CN111358563B - Hip arthroscope auxiliary robot system based on cooperative mechanical arm and control method - Google Patents
Hip arthroscope auxiliary robot system based on cooperative mechanical arm and control method Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000000227 grinding Methods 0.000 claims abstract description 87
- 210000004394 hip joint Anatomy 0.000 claims abstract description 15
- 210000001624 hip Anatomy 0.000 claims abstract description 12
- 210000000988 bone and bone Anatomy 0.000 claims description 17
- 238000005553 drilling Methods 0.000 claims description 15
- 239000000463 material Substances 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 3
- 239000006061 abrasive grain Substances 0.000 claims description 2
- 230000036544 posture Effects 0.000 claims 4
- 238000002474 experimental method Methods 0.000 description 21
- 238000001356 surgical procedure Methods 0.000 description 13
- 230000000007 visual effect Effects 0.000 description 11
- 210000000845 cartilage Anatomy 0.000 description 7
- 229910052602 gypsum Inorganic materials 0.000 description 5
- 239000010440 gypsum Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 230000035515 penetration Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 210000000588 acetabulum Anatomy 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000000399 orthopedic effect Effects 0.000 description 2
- 239000011505 plaster Substances 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 206010002091 Anaesthesia Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000037005 anaesthesia Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000036407 pain Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000037452 priming Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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Abstract
一种基于协作型机械臂的髋关节镜辅助机器人系统及控制方法，包括：具备位置控制模式和姿态控制模式的主控制器、协作型机械臂、内窥镜、C形臂以及磨钻和夹持装置组成的夹具，其中：磨钻设置于夹持装置上并由夹持装置采集磨钻信息并输出至协作型机械臂，C形臂与主控制器相连用于提供X光图像，内窥镜与主控制器相连用于提供髋关节图像，主控制器与协作型机械臂相连并根据收到的来自内窥镜和C形臂的图像信息、来自夹持装置的磨钻信息，得到磨钻尖端所受磨削力的位置、大小和方向并通过协作型机械臂控制夹具进行带有力反馈的磨削操作。本发明通过增加力反馈系统，设置远心点，改进系统操作端，使得机器人系统能完全应用于髋关节镜手术中更加狭小的场景，提升医生在手术操作中的表现，具有极高的实用价值。
A hip arthroscopy-assisted robot system and control method based on a collaborative robotic arm, comprising: a main controller with a position control mode and an attitude control mode, a collaborative robotic arm, an endoscope, a C-arm, and a drill and a clamp A fixture composed of a holding device, wherein: the grinding drill is set on the holding device, and the grinding drill information is collected by the holding device and output to the cooperative robotic arm, the C-shaped arm is connected with the main controller to provide X-ray images, and the endoscopic The mirror is connected with the main controller to provide images of the hip joint, and the main controller is connected with the cooperative robotic arm and obtains grinding according to the received image information from the endoscope and the C-shaped arm, and the grinding drill information from the clamping device. The position, magnitude and direction of the grinding force on the drill tip and the grinding operation with force feedback is controlled by the cooperating robotic arm. By adding a force feedback system, setting a telecentric point, and improving the operating end of the system, the invention enables the robot system to be fully applied to narrower scenes in hip arthroscopy, improves the performance of doctors in surgical operations, and has extremely high practical value .
Description
Technical Field
The invention relates to a technology in the field of medical robots, in particular to a hip arthroscope auxiliary robot system based on a cooperative mechanical arm and a control method.
Background
Femoral Acetabular Impingement (FAI) is characterized in that abnormal bone bulges are generated on the surface of femoral head, which causes severe friction with cartilage on the surface of acetabulum during rotation, and tearing of cartilage around acetabulum, namely labrum, occurs for a long time, thus bringing pain to patients. The existing treatment method is mostly realized by arthroscopic surgery for grinding bone, but the defects of high operation space requirement, limited visual field and the like greatly increase the difficulty of doctors in performing the arthroscopic surgery, so that a lot of inexperienced doctors are difficult to perform the surgery, and the popularization of the surgery is hindered. The medical robot targets that are currently the mainstream in the market focus on solving one or two of the problems of visual field, accuracy, space, etc., and it can be difficult to achieve this operation, which has high requirements in many respects at the same time, for hip arthroscopy.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a hip arthroscope auxiliary robot system based on a cooperative mechanical arm and a control method, and the robot system can be completely applied to narrower scenes in hip arthroscope operation by adding a force feedback system, setting a remote center and improving a system operation end, thereby improving the performance of doctors in the operation and having high practical value.
