CN108135659B - 用于机器人外科手术***接口的触觉反馈控制装置 - Google Patents

用于机器人外科手术***接口的触觉反馈控制装置 Download PDF

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CN108135659B
CN108135659B CN201680059838.5A CN201680059838A CN108135659B CN 108135659 B CN108135659 B CN 108135659B CN 201680059838 A CN201680059838 A CN 201680059838A CN 108135659 B CN108135659 B CN 108135659B
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voice coil
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CN108135659A (zh
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彼得·沃克罗特
威廉·派纳
马修·布兰科
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Covidien LP
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Abstract

一种用于机器人外科手术***的常平架，其包括支撑连杆、输入连杆以及振动组合件。所述输入连杆从所述支撑连杆延伸，且所述振动组合件安装到所述支撑连杆。所述振动组合件包括中心支架、端盖以及音圈。所述端盖可相对于所述中心支架移动。所述音圈具有固定到所述中心支架的内部构件和固定到所述端盖的外部构件。所述音圈配置为响应于施加到所述内部构件或所述外部构件中的一个的电压而使所述常平架振动。

Description

用于机器人外科手术***接口的触觉反馈控制装置
相关申请的交叉参考
本申请要求2015年10月30日提交的美国临时专利申请系列第62/248,516号的权益和优先权，其全部内容通过引用并入本文。
背景技术
机器人外科手术***已经在微创医疗程序中进行了应用。在此类医疗程序期间，机器人外科手术***由与用户接口进行交互的外科医生控制。该用户接口允许外科医生操纵作用于患者的末端执行器。用户接口包括柄部或常平架，其可以由外科医生移动以控制机器人***。
需要改进的反馈***，以用于在外科手术期间向与用户接口进行交互的外科医生提供触觉反馈。
发明内容
在本公开的一方面，用于外科手术机器人***的常平架包括支撑连杆、从支撑连杆延伸的输入连杆以及安装到支撑连杆的振动组合件。振动组合件包括中心支架、端盖和音圈。端盖可以相对于中心支架移动。音圈具有固定到中心支架的内部构件和固定到端盖的外部构件。音圈配置为响应于施加到内部构件或外部构件中的一个的电压而使常平架振动。
在各个方面，中心支架包括包括中心部分和从中心部分径向延伸的凸缘。振动组合件可以包括围绕中心支架的中心部分定位的内板，而中心部分的凸缘定位在端盖与内板之间。内板和端盖可以由非磁性金属或塑料制成。内板可以相对于端盖进行固定。
在一些方面，振动组合件包括定位在端盖与中心部分的凸缘之间的第一阻尼环。第一阻尼环可以围绕音圈的外部构件定位并且可以粘结到端盖和凸缘上。振动组合件可以包括定位在中心部分的凸缘与内板之间的第二阻尼环。第二阻尼环可以围绕音圈的内部构件定位并且可以粘结到凸缘和内板上。第一阻尼环和第二阻尼环可以由弹性材料制成。
在某些方面，音圈的内部构件包括导电线圈并且音圈的外部构件是磁体。外部构件可以在第一电压施加到导电线圈时沿第一方向相对于内部构件移动，而在第二电压施加到导电线圈时沿与第一方向相反的第二方向移动。第一电压可以是正电压而第二电压可以是负电压。
