CN115990060A - Surgical robot slave-end operation device, pressure detection device and data processing method - Google Patents
Surgical robot slave-end operation device, pressure detection device and data processing method Download PDFInfo
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Abstract
The application provides a surgical robot slave end operation device, a pressure detection device and a data processing method, wherein the pressure detection device is applied to the surgical robot slave end operation device and comprises: the fixed frame is rigidly connected with the driving motor and comprises a first protruding connecting part; the movable frame comprises second connecting parts positioned at two sides of the first connecting part; the sensor assembly comprises a pressure sensor arranged between the first connecting part and the second connecting part and is used for detecting acting force between the movable frame and the fixed frame; the acceleration sensor is fixed on the movable frame and used for detecting the acceleration of the movable frame; and the micro-processing module is used for determining acting force acting on the movable frame based on the first detection result of the pressure sensor and the second detection result of the acceleration sensor. According to the method and the device, vibration noise in the pressure acquisition process can be effectively removed, and the reliability of acquired data is improved.
Description
Technical Field
The application belongs to the technical field of medical equipment, and particularly relates to operation robot slave-end operation equipment, a pressure detection device and a data processing method.
Background
In recent years, with the continuous development of medical technology, the development of surgical robots is also becoming more sophisticated and has been applied in many scenes. The technology is mature, and the application frequency is high, so that the master-slave vascular intervention operation robot system is adopted. The master-slave vascular intervention surgical robot system comprises a master end control device and a slave end operation device, wherein the master end control device is operated by a doctor and can control the slave end operation device to perform surgical operation. Specifically, the main end control device collects displacement signals of hands of a doctor through the linear displacement sensor, sends the detected displacement signals to the driving mechanism of the auxiliary end operation device, and drives the operation part of the auxiliary end operation device to displace after the driving mechanism receives the displacement signals, so that operation is performed. And when the slave end operation device performs operation, the pressure generated by the driving mechanism is collected first, and the moving distance and direction of the scalpel are calculated according to the pressure.
In the prior art, a pressure detecting device for collecting pressure generated by the driving mechanism and a principle thereof are shown in fig. 1, the pressure detecting device comprises a fixed frame 01, a movable frame 02 (on which a surgical knife for performing a surgical operation can be fixed), a pressure sensor 03 and a motor (not shown in the figure), and the motor is rigidly connected with the fixed frame 01 to drive the whole body to move. The movable frame 02 is a movable frame freely movable on a slide rail in the axial direction thereof. One side of the spring 04 is propped against the fixed frame 01, and the other side is propped against the whole movable frame 02, so that the pressure sensor 03 is indirectly pressed through the movable frame 02. When an external force acts on the movable frame, the spring 04 deforms, and meanwhile, the pressure sensor 03 generates pressure change, so that the external force is indirectly detected.
However, in the above-mentioned pressure collection process, the collected pressure usually has a certain noise, which mainly originates from vibration (acceleration), including shaking of the motor, acceleration and deceleration phases of the motor, transmission of external vibration, and the like, and when these vibrations (accelerations) act on the movable frame, a corresponding acting force is generated, causing secondary vibration, increasing noise, so that the collected pressure value is not accurate enough.
Disclosure of Invention
The application provides a slave operating device of a surgical robot, a pressure detection device and a data processing method, which can effectively remove vibration noise in the pressure acquisition process and improve the reliability of acquired data.
An embodiment of a first aspect of the present application proposes a pressure detection device applied to a slave-end operation apparatus of a surgical robot, including:
the fixed frame is rigidly connected with the driving motor and comprises a first protruding connecting part;
the movable frame comprises second connecting parts positioned at two sides of the first connecting part;
the sensor assembly comprises a pressure sensor arranged between the first connecting part and the second connecting part and is used for detecting acting force between the movable frame and the fixed frame; and an acceleration sensor fixed on the movable frame for detecting an acceleration of the movable frame;
And the micro-processing module is used for determining acting force acting on the movable frame based on the first detection result of the pressure sensor and the second detection result of the acceleration sensor.
In some embodiments, the sensor assembly further includes an elastic element, the elastic element and the pressure sensor are respectively fixed at two sides of the first connecting portion, the pressure sensor is movably contacted with the second connecting portion, and the elastic element is abutted with the second connecting portion.
In some embodiments, the second connection portion includes a first contact surface, the pressure sensor being in movable contact with the first contact surface;
the movable frame further comprises a main body part connected with the second connecting part, and the acceleration sensor is fixed on the main body part and is arranged along the normal direction of the first contact surface.
An embodiment of a second aspect of the present application provides a pressure data processing method, applied to the pressure detection device of any one of the first aspect, the method including:
acquiring a first detection result of a pressure sensor, a second detection result of an acceleration sensor and a current acceleration theoretical parameter of the slave operating equipment in the motion process of the slave operating equipment;
Fusing the second detection result and the acceleration theoretical parameter to obtain an acceleration estimation parameter;
and filtering the first detection result based on the acceleration estimation parameter to obtain an actual acting force parameter acting on the movable frame.
