CN105997247A - A control terminal, an operation apparatus terminal, a method and a system for remote operations - Google Patents
A control terminal, an operation apparatus terminal, a method and a system for remote operations Download PDFInfo
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- CN105997247A CN105997247A CN201610299458.0A CN201610299458A CN105997247A CN 105997247 A CN105997247 A CN 105997247A CN 201610299458 A CN201610299458 A CN 201610299458A CN 105997247 A CN105997247 A CN 105997247A
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- attitude angle
- surgical apparatus
- angle information
- relative attitude
- measurement unit
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Abstract
The invention provides a control terminal, an operation apparatus terminal, a method and a system for remote operations and aims to solve the problems of a conventional remote operation apparatus that a control terminal used by doctors is complicated to operate, slow in response speed and low in efficiency. The control terminal comprises an inertia measurement unit used for measuring the relative posture angle information of a carrier carrying the inertia measurement unit, an aggregation node performing coordinate conversion on the coordinate values of the received relative posture angle information according to the geographic coordinate system of the place the control end is located, and an upper computer sending the relative posture angle information obtained after conversion to the operation apparatus terminal used in combination with the control terminal. The inertia measurement unit is applied to the control terminal for remote operations to measure the relative posture angle information of a using carrier; the relative posture angle information is sent to the operation apparatus terminal to control the operation apparatus terminal, so that the operation apparatus terminal can move along with the movement of the remote control using carrier; the operation of the using carrier can be reflected directly, effectively and visually.
Description
Technical field
The present invention relates to remote operation field, particularly relate to a kind of be applied to the control end of remote operation, operation
Equipment end, method and system.
Background technology
At present, remote operation is the combination of virtual reality technology and network technology, in the feelings that conditions of patients is urgent
Under condition, attending doctor possibly cannot rush to scene in time and treat, and now, doctor can pass through long-range hands
Art carries out operative treatment to remote patient.I.e. doctor is operated according to the field image transmitted, doctor
Raw every act and every move can be converted into digital information and be transferred at remote patient, controls local medical apparatus and instruments
Action.
Traditional remote operation equipment the control end that doctor uses all use keyboard and mouse button, control bar,
Trace balls etc. realize, and it is slow, inefficient that this mode operates complexity, response speed, it is impossible to directly perceived, natural,
Quickly reflect action and purpose that attending doctor wants to reach.Meanwhile, doctor's operating process both needed
Pay close attention to operation process, need again to pay close attention to the using method of apparatus, therefore can affect operation to a certain extent
Success rate.
In sum, in traditional remote operation equipment, the control end that doctor uses all uses keyboard and mouse to press
Button, controlling bar, trace ball etc. and realize, it is slow, inefficient that this mode operates complexity, response speed.
Summary of the invention
The embodiment of the present invention provide a kind of be applied to the control end of remote operation, surgical apparatus end, method and
System, in order to solve in remote operation equipment traditional present in prior art, the control end that doctor uses
All using keyboard and mouse button, control the realization such as bar, trace ball, this mode operates complexity, response speed
Slowly, inefficient problem.
A kind of control end being applied to remote operation that the embodiment of the present invention provides, this control end includes: at least
One Inertial Measurement Unit, aggregation node and host computer；
Described Inertial Measurement Unit, for measuring the relative attitude angle of the carrier carrying this Inertial Measurement Unit
Information, and described relative attitude angle information is sent to described aggregation node；
Described aggregation node, for the coordinate figure of described relative attitude angle information that will receive by described control
The on-site geographic coordinate system of end processed carries out Coordinate Conversion, and by the relative attitude angle information after Coordinate Conversion
It is sent to described host computer；
Described host computer, the relative attitude angle information after the conversion that will receive is sent to and this control end
With the use of surgical apparatus end, and receive described surgical apparatus end send relevant information.
Inertial Measurement Unit is applied to the control end of remote operation by the present invention, for measuring the phase using carrier
To attitude angle information, and issued surgical apparatus end, in order to operation equipment end is controlled so that it is
Can move with the motion using carrier remotely controlled, simple to operate, fast response time and improve
Efficiency, can react the operation using carrier directly, effectively, intuitively.
It is also preferred that the left described Inertial Measurement Unit includes:
Gyroscope, for the relative attitude angle information according to described carrier previous moment, it was predicted that current time
The attitude angle priori estimates of described carrier, and add described in described attitude angle priori estimates is sent to
Velometer；
Accelerometer, the described attitude angle priori estimates being used for receiving is according to acceleration of gravity information
Carry out revising for the first time, and revised described attitude angle priori estimates for the first time is sent to described magnetic
Power meter；
Magnetometer, for the first time revised described attitude angle priori estimates base area that will receive
Magnetic Field carries out second time and revises, by the revised described attitude angle priori estimates of second time as institute
State the relative attitude angle information that carrier is corresponding, and described relative attitude angle information is sent to described convergence
Node.
It is also preferred that the left described control end includes multiple described Inertial Measurement Unit, described aggregation node specifically for:
Receive the relative attitude angle information that different Inertial Measurement Unit sends, for each inertia measurement list
The relative attitude angle information that unit sends, by the coordinate figure of described relative attitude angle information by described control
Hold on-site geographic coordinate system, be converted to the coordinate figure under the centre coordinate system that described control end is corresponding, and
Send out after relative attitude angle information after Coordinate Conversion corresponding for all Inertial Measurement Units is carried out data packing
Give host computer.