The invention is realized by the following technical scheme:
the invention comprises the following steps: possess main control unit, cooperation type arm, endoscope, C shape arm and abrasive drilling and the anchor clamps that clamping device constitutes of position control mode and gesture control mode, wherein: the abrasive drill is arranged on the clamping device, abrasive drill information is collected by the clamping device and output to the cooperative mechanical arm, the C-shaped arm is connected with the main controller and used for providing X-ray images, the endoscope is connected with the main controller and used for providing hip joint images, the main controller is connected with the cooperative mechanical arm and obtains the position, the size and the direction of the abrasive force applied to the abrasive drill tip according to the received image information from the endoscope and the C-shaped arm and the abrasive drill information from the clamping device, and the abrasive drill with force feedback is carried out by controlling the clamp through the cooperative mechanical arm.
The clamping device comprises: base, force transducer and centre gripping key of horizontal connection in proper order, wherein: the base is connected with the cooperative mechanical arm, the force sensor is arranged between the base and the clamping key, and the abrasive drill is arranged on the clamping key.
The abrasive drilling comprises: drill chuck, sleeve and drill bit, wherein: the drill chuck is arranged on the clamping key and is radially connected with the sleeve, the sleeve is connected with the clamping key, and the drill bit is arranged at the tail end of the sleeve.
The clamping key comprises: base, connecting plate, first grip block and second grip block, wherein: the base is connected with the force sensor, the connecting plate is arranged on the base, the first clamping block is arranged on the connecting plate and close to one end of the force sensor and is connected with the drill chuck, and the second clamping block is arranged on the connecting plate and is opposite to the other end of the connecting plate and is connected with the sleeve.
The main controller comprises: a Robot Operating System (ROS) unit, a handle unit, and a display unit, wherein: the handle unit is connected with the ROS unit and transmits the position and the posture information of the hand of a doctor, the display unit is connected with the endoscope and the C-shaped arm and receives the internal bone shape and the environmental image information of the hip joint of a patient, and the ROS unit is connected with the cooperative mechanical arm and transmits the angle information of each joint of the cooperative mechanical arm after the conversion according to the position and the posture information of the hand of the doctor.
Technical effects
The invention integrally solves the technical problem of judging whether the grinding of the femoral head of a patient is complete in real time in the operation; compared with the prior art, the invention can complete the actions of all doctors during manual operation in the bone grinding stage in FAI surgery, namely, the operation tail end has six degrees of freedom, and can complete necessary operations such as linear feeding, setting of a remote center point and the like; the C-shaped arm can provide additional X-ray image visual assistance to a doctor in real time except for an endoscope in the operation, so that the doctor can more easily grasp the real-time progress of grinding the femoral head, and the error rate of grinding selection is reduced; the stress condition of the drill grinding tip can be calculated through the information collected by the force sensor, and then force feedback is given to a doctor through the handle unit, so that the operation hand feeling of the doctor is improved; the positioning precision of the grinding drill tail end reaches the sub-millimeter level and exceeds the manual operation precision.
Drawings
FIG. 1 is a schematic illustration of a hip joint comparison of a patient suffering from a Femoral Acetabular Impingement (FAI) with a normal person;
wherein: a is a schematic view of a normal hip joint, and b is a schematic view of an abnormal hip joint;
FIG. 2 is a schematic diagram of the system of the present invention;
FIG. 3 is a schematic view of the clamp of the present invention;
FIG. 4 is a schematic diagram of a control scheme for a drill mill based on force feedback;
FIG. 5 is a schematic diagram of a diamond tip force modeling scheme;
FIG. 6 is a schematic diagram of a simulated cartilage (left) and hard bone (right) grinding experiment;
FIG. 7 is a graph showing the results of a grinding gypsum depth test;
in the figure: the device comprises a clamping device 1, a grinding drill 2, a base 3, a force sensor 4, a clamping key 5, a base 6, a connecting plate 7, a first clamping block 8, a second clamping block 9, a drill chuck 10, a sleeve 11, a drill bit 12, a main controller 13, a C-shaped arm 14, an endoscope 15, a cooperative mechanical arm 16, an operation room 17, an operation room 18 and a clamp 19.
