CN109109018A - Device and method, mechanical arm and the medical robot of equipment working state are sensed in detection mechanical arm - Google Patents
Device and method, mechanical arm and the medical robot of equipment working state are sensed in detection mechanical arm Download PDFInfo
- Publication number
- CN109109018A CN109109018A CN201811069317.5A CN201811069317A CN109109018A CN 109109018 A CN109109018 A CN 109109018A CN 201811069317 A CN201811069317 A CN 201811069317A CN 109109018 A CN109109018 A CN 109109018A
- Authority
- CN
- China
- Prior art keywords
- absolute
- information
- mechanical arm
- posture information
- sensing equipment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
This application involves the field of medical instrument technology more particularly to a kind of device and method, mechanical arm and medical robots that equipment working state is sensed in detection mechanical arm.A kind of device sensing equipment working state in detection mechanical arm, for the first sensing equipment of the absolute status parameter for acquiring each cradle head between target joint arm and pedestal, by obtaining the first posture information based on first sensing equipment absolute status parameter collected, the absolute pose information of pedestal and target joint arm can be acquired respectively based on other sensing equipments simultaneously, and the second posture information of absolute pose acquisition of information of the absolute pose information and target joint arm based on the pedestal, can determine whether above-mentioned the first sensing equipment data collected are accurate according to the first posture information and the second posture information, and then it can find in time whether sensing equipment is in abnormal operation, promote the safety of medical robot, reduce the probability that safety accident occurs.
Description
Technical field
The present invention relates to field of medical technology, more particularly to one kind for sensing equipment working state in detection mechanical arm
Device and method, mechanical arm and medical robot.
Background technique
Minimally invasive surgery refers to elongated operation instrument (such as laparoscope, thoracoscope and surgical instrument) through small notch
It is sent into a kind of new technology that patient's body is performed the operation.It is small with wound, pain is light, restore fast, the hospital stays is short, bleeding is few
The advantages that.But since notch is smaller, it is operating robot that complicated surgical procedure how is completed in narrow working space
The significant challenge of systems face.Highly redundant flexible mechanical arm solves conventional rigid articulated mechanical arm can not be in work in narrow space
Problem, therefore highly redundant flexible mechanical arm is mostly used in surgical robot system.But how accurately to control highly redundant machinery
The athletic posture of arm becomes an important factor for influencing highly redundant mechanical arm functional reliability, and influences operating robot safety
An important factor for.Especially in the course of work, whether motion profile desirably is moved in end joint, directly affects mechanical arm
Operating accuracy and reliability, and then influence the safety of operation.
In the prior art, the position of mechanical arm is usually determined by encoder.When encoder failure, especially absolutely
When the failure of position coder, then the position of mechanical arm can not be determined, it can not be according to pre- so as to cause the distal end of mechanical arm
The attitude motion of phase, it is possible to internal organs in surgical instrument stamp be caused to cause operation safety accident.Therefore, existing operating robot
It can mutually be examined by the absolute position encoder of mechanical arm with incremental encoder at work, monitor the working condition of mechanical arm.
But operating robot is by down to during being re-energised, due to various reasons, the mechanical arm of operating robot is passively adjusted,
These variations can not detect by encoder, so when leading to booting the virtual condition with encoder testing result in joint it is different
It causes.And whether the testing result of existing technology absolute position encoder when can not detect booting is correct.
Therefore, whether this field needs a kind of new equipment, normal for sensing equipment operation in detection mechanical arm, especially suitable
Whether sensing equipment is normal when for detection mechanical arm booting.
Summary of the invention
Based on this, it is necessary to provide in view of the above technical problems a kind of for sensing equipment working state in detection mechanical arm
Device and method, mechanical arm and medical robot.
In an alternative embodiment, this application provides one kind for sensing equipment working state in detection mechanical arm
Device, the mechanical arm can have a free end and fixing end, and the fixing end is used for being connected to pedestal, the free end
In attended operation instrument；The mechanical arm may include the first sensing equipment, multiple joints and the pass connected by the joint
Joint arm, the multiple joint may include cradle head, and first sensing equipment, which can be used for acquiring, is located at target joint arm and institute
State the absolute status parameter of each cradle head between fixing end；Described device can include:
Processing equipment, for obtaining the first posture information according to the absolute status parameter；
Second sensing equipment, for acquiring the first absolute pose information and the second absolute pose information respectively；Described first
Absolute pose information is the absolute pose information of the pedestal, and the second absolute pose information is the exhausted of the target joint arm
To posture information；
Wherein, the processing equipment is also used to according to the first absolute pose information and the second absolute pose information
The second posture information is obtained, and first posture information and second posture information are used to characterize the target joint arm
With the posture relationship relative to the pedestal；And
The processing equipment is also used to judge described first according to first posture information and second posture information
The working condition of sensing equipment.
In the above-mentioned Installation practice for sensing equipment working state in detection mechanical arm, it is located at for for acquiring
First sensing equipment of the absolute status parameter in each joint between target joint arm and pedestal, by being based on first sensing equipment
Absolute status parameter collected obtains the first posture information, at the same can be acquired respectively based on other sensing equipments pedestal and
The absolute pose information of target joint arm, and the absolute pose information of the absolute pose information based on the pedestal and target joint arm
The second posture information is obtained, since the first posture information and the second posture information are used equally between target joint arm and pedestal
Relative attitude relationship, so judge that the first above-mentioned sensing equipment is collected based on the first posture information and the second posture information
Whether data are accurate, and then can find whether sensing equipment is in abnormal operation in booting, and testing result is
No mistake detects to obtain inaccurately to avoid sensing equipment during the work time, or even the state parameter of mistake, and then ensures machine
The end of tool arm it is anticipated that track moves so that the operation instrument that mechanical arm tail end is set will not collide or stab in it is non-
Target area promotes the safety of medical robot, reduces the probability that safety accident occurs.
In an alternative embodiment, the target joint arm can be to connect positioned at cradle head distal end and with the distal end
Joint arm；For example, the joint arm that above-mentioned target joint arm can be connected by any cradle head distal end.
In an alternative embodiment, first sensing equipment includes absolute position encoder；
Wherein, it is provided on any cradle head between the target joint arm and the fixing end
At least one described absolute position encoder, and any absolute position encoder is used to acquisition and the absolute position encoder
The absolute status parameter of the corresponding cradle head of device.
In an alternative embodiment, the absolute position encoder includes absolute optical encoder, absolute magnetic coding
At least one of device and absolute rotary transformer encoder.
In an alternative embodiment, second sensing equipment includes at least:
First sensing unit is set on the pedestal, for acquiring the first absolute pose information；And
Second sensing unit is set on the target joint arm, for acquiring the second absolute pose information；
Wherein, first sensing unit and second sensing unit include the magnetic field sensor and water to cooperate
Sensor.
In an alternative embodiment, first sensing equipment includes absolute position encoder, and any described is turned
At least one described absolute position encoder is provided on movable joint, the absolute status for obtaining each cradle head is joined
Number；
Wherein, it is equipped with second sensing unit on the joint arm of each cradle head distal end connection, it is each to obtain
The second absolute pose information of cradle head；And
The processing equipment obtains the second of the joint arm of first posture information and the connection of each cradle head distal end
Posture information, and then detect the working condition of each absolute position encoder.