It is also preferred that the left described control end also includes:
Joystick, for sending operation tool switching command to described surgical apparatus end, controls described operation
The operation tool switch unit switching operation tool of equipment end.
It is also preferred that the left described joystick includes:
Left hand joystick, for controlling the left hand switching operation tool of the mechanical arm of described surgical apparatus end,
And the starting or stoping of described surgical apparatus end；
Right hand joystick, for controlling the right hand switching operation tool of the mechanical arm of described surgical apparatus end,
And the time-out of described surgical apparatus end.
It is also preferred that the left described control end also includes:
The display unit being connected with described host computer, for showing the described operation that described surgical apparatus end sends
The relevant three-dimensional image information of equipment end side.
A kind of surgical apparatus end being applied to remote operation that the embodiment of the present invention provides, this surgical apparatus end bag
Include: industrial computer and the mechanical arm of simulation organization of human body；
Described industrial computer, for receive with this surgical apparatus end with the use of control end send inertia measurement
Relative attitude angle information after the Coordinate Conversion that unit is corresponding, and according to the resolving arranged with described control end
Relative attitude angle information after described Coordinate Conversion is resolved by rule, obtains for controlling described machinery
The action directive of parts corresponding with the carrier carrying described Inertial Measurement Unit on arm, and by institute
State action directive and be sent to described mechanical arm；
Described mechanical arm, for according to the described action directive received, controlling described mechanical arm
Described parts perform the action identical with the carrier of described Inertial Measurement Unit.
It is also preferred that the left described mechanical arm includes: breast joint, main part, left shoulder joint, right shoulder joint, a left side
Forearm, left back arm, right forearm, right postbrachium, left hand, the right hand, left elbow joint, right elbow joint, Zuo Wanguan
Joint and right carpal joint.
It is also preferred that the left described breast joint is articulated link chain, bows and swing back before being used for controlling described main part；
Described left forearm and described left back arm, and described right forearm and described right postbrachium connected by swingle；
Described left shoulder joint and right shoulder joint are that equal ball connects, including two degree of freedom, it is possible to be decomposed into pitching and
Two degree of freedom of folding, are respectively used to connect described main part and described left forearm, and described main part and
Described right forearm；
Described left elbow joint and described right elbow joint are articulated link chain, are respectively used to connect described left forearm and described
Left back arm and described right forearm and described right postbrachium；
Described left carpal joint and described right carpal joint are articulated link chain, are respectively used to connect described left hand and a described left side
Forearm and the described right hand and described right forearm.
It is also preferred that the left described surgical apparatus end also includes:
Operation tool switch unit, for the operation tool switching command sent according to described control end, controls
The left hand of described mechanical arm and right hand switching operation tool.
It is also preferred that the left described surgical apparatus end also includes:
The binocular camera being arranged on described main part and be connected with described industrial computer, is used for gathering described
The relevant three-dimensional image information of surgical apparatus end side, and by network, described three-dimensional image information is sent to
Described control end shows.
A kind of control method controlling end being applied to remote operation that the embodiment of the present invention provides, the method bag
Include:
Inertial Measurement Unit measures the relative attitude angle information of the carrier carrying this Inertial Measurement Unit, and will
Described relative attitude angle information is sent to described aggregation node；
Aggregation node by the coordinate figure of described relative attitude angle information that receives by described control end location
Geographic coordinate system carry out Coordinate Conversion, and the relative attitude angle information after Coordinate Conversion is sent to upper
Machine；
Relative attitude angle information after the conversion that host computer will receive be sent to this control end with the use of
Surgical apparatus end, and receive the relevant information that described surgical apparatus end sends.
The control method of a kind of surgical apparatus end being applied to remote operation that the embodiment of the present invention provides, the party
Method includes:
Industrial computer receive with this surgical apparatus end with the use of control end transmission Inertial Measurement Unit corresponding
Relative attitude angle information after Coordinate Conversion, and according to regular with the resolving that described control end is arranged to described
Relative attitude angle information after Coordinate Conversion resolves, obtain for control on described mechanical arm with hold
Carry the action directive of the corresponding parts of the carrier of described Inertial Measurement Unit, and by described action control
Order is sent to mechanical arm；
Mechanical arm, according to the described action directive received, controls the described parts of described mechanical arm
Perform the action identical with the carrier of described Inertial Measurement Unit.
A kind of telesurgery systems being applied to remote operation that the embodiment of the present invention provides, this system includes:
At least one controls end, with all control ends with the use of surgical apparatus end；
Inertial Measurement Unit in described control end measures the relative attitude angle of the carrier of carrying Inertial Measurement Unit
Degree information, and described relative attitude angle information is sent to described aggregation node；Aggregation node will receive
The coordinate figure of described relative attitude angle information carries out coordinate by the described on-site geographic coordinate system of control end
Conversion, and the relative attitude angle information after Coordinate Conversion is sent to host computer；Host computer is by turning of receiving
Relative attitude angle information after changing be sent to this control end with the use of surgical apparatus end, and receive institute
State the relevant information that surgical apparatus end sends；
Industrial computer in described surgical apparatus end receive with this surgical apparatus end with the use of control what end sent
Relative attitude angle information after the Coordinate Conversion that Inertial Measurement Unit is corresponding, and according to described control end about
Relative attitude angle information after described Coordinate Conversion is resolved by the fixed rule that resolves, and obtains for controlling
The action directive of parts corresponding with the carrier carrying described Inertial Measurement Unit on described mechanical arm,
And described action directive is sent to mechanical arm；Mechanical arm is according to the described action control received
Order, the described parts controlling described mechanical arm perform move identical with the carrier of described Inertial Measurement Unit
Make.
