CN111374776B - Surgical robot equipment with determinable position coordinates and surgical robot system - Google Patents
Surgical robot equipment with determinable position coordinates and surgical robot system Download PDFInfo
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- CN111374776B CN111374776B CN201811644684.3A CN201811644684A CN111374776B CN 111374776 B CN111374776 B CN 111374776B CN 201811644684 A CN201811644684 A CN 201811644684A CN 111374776 B CN111374776 B CN 111374776B
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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
- A61B34/30—Surgical robots
- A61B34/37—Leader-follower robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
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Abstract
The invention relates to the technical field of surgical robots, in particular to surgical robot equipment and a surgical robot system with determinable position coordinates, which have the following scheme: a surgical robot apparatus including a surgical robot, a ranging device, and an angle measuring device; the distance measuring device and the angle measuring device are arranged on the surgical robot; the distance measuring device is used for measuring the distance between a preset position base point on the surgical robot and a first wall surface and a second wall surface in an operating room respectively; the first wall surface is perpendicular to the second wall surface; the angle measuring device is used for measuring an included angle between a preset zero-degree datum line on the surgical robot and a first plane, and the first plane is perpendicular to the first wall surface or the second wall surface. According to the technical scheme provided by the invention, the distance measuring device and the angle measuring device are matched to determine the position coordinates of the surgical robot in the operating room, so that the position of the surgical robot in the surgical process can be accurately controlled conveniently, and the global isotropy in the surgical process is improved.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to surgical robot equipment with determinable position coordinates and a surgical robot system.
Background
Surgical robotic devices, such as surgical robotic carts, control 2 slave robotic arms by a master hand to perform minimally invasive surgery on the pleuroperitoneal cavity. The surgical instrument is mainly pushed to target tissues in a master-slave mode, and the surgery is completed under the coordination of a plurality of slave surgical arms. The abdominal cavity operation is a master-slave operation, the process is intuitively operated by doctors by taking the relative positions of surgical instruments and the body and tissues of patients as virtual coordinates, and the global isotropy in the operation process is required, and is different from the strict geodetic coordinate system expression, and the precision of the global isotropy is the visual level of human eyes. However, the position coordinates (i.e., the virtual coordinates) of the existing surgical robot device in the operating room cannot be determined, which results in poor global isotropy in the surgical robotic surgery process.
Disclosure of Invention
In view of the above, the present invention provides a surgical robot device and a surgical robot system with determinable position coordinates, which mainly aims to solve the technical problem that global isotropy is poor in the surgical process due to the fact that the position coordinates of the existing surgical robot device in an operating room cannot be determined.
In order to achieve the above purpose, the present invention mainly provides the following technical solutions:
in one aspect, embodiments of the present invention provide a surgical robot apparatus with determinable position coordinates, including a surgical robot, a ranging device, and an angle measuring device; the distance measuring device and the angle measuring device are arranged on the surgical robot;
The distance measuring device is used for measuring the distance between a preset position base point on the surgical robot and a first wall surface and a second wall surface in an operating room respectively; the first wall surface is perpendicular to the second wall surface;
and the angle measuring device is used for measuring an included angle between a preset zero-degree datum line on the surgical robot and a first plane, and the first plane is perpendicular to the first wall surface or the second wall surface.
In the technical scheme provided by the invention, the position coordinates (X, Y, phi) of the surgical robot in the operating room can be determined through the obtained plane position coordinates (X, Y) and the offset angle phi of the surgical robot, so that the position of the slave mechanical arm of the surgical robot in the surgical process can be accurately controlled conveniently, and the global isotropy in the surgical process is improved.
The invention is further provided with: the distance measuring device comprises a distance measuring instrument, wherein the distance measuring instrument is arranged at the preset position base point, and the distance between the preset position base point and the first wall surface and the second wall surface in the operating room are measured through the distance measuring instrument.
In the technical scheme, the plane position coordinates of the surgical robot can be obtained through the arranged range finder.
The invention is further provided with: the surgical robotic device further includes a position adjustment mechanism;
the position adjusting mechanism is used for adjusting the height of the range finder.
By adopting the technical scheme, the blocking interference possibly caused when more than two surgical robot devices are used simultaneously can be avoided.
The invention is further provided with: the position adjusting mechanism comprises a fixing frame;
the fixing frame is rotatably arranged on the surgical robot, and the fixing frame is provided with more than two range finder mounting positions distributed along the height direction.