在本公开的另一方面，机器人外科手术***包括机器人***、处理单元以及具有常平架的用户接口。机器人***包括联动装置，所述联动装置在端部设置有工具。处理单元与机器人***通信以操纵该工具。用户接口与处理单元通信并且配置为向处理单元提供控制信号以用于操纵工具。常平架包括支撑连杆、从支撑连杆延伸的输入连杆以及安装到支撑连杆的振动组合件。振动组合件包括中心支架、可以相对于中心支架移动的端盖以及音圈。音圈包括固定到中心支架的内部构件和固定到端盖的外部构件。处理单元配置为提供指示机器人外科手术***的状况的反馈信号。音圈配置为响应于该反馈信号而使常平架振动。
在各个方面，音圈组合件包括振动控制装置，振动控制装置配置为响应于反馈信号而向内部构件或外部构件中的一个施加电压。机器人外科手术***可以包括强度开关，强度开关配置为响应于反馈信号而调节常平架的振动的强度。反馈信号可以指示机器人外科手术***的一个或多个状况，包括但不限于：工具到达凸缘的端部，常平架被抓紧，需要抓紧常平架，常平架被切换到相机控制状态，工具的状态变化，在用户接口的显示器上存在消息，工具被改变，工具与另一工具发生碰撞，工具正在接近目标，工具正接触结构体，工具的振动，或者工具的抓取力的测量值。
在本公开的另一方面，利用触觉反馈控制机器人外科手术***的方法包括：操纵耦合到机器人外科手术***的用户接口的常平架的输入装置以操纵机器人外科手术***的机器人***的工具，利用振动控制器从机器人外科手术***的处理单元接收反馈信号，以及响应于反馈信号而使振动组合件振荡以使常平架振动。振动控制器与安装到用户接口的常平架的振动组合件进行通信。常平架的振动提供了对机器人外科手术***的状况的指示。
在各个方面，方法包括检测常平架的振动并响应于所检测的常平架的振动而调节振动组合件的振荡。响应于反馈信号而使所述振动组合件振荡可以包括：响应于机器人外科手术***的第一状况而使常平架以第一方式振动，并且响应于机器人外科手术***的第二状况而使常平架以第二方式振动。第二方式不同于第一方式。使常平架以不同于第一方式的第二方式振动可以包括改变振动的频率、幅度、波形或持续时间。
以下将参考附图更详细地描述本公开的示范性实施例的其它细节和方面。
附图说明
以下将参考图描述本公开的各个方面，这些图并入并构成本说明书的一部分，其中：
图1是根据本公开的用户接口和机器人***的示意图；
图2是图1的用户接口的常平架的放大透视图；
图3是图2的常平架的振动音圈的前透视图；
图4是图3的振动音圈移除安装板后的后透视图；
图5是沿图3的剖面线5-5截取的剖视图；
图6是振动音圈组合件的控制电路的示意图；以及
图7是根据本公开的操纵机器人外科手术***的方法的示意图。
具体实施方式
现在参考附图详细描述本公开的实施例，其中在若干视图的每一个中相同的附图标记指示相同的或对应的元件。如本文所使用的，术语“临床医师”指的是医生、护士或任何其他护理提供者并且可以包括辅助人员。在整个本说明书中，术语“近侧”指的是装置或其部件最靠近临床医师的部分，而术语“远侧”指的是装置或其部件离临床医师最远的部分。
本公开大体上涉及振动结构，以用于在外科手术期间向正在操作机器人外科手术***的临床医师提供反馈。振动结构安装到机器人外科手术***的用户接口的常平架。当临床医师与用户接口进行交互时，振动结构向临床医师提供触觉或听觉反馈。如整个本公开所示，振动机构被示出为振动音圈，然而，应当设想可以使用其它振动机构(例如，压电电机)。
参考图1，根据本公开的机器人外科手术***1大体上示出为机器人***10、处理单元30以及用户接口40。机器人***10大体上包括联动装置12和机器人底座18。联动装置12可移动地支撑配置为作用于组织的末端执行器或工具20。联动装置12可以采用连杆的形式，其各自具有端部14，端部14支撑配置为作用于组织的末端执行器或工具20。此外，联动装置12的端部14可以包括成像装置16(例如，内窥镜等)以用于对外科手术部位“S”成像。用户接口40通过处理单元30与机器人底座18通信。