Accompanying drawing explanation
A kind of structural representation controlling end being applied to remote operation that Fig. 1 provides for the embodiment of the present invention；
The structural representation of a kind of Inertial Measurement Unit that Fig. 2 provides for the embodiment of the present invention；
Layout in partes corporis humani position when multiple Inertial Measurement Units that Fig. 3 provides for the embodiment of the present invention use
Figure；
The structural representation of a kind of surgical apparatus end that Fig. 4 provides for the embodiment of the present invention；
The schematic diagram of a kind of possible operation tool switch unit that Fig. 5 provides for the embodiment of the present invention；
The physical plane structural representation of a kind of surgical apparatus end that Fig. 6 provides for the embodiment of the present invention；
The step of a kind of control method controlling end being applied to remote operation that Fig. 7 provides for the embodiment of the present invention
Rapid flow chart；
A kind of real work flow chart of steps controlling end that Fig. 8 provides for the embodiment of the present invention；
The control method of a kind of surgical apparatus end being applied to remote operation that Fig. 9 provides for the embodiment of the present invention
Flow chart of steps；
Figure 10 is applied to the control end of remote operation and the multipair of surgical apparatus end for what the embodiment of the present invention provided
One controls schematic diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, it is fully described by, it is clear that described embodiment is only a part of embodiment of the present invention, is not complete
The embodiment in portion.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creativeness
The every other embodiment obtained under work premise, broadly falls into the scope of protection of the invention.
As it is shown in figure 1, a kind of structure controlling end being applied to remote operation provided for the embodiment of the present invention
Schematic diagram, this control end includes: at least one Inertial Measurement Unit 101, aggregation node 102 and host computer
103；
Inertial Measurement Unit 101, for measuring the relative attitude angle of the carrier carrying this Inertial Measurement Unit 101
Degree information, and relative attitude angle information is sent to aggregation node 102；
Aggregation node 102, for the coordinate figure of relative attitude angle information that will receive by controlling end location
Geographic coordinate system carry out Coordinate Conversion, and the relative attitude angle information after Coordinate Conversion is sent to upper
Machine 103；
Host computer 103, the relative attitude angle information after the conversion that will receive is sent to join with this control end
Close the surgical apparatus end used, and receive the relevant information that surgical apparatus end sends.
In traditional remote operation equipment, doctor use control end all use keyboard and mouse button, control bar,
Trace balls etc. realize, and it is slow, inefficient that this mode operates complexity, response speed.Inertia is surveyed by the present invention
Amount unit application is to the control end of remote operation, for measuring the relative attitude angle information using carrier, and
Issued surgical apparatus end, in order to operation equipment end is controlled so that it is can be with making of remotely controlling
Move with the motion of carrier, simple to operate, fast response time and improve efficiency, can directly, have
Effect, intuitively reaction use the operation of carrier.
In the specific implementation, the control end in the present invention includes: Inertial Measurement Unit 101, aggregation node 102
With host computer 103；Wherein, Inertial Measurement Unit 101 can be one or more, enters according to actual needs
Row is arranged, and each Inertial Measurement Unit 101 is mainly used in measuring the carrier carrying this Inertial Measurement Unit 101
Relative attitude angle information, the most each Inertial Measurement Unit 101 is measured the relative attitude obtained
Angle information is sent to aggregation node 102 and converges；Aggregation node 102 is mainly used in receiving each inertia
The relative attitude angle information that measuring unit 101 sends, and for each relative attitude angle information received
Coordinate figure carry out Coordinate Conversion by controlling the on-site geographic coordinate system of end, relative by after Coordinate Conversion
Attitude angle information is sent to host computer 103；Relative attitude angle after the conversion that will be received by host computer 103
Information through the protocol transmission such as Interent, the Internet to this control end with the use of surgical apparatus end, with
Just surgical apparatus end can control mechanical arm with completing and carrying according to the relative attitude angle information after this conversion
The action that body is identical, it is also possible to receive, by host computer 103, the relevant information that surgical apparatus end sends,
Pertinent image information etc. such as surgical apparatus end.
In the specific implementation, Inertial Measurement Unit may refer to the application in terms of inertia measurement of the prior art,
As inertia measurement is navigated, it is also possible to as required it is carried out certain correction.