Through foretell setting, when the range finder is installed in the different range finder installation positions on the mount, make the range finder have different heights to realize the function of adjusting the range finder in the direction of height's position.
The invention is further provided with: the fixing frame comprises a first support arm, a bottom plate and a second support arm which are sequentially connected;
the bottom plate is rotatably arranged on the surgical robot through a rotating part so as to drive the fixing frame to rotate together;
the first support arm is opposite to the second support arm and is positioned on one side of the bottom plate, which is away from the surgical robot;
the fixing frame further comprises a partition plate, and the partition plate is used for separating a clamping groove serving as a mounting position of the range finder between the first support arm and the second support arm.
Through foretell setting, the distancer can the joint be fixed in the joint inslot, and its installation is all more convenient with dismantling.
The invention is further provided with: the clamping groove is provided with a first side and a second side which are opposite;
the first side of the clamping groove is provided with a plug-in port for inserting a range finder;
The fixing frame further comprises a limiting plate, and the limiting plate is arranged on the second side of the clamping groove; the limiting plate is used for limiting the range finder in the clamping groove so as to prevent the range finder from falling out of the second side of the clamping groove.
In the above example, the mounting stability of the range finder in the clamping groove is improved through the limiting plate.
The invention is further provided with: the surgical robotic device further includes a drive mechanism;
the driving mechanism is used for driving the rotating component to rotate.
By adopting the technical scheme, the device has the technical effect of saving manpower.
The invention is further provided with: the angle measuring device comprises a fixed dial and a scale indicator, so that an included angle between the preset zero degree datum line and a first plane is measured through the cooperation of the fixed dial and the scale indicator;
the fixed dial is fixed on the surgical robot, and a zero-degree datum line of the fixed dial is parallel to the preset zero-degree datum line;
The scale indicator is rotatably disposed on the surgical robot to indicate the scale on the fixed dial.
Through adopting above-mentioned technical scheme, fixed calibrated scale and scale indicator cooperation can measure the offset angle of surgical robot equipment.
The invention is further provided with: the angle measuring device includes an encoder;
the zero degree datum line of the encoder is parallel to the preset zero degree datum line;
The angle measuring device measures an included angle between the preset zero-degree datum line and the first plane through the encoder.
By adopting the technical scheme, the encoder can automatically measure the offset angle of the surgical robot equipment, so that the labor is saved.
In another aspect, embodiments of the present invention also provide a surgical robotic system including a console and any of the above-described position coordinate determinable surgical robotic devices;
the console is used for controlling the surgical robot according to external instructions.
In the embodiment, the control console can acquire the position coordinates of the surgical robot due to the arrangement of the surgical robot device, so that the surgical robot can be conveniently and accurately controlled to meet the global isotropy in the surgical process.
By means of the technical scheme, the surgical robot equipment and the surgical robot system with determinable position coordinates have the following beneficial effects:
According to the technical scheme provided by the invention, the distance between the preset position base point of the surgical robot and the first wall surface and the second wall surface of the operating room can be measured through the arranged distance measuring device, so that the plane position coordinate of the surgical robot equipment in the operating room can be determined; the offset angular position of the surgical robot in the operating room can be determined by the angle measuring device; in summary, the position coordinates of the surgical robot in the operating room can be determined by the obtained plane position coordinates and the offset angle coordinates, so that the position of the slave mechanical arm of the surgical robot in the surgical process can be accurately controlled conveniently, and the global isotropy in the surgical process is improved.
The foregoing description is only an overview of the present invention, and is intended to provide a better understanding of the present invention, as it is embodied in the following description, with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
FIG. 1 is a schematic view of a surgical robotic device with determinable position coordinates according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of the position of a surgical robotic device in an operating room provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of an assembly of a distance measuring device and an angle measuring device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an assembly of a distance measuring device and an angle measuring device according to another embodiment of the present invention;
Fig. 5 is a diagram of a relative positional relationship between a console of a surgical robot system and a surgical robot device according to an embodiment of the present invention.