In an alternative embodiment, the working condition includes abnormal operation and normal operating conditions；It is described
Processing equipment can include:
Arithmetic element, for obtaining first posture information according to the absolute status parameter, absolutely according to described first
To the second posture information described in posture information and the second absolute pose acquisition of information, and calculate first posture information with
Difference between second posture information；
Storage unit is stored with preset threshold value；And
Judging unit, judges whether the difference is greater than the preset threshold value；
Wherein, when the difference is greater than the preset threshold value, the judging unit determines first sensing equipment
In the abnormal operation.
In an alternative embodiment, the arithmetic element can be based on Mechanical transmission test model, be calculated described
First posture information.
In an alternative embodiment, above-mentioned device may also include that
Warning device is connect with the judging unit；
Wherein, the judging unit determines to export after first sensing equipment is in the abnormal operation described different
The information of normal working condition issues warning message to the warning device to trigger the warning device.
In an alternative embodiment, the storage unit is also used to store the first absolute pose information, described
In second absolute pose information, first posture information, second posture information, the difference and the working condition
At least one.
In an alternative embodiment, present invention also provides equipment working state is sensed in a kind of detection mechanical arm
Method, the mechanical arm can have opposite free end and fixing end, and the fixing end is connected on pedestal, and the free end can
For attended operation instrument, the mechanical arm includes the first sensing equipment, multiple joints and the pass connected by the joint
Joint arm, the multiple joint include cradle head, first sensing equipment for acquire be located at target joint arm with it is described solid
The absolute status parameter of each cradle head between fixed end；The described method includes:
Obtain each rotation between target joint arm and the fixing end of the first sensing equipment acquisition
The absolute status parameter in joint；
The first posture information is obtained according to the absolute status parameter；
The first absolute pose information and the second absolute pose information are acquired respectively, and the first absolute pose information is described
The absolute pose information of pedestal, the second absolute pose information are the absolute pose information of the target joint arm；
According to the second posture information of the first absolute pose information and the second absolute pose acquisition of information, and it is described
First posture information and second posture information are used to the posture pass for characterizing the target joint arm relative to the pedestal
System；And
According to first posture information and second posture information, the work shape of first sensing equipment is judged
State.
In the above-mentioned embodiment of the method for sensing equipment working state in detection mechanical arm, it is located at for for acquiring
First sensing equipment of the absolute status parameter of cradle head between target joint arm and pedestal, by being set based on first sensing
Standby absolute status parameter collected obtains the first posture information, while can be closed based on the absolute pose information and target of pedestal
The second posture information of absolute pose acquisition of information of joint arm, since the first posture information and the second posture information are used equally for target
Relative attitude relationship between joint arm and pedestal, so above-mentioned is judged based on the first posture information and the second posture information
Whether one sensing equipment absolute status parameter collected is accurate, can determine whether first sensing equipment is in booting
Abnormal operation, testing result whether mistake, and then can effectively avoid sensing equipment during the work time detect to obtain it is not smart
Really, in addition mistake state parameter, so that it is guaranteed that the end of mechanical arm it is anticipated that track move so that setting mechanical arm end
The operation instrument at end will not collide or stab in nontarget area, promote the safety of medical robot, reduce safety accident
The probability of generation.
In an alternative embodiment, the target joint arm can be connected by the distal end of any cradle head
Joint arm.
In an alternative embodiment, described the step of first posture information is obtained according to the absolute status parameter,
May include；
Based on Mechanical transmission test model, first posture information is calculated according to the absolute status parameter.
In an alternative embodiment, the working condition includes normal operating conditions and abnormal operation；It is described
According to first posture information and second posture information, the step of judging the working condition of first sensing equipment,
Can include:
Calculate the difference between first posture information and second posture information；
Judge whether the difference is greater than preset threshold value；
Wherein, if the difference is greater than preset threshold value, determine that first sensing equipment is in the abnormal work
State.
In an alternative embodiment, the method also includes:
When judging that the difference is greater than preset threshold value, warning message is issued；
Wherein, the warning message may include at least one in voice signal, light signal, vibration signal and picture signal
Kind.
In an alternative embodiment, present invention also provides a kind of mechanical arms, it may include:
Mechanical arm body, the mechanical arm body have free end and fixing end, and the fixing end is for being connected to pedestal
On, the free end is used for attended operation instrument；The mechanical arm body includes multiple joints and is connected by the joint
Joint arm, the multiple joint includes cradle head；
First sensing equipment, for acquiring each cradle head between target joint arm and the fixing end
Absolute status parameter；And
Device as described in above-mentioned any one.
In an alternative embodiment, the mechanical arm can be the flexible mechanical arm with redundancy.
In an alternative embodiment, present invention also provides a kind of medical robots, it may include:
Pedestal；
Operate instrument；And
Multiple such as above-mentioned mechanical arms on the base are set；
Wherein, the operation instrument is connect with the free end of the mechanical arm body, the pedestal and the mechanical arm sheet
The fixing end of body connects, and the operation instrument is surgical instrument or diagnostor.
Detailed description of the invention
Fig. 1 is that the working principle of the device of sensing equipment working state in detection mechanical arm in an optional embodiment is shown
It is intended to；
Fig. 2 is the working principle for sensing the device of equipment working state in another optional embodiment in detection mechanical arm
Schematic diagram；
Fig. 3 is the process signal for the method for sensing equipment working state in an optional embodiment in detection mechanical arm
Figure；
Fig. 4 is the idiographic flow schematic diagram of medical robot startup self-detection；
Fig. 5 is the schematic diagram of medical robot in an optional embodiment；
Fig. 6 is the structural schematic diagram of the patient end of medical robot shown in Fig. 5；
Fig. 7 is the structural schematic diagram of a mechanical arm of patient end shown in Fig. 6；
Fig. 8 is the concrete structure schematic diagram of a cradle head of mechanical arm shown in Fig. 7.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
The creative dress for proposing a kind of sensing equipment working state in detection mechanical arm in embodiments herein
It sets and method, mechanical arm and medical robot, it can be by based on the second posture information acquired in absolute pose information, coming pair
Working condition for obtaining the first sensing equipment of each cradle head absolute movement parameter of mechanical arm judged, i.e. base
The absolute movement parameter of the cradle head acquired in first sensing equipment can be obtained the first posture information, and by first appearance
State information is compared with the second above-mentioned posture information, and the operating status of the first sensing equipment is judged according to comparison result,
Reaching in turn can find whether the sensing equipment being arranged on the medical robot mechanical arm is located in medical robot booting
In abnormal operation, sensing equipment so can be timely and effectively avoided to collect the absolute rotation parameter of mistake, and then really
Protect the attitude motion of the distal end of mechanical arm desirably；For medical robot, it is especially able to carry out intervention surgical operation
Laparoscopic surgery robot, orthopedic robot, additionally it is possible to so that the operation instrument of mechanical arm tail end, which is arranged in, to collide
Or nontarget area in stamp reduces the probability that safety accident occurs to promote the safety of medical robot.