As in figure 2 it is shown, the structural representation of a kind of Inertial Measurement Unit provided for the embodiment of the present invention, relatively
Good, Inertial Measurement Unit 101 includes: gyroscope 1011, accelerometer 1012 and magnetometer 1013；
Gyroscope 1011, for the relative attitude angle information according to carrier previous moment, it was predicted that current time
The attitude angle priori estimates of carrier, and attitude angle priori estimates is sent to accelerometer 1012；
Accelerometer 1012, the attitude angle priori estimates being used for receiving is according to acceleration of gravity information
Carry out revising for the first time, and revised attitude angle priori estimates for the first time is sent to magnetometer 1013；
Magnetometer 1013, for the first time revised attitude angle priori estimates base area that will receive
Magnetic Field carries out second time and revises, by the revised attitude angle priori estimates of second time as carrier pair
The relative attitude angle information answered, and relative attitude angle information is sent to aggregation node.
In the specific implementation, the Inertial Measurement Unit that the embodiment of the present invention provides can use stm32 series list
Sheet machine, as kernel control chip, mainly comprises inertial sensor, i.e. gyroscope 1011, accelerometer 1012
With magnetometer 1013.Wherein, Inertial Measurement Unit is used for gathering the angular velocity using carrier (doctor) to move
Information, acceleration information and magnetic field intensity information, the relevant information collected can be passed to by iic bus
Stm32 also carries out data process.
In the specific implementation, gyroscope 1011 can be according to the relative appearance of the previous moment of carrying gyroscope carrier
State angle information, it was predicted that the attitude angle priori estimates of current time carrier, say, that gyroscope meeting
The attitude angle priori estimates that real time record each moment carrier is corresponding, can be more by state update mode
The attitude angle priori estimates of new current time, estimates in the attitude angle priori doping current time carrier
After evaluation, attitude angle priori estimates is sent to accelerometer 1012；Accelerometer 1012 is mainly used in
Carry out revising for the first time according to acceleration of gravity information by attitude angle priori estimates, and be sent to magnetometer
1013 carry out second time revises；Magnetometer 1013 base area Magnetic Field carries out second time and revises, and by second
Secondary revised attitude angle priori estimates is as relative attitude angle information corresponding to carrier, by wired
Or wirelessly it is sent to aggregation node process.
Wherein, the detailed process that above-mentioned first time is revised and second time is revised, may refer in prior art used
Property the mode measured, for example, it is possible to carry out first according to accelerometer estimated value and acceleration measuring value
Secondary Kalman filtering, calculates roll angle and the angle of pitch, can measure with magnetic force according to magnetometer estimated value
Value carries out second time Kalman filtering process, completes the resolving of yaw angle.Wherein, roll angle, the angle of pitch
It is required attitude angle with yaw angle.Twice Kalman filtering process improves calculation accuracy, and by complexity
Three-dimensional solution process be converted into one peacekeeping two dimension solution process, reduce resolving dimension, make algorithm more hold
Easily realize in hardware system.
Wherein, the Inertial Measurement Unit 101 that control end includes can be one or more, can be according to need
Each position of the health of user to be arranged into (doctor), the attitude letter during motion of Real-time Collection user
Breath, as it is shown on figure 3, for the embodiment of the present invention provide multiple Inertial Measurement Units use time partes corporis humani
The layout drawing of position, the black rectangle in figure represents Inertial Measurement Unit 101, each Inertial Measurement Unit cloth respectively
It is placed at the left forearm of human body, left back arm, right forearm, right postbrachium, left hand, the right hand and chest.
It is also preferred that the left control end include multiple Inertial Measurement Unit 101, aggregation node 102 specifically for: receive
The relative attitude angle information that different Inertial Measurement Units send, sends for each Inertial Measurement Unit
Relative attitude angle information, by the coordinate figure of relative attitude angle information by controlling the on-site geographical seat of end
Mark system, is converted to control the coordinate figure under the centre coordinate system that end is corresponding, and by all Inertial Measurement Units pair
Relative attitude angle information after the Coordinate Conversion answered is sent to host computer 103 after carrying out data packing.
In the specific implementation, carrier can be gathered respectively (such as doctor by multiple Inertial Measurement Units 101
Health) the relative attitude angle information of each position, and by wired or wirelessly transmission to converging
Node.The relative attitude angle information sent for each Inertial Measurement Unit, aggregation node 102 needs
By controlling the on-site geographic coordinate system of end, it is carried out Coordinate Conversion, the mode of concrete Coordinate Conversion, can
To see Coordinate Conversion of the prior art, wherein, coordinate system transformation process is exactly by carrier corresponding for carrier
The conversion of coordinate b system is to local geographical coordinate n system, then by all of geographical coordinate n system Parameters Transformation is
Heart coordinate c system.
Such as, according to Z-Y-X Eulerian angles coordinate system transformation method, then understand [3*1] dimensional vector X two
Transformational relation between coordinate system is as follows:Then understand carrier coordinate system and center
Transformational relation between coordinate system is:R is transition matrix, i.e. realizes sitting
The transition matrix of conversion between mark system.Wherein, aggregation node 102 can be fixed on fixed platform static
Motionless, to ensure the centre coordinate invariant position for carrying out Coordinate Conversion.
