CN111329591A - Craniotomy robot system with human-machine cooperation function - Google Patents
Craniotomy robot system with human-machine cooperation function Download PDFInfo
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- CN111329591A CN111329591A CN202010166794.4A CN202010166794A CN111329591A CN 111329591 A CN111329591 A CN 111329591A CN 202010166794 A CN202010166794 A CN 202010166794A CN 111329591 A CN111329591 A CN 111329591A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1613—Component parts
- A61B17/1626—Control means; Display units
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1695—Trepans or craniotomes, i.e. specially adapted for drilling thin bones such as the skull
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
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- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
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Abstract
The invention relates to a craniotomy robot system with a man-machine cooperation function, which comprises a man-machine cooperation controller, wherein the man-machine cooperation controller comprises an admittance control unit, a position control unit and a moment control unit; the input of the admittance control unit is an externally applied torque and the current angle position of the joint, and the admittance control unit is used for outputting the movement angle variation of the joint; the input of the position control unit is the joint movement angle variable quantity and is used for outputting joint movement speed; the input of the torque control unit is the joint movement speed and is used for generating joint motor torque; wherein the larger the externally applied torque, the larger the amount of change in the articulation angle generated by the admittance control unit. The invention ensures that an operator can freely drag the surgical robot to move in a working space.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a craniotomy robot system with a man-machine cooperation function.
Background
When a doctor performs a craniotomy again, the region between the skull and the meninges cannot be directly viewed, the doctor completely depends on the operation experience, meanwhile, the vibration of the hand inevitably causes errors of a milling track, and the meninges are easily damaged by improper operation to cause brain tissue damage. Therefore, when the craniotomy is performed, an experienced doctor is needed to perform the craniotomy operation, and the requirements on the doctor are high.
Surgical robots that are now commercialized are mostly used in laparoscopic surgery, neurosurgical stereotactic surgery, and joint replacement surgery. For example, the da vinci surgical robot is mainly used in laparoscopic surgery, the ROSA surgical robot is mainly used in cranial nerve surgery, and the MAKO surgical robot is mainly used in joint replacement surgery. Meanwhile, the force feedback function is not added in the surgical robot in the surgical process, so that a doctor can not directly sense the force by completely relying on own experience in the surgical process, and the risk of misoperation is easily caused.
The existing neurosurgical operation robot is operated to move to a set position through preoperative operation planning, so that the stereotactic operation is realized, and the robot moves in the whole process. The craniotomy robot has complex operation, needs to separate periosteum from skull in the operation, flexibly controls the robot by a doctor to perform tapping operation at a selected bone window position by hand, and needs to operate the robot in a man-machine cooperation mode. Therefore, in order to solve the technical problems of the robots and combine the technical characteristics of craniotomy, a craniotomy robot needs to be developed.
Disclosure of Invention
The invention aims to solve the technical problem of providing a craniotomy robot system with a man-machine cooperation function, and ensuring that an operator can freely drag a surgical robot to move in a working space.
The technical scheme adopted by the invention for solving the technical problems is as follows: the craniotomy robot system with the human-computer cooperation function comprises a human-computer cooperation controller, wherein the human-computer cooperation controller comprises an admittance control unit, a position control unit and a moment control unit; the input of the admittance control unit is an externally applied torque and the current angle position of the joint, and the admittance control unit is used for outputting the movement angle variation of the joint; the input of the position control unit is the joint movement angle variable quantity and is used for outputting joint movement speed; the input of the torque control unit is the joint movement speed and is used for generating joint motor torque; wherein the larger the externally applied torque, the larger the amount of change in the articulation angle generated by the admittance control unit.
The craniotomy robot system with the man-machine cooperation function further comprises a drilling safety protection controller, wherein the input of the drilling safety protection controller is the drilling force in the process of drilling/milling the skullDrill n +1-FDrill n< α and the robot stops the movement of the drilling direction when the depth of the drill hole reaches a predicted value H, wherein FDrill n +1Drilling force at time N +1, FDrill nAt time N, α is the threshold drilling force.