Fig. 1 is that the working principle of the device of sensing equipment working state in detection mechanical arm in an optional embodiment is shown
It is intended to.A kind of device that equipment working state is sensed in detection mechanical arm, above-mentioned mechanical arm may include as shown in Figure 1
There is the first sensing equipment 1, and above-mentioned device then may include the components such as processing equipment 2 and the second sensing equipment 3, above-mentioned processing
Equipment 2 can be connect with the first sensing equipment 1 and the second sensing equipment 3 respectively.Wherein, above-mentioned mechanical arm can have oneself opposite
By holding (i.e. end or distal end) and fixing end (i.e. proximal end), and the fixing end may connect on above-mentioned pedestal, to fix and prop up
Support mechanical arm is able to carry out the movement of multiple directions, and the various behaviour for disease treatment, diagnosis can be then connected on free end
Make instrument.Meanwhile may be provided at least one (such as one, two or four) above-mentioned mechanical arm on a pedestal, and
Each mechanical arm may each comprise above-mentioned the first sensing equipment 1, multiple joints and multiple joint arms, above-mentioned joint and joint arm
It is connected, and then constitutes the machine configurations of mechanical arm；It wherein, may include having cradle head in above-mentioned multiple joints.Above-mentioned
First sensing equipment can be used for acquiring the absolute shape of each cradle head between target joint arm and the fixing end
State parameter.In the embodiment of the present invention, above-mentioned fixing end movable is connected to or is fixedly connected on the pedestal.
In an alternative embodiment, as shown in Figure 1, the first above-mentioned sensing equipment 1 can be used on collection machinery arm,
The absolute status parameter of each cradle head between target joint arm and fixing end, and processing equipment 2 then can be used for receiving
The absolute status parameter of above-mentioned each cradle head, and can according to the absolute status parameter of received each cradle head obtain the
One posture information.Second sensing equipment 3 can be used for acquiring the first absolute pose information and the second absolute pose information, and handles and set
Standby 2 can also be used to receive above-mentioned the first absolute pose information and the second absolute pose information, and can be according to the first absolute appearance
State information and second the second posture information of absolute pose acquisition of information；The first above-mentioned absolute pose information is the absolute appearance of pedestal
State information, the second absolute pose information is the absolute pose information of the target joint arm of mechanical arm, and first posture information
It is used equally for characterizing posture relationship of the target joint arm relative to the pedestal with second posture information.Wherein, locate
Reason equipment 2 can also be used according to above-mentioned the first posture information and the second posture information, to judge the work of the first sensing equipment 1
State.
It should be noted that " absolute status parameter " can be used for characterizing each component of mechanical arm in embodiments herein
(such as joint, target joint arm) current movement change amount relative to permanent datum (such as initialization points).For example, rotation
" the absolute status parameter " in joint is the absolute rotation angle of cradle head, position when referring to relative to mechanical arm initialization,
The angle of cradle head rotation.It is sat in addition, " absolute pose " then can be used for characterizing target joint arm and pedestal relative to the earth
Posture under mark system.
In the embodiment for sensing the device of equipment working state in above-mentioned detection mechanical arm, by being set using the second sensing
Standby to obtain the absolute pose information based on pedestal and mechanical arm target joint arm, to obtain the second posture information, and can be based on should
Second posture information judges the working condition of the first sensing equipment for obtaining the first posture information, so can effectively and
When learn whether first sensing equipment is in abnormal operation in booting, so as to avoid during the work time this
One sensing equipment detects to obtain the absolute status parameter of mistake, so that the end of mechanical arm being capable of posture fortune desirably
It is dynamic so that the operation instrument that mechanical arm tail end is set will not collide or stab in nontarget area, medical treatment is effectively reduced
The probability that robot security's accident occurs.
In embodiments of the present invention, " the target joint arm " is not particularly limited, can be come according to actual needs
Setting can be the joint arm that the cradle head distal end nearest apart from pedestal is connected, be also possible to turn farthest apart from pedestal
The joint arm that movable joint distal end is connected, or appoint from the cradle head nearest apart from pedestal between farthest cradle head
The joint arm that one cradle head distal end is connected all can be used as target joint arm.And for any joint, it generally can be by position
In joint distal end and the joint arm that connect with the joint is as above-mentioned target joint arm.
Fig. 2 is the working principle for sensing the device of equipment working state in another optional embodiment in detection mechanical arm
Schematic diagram.As shown in Fig. 1~2, in an alternative embodiment, above-mentioned mechanical arm may include multiple joints and joint
Arm, the joint may include having at least one cradle head.In some alternate embodiments, the joint also may include movement
Joint.The first above-mentioned sensing equipment 1 may include absolute position encoder 11, and the absolute position encoder 11 can be set with processing
Standby 2 communication connection, and may be provided at least one on all cradle heads between target joint arm and fixing end
Above-mentioned absolute position encoder 11, with the absolute status parameter for acquiring each cradle head.As shown in Fig. 1~2, at one
In optional embodiment, above-mentioned absolute position encoder 11 can be absolute optical encoder, absolute magnetic coder and absolutely rotation
Change at least one of depressor encoder etc..
As shown in Fig. 1~2, in an alternative embodiment, the working condition of above-mentioned first sensing equipment 1 may include different
Normal working condition and normal operating conditions, and processing equipment 2 then may include arithmetic element 20, storage unit 23 and judging unit 24
Deng, judging unit 24 can be connect with arithmetic element 20 and storage unit 23 respectively, and arithmetic element 20 can also respectively with absolute position
Encoder 11 and the connection of the second sensing equipment 3 are set, for receiving and obtaining above-mentioned the according to the rotation angle of each joint arm
One posture information, and can be used for being believed according to the first absolute pose information collected of the second sensing equipment 3 and the second absolute pose
Breath obtains the second posture information, can be stored with preset threshold value in the storage unit 23；Judging unit 24 then can be used for calculating
Difference between first posture information and the second posture information, and preset threshold range in storage unit 23 is transferred, and can
Judge whether above-mentioned difference is greater than above-mentioned preset threshold value.If the difference between above-mentioned first posture information and the second posture information
When greater than above-mentioned preset threshold value, judging unit 24 can determine that first sensing equipment is in abnormal operation, simultaneously also
It can be based on data such as above-mentioned various information output abnormality working conditions reports；Otherwise, which determines described first
Sensing equipment is in normal operating conditions, and the relevant data information of exportable normal operating conditions, can also be without any behaviour
Make.The preset threshold value can be required according to specific mechanical arm configuration, the precision of sensing equipment and operation to set, this
Inventive embodiments do not do specific restriction to this.