In some embodiments, obtaining the current acceleration theory parameter of the slave end operation device includes:
determining an acceleration direction and an acceleration duration based on the received displacement target, the current moving speed of the slave end operation device and a preset acceleration;
calculating theoretical acting force generated by the acceleration according to the preset acceleration and the mass of the movable frame; and determining the duration and the direction of the theoretical acting force according to the acceleration direction and the acceleration duration.
In some embodiments, fusing the second detection result and the acceleration theoretical parameter to obtain an acceleration estimated parameter includes:
determining acceleration data sets corresponding to all moments, wherein each acceleration data set comprises an acceleration detection parameter and the acceleration theoretical parameter in the second detection result;
and respectively carrying out Kalman filtering on each group of acceleration detection parameters and the acceleration theoretical parameters to obtain acceleration estimated parameters corresponding to each moment.
In some embodiments, the performing kalman filtering on each set of the acceleration detection parameter and the acceleration theory parameter to obtain an acceleration estimation parameter corresponding to each moment includes:
for each acceleration data set, respectively calculating an acceleration detection covariance and an acceleration theoretical covariance corresponding to each acceleration data set based on the acceleration detection parameter and the acceleration theoretical parameter;
and respectively transmitting each acceleration data set, the corresponding acceleration detection covariance and the acceleration theoretical covariance to a Kalman filter to obtain acceleration estimation parameters corresponding to each moment.
In some embodiments, filtering the first detection result based on the acceleration estimation parameter to obtain an actual acting force parameter acting on the movable frame includes:
based on the acceleration estimation parameter and the first detection result, obtaining the corresponding magnitude and direction of acceleration estimation acting force and the magnitude and direction of acting force measurement value acting on the movable frame;
and compensating the magnitude and direction of the acting force measured value based on the magnitude and direction of the acceleration estimated acting force to obtain the magnitude and direction of the acting force actual value acting on the movable frame.
An embodiment of a third aspect of the present application provides a pressure data processing apparatus, including:
the data acquisition module is used for acquiring a first detection result of the pressure sensor, a second detection result of the acceleration sensor and the current acceleration theoretical parameter of the slave end operation equipment in the motion process of the slave end operation equipment;
the first data processing module is used for fusing the second detection result and the acceleration theoretical parameter to obtain an acceleration estimated parameter;
and the second data processing module is used for filtering the first detection result based on the acceleration estimation parameter to obtain an actual acting force parameter acting on the movable frame.
Embodiments of a fourth aspect of the present application provide a surgical robot slave-end operating device comprising a pressure detection arrangement according to any of the first aspects, and/or a pressure data processing arrangement according to the third aspect.
The technical scheme provided in the embodiment of the application has at least the following technical effects or advantages:
according to the pressure detection device, the sensor assembly comprises the pressure sensor for detecting acting force borne by the movable frame and the acceleration sensor, the acceleration sensor can directly measure the acceleration of the movable frame, and the micro-processing module can be used for determining acting force acting on the movable frame based on a first detection result of the pressure sensor and a second detection result of the acceleration sensor by fusing the two filtering modes of active filtering and the filtering of the acceleration sensor. Therefore, the defects that the active filtering can not filter noise outside motor control and the noise existing in the acceleration sensor filtering can be introduced into the system are overcome, and an accurate pressure detection value is obtained.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1 is a schematic diagram of a prior art pressure detection device for detecting pressure generated by a driving mechanism and a principle structure thereof;
FIG. 2a is a schematic diagram of a stress model abstracted from a pressure detection device in the prior art;
FIG. 2b is a schematic diagram showing a static initial state of a stress model abstracted by a pressure detection device in the prior art;
FIG. 2c is a schematic diagram showing stress states of a stress model abstracted by a pressure detection device in the prior art;
FIG. 3 is a schematic diagram of a pressure detecting device according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of a pressure data processing method according to an embodiment of the present disclosure;
FIG. 5 is a schematic flow chart of a method for controlling a slave end operation device of a surgical robot according to an embodiment of the present application;
FIG. 6 is a flow chart of another method for controlling a slave end-effector of a surgical robot according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of a pressure data processing apparatus according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;
fig. 9 shows a schematic diagram of a storage medium according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.
The inventor researches the prior art, and found that, for the pressure detection device shown in fig. 1, an abstract stress model is shown in fig. 2a, the detection device mainly comprises a pressure sensor, a spring, a movable frame, a fixed frame and a stepping motor, wherein the stepping motor is rigidly connected with the fixed frame, and the whole detection device can be driven to move along the direction of a screw rod by rotating the motor. The right side of the pressure sensor is rigidly connected with the fixed frame through screws, the left side of the pressure sensor is movably contacted with the movable frame, and the contact surface is a force detection surface. The springs are embedded between the fixed frame and the movable frame and are symmetrically arranged at two sides of the fixed frame with the pressure sensor. At rest, initially, as shown in fig. 2b, the spring is in a compressed state, the force of which is pressed by the movable frame against the force-sensing surface of the sensor, the value of which can be adjusted by the spring. When an external force is applied to the movable frame (for example, by direct pressure of a human hand), the spring is further compressed as shown in fig. 2c, the pressure between the force detection surface and the movable frame is reduced, and when the applied external force is greater than the pre-tightening force of the initial spring, the movable frame is completely separated from the force detection surface, and the force detection value is 0. Since the movable frame is not rigidly connected to the force sensor, there is no pulling force to the left even if the pressing force is greater than the pre-tightening force of the spring.