The craniotomy robot system with the man-machine cooperation function further comprises a surgery operation intention identification controller, wherein the input of the surgery operation intention identification controller is the operation force acquired by the actuator, when dF is less than 0, the robot is controlled to do acceleration motion along the track direction, when dF is more than 0, the robot is controlled to do deceleration motion along the track direction, wherein,
representing the operating force differential, FN +1 ofIndicating the operating force information at time N +1, FIn the case of NAnd the operation force information at the time N is shown, and the T is the unit acquisition cycle of the operation force.
The craniotomy robot system with the man-machine cooperation function further comprises a safety boundary controller, wherein the safety boundary controller is used for setting a robot motion space range in a non-operation area to ensure that the robot is freely dragged in a limited working space range, when the robot leaves the working range boundary and is smaller than a safety value, the robot is controlled to increase motion impedance, and when the robot reaches the boundary value, the robot is controlled to stop moving.
The craniotomy robot system with the man-machine cooperation function further comprises an anti-collision controller, wherein the input of the anti-collision controller is joint moment variation, and when external impact force suddenly occurs, the robot is controlled to stop moving.
The craniotomy robot system with the man-machine cooperation function further comprises an anti-shake controller, and the anti-shake controller is used for filtering hand shake information of an operator.
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: the invention can reduce the working strength of doctors in craniotomy operation; the safety boundary control can ensure that the electric drill at the tail end of the robot moves along the planned track before the operation, and the accurate bone window windowing operation can be realized; by adding force feedback control, accurate craniotomy drilling can be guaranteed without damaging periosteum. The anti-collision function can prevent harm caused by external impact and ensure the safety of the operation. The anti-trembling function of the robot can realize the stable operation of the robot, and the harm caused by trembling of hands is eliminated.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the human-machine cooperative controller of the present invention.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The embodiment of the invention relates to a craniotomy robot system with a man-machine cooperation function, which comprises a man-machine cooperation controller, a drilling safety protection controller, a surgery operation intention identification controller, a safety boundary controller, an anti-collision controller and an anti-shake controller.
In the embodiment, the robot cooperative control adopts admittance control to replace impedance control adopted in the traditional robot control, and the man-machine cooperative controller comprises an admittance control unit, a position control unit and a moment control unit; the input of the admittance control unit is an externally applied torque and the current angle position of the joint, and the admittance control unit is used for outputting the movement angle variation of the joint; the input of the position control unit is the joint movement angle variable quantity and is used for outputting joint movement speed; the input of the torque control unit is the joint movement speed, and the torque control unit is used for generating joint motor torque.
The principle of admittance control of the robot is shown in fig. 2, where admittance control unit Mq + Bq + Kq ═ τ is setextObtained by Laplace transform (Ms)2+ Bs + K) q(s) ═ t(s), the admittance function is:
or q(s) ═ Y(s) t(s), Δ q ═ Y Δ τ.
In FIG. 2,. tau.sIs robot joint moment; tau ismIs the torque of the joint motor; q is a joint movement angle; v is the joint movement velocity, G (q) is gravity compensation; m is the inertia coefficient of the admittance control unit; b is the damping coefficient of the admittance control unit; and K is the rigidity coefficient of the admittance control unit.
Measuring the moment tau of a joint by means of a moment sensor on the robot jointsExternally applied torque τextThe current joint angle position q is subjected to admittance control to obtain an input Δ q of the position controller, i.e., a joint angle variation, under admittance control, so as to reach a specified position. In admittance controlIn the method, the larger the external force is, the larger the generated delta q is, the faster the speed v response is, so that the relationship between the interaction force and the output speed is established by using admittance control, the defect that the impedance control cannot realize flexible control in the robot control is overcome, the speed change of the robot is adjusted in real time according to the change of the operation force at the tail end of the robot, and the realization of man-machine cooperative control is facilitated.