As shown in Fig. 1~2, in an alternative embodiment, arithmetic element 20 can be based on Mechanical transmission test model, root
The first above-mentioned posture information is calculated according to the absolute status parameter of above-mentioned each cradle head.For example, above-mentioned arithmetic element
20 can also obtain the first posture information using D-H method according to the absolute status parameter of each cradle head.In the present embodiment,
Above-mentioned mechanical arm can be the structure that cradle head and joint arm are sequentially connected and are formed, and can be sensed and be set according to above-mentioned first
Standby 1 absolute status parameter collected obtains the first posture information.In some other embodiment, the mechanical arm can also be wrapped
Linear joint is included, but since the absolute status parameter (i.e. absolute displacement) of linear joint only will affect the position of target joint arm
It sets, therefore, the target that still can be obtained using the absolute status parameter of each cradle head according to Mechanical transmission test model
The posture of joint arm.
As shown in Fig. 1~2, in an alternative embodiment, the second above-mentioned sensing equipment 3 may include the first sensing list
Member 31 and second sensing unit 32, and first sensing unit 31 and the second sensing unit 32 can respectively with above-mentioned arithmetic element
20 connections；First sensing unit 31 can be fixed on pedestal, with for acquiring above-mentioned first absolute pose information, and second
Sensing unit 32 can be then fixed on the target joint arm of mechanical arm, for acquiring the second absolute pose information.
As an optional embodiment, the first above-mentioned sensing unit 31 and the second sensing unit 32 may each comprise the magnetic of collaborative work
Field sensor and horizon sensor, for acquiring and obtaining corresponding absolute pose information.It will be understood by those skilled in the art that
Second sensing equipment 3 can also include more sensing units, be located at target joint arm between fixing end for detecting
The first sensing equipment 1 whether be in abnormality.For example, each absolute position encoder of mechanical arm in detection above-described embodiment
Whether device 11 is in abnormality, then a sensing unit can be arranged on the joint arm of each cradle head distal end, every to obtain
Second posture information of a joint arm, and then successively detected since the absolute position encoder 11 nearest apart from fixing end, directly
To the absolute position encoder 11 of distalmost end.
As shown in Fig. 1~2, in an alternative embodiment, equipment running status is sensed on above-mentioned monitoring mechanical arm
Device may also include warning device 4, which can connect with judging unit 24, i.e., the judging unit 24 is judging
The working condition of one sensing equipment 1 is the information of exportable above-mentioned abnormal operation to the alarm after abnormal operation
Equipment 4 issues corresponding information warning to trigger the warning device 4.For example, when judging unit 24 judges the first sensing equipment
1 be in abnormal operation when, can trigger warning device 4 make a sound signal, light signal, vibration signal and/or image letter
Number equal warning messages, prompt watchful effect to play.In addition, when judging unit 24 judges the work of the first sensing equipment 1
When state is normal operating conditions, normal condition can also be issued by warning device 4 and indicate information.For example, judging the first equipment 1
When abnormal, triggering warning device 4 issues red light, and when the first equipment 1 is normal, triggering warning device 4 issues green light
Light carries out real-time display with the current working status of the first equipment 1.
As shown in Fig. 1~2, in an alternative embodiment, equipment running status is sensed on above-mentioned monitoring mechanical arm
Device may also include memory, which can be above-mentioned storage unit 23, can also be the storage medium being in addition separately provided,
And the memory can be connect with above-mentioned each unit and equipment respectively, such as the first absolute pose information, for storage
Two absolute pose information, the first posture information, the second posture information, abnormal operation report, the first posture information and second
Relevant informations and the data such as the working condition of difference and the first sensing equipment between posture information, in order to follow-up maintenance or
Other equipment are called and check.
Fig. 3 is the process signal for the method for sensing equipment working state in an optional embodiment in detection mechanical arm
Figure.As shown in figure 3, a kind of method that equipment working state is sensed in detection mechanical arm is additionally provided in embodiments herein,
The fixing end that the mechanical arm can have the free end for attended operation instrument and be connected on pedestal, and the mechanical arm may include
First sensing equipment, multiple joints and by the sequentially connected joint arm in multiple joint, and can in above-mentioned multiple joints
It include cradle head, and the joint arm of any cradle head distal end can be used as target joint arm, the first sensing equipment then may be used
For acquiring the absolute status parameter of each cradle head between target joint arm and fixing end.Illustrated in the application
Embodiment of the method in combination with the base for the Installation practice for sensing equipment working state in any one above-mentioned detection mechanical arm
On plinth, following steps are carried out for either objective joint arm, i.e., above-mentioned method is specific can include:
Step S10 obtains each cradle head between target joint arm and fixing end of the first sensing equipment acquisition
Absolute status parameter.
Step S20 obtains the first posture letter according to the absolute status parameter of each cradle head collected in step S10
Breath.
Step S30 acquires the first absolute pose information and the second absolute pose information respectively；First absolute pose information is
The absolute pose information of pedestal, the second absolute pose information are the absolute pose information of target joint arm.
Step S40, according to the first absolute pose information collected in step S30 and the second absolute pose acquisition of information
Two posture informations；Above-mentioned the first posture information and the second posture information can be for indicate target joint arm phase on mechanical arm
To the posture relationship of pedestal.
Step S50, according to the second posture acquired in the first posture information and step S40 acquired in step S20
Information judges the working condition of above-mentioned first sensing equipment；Wherein, the working condition of first sensing equipment may include normal work
Make state and abnormal operation.
For example, the difference between above-mentioned first posture information and the second posture information can be calculated first, then judge that the difference is
It is no to be greater than default threshold value, and when the difference is greater than preset threshold value, then it can determine that the first sensing equipment is in abnormal work
Make state；Otherwise, it can do nothing, also exportable first sensing equipment is in the relevent information of normal operating conditions.
In an alternative embodiment, when judging that above-mentioned first sensing equipment is in abnormal operation, may be used also
It triggers warning device and issues the warning messages such as voice signal, light signal, vibration signal and/or picture signal.
It should be noted that the sequence between above-mentioned steps S10~S20 and step S30~S40 can overturn, it can also be same
Shi Jinhang specifically can specifically be arranged according to practical situation.
In the embodiment for sensing the method for equipment running status on above-mentioned monitoring mechanical arm, by being believed using absolute pose
The second acquired posture information of breath, sentences the working condition of the first sensing equipment for obtaining the first posture information
It is disconnected, it can find whether the first sensing equipment collects the absolute status parameter of mistake in booting, and then with effective
It avoids because the absolute status parameter of mistake causes mechanical arm by the manipulation of mistake, while also achieving to the first sensing equipment work
Make the detection of state.
As shown in figure 3, in an alternative embodiment, Mechanical transmission test model can be then based in step S20, according to
The rotation angle of above-mentioned each joint arm and the D-H parameter of the mechanical arm calculate the first above-mentioned posture information.
In another alternative embodiment, the first above-mentioned sensing equipment may include absolute position encoder, and this is absolutely
Position coder 11 and processing equipment 2 are communicated to connect.Absolute position encoder is absolute optical encoder, absolute magnetic coder
At least one of with absolute rotary transformer encoder etc..