The detection device is mainly used for detecting external force applied to the movable frame, and the main noise is generated by vibration, including shaking of a motor, acceleration and deceleration stages of the motor, transmission of external vibration and the like, and when the vibration (acceleration) acts on the movable frame, corresponding acting force can be generated even if a catheter/guide wire (tool for performing operation) is not delivered.
In order to obtain a more accurate pressure detection value, the embodiment performs multiple researches, and determines that the detected pressure value can be denoised by adopting active filtering and acceleration sensor filtering. The active denoising is to control the acceleration of the motor, ensure the precision and the repetition precision, determine the acceleration and deceleration duration according to the target speed, and obtain the magnitude and duration of the interference force, thereby eliminating the interference of the part in the data acquired by the sensor. However, the method only partially solves the influence on the active control of the motor, and does not identify factors outside the acceleration control, which is equivalent to open loop control. And the acceleration sensor filters and directly measures acceleration through the acceleration sensor, and then the mass of the movable frame is combined, so that the influence of acting force generated by vibration on the movable frame can be obtained. However, this solution introduces noise from the new sensor, so the forces resulting from this solution still contain large noise and the data is still unreliable.
In summary, although the active filtering does not need a sensor, the noise caused by the motor acceleration and deceleration process can be removed every time as long as the control precision is enough, the sensor is not needed to be additionally arranged, the real-time performance is good, and the noise outside the motor control cannot be filtered. The acceleration sensor can filter out vibration interference caused by acceleration and deceleration of a motor and other external environments, but noise existing in the acceleration sensor can be introduced into the system. Therefore, neither the simple fitting acceleration nor the simple addition of the acceleration sensor can obtain an accurate pressure detection value.
In view of the above-described studies, the present embodiment has found that a pressure detecting device, which can be applied to, but is not limited to, a slave end operation apparatus of a surgical robot, is connectable to or is part of a driving mechanism of the slave end operation apparatus for detecting a force acting on a movable frame of the detecting device. And the detection device combines two modes of active filtering and acceleration sensor filtering to denoise the detected pressure value, so that the accuracy of force acquisition data can be improved, and a driving mechanism can accurately deliver a catheter/guide wire and the like (a tool for performing operation), so that the operation can be accurately, safely and reliably performed.
It is to be understood that, although the present application is designed for a slave operating device applied to a surgical robot, the present application may be applied to other situations where accurate detection of a pressure value is required, and the embodiment is not limited thereto.
The technical scheme provided by the embodiment is described in detail below with reference to the accompanying drawings.
Referring to fig. 3, the pressure detecting device includes a fixed frame, a movable frame, a sensor assembly and a microprocessor module, wherein the fixed frame is rigidly connected to a driving motor (which may be, but not limited to, a screw stepping motor in the drawing) and has a protruding first connection portion. The movable frame is provided with second connecting parts positioned at two sides of the first connecting part. The sensor assembly includes a pressure sensor disposed between the first and second connection portions, and an acceleration sensor fixed to the movable frame. The pressure sensor is used for detecting acting force between the movable frame and the fixed frame, and the acceleration sensor is used for detecting acceleration of the movable frame. And the micro-processing module is used for determining acting force acting on the movable frame based on the first detection result of the pressure sensor and the second detection result of the acceleration sensor.
In fig. 3, the whole movable frame can freely move on a sliding rail (not shown) along the axial direction of the sliding rail by a small extent, and other components such as an acceleration sensor, a transmission assembly (gears, guide rails, etc.), a transmission pipeline for operation and the like can be fixed on the movable frame.
It will be appreciated that the pressure detecting device may also include a housing or other frame or the like, which may cooperate with the movable frame, the fixed frame to form the overall shape of the pressure detecting device, and enclose a cavity that accommodates other components. In addition, the present embodiment is not particularly limited in terms of the specific type and structure of the pressure sensor and the acceleration sensor described above, as long as the pressure value and the acceleration to be made by the object to be detected (which may be, but not limited to, a movable frame herein) can be detected, respectively.
The sensor assembly of the pressure detection device provided by the embodiment not only comprises a pressure sensor for detecting acting force borne by the movable frame, but also comprises an acceleration sensor, wherein the acceleration sensor can directly measure the acceleration of the movable frame, and the micro-processing module can determine the acting force acting on the movable frame based on a first detection result of the pressure sensor and a second detection result of the acceleration sensor by combining the two filtering modes of active filtering and acceleration sensor filtering. Therefore, the defects that the active filtering can not filter noise outside motor control and the noise existing in the acceleration sensor filtering can be introduced into the system are overcome, and an accurate pressure detection value is obtained.