用户接口40包括显示装置44，其配置为显示三维图像。显示装置44显示外科手术部位“S”的三维图像，三维图像可以包括由定位在联动装置12的端部14上的成像装置16捕获的数据和/或包括由定位在外科手术室附近的成像装置捕获的数据(例如，定位在外科手术部位“S”内的成像装置、邻近患者“P”定位的成像装置、定位在成像连杆52的远端的成像装置56)。成像装置(例如，成像装置16、56)可以捕获视觉图像、红外图像、超声图像、X射线图像、热图像，和/或外科手术部位“S”的任何其它已知的实时图像。图像装置将所捕获的成像数据发射到处理单元30，处理单元30由成像数据实时创建外科手术部位“S”的三维图像并将三维图像发射到显示装置44以用于显示。
用户接口40还包括各自支撑常平架60的输入连杆42。常平架60允许临床医师操纵机器人***10(例如，移动联动装置12、移动联动装置12的端部14，和/或操纵工具20)。输入柄部42和/或常平架60中的每一个与处理单元30进行通信以向其发射控制信号并从其接收反馈信号。
对于机器人外科手术***的构造和操作的详细讨论，可以参考美国专利第8,828,023号，其全部内容通过引用并入本文。
另外参考图2，每个常平架60包括下部支撑连杆62和竖直支撑连杆64。下部支撑连杆60的一个端部限定了开口61，开口61可旋转地支撑在用户接口40的输入连杆42的端部上，下部支撑连杆60的另一个端部支撑从下部支撑连杆62垂直(例如，竖直)延伸的竖直支撑连杆64。竖直支撑连杆64平行于开口61的轴线而延伸。竖直支撑连杆64支撑输入轴65，输入轴65垂直于竖直支撑连杆64并平行于下部支撑连杆62而延伸。
输入装置66支撑在输入轴65上以允许外科医师操纵(比如，夹紧、抓取、射出、打开、关闭、旋转、推动、切分等)支撑在联动装置12的端部14处的工具20(图1)。输入装置66可以围绕输入轴65旋转并且可以沿输入轴65滑动。
振动音圈组合件70通过安装板72在下部支撑连杆62与输入轴65之间安装到竖直支撑连杆64。替代地，振动音圈组合件70可以安装在竖直支撑连杆64中。振动音圈组合件70限定了振动轴线V-V，振动轴线V-V大致定位于下部支撑连杆62与输入轴65之间的中间位置。振动轴线V-V平行于或者可以平行于输入轴65和下部支撑连杆62。如以下详细描述的，振动音圈组合件70被激活以向使用或握住输入装置66的外科医师提供振动或触觉反馈。此外，振动音圈组合件70可以向使用或邻近输入装置66的外科医师提供听觉反馈。
参考图3至图5，振动音圈组合件70包括端盖74、内板76、中心支架77、阻尼环82、83，以及音圈84。特别参考图5，中心支架77包括定位在端盖74和内板76之间的凸缘78以及从凸缘78延伸穿过内板76并固定到安装板72的中心部分79。中心部分79基本是圆柱形并且限定了在其中容纳音圈84的腔室79a。音圈84包括邻近安装板72固定在中心部分79的腔室79a内的内部构件86和固定到端盖74并设置在音圈84的内部构件86顶上或附近的外部构件88。
端盖74定位在中心支架77的凸缘78远离安装板72的侧面上。内板76围绕中心支架77的圆柱形中心部分79定位在凸缘78和安装板72之间。端盖74固定到音圈84的外部构件88。阻尼环82定位在端盖74和中心支架77的凸缘78之间。内板76定位在中心支架77的凸缘78和安装板72之间。阻尼环83定位在内板76和中心支架77的凸缘78之间。内板76通过紧固件73固定到端盖74(图4)。紧固件73可滑动地穿过凸缘78，使得端盖74和内板76沿振动轴线V-V相对于凸缘78浮动。端盖74和音圈84的外部构件88包括开口75以允许空气随着端盖74相对于中心支架77移动而通过。
