CN103735313A - Surgical robot and condition monitoring method thereof - Google Patents

Abstract

The present invention is applicable to the field of medical equipment, and provides a surgical robot and a state monitoring method thereof, the method comprising: acquiring the force signal of the feeding unit and the depth of the feeding unit through a sensor installed on the feeding unit of the surgical robot information; according to the obtained depth information, search the force signal corresponding to the obtained depth information in the depth information and force signal correspondence table of the preset feed path; judge the force signal and the obtained force signal Whether the searched force signals are the same; if they are different, an exception handling instruction is sent. The present invention can send an abnormal command at the first time when the depth of operation or the force signal does not match the planned one, and can handle the abnormal situation more timely and effectively. The processing process can be completed automatically without relying on the experience of the staff. The accuracy of operation can be improved and errors can be reduced, thereby improving the safety and success rate of operation.

Description

A surgical robot and its state monitoring method

technical field

The invention belongs to the field of medical devices, in particular to a surgical robot and a state monitoring method thereof.

Background technique

In recent years, surgical robots have become a research hotspot in the interdisciplinary fields of medicine and robotics. Surgical operations are completed by utilizing the characteristics of high precision, high stability, good flexibility, strong controllability, and no fear of radiation and infection of surgical robots, which has changed the Doctors only rely on subjective judgment and surgical experience to complete the surgical operation, which can reduce surgical errors caused by human factors and improve the success rate of surgery.

Among many medical operations, some operations of orthopedics are often involved. As a branch of orthopedics, spinal surgery is considered to be one of the high-risk surgeries because of its particular location. It covers spinal trauma, degeneration , spinal deformities, tumors and other diseases, the operations involved include pedicle screw fixation, nerve decompression, bone graft fusion and artificial disc replacement. Since the spine is the passage for the spinal cord and nerve roots, especially in the operation of the cervical atlantoaxial spine, it is close to the important respiratory and circulatory centers, and a little carelessness may cause damage to the spinal cord or medulla oblongata. Therefore, the demands on the equipment in this type of surgery are very high.

Existing surgical robots generally install a force feedback device on the surgical robot, and the user controls the operation according to the feedback force information and his own experience. Errors will still occur when using it to operate, which will affect the accuracy of its positioning and affect the operation. safety and success rate.

Contents of the invention

The purpose of the present invention is to provide a state monitoring method of a surgical robot to solve the problem that when the surgical robot in the prior art performs surgery through the feedback force information combined with the user's experience, errors will occur and affect the positioning accuracy, thereby improving Surgical safety and success.

The present invention is realized in this way, a kind of state monitoring method of surgical robot, described method comprises the following steps:

Obtain the force signal of the feed unit and the depth information of the feed unit through the sensor installed on the feed unit of the surgical robot;

According to the acquired depth information or force signal, search for the force signal corresponding to the acquired depth information or search for the acquired force signal in the depth information and force signal correspondence table of the preset feed path The depth information corresponding to the signal;

Judging whether the acquired force signal is the same as the searched force signal, or judging whether the acquired depth information is the same as the searched depth information;

If different, an exception handling instruction is sent.

Another object of the present invention is to provide a surgical robot, which includes:

Feed unit, force sensor, controller, memory and adjustment unit, the sensor is installed on the feed unit, used to obtain the force signal of the feed unit and the depth information of the feed unit, the signal output of the sensor The end is connected with the controller, and the adjustment unit is connected with the feed unit for adjusting the angle and state of the feed unit, characterized in that,

The controller is used to obtain the force signal of the feeding unit and the depth information of the feeding unit through a sensor installed on the feeding unit of the surgical robot;

According to the acquired depth information or force signal, search for the force signal corresponding to the acquired depth information or search for the force signal corresponding to the depth information of the feed path preset in the memory. Depth information corresponding to the obtained force signal;

Judging whether the acquired force signal is the same as the searched force signal, or judging whether the acquired depth information is the same as the searched depth information;

If different, an exception handling instruction is sent.