Detailed Description
As shown in fig. 1, the hip arthroscopy assistant robot system and the control method based on the cooperative mechanical arm according to the present embodiment includes: a main controller 13 having a position control mode and an attitude control mode, a cooperative robot arm 16, an endoscope 15, a C-arm 14, and a jig 19 composed of a drill 2 and a holding device 1, wherein: the abrasive drilling 2 is arranged on the clamping device 1, abrasive drilling information is collected by the clamping device 1 and output to the cooperative mechanical arm 16, the C-shaped arm 14 is connected with the main controller 13 and used for providing X-ray images, the endoscope 15 is connected with the main controller 13 and used for providing hip joint images, the main controller 13 is connected with the cooperative mechanical arm 16, the position, the size and the direction of the abrasive force applied to the abrasive drilling tip are obtained according to the received image information from the endoscope 15 and the C-shaped arm 14 and the abrasive drilling information from the clamping device 1, and the abrasive drilling operation with force feedback is carried out by controlling the clamp 19 through the cooperative mechanical arm 16.
The main controller 13 includes: ROS unit, handle unit and display unit, wherein: the handle unit is connected with the ROS unit and transmits the position and the posture information of the hand of a doctor, the display unit is connected with the endoscope and the C-shaped arm and receives the internal bone shape and the environmental image information of the hip joint of a patient, and the ROS unit is connected with the cooperative mechanical arm and transmits the angle information of each joint of the cooperative mechanical arm after the conversion according to the position and the posture information of the hand of the doctor.
The handle unit has six degrees of freedom. When the system is used, an operator takes a sitting posture, holds the control rod with a single hand, when the control rod moves, the tool can also perform translational and rotational movement in the same direction as the control rod according to input tool information (in the system, the tool is the whole of a clamp and a grinding drill), and the ratio of the movement distance and the angle can be adjusted according to the precision requirement; the handle unit may also be limited in degrees of freedom for performing particular operations in surgery. During arthroscopic surgery, the portion of the instrument at the entry portal is approximately stationary, the portion within the patient's joint cavity moves all the time, and the motion of the instrument is divided into two types: the advancing/retracting movement is performed along the line where the current instrument is located and the rotating movement is performed around the motionless point, which is called the far center point in the robot movement. No matter what movement the control lever makes, at each moment a point on the tool must coincide with the remote centre point, thus reducing the freedom of movement.
The modeling method and the force feedback control method of the built-in grinding force of the handle unit consider the influence of the self gravity of the grinding drill and the clamping device on the measurement result and automatically calculatemg s T＝mg T·R T＝-6.6[R11,R21,R31]Wherein:mg s Tfor the representation of gravity in the sensor coordinate system,R Tthe rotation matrix of the robot manipulator with respect to the end of the manipulator arm for the respective moment is preferably automatically calculated during operation by means of the ROS unit.
The position control mode is as follows: when the operator moves the control rod, the posture of the clamp is unchanged, and the position of the tail end of the tool is changed; the attitude control mode is as follows: the tool tip remains in place and the attitude of the clamp and tool changes.
An optical fiber interface used for transmitting the shot image to an external display is arranged in the endoscope 15, the diameter of the front end of the endoscope is 4mm, and the length of the endoscope capable of being extended into the endoscope is 18 mm.
The 15 front ends of endoscope be equipped with the camera, camera and sheath contained angle be 0 °, 30 and 70, wherein: the larger the power is, the wider the range of the shot by the lens is, but the more fuzzy the central area which is directly opposite to the sheath is, and even a blind area is generated.
The cooperative mechanical arm 16 adopts a UR3 cooperative mechanical arm, and comprises: joints 1-6 from base to tip, wherein: the joints 1-5 can rotate 360 degrees and have six degrees of freedom.
The UR3 cooperative type mechanical arm has a floor area diameter of 128mm, can be arranged on the side of an orthopedic traction bed or above a base with adjustable height, and the working end can freely move in an area in a cylinder with the diameter of 500mm away from the base. The repeated positioning precision of the tail end of the UR3 cooperative type mechanical arm is better than 0.2mm, the maximum load is 3kg, and the grinding drill 2 can be carried to move freely. UR3 cooperation type mechanical arm embeds force sensor, and the user can set the threshold value for it, and when the joint atress was too big suddenly, the mechanical arm can be automatic deadlocking, prevents the accident and takes place.
