CN117470429B - Six-dimensional force sensor, drilling and milling robot for surgery and application of drilling and milling robot - Google Patents
Six-dimensional force sensor, drilling and milling robot for surgery and application of drilling and milling robot Download PDFInfo
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- CN117470429B CN117470429B CN202311823249.8A CN202311823249A CN117470429B CN 117470429 B CN117470429 B CN 117470429B CN 202311823249 A CN202311823249 A CN 202311823249A CN 117470429 B CN117470429 B CN 117470429B
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- 238000005553 drilling Methods 0.000 title claims abstract description 59
- 238000003801 milling Methods 0.000 title claims abstract description 50
- 238000001356 surgical procedure Methods 0.000 title claims description 4
- 239000000835 fiber Substances 0.000 claims abstract description 144
- 239000013307 optical fiber Substances 0.000 claims abstract description 44
- 238000005259 measurement Methods 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 38
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 claims description 33
- 238000000034 method Methods 0.000 claims description 27
- 238000003466 welding Methods 0.000 claims description 20
- 229910052759 nickel Inorganic materials 0.000 claims description 16
- 238000007747 plating Methods 0.000 claims description 16
- 210000000988 bone and bone Anatomy 0.000 claims description 15
- 230000035945 sensitivity Effects 0.000 claims description 13
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
- G01L1/246—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre using integrated gratings, e.g. Bragg gratings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/26—Auxiliary measures taken, or devices used, in connection with the measurement of force, e.g. for preventing influence of transverse components of force, for preventing overload
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- Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Medical Informatics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Dentistry (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention provides a six-dimensional force sensor, a drilling and milling robot for operation and application thereof, comprising a fixed ring, a stress ring, connecting rings and fiber gratings, wherein the four connecting rings are arranged between the fixed ring and the stress ring, and the four connecting rings are arranged in an annular array by taking the axis of the fixed ring as a reference; the optical fiber gratings are provided with eight optical fiber gratings, each connecting ring corresponds to two optical fiber gratings, the two optical fiber gratings are arranged in a cross manner and penetrate through the connecting rings, and the optical fiber gratings are connected with the fixing ring and the stress ring. This scheme is through setting up the go-between, and it has good compression and resilience performance, so can set up great, also can set up less and through the mode that increases quantity in order to adapt to the surgical instruments of major diameter, and optic fibre corresponds the go-between and is provided with eight, and it has from fault-tolerant performance, even single optic fibre breaks and leads to after the light path signal disappears, this sensor still has sufficient redundant data to carry out parameter perception, and then realizes the measurement work in the course of the work.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to a six-dimensional force sensor, a drilling and milling robot for surgery and application of the drilling and milling robot.
Background
At present, the medical operation robot in the field of spinal column and skull orthopaedics mainly adopts operations such as drilling and milling to cut bone tissues, bone nails are implanted and the like, but is affected by factors such as tissue shielding and water flow flushing in operation on visual information, the problem that drilling and milling state perception is difficult generally exists, particularly the problem that multidimensional force information in the drilling and milling process is lack, feedback control of operation robot manpower is difficult to realize, and various problems such as intra-operation bone cracks, bone tissues and nerve injury, postoperative complications and the like are easily caused. The existing force sensor design scheme often adopts a resistance strain gauge to be stuck on an elastic body with a certain structure, and has the defects of easiness in temperature interference, electromagnetic interference, unreliability, low precision and the like.
The present application publication number CN111678539a discloses a fiber grating sensor for surgical instruments, which comprises: the matrix comprises a matrix front end, a matrix tail end and a matrix middle part used for connecting the matrix front end with the matrix tail end, and each optical fiber of the plurality of optical fibers is engraved with an optical fiber grating, and is characterized in that: each optical fiber is respectively fixed to the front end of the base body and the tail end of the base body, and the fiber gratings on each optical fiber can be suspended;
in the above technical solution, four optical fibers are provided for detecting and sensing, which causes that the sensor cannot realize self-fault tolerance, and after any optical fiber breaks, detection data is lost, so that detection parameters cannot be accurately obtained; meanwhile, two ends of the optical fiber in the scheme are fixed at the front end of the matrix and the tail end of the matrix through the adhesive, and the front end of the matrix and the tail end of the matrix are connected through the flexible hinge, as in the illustration, the flexible hinge is in a columnar structure, so that the structure is not suitable for the information feedback of large-diameter surgical instruments when the structure is made of metal materials, and because the metal strength is high, the deformation can be influenced by adopting a single columnar structure, and the optical fiber is difficult to accurately feedback stress information.
Disclosure of Invention
In view of the above, the present invention provides a six-dimensional force sensor, a surgical drilling and milling robot and applications thereof, which can perform self-fault tolerance after breaking of optical fibers, and is suitable for large-diameter surgical instruments, so as to solve the problems that the existing sensor cannot realize self-fault tolerance and is not suitable for large-diameter surgical instruments when metal materials are adopted.
The technical scheme of the invention is realized as follows:
in one aspect, the invention provides a six-dimensional force sensor, which comprises a fixed ring, a stress ring, a connecting ring and a fiber bragg grating, wherein,
the fixed ring and the stress ring are coaxially arranged, and a space is reserved between the fixed ring and the stress ring;
the four connecting rings are arranged at intervals between the fixed ring and the stress ring, one side of each connecting ring is connected with the fixed ring, the other side of each connecting ring is connected with the stress ring, and the four connecting rings are arranged in an annular array by taking the axis of each fixed ring as a reference;
the optical fiber gratings are provided with eight optical fiber gratings, each connecting ring corresponds to two optical fiber gratings, the two optical fiber gratings are arranged in a cross manner and penetrate through the connecting rings, one end of each optical fiber grating is connected with the fixing ring, and the other end of each optical fiber grating is connected with the stress ring, so that the optical fiber gratings are in tensioning suspension.