In the present invention, the force signal and depth information on the feed unit of the surgical robot are obtained, and the corresponding force signal is searched in the depth information and force signal correspondence table of the preset path through the acquired depth information , and compare whether the obtained force signal is consistent with the searched force signal, and if not, send an exception handling instruction to handle the exception, or correspond to the force signal through the depth information of the acquired force signal in the preset path Look up the corresponding depth information in the table, and compare whether the obtained depth information is consistent with the found depth information, and if not, send an exception handling instruction to handle the exception. The embodiment of the present invention can send an abnormal command at the first time when the depth of operation or the force signal does not match the plan, and can handle the abnormal situation more timely and effectively, and the processing process can be completed automatically without relying on the experience of the staff Operation can improve the accuracy of the operation and reduce errors, thereby improving the safety and success rate of the operation.

Description of drawings

Fig. 1 is the implementation flow diagram of the state monitoring method of the surgical robot provided by the first embodiment of the present invention;

Fig. 2 is a schematic diagram of the corresponding relation curve between the depth information and the force signal provided by the first embodiment of the present invention;

Fig. 3 is a schematic diagram of curves of depth information and force signals when drilling in cortical bone provided by the first embodiment of the present invention;

Fig. 4a is a schematic diagram showing the effect of the surgical operation in a safe state according to the first embodiment of the present invention;

Fig. 4b is a schematic diagram showing the effect of the surgical operation in an abnormal state according to the first embodiment of the present invention;

Fig. 4c is a schematic diagram showing the effect of the surgical operation in the end state provided by the first embodiment of the present invention;

Fig. 5 is an implementation flow chart of the state monitoring method of the surgical robot provided by the second embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a surgical robot provided by a third embodiment of the present invention.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The method for monitoring the state of a surgical robot described in the embodiment of the present invention can be used in pedicle screw fixation, nerve decompression, bone graft fusion, artificial disc replacement, and the like. In consideration of the safety of the surgical object and the success rate of the surgery, the present invention proposes a state monitoring method of a surgical robot with smaller errors, higher precision and safety, the method includes: installing on the surgical robot The sensor on the feed unit obtains the force signal of the feed unit and the depth information of the feed unit; according to the acquired depth information or force signal, in the depth information and force signal correspondence table of the preset feed path , searching for the force signal corresponding to the obtained depth information or searching for the depth information corresponding to the obtained force signal; judging whether the obtained force signal is the same as the searched force signal, or judging Whether the obtained depth information is the same as the searched depth information; if not, an exception handling instruction is sent.

By obtaining the force signal and depth information on the feed unit of the surgical robot, and through the obtained depth information, look up the corresponding force signal in the depth information and force signal correspondence table of the preset path, and compare the obtained Whether the force signal is consistent with the searched force signal, if not, send an exception handling instruction to handle the exception, or use the acquired force signal to find its correspondence in the preset path depth information and force signal correspondence table and compare whether the obtained depth information is consistent with the searched depth information, and if not, send an exception handling instruction to handle the exception. The embodiment of the present invention can send an abnormal command at the first time when the depth of operation or the force signal does not match the plan, and can handle the abnormal situation more timely and effectively, and the processing process can be completed automatically without relying on the experience of the staff Operation can improve the accuracy of the operation and reduce errors, thereby improving the safety and success rate of the operation.

Embodiment one:

Fig. 1 shows the implementation process of the state monitoring method of the surgical robot provided by the first embodiment of the present invention, which is described in detail as follows:

In step S101, the force signal of the feeding unit and the depth information of the feeding unit are acquired through a sensor installed on the feeding unit of the surgical robot.

Specifically, the feed unit, which is a unit for bone drilling of a surgical robot, may include a drill bit and a motor for driving the drill bit to rotate to complete the bone drilling operation, or a drill bit driven by air pressure, etc., and the sensor is used for sensing The force information of the feed unit and the displacement in the feed object, that is, the depth information of the feed unit. The force information is collected by a six-dimensional force sensor installed on the feed unit, and the depth information of the feed unit is collected by a displacement sensor installed on the feed unit. Of course, this is only a more preferred embodiment , those skilled in the art can understand that, for example, a non-six-dimensional force sensor can be used to collect force signals.