In some embodiments, the pressure sensor may be a strain gauge pressure sensor, i.e. a sensor that measures pressure by measuring the strain of the elastic element. The sensor assembly may further include corresponding elastic elements, the elastic elements and the pressure sensor may be fixed on two sides of the first connection portion, the pressure sensor is movably contacted with the second connection portion, and the elastic elements are abutted with the second connection portion.
The elastic element may be, but not limited to, a coil spring, for example, a spring plate, elastic rubber, or the like.
The embodiment is provided with the elastic element, when the movable frame receives external acting force, the initial deformation of the elastic element can be changed, the deformation quantity is transmitted to the pressure sensor, and the pressure sensor can determine the external acting force received by the movable frame according to the deformation quantity of the elastic element.
It will be appreciated that other types of pressure sensors of the pressure sensor, such as piezoresistive pressure sensors, piezoelectric pressure sensors, capacitive pressure sensors, etc., may correspondingly set specific installation positions and installation modes of the pressure sensor according to structural features and detection principles of various pressure sensors, and may also be matched with necessary auxiliary elements, which are not limited in this embodiment.
Optionally, the second connecting portion includes a first contact surface, and the pressure sensor is movably contacted with the first contact surface; the movable frame further comprises a main body part connected with the second connecting part, and the acceleration sensor is fixed on the main body part and is arranged along the normal direction of the first contact surface.
In this embodiment, the acceleration sensor is rigidly connected to the movable frame, and the placement position of the acceleration sensor is set according to the normal direction of the contact surface (i.e., the first contact surface) between the movable frame and the pressure sensor, so that the acceleration sensor is perpendicular to the surface of the pressure sensor, which contacts the first contact surface, and interference factors generated due to friction between the surface and the first contact surface can be removed, thereby ensuring that the measured acceleration is more accurate.
Based on the same concept as the pressure detection device, the present embodiment also provides a pressure data processing method, which may be applied to the pressure detection device of any one of the foregoing embodiments, as shown in fig. 4, and the method may include the following steps:
step S1, acquiring a first detection result of a pressure sensor, a second detection result of an acceleration sensor and the current acceleration theoretical parameter of the slave end operation equipment in the motion process of the slave end operation equipment.
Wherein the first detection result of the pressure sensor is that the acting force F applied by the movable frame detected by the pressure sensor 1 (including size and orientation). The second detection result of the acceleration sensor is that the acceleration (including the magnitude and the direction) of the movable frame detected by the acceleration sensor is generated during the movement of the movable frame. Current acceleration theoretical parameters, namely, acceleration parameters (comprising the magnitude and the direction of acceleration) and acting force F which are calculated by theoretical knowledge and enable the movable frame to accelerate during the running process of the end operation equipment 2 Parameters (including the magnitude and square of the forceAnd (3) direction).
Specifically, when acquiring the current acceleration theoretical parameter of the slave end operation device, the following processing may be included: determining an acceleration direction and an acceleration duration based on the received displacement target, the current moving speed of the slave operating device and the preset acceleration; calculating theoretical acting force generated by the acceleration according to the preset acceleration and the mass of the movable frame; the duration and direction of the theoretical force are determined from the acceleration direction and acceleration duration.
The execution body of the embodiment may be the microprocessor, and the slave end control device communicates with the master end control device in the running process of the slave end operation device. The master end control device sends the target displacement distance X to the slave end operation device under the operation of a control person (which may be, but not limited to, a doctor), and the slave end operation device may perform a corresponding operation motion according to the currently received instruction.
After receiving the displacement target distance X sent by the master control device, the slave end operation device may make s equal to X, and the initial velocity v based on a set relational expression of acceleration, displacement and acceleration, i.e., the following formula (1) 0 And obtaining acceleration duration t for the currently acquired trolley moving speed and the acceleration of a fixed magnitude a. The direction of the acceleration is consistent with the advancing direction of the trolley.
s＝v 0 t+at2/2 (1)
After the acceleration a, the acceleration duration t and the acceleration direction are obtained, the mass m of the current movable frame (which can be preset in the slave operating device before the device operates for the microprocessor module to retrieve) can be obtained, and the acting force F generated by the acceleration can be obtained by f=ma 2 And the magnitude, duration and direction of the force sensor, thereby determining the theoretical parameters of the force in the current corresponding duration period when the force sensor collects the force.
It can be understood that the control process of the slave end operation device is based on the following control theory: in the fixed master-slave communication time interval, the displacement X is reached as fast as possible, the acceleration is a fixed value, and when the speed reaches the set upper limit, the acceleration is moved at a uniform speed and becomes 0. However, the present embodiment is not limited thereto, and in practical applications, other control theory may be adopted as long as the acceleration related parameters (including but not limited to the acceleration duration t, the acceleration direction, etc.) can be obtained.
And S2, fusing the second detection result and the acceleration theoretical parameter to obtain an acceleration estimated parameter.
The estimated acceleration parameter is understood to be a parameter (including magnitude and direction) of a relatively real acting force F that causes the movable frame to accelerate during operation of the end effector. The second detection result and the acceleration theoretical parameter are fused, and it can be understood that the second detection result and the acceleration theoretical parameter are synthesized, one is adopted to compensate the other, or the weight of the second detection result and the acceleration theoretical parameter is determined through limited experiments, and then a set of relatively real estimated parameters are obtained.