In the specific implementation, end is controlled except including above-mentioned Inertial Measurement Unit, it is also possible to include being mainly used in
Control the joystick of switching operation tool.Also include it is also preferred that the left control end: joystick, for hands
Art equipment end sends operation tool switching command, controls the operation tool switch unit switching hands of surgical apparatus end
Art instrument.It is also preferred that the left joystick includes: left hand joystick, for controlling the machinery of surgical apparatus end
The left hand switching operation tool of arm, and the starting or stoping of surgical apparatus end；Right hand joystick, uses
In the right hand switching operation tool of the mechanical arm controlling surgical apparatus end, and the time-out of surgical apparatus end.
In the specific implementation, user (such as doctor) can as desired by joystick to this control
Hold with the use of surgical apparatus end send order, switch different operation tools as required.Meanwhile, also
The startup of surgical apparatus end system can be carried out by joystick, stop or time-out etc., in order to doctor can be real
Time control operation practical operation process.
In order to enable the user of controller side to be apparent from the practical situation of remote patient, it is also preferred that the left
Control end also to include: the display unit being connected with host computer, for showing that the operation that surgical apparatus end sends sets
The relevant three-dimensional image information of standby end side.
Also include it is also preferred that the left control end: the communication unit being connected with main control unit, be used for and surgical apparatus end
Carry out voice and/or message communication.Communication unit can include microphone and speaker, is used for realizing attending doctor
And the mutual communication between remote operation Field Force.
Also include it is also preferred that the left control end: the photographic head being connected with main control unit, for acquisition controlling end side
Pertinent image information, and be sent to surgical apparatus end by network and show.Control end can use to be taken the photograph
As head gathers attending doctor's end video information, and completed to the display of remote operation end by the Internet transmission
Display.Wherein, display unit can use UI interactive interface, as the User Interface of control end side,
Its function can include system start-up, initialize, is directed at, suspends and video such as shows at the function, mainly completes
Control the interactive operation between end system and attending doctor.
In order to above-mentioned control end with the use of, complete remote operation operation, the embodiment of the present invention additionally provides
A kind of surgical apparatus end being applied to remote operation.As shown in Figure 4, the one provided for the embodiment of the present invention
The structural representation of surgical apparatus end, this surgical apparatus end includes: industrial computer 401 and simulation organization of human body
Mechanical arm 402；
Industrial computer 401, for receive with this surgical apparatus end with the use of control end send inertia measurement list
Relative attitude angle information after the Coordinate Conversion that unit is corresponding, and according to right with the resolving rule controlling end agreement
Relative attitude angle information after Coordinate Conversion resolves, obtain for control on mechanical arm 402 with hold
Carry the action directive of the corresponding parts of carrier of Inertial Measurement Unit, and action directive is sent
To mechanical arm 402；
Mechanical arm 402, for according to the action directive received, controlling the parts of mechanical arm 402
Perform the action identical with the carrier of Inertial Measurement Unit.
In the specific implementation, mainly completed, by industrial computer 401, the process that data process, and process obtained
Control command issues mechanical arm 402, and mechanical arm 402 then mainly performs corresponding according to control command
Operation.Wherein, mechanical arm in order to receive remote control terminal send Coordinate Conversion after relative attitude angle
Information, and according to the rule that resolves controlling end agreement, the relative attitude angle information after Coordinate Conversion is carried out
Resolve, obtain for controlling parts corresponding with the carrier of carrying Inertial Measurement Unit on mechanical arm 402
Action directive, and send to mechanical arm 402, mechanical arm 402 is according to the action control received
Order, the parts controlling mechanical arm 402 complete the appearance of the carrier with the carrying Inertial Measurement Unit controlling end
The action that state angle is identical, thus realize servo antrol and monitor in real time.
Wherein, being respectively arranged with a centre coordinate system at control end and surgical apparatus end, two centre coordinates tie up to all
Ensure transfixion.Doctor moves under the centre coordinate system controlling end, and mechanical arm 402 is at surgical apparatus
Moving under end centre coordinate system, doctor and mechanical arm 402 amount of relative motion under centre coordinate system keeps
Unanimously.
In order to make mechanical arm can accurately react the operation of doctor, it can be made to simulate upper half of human body completely
Structure, design various parts and be similar to the connector in joint, the action of simulation human body.It is being embodied as
Time, mechanical arm can be designed according to actual needs, its precision is also required to the finest.It is also preferred that the left
Mechanical arm includes: breast joint, main part, left shoulder joint, right shoulder joint, left forearm, left back arm, the right side
Forearm, right postbrachium, left hand, the right hand, left elbow joint, right elbow joint, left carpal joint and right carpal joint.
It is also preferred that the left breast joint is articulated link chain, bows and swing back before being used for controlling main part；Left forearm and left back arm, with
And right forearm and right postbrachium are connected by swingle；Left shoulder joint and right shoulder joint are that equal ball connects, including two
Degree of freedom, it is possible to be decomposed into pitching and two degree of freedom of folding, is respectively used to connect main part and left forearm,
And main part and right forearm；Left elbow joint and right elbow joint are articulated link chain, be respectively used to connect left forearm and
Left back arm and right forearm and right postbrachium；Left carpal joint and right carpal joint are articulated link chain, are respectively used to connect
Left hand and left forearm and the right hand and right forearm.
The all parts of above-mentioned composition mechanical arm 402 and connected mode, a kind of possible implementation,
Difference according to reality application, it is also possible to design comprise more parts, or use other connection side
Formula etc..As long as can be according to the relative attitude angle information after the Coordinate Conversion of control end transmission, it is achieved with
Control the action that end attitude angle is identical, thus realize servo antrol and monitor in real time.