The depth information of the feeding unit is the depth from reaching the surface of the feeding object to the depth entering the feeding unit, which can be recorded by recording the position of the feeding unit when it reaches the surface of the feeding object. By subtracting them, the depth information of the feed unit can be obtained.

In step S102 , according to the obtained depth information, the force signal corresponding to the obtained depth information is searched in the depth information and force signal correspondence table of the preset feeding path.

In the embodiment of the present invention, the depth information of the feeding path and the force signal correspondence table are pre-stored in the memory of the surgical machine. The feeding path is generally a variety of better implementation paths planned before the operation. Select the corresponding path during operation, that is, a corresponding relationship corresponding to the selected path can be obtained. The corresponding relationship can be a corresponding table or a curve of two-dimensional depth information and force information, etc., and the curve can pass through multiple sections. When searching for data, the corresponding force information can be obtained by calculating the function corresponding to the corresponding depth information.

Fig. 2 shows the corresponding relationship curve between the preset depth information and the force signal. It can be seen from Fig. 2 that the drill bit (24) passes through the cortical bone (40) and spongy bone (41) in the drilling stage in sequence. ) and cortical bone in the piercing phase (40). The special points of the corresponding force signal include: the peak value of the cortical bone force in the drilling stage (43), the peak value of the cortical bone drilling force in the penetration stage (44), the average value of the drilling force in the cancellous bone stage (45 ), and the corresponding depth information is: thickness of cortical bone at the drilling stage (46), thickness of cancellous bone (47), and cortical bone thickness at the penetration stage (48). Through the real-time collected force signal data (42), the cortical bone peak value (43) (44) in the drilling and penetration stage, the force average value (45) in the cancellous bone stage and the drilling and penetration expressed by the model By comparing the cortical bone peak value (43) (44) in the penetrating stage and the force average value (45) in the cancellous bone stage, it can be judged whether the drill bit (24) is in the cortical bone (40) stage, cancellous bone (41) Stage or drill through bone tissue. When the drill track, that is, the hole made by the drill bit, deviates greatly from the correct position, and the thickness of the cortical bone that the drill bit passes through is relatively large, or even drills in the cortical bone all the time, then by comparing the thickness of the cortical bone at the drilling stage (46) It can be judged whether the drill is deviated, as shown in Figure 3.

In step S103, it is judged whether the acquired force signal is the same as the searched force signal.

The judging whether the obtained force signal is the same as the searched force signal described in the embodiment of the present invention is not exactly the same, considering that different feeding objects may have different characteristics, therefore, it can be A certain error is allowed, and within the allowable range of the error, it can still be determined that the acquired force signal is the same as the searched force signal.

Similarly, when the system uses the obtained force signal to find the corresponding depth information, it is a normal operation to judge whether the obtained depth information is the same as the searched depth information.

In step S104, if the acquired force signal is different from the searched force signal, an exception handling instruction is sent.

Through this method, three types of states of the drill path can be judged—correct nail path, drill through, and drill deviation. As shown in Figure 4a, when the surgical operation is in a safe state, the controller sends the feed unit to continue command, the bone drill continues the surgical operation; when it is in an abnormal state (drilling deviation or drilling through as shown in Figure 4c), the controller sends a stop feed command to the feed unit, and the bone drill stops the surgical operation; when it is in the drilling end state , as shown in Fig. 4c, the controller sends a stop feeding command to the feeding unit, and the bone drill stops the surgical operation.

Based on the same principle, the embodiment of the present invention can also search for the corresponding depth information through the obtained force signal, and compare whether the searched depth information is the same as the obtained depth information. The operation method is similar to the above steps S101-S104, here Do not repeat them.