In an alternative embodiment, present invention also provides a kind of mechanical arms (reference can be made to figure knot shown in Fig. 7
Structure), it may include in the detection mechanical arm illustrated in mechanical arm body, the first sensing equipment and any one above-mentioned embodiment
The device of sensing equipment working condition；Above-mentioned mechanical arm body can have free end and fixing end；Meanwhile the mechanical arm body
Fixing end can be used for being connected on pedestal, and the free end of mechanical arm body then can be used for attended operation instrument.Wherein, above-mentioned
Mechanical arm body may include multiple joints and multiple joint arms, i.e., above-mentioned multiple joints are connected with multiple joint arms,
And then the machine configurations of mechanical arm are constituted, and then may include having cradle head, and above-mentioned first passes in above-mentioned multiple joints
Sense equipment can be used for acquiring the absolute status parameter of each cradle head between target joint arm and the fixing end of mechanical arm,
It is collected based on institute and using the device for sensing equipment working state in the detection mechanical arm illustrated in above-described embodiment
The working condition of above-mentioned absolute status parameter, detects the working condition of first sensing equipment.It is optional real at one
It applies in example, above-mentioned mechanical arm can be the flexible mechanical arm with redundancy, i.e. joint number is greater than required number of degrees of freedom,
Flexible mechanical arm.
In another alternative embodiment, present invention also provides a kind of medical robots (reference can be made to shown in Figures 5 and 6
Structure), specifically may include pedestal, the mechanical arm that is illustrated in operation instrument and above-described embodiment, and the fixation of the mechanical arm
End can be used for being connected on pedestal, and the free end of the mechanical arm then can be used for connecting with above-mentioned operation instrument, for controlling
It makes the operation instrument and the operation such as is diagnosed or treated.Wherein, above-mentioned operation instrument can be in surgical instrument and diagnostor
At least one；For example, being directed to any one mechanical arm, the operation instrument connecting with this mechanical arm free end can be surgical device
Tool or diagnostor.It should be noted that surgical instrument, diagnostor etc., there is no special limits in the embodiment of the present invention
System, such as surgical instrument can be scalpel, electric hook, surgical clamp etc., and diagnostor then can be laparoscope, thoracoscope etc..
Fig. 4 is the idiographic flow schematic diagram of medical robot startup self-detection.As shown in figure 4, the medical robot is going out
Threshold k is provided with when factory.After medical robot powers on booting, which can be read threshold k, subsequently into self-test.Its
In, process of self-test may include the detection to equipment working state is sensed on mechanical arm.Absolute position encoder can read
After value, posture information (i.e. first appearance of the target joint arm relative to pedestal on mechanical arm is calculated based on Mechanical transmission test model
State information)；Meanwhile after the value for reading two groups of attitude transducers, target joint arm is calculated relative to pedestal using making the difference
Posture information (i.e. the second posture information)；Wherein, two posture information (i.e. the first posture informations and second that above-mentioned calculating obtains
Posture information) it can be used to characterize posture information of the target joint arm relative to pedestal.Finally, calculating two posture letters
After difference between breath, judge whether the difference is greater than the threshold k of above-mentioned setting.For example, if difference is greater than the threshold of above-mentioned setting
Value K then can determine that the current mechanical arm is in abnormal operation, and medical robot enters malfunction；Otherwise, it can determine that this
Mechanical arm is currently at normal condition, and medical robot can enter normal mode of operation or continue to complete the inspection of other equipment
It surveys.
It is right using the joint arm of the end (i.e. free end) of mechanical arm as target joint arm below just with specific example
The device and method of sensing equipment is described in detail in detection mechanical arm in the application:
Fig. 5 is the schematic diagram of medical robot in an optional embodiment, and Fig. 6 is medical robot shown in Fig. 5
The structural schematic diagram of patient end, Fig. 7 are the structural schematic diagram of a mechanical arm of patient end shown in Fig. 6, and Fig. 8 is institute in Fig. 7
Show the concrete structure schematic diagram of a cradle head of mechanical arm.As shown in figures 5-8, the artificial remote control of the medical machine
Operating robot, including doctor terminal 10 and patient end 20, i.e. doctor can be manipulated by doctor terminal 10 patient end 20 to patient into
The operation (shown in Figure 5) such as row treatment or diagnosis.
Referring to shown in Fig. 6~7, patient end 20 may include pedestal 201, multiple mechanical arms 202 for being arranged on pedestal 201,
The operation instrument being connected with mechanical arm 202.For any one mechanical arm 202, one end (i.e. fixing end) of the mechanical arm 202 is solid
It is scheduled on pedestal 201, and the other end (i.e. free end or end) is then connect with above-mentioned operation instrument.Above-mentioned operation instrument can
Diagnostor (such as laparoscope or thoracoscope) 203 or surgical instrument (such as electric hook, surgical clamp) 204 are thought, for hospital bed
The patient 206 carried on 205 treats or diagnoses.
Meanwhile as shown in figs. 6-7, any mechanical arm 202 may include mechanical arm body and absolute position sensing device 404,
The mechanical arm body includes multiple cradle heads 304 and multiple joint arms 305, and logical between adjacent cradle head 304
It crosses joint arm 305 to be attached, forms the series connection machine configurations of chain type.For example, as shown in fig. 7, pedestal 201 may include pedestal
301 and the column 302 that is fixed on pedestal 301, one end (i.e. fixing end) of above-mentioned mechanical arm body consolidated by a joint arm 305
It is scheduled on column 302, and the other end (i.e. free end) is then connected to surgical instrument 204, in order to carry out such as intervening surgery hand
The treatments such as art or diagnostic operation.
In one embodiment, as shown in figure 8, above-mentioned any mechanical arm 202 may also include driving device 401, subtract
Speed variator 402 and absolute position sensing device 404.Deceleration device 402 may include be sheathed on 401 output shaft of driving device first
Runner 405, the second runner 406 and transmission device 403 for being sheathed on 304 rotation axis of cradle head, the absolute position sensing
Device 404 is also sheathed in 304 rotation axis of cradle head.The driving device 401 can be driven by the deceleration device 402 to be turned
304 rotation axis of movable joint, the absolute position sensing device 404 can acquire the absolute status parameter of the cradle head 30 in real time.
Wherein, which can be absolute optical encoder, absolute magnetic coder, absolutely rotation transformation encoder
And rotational potentiometer etc..
Referring to shown in Fig. 5~8, when above-mentioned operating robot performs the operation to patient, especially carries out intervention operation,
Since operating space is narrow, it is desirable to the mechanical arm of operating robot accuracy with higher and operation stability, and in reality
In the operating process of border, generally by sensing equipment (such as absolute position sensing device being arranged on each joint of mechanical arm
404) the absolute status information acquired carries out the acquisition of terminal angle information, is precisely manipulated；But above-mentioned sensing equipment
There are the factors of lot of unstable, for example, when operating robot power-off after re-power before, some mechanical arms are misused, close
The absolute pose state parameter of section produces variation, and these variations are not detected by absolute position encoder, so booting
Absolute position encoder will detect that the absolute status parameter of mistake afterwards, can not then obtain the accurate posture letter of mechanical arm
Breath, so as to cause mechanical arm distal end can not it is anticipated that track movement, so as to cause operation instrument can stab in non-target area
Domain in turn results in malpractice.