On the basis of the technical scheme, preferably, the fiber bragg grating comprises a nickel plating layer grating region and a normal grating region, the nickel plating layer grating region and the normal grating region are positioned on the inner side of the connecting ring, and the connecting part of the fiber bragg grating, the fixing ring and the stress ring is metallized by adopting a metal nickel plating layer.
On the basis of the above technical scheme, preferably, the connecting ring is of a runway-shaped structure, the connecting ring comprises two straight-line segments and two arc-shaped segments, one straight-line segment is connected with the fixed ring, the other straight-line segment is connected with the stress ring, and the arc-shaped segments are positioned at the ends of the straight-line segments.
On the basis of the above technical scheme, preferably, the straight line section is provided with a through hole, the fiber bragg grating penetrates through the through hole, the circumference of the through hole is provided with a notch, the notch penetrates through the axial surface of one side of the connecting ring, and a space is reserved between the notch and the arc section.
On the basis of the technical scheme, the preferable fixing ring and the stress ring are provided with mounting holes which are communicated with the through holes;
the fiber bragg grating passes through the mounting hole, and the fiber bragg grating is welded and fixed with the fixing ring and the stress ring.
On the basis of the technical proposal, the welding device also preferably comprises a welding block, the mounting hole comprises a central hole and a side hole, wherein,
the central hole is arranged on the fixed ring and the stress ring along the arrangement direction of the fiber bragg grating;
the side holes are arranged on the side part of the central hole and are communicated with the central hole, the number of the side holes is equal, and the side holes are equidistantly arranged on the circumferential surface of the central hole;
the welding block is positioned in the central hole and is welded and fixed with the fiber bragg grating and the fixing ring or the stress ring.
On the basis of the technical scheme, preferably, a plurality of connecting holes are formed in the fixing ring and the stress ring, and the connecting holes are mutually spaced from the connecting ring.
On the basis of the technical scheme, preferably, the fixing ring, the stress ring and the connecting ring are made of elastic metal materials, and the fixing ring, the stress ring and the connecting ring are integrally formed.
On the other hand, the invention provides a drilling and milling robot for operation, which comprises the six-dimensional force sensor, a mechanical arm and a drilling and milling operation tool, wherein,
the mechanical arm is connected with the fixed ring;
the drilling and milling operation tool is connected with the stress ring.
On the other hand, the invention provides an application method of the surgical drilling and milling robot, which comprises the following steps:
s1, when a drilling and milling operation tool contacts a measured object, the six-dimensional force sensor is stressed, the connecting ring deforms, so that the fiber bragg grating deforms, sensing detection is carried out through the fiber bragg grating, and the following parameters are obtained: axial force Fz, lateral force Fx, longitudinal force Fy, vertical axis moment Mz about the six-dimensional force sensor, lateral axis moment Mx, and longitudinal axis moment My;
synchronously, when the temperature changes, the fiber grating generates thermal strain, and temperature information is measured according to the difference information of the central wavelength drift amount of the nickel plating grating region and the normal grating region of the fiber grating;
meanwhile, the drilling and milling states are monitored through 16 central wavelength values of the eight fiber gratings;
s2, measuring six-dimensional force through decoupling of 16 central wavelength values and temperature of the eight fiber gratings;
s3, multi-parameter coupling physical quantity in the drilling and milling process is acted on a nickel plating grid region and a normal grid region, so that center wavelength data of a plurality of channels are obtained, and the bone drilling and milling state is monitored through a one-dimensional convolution bi-directional gating circulation unit network model introducing a self-attention mechanism;
s4, the eight fiber gratings deform under the action of the six-dimensional force, and the deformation of each connecting ring under the action of the six-dimensional force is obtained through analyzing the mechanical models of the fixing ring, the stress ring and the connecting ring, so that a relation matrix of the drift amount of the eight fiber gratings at two central wavelengths and the six-dimensional force and temperature and a force and temperature sensitivity matrix are obtained;
s5, a generalized inverse matrix of the sensitivity matrix is used as a calibration matrix;
and S6, when any fiber bragg grating passage fails, the six-dimensional force sensor still can sense the central wavelength change information with the quantity not less than twelve, and the temperature and six-dimensional force decoupling fault-tolerant measurement under the fiber bragg grating failure condition is realized by timely adjusting the sensitivity matrix and the calibration matrix.