Reference numerals: 1. a distance measuring device; 11. a range finder; 10. a first wall surface; 20. a second wall surface; 2. an angle measuring device; 21. a fixed dial; 22. a scale indicator; 23. an encoder; 3. a column; 4. a slave mechanical arm; 5. a fixing frame; 51. a first arm; 52. a bottom plate; 53. a second arm; 54. a partition plate; 55. a clamping groove; 56. a limiting plate; 6. a rotating member; 7. a vehicle body; 8. a motor; 100. a surgical robotic device; 101. a surgical robot; 102. presetting a zero-degree datum line; 200. a console.
Detailed Description
In order to further describe the technical means and effects adopted for achieving the preset aim of the invention, the following detailed description refers to the specific implementation, structure, characteristics and effects according to the application of the invention with reference to the accompanying drawings and preferred embodiments. In the following description, different "an embodiment" or "an embodiment" do not necessarily refer to the same embodiment. Furthermore, the particular features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.
As shown in fig. 1, an embodiment of the present invention proposes a surgical robot apparatus 100 with determinable position coordinates, which includes a surgical robot 101, a distance measuring device 1, and an angle measuring device 2. The distance measuring device 1 and the angle measuring device 2 are both provided on the surgical robot 101.
The distance measuring device 1 is used for measuring the distance between a preset position base point on the surgical robot 101 and the first wall surface 10 and the second wall surface 20 in the operating room, respectively. The first wall 10 and the second wall 20 are two walls perpendicular to each other in the operating room. Specifically, as shown in fig. 2, the distance between the preset position base point on the surgical robot 101 and the first wall surface 10 is X, and the distance between the preset position base point on the surgical robot 101 and the second wall surface 20 is Y.
The angle measuring device 2 is used for measuring an included angle phi between a preset zero reference line 102 and a first plane on the surgical robot 101. The first plane is perpendicular to the first wall 10 or the second wall 20.
The angle phi may also be referred to in some cases as the offset angle of the surgical robot 101 in the operating room.
In the technical scheme provided by the above, the obtained plane position coordinates (X, Y) and offset angle phi of the surgical robot 101 can determine the position coordinates (X, Y, phi) of the surgical robot 101 in an operating room, thereby facilitating the accurate control of the position of the slave mechanical arm 4 of the surgical robot 101 in the operation process and improving the global isotropy in the operation process.
Wherein, when the minimally invasive surgery is not performed by the surgical robot 101, a human hand holds the minimally invasive surgical instrument around the small Kong Baidong on the bellyband. Since the small hole in the bellyband is the "fixed point", the distal end of the instrument in the abdominal cavity must be pulled back by the surgeon's hand outside the bellyband if the instrument is to be moved "forward", which is the anisotropy of the movement. The "global isotropy" of the surgical robot 101 means that the direction of motion of the front end of the instrument and the push-pull direction of the hand of the doctor are consistent when the doctor sees the motion of the front end of the instrument on an endoscope video.
What needs to be explained here is: as shown in fig. 1, the surgical robot 101 may have a vehicle body 7, so as to move through the vehicle body 7, thereby providing a convenient transportation effect. When the surgical robot 101 has a vehicle body 7, the surgical robot 101 may also be referred to as a surgical robot cart in some cases.
The first wall 10 and the second wall 20 may be walls of an operating room, or may be walls of a screen or a baffle in some cases.
In a specific application example, as shown in fig. 3, the aforementioned distance measuring device 1 may include a distance meter 11, where the distance meter 11 is disposed at a preset position base point on the aforementioned surgical robot 101, so as to measure, by the distance meter 11, the distance between the preset position base point on the surgical robot 101 and the first wall 10 and the second wall 20 of the operating room, respectively.
The distance meter 11 may be a laser distance meter, an ultrasonic distance meter, an infrared distance meter, or the like, and may be specifically selected according to practical situations. Preferably, the distance meter 11 is a laser distance meter.
A laser range finder (LASER RANGEFINDER) is an instrument for measuring the distance to a target by using a certain parameter of modulated laser. The measuring range of the laser range finder is 3.5-5000 meters. The laser rangefinder is classified into a phase method rangefinder and a pulse method rangefinder according to a ranging method. The pulse laser range finder emits one or a series of short pulse laser beams to the target during operation, the photoelectric element receives the laser beams reflected by the target, and the timer measures the time from the emission to the receiving of the laser beams and calculates the distance from the observer to the target. The phase method laser range finder detects a distance by detecting a phase difference that occurs when emitted light and reflected light propagate in space. The laser range finder has light weight, small volume, simple operation, high speed and accuracy, and the error is only one fifth to one hundred times of that of other optical range finders.