As surgical apparatus end, mechanical arm must also clamp or exchange operation tool.It is also preferred that the left hands
Art equipment end also includes: operation tool switch unit, for according to controlling the operation tool switching life that end sends
Order, controls left hand and the right hand switching operation tool 501 of mechanical arm.As it is shown in figure 5, implement for the present invention
The schematic diagram of a kind of possible operation tool switch unit that example provides.Operation tool switch unit is for such as scheming institute
The spring Eject mode shown, the switching of each operation tool is completed to control by the control module 502 at this position, control
Molding block receives the control information transmitted of the joystick controlling end and operates each operation tool.Operation
Instrument switch unit can have long-range left hand joystick and right hand joystick to complete operation tool switching respectively,
Wherein operation tool can include the conventional operation tools such as scalpel, shears, tweezers, vascular forceps.
In order to be clearly sent to the image information in surgical apparatus end operation process control end, this hands
Art equipment end also needs to include photographic head.It is also preferred that the left surgical apparatus end also includes: be arranged on main part,
And the binocular camera being connected with industrial computer, for gathering the relevant three-dimensional image information of surgical apparatus end side,
And by network, three-dimensional image information is sent to controls end and shows.
As shown in Figure 6, the physical plane structural representation of a kind of surgical apparatus end provided for the embodiment of the present invention
Figure, this figure is a kind of possible physical plane structural representation, in the specific implementation, it is also possible to according to need
Being designed to other pattern, the binocular camera of above-mentioned surgical apparatus end is in order to gather full side in operation process
The 3D rendering of position, and through network-feedback to long-range control end, by control the display unit of end side in
Now give attending doctor, in order to attending doctor can complete operation technique by the operative site image of feedback.
For the communication realized with control end, it is also preferred that the left surgical apparatus end also includes: be connected with main control unit
Communication unit, for control end carry out voice and/or message communication.Communication unit can include microphone and
Speaker, is used for the mutual communication realizing between attending doctor and remote operation Field Force.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of control being applied to remote operation
The control method of end, owing to the principle of the method solution problem is similar to the control end being applied to remote operation,
Therefore the enforcement of the method may refer to control the enforcement of end, repeats no more in place of repetition.
As it is shown in fig. 7, a kind of control controlling end being applied to remote operation provided for the embodiment of the present invention
The flow chart of steps of method, the method includes:
Step 701, Inertial Measurement Unit measures the relative attitude angle letter of the carrier carrying this Inertial Measurement Unit
Breath, and relative attitude angle information is sent to aggregation node；
Step 702, aggregation node by the coordinate figure of relative attitude angle information received by controlling end location
Geographic coordinate system carry out Coordinate Conversion, and the relative attitude angle information after Coordinate Conversion is sent to upper
Machine；
Step 703, the relative attitude angle information after the conversion that host computer will receive is sent to join with this control end
Close the surgical apparatus end used, and receive the relevant information that surgical apparatus end sends.
The specific works process controlling end provided for the clearer explanation embodiment of the present invention, such as Fig. 8 institute
Showing, a kind of real work flow chart of steps controlling end provided for the embodiment of the present invention, this flow process includes:
Step 801, after the startup receiving user operates, starts the control end for carrying out remote operation；
Step 802, the system that startup controls end initializes；
Step 803, to this control end with the use of surgical apparatus end send dock application；
Step 804, it may be judged whether have surgical apparatus end to achieve a butt joint with this control end, the most then perform step
805, otherwise, continue executing with step 803；
Step 805, after having determined docking, prompting docking completes；
Step 806, starts to start the equipment such as ancillary equipment and Inertial Measurement Unit；
Step 807, calibrates the system controlling end again；
Step 808, starts real-time control routine；
Step 809, is implemented remote operation by controlling end to the patient of operation equipment end by doctor；
Step 810, after receiving the stopping operation of user, the system controlling end stops.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of operation being applied to remote operation
The control method of equipment end, owing to the method solves the principle of problem and the surgical apparatus being applied to remote operation
Holding similar, therefore the enforcement of the method may refer to the enforcement of surgical apparatus end, repeats no more in place of repetition.
As it is shown in figure 9, a kind of surgical apparatus end being applied to remote operation provided for the embodiment of the present invention
The flow chart of steps of control method, the method includes:
Step 901, industrial computer receive with this surgical apparatus end with the use of control end send inertia measurement list
Relative attitude angle information after the Coordinate Conversion that unit is corresponding, and according to right with the resolving rule controlling end agreement
Relative attitude angle information after Coordinate Conversion resolves, and obtains for controlling on mechanical arm used with carrying
The action directive of the parts that the carrier of property measuring unit is corresponding, and action directive is sent to machine
Tool arm；
Step 902, mechanical arm performs according to the action directive received, the parts controlling mechanical arm
The action identical with the carrier of Inertial Measurement Unit.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of operation being applied to remote operation
System, owing to the method solves the principle of problem and control end and the surgical apparatus end phase being applied to remote operation
Seemingly, therefore the enforcement of the method may refer to control end and the enforcement of surgical apparatus end, the most superfluous in place of repetition
State.