The C-shaped arm 14 adopts an X-ray C-shaped arm for common orthopedic surgery. During operation, the upper end and the lower end of the C-shaped arm 14 are connected through the body of a patient, so that the C-shaped arm 14 can shoot the bone of the patient and the relative position of a surgical instrument in the body of the patient in real time through the self-emitted X-ray. The C-arm 14 can transmit the image to a computer screen on the console in real time, allowing the surgeon to understand the progress of the procedure and the position of the surgical instrument, facilitating the surgeon in performing the milling operation.
The clamping device 1 comprises: base 3, force sensor 4 and centre gripping key 5 of horizontal connection in proper order, wherein: the base 3 is connected with a cooperative mechanical arm 16, the force sensor 4 is arranged between the base 3 and the clamping key 5, and the abrasive drill 2 is arranged on the clamping key 5.
The abrasive drilling 2 comprises: a drill chuck 10, a sleeve 11 and a drill bit 12 for protecting surrounding tissue, guiding priming liquid and aspirating loose bodies, wherein: the drill chuck 10 is arranged on the first clamping block 8 and is radially connected with the sleeve 11, the sleeve 11 is connected with the second clamping block 9 and enhances the concentricity of the rotation of the abrasive drilling to ensure the operation precision, and the drill bit 12 is arranged at the tail end of the sleeve 11.
The clamping key 5 comprises: base 6, connecting plate 7, first grip block 8 and second grip block 9, wherein: the base 6 is connected with the force sensor 4, the connecting plate 7 is arranged on the base 6, the first clamping block 8 is arranged on the connecting plate 7 and close to one end of the force sensor 4 and is connected with the drill chuck 10, and the second clamping block 9 is arranged on the connecting plate 7 and is connected with the sleeve 11 at the other end.
In the grinding mode, the rotating speed of the drill bit 12 is adjustable from 500 and 5000r/min, and the maximum output torque is 80mN · m. The back end of the grinding drill 2 is connected with a special handheld manipulator, and the eccentricity is less than 0.1 mm.
The susceptor 3 is attached to a tool flange at the end of a UR3 robot arm.
The whole fixture 19 is 277mm long, 50mm wide, 94mm high and 0.5kg heavy (including abrasive drill and chuck). The processing adopts GB-1184m standard, and in order to keep the concentricity of the sleeve 11 and the chuck, the height precision of the first clamping block and the second clamping block needs to reach 0.02mm, and the roughness of the upper surface of the main body base reaches within 3.2, so that excessive friction between the sleeve 11 and the abrasive drill 2 is prevented during working.
The present embodiment relates to a control method based on the above system, wherein after performing operations such as anesthesia, establishing an access, and suturing damaged cartilage, dividing an operation area into two areas, namely an operation room 17 and an operation room 18, and grinding a bone comprises: a preparation phase and an operation phase.
The preparation stage comprises the following specific steps:
the method comprises the following steps: adjusting the endoscope 15 to a proper position and fixing by using a bracket to enable the skeleton of the area to be ground to be stably displayed in the visual field;
step two: pushing the cooperative mechanical arm 16 with the clamp 19 installed to a proper position beside the operating table, and shifting the cooperative mechanical arm 16 in a free mode to enable the drill bit 12 of the grinding drill 2 to just enter the path;
step three: opening the C-shaped arm 14X-ray machine, controlling the cooperative mechanical arm 16 through the main controller 13 in front of a console in an operation room, and displaying a patient total hip joint image presented by the C-shaped arm 14 in the operation and a hip joint image of a current operation area presented by the endoscope 15 in a high-definition display screen;
step four: the straight line direction of the abrasive drill 2 is aligned with the interior of the hip joint under the assistance of the C-shaped arm 14, then the operation is adjusted to a feeding mode, the abrasive drill 2 enters the hip joint until the tail end of the abrasive drill 2 appears in the central area of the visual field formed by the endoscope 15, and the feeding operation is completed;
step five: setting two schemes according to the body type of a patient to set a remote center point;
the first scheme is as follows: the patient is in a normal body type, and the distance between the default telecentric point and the drill bit 12 of the grinding drill 2 is 12 cm;
the second scheme is as follows: manually setting a remote center point when the body size of the patient is too large or too small, and increasing or decreasing the remote center point at intervals of 5mm on the basis of 12cm until the remote center point reaches the required length;
the operation stage comprises the following specific steps:
step six: after the remote center point is set, the operation enters a grinding stage, a doctor controls the switch and the rotating speed of the abrasive drill 2 through a pedal, and controls the cooperative mechanical arm 16 and the abrasive drill 2 to carry out grinding operation by using the main controller 1 under the assistance of the double visual fields of the endoscope 15 and the C-shaped arm 14X-ray film,
the grinding operation is specifically as follows: when the tail end of the grinding drill 2 is contacted with a bone, the force sensor 4 reads data, enables a doctor to sense the size and the direction of grinding force at any time through force feedback, controls the grinding depth and speed, and is ready to press an emergency button at any time to deal with the condition that the cooperative mechanical arm 16 is out of control, and then the operation is switched to manual operation;
step seven: when the visual field of the endoscope 15 can not cover the range which can be reached by the abrasive drill 2 through a single entry way, closing the C-shaped arm 14, finely adjusting the position and the posture of the endoscope 15 until the position is an ideal position, reopening the C-shaped arm 14, and repeating the step six;
step eight: when all the operation areas cannot be covered by a single access, the operation is adjusted to the feeding mode, the endoscope 15 and the abrasive drill 2 are linearly withdrawn from the patient body, and the steps from one step to eight step are repeated;
step nine: after the patient's hip joint is returned to hemispherical shape, the grinding operation is ended, the system is closed and the surgical instrument is detached from the cooperative mechanical arm 16 and moved away from the operating table, and the surgeon continues the operation of the remaining sutures and the like until the operation is ended.
As shown in fig. 5, the force feedback is specifically realized by the following steps: during the grinding operation, the whole grinding drill rotates around the z axis at the angular speed of omega, the contact between the grinding drill and the skeleton is simplified into point contact, the point is set as a point A, the coordinates of the point A in a rectangular coordinate system are (x, y, z), and the coordinates in a spherical coordinate system are set as
Wherein R is the radius of the hemisphere, theta is the included angle between the connecting line of the point A and the point O and the z axis,
is the included angle between the connecting line of the projection point of the point A on the Oxy plane and the point O and the x axis. All the forces of the abrasive drilling tip can be divided into two parts for force reasons: radial cutting forces generated by contact directed toward the center of the sphere
And tangential force generated by friction
The method specifically comprises the following steps:
since the force sensor measures the components of force and moment in rectangular coordinates, the measured values of the three components are respectively recorded as
And
handle
And
the projection is in a rectangular coordinate system, namely the relationship between the reading of the force sensor and the magnitude and direction of the grinding force can be obtained, and the method specifically comprises the following steps:
wherein:
when in use
And
when known, this can be derived from the above equation
θ、
By introducing an empirical formula of grinding force of the grinding wheel:
wherein: fp0Refers to the grinding force, a, received per unit area of the grinding surfacepRefers to the depth of feed, v, of the grinding wheel in the materialsLinear velocity, v, of rotation of the outer edge of the grinding wheelwThe feed speed of the grinding wheel is indicated, the width of the grinding wheel and the width of the workpiece are indicated, and alpha, beta, gamma and delta are undetermined coefficients and are related to the abrasion degree of grinding materials and abrasive particles.
In addition, in the case of determining the degree of wear of the material and the abrasive grains, the ratio of the magnitude of the radial contact force to the magnitude of the tangential friction force is constant, i.e. the ratio is constant
Wherein: k is a radical of>1; by analogy with the above stress, a fourth equation is obtained:
the force sensor 4 measures the force in three directions as follows:
then the following results are obtained:
i.e. the system of equations for the four unknowns is temporarily limited to two unknowns and further analyzed:
firstly, when
The method comprises the following steps:
when there is a
Then
Otherwise
When there is kFx+FyIf 0, then F y0 or k 1, contradict the premise, therefore
According to
The interval in which the following is found: when in use
Then there is
When in use
Then there is
Thus when
Then
When in use
Then there are:
by substituting the result, obtain
② when
I.e. Fx＝FyWhen the stress point A is just at the top end of the abrasive drill, the stress point A is just at 0
Is an arbitrary angle, θ is 0,
to this end, all of the location, magnitude and direction of the grinding force to which the spherical abrasive drilling tip is subjected has been determined. In any case, the force applied to the grinding drill tip can be calculated through the reading of the force sensor 4, so that the force is fed back to a doctor through the handle unit, and the operation precision is enhanced.