In the embodiment of the present invention, by acquiring the force signal and depth information on the feed unit of the surgical robot, and searching for the corresponding force signal in the depth information and force signal correspondence table of the preset path through the acquired depth information, And compare whether the obtained force signal is consistent with the searched force signal, if not, send an exception handling instruction to handle the exception, or use the depth information of the acquired force signal in the preset path and the force signal correspondence table Find the corresponding depth information in the computer, and compare whether the obtained depth information is consistent with the searched depth information, and if not, send an exception handling instruction to handle the exception. The embodiment of the present invention can send an abnormal command at the first time when the depth of operation or the force signal does not match the plan, and can handle the abnormal situation more timely and effectively, and the processing process can be completed automatically without relying on the experience of the staff Operation can improve the accuracy of the operation and reduce errors, thereby improving the safety and success rate of the operation.

Embodiment two:

Fig. 5 shows the implementation flow of the state monitoring method of the surgical robot provided by the second embodiment of the present invention, which is described in detail as follows:

In step S501, the force signal of the feeding unit and the depth information of the feeding unit are acquired through a sensor installed on the feeding unit of the surgical robot.

Specifically, the sensors installed on the feeding unit of the surgical robot include force sensors and displacement sensors.

In step S502, the structural parameters of the object to be fed are acquired.

Wherein, the step of obtaining the structural parameters of the object to be fed includes:

The CT (full name in Chinese is called X-ray computerized tomography, and the full name in English is called Computed Tomography) scanning equipment is used to scan the feeding object to obtain the CT image of the feeding object.

The structural parameters to be fed are obtained according to the acquired CT images, and the three-dimensional image reconstruction is performed on the feeding object according to the structural parameters.

In step S503, according to the acquired structural parameters, a correspondence table is generated between the depth information of the feeding path of the object to be fed and the force signal.

Specifically, according to the three-dimensional image reconstructed by the structural parameters and the feeding path of the object to be fed, a correspondence table between the depth information of the feeding path of the object to be fed and the force signal may be determined.

In step S504, according to the obtained depth information or force signal, search for the force signal corresponding to the obtained depth information or find the Depth information corresponding to the acquired force signal.

The judging whether the obtained force signal is the same as the searched force signal described in the embodiment of the present invention is not exactly the same, considering that different feeding objects may have different characteristics, therefore, it can be A certain error is allowed, and within the allowable range of the error, it can still be determined that the acquired force signal is the same as the searched force signal.

In step S505, it is determined whether the obtained force signal is the same as the searched force signal, or whether the acquired depth information is the same as the searched depth information.

In step S506, if the acquired force signal is different from the searched force signal, or the acquired depth information is different from the searched depth information, an exception processing instruction is sent.

The exception handling instruction includes sending a stop feeding instruction and a prompt instruction.

In addition, in the embodiment of the present invention, the reconstructed three-dimensional image and the status information of the feeding unit may also be displayed by a display unit. In this way, the staff can obtain the operating state of the bone drill more vividly through the image.

Compared with Embodiment 1, the embodiment of the present invention differs in that the CT image of the feeding object is obtained by a CT scanning device, and the three-dimensional image reconstruction is performed, so that the structural parameters of the feeding object can be obtained more accurately, and the accuracy of the operation is improved.

Embodiment three:

FIG. 6 shows a schematic structural view of a surgical robot for drilling bone provided by the third embodiment of the present invention, which is described in detail as follows:

The surgical robot described in the embodiment of the present invention includes a feed unit 601, a sensor 602, a controller 603, a memory 604, and an adjustment unit 605. The sensor 602 is installed on the feed unit 601 to obtain the The force signal and the depth information of the feed unit 601, the signal output end of the sensor 602 is connected with the controller 603, and the adjustment unit 605 is connected with the feed unit 601 for adjusting the angle and state of the feed unit, The controller is used for:

Obtain the force signal of the feed unit 601 and the depth information of the feed unit through the sensor 602 installed on the feed unit 601 of the surgical robot;

According to the obtained depth information or force signal, in the depth information and force signal correspondence table of the feed path preset in the memory 604, look up the force signal corresponding to the obtained depth information or search for the force signal. Depth information corresponding to the obtained force signal;

Judging whether the acquired force signal is the same as the searched force signal, or judging whether the acquired depth information is the same as the searched depth information;

If they are different, send an exception handling instruction, which includes sending a stop feeding instruction and a prompt instruction.