In some embodiments, this step S2 may include the following processes: determining acceleration data sets corresponding to all moments, wherein each acceleration data set comprises acceleration detection parameters and acceleration theoretical parameters in a second detection result; and (3) respectively carrying out Kalman filtering on each group of acceleration detection parameters and acceleration theoretical parameters to obtain acceleration estimated parameters corresponding to each moment.
The Kalman filtering (Kalman filtering) is an algorithm for optimally estimating the state of a system by using a linear system state equation and inputting and outputting observation data through the system. The optimal estimate can also be seen as a filtering process, since the observed data includes the effects of noise and interference in the system.
Specifically, the acceleration detection parameter may include an acceleration (including a magnitude and a direction) detected by the acceleration sensor, and a force (including a magnitude and a direction) corresponding to the acceleration. In this embodiment, the acceleration detection parameter and the acceleration theory parameter may be used as system inputs, and then based on the system inputs, an observation data, that is, an acceleration estimation parameter, which is better than the acceleration detection parameter and the acceleration theory parameter, is output. Each moment can be understood as the moment when the sensor collects data, and the data collection moment of the specific pressure sensor can be the reference, or the data collection moment of the acceleration sensor can be the reference. Each data acquisition time corresponds to a set of acceleration data sets, for example, the pressure sensor acquires data at time a, and a set of acceleration data sets corresponding to time a are formed, where the set of acceleration data sets may include acceleration detected by the acceleration sensor at time a (taking the pressure sensor as time, the acquisition time of the acceleration sensor may have a certain error with time a) and acting force corresponding to the acceleration, and acceleration theoretical parameters corresponding to time a.
In the operation process of the slave operating equipment, the pressure sensor and the acceleration sensor can detect in real time with the same frequency and the same detection time, so that the synchronism of two groups of detection data is ensured, and asynchronous errors are avoided. When the second detection result and the acceleration theoretical parameter are fused, the second detection result and the acceleration theoretical parameter corresponding to the same time can be respectively formed into a group of data sets, and then Kalman filtering is performed on each group of data sets, so that the acceleration estimated parameter corresponding to the time is obtained. Specifically, the above-described process of forming a data group and the kalman filtering process may be performed asynchronously to improve data processing efficiency.
Further, the step of performing kalman filtering on each set of acceleration detection parameters and acceleration theoretical parameters to obtain acceleration estimation parameters corresponding to each moment may include the following processes: for each acceleration data set, respectively calculating an acceleration detection covariance and an acceleration theoretical covariance corresponding to each acceleration data set based on the acceleration detection parameters and the acceleration theoretical parameters; and respectively transmitting each acceleration data set, the corresponding acceleration detection covariance and the acceleration theoretical covariance to a Kalman filter to obtain acceleration estimation parameters corresponding to each moment.
The acceleration detection covariance is understood as meaning the covariance of the acceleration response force, here the covariance P of the acceleration response force detected by the acceleration sensor 1 (k) A. The invention relates to a method for producing a fibre-reinforced plastic composite Similarly, the theoretical covariance of acceleration is understood to be the force F in the theoretical acceleration parameters 2 Covariance P of (2) 2 (k)。
In the embodiment, the Kalman filter is adopted, and the filter function of the Kalman filter can be set, so that after the acceleration detection covariance and the acceleration theory covariance are input into the Kalman filter, the acceleration estimated parameters can be directly output, and the Kalman filtering of the acceleration detection parameters and the acceleration theory parameters is realized. Specifically, each acceleration data set, the corresponding acceleration detection covariance and the acceleration theoretical covariance are sequentially transmitted to a Kalman filter according to a time sequence, and acceleration estimated parameters corresponding to all moments are sequentially obtained, so that waveform parameters of the acceleration estimated parameters are formed, and the control process is convenient to trace.
And step S3, filtering the first detection result based on the acceleration estimation parameter to obtain an actual acting force parameter acting on the movable frame.
The first detection result is filtered here, and it is understood that, based on the overall force (including vibration noise) detected by the pressure sensor, the actual force acting on the movable frame to perform the surgical operation motion is removed after the acceleration force for performing the vibration (acceleration) work is removed.
In other embodiments, step S3 may include the following processes: based on the acceleration estimation parameters and the first detection result, obtaining the corresponding magnitude and direction of acceleration estimation acting force and the magnitude and direction of acting force measurement value acting on the movable frame; and compensating the magnitude and direction of the acting force measured value based on the magnitude and direction of the acceleration pre-estimated acting force to obtain the magnitude and direction of the acting force actual value acting on the movable frame.
In this embodiment, the magnitude and direction of the corresponding acceleration estimated acting force are obtained based on the acceleration estimated parameter, the magnitude and direction of the acting force measured value acting on the movable frame are obtained based on the first detection result, and then the magnitude and direction of the acting force measured value are compensated based on the magnitude and direction of the acceleration estimated acting force. The compensation here may be either increasing or decreasing, and may be determined in particular based on the acceleration direction and the direction of the force measurement. If the direction of the measured force value is consistent with the direction of the estimated acceleration parameter, the vibration noise plays a positive role on the movable frame, and when compensation is performed, acting forces with the same magnitude as the direction of the estimated acceleration parameter are provided, so that the estimated acceleration acting forces can be counteracted.
