for its rotation around a predetermined center, repeating the rotation of the radius together with the hand around the ulna relative to the longitudinal axis of the operator's hand.

[081] The pivot unit drive member 224 may be attached to its other side to the positioning platform of the controller 1200 so as to transfer the weight of the wrist controller and the hand controller to it. [082] In one embodiment, the rotation sensor of the rotation mechanism assembly is located on the axis of rotation of the drive member. Although the specified sensor can be located anywhere else in such a way as to determine the absolute position of the rotation mechanism block relative to the hand controller. These elements are electrically connected to each other and to the control unit of the wrist controller.

[083] The use of at least one angle detection sensor for each rotational degree of freedom allows the absolute position of the tilt angle of the wrist controller to be determined. In some embodiments, in addition to rotary sensors for determining the absolute position of a controller element, these elements may be equipped with tachometers, accelerometers and force load indicators, each of which may provide electrical signals related to speed, acceleration and force applied to the corresponding element.

[084] The wrist controller, like the rest of the controller, can operate both in the phase of transmitting commands from the wrist to the wrist controller and in the phase of transmitting commands from the wrist controller to the wrist (feedback mode). When the wrist controller solves a direct problem, it controls the angle of rotation of the wrist in the frontal plane relative to the anteroposterior axis of the hand (adduction and abduction of the hand, deviation of the operator's hand towards the ulna), as well as control of the rotation of the wrist around a predetermined center, repeating the rotation of the radius together with the hand around the ulna relative to the longitudinal axis of the operator's arm. When solving the inverse problem, the movement of the wrist is carried out in a manner corresponding to the movement of the wrist controller.

[085] Thus, the wrist controller, in particular its constituent elements such as the pivot mechanism unit and the movable arm unit, can independently move according to a predetermined control program. The signal from the numerical control system (CNC) is fed to the digital control unit of the controller, which, based on a predetermined algorithm, transmits control signals to the wrist controller control unit, which in turn controls the operation of the drive element of the handle rotation mechanism unit and / or the movable console unit in order to to rotate the slewing mechanism unit and / or the movable arm unit through the calculated angle. In this case, the rigidly fixed handle with the hand holding this body to the block of the movable console also rotates. The corresponding predetermined angles of rotation are monitored by a rotation sensor of the rotation mechanism unit and a rotation sensor of the movable console unit.

[086] The drive element of the rotation mechanism unit and / or the drive element of the movable console unit, upon receipt of a control signal, rotate the wrist controller in two degrees of freedom.

[087] When a force is generated by the operator, the wrist controller monitors and digitizes the deflection of the wrist relative to the anteroposterior axis located in the sagittal plane (abduction or adduction of the hand, which is also sometimes called the radial deviation of the hand), as well as the rotation of the wrist around a predetermined center, repeating the rotation of the radius with the hand around the ulna relative to the longitudinal axis of the operator's hand.

[088] When the movable console unit is deflected by the operator's wrist from the anteroposterior axis lying in the sagittal plane, the rotation sensor of the movable console unit generates a digital signal about the angle of rotation and transmits it to the control unit of the wrist controller, which calculates the angle of deflection of the console and transmits this information to the digital a controller control unit, which is configured to transmit the received signals to a computer-based numerical control system (CNC) of the controller.

[089] When the pivot unit rotates around a predetermined center with the operator's wrist, the pivot unit rotation sensor generates a digital signal about the rotation angle and transmits it to the wrist controller control unit, which calculates the angle of the unit deflection relative to the longitudinal axis of the operator's hand and transmits this information to digital control unit of the controller, which is configured to transmit the received signals to the numerical control system (CNC) of the controller, which can be performed on the basis of a computer.

[090] The digital controller control unit calculates the possible trajectory of rotation of the swing mechanism unit and / or the movable console unit and, by sending a control signal to the drive element of the swing mechanism unit and / or the movable console unit, moves the swing mechanism unit and / or the movable console unit and directly the operator's wrist itself to the calculated position.

[091] In some embodiments of the invention, when a force is applied by the wrist to rotate the wrist controller in two orthogonal planes, the digital controller control unit of the controller can provide resistance / reaction or acceleration to the rotation mechanism unit or the movable console unit, and, accordingly, the human hand with the given / calculated forces and accelerations by supplying control signals to the drive elements of the corresponding units. The resistance / reaction mechanism can be switched on permanently by sending a signal from the numerical control system (CNC) of the controller. For example, "braking" blocks, joint or independent, can be carried out if the movement is limited to a certain angle of rotation from the axis.

[092] The control signal to the drive elements of the movable arm and / or pivot mechanism of the wrist controller may be configured to "ride" the blocks to facilitate movement of the controller by the operator, reducing the weight of the movable elements.