Further, the controller 603 is also used to reconstruct the three-dimensional image of the feeding object according to the obtained structural parameters, and the surgical robot is also connected to a display unit 606 for displaying the reconstructed three-dimensional image and the obtained status information of the feed unit.

Specifically, the sensors installed on the feeding unit of the surgical robot include force sensors and displacement sensors.

The surgical robot described in this embodiment of the present invention corresponds to the operation method described in Embodiment 1 and Embodiment 2, and will not be repeated here.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (9)

1. a state monitoring method for operating robot, is characterized in that, described method comprises:

By being arranged on sensor on the feed unit of operating robot, obtain the depth information that is subject to force signal and feed unit of feed unit;

According to the described depth information obtaining or be subject to force signal, the depth information in default feeding path be subject in the corresponding table of force signal, the depth information that obtains described in searching is corresponding be subject to force signal or search described in obtain be subject to the corresponding depth information of force signal;

Described in judgement, obtain be subject to force signal with described in search be subject to force signal whether identical, or described in judgement the depth information that obtains with described in the depth information searched whether identical;

If different, send exception handling instruction.

2. method according to claim 1, it is characterized in that, at the depth information obtaining described in described basis or be subject to force signal, the depth information in default feeding path be subject in the corresponding table of force signal, the depth information that obtains described in searching is corresponding be subject to force signal or search described in obtain be subject to the corresponding depth information step of force signal before, described method also comprises:

Obtain the structural parameters for the treatment of feeding object;

According to the described structural parameters that obtain, treat that the depth information in the feeding path of feeding object shows with being subject to the corresponding of force signal described in generation.

3. method according to claim 2, is characterized in that, described in obtain and treat that the structural parameters step of feeding object comprises:

Use CT scan equipment to scan feeding object, obtain the CT image of feeding object;

The structural parameters that obtain treating feeding according to the described CT image obtaining, carry out 3D image reconstruction according to described structural parameters to feeding object;

The structural parameters that obtain described in described basis, treat that the depth information in the feeding path of feeding object comprises with the corresponding table step that is subject to force signal described in generation:

The 3-D view of rebuilding according to described structural parameters and the feeding path for the treatment of feeding object, treat described in determining that the depth information in the feeding path of feeding object shows with being subject to the corresponding of force signal.

4. method according to claim 3, is characterized in that, described method also comprises:

By display unit, show the status information of 3-D view and the described feed unit of described reconstruction.

5. method according to claim 1, is characterized in that, if described different, sends in exception handling instruction step, and described exception handling instruction comprises and sends feed-disabling instruction and hint instructions.

6. method according to claim 1, is characterized in that, described in the sensor that is arranged on the feed unit of operating robot comprise force transducer and displacement transducer.

7. an operating robot, comprise feed unit, sensor, controller, memorizer and adjustment unit, described installation of sensors is on feed unit, for obtaining the depth information that is subject to force signal and feed unit of feed unit, the signal output part of described sensor is connected with controller, and described adjustment unit is connected with feed unit, for adjusting angle and the state of described feed unit, it is characterized in that

Described controller obtains the depth information that is subject to force signal and feed unit of feed unit for the sensor on the feed unit by being arranged on operating robot;

According to the described depth information obtaining or be subject to force signal, the depth information that defaults in the feeding path in memorizer be subject in the corresponding table of force signal, the depth information that obtains described in searching is corresponding be subject to force signal or search described in obtain be subject to the corresponding depth information of force signal;

Described in judgement, obtain be subject to force signal with described in search be subject to force signal whether identical, or described in judgement the depth information that obtains with described in the depth information searched whether identical;

If different, send exception handling instruction.

8. operating robot according to claim 7, it is characterized in that, described controller also carries out 3D image reconstruction for the structural parameters that obtain described in basis to feeding object, described surgical device people is also connected with display unit, for showing the status information of 3-D view and described feed unit of described reconstruction.

9. operating robot according to claim 7, is characterized in that, described in the sensor that is arranged on the feed unit of operating robot comprise force transducer and displacement transducer.

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