The method comprises the steps of utilizing the characteristics of dense bone and cancellous bone, needing larger drilling force when drilling the dense bone, and needing smaller drilling force when drilling the cancellous bone, so that an M deformation law of force can be formed in the drilling process, and realizing safety protection in the drilling process by setting a critical threshold α of the drilling force and predicting and controlling the drilling depth HDrill n +1-FDrill nIf < α and the depth of the drilled hole reaches a predicted value H (namely, the boundary range of the drilled hole of the robot is reached), the robot is controlled to stop moving downwards, so that the surgical robot is ensured not to move any more when the surgical robot drills through the skull, and the periosteum is prevented from being damagedDrill n +1Drilling force at time N +1, FDrill nAt time N, α is the threshold drilling force.
The operation intention identification is realized by using a method of fusing the operation force differential of the tail end of the actuator and the speed direction of the instrument, wherein the operation force is acquired by a six-dimensional force sensor arranged on the wrist of the tail end actuator. The operation intention recognition controller in the embodiment has the input of the operation force collected by the actuator, controls the robot to do acceleration motion along the track direction when dF is less than 0, controls the robot to do deceleration motion along the track direction when dF is more than 0, wherein,
representing the operating force differential, FN +1 ofIndicating the operating force information at time N +1, FIn the case of NWhen represents NThe operation force information of the moment, and T represents the unit acquisition cycle of the operation force. The operation intention identification controller can provide force assistance for a doctor in a track planning range, and ensures that the doctor can easily drag the robot to move along a planned craniotomy path. The surgical procedure can assist the operator in completing the surgery more easily and reduce error rate through the combination of vision and touch.
The safety boundary controller in the embodiment provides safety boundary control of the surgical robot, determines boundary safety control of surgery and determines a track motion error according to preoperative track planning, sets a robot motion space range in a non-surgical area to ensure that the robot is freely dragged in a limited working space range, controls the robot to increase motion impedance when the boundary of the robot away from the working range is smaller than a safety value, and controls the robot to stop moving when the boundary value is reached. And meanwhile, a gravity compensation function is provided, so that when a doctor stops dragging the robot, the robot can stop moving at any time and keep the posture unchanged, and unnecessary risks caused by mechanical arm droop can be avoided. The robot can realize accurate position location and provide the supplementary guide of orbit of operation helping hand according to planning the orbit in the operation region, makes the doctor operate the robot easily and mills the operation, sets for the orbit error range simultaneously, guarantees that the error is less than 1mm, then the robot can send the warning and stop the error direction simultaneously and remove when surpassing the orbit error range.
In order to prevent the injury of the patient caused by external accidental collision, the anti-collision controller of the embodiment detects the torque change through the torque sensors of the joints of the robot, and when external impact force suddenly occurs, the robot stops moving to prevent the injury of the patient. Simultaneously, this embodiment's anti-shake trembles controller can filter the shake of operator's hand, guarantees the accuracy of operation.
As can be easily found, the invention can reduce the working strength of doctors during craniotomy operation; the safety boundary control can ensure that the electric drill at the tail end of the robot moves along the planned track before the operation, and the accurate bone window windowing operation can be realized; by adding force feedback control, accurate craniotomy drilling can be guaranteed without damaging periosteum. The anti-collision function can prevent harm caused by external impact and ensure the safety of the operation. The anti-trembling function of the robot can realize the stable operation of the robot, and the harm caused by trembling of hands is eliminated.
Claims (6)
1. A craniotomy surgical robot system with a human-computer cooperation function comprises a human-computer cooperation controller, and is characterized in that the human-computer cooperation controller comprises an admittance control unit, a position control unit and a moment control unit; the input of the admittance control unit is an externally applied torque and the current angle position of the joint, and the admittance control unit is used for outputting the movement angle variation of the joint; the input of the position control unit is the joint movement angle variable quantity and is used for outputting joint movement speed; the input of the torque control unit is the joint movement speed and is used for generating joint motor torque; wherein the larger the externally applied torque, the larger the amount of change in the articulation angle generated by the admittance control unit.