[093] The numerical control system (CNC) of the controller converts the coordinates of the rotation mechanism unit and / or the movable console unit into coordinates of the controlled actuator of the mechatronic complex and the formation 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 acted on the wrist controller as part of the controller. [094] In some embodiments, the controller structure is provided with a presence sensor that is configured to detect the presence of people in the room, as well as their number, posture and position of their bodies, regardless of whether they are moving or not. In principle, presence detectors use two technologies: ultrasonic and infrared, to detect the presence of people in a room. The presence sensor is configured to transmit a signal to the control units of the hand controller, the wrist controller and the digital control unit of the controller.

[095] In some embodiments, the digital 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 turn control the operation of the wrist controller actuators and actuators hand controller and equipped with electromagnetic brakes. The electromagnetic brakes are activated when a control signal is received from the digital control unit of the controller. In this case, 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.

[096] Thus, in the future, the controller as a whole cannot change its position and cannot transmit a signal about changing its position indirectly to the numerical control system (CNC) of the controller even under the influence of forces applied to it. In some embodiments, the presence sensor can be disabled as needed.

[097] 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.

[098] The control unit of the wrist controller may 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.

[099] 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. [100] 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.

Description of a specific embodiment of the invention

[101] One of the promising applications of the controller described above is the use of such controllers in surgeon simulators to study a virtual patient in a virtual environment. With the help of controllers, the user can move objects in a virtual environment, rotate, grab and perform all surgical manipulations.

[102] Also, 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.

[103] 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.

[104] 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.

[105] Typically, manipulators with a surgical instrument are mounted on the surgical table, on which the patient lies during the operation. In some embodiments, 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. It should be understood that the robotic system 300 can have any number of manipulators, such as one or more manipulators. The manipulators can be of any configuration.

[106] 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 control controller is split into two independent controllers - the brush controller and a wrist controller. This division allows to separate the rotational movements of the surgeon's hand, taking into account the biological features of the structure of the hand.

[107] The present invention disclosed in this application is essentially a wrist controller that is small in size and allows you to accurately determine the position and orientation in space of the surgeon's wrist without placing unnecessary stress on the surgeon's wrist. The developed wrist controller has sufficient structural rigidity, and the working area of the wrist controller is not limited by the linear dimensions and mechanical implementation features, allowing it to work in the full amplitude of the surgeon's wrist movements. The wrist controller also takes into account the peculiarities of the surgeon's work during the operation, in which it is possible for the controllers to collide with each other during convergence, or collide with the knees of the surgeons, while providing the maximum possible working space within this range. The wrist controller is equipped with a haptic feedback system.

[108] The wrist controller is used as part of the robotic system controller as a control element to provide the function of rotating the manipulator with the surgical instrument around one axis and to provide the function of rotating the surgical instrument around one axis. The wrist controller is a mechanical device that interacts along two rotational axes. The control of the action of the surgeon's hands along the third rotational axis is provided by a hand controller, which is not considered within the framework of this patent application, but a full-fledged surgical operation is possible only if the entire controller for controlling the robotic complex is implemented, which allows setting three rotational axes.

[109] In some embodiments, an active grip device is used to contact the surgeon's hand with the wrist controller, which can be used as a hand controller if modified to meet the requirements of the hand controller. It should be noted that any designs with different geometric and ergonomic characteristics, depending on the type of the problem being solved, can act as an active gripping device.

[110] The active grip device and wrist controller should take into account all linear dimensions of the distances between the centers of the joints of the hand, hand and wrist. Geometry parameters of positions and directions are used to describe the configuration parameters of the wrist. Directions can only be defined when linking coordinate systems to the wrist, in which case the base coordinate system will be linked directly to the wrist controller, and the origin of the coordinate system will be the point at which all rotational axes converge.

[111] In the basic coordinate system, the vector of the origin of the coordinate system of the wrist will coincide with the sequence of rotations about the axes of rotation by the Euler angles. Euler angles define three rotations of the system, which allow to bring any position of the system to the current one. Rotations of the system through these angles are called precession, nutation, and rotation through its own angle (rotation). In this case, the nutation process of the wrist controller is similar to the rotation of the hand relative to the anteroposterior axis, which lies in the sagittal plane and controls the adduction and abduction movements occurring in the frontal plane. The process of rotating the wrist controller is similar to rotating the radius with the hand around the ulna.

[112] On this statement, it is possible to formulate on a meaningful level the tasks that the wrist controller must also solve, which can also be called the solution of the forward and inverse kinematic transformation problem:

[113] Direct task - the task of determining the coordinate description of the parameters of the spatial position and orientation of the surgical instrument for a given set of values of the angles of rotation relative to the axes of rotation obtained using the wrist controller.

[114] The inverse task is the task of constructing a given position of the orientation of the wrist using the wrist controller and the related task of determining all the required angles of rotation.