Compared with the prior art, the six-dimensional force sensor, the drilling and milling robot for the operation and the application thereof have the following beneficial effects:
(1) The connecting ring is arranged between the fixing ring and the stress ring, and the optical fibers penetrate through the connecting ring and then are connected with the fixing ring and the stress ring, and because the connecting ring is of an annular structure, the connecting ring has good compression and rebound resilience, can be arranged larger, can be arranged smaller and is suitable for large-diameter surgical instruments in an increasing number mode, the optical fibers correspond to the connecting ring, and are provided with eight optical fibers, so that the sensor still has enough redundant data for parameter sensing after the optical path signals disappear due to the breakage of a single optical fiber, and further realizes measurement work in the working process, and has good self-fault tolerance;
(2) The fiber bragg grating comprises a nickel-plated grid region and a normal grid region, wherein the two grid regions have different thermal expansion coefficients, so that when the temperature changes, the nickel-plated grid region and the normal grid region generate thermal strain to cause different drifting of two central wavelengths, and further, the temperature information can be measured through the difference value of the drifting amounts of the two central wavelengths, so that thermal self-decoupling is realized, and the accurate analysis of the detection force is realized;
(3) The connecting ring is in a runway-shaped structure and is connected with the fixed ring and the stress ring through the straight line segments, so that the connecting structure of the fixed ring, the connecting ring and the stress ring is stable, and the arc-shaped segment of the connecting ring is positioned between the fixed ring and the stress ring and has good deformation rebound performance, thereby being beneficial to accurate force detection of the fiber bragg grating;
(4) The fiber bragg grating passes through the through hole of the straight line section to be connected with the fixed ring and the stress ring, and the through hole is provided with a notch, so that the fixing condition of the fiber bragg grating can be conveniently observed, and meanwhile, the convenience of the connection of the fiber bragg grating with the fixed ring and the stress ring is improved;
(5) The fiber bragg grating realizes the welded fastening with the fixed ring and the stress ring through the welding block, the welding block is positioned in the mounting hole, the side hole in the mounting hole is arranged and the notch in the through hole of the connecting ring is arranged, so that the welding stress of the fiber bragg grating, the fixed ring and the stress ring can be eliminated, the fiber bragg grating can be accurately positioned, and the accuracy of force detection is ensured.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a six-dimensional force sensor of the present invention;
FIG. 2 is an enlarged view of the structure of the point A in FIG. 1 according to the present invention;
FIG. 3 is an enlarged view of the structure of the point B of FIG. 1 according to the present invention;
FIG. 4 is a front view of a six-dimensional force sensor of the present invention;
FIG. 5 is a top view of a six-dimensional force sensor of the present invention;
FIG. 6 is a fiber grating layout structure diagram of the six-dimensional force sensor of the present invention;
FIG. 7 is an enlarged view of the structure of the point C in FIG. 6 according to the present invention;
FIG. 8 is a connection structure diagram of a fixed ring, a force ring and a connecting ring of the six-dimensional force sensor of the present invention;
FIG. 9 is a perspective view of the milling robot of the present invention;
FIG. 10 is a schematic diagram of a six-dimensional force sensor fiber grating application identifier of the present invention;
FIG. 11 is a dimensional schematic of a six-dimensional force sensor of the present invention;
FIG. 12 is a schematic diagram of a fiber grating spectrum of a six-dimensional force sensor of the present invention;
FIG. 13 is a diagram of a hyperstatic analysis of force applied to a six-dimensional force sensor of the present invention in the Fz, fx/Fy direction;
FIG. 14 is a diagram showing a hyperstatic analysis of forces in the Mz, mx/My directions for a six-dimensional force sensor of the present invention;
FIG. 15 is a diagram of a network model of a one-dimensional convolution bi-directional gating cyclic unit of an induced self-attention mechanism for six-dimensional force sensor of the present invention for bone drilling and milling stage monitoring;
FIG. 16 is a diagram of training process curves and accuracy of a one-dimensional convolution bi-directional gating cyclic unit network model of a six-dimensional force sensor introducing a self-attention mechanism for bone drilling and milling stage identification;
in the figure: 1. a fixing ring; 101. a mounting hole; 1011. a central bore; 1012. a side hole; 102. a connection hole; 2. a stress ring; 3. a connecting ring; 31. a straight line segment; 32. an arc section; 301. a through hole; 302. a notch; 311. a first connection ring; 312. a second connecting ring; 313. a third connecting ring; 314. a fourth connecting ring 4 and a fiber bragg grating; 41. a nickel-plated gate region; 42. a normal gate region; 411. a first fiber grating; 412. a second fiber bragg grating; 413. a third fiber grating; 414. a fourth fiber grating; 415. a fifth fiber bragg grating; 416. a sixth fiber grating; 417. a seventh fiber grating; 418. eighth fiber grating; 5. a welding block; 6. a mechanical arm; 7. drilling and milling operation tools.
Detailed Description
The following description of the embodiments of the present invention will clearly and fully describe the technical aspects of the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
As shown in fig. 1-9, the six-dimensional force sensor comprises a fixed ring 1, a stress ring 2, a connecting ring 3, an optical fiber grating 4 and a welding block 5;
the surgical drilling and milling robot comprises the six-dimensional force sensor, a mechanical arm 6 and a drilling and milling surgical tool 7.
As shown in fig. 1-8, a fixed ring 1 and a stress ring 2 are coaxially arranged, and a space is reserved between the fixed ring 1 and the stress ring 2; four connecting rings 3 are arranged at the interval between the fixed ring 1 and the stress ring 2, one side of each connecting ring 3 is connected with the fixed ring 1, the other side of each connecting ring 3 is connected with the stress ring 2, and the four connecting rings 3 are arranged in an annular array by taking the axis of the fixed ring 1 as a reference;
the fixing ring 1 and the stress ring 2 are used for installing the fiber bragg grating 4, and the connecting ring 3 is of an annular structure, so that the fiber bragg grating 4 can be arranged larger, can be arranged smaller and can adapt to large-diameter surgical instruments in an increasing number mode, and can meet the requirement of stress deformation, so that the fiber bragg grating 4 can accurately measure the force; the structure can be prepared by adopting various biocompatible materials, such as similar plastics and metal materials, and good deformation and resetting capability can be ensured after preparation and molding;
specifically, eight fiber gratings 4 are arranged, each connecting ring 3 corresponds to two fiber gratings 4, the two fiber gratings 4 are arranged in a cross manner and penetrate through the connecting rings 3, one end of each fiber grating 4 is connected with the fixing ring 1, and the other end of each fiber grating 4 is connected with the stress ring 2, so that the fiber gratings 4 are in tensioning suspension;
according to the structure, the optical fiber gratings 4 are provided with eight corresponding connecting rings 3, the optical fiber gratings have self-fault-tolerant performance, and even if a single optical fiber grating 4 breaks to cause the disappearance of optical path signals, the sensor still has enough redundant data to perform parameter sensing, so that measurement in the working process is realized, and the self-fault-tolerant capability effectively ensures that the sensor can perform stable and reliable operation.