Experimental verification
A 200 x 100 square grid array was punched out of an a4 blank sheet, each square having a side length of 1mm between each square. The white paper is placed on a laboratory table, laid flat and fixed, an industrial camera with adjustable focal length is used for simulating an endoscope, and the image of the grid array on the white paper is transmitted to a PC display screen. The position, posture and focal length of the camera are adjusted to enable all the grids to be clearly imaged on the display screen, and the adjacent points in the array can be easily distinguished by human eyes. A handle unit is placed in front of the display screen in association with UR3 robotic arm and clamp to simulate a surgeon performing a teleoperation with arthroscopic assistance during surgery. Because the diameter at the tail end of the abrasive drilling is 4mm and is larger than the side length of the square grid, the precision is difficult to verify, a long needle is tightly bound to the abrasive drilling, the tail end of the needle exceeds the tail end of the abrasive drilling, the diameter is extremely small, and the needle is easier to distinguish. The experiment will be performed below with the long needle tip instead of the burr tip.
Before the experiment, to verify that the system is characterized by simple training, a person who is already skilled in the teleoperation system, who is the newly trained person, is taught the method of operation and trained for 15 minutes to a person who has not been in contact with the system.
1. Random dot matrix experiment
(1) Experimental methods the experimenter marks 10 dots with a red pen throughout the grid array, which are required to be spread as much as possible around the corners of the array. Before the experiment began, the tip of the needle was brought into close coincidence with a point in the array at one corner. The examinee is required to use the teleoperation system and move the mechanical arm, so that the needle point is sequentially overlapped with each mark point as much as possible in the image in the display screen until the needle point image passes through all the mark point images. The entire process should be performed as quickly as possible, with timing starting from the subject moving the robotic arm, and ending after all points have been passed through the image.
(2) The experimental results are as follows: the test subject can operate the mechanical arm to complete the set target smoothly and at a high speed, and the whole process takes 1 minute and 2 seconds.
2. Continuous path experiment
Since the doctor needs to move the end of the burr along the surface of the patient's bone during the actual grinding process, the continuous movement path should be simulated during the experiment to obtain a more realistic operating accuracy.
The experimental mode is that an experimenter marks 3 more tortuous paths with the length of 1-2cm in different areas of the checkered paper along the squares by a red pen in the whole square lattice array so as to simulate the path of a grinding drill moving along the surface of the bone during the operation. Before the experiment began, the image of the needle tip in the display screen was centered on the checkerboard. In the experiment, the subject operates the handle so that the needle tip image moves along the calibration path image in the display screen until the needle tip image and the point image at the other end of the path are nearly coincident.
The whole process should be carried out as soon as possible, the timing starts from the test subject moving the mechanical arm, and the needle point image reaches the last point on the path and is stopped.
The experimental results are as follows: the test subject can operate the mechanical arm to complete the set target smoothly and at a fast speed, and the whole process takes 1 minute and 12 seconds.
3. Simulated grinding experiment
The purpose of the experiment is to qualitatively analyze the application value of the robot in the actual operation by operating the robot by an experimenter to complete the operation similar to the operation in the operation.
1) Experimental procedure
The operator follows the existing approach 1: 1 size proportion of the femoral head model, grinding a cavity on the outer layer of the cuboid gypsum to ensure that the shape of the cavity is matched with the shape of the femoral head as much as possible. This action simulates the surgeon's return of the femoral head to spherical shape during a real surgery, so the grinding step is also analogous to the surgeon's real grinding step during surgery. Because the model is more precious, reverse experiments are adopted to verify the spherical grinding capacity of the system by grinding the matched cavity.
During the experiment, gypsum was always placed in the experimental transparent spherical shell simulating the far center point. The ball shell remains stationary during the experiment and the grinding bit shank must extend into the interior of the ball shell through a point of penetration in the ball shell and pass all the way through the point of penetration during grinding, which point of penetration simulates the effect of the remote centre point during the experiment.