音圈84是磁性音圈并且响应于磁场的变化而操作，使得磁场的变化使音圈84的内部和外部构件86、88相对于彼此伸展和收缩。音圈84的外部构件88的一部分定位在中心支撑部77的圆柱形中心部分79和音圈84的内部构件86的杆部分86a之间。音圈84的外部构件88可以是磁性壳体且内部构件86可以包括导电线圈，使得当电压(例如，正电压)施加到内部构件86而生成第一磁场时，外部构件88沿第一方向(例如，远离内部构件86)移动，且当第二电压(例如，负电压)施加到内部构件86而生成第二磁场时，外部构件88沿与第一方向相反的第二方向(例如，朝向内部构件86)移动。
如图所示，音圈84是圆柱形线性音圈，然而，应当设想音圈84可以具有不同的形状(例如，矩形、三角形、八边形)或者可以是旋转式音圈。
端盖74和内板76由非磁性材料构造，使得端盖74和内板76基本上是刚性的而不会干扰音圈84的操作。此外，端盖74和内板76由具有足够高质量的材料构造，使得端盖74和内板76的振荡产生输入装置66的振动。类似地，中心支架77由非磁性材料构造，所述非磁性材料基本上是刚性的而不会干扰音圈84的操作。用于端盖74、内板76和中心支架77的非限制性实例是诸如铝和铝合金的非磁性金属以及诸如乙缩醛塑料的塑料。
音圈组合件70的阻尼环82、83由弹性材料构造，以响应于端盖74和内板76的移动而用作弹簧和/或阻尼器。设定阻尼环82、83的尺寸，使得当没有电压施加到音圈84时，将中心支架77的凸缘78保持在端盖74和内板76中间的静止或中性位置。阻尼环82、83可以附接或粘结到端盖74、内板76以及凸缘78，使得随着端盖74和内板76分别沿第一方向和第二方向相对于凸缘78移动，阻尼环82、83可以分别从中间尺寸伸展和压缩。可以设想，阻尼环82、83可以由超弹性、超软聚氨酯泡沫塑料或
Figure BDA0001626660920000061
泡沫塑料构造，尽管如此，还可以设想其它的橡胶或泡沫塑料。
参考图6，振动音圈组合件70可以作为开环***进行操作或者可以包括反馈回路(例如，控制电路90)，所述反馈回路从处理单元30接收反馈信号以将振动音圈组合件70的振荡维持在期望频带内。控制电路90响应于反馈信号而控制振动音圈组合件70的振荡。控制电路90包括振动测量装置(例如，加速度计92)、滤波器94、放大器96以及振动控制器98。加速度计92响应于振动音圈组合件70的振荡而测量常平架60的振荡和/或振动。替代地，加速度计92可以测量振动音圈组合件70的振荡。加速度计92将振动信号发射给滤波器94，由其消除振动信号的噪声。另外或替代地，滤波器94可以处理并成形振动信号的波形，以针对触觉反馈敏感度优化振动。此类处理和成形可以针对各个临床医师和/或附接到相应连杆12的工具20(图1)进行定制。滤波器94将过滤后的振动信号发射给放大器，由其将过滤后的振动信号放大。放大后的振动信号从放大器96发射到振动控制器98。可以设想，控制电路90的部分可以集成在处理单元30内。
振动控制器98与处理单元30进行通信并向振动音圈组合件70发射控制信号，以响应于反馈信号而使振动音圈组合件70振荡。反馈信号指示机器人外科手术***1的状况。机器人外科手术***1的状况可以包括但不限于：工具20到达凸缘的端部，常平架60被抓紧或脱开，需要抓紧常平架60，常平架60被切换到相机控制状态，工具20的状态或模式变化(例如，烧灼模式、缝合钉射出模式)，在显示器44上存在消息，工具20被改变，碰撞避免(例如，工具20的碰撞)，工具20正在接近目标，工具20正接触结构体，工具20的振动，或者工具20的抓取力的测量值。可以设想，机器人外科手术***1的状况可以包括患者“P”的状态(例如，患者“P”的生命特征)和/或临床医师的状态(例如，机器人外科手术***1可以包括临床医师注意力监控器(未示出)，所述监控器可以提供临床医师凝视方向的反馈)。