Specifically, the fixing ring 1, the stress ring 2 and the connecting ring 3 are made of elastic metal, and the fixing ring 1, the stress ring 2 and the connecting ring 3 are integrally formed;
in the above-mentioned structure, when the sensor is manufactured, the fixing ring 1, the stress ring 2 and the connecting ring 3 are all made of metal, preferably, they can be manufactured by 3D printing.
As shown in fig. 1, 4 and 8, the connecting ring 3 is in a runway-shaped structure, the connecting ring 3 comprises two straight line segments 31 and two arc segments 32, one straight line segment 31 is connected with the fixed ring 1, the other straight line segment 31 is connected with the stress ring 2, and the arc segments 32 are positioned at the end parts of the straight line segments 31;
the connecting ring 3 is in a runway-shaped structure and is connected with the fixed ring 1 and the stress ring 2 through the straight line segments 31, so that the connecting structure of the fixed ring 1, the connecting ring 3 and the stress ring 2 can be ensured to be stable, and the arc segments 32 of the connecting ring 3 are positioned between the fixed ring 1 and the stress ring 2 and have good deformation rebound performance, thereby being beneficial to accurate force detection of the fiber bragg grating 4;
in some embodiments, the connecting ring 3 may not be provided with a straight line segment 31, but two ends of the arc segment 32 are directly connected with the fixing ring 1 and the stress ring 2, and a scheme of providing the straight line segment 31 is preferably adopted in consideration of the overall structural strength.
As shown in fig. 3, a through hole 301 is formed in the straight section 31, the fiber bragg grating 4 passes through the through hole 301, a notch 302 is formed in the circumferential direction of the through hole 301, the notch 302 penetrates through the axial surface of one side of the connecting ring 3, and a space is reserved between the notch 302 and the arc section 32;
according to the structure, when the fiber bragg grating 4 is connected with the fixing ring 1 and the stress ring 2, the fiber bragg grating 4 needs to pass through the through hole 301 and is fixed, so that in order to facilitate the fixing work, the notch 302 is arranged in the circumferential direction of the through hole, and the notch 302 penetrates through the axial surface of the connecting ring 3, so that the fixing work such as glue injection or welding is conveniently observed, the stability of a connecting structure is facilitated, and when the fixing of the fiber bragg grating 4 is performed in a welding mode, the notch 302 is also beneficial to releasing welding stress, and the influence on the structural strength of a sensor and the accuracy of the installation of the fiber bragg grating 4 is avoided;
as described above, the gap is reserved between the notch 302 and the arc-shaped section 32, and the gap is specifically the straight line section 31 from the notch 302 to the arc-shaped section 32, so that the through hole 301 is fixed with the fixing ring 1 or the stress ring 2 except for the portion where the notch 302 is arranged, and the stability of the structure can be ensured, and the influence of the notch 302 on the structural strength is avoided.
As shown in fig. 1, mounting holes 101 are formed in the fixing ring 1 and the stress ring 2, and the mounting holes 101 are communicated with the through holes 301; the fiber bragg grating 4 passes through the mounting hole 101, and the fiber bragg grating 4 is welded and fixed with the fixed ring 1 and the stress ring 2;
in the above-described configuration, when fixing the fiber grating 4, the fiber grating 4 may be passed through the connection ring 3 and welded and fixed in the mounting holes 101 of the fixing ring 1 and the force receiving ring 2.
As shown in fig. 2 and 5, the mounting hole 101 includes a central hole 1011 and a side hole 1012, wherein the central hole 1011 is opened on the fixing ring 1 and the stress ring 2 along the arrangement direction of the fiber bragg grating 4; the side holes 1012 are arranged on the side part of the central hole 1011, the side holes 1012 are communicated with the central hole 1011, the number of the side holes 1012 is two, and the side holes 1012 are equidistantly arranged at the circumferential surface of the central hole 1011; the welding block 5 is positioned in the central hole 1011, and the welding block 5 is welded and fixed with the fiber bragg grating 4 and the fixed ring 1 or the stress ring 2;
as described above, the welding block 5 is formed by welding the fiber grating 4 with the fixing ring and the stress ring 2, during which the fiber grating 4 is mainly welded with the wall of the central hole 1011, and the side hole 1012 is used for releasing the welding stress, so as to avoid affecting the accuracy of the fixing position of the fiber grating 4, and further ensure accurate measurement.
As shown in fig. 6 and 7, the fiber grating 4 includes a nickel plating layer grating region 41 and a normal grating region 42, the nickel plating layer grating region 41 and the normal grating region 42 are located at the inner side of the connection ring 3, and the connection part of the fiber grating 4, the fixing ring 1 and the stress ring 2 is metallized by adopting a metal nickel plating layer;
according to the structure, the fiber bragg grating 4 comprises the nickel-plated grating region 41 and the normal grating region 42, and the two grating regions have different thermal expansion coefficients, so that when the temperature changes, the nickel-plated grating region 41 and the normal grating region 42 generate thermal strain to cause different drifting of two center wavelengths, and further, temperature information can be measured through the difference value of the drifting amount of the two center wavelengths, and therefore thermal self-decoupling is achieved, and accurate analysis of detection force is achieved; the metallized part of the fiber grating 4 is used for welding to connect the fixed ring 1 and the stress ring 2.