Further, the surgical robotic device 100 of the present invention may also include a position adjustment mechanism. The position adjustment mechanism is used to adjust the height of the rangefinder 11 to avoid interference that may be caused when more than two surgical robotic devices 100 are used simultaneously.
Specifically, through the position adjustment mechanism that sets up, when the operation robot equipment 100 of more than two uses simultaneously, can adjust the range finder 11 on each operation robot equipment 100 to different heights, the interference that blocks that probably causes when avoiding the range finder 11 on each operation robot equipment 100 to use simultaneously influences the accuracy of range finding.
Further, as shown in fig. 3 and 4, the aforementioned position adjustment mechanism may include a fixing frame 5. The holder 5 is rotatably provided on the surgical robot 101. The fixing frame 5 is provided with more than two distance meter installation positions which are distributed along the height direction.
Through the above arrangement, when the range finder 11 is mounted on different range finder mounting positions on the fixing frame 5, the range finder 11 is made to have different heights, thereby realizing the function of adjusting the position of the range finder 11 in the height direction.
Further, as shown in fig. 3 and 4, the aforementioned fixing frame 5 may include a first support arm 51, a bottom plate 52, and a second support arm 53 connected in sequence. The base plate 52 is rotatably provided to the surgical robot 101 by the rotating member 6 to drive the fixing frame 5 to rotate together. Preferably, the bottom plate 52 is rotatably provided at the top end of the column 3 of the surgical robot 101 by the rotating member 6. The first arm 51 is opposite to the second arm 53, and is located on a side of the base plate 52 facing away from the surgical robot 101. The fixing frame 5 further comprises a partition plate 54, and the partition plate 54 is used for separating a clamping groove 55 serving as a mounting position of the range finder between the first support arm 51 and the second support arm 53.
Through the above arrangement, the distance meter 11 can be fastened and fixed in the fastening groove 55, and the installation and the disassembly are convenient.
Further, as shown in fig. 3 and 4, the aforementioned engaging groove 55 has a first side and a second side opposite to each other. The first side of the clamping groove 55 is provided with a plug-in port for inserting the range finder 11. The fixing frame 5 may further include a limiting plate 56, where the limiting plate 56 is disposed on the second side of the clamping groove 55. The limiting plate 56 is used for limiting the distance meter 11 in the clamping groove 55 so as to prevent the distance meter 11 from falling out of the second side of the clamping groove 55.
Specifically, the rangefinder 11 is inserted into the clamping groove 55 from the plug-in port at the first side of the clamping groove 55 until the rangefinder 11 is in contact with the limiting plate 56 at the second side of the clamping groove 55, and the rangefinder 11 is clamped and fixed in the clamping groove 55, so that the rangefinder 11 is mounted.
In the above example, by the provided limiting plate 56, the mounting stability of the rangefinder 11 in the click groove 55 is improved.
Further, the surgical robotic device 100 of the present invention may also include a drive mechanism. The driving mechanism is used for driving the rotating component 6 to rotate, so that the technical effect of saving manpower is achieved.
In a specific application example, as shown in fig. 3, the aforementioned driving mechanism includes a motor 8 to drive the rotation member 6 to rotate by the motor 8.
Specifically, the driving mechanism may further include a gear reducer, and an output shaft of the motor 8 is connected to the rotating member 6 through the gear reducer to drive the rotating member 6 to rotate. The gear reducer may include a driving gear fixedly sleeved on the output shaft of the motor 8, and a driven gear fixedly sleeved on the rotating member 6 such as a central shaft.
Further, as shown in fig. 4, the distance between the first arm 51 and the second arm 53 may be greater than the width of the rangefinder 11, so that the rangefinder 11 may horizontally move left and right in the clamping slot 55, so as to avoid blocking interference that may be caused when more than two surgical robot devices 100 are used simultaneously. Among these, mainly to avoid interference of the mount 5 on the other surgical robot apparatus 100.
The measuring process of X and Y using the laser rangefinder is specifically described below with the aforementioned rangefinder 1.