[115] In this case, the main principle of unambiguity must be taken into account, which will ensure the unambiguous position and orientation of the surgical instrument for given guidance commands. The design of the wrist controller makes it possible to track the position of the surgeon's wrist, to transmit the change in orientation in the form of a digital signal displaying changes in the angle of deflection relative to the axes of rotation and nutation. These values are used as input data in kinematic calculations of the estimated position of the end of the surgical instrument and allow these signals to be interpreted as control commands. The very kinematics of transforming the setting angles into control commands is not considered within the framework of the application under consideration, but the very understanding of how to present the measured data is an important detail in the context of the problem being solved.

[116] The surgeon's wrist controller consists of the movable arm assembly and the pivot assembly described above. FIG. 5 illustrates a preferred embodiment of a wrist controller. In particular, FIG. 5 illustrates the attachment of the consoles to the actuator that implements the nutation motion of the wrist controller. In the upper part of the platform 221, two flat plates 227, mechanically connected to the platform 221, are arranged perpendicularly to it in parallel. A console is connected to the holes 228 of these plates.

[117] The addition of flex gear 229, or other known transmission method, allows the actuator 223 and the pivot measuring means to physically expose and mechanically couple to the pivot joint. Such a structural the solution is effective, since it allows you to hang the structure without adding additional elements and without cardinal changes in mechanical features.

[118] On the opposite side of the platform 221 at the level of an axis passing through the center, a rotation measuring device and a drive element 224 for the rotation axis are implemented. Changing the nutation angle changes the entire orientation of the design of the wrist controller and active gripper relative to that axis. This fact is taken into account at the stage of mathematical transformations of the obtained angles, but this is also confirmed by the biological structure of the human hand. Thus, turning the forearm around the elbow joint turns the hand, wrist, and palm. Such an approach to complete reproduction and fixation of the surgeon's hand rotations during robotic surgery allows for an intuitive interaction with the system, which simplifies the surgical operation, and also reduces the entry threshold when mastering the complex, since there is no need to additionally learn how to control the system.

[119] The wrist controller is attached to a parallel kinematic mechanism such as a delta robot, the task of which will be to provide at least three translational degrees of freedom. This attachment can be carried out by any known attachment method.

[1] Brushless DC motors can be used as the drive elements used in the wrist controller. 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.

[120] To accurately determine the angles of rotation of the degrees of freedom in the wrist controller, encoders selected from optical, magnetic or other encoders, or in the form of a resistive element were used as rotation sensors. In a preferred embodiment of the invention, high-precision non-contact encoders based on Hall sensor arrays are used as rotation sensors. On the axes of rotation of each degree of freedom, there are neodymium magnets of diametrical magnetization, near which the cases of microcircuits are located.

[121] This type of encoder offers advantages such as high resolution (14 bits, 0.0219 degrees), digital zero setting, high speed, digital status and diagnostics loop.

[122] Magnetic encoders have a number of operational features that affect measurement accuracy: - Sensitivity to power supply noise;

- The presence of the optimal distance from the microcircuit case to the rotating magnet

- Sensitivity to linear displacement of the axis of rotation of the magnet.

[123] To achieve maximum accuracy and sensitivity, a printed circuit board was developed and applied to install the encoder microcircuit, taking into account the listed features (Fig. 6).

[124] Precise spatial positioning of the microcircuit case relative to the rotating magnet is ensured by the fixing holes 410 in the printed circuit board 300. The pressing of the printed circuit board 400 to the adjacent surface is realized due to the absence of bulk elements along the circuit board 400 contour. The power and data pads are designed for soldering wires in the opposite direction from the encoder chip. Stable supply voltage and protection against impulse noise is ensured by using two capacitors in the supply line.

[125] FIG. 6 shows an assembly drawing of a printed circuit board 400 for installing a digital magnetic encoder. FIG. 6 denoted: 420 - encoder microcircuit seat, 410 - PCB mounting holes, 430 - power and data pads.

[126] In a preferred embodiment of the invention, the wrist controller control unit is implemented on the basis of two printed circuit boards: one is responsible for the power isolation and voltage conversion, the drivers for controlling the drive elements are additionally connected to it, and the second is responsible for receiving and processing data received from the measuring devices and interaction with control drivers of drive elements according to specified algorithms. FIGS. 7 and 8 show 3D models of the power board 500 and control board 600, respectively. Control PCB 600 is designed to mount an encoder 610 on one side, eliminating the need for a separate encoder PCB to measure the tilt of the slew unit. A general view of the device with the boards 500, 600 attached to the mechanical flat pad 221, which is part of the wrist controller, is shown in FIG. nine.