As shown in fig. 1 and 5, a plurality of connecting holes 102 are formed on the fixing ring 1 and the stress ring 2, and the connecting holes 102 are spaced from the connecting ring 3;
as the structure is that the connecting holes 102 are formed in the fixing ring 1 and the stress ring 2, the bolts conveniently penetrate through the connecting holes 102 to be connected with surgical instruments, and the connecting holes 102 and the connecting ring 3 are arranged at intervals, so that the stress stability of the sensor is guaranteed, the accuracy of a detection result is guaranteed, and the sensor has the advantages of convenience in installation and accuracy in detection.
As shown in fig. 8, the mechanical arm 6 is connected with the fixed ring 1; the drilling and milling operation tool 7 is connected with the stress ring 2;
in the above structure, when the robot is applied, the mechanical arm 6 is connected with the fixing ring 1, and the drilling and milling operation tool 7 is connected with the stress ring 2, so that when the robot works, the drilling and milling operation tool 7 contacts human tissues, and the sensor can perform force detection feedback.
The application method of the drilling and milling robot for the operation comprises the following steps:
s1, when a drilling and milling operation tool 7 contacts a measured object, the six-dimensional force sensor is stressed, the connecting ring 3 deforms, the fiber bragg grating 4 deforms, and the fiber bragg grating 4 performs sensing detection to obtain the following parameters: axial force Fz, lateral force Fx, longitudinal force Fy, vertical axis moment Mz about the six-dimensional force sensor, lateral axis moment Mx, and longitudinal axis moment My;
synchronously, when the temperature changes, the fiber bragg grating 4 generates thermal strain, and temperature information is measured according to the difference information of the central wavelength drift amount of the nickel plating grating region 41 and the normal grating region 42 of the fiber bragg grating 4;
meanwhile, the drilling and milling states are monitored through 16 central wavelength values of the eight fiber gratings 4;
s2, measuring six-dimensional force through decoupling of 16 central wavelength values and temperature of the eight fiber gratings 4;
s3, multi-parameter coupling physical quantity in the drilling and milling process is acted on the nickel plating grid region 41 and the normal grid region 42, so that center wavelength data of a plurality of channels are obtained, and the bone drilling and milling state is monitored through a one-dimensional convolution two-way gating circulation unit network model introducing a self-attention mechanism;
s4, the eight fiber gratings 4 deform under the action of the six-dimensional force, and the deformation of each connecting ring 3 under the action of the six-dimensional force is obtained by analyzing the mechanical models of the fixed ring 1, the stress ring 2 and the connecting rings 3, so that a relation matrix of the drift amount of the eight fiber gratings 4 at two central wavelengths and the six-dimensional force and temperature and a force and temperature sensitivity matrix are obtained;
s5, a generalized inverse matrix of the sensitivity matrix is used as a calibration matrix;
and S6, when any fiber bragg grating 4 passage fails, the six-dimensional force sensor still can sense the central wavelength change information with the quantity not less than twelve, and the temperature and six-dimensional force decoupling fault-tolerant measurement under the condition of the fiber bragg grating 4 failure is realized by timely adjusting the sensitivity matrix and the calibration matrix.
Referring to fig. 1 to 16, the specific working principle is as follows:
as shown in fig. 5, the four connection rings 3 are divided into a first connection ring 311, a second connection ring 312, a third connection ring 313, and a fourth connection ring 314;
as shown in fig. 10, the divided fiber gratings 4 are a first fiber grating 411, a second fiber grating 412, a third fiber grating 413, a fourth fiber grating 414, a fifth fiber grating 415, a sixth fiber grating 416, a seventh fiber grating 417, and an eighth fiber grating 418.
Referring to fig. 11, when a force acts on the fiber grating 4, the nickel-plated grating region 41 and the normal grating region 42 of the fiber grating 4 generate different degrees of strain, and the strain values of the nickel-plated grating region 41 and the normal grating region 42 under the action of the combined material mechanics-aware force are respectively:
the strain sensitivity ratio of the nickel-plated gate region 41 and the normal gate region 42 is:
wherein,for the modulus of elasticity of the optical fiber, +.>Is the elastic modulus of metallic nickel +.>Is the normal gate region optical fiber radius +.>For the cladding region optical fiber radius +.>Is subject to tension in the optical fiber.
As shown in fig. 13, when the sensor is acted by axial force, the connecting ring 3 is axially deformed by taking the sensor coordinate system as a reference, and the axial displacement of the eight fiber gratings 4 and the connecting ring 3 is the same as that of the eight fiber gratingsTwo deformation co-ordination conditions can thus be obtained: the movable end of the left half beam of the connecting ring 3 is displaced to 0 along the X-axis direction, and the rotation angle around the Y-axis is 0. The canonical equation for the available force method is thus:
in the method, in the process of the invention,force->Size of->For moment->Is of a size of (2); combining the mechanics of the materials, separating the connecting ring 3 from the middle, is regarded as two C-beams, +.>Is->The movable end of the C-shaped beam is in the +.>Deformation of direction (displacement/rotation angle).