Due to condition limitation, a C-arm X-ray machine cannot be added as visual assistance temporarily in a simulation experiment, and only an industrial camera can be used for simulating a medical endoscope to provide partial visual field for an operator. The camera is supported by a bracket, and the height, angle and other posture parameters can be adjusted. In the simulation experiment, when the grinding area exceeds the visual field, an operator needs to personally move the bracket to adjust the visual field to the operation area. During the whole experiment process, the abrasive drill and the camera can switch positions among different penetrating points of the transparent spherical shell so as to simulate a doctor to switch instruments among different approaches in the operation. But when both are functioning, the experimenter must ensure that they are both crossing the far center point to ensure the authenticity of the experiment.
First, in surgery, a surgeon needs to grind away cartilage on the surface of the raised bone to be ground before grinding the hard bone in order to observe the shape of the hard bone portion of the femoral head. In a simulation experiment. The surface of the plaster is first ground to a thickness (about 5mm) equal to the thickness of the cartilage attached to the surface of the femoral head. This process requires the operator to adjust the sensitivity of the tool end of the mechanical arm to be extremely low (about 0.05), let the point of the burr start from the surface of the plaster one by one, and finish the grinding by repeatedly making the point of the burr fall vertically. Then, during surgery, the surgeon will formally begin the grinding of the protuberant bone. Typically, the physician will cause the burr tip to repeatedly follow the arc along the outer edge of the femoral head, which in turn abrades the raised bone. In the simulation experiment, an operator grinds away surface gypsum layer by layer along an arc from one corner of a cuboid depression formed by grinding in the previous step. The closer to the center of the cuboid, the greater the depth of the center of the arc, which results in the milled shape being hemispherical. The whole operation process is shown in fig. 6.
2) Results of the experiment
In the step of simulating the grinding of the cartilage, the grinding depth on each point of the cuboid can be measured by a vernier caliper, so that the accuracy of the system in the grinding depth is proved. The data are shown in fig. 7, which is obtained by randomly taking 15 points on the edge of a4 cm-4 cm rectangular solid.
As can be seen from FIG. 7, in the 15 samples, the maximum grinding depth is 6.28mm, the minimum grinding depth is 4.67mm, the average value is 5.42mm, the difference from the preset grinding depth of 5mm is 0.42mm, and the maximum error is 1.33mm, which substantially meets the requirement that the operation error of a doctor in the operation reaches the sub-millimeter level.
After the simulated grinding of the bony prominences is completed, the femoral head model can be placed into the ground gypsum cavity.
4. Conclusion of the experiment
The teleoperation precision of the surgical robot system meets the sub-millimeter requirement. In the actual operation process, the time for grinding the joint by a doctor is generally not more than 5 minutes, and the grinding path is similar to the experimental grinding length, so that the moving efficiency of the system also meets the requirement of the operation.
The system also has the capability of grinding the femoral head of a patient to be hemispherical, and the practical value of the abrasive drill is proved.
Compared with the prior art, the device has the advantage that the operation precision reaches the sub-millimeter level. The C-shaped arm is introduced for assistance, so that a doctor can master the grinding condition of the femoral head in real time, and the error rate of the operation is greatly reduced. Force feedback is added, so that the operation hand feeling of a doctor is greatly improved.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (4)
1. A hip arthroscope assisted robot system based on a cooperative mechanical arm, comprising: possess main control unit, cooperation type arm, endoscope, C shape arm and abrasive drilling and the anchor clamps that clamping device constitutes of position control mode and gesture control mode, wherein: the abrasive drill is arranged on the clamping device, abrasive drill information is collected by the clamping device and output to the cooperative mechanical arm, the C-shaped arm is connected with the main controller and used for providing an X-ray image, the endoscope is connected with the main controller and used for providing a hip joint image, the main controller is connected with the cooperative mechanical arm and obtains the position, the size and the direction of the abrasive force applied to the abrasive drill tip according to the received image information from the endoscope and the C-shaped arm and the abrasive drill information from the clamping device, and the abrasive drill with force feedback is controlled by the cooperative mechanical arm to perform the abrasive operation;
the position control mode is as follows: when the operator moves the control rod, the posture of the clamp is unchanged, and the position of the tail end of the tool is changed; the attitude control mode is as follows: the tail end of the tool keeps the position unchanged, and the postures of the clamp and the tool are changed;