A kind of telesurgery systems being applied to remote operation that the embodiment of the present invention provides, this system includes:
At least one controls end, with all control ends with the use of surgical apparatus end；
Control the relative attitude angle letter that the Inertial Measurement Unit in end measures the carrier of carrying Inertial Measurement Unit
Breath, and relative attitude angle information is sent to aggregation node；The relative attitude angle that aggregation node will receive
The coordinate figure of information carries out Coordinate Conversion by controlling the on-site geographic coordinate system of end, and by after Coordinate Conversion
Relative attitude angle information be sent to host computer；Relative attitude angle letter after the conversion that host computer will receive
Breath be sent to this control end with the use of surgical apparatus end, and receive surgical apparatus end send relevant letter
Breath；
Industrial computer in surgical apparatus end receive with this surgical apparatus end with the use of control the inertia that end sends
Relative attitude angle information after the Coordinate Conversion that measuring unit is corresponding, and according to the resolving with control end agreement
Rule the relative attitude angle information after Coordinate Conversion is resolved, obtain for control on mechanical arm with
The action directive of the corresponding parts of carrier of carrying Inertial Measurement Unit, and action directive is sent out
Give mechanical arm；Mechanical arm is held according to the action directive received, the parts controlling mechanical arm
The action that row is identical with the carrier of Inertial Measurement Unit.
As shown in Figure 10, the control end being applied to remote operation provided for the embodiment of the present invention and surgical apparatus
The many-one of end controls schematic diagram.The present invention controls end due to relative low price, can be in multiple hospitals or doctor
Shi Jiazhong arranges control point, it is achieved many-one controls.
In sum, Inertial Measurement Unit is applied to the control end of remote operation by the present invention, makes for measurement
With the relative attitude angle information of carrier, and issued surgical apparatus end, in order to operation equipment end is carried out
Control so that it is can move with the motion using carrier remotely controlled, simple to operate, fast response time,
And improve efficiency, the operation using carrier can be reacted directly, effectively, intuitively.
Obviously, those skilled in the art can carry out various change and modification without deviating from this to the present invention
Bright spirit and scope.So, if the present invention these amendment and modification belong to the claims in the present invention and
Within the scope of its equivalent technologies, then the present invention is also intended to comprise these change and modification.
Claims (14)
1. the control end being applied to remote operation, it is characterised in that this control end includes: at least
Individual Inertial Measurement Unit, aggregation node and host computer；
Described Inertial Measurement Unit, for measuring the relative attitude angle of the carrier carrying this Inertial Measurement Unit
Information, and described relative attitude angle information is sent to described aggregation node；
Described aggregation node, for the coordinate figure of described relative attitude angle information that will receive by described control
The on-site geographic coordinate system of end processed carries out Coordinate Conversion, and by the relative attitude angle information after Coordinate Conversion
It is sent to described host computer；
Described host computer, the relative attitude angle information after the conversion that will receive is sent to and this control end
With the use of surgical apparatus end, and receive described surgical apparatus end send relevant information.
Control end the most as claimed in claim 1, it is characterised in that described Inertial Measurement Unit includes:
Gyroscope, for the relative attitude angle information according to described carrier previous moment, it was predicted that current time
The attitude angle priori estimates of described carrier, and add described in described attitude angle priori estimates is sent to
Velometer；
Accelerometer, the described attitude angle priori estimates being used for receiving is according to acceleration of gravity information
Carry out revising for the first time, and revised described attitude angle priori estimates for the first time is sent to described magnetic
Power meter；
Magnetometer, for the first time revised described attitude angle priori estimates base area that will receive
Magnetic Field carries out second time and revises, by the revised described attitude angle priori estimates of second time as institute
State the relative attitude angle information that carrier is corresponding, and described relative attitude angle information is sent to described convergence
Node.
Control end the most as claimed in claim 1, it is characterised in that described control end includes multiple described
Inertial Measurement Unit, described aggregation node specifically for:
Receive the relative attitude angle information that different Inertial Measurement Unit sends, for each inertia measurement list
The relative attitude angle information that unit sends, by the coordinate figure of described relative attitude angle information by described control
Hold on-site geographic coordinate system, be converted to the coordinate figure under the centre coordinate system that described control end is corresponding, and
After relative attitude angle information after Coordinate Conversion corresponding for all Inertial Measurement Units is carried out data packing
It is sent to host computer.
Control end the most as claimed in claim 1, it is characterised in that described control end also includes:
Joystick, for sending operation tool switching command to described surgical apparatus end, controls described operation
The operation tool switch unit switching operation tool of equipment end.
Control end the most as claimed in claim 4, it is characterised in that described joystick includes:
Left hand joystick, for controlling the left hand switching operation tool of the mechanical arm of described surgical apparatus end,
And the starting or stoping of described surgical apparatus end；
Right hand joystick, for controlling the right hand switching operation tool of the mechanical arm of described surgical apparatus end,
And the time-out of described surgical apparatus end.
Control end the most as claimed in claim 1, it is characterised in that described control end also includes:
The display unit being connected with described host computer, for showing the described operation that described surgical apparatus end sends
The relevant three-dimensional image information of equipment end side.