In summary, in the pressure data processing method provided by the embodiment, in the motion process of the slave operating device, the first detection result of the pressure sensor, the second detection result of the acceleration sensor, and the current acceleration theoretical parameter of the slave operating device can be obtained in real time, then the second detection result and the acceleration theoretical parameter are fused, so that a relatively accurate acceleration estimated parameter (namely vibration noise) is obtained, and then the first detection result is filtered based on the acceleration estimated parameter, so that an actual acting force parameter acting on the movable frame can be obtained. So, combine active filtering and acceleration sensor filtering, can filter the vibration interference that the motor adds and decelerates and other external environment bring, can also compensate the noise that acceleration sensor itself introduced to obtain the accurate effort that is used in on the movable frame, guarantee that the effort that pressure detection device measured is more accurate, improve data acquisition's precision and credibility.
Based on the same concept as the pressure data processing method, the present embodiment further provides a control method of a slave operating device of a surgical robot, as shown in fig. 5, including:
and a parameter acquisition step S10, based on the pressure data processing method of any embodiment, of acquiring the actual parameter of the acting force applied by the movable frame in real time during the movement of the slave end operation device.
And a motion control step S20, controlling the subsequent motion of the slave end operation device based on the actual parameters of the acting force exerted by the movable frame. Where subsequent movements may include, but are not limited to, moving a distance in a certain direction.
The parameter acquisition step S10 and the motion control step S20 are repeatedly performed until the slave end operation device reaches the displacement target. The displacement target is displacement data received from the slave end operation device to the master end control device. The displacement target of the movable frame can be specifically, and also can be a displacement target of a surgical operation tool (such as a catheter/a guide wire and the like), and a certain linear relation exists between the displacement target and the displacement target.
The slave end operation device is communicated with the master end control device in real time, and receives an operation instruction sent by the master end control device, wherein the instruction comprises a moving displacement target. After receiving the displacement target distance X sent by the master control device, the slave end operation device performs the parameter acquisition step S10, and acquires the actual parameter of the acting force applied by the movable frame. And then, performing the motion control step S20, and further confirming whether the displacement target is reached, if yes, stopping running, if not, continuing to perform the parameter acquisition step S10 and the motion control step S20, and then confirming whether the displacement target is reached, and repeatedly executing the parameter acquisition step S10 and the motion control step S20 until the slave operating equipment reaches the displacement target.
This embodiment will be described in detail with reference to fig. 6.
As shown in fig. 6, after the surgical robot apparatus is started, the master end operator transmits the target displacement distance X to the slave end robot under the operation of the doctor, and the slave end robot needs to perform a motion according to the currently received instruction. After receiving the displacement target distance X sent by the master control device, the slave end operation device may make s equal to X, and the initial velocity v based on a set relational expression of acceleration, displacement and acceleration, i.e., the following formula (1) 0 And obtaining acceleration duration t for the currently acquired trolley moving speed and the acceleration of a fixed magnitude a. The direction of the acceleration is consistent with the advancing direction of the trolley.
s＝v 0 t+at2/2 (1)
After the acceleration a, the acceleration duration t and the acceleration direction are obtained, the mass m of the current movable frame (which can be preset in the slave operating device before the device operates for the microprocessor module to retrieve) can be obtained, and the acting force F generated by the acceleration can be obtained by f=ma 2 To determine the current correspondence when the pressure sensor is acquiring forceThe theoretical parameters of the acting force, namely Data, in the duration period. In the process of determining the acting force theoretical parameter in the current corresponding duration period, the acceleration sensor is also used for collecting the acceleration value of the movable frame according to F 1 ＝Ma 1 Obtain the acting force F 1 The magnitude, duration and direction of the force F1 are taken as the compensation Data1. Taking the Data as an estimated value, taking the Data1 as a measured value, and substituting the measured value into a Kalman filtering algorithm to obtain filtered Data3, namely the two groups of acceleration acting force values F 1 、F 2 And covariance of acceleration forces P 1 (k)、P 2 (k) And transmitting a Kalman filter to obtain the acceleration acting force F (k) optimally estimated at the moment k. Then, the pressure f_origin acquired by the pressure sensor is filtered based on the acceleration force F (k), and a filtered pressure value is obtained. And then, based on the filtered pressure value, the displacement target X and the fixed acceleration a, controlling the slave end operation equipment to perform subsequent operation according to a formula (1), determining whether the slave end operation equipment reaches a target position in real time, and if so, ending the operation. If not, continuously acquiring the acceleration value of the movable frame which is also acquired by the acceleration sensor, carrying out Kalman filtering again based on the process, and calculating the pressure value after the filtering until the slave end operation equipment reaches the displacement target X. Subsequent surgical operations from the end device herein include, but are not limited to, moving the surgical tool a distance in a certain direction, or moving the surgical tool to a designated location, etc.