2. The robotic craniotomy system with ergonomic functions of claim 1 further comprising a drilling safety controller, wherein the input to the drilling safety controller is the drilling force during drilling/milling of the skull, when ifDrill n +1-FDrill n(ii) α and stopping the movement of the drilling direction when the depth of the drill hole reaches a predicted value H, wherein FDrill n +1Drilling force at time N +1, FDrill nAt time N, α is the threshold drilling force.
3. The robotic surgery system for craniotomy with human-machine coordination according to claim 1, further comprising a surgical operation intention recognition controller, wherein the input of the surgical operation intention recognition controller is the operation force collected by the actuator, the robot is controlled to do acceleration motion along the track direction when dF is less than 0, and the robot is controlled to do deceleration motion along the track direction when dF is more than 0, wherein,
representing the operating force differential, FN +1 ofIndicating the operating force information at time N +1, FIn the case of NAnd the operation force information at the time N is shown, and the T is the unit acquisition cycle of the operation force.
4. The robotic craniotomy system with robotic synergy of claim 1 further comprising a safety margin controller for setting a robot motion space range in the non-surgical area to ensure that the robot drags freely within a defined working space range, controlling the robot to increase the motion impedance when the robot leaves the working range boundary and is less than a safety value, and controlling the robot to stop moving when the robot reaches the boundary value.
5. The robotic craniotomy system with the robot coordination function as claimed in claim 1, further comprising an anti-collision controller, wherein the input of the anti-collision controller is the variation of the joint moment, and when an external impact force is suddenly applied, the robot is controlled to stop moving.
6. The robotic assisted craniotomy system according to claim 1 further comprising an anti-tremor controller for filtering hand tremor information of the operator.
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| CN202010166794.4A CN111329591A (en) | 2020-03-11 | 2020-03-11 | Craniotomy robot system with human-machine cooperation function |
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| CN202010166794.4A CN111329591A (en) | 2020-03-11 | 2020-03-11 | Craniotomy robot system with human-machine cooperation function |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103976772A (en) * | 2014-05-27 | 2014-08-13 | 梁红所 | Bone drill capable of stopping rotating automatically |
| CN107928745A (en) * | 2017-12-08 | 2018-04-20 | 王文乐 | A kind of skull drilling device of neurosurgery |
| CN108430375A (en) * | 2015-11-11 | 2018-08-21 | 马科外科公司 | The method of robot system and the reverse drive system |
| CN108472028A (en) * | 2016-09-16 | 2018-08-31 | 威博外科公司 | Robots arm |
| WO2019074670A1 (en) * | 2017-10-10 | 2019-04-18 | Auris Health, Inc. | Surgical robotic arm admittance control |
-
2020
- 2020-03-11 CN CN202010166794.4A patent/CN111329591A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103976772A (en) * | 2014-05-27 | 2014-08-13 | 梁红所 | Bone drill capable of stopping rotating automatically |
| CN108430375A (en) * | 2015-11-11 | 2018-08-21 | 马科外科公司 | The method of robot system and the reverse drive system |
| CN108472028A (en) * | 2016-09-16 | 2018-08-31 | 威博外科公司 | Robots arm |
| WO2019074670A1 (en) * | 2017-10-10 | 2019-04-18 | Auris Health, Inc. | Surgical robotic arm admittance control |
| CN107928745A (en) * | 2017-12-08 | 2018-04-20 | 王文乐 | A kind of skull drilling device of neurosurgery |
Non-Patent Citations (1)
| Title |
|---|
| 湛月 等: "Craniotomy Robot System Based on Human-Machine Parallel Collaboration", 《PROCEEDINGS OF 2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION，AUGUST 7 - 10, HARBIN, CHINA》 * |
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