In a specific application example, as shown in fig. 2 to 4, the fixing frame 5 is provided at a preset position base point on the surgical robot 101 by the rotating member 6. The preset position base point may be located at the top end of the column 3 of the surgical robot 101. The laser range finder 11 is arranged in a clamping groove 55 in the fixing frame 5. When the rotating component 6 is driven to rotate manually or electrically, the rotating component 6 can drive the laser range finder 11 on the fixing frame 5 to rotate together. When the light beam of the laser rangefinder 11 moves on the first wall 10, the laser rangefinder 11 will measure a first minimum distance value when the light beam is perpendicular to the first wall 10, where the first minimum value is the distance X between the preset position base point and the first wall 10. Similarly, when the beam of the laser rangefinder 11 moves on the second wall surface 20, the laser rangefinder 11 will measure a second minimum distance value when the beam is perpendicular to the second wall surface 20, where the second minimum value is the distance Y between the base point of the preset position and the second wall surface 20.
What needs to be explained here is: since the laser range finder 11 has a gap between the laser emission port and the preset position base point, there is a deviation between the measured X and Y values and the actual value, and the deviation is negligible in the case where the accuracy requirement is not very high. Under the condition of higher precision requirement, the values of X and Y measured by the laser range finder 11 can be properly adjusted according to the distance between the laser emission port of the laser range finder 11 and the preset position base point so as to reduce the deviation between the actual values and the X and Y measured by the laser range finder 11.
The angle measuring device 2 may be realized by a fixed dial 21 or an encoder 23, and both of these modes will be described in detail below.
In the first example, as shown in fig. 3, the angle measuring device 2 includes a fixed dial 21 and a scale indicator 22 to cooperatively measure the angle between the preset zero degree reference line 102 and the first plane by both the fixed dial 21 and the scale indicator 22. Wherein, fixed calibrated scale 21 is fixed on surgical robot 101, and the zero degree datum line of fixed calibrated scale 21 is parallel with predetermine zero degree datum line 102. A scale indicator 22, such as a pointer, is rotatably provided on the surgical robot 101 to indicate the scale on the fixed dial 21.
When the surgical robot apparatus 100 includes a position adjusting mechanism for adjusting the height of the range finder 11, and the position adjusting mechanism includes a fixing frame 5, the fixing frame 5 includes a first arm 51, a base plate 52, and a second arm 53 connected in sequence, and the base plate 52 is rotatably provided on the surgical robot 101 through the rotating member 6, the scale indicator 22 described above is provided on the rotating member 6 to be rotated by the rotating member 6.
In the above example, the rangefinder 11 and the scale indicator 22 are both provided on the rotary member 6 to be rotated by the rotary member 6. In particular, in operation, the rotary member 6, such as a central shaft, rotates the rangefinder 11 and the scale indicator 22 together. When the laser emitted by the laser range finder 11 is perpendicular to the first wall 10, the distance X between the base point of the preset position and the first wall 10 can be measured, and the indication of the scale indicator 22 on the fixed dial 21 is the included angle Φ1 between the preset zero-degree reference line 102 and the first plane perpendicular to the first wall 10. Similarly, when the laser emitted by the laser rangefinder 11 is perpendicular to the second wall 20, the distance Y between the base point of the preset position and the second wall 20 can be measured, and accordingly, the indication of the scale indicator 22 on the fixed dial 21 is the included angle Φ2 between the preset zero-degree datum line 102 and another first plane perpendicular to the second wall 20. Wherein, phi 1+ phi 2 =90 degrees.
In a second example, as shown in fig. 4, the aforementioned angle measurement device 2 includes an encoder 23. The zero degree reference line of the encoder 23 is parallel to the preset zero degree reference line 102 on the aforementioned surgical robot 101. The angle measuring device 2 measures the included angle between the preset zero-degree reference line 102 on the surgical robot 101 and the first plane through the encoder 23.
With the above arrangement, the angle measured by the encoder 23 can be read by a digital display device or directly transmitted to the console 200 for processing. Compared with the manual reading mode of the fixed dial 21, the automatic reading operation can be realized by the measuring mode of the encoder 23 in the scheme, and the labor is saved.
When the surgical robot apparatus 100 includes a position adjusting mechanism for adjusting the height of the rangefinder 11, and the position adjusting mechanism includes a fixing frame 5, the fixing frame 5 includes a first arm 51, a base plate 52, and a second arm 53 connected in sequence, and the base plate 52 is rotatably provided on the surgical robot 101 through a rotating member 6, the above-mentioned encoder 23 is provided on the rotating member 6 such as a center shaft to be rotated by the driving of the rotating member 6.