Is->Under the action, the movable end of the C-shaped beam is +.>Displacement in the direction;
is->Under the action, the movable end of the C-shaped beam is +.>Displacement in the direction;
the movable end is the position of the connecting ring 3 for threading the fiber bragg grating 4. Can calculate the position according to Moire theorem、And->When acting alone, the movable end of the connecting ring 3 is displaced along the X-axis>、/>、/>Corner->、/>、/>The method comprises the following steps:
wherein R is the radius of the arc-shaped part of the connecting ring 3; b is the width of the connecting ring 3; a is the thickness of the connecting ring 3; e is the elastic metal modulus; i is the moment of inertia of the C-beam.
Further, the deformation can be calculated according to a Moire integral equation, and the equation coefficient of the calculated force method is as follows:
therefore, can obtain:
and then calculate、/>And +.>The total displacement of the connecting ring 3 in the Z-axis direction under the action is as follows:
for the fiber grating 4, its original length isNeglecting the influence of the rigidity of the optical fiber, and if the deformation direction coincides with the axial direction of the optical fiber, the strain caused by the unit axial force is as follows:
wherein,is the total length of the deformed optical fiber, +.>For the total displacement of the connecting ring 3 in the Z-axis direction, m and n are shown in fig. 11, which are analytical values for the C-beam.
The wavelength drift corresponding to the corresponding nickel-plated gate region 41 and normal gate region 42 is:
and->Initial center wavelength of reflection spectrum of nickel plating grating region 41 and normal grating region 42 of fiber grating 4 respectively, < > and->Is the effective elastance of the fiber core, < ->The nickel-plated gate region 41 is reflected by the amount of optical center wavelength shift,the amount of optical center wavelength shift is reflected for the normal gate region 42.
As shown in fig. 13, when the sensor is subjected to a transverse/longitudinal force, the elastic body (the combination of the fixing ring 1, the force receiving ring 2 and the connecting ring 3) deforms in the Z-axis direction symmetrically up and down with respect to the YZ plane, and deforms in the X-axis direction symmetrically with respect to the XZ plane, whereinAnalysis of the sensor structure, known from equilibrium conditions。
Three hyperstatic analyses were performed on the right half beam of the first connection ring 311, and three deformation conditions were obtained: the displacement of the movable end in the X direction isThe corner is +.>The displacement in the Y-axis direction is +.>. The canonical equation for the available force method is thus:
wherein,is->The movable end of the C-shaped beam is in the +.>Deformation of direction (displacement/rotation angle).
Five hyperstatic analyses were performed on the left half beam of the fourth connecting ring 314 to obtain five deformation conditions: the rotation angle of the movable end around the X direction is 0, the displacement in the Y direction is 0, and the displacement in the Z direction isThe displacement in the X direction is +.>The rotation angle around the Y direction is +.>. The canonical equation for the available force method is thus:
wherein,for moment->Size of->Force->Size of->For force->Size of->Force->Size of->For moment->Is of a size of (a) and (b). From the displacement reciprocal theorem, it is known that: />，/>，，/>。/>Is->The movable end of the C-shaped beam is in the +.>Deformation of direction (displacement/rotation angle).
Similarly, the original length of the first fiber grating 411 and the second fiber grating 412 isThe amount of strain and center wavelength shift induced by the unit radial force is:
wherein,for the total displacement of the connecting ring 3 in the X-axis direction, +.>Is the total displacement of the connecting ring 3 in the Z-axis direction.
Similarly, the original length of the fifth fiber grating 415 and the sixth fiber grating 416 isThe amount of strain and center wavelength shift induced by the unit radial force is:
similarly, the original length of the third fiber grating 413 and the eighth fiber grating 418 isThe amount of strain and center wavelength shift induced by the unit radial force is:
wherein,for the total displacement of the connecting ring 3 in the X-axis direction, +.>Is the total displacement of the connecting ring 3 in the Z-axis direction.
The original length of the fourth fiber grating 414 and the seventh fiber grating 417 isThe amount of strain and center wavelength shift induced by the unit radial force is:/>
as shown in FIG. 14, when the sensor is subjected to a torque M in the Z direction, the four connection rings 3 are made to have the same effect due to the symmetry of the elastomer structure, wherein，/>。
Five hyperstatic analyses were performed on the second connection ring 312 with a displacement of the movable end in the X direction ofThe rotation angle around the Y direction is +.>The rotation angle around the X direction is 0, the displacement in the Y direction is +.>. The canonical equation for the power method is thus available. The canonical equation for the available force method is thus:
wherein,for force->Size of->For force->Size of->For moment->Is of a size of (a) and (b),for force->Size of->For moment->Is of a size of (a) and (b). From the displacement reciprocal theorem, it is known that: />，，/>。
Similarly, the original length of the first fiber grating 411, the third fiber grating 413, the fifth fiber grating 415 and the seventh fiber grating 417 is as followsThe amount of strain and center wavelength shift induced by the unit axial torque is:
wherein,is the total displacement of the connecting ring 3 in the X-axis direction; />Is the total displacement of the connecting ring 3 in the Y-axis direction;is the total displacement of the connecting ring 3 in the Z-axis direction.