It, can be in mechanical arm 202 for that can be detected in booting to the sensing equipment on mechanical arm as shown in Fig. 7~8
One group is respectively set on the joint arm 305 and column 302 of end for acquiring the attitude transducer 303 of absolute pose information, and
Every group of attitude transducer 303 may each comprise being capable of co-operating earth magnetic sensor and horizon sensor.Meanwhile the operation
It may also include processing equipment in robot, which can be the general procedure in control system in traditional operation robot
Device can also be the processor being separately provided, as long as can be according to above-mentioned absolute position sensing device 404 absolute shape collected
State parameter, and obtain based on Mechanical transmission test model the posture information of mechanical arm tail end joint arm.Wherein, above-mentioned
The adoptable Mechanical transmission test model of processing equipment:
Wherein,For posture relationship (of the end joint arm relative to pedestal 301 (or column 302) of Current mechanical arm
One posture information), Rz(θm) be mechanical arm m-th of rotary joint rotation operator, m is the serial number of cradle head, and m >=1.
In an alternative embodiment, it is previously stored with threshold k in above-mentioned medical robot, which can root
It is required according to specific mechanical arm configuration, the precision of sensing equipment and operation to set.Above-mentioned difference is greater than threshold k and then illustrates
Centainly there is one operation irregularity has occurred in absolute position sensing device 404 and attitude transducer 303, and in practical applications,
Attitude transducer 303 can be obtained posture information of the target joint arm of Current mechanical arm relative to pedestal when due to booting, absolutely
Occur the detection data of mistake when being easy during power-off to position sensing device 404 and receive interference and cause to be switched on, so on
The threshold k stated can be used for determining whether be abnormal work when absolute position sensing device 404 re-powers after robot power-off
Make state.
As shown in Fig. 7~8, in an alternative embodiment, it can be passed by reading absolute position in each cradle head
The data collected of induction device 404 can calculate the end joint arm of mechanical arm relative to column 302 using D-H method
Posture information.Wherein, above-mentioned processing equipment can be by using formula: θm=(Cnt (n)-Cnt (Zero))/resolution
× 360 calculate the current absolute status parameter of each cradle head 304, wherein θmFor the absolute status of m-th of cradle head
Parameter (i.e. absolute rotation angle)；Cnt (n) is m-th of cradle head under current location, absolute position sensing device 404
Measured value, resolution is the resolution ratio of the every circle of absolute position encoder, when Cnt (Zero) is that current joint arm initializes,
The measured value of absolute position sensing device 404, m are the serial number of cradle head, and m >=1.
As shown in Fig. 7~8, in an alternative embodiment, processing equipment is reading setting in column 302 and mechanical arm
After the numerical value of attitude transducer 303 on the joint arm of end, that is, read in each attitude transducer 303 earth magnetic sensor and
The numerical value of horizon sensor calculates and obtains the posture information of mechanical arm tail end joint arm (i.e. target joint arm) with respect to column 302
(i.e. the second posture information).Specifically, processing equipment receives the measured value R of attitude transducer on column 302CWith mechanical arm end
Hold the measured value R of attitude transducer on joint armXAfterwards, subtracted each other, to obtain mechanical arm tail end relative to the opposite of column 302
Posture informationI.e.Posture information (of the mechanical arm tail end joint arm relative to pedestal is calculated
Two posture informations).
It, in an alternative embodiment, can be by by above-mentioned relative attitude information as shown in Fig. 7~8(second
Posture information) with the end of Current mechanical arm for the posture relationship of column 302(the first posture information) is subtracted each other, with
Difference D is obtained, i.e.,And continue to judge the size relation between difference D and above-mentioned set threshold k, with
Judge above-mentioned absolute position sensing device 404 whether in normal working condition, it may be assumed that
As D > K, then it can determine whether that absolute position sensing device 404 is in abnormal operation at this time, and then can trigger report
Alert equipment is alarmed, while also be can trigger mechanical arm and being stopped working, and is reminding operator that the same of working condition exception occurs
When, avoid mechanical arm maloperation；
As D≤K, then it can determine whether that absolute position sensing device 404 is in normal operating conditions at this time, it can be without any
Operation can also prompt operator for warning lamp is shown in green, the situation without exception of current absolute location sensing device 404,
It can also prompt to enter other states simultaneously.
For example, operating robot can pass through language when judging that absolute position sensing device 404 is in normal operating conditions
The modes such as sound prompt, picture cues prompt operator, and can automatically into operating mode, or complete other equipment from
Inspection.
In an alternative embodiment, above-mentioned each equipment data collected, the calculating of each step, judging result and
The information etc. of abnormal operation can correspond to storage in memory, in order to it is subsequent safeguarded, analyzed and verified etc. grasp
Make.
In the above-described embodiment, in the mountable earth magnetic sensor of end joint arm and water of column and mechanical arm
Sensor calculates relative attitude relationship of the end joint arm relative to column of mechanical arm, while being passed by absolute position
Sensor obtains the absolute status parameter of each cradle head of mechanical arm, and the end of calculating machine arm is relative to the opposite of column again
Posture relationship, processing equipment is by comparing calculated relative attitude relationship twice, to judge above-mentioned absolute position sensing
Whether device is in normal operating conditions.
Since medical robot especially intervenes laparoscopic surgery robot, the orthopedic robot of surgical operation, operation is empty
Between it is small, operation precision is high, this is needed, and using sensing equipments such as encoder and/or potentiometers, to obtain mechanical arm each come real-time
The state parameter in joint, and corresponding driving equipment is controlled to drive mechanical arm and operator according to acquired state parameter
Tool reaches desired posture.Therefore, sensing equipment to the state parameter in each joint detect whether it is accurate particularly significant.It is above-mentioned
A kind of device and method, mechanical arm and medical treatment sensing equipment working state in detection mechanical arm provided in embodiment
Robot, it can be achieved that booting when the operating status of sensing equipment can be detected, avoid sensing equipment from breaking down and make
At the state parameter inaccuracy of acquired mechanical arm, even full of prunes state parameter can effectively be evaded because of mistake
Mechanical arm state parameter, and cause mechanical arm distal end (i.e. free end) can not it is anticipated that track move, reach expectation
Posture, thus avoid the operation instrument for causing to be arranged in mechanical arm tail end collide or stamp in nontarget area and cause therapeutic machine
The safety accident of device people.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (18)
1. a kind of device for sensing equipment working state in detection mechanical arm, which is characterized in that the mechanical arm has certainly
By end and fixing end, the fixing end is used for attended operation instrument for being connected to pedestal, the free end；The mechanical arm
Including the first sensing equipment, multiple joints and the joint arm connected by the joint, the multiple joint includes that rotation is closed
Section, first sensing equipment are used to acquire the exhausted of each cradle head between target joint arm and the fixing end
To state parameter；Described device includes:
Processing equipment, for obtaining the first posture information according to the absolute status parameter；And
Second sensing equipment, for acquiring the first absolute pose information and the second absolute pose information respectively；Described first absolutely
Posture information is the absolute pose information of the pedestal, and the second absolute pose information is the absolute appearance of the target joint arm
State information；
Wherein, the processing equipment is also used to according to the first absolute pose information and the second absolute pose acquisition of information
Second posture information, and first posture information and second posture information be used to characterize the target joint arm it is opposite
In the posture relationship of the pedestal；And
The processing equipment is also used to judge first sensing according to first posture information and second posture information
The working condition of equipment.