It can be appreciated that any implementation method of the above-mentioned pressure data processing method is applicable to the control method of the slave end operation device of the surgical robot, and at least can achieve the same beneficial effects, which are not described herein.
The control method of the slave operating device of the surgical robot provided in this embodiment at least can realize the beneficial effects that can be realized by the pressure data processing method based on the same concept as that of the pressure data processing method, and is not described herein.
Based on the same concept as the pressure data processing method, the present embodiment further provides a pressure data processing apparatus, which is configured to perform the pressure data processing method according to any one of the above embodiments, as shown in fig. 7, and includes:
the data acquisition module is used for acquiring a first detection result of the pressure sensor, a second detection result of the acceleration sensor and the current acceleration theoretical parameter of the slave end operation equipment in the motion process of the slave end operation equipment.
And the first data processing module is used for fusing the second detection result and the acceleration theoretical parameter to obtain an acceleration estimated parameter.
And the second data processing module is used for filtering the first detection result based on the acceleration estimation parameter to obtain the actual acting force parameter acting on the movable frame.
The pressure data processing device provided in this embodiment is configured to execute the pressure data processing method in any one of the foregoing manners, so that at least the beneficial effects that can be achieved by the foregoing pressure data processing method can be achieved, which is not described herein again.
Based on the same concept of the pressure detection device and/or the pressure data processing device, the embodiment also provides a slave operating device of the surgical robot, which comprises the pressure detection device of any embodiment and/or the pressure data processing device of any embodiment.
The slave operating device of the surgical robot provided in this embodiment is based on the same concept of the pressure detection device and/or the pressure data processing device, so that at least the beneficial effects that the pressure detection device and/or the pressure data processing device can achieve can be achieved, and will not be described in detail herein.
The embodiment of the application also provides electronic equipment for executing the pressure acquisition method. Referring to fig. 8, a schematic diagram of a powered device according to some embodiments of the present application is shown. As shown in fig. 8, powered device 40 includes: processor 400, memory 401, bus 402 and communication interface 403, processor 400, communication interface 403 and memory 401 being connected by bus 402; the memory 401 stores a computer program executable on the processor 400, and the processor 400 executes the pressure acquisition method provided in any of the foregoing embodiments of the present application when the computer program is executed.
The memory 401 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the device network element and at least one other network element is achieved through at least one communication interface 403 (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
The processor 400 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 400 or by instructions in the form of software. The processor 400 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 401, and the processor 400 reads the information in the memory 401, and in combination with its hardware, performs the steps of the above method.
The electric equipment provided by the embodiment of the application and the pressure acquisition method provided by the embodiment of the application are the same in invention conception, and have the same beneficial effects as the method adopted, operated or realized by the electric equipment.
The present embodiment also provides a computer readable storage medium corresponding to the pressure acquisition method provided in the foregoing embodiment, referring to fig. 9, the computer readable storage medium is shown as an optical disc 30, on which a computer program (i.e. a program product) is stored, and the computer program, when executed by a processor, performs the pressure acquisition method provided in any of the foregoing embodiments.
It should be noted that examples of the computer readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical or magnetic storage medium, which will not be described in detail herein.
The computer readable storage medium provided by the above embodiments of the present application has the same advantages as the method adopted, operated or implemented by the application program stored therein, because of the same inventive concept as the pressure acquisition method provided by the embodiments of the present application.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the embodiments, and are intended to be included within the scope of the claims and description. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (10)
1. A pressure detection apparatus, characterized by being applied to a slave operating device of a surgical robot, comprising:
the fixed frame is rigidly connected with the driving motor and comprises a first protruding connecting part;
the movable frame comprises second connecting parts positioned at two sides of the first connecting part;
The sensor assembly comprises a pressure sensor arranged between the first connecting part and the second connecting part and is used for detecting acting force between the movable frame and the fixed frame; and an acceleration sensor fixed on the movable frame for detecting an acceleration of the movable frame;
and the micro-processing module is used for determining acting force acting on the movable frame based on the first detection result of the pressure sensor and the second detection result of the acceleration sensor.
2. The pressure detecting device according to claim 1, wherein the sensor assembly further comprises an elastic member, the elastic member and the pressure sensor are respectively fixed on both sides of the first connecting portion, and the pressure sensor is in movable contact with the second connecting portion, and the elastic member abuts against the second connecting portion.
3. The pressure detection device according to claim 1 or 2, wherein the second connection portion includes a first contact surface, the pressure sensor being in movable contact with the first contact surface;
the movable frame further comprises a main body part connected with the second connecting part, and the acceleration sensor is fixed on the main body part and is arranged along the normal direction of the first contact surface.
4. A pressure data processing method, characterized by being applied to the pressure detection apparatus as claimed in any one of claims 1 to 3, the method comprising:
acquiring a first detection result of a pressure sensor, a second detection result of an acceleration sensor and a current acceleration theoretical parameter of the slave operating equipment in the motion process of the slave operating equipment;
fusing the second detection result and the acceleration theoretical parameter to obtain an acceleration estimation parameter;
and filtering the first detection result based on the acceleration estimation parameter to obtain an actual acting force parameter acting on the movable frame.
5. The method of claim 4, wherein obtaining the current acceleration theory parameter of the slave end-effector comprises:
determining an acceleration direction and an acceleration duration based on the received displacement target, the current moving speed of the slave end operation device and a preset acceleration;
calculating theoretical acting force generated by the acceleration according to the preset acceleration and the mass of the movable frame; and determining the duration and the direction of the theoretical acting force according to the acceleration direction and the acceleration duration.
6. The method of claim 4, wherein fusing the second detection result and the acceleration theory parameter to obtain an acceleration estimation parameter comprises:
determining acceleration data sets corresponding to all moments, wherein each acceleration data set comprises an acceleration detection parameter and the acceleration theoretical parameter in the second detection result;
and respectively carrying out Kalman filtering on each group of acceleration detection parameters and the acceleration theoretical parameters to obtain acceleration estimated parameters corresponding to each moment.
7. The method of claim 6, wherein the performing kalman filtering on each set of the acceleration detection parameter and the acceleration theory parameter to obtain the acceleration estimation parameter corresponding to each moment includes:
for each acceleration data set, respectively calculating an acceleration detection covariance and an acceleration theoretical covariance corresponding to each acceleration data set based on the acceleration detection parameter and the acceleration theoretical parameter;
and respectively transmitting each acceleration data set, the corresponding acceleration detection covariance and the acceleration theoretical covariance to a Kalman filter to obtain acceleration estimation parameters corresponding to each moment.
8. The method of claim 4, wherein filtering the first detection result based on the acceleration estimation parameter to obtain an actual force parameter acting on the movable frame comprises:
based on the acceleration estimation parameter and the first detection result, obtaining the corresponding magnitude and direction of acceleration estimation acting force and the magnitude and direction of acting force measurement value acting on the movable frame;
and compensating the magnitude and direction of the acting force measured value based on the magnitude and direction of the acceleration estimated acting force to obtain the magnitude and direction of the acting force actual value acting on the movable frame.
9. A pressure data processing apparatus, comprising:
the data acquisition module is used for acquiring a first detection result of the pressure sensor, a second detection result of the acceleration sensor and the current acceleration theoretical parameter of the slave end operation equipment in the motion process of the slave end operation equipment;
the first data processing module is used for fusing the second detection result and the acceleration theoretical parameter to obtain an acceleration estimated parameter;
and the second data processing module is used for filtering the first detection result based on the acceleration estimation parameter to obtain an actual acting force parameter acting on the movable frame.
10. A surgical robotic slave end-effector apparatus comprising a pressure detection device according to any one of claims 1-3, and/or a pressure data processing device according to claim 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211371634.9A CN115990060A (en) | 2022-11-03 | 2022-11-03 | Surgical robot slave-end operation device, pressure detection device and data processing method |
| PCT/CN2023/095504 WO2024093204A1 (en) | 2022-11-03 | 2023-05-22 | Surgical robot slave end operation apparatus, pressure detection device, and data processing method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211371634.9A CN115990060A (en) | 2022-11-03 | 2022-11-03 | Surgical robot slave-end operation device, pressure detection device and data processing method |
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| CN115990060A true CN115990060A (en) | 2023-04-21 |
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| CN202211371634.9A Pending CN115990060A (en) | 2022-11-03 | 2022-11-03 | Surgical robot slave-end operation device, pressure detection device and data processing method |
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| WO (1) | WO2024093204A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024093204A1 (en) * | 2022-11-03 | 2024-05-10 | 深圳市爱博医疗机器人有限公司 | Surgical robot slave end operation apparatus, pressure detection device, and data processing method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8827948B2 (en) * | 2010-09-17 | 2014-09-09 | Hansen Medical, Inc. | Steerable catheters |
| JP2013113661A (en) * | 2011-11-28 | 2013-06-10 | Seiko Epson Corp | External force detection device, robot control system and external force detection method |
| CN110303521B (en) * | 2018-03-27 | 2022-07-01 | 清华大学 | Robot joint torque signal acquisition system and method |
| EP3983044A4 (en) * | 2019-07-19 | 2023-02-15 | Corindus, Inc. | Load sensing of elongated medical device in robotic actuation |
| WO2022173793A1 (en) * | 2021-02-11 | 2022-08-18 | Mako Surgical Corp. | Robotic manipulator comprising isolation mechanism for force/torque sensor |
| CN115154847A (en) * | 2022-08-12 | 2022-10-11 | 深圳市爱博医疗机器人有限公司 | Operation device and force measuring method for slender medical instrument |
| CN115990060A (en) * | 2022-11-03 | 2023-04-21 | 深圳市爱博医疗机器人有限公司 | Surgical robot slave-end operation device, pressure detection device and data processing method |
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2022
- 2022-11-03 CN CN202211371634.9A patent/CN115990060A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024093204A1 (en) * | 2022-11-03 | 2024-05-10 | 深圳市爱博医疗机器人有限公司 | Surgical robot slave end operation apparatus, pressure detection device, and data processing method |
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