The original length of the second fiber grating 412, the fourth fiber grating 414, the sixth fiber grating 416 and the eighth fiber grating 418 isThe amount of strain and center wavelength shift induced by the unit axial torque is: />
As shown in fig. 14, when the sensor is subjected to the M bending moment in the X direction, the third connection ring 313 is pressed and the first connection ring 311 is pulled. From the equilibrium conditions；
Four hyperstatic analyses are performed on the right half beam of the first connecting ring 311, so that four deformation coordination conditions can be obtained: the movable end of the device is displaced 0 in the X-axis direction, the rotation angle around the Y-axis direction is 0, and the displacement in the Z-axis direction isThe rotation angle around the X direction is +.>. The canonical equation for the available force method is thus:
wherein,for force->Size of->For moment->Size of->For force->Is of a size of (a) and (b),for moment->Is of a size of (a) and (b). From the displacement reciprocal theorem, it is known that: />，/>，。
Three hyperstatic analyses are performed on the left half beam of the fourth connecting ring 314 to obtain three deformation coordination conditions: the movable end of the movable end is turned around the X directionDisplacement in Y direction is +.>Displacement in Y direction is +.>. The canonical equation for the available force method is thus:
wherein,for moment->Size of->For force->Size of->For force->Is of a size of (a) and (b). From the displacement reciprocal theorem, it is known that: />。
Similarly, the original length of the first fiber grating 411 and the second fiber grating 412 isL b The amount of strain and center wavelength shift due to the unit bending moment is:
wherein,is the total displacement of the connecting ring 3 in the X-axis direction; />Is the total displacement of the connecting ring 3 in the Z-axis direction.
Similarly, the original length of the fifth fiber grating 415 and the sixth fiber grating 416 isThe amount of strain and center wavelength shift due to the unit bending moment is:
similarly, for the third fiber grating 413 and the eighth fiberGrating 418 has an original length ofThe amount of strain and center wavelength shift due to the unit bending moment is:
wherein,is the total displacement of the connecting ring 3 in the X-axis direction; />Is the total displacement of the connecting ring 3 in the Z-axis direction.
The original length of the fourth fiber grating 414 and the seventh fiber grating 417 isThe amount of strain and center wavelength shift due to the unit bending moment is:
further, when the environment changes per unit temperature, the nickel-plated grating regions 41 and the normal grating regions 42 of the eight fiber gratings 4 generate different thermal strains、/>And the central wavelength drift amount->、/>The following are provided:
wherein,is the temperature variation.
So far, the relation matrix of the central wavelength drift quantity of the reflection spectrums of the eight fiber gratings 4 and the six-dimensional force and temperature is obtained as follows:
wherein,for a length 16 column vector, two center wavelength shift amounts of the reflection spectrums of the eight fiber gratings 4 are represented, +.>Is the force and temperature sensitivity matrix of the sensor;
further by solving a sensitivity matrixIs>As a calibration matrix, the six-dimensional force and temperature information can be solved through 16 central wavelength drift amounts as follows:
further, when one path of the eight fiber gratings 4 fails and the wavelength signal is lost, the sensitivity matrix is adjustedThe remainder of->Recalculating the calibration matrix for the individual wavelength information>Fault-tolerant measurement of the sensor under fault conditions can be achieved.
Further, the stages of the bone drilling process are monitored by combining multichannel central wavelength drift information obtained by the sensor, and are divided into 7 stages, namely idling, drilling into a cortex layer, drilling into a cancellous layer, drilling into a cortex layer and drilling into a cortex layer;
compared with the traditional feature extraction algorithm, the convolutional neural network can extract the feature of deeper layers in the bone drilling process, the one-dimensional convolution is that the sliding windows are summed in the time direction, the convolutional neural network can be better suitable for processing single-dimensional bone drilling and milling wavelength signals, and 16-channel wavelength data fusion is further carried out as follows:
wherein,is channel->First->First part of convolution layer>Feature input, co->Personal characteristic input,/->Is channel->First->Layer->Convolution kernel->For the channel->First->Layer->Bias value->Is->Output of convolution layer,/>For nonlinear activation function +.>The number of channels;
the gating circulation unit is a network with single nerve cells infinitely repeated, and further can effectively excavate time sequence features of the bone drilling process by combining the gating circulation unit, and the network features extracted by the front convolution layer are input into the GRU to further excavate the time sequence features:
for the output of the last neuron, +.>For characteristic values output by convolutional neural network, +.>For resetting the gate output,/->For updating the gate output +.>To activate the function Sigmod->Output for candidate hidden state->Outputting for the current neuron; tanh is the activation function of the neural network.
Further, referring to fig. 13, a one-dimensional convolution bi-directional gating loop network model introducing a self-attention mechanism is constructed, and parameters of the network model are shown in table 1:
table 1 one-dimensional convolution bi-directional gating loop network parameter table incorporating self-attention mechanism
A large amount of drilling data is acquired by reciprocating bone drilling, data division is carried out according to the length of 1000 samples, single samples are 16 multiplied by 1000 arrays, 70% of data are randomly selected to train a designed network model, and the model is tested by adopting the rest 30% of data.
Referring to fig. 16, a training process curve is obtained, a stable model is selected and tested to obtain a model accuracy confusion matrix, the accuracy of a corresponding test set is 95.6%, the identification accuracy of the models in each stage is respectively 100% of idle running, 96.0% of drilling into a cortical layer, 97.0% of cortical layer, 94.0% of cortical layer, 95.0% of cancellous layer, 94.0% of cortical layer, 93.0% of drilling through cortical layer, and the accuracy of bone drilling and milling stage monitoring is good.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (7)
1. An application method of a drilling and milling robot for surgery comprises the following steps:
s1, when a drilling and milling operation tool (7) contacts a measured object, the six-dimensional force sensor is stressed, the connecting ring (3) deforms, so that the fiber bragg grating (4) deforms, and the fiber bragg grating (4) is used for sensing and detecting to obtain the following parameters: axial force Fz, lateral force Fx, longitudinal force Fy, vertical axis moment Mz about the six-dimensional force sensor, lateral axis moment Mx, and longitudinal axis moment My; synchronously, when the temperature changes, the fiber bragg grating (4) generates thermal strain, and temperature information is measured according to the difference information of the central wavelength drift amount of the nickel plating grating region (41) and the normal grating region (42) of the fiber bragg grating (4); meanwhile, the drilling and milling states are monitored through 16 central wavelength values of the eight fiber gratings (4);
s2, decoupling 16 central wavelength values of the eight fiber gratings (4) from temperature to measure six-dimensional force;
s3, multi-parameter coupling physical quantity in the drilling and milling process acts on a nickel plating grid region (41) and a normal grid region (42), so that center wavelength data of a plurality of channels are obtained, and the milling state of the bone drill is monitored through a one-dimensional convolution bidirectional gating circulation unit network model introducing a self-attention mechanism;
s4, the eight fiber gratings (4) deform under the action of the six-dimensional force, and the deformation of each connecting ring (3) under the action of the six-dimensional force is obtained by analyzing the mechanical models of the fixed ring (1), the stress ring (2) and the connecting ring (3), so that a relation matrix of the drift amount of the eight fiber gratings (4) at two central wavelengths, the six-dimensional force and the temperature and a force and temperature sensitivity matrix are obtained;
s5, a generalized inverse matrix of the sensitivity matrix is used as a calibration matrix;
s6, when any fiber bragg grating (4) passage fails, the six-dimensional force sensor can still sense the central wavelength change information with the quantity not less than twelve, and the temperature and six-dimensional force decoupling fault-tolerant measurement under the failure condition of the fiber bragg grating (4) is realized by timely adjusting the sensitivity matrix and the calibration matrix;
the drilling and milling robot for the operation comprises the six-dimensional force sensor, a mechanical arm (6) and a drilling and milling operation tool (7), wherein the mechanical arm (6) is connected with the fixed ring (1); the drilling and milling operation tool (7) is connected with the stress ring (2); the six-dimensional force sensor comprises a fixed ring (1), a stress ring (2), a connecting ring (3) and a fiber bragg grating (4), wherein,
the fixed ring (1) and the stress ring (2) are coaxially arranged, and a space is reserved between the fixed ring (1) and the stress ring (2);
four connecting rings (3) are arranged at intervals between the fixed ring (1) and the stress ring (2), one side of each connecting ring (3) is connected with the fixed ring (1), the other side of each connecting ring is connected with the stress ring (2), and the four connecting rings (3) are arranged in an annular array based on the axis of the fixed ring (1);
the optical fiber gratings (4) are provided with eight optical fiber gratings (4), each connecting ring (3) corresponds to two optical fiber gratings (4), the two optical fiber gratings (4) are arranged in a cross manner and penetrate through the connecting rings (3), one end of each optical fiber grating (4) is connected with the corresponding fixing ring (1), and the other end of each optical fiber grating is connected with the corresponding stress ring (2) so that the optical fiber gratings (4) are in tension suspension;
the fiber bragg grating (4) comprises a nickel plating grid region (41) and a normal grid region (42), the nickel plating grid region (41) and the normal grid region (42) are positioned on the inner side of the connecting ring (3), and the connecting part of the fiber bragg grating (4) with the fixing ring (1) and the stress ring (2) is metallized by adopting a metal nickel plating layer.
2. The method of using a surgical drilling and milling robot of claim 1, wherein: the connecting ring (3) is of a runway-shaped structure, the connecting ring (3) comprises two straight line segments (31) and two arc segments (32), one straight line segment (31) is connected with the fixed ring (1), the other straight line segment (31) is connected with the stress ring (2), and the arc segments (32) are located at the end parts of the straight line segments (31).
3. The method of using a surgical drilling and milling robot of claim 2, wherein: the fiber bragg grating is characterized in that a through hole (301) is formed in the straight line section (31), the fiber bragg grating (4) penetrates through the through hole (301), a notch (302) is formed in the circumference of the through hole (301), the notch (302) penetrates through the axial surface of one side of the connecting ring (3), and an interval is reserved between the notch (302) and the arc-shaped section (32).
4. A method of using a surgical drilling and milling robot according to claim 3, wherein: mounting holes (101) are formed in the fixing ring (1) and the stress ring (2), and the mounting holes (101) are communicated with the through holes (301);
the fiber bragg grating (4) passes through the mounting hole (101), and the fiber bragg grating (4), the fixed ring (1) and the stress ring (2) are welded and fixed.
5. The method for applying the surgical drilling and milling robot according to claim 4, wherein: also comprises a welding block (5), the mounting hole (101) comprises a central hole (1011) and a side hole (1012), wherein,
the central hole (1011) is formed on the fixed ring (1) and the stress ring (2) along the arrangement direction of the fiber bragg grating (4);
the side holes (1012) are formed in the side part of the central hole (1011), the side holes (1012) are communicated with the central hole (1011), the number of the side holes (1012) is two, and the side holes (1012) are equidistantly arranged at the circumferential surface of the central hole (1011);
the welding block (5) is positioned in the central hole (1011), and the welding block (5) is welded and fixed with the fiber bragg grating (4) and the fixed ring (1) or the stress ring (2).
6. The method of using a surgical drilling and milling robot of claim 1, wherein: a plurality of connecting holes (102) are formed in the fixing ring (1) and the stress ring (2), and the connecting holes (102) are mutually spaced from the connecting ring (3).
7. The application method of the surgical drilling and milling robot according to any one of claims 1 to 6, wherein: the fixing ring (1), the stress ring (2) and the connecting ring (3) are made of elastic metal, and the fixing ring (1), the stress ring (2) and the connecting ring (3) are integrally formed.
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