In the above example, the rangefinder 11 and the encoder 23 are both provided on the rotating member 6 to be rotated by the rotating member 6. In particular, in operation, the rotary member 6, such as a central shaft, rotates the rangefinder 11 and the encoder 23 together. When the laser emitted by the laser range finder 11 is perpendicular to the first wall 10, the distance X between the base point of the preset position and the first wall 10 can be measured, and the value measured by the encoder 23 is the included angle Φ1 between the preset zero-degree reference line 102 and the first plane, which is perpendicular to the first wall 10. Similarly, when the laser emitted by the laser rangefinder 11 is perpendicular to the second wall 20, the distance Y between the base point of the preset position and the second wall 20 can be measured at this time, and accordingly, the value measured by the encoder 23 at this time is the included angle Φ2 between the preset zero-degree reference line 102 and another first plane perpendicular to the second wall 20. Wherein, phi 1+ phi 2 =90 degrees.
As shown in fig. 5, embodiments of the present invention also provide a surgical robotic system including a console 200 and the surgical robotic device 100 in any of the examples described above. The console 200 is used for controlling the surgical robot 101 according to an external instruction.
In the above embodiment, the surgical robot system provided by the present invention is provided with the above surgical robot apparatus 100, and the console 200 can obtain the position coordinates of the surgical robot 101, so that the surgical robot 101 can be conveniently and accurately controlled to satisfy the global isotropy in the surgical process.
In a specific application example, as shown in fig. 5, the number of the aforementioned surgical robot devices 100 may be more than two. The number of surgical robotic devices 100 is specifically exemplified below. For the sake of the description, two surgical robotic devices 100 are taken as a first surgical robotic device and a second surgical robotic device, respectively.
The position coordinates (X1, Y1, Φ1) of the first surgical robot and the position coordinates (X2, Y2, Φ2) of the second surgical robot are determined by the distance measuring device 1 and the angle measuring device 2 on the surgical robot apparatus 100, respectively, and the respective position coordinates of the two surgical robots are input to the console 200. Then the following steps are adopted for operation:
1. first, a distance (X, Y) between a preset position base point of a first surgical robot and a preset position base point of a second surgical robot is obtained.
2. And calculating the relative included angle phi of the two surgical robots in the operating room coordinate system according to the offset angle phi 1 of the first surgical robot and the offset angle phi 2 of the second surgical robot.
3. The console 200 performs globally isotropic motion control of both surgical robots according to X, Y and phi described above.
4. The X, Y and phi can be corrected according to the operation requirement or the operation habit of a doctor so as to achieve the optimal operation effect.
The working principle and preferred embodiments of the present invention are described below.
A distance measuring and positioning device is arranged at the top of the upright post 3 of the surgical robot 101. The device consists of an angle measuring device 2 and a distance measuring device 1 which are fixed on the top of a column 3 of the surgical robot 101.
The distance measuring device 1 comprises a distance meter 11. The rangefinder 11 may be manually or mechanically rotated about a rotating member 6 such as a central axis. The angle measuring device 2 comprises a fixed dial 21 and a scale indicator 22, such as a pointer, the central axis being concentric with the fixed dial 21. During rotation, the distance is minimized (one for each of the X and Y directions) when the beam of rangefinder 11 is perpendicular to the operating room wall. This minimum value is sent to the master control system of the surgical robot 101 via wireless transmission and recorded. The reading phi of the scale pointer rotating with the rangefinder 11, i.e. the angle between the surgical robot 101 and the minimum beam, while taking a minimum value of horizontal distance perpendicular to the wall surface. This angle is also input to the master control system.
In this way, the distances X and Y of the base point of the surgical robot 101 with respect to the wall of the operating room, as well as the relative offset angle phi, are obtained.
One solution is that the encoder 23 reads the rotation angle phi, an absolute zero point rigidly fixed to the robot can be set, and the offset angle phi can be measured quickly. The output of the angle can be simply read by a digital display device. For high configuration systems, the data can be transmitted to the control system for processing.
In certain cases, the horizontal position and offset angle of the cart of the surgical robot 101 can be measured and read by using a baffle instead of a wall surface.
The measuring device can have 2 different heights so as to avoid the shielding possibly generated when 2 operation vehicles measure.
What needs to be explained here is: under the condition of no conflict, the technical features related to the examples can be combined with each other according to actual situations by a person skilled in the art so as to achieve corresponding technical effects, and specific details of the combination situations are not described in detail herein.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (8)
1. Surgical robot equipment with determinable position coordinates, characterized by comprising a surgical robot (101), a distance measuring device (1) and an angle measuring device (2); the distance measuring device (1) and the angle measuring device (2) are arranged on the surgical robot (101);
a distance measuring device (1) for measuring the vertical distance between a preset position base point on the surgical robot (101) and a first wall surface (10) and a second wall surface (20) in an operating room respectively; the first wall surface (10) is perpendicular to the second wall surface (20);
The angle measuring device (2) is used for measuring an included angle between a preset zero-degree datum line (102) on the surgical robot (101) and a first plane, and the first plane is perpendicular to the first wall surface (10) or the second wall surface (20);
The surgical robotic device further includes a position adjustment mechanism; the position adjusting mechanism comprises a fixing frame (5); the fixing frame (5) is rotatably arranged at a preset position base point on the surgical robot (101) through a rotating part (6); the distance measuring device (1) is arranged on the fixing frame (5); the angle measuring device (2) comprises a fixed dial (21) and a scale indicator (22) so as to cooperatively measure the included angle between the preset zero-degree datum line (102) and a first plane through the fixed dial (21) and the scale indicator (22);
Wherein the fixed dial (21) is fixed on the surgical robot (101), and a zero-degree datum line of the fixed dial (21) is parallel to the preset zero-degree datum line (102);
the scale indicator (22) is rotatably arranged on the surgical robot (101) through a rotating part (6) so as to indicate the scale on the fixed dial (21);
or, the angle measuring device (2) comprises an encoder (23);
the zero degree datum line of the encoder (23) is parallel to the preset zero degree datum line (102);
Wherein the angle measuring device (2) measures an included angle between the preset zero-degree datum line (102) and a first plane through the encoder (23);
The encoder (23) is rotatably arranged on the surgical robot (101) by a rotating member (6).
2. A surgical robot with determinable positional coordinates according to claim 1,
The distance measuring device (1) comprises a distance measuring instrument (11), wherein the distance measuring instrument (11) is arranged at a preset position base point, and the distance measuring instrument (11) is used for measuring the vertical distance between the preset position base point and a first wall surface (10) and a second wall surface (20) in an operating room respectively.
3. A surgical robot with determinable positional coordinates according to claim 2,
The position adjusting mechanism is used for adjusting the height of the distance meter (11).
4. A surgical robot with determinable positional coordinates according to claim 3,
The fixing frame (5) is provided with more than two range finder installation positions distributed along the height direction.
5. A surgical robotic device with determinable positional coordinates as defined in claim 4, wherein,
The fixing frame (5) comprises a first support arm (51), a bottom plate (52) and a second support arm (53) which are connected in sequence;
the bottom plate (52) is rotatably arranged on the surgical robot (101) through a rotating component (6) so as to drive the fixing frame (5) to rotate together;
The first support arm (51) is opposite to the second support arm (53) and is positioned on one side of the bottom plate (52) which is away from the surgical robot (101);
the fixing frame (5) further comprises a partition plate (54), and the partition plate (54) is used for separating a clamping groove (55) serving as a mounting position of the range finder between the first support arm (51) and the second support arm (53).
6. A surgical robotic device with determinable positional coordinates in accordance with claim 5,
The clamping groove (55) is provided with a first side and a second side which are opposite;
The first side of the clamping groove (55) is provided with an inserting port for inserting the range finder (11);
The fixing frame (5) further comprises a limiting plate (56), and the limiting plate (56) is arranged on the second side of the clamping groove (55); the limiting plate (56) is used for limiting the distance meter (11) in the clamping groove (55) so as to prevent the distance meter (11) from falling out of the second side of the clamping groove (55).
7. A position coordinate determinable surgical robotic device of claim 5 or 6, further comprising a drive mechanism;
The driving mechanism is used for driving the rotating component (6) to rotate.
8. Surgical robotic system, characterized by comprising a console (200) and a surgical robotic device with determinable position coordinates according to any of claims 1 to 7;
the console (200) is used for controlling the surgical robot (101) according to an external instruction.
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