the clamping device comprises: base, force transducer and centre gripping key of horizontal connection in proper order, wherein: the base is connected with the cooperative mechanical arm, the force sensor is arranged between the base and the clamping key, and the abrasive drill is arranged on the clamping key;
the force feedback is realized by the following specific method:
during the grinding operation, the whole grinding drill rotates around the z axis at the angular speed of omega, the contact between the grinding drill and the skeleton is simplified into point contact, the point is set as a point A, the coordinates of the point A in a rectangular coordinate system are (x, y, z), and the coordinates in a spherical coordinate system are set as
Wherein R is the radius of the hemisphere, theta is the included angle between the connecting line of the point A and the point O and the z axis,
the included angle between the connecting line of the projection point of the point A on the Oxy plane and the point O and the x axis is formed, all the stress of the grinding drill tip can be divided into two parts according to the stress reason: radial cutting forces generated by contact directed toward the center of the sphere
And tangential force generated by friction
The method specifically comprises the following steps:
since the force sensor measures the components of force and moment in rectangular coordinates, the three components are measuredRespectively recorded as
And
handle
And
the projection is in a rectangular coordinate system, namely the relationship between the reading of the force sensor and the magnitude and direction of the grinding force can be obtained, and the method specifically comprises the following steps:
wherein:
when in use
And
when known, this can be derived from the above equation
θ、
By introducing an empirical formula of grinding force of the grinding wheel:
wherein: fp0Refers to the grinding force, a, received per unit area of the grinding surfacepRefers to the depth of feed, v, of the grinding wheel in the materialsLinear velocity, v, of rotation of the outer edge of the grinding wheelwThe feed speed of the grinding wheel is indicated, the width of the grinding wheel and the width of the workpiece are indicated, and alpha, beta, gamma and delta are undetermined coefficients;
in addition, in the case of determining the degree of wear of the material and the abrasive grains, the ratio of the magnitude of the radial contact force to the magnitude of the tangential friction force is constant, i.e. the ratio is constant
Wherein: k is more than 1; by analogy with the above stress, a fourth equation is obtained:
the force sensors measure force in three directions as follows:
then the following results are obtained:
and:
firstly, when
The method comprises the following steps: when there is a
Then
Otherwise
When there is kFx+FyIf 0, then Fy0 or k 1, contradict the premise, therefore
According to
The interval in which the following is found: when in use
Then there is
When in use
Then there is
Thus when
Then
When in use
Then there are:
by substituting the result, obtain
② when
I.e. Fx＝FyWhen the stress point A is just at the top end of the abrasive drill, the stress point A is just at 0
Is an arbitrary angle, θ is 0,
2. the hip arthroscopy assisted robot system based on cooperative mechanical arms of claim 1, wherein the burr comprises: drill chuck, sleeve and drill bit, wherein: the drill chuck is arranged on the clamping key and is radially connected with the sleeve, the sleeve is connected with the clamping key, and the drill bit is arranged at the tail end of the sleeve.
3. The hip arthroscope assisted robot system based on cooperative mechanical arms of claim 1, wherein the clamping key comprises: base, connecting plate, first grip block and second grip block, wherein: the base is connected with the force sensor, the connecting plate is arranged on the base, the first clamping block is arranged on the connecting plate and close to one end of the force sensor and is connected with the drill chuck, and the second clamping block is arranged on the connecting plate and is opposite to the other end of the connecting plate and is connected with the sleeve.
4. The hip arthroscope assisted robot system based on cooperative mechanical arms of claim 1, wherein the master controller comprises: ROS unit, handle unit and display unit, wherein: the handle unit is connected with the ROS unit and transmits the position and the posture information of the hand of a doctor, the display unit is connected with the endoscope and the C-shaped arm and receives the internal bone shape and the environmental image information of the hip joint of a patient, and the ROS unit is connected with the cooperative mechanical arm and transmits the angle information of each joint of the cooperative mechanical arm after the conversion according to the position and the posture information of the hand of the doctor.
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| CN113400305B (en) * | 2021-06-07 | 2023-01-17 | 北京长木谷医疗科技有限公司 | Control method, device, electronic device and storage medium of grinding tool |
| CN113925564B (en) * | 2021-10-15 | 2024-09-03 | 汕头大学 | System for be used for acetabulum to grind file |
| TWI792770B (en) * | 2021-12-16 | 2023-02-11 | 炳碩生醫股份有限公司 | Verification block structure and verification system for orthopedic surgery |
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