[127] The surgeon's wrist controller operates as follows. The surgeon positions the hand on the gripper body so that the grip body is sandwiched between the palm and fingers. In this case, the emergence of efforts on the part of the surgeon for the emergence of nutation movements of the gripper device (hand controller), which correspond to the rotation of the surgeon's hand in the frontal plane around one axis lying in the sagittal plane, causes the rotation to cause the rotation of the surgical instrument of one axis. And the emergence of efforts on the part of the surgeon to rotate the gripper device (hand controller), which corresponds to the rotation of the radius together with the hand around the ulna relative to the longitudinal axis of the operator's hand, causes the manipulator with the surgical instrument to rotate around one axis. The above actions allow you to implement a wrist controller design that allows you to perform multiple actions at the same time. [128] A wrist controller is also used to guide or transmit forces to the surgeon's wrist. In more detail, the processes describing the transmission of control commands for the operation of the wrist controller both in the control mode of the manipulator with a surgical instrument and in the transmission of forces to the surgeon's wrist are described above.

[129] The use of the claimed wrist controller design increases the efficiency of surgical procedures and provides support to the surgeon in order to reduce fatigue and fatigue during lengthy surgical procedures.

[130] While the invention has been described in specific examples and shown in the accompanying drawings, it should be understood that such embodiments are illustrative only and do not limit the breadth of the invention and that this invention is not limited to the shown and described specific structures and systems, as may have place various other modifications that are understandable to those of ordinary skill in the art.

Claims

CLAIM

1. A wrist controller for an operator controller for controlling a robotic surgical complex, including: a rotation mechanism unit, which has an upper part and a lower part, an ergonomically shaped body, a rotation mechanism unit is functionally configured for: connection with an element that is part of the operator controller, which is intended for providing the function of controlling the movement of the manipulator with the surgical instrument along three mutually orthogonal axes, and independent rotation around a predetermined center, repeating the rotation of the radius together with the hand around the ulna relative to the longitudinal axis of the operator's hand, to provide the function of rotating the manipulator with the surgical instrument around one axis; at least one block of the movable console, which is a flat open mechanism of a parallel rigid structure, consisting of three links and three kinematic pairs, the block of the movable console is functionally configured for: attachment on one side to the upper part of the swing mechanism block, and on the other - to the upper part of the handle, covered and held by the entire surface of the operator's hand during operation, which is also part of the operator's controller, and rotation that repeats the rotation of the operator's hand in the frontal plane around the anteroposterior axis lying in the sagittal plane to provide the function of rotating the surgical instrument around one axles; while inside the body of the turning mechanism unit there are located: a wrist controller control unit, at least one rotation sensor of the movable console unit, which provides electrical signals corresponding to a change in the position of the movable console unit relative to the rotation mechanism unit when the operator's hand is turned around the handle in the frontal plane around the anteroposterior axis lying in the sagittal plane and transmitting them to the control unit of the wrist controller, the drive element of the movable console unit; at the same time, on the outer side of the body of the rotation mechanism unit, there are: a rotation sensor of the rotation mechanism unit, providing electrical signals corresponding to a change in the position of the rotation mechanism unit relative to a predetermined center when the radius is rotated together with the operator's hand around the ulna relative to the longitudinal axis of the operator's hand and transmitting them on the wrist controller control unit, a drive element of the rotation mechanism unit, and the rotation sensor of the rotation mechanism unit is located on the axis of rotation of the drive element of the rotation mechanism unit; moreover, the control unit of the wrist 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 rotation mechanism unit and / or the movable console unit to the corresponding independent movement of the manipulator with the surgical instrument and / or surgical instrument, receiving control signals from the external control system of the robotic surgical complex and transferring them to the drive element of the rotation mechanism unit and / or the drive element of the movable console unit for transferring the movement of the manipulator with the surgical instrument and / or the surgical instrument into the corresponding independent movement of the said blocks.

2. The wrist controller of claim 1, wherein the body of the pivot mechanism unit is ergonomically shaped and recessed so as to be as close as possible to the handle body fully covered by the operator's hand, while providing a full trajectory of said handle movement.

3. The wrist controller according to claim 1, wherein the digital control unit of the operator controller generates control signals through the wrist control unit to the drive element of the pivot mechanism unit and / or the drive element of the movable console unit to ensure the rotation of said blocks in the direction coinciding with the rotation of the operator's hand together with the radius around the ulna and / or when the operator's hand is deflected towards the ulna or to the side opposite to the rotation of the hand and / or abduction of the hand, respectively.

4. A wrist controller according to claim 1, wherein a system of weights to ensure balance in a static position and in an upright position is mounted in the lower part of the body of the pivot mechanism unit.

5. The wrist controller of claim 1, wherein the moveable arm assembly is mechanically coupled to the moveable arm assembly using a flexible transmission.