2. device as described in claim 1, which is characterized in that the target joint arm is any cradle head distal end institute
The joint arm of connection.
3. device as described in claim 1, which is characterized in that first sensing equipment includes absolute position encoder；
Wherein, it is provided at least on any cradle head between the target joint arm and the fixing end
One absolute position encoder, and any absolute position encoder is used to acquisition and the absolute position encoder pair
The absolute status parameter of the cradle head answered.
4. device as claimed in claim 3, which is characterized in that the absolute position encoder include absolute optical encoder,
Absolute at least one of magnetic coder and absolute rotary transformer encoder.
5. device as described in claim 1, which is characterized in that second sensing equipment includes at least:
First sensing unit is set on the pedestal, for acquiring the first absolute pose information；And
Second sensing unit is set on the target joint arm, for acquiring the second absolute pose information；
Wherein, first sensing unit and second sensing unit include the magnetic field sensor to cooperate and horizontal biography
Sensor.
6. device as claimed in claim 5, which is characterized in that first sensing equipment includes absolute position encoder, and
At least one described absolute position encoder is provided on any cradle head, for obtaining each cradle head
Absolute status parameter；
Wherein, it is equipped with second sensing unit on the joint arm of each cradle head distal end connection, to obtain each rotation
The second absolute pose information in joint；And
The processing equipment obtains the second posture of the joint arm of first posture information and the connection of each cradle head distal end
Information, and then detect the working condition of each absolute position encoder.
7. device as described in claim 1, which is characterized in that the working condition includes abnormal operation and normal work
State；The processing equipment includes:
Arithmetic element, for obtaining first posture information according to the absolute status parameter, according to the described first absolute appearance
Second posture information described in state information and the second absolute pose acquisition of information, and calculate first posture information with it is described
Difference between second posture information；
Storage unit is stored with preset threshold value；And
Judging unit, judges whether the difference is greater than the preset threshold value；
Wherein, when the difference is greater than the preset threshold value, the judging unit determines that first sensing equipment is in
The abnormal operation.
8. device as claimed in claim 7, which is characterized in that the arithmetic element is based on Mechanical transmission test model, calculates
Obtain first posture information.
9. device as claimed in claim 7, which is characterized in that further include:
Warning device is connect with the judging unit；
Wherein, after the judging unit determines that first sensing equipment is in the abnormal operation, the exception is exported
The information of working condition issues warning message to the warning device to trigger the warning device.
10. device as claimed in claim 7, which is characterized in that the storage unit is also used to store the described first absolute appearance
State information, the second absolute pose information, first posture information, second posture information, the difference and described
At least one of working condition.
11. sensing the method for equipment working state in a kind of detection mechanical arm, which is characterized in that the mechanical arm has free end
And fixing end, the fixing end are connected on pedestal, the free end is used for attended operation instrument, and the mechanical arm includes first
Sensing equipment, multiple joints and the joint arm connected by the joint, the multiple joint include cradle head, and described
One sensing equipment is used to acquire the absolute status ginseng of each cradle head between target joint arm and the fixing end
Number；The described method includes:
Obtain each cradle head between target joint arm and the fixing end of the first sensing equipment acquisition
Absolute status parameter；
The first posture information is obtained according to the absolute status parameter；
The first absolute pose information and the second absolute pose information are acquired respectively, and the first absolute pose information is the pedestal
Absolute pose information, the second absolute pose information be the target joint arm absolute pose information；
According to the second posture information of the first absolute pose information and the second absolute pose acquisition of information, and described first
Posture information and second posture information are used to characterize posture relationship of the target joint arm relative to the pedestal；With
And
According to first posture information and second posture information, the work shape of first sensing equipment is judged
State.
12. method as claimed in claim 11, which is characterized in that the target joint arm is company of any cradle head distal end institute
The joint arm connect.
13. method as claimed in claim 11, which is characterized in that described to obtain the first posture according to the absolute status parameter
The step of information, including；
Based on Mechanical transmission test model, first posture information is calculated according to the absolute status parameter.
14. method as claimed in claim 11, which is characterized in that the working condition includes normal operating conditions and abnormal work
Make state；It is described according to first posture information and second posture information, judge the work of first sensing equipment
The step of state, comprising:
Calculate the difference between first posture information and second posture information；
Judge whether the difference is greater than preset threshold value；
Wherein, if the difference is greater than preset threshold value, determine that first sensing equipment is in the abnormal operation.
15. method as claimed in claim 14, which is characterized in that the method also includes:
When determining that first sensing equipment is in the abnormal operation, warning message is issued；
Wherein, the warning message includes at least one of voice signal, light signal, vibration signal and picture signal.
16. a kind of mechanical arm characterized by comprising
Mechanical arm body, the mechanical arm body have free end and fixing end, and the fixing end is for being connected to pedestal, institute
Free end is stated for attended operation instrument；The mechanical arm body includes multiple joints and the joint that is connected by the joint
Arm, the multiple joint include cradle head；
First sensing equipment, for acquiring the absolute of each cradle head between target joint arm and the fixing end
State parameter；And
Device as described in any one of claim 1~10.
17. mechanical arm as claimed in claim 16, which is characterized in that the mechanical arm is the flexible mechanical with redundancy
Arm.