振动控制器98可以针对机器人外科手术***1的各个状况使振动音圈70唯一地振荡。振动控制器98可以针对机器人外科手术***1的各个状况，改变振动音圈70振荡的频率、幅度、波形以及持续时间。例如，当常平架60必须被抓紧以用于持续移动工具20时，振动控制器98可以使振动音圈70振荡0.25秒，而当工具20到达范围末端时使振动音圈70振荡1.00秒。另外或替代地，当工具20处于烧灼模式时，振动控制器98可以使振动音圈70振荡两次短脉冲，当工具20处于缝合钉射出模式时振荡三次短脉冲。可以设想，振动控制器98可以针对临床医师进行定制。
振动控制器98可以与强度开关99进行通信，所述强度开关99允许临床医师选择振动音圈70的振荡的强度。如图所示，强度开关99是定位在振动音圈70上的旋转开关，尽管如此，可以设想，强度开关99可以定位在常平架60上或者可以通过用户接口的显示器44(例如，屏幕菜单)访问。还可以设想，强度开关99可以是拨动开关、滑动开关、跳接开关或按钮开关。强度开关99包括针对振动音圈70的高、中等和低强度。
如以上详细描述的，振动音圈组合件70定位在常平架60上，尽管如此，可以设想，一个或多个振动音圈组合件70可以定位在支撑常平架60的用户接口40的输入连杆42(图1)上或之中。
参考图7，根据本公开内容公开了利用触觉反馈控制机器人***10的工具20的方法100。临床医师使用机器人外科手术***1的用户接口40的常平架60的输入装置66，以操纵(例如，移动或启动)附接到联动装置12的端部14的工具20(步骤110)。处理单元30响应于对输入装置60的操纵而从用户接口40接收控制信号(步骤120)。响应于来自用户接口40的控制信号，处理单元30操纵工具20(步骤122)。处理单元30响应于对工具20的操纵而从机器人***10接收反馈信号并将反馈信号发射到安装到常平架60的振动音圈组合件70(步骤124、126)。
振动控制器98从处理单元30接收反馈信号(步骤130)。反馈信号指示机器人外科手术***1的状况。响应于反馈信号，振动控制器使振动音圈组合件70沿振动轴线振荡，以引起常平架60和输入装置66的振动(步骤132、140)。常平架60和输入装置66的振动向临床医师提供对机器人外科手术***1的状况的听觉或触觉反馈，所述状况包括工具20的状况。临床医师可以响应于触觉反馈而操纵用户接口40(步骤110)。
如以上所详细描述的，加速度计92可以检测常平架60或输入装置66的振动并响应于常平架60或输入装置66的振动而向振动控制器提供振动信号(步骤142)。振动信号可以和来自处理单元30的反馈信号一起被振动控制器98接收并用于响应于加速度计92所检测的振动而调节振动音圈组合件70的振荡。
本文所详细描述的无线连接(例如，在振动控制器98和处理单元30之间的无线连接)可以通过射频、光、WIFI、
Figure BDA0001626660920000081
(用于(利用短距离无线电波)在短距离上与固定和移动装置交换数据、创建个人局域网络(PAN)的开放无线协议)、
Figure BDA0001626660920000082
(一套利用基于无线个人局域网(WPAN)的IEEE802.15.4-2003标准的小型低功率数字无线电的高水平通信协议规范)等。
尽管在附图中已经示出本公开的若干实施例，但是本公开并不旨在被限制于此，因为本公开旨在具有在技术允许的尽可能宽泛的范围并且说明书也应当同样地阅读。还可以设想以上实施例的任意组合并且所述任意组合也落入所附权利要求书的范围内。因此，以上说明书不应当被理解为限制性的，而是仅作为具体实施例的示范。本领域技术人员可以在所附权利要求的范围内设想对其进行其它修改。

Claims (20)

1.一种用于外科手术机器人***的常平架，所述常平架包含：
至少一个支撑连杆；
输入连杆，所述输入连杆从所述至少一个支撑连杆延伸；以及
振动组合件，所述振动组合件安装到所述至少一个支撑连杆，所述振动组合件包括：
中心支架；
端盖，所述端盖能相对于所述中心支架移动；以及
音圈，所述音圈具有固定到所述中心支架的内部构件和固定到所述端盖的外部构件，所述音圈配置为响应于施加到所述内部构件或外部构件中的一个的电压而使所述常平架振动。
2.根据权利要求1所述的常平架，其中所述中心支架包括中心部分和从所述中心部分径向延伸的凸缘。
3.根据权利要求2所述的常平架，其中所述振动组合件包括围绕所述中心支架的所述中心部分定位的内板，所述中心部分的所述凸缘定位在所述端盖与所述内板之间。
4.根据权利要求3所述的常平架，其中所述内板和所述端盖是由非磁性金属制成。
5.根据权利要求3所述的常平架，其中所述内板和所述端盖是由塑料制成。
6.根据权利要求3所述的常平架，其中所述内板相对于所述端盖固定。
7.根据权利要求3所述的常平架，其中所述振动组合件包括定位在所述端盖与所述中心部分的所述凸缘之间的第一阻尼环。
8.根据权利要求7所述的常平架，其中所述第一阻尼环围绕所述音圈的所述外部构件定位。
9.根据权利要求7所述的常平架，其中所述第一阻尼环粘结到所述端盖和所述凸缘。
10.根据权利要求7所述的常平架，其中所述振动组合件包括定位在所述中心部分的所述凸缘与所述内板之间的第二阻尼环。
11.根据权利要求10所述的常平架，其中所述第二阻尼环围绕所述音圈的所述内部构件定位。
12.根据权利要求10所述的常平架，其中所述第二阻尼环粘结到所述凸缘和所述内板。
13.根据权利要求10所述的常平架，其中所述第一阻尼环和所述第二阻尼环是由弹性材料制成。
14.根据权利要求1所述的常平架，其中所述音圈的所述内部构件包括导电线圈，并且所述音圈的所述外部构件是磁体。
15.根据权利要求14所述的常平架，其中所述外部构件在第一电压施加到所述导电线圈时沿第一方向相对于所述内部构件移动，且在第二电压施加到所述导电线圈时沿与所述第一方向相反的第二方向移动。
16.根据权利要求15所述的常平架，其中所述第一电压是正电压，而所述第二电压是负电压。
17.一种机器人外科手术***，包含：
机器人***，所述机器人***包括在一个端部设置有工具的联动装置；
处理单元，所述处理单元与所述机器人***通信以操纵所述工具；以及
用户接口，所述用户接口与所述处理单元通信并且配置为向所述处理单元提供控制信号以用于操纵所述工具，所述用户接口包括常平架，所述常平架包括：
至少一个支撑连杆；
输入连杆，所述输入连杆从所述至少一个支撑连杆延伸；以及
振动组合件，所述振动组合件安装到所述至少一个支撑连杆，所述振动组合件包括：
中心支架；
端盖，所述端盖能相对于所述中心支架移动；以及
音圈，所述音圈具有固定到所述中心支架的内部构件和固定到所述端盖的外部构件，所述处理单元配置为提供指示所述机器人外科手术***的状况的反馈信号，所述音圈配置为响应于所述反馈信号而使所述常平架振动。
18.根据权利要求17所述的机器人外科手术***，其中所述音圈组合件包括振动控制器，所述振动控制器配置为响应于所述反馈信号而向所述内部构件或外部构件中的一个施加电压。
19.根据权利要求17所述的机器人外科手术***，其中所述机器人外科手术***包括强度开关，所述强度开关配置为响应于所述反馈信号而调节所述常平架的所述振动的强度。
20.根据权利要求17所述的机器人外科手术***，其中所述反馈信号指示所述机器人外科手术***的至少一个状况，所述状况包括：所述工具到达凸缘的端部，所述常平架被抓紧，需要抓紧所述常平架，所述常平架被切换到相机控制状态，所述工具的状态变化，在所述用户接口的显示器上存在消息，所述工具被改变，所述工具与另一工具碰撞，所述工具正在接近目标，所述工具正接触结构体，所述工具的振动，或者所述工具的抓取力的测量。
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