7. the surgical apparatus end being applied to remote operation, it is characterised in that this surgical apparatus end includes:
Industrial computer and the mechanical arm of simulation organization of human body；
Described industrial computer, for receive with this surgical apparatus end with the use of control end send inertia measurement
Relative attitude angle information after the Coordinate Conversion that unit is corresponding, and according to the resolving arranged with described control end
Relative attitude angle information after described Coordinate Conversion is resolved by rule, obtains for controlling described machinery
The action directive of parts corresponding with the carrier carrying described Inertial Measurement Unit on arm, and by institute
State action directive and be sent to described mechanical arm；
Described mechanical arm, for according to the described action directive received, controlling described mechanical arm
Described parts perform the action identical with the carrier of described Inertial Measurement Unit.
8. surgical apparatus end as claimed in claim 7, it is characterised in that described mechanical arm includes:
Breast joint, main part, left shoulder joint, right shoulder joint, left forearm, left back arm, right forearm, right postbrachium,
Left hand, the right hand, left elbow joint, right elbow joint, left carpal joint and right carpal joint.
9. surgical apparatus end as claimed in claim 8, it is characterised in that described breast joint is articulated link chain,
Bow before controlling described main part and swing back；
Described left forearm and described left back arm, and described right forearm and described right postbrachium connected by swingle；
Described left shoulder joint and right shoulder joint are that equal ball connects, including two degree of freedom, it is possible to be decomposed into pitching and
Two degree of freedom of folding, are respectively used to connect described main part and described left forearm, and described main part and
Described right forearm；
Described left elbow joint and described right elbow joint are articulated link chain, are respectively used to connect described left forearm and described
Left back arm and described right forearm and described right postbrachium；
Described left carpal joint and described right carpal joint are articulated link chain, are respectively used to connect described left hand and a described left side
Forearm and the described right hand and described right forearm.
10. surgical apparatus end as claimed in claim 7, it is characterised in that described surgical apparatus end also wraps
Include:
Operation tool switch unit, for the operation tool switching command sent according to described control end, controls
The left hand of described mechanical arm and right hand switching operation tool.
11. surgical apparatus ends as claimed in claim 7, it is characterised in that described surgical apparatus end also wraps
Include:
The binocular camera being arranged on described main part and be connected with described industrial computer, is used for gathering described
The relevant three-dimensional image information of surgical apparatus end side, and by network, described three-dimensional image information is sent to
Described control end shows.
12. 1 kinds of control methods controlling end being applied to remote operation, it is characterised in that the method includes:
Inertial Measurement Unit measures the relative attitude angle information of the carrier carrying this Inertial Measurement Unit, and will
Described relative attitude angle information is sent to described aggregation node；
Aggregation node by the coordinate figure of described relative attitude angle information that receives by described control end place
The geographic coordinate system on ground carries out Coordinate Conversion, and is sent to by the relative attitude angle information after Coordinate Conversion
Position machine；
Relative attitude angle information after the conversion that host computer will receive be sent to this control end with the use of
Surgical apparatus end, and receive described surgical apparatus end send relevant information.
The control method of 13. 1 kinds of surgical apparatus ends being applied to remote operation, it is characterised in that the method
Including:
Industrial computer receive with this surgical apparatus end with the use of control end transmission Inertial Measurement Unit corresponding
Coordinate Conversion after relative attitude angle information, and according to the resolving rule arranged with described control end to institute
State the relative attitude angle information after Coordinate Conversion to resolve, obtain for control on described mechanical arm with
Carry the action directive of the corresponding parts of the carrier of described Inertial Measurement Unit, and by described action control
Order processed is sent to mechanical arm；
Mechanical arm, according to the described action directive received, controls the described parts of described mechanical arm
Perform the action identical with the carrier of described Inertial Measurement Unit.
14. 1 kinds of telesurgery systems being applied to remote operation, it is characterised in that this system includes:
At least one controls end, with all control ends with the use of surgical apparatus end；
Inertial Measurement Unit in described control end measures the relative attitude of the carrier of carrying Inertial Measurement Unit
Angle information, and described relative attitude angle information is sent to described aggregation node；Aggregation node will receive
The coordinate figure of described relative attitude angle information carried out by the described on-site geographic coordinate system of control end
Coordinate Conversion, and the relative attitude angle information after Coordinate Conversion is sent to host computer；Host computer will receive
Conversion after relative attitude angle information be sent to this control end with the use of surgical apparatus end, and connect
Receive the relevant information that described surgical apparatus end sends；
Industrial computer in described surgical apparatus end receive with this surgical apparatus end with the use of control end send
Coordinate Conversion corresponding to Inertial Measurement Unit after relative attitude angle information, and according to described control end
Relative attitude angle information after described Coordinate Conversion is resolved by the rule that resolves of agreement, obtains for controlling
Make the action control of parts corresponding with the carrier carrying described Inertial Measurement Unit on described mechanical arm
Order, and described action directive is sent to mechanical arm；Mechanical arm is described dynamic according to receive
Making control command, the described parts controlling described mechanical arm perform the carrier phase with described Inertial Measurement Unit
Same action.
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| CN201610299458.0A CN105997247A (en) | 2016-05-06 | 2016-05-06 | A control terminal, an operation apparatus terminal, a method and a system for remote operations |
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