18. a kind of medical robot characterized by comprising
Pedestal；
Operate instrument；And
Multiple mechanical arms as described in claim 16 or 17 on the base are set；
Wherein, the operation instrument is connect with the free end of the mechanical arm body, the pedestal and the mechanical arm body
Fixing end connection, the operation instrument are surgical instrument or diagnostor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811069317.5A CN109109018B (en) | 2018-09-13 | 2018-09-13 | Device and method for detecting working state of sensing equipment on mechanical arm, mechanical arm and medical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811069317.5A CN109109018B (en) | 2018-09-13 | 2018-09-13 | Device and method for detecting working state of sensing equipment on mechanical arm, mechanical arm and medical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109109018A true CN109109018A (en) | 2019-01-01 |
| CN109109018B CN109109018B (en) | 2021-09-14 |
Family
ID=64859484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811069317.5A Active CN109109018B (en) | 2018-09-13 | 2018-09-13 | Device and method for detecting working state of sensing equipment on mechanical arm, mechanical arm and medical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109109018B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125985A (en) * | 2019-06-28 | 2019-08-16 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | A kind of chassis machine arm booting abnormality detection processing method, system and device |
| CN110587603A (en) * | 2019-09-05 | 2019-12-20 | 北京工业大学 | Pose self-induction joint module motion control system based on multi-sensor data fusion |
| CN111761576A (en) * | 2020-06-15 | 2020-10-13 | 上海高仙自动化科技发展有限公司 | Health monitoring method and system, intelligent robot and readable storage medium |
| CN112975949A (en) * | 2019-12-12 | 2021-06-18 | 精工爱普生株式会社 | Robot system and control method of robot system |
| WO2021249379A1 (en) * | 2020-06-10 | 2021-12-16 | 苏州艾利特机器人有限公司 | Industrial robot having improved safety control performance, and control method therefor |
| WO2022073289A1 (en) * | 2020-10-08 | 2022-04-14 | 深圳市精锋医疗科技有限公司 | Surgical robot, graphical control device thereof and graphical display method therefor |
| CN116509449A (en) * | 2023-07-03 | 2023-08-01 | 深圳华大智造云影医疗科技有限公司 | Pose information determining method and device of mechanical arm and electronic equipment |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10291182A (en) * | 1997-04-17 | 1998-11-04 | Yaskawa Electric Corp | Arm driving device |
| CN102341055A (en) * | 2008-12-31 | 2012-02-01 | 直观外科手术操作公司 | Fiducial marker design and detection for locating surgical instrument in images |
| WO2015135057A1 (en) * | 2014-03-14 | 2015-09-17 | Synaptive Medical (Barbados) Inc. | Intelligent positioning system and methods therefore |
| CN107007356A (en) * | 2017-05-18 | 2017-08-04 | 杭州翼兔网络科技有限公司 | A kind of medical remote control |
| GB2547182A (en) * | 2015-12-10 | 2017-08-16 | Cambridge Medical Robotics Ltd | Measuring robot performance |
| CN108210070A (en) * | 2017-12-29 | 2018-06-29 | 微创（上海）医疗机器人有限公司 | Mechanical arm and its method of work and operating robot |
| CN108289720A (en) * | 2015-11-27 | 2018-07-17 | 克瑞肖株式会社 | Identify the system and method for the position of plastic surgery operations label |
-
2018
- 2018-09-13 CN CN201811069317.5A patent/CN109109018B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10291182A (en) * | 1997-04-17 | 1998-11-04 | Yaskawa Electric Corp | Arm driving device |
| CN102341055A (en) * | 2008-12-31 | 2012-02-01 | 直观外科手术操作公司 | Fiducial marker design and detection for locating surgical instrument in images |
| WO2015135057A1 (en) * | 2014-03-14 | 2015-09-17 | Synaptive Medical (Barbados) Inc. | Intelligent positioning system and methods therefore |
| CN108289720A (en) * | 2015-11-27 | 2018-07-17 | 克瑞肖株式会社 | Identify the system and method for the position of plastic surgery operations label |
| GB2547182A (en) * | 2015-12-10 | 2017-08-16 | Cambridge Medical Robotics Ltd | Measuring robot performance |
| CN107007356A (en) * | 2017-05-18 | 2017-08-04 | 杭州翼兔网络科技有限公司 | A kind of medical remote control |
| CN108210070A (en) * | 2017-12-29 | 2018-06-29 | 微创（上海）医疗机器人有限公司 | Mechanical arm and its method of work and operating robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125985A (en) * | 2019-06-28 | 2019-08-16 | 国创新能源汽车能源与信息创新中心(江苏)有限公司 | A kind of chassis machine arm booting abnormality detection processing method, system and device |
| CN110587603A (en) * | 2019-09-05 | 2019-12-20 | 北京工业大学 | Pose self-induction joint module motion control system based on multi-sensor data fusion |
| CN112975949A (en) * | 2019-12-12 | 2021-06-18 | 精工爱普生株式会社 | Robot system and control method of robot system |
| CN112975949B (en) * | 2019-12-12 | 2024-01-16 | 精工爱普生株式会社 | Robot system and control method for robot system |
| WO2021249379A1 (en) * | 2020-06-10 | 2021-12-16 | 苏州艾利特机器人有限公司 | Industrial robot having improved safety control performance, and control method therefor |
| CN111761576A (en) * | 2020-06-15 | 2020-10-13 | 上海高仙自动化科技发展有限公司 | Health monitoring method and system, intelligent robot and readable storage medium |
| WO2022073289A1 (en) * | 2020-10-08 | 2022-04-14 | 深圳市精锋医疗科技有限公司 | Surgical robot, graphical control device thereof and graphical display method therefor |
| CN116509449A (en) * | 2023-07-03 | 2023-08-01 | 深圳华大智造云影医疗科技有限公司 | Pose information determining method and device of mechanical arm and electronic equipment |
| CN116509449B (en) * | 2023-07-03 | 2023-12-01 | 深圳华大智造云影医疗科技有限公司 | Pose information determining method and device of mechanical arm and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109109018B (en) | 2021-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109109018A (en) | Device and method, mechanical arm and the medical robot of equipment working state are sensed in detection mechanical arm | |
| US11737842B2 (en) | System and method for monitoring control points during reactive motion | |
| CN107072864B (en) | For being registrated to the system and method for operating table | |
| EP4074275A1 (en) | Navigation surgery system and registration method therefor, electronic device, and support apparatus | |
| US11690681B2 (en) | Method for bone registration and surgical robot | |
| KR20190015581A (en) | System and method for fault reaction mechanism of medical robotic system | |
| US20130342851A1 (en) | Method for gathering information relating to at least one object arranged on a patient positioning device in a medical imaging device and a medical imaging device for carrying out the method | |
| JP2017159027A (en) | Ultrasonograph and ultrasonic diagnosis support device | |
| CN109549774A (en) | A kind of minimally invasive executing agency suitable for eyeground micrurgy | |
| KR20070115630A (en) | Model-based correction of position measurements | |
| CN105361950A (en) | Computer-assisted puncture navigation system and computer-assisted puncture navigation method under infrared guidance | |
| CN108294825B (en) | Registration arrangement and method for surgical navigational | |
| US20200289227A1 (en) | Surgical robot system | |
| JP2019088781A (en) | Surgical robot system with retractor | |
| US20210282743A1 (en) | Puncture needle positioning system and method | |
| WO2022199296A1 (en) | Error elimination method and apparatus for surgical navigation robot, and electronic device | |
| WO2020159978A1 (en) | Camera control systems and methods for a computer-assisted surgical system | |
| JP7461379B2 (en) | Test unit for testing surgical robotic systems | |
| EP3698375A1 (en) | Method for acquiring and for altering a configuration of a number of objects in a procedure room and corresponding device | |
| US11179199B2 (en) | Aligning a cardiac model | |
| JP2001238894A (en) | Device for locating inserting instrument | |
| CN108670408A (en) | A kind of control method and device of interposing catheter | |
| CN104173106A (en) | C-arm X-ray image-based surgical navigation system | |
| US20230240558A1 (en) | Surgical site measurement, and camera calibration using fiducial markers on surgical tools | |
| CN114646457B (en) | Eye movement tracking accuracy testing method and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: Room 101, area B, building 1, No. 1601, Zhangdong Road, Pudong New Area pilot Free Trade Zone, Shanghai 200135 Applicant after: Shanghai minimally invasive medical robot (Group) Co.,Ltd. Address before: Room 101, area B, building 1, No. 1601, Zhangdong Road, Pudong New Area pilot Free Trade Zone, Shanghai 200135 Applicant before: Microport (Shanghai) Medbot Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |