Input signal compensation system and method thereof

Abstract

The present invention discloses an input signal compensation system and method, and a jitter simulation output system and method. The input signal compensation system includes a jitter signal acquisition device, which is worn on the part of the user where the jitter signal needs to be collected, and is used to collect the jitter signal; an input signal acquisition device, which is used to collect the input signal of the manipulator operated by the user; and a host computer, which receives the jitter signal and the input signal, and performs reverse compensation filtering to obtain a compensation signal. The movement of the manipulator is controlled by the compensation signal, which eliminates the movement error of the manipulator caused by the shaking of the human hand during the operation and improves the accuracy of the surgery. The jitter simulation output system includes the jitter signal acquisition device.

Description

Technical Field

[0001] The present invention relates to the technical field of signal compensation, and in particular to an input signal compensation system and method thereof, and a jitter simulation output system and method thereof. Background Art

[0002] In the surgical robot system, the doctor's hands will shake when operating the manipulator on the console. The shaking of the doctor's hands will cause the manipulator to shake, thereby superimposing the shaking on the system input, and the robotic arm that follows the movement of the manipulator will also shake with the shaking of the manipulator.

[0003] This kind of jitter will cause uncertainty in the operation results during the operation, which will bring great difficulty to the operation. Therefore, the robot arm needs to perform compensatory filtering on the doctor's input signal to effectively identify and separate the jitter signal and the actual input signal. Summary of the invention

[0004] In response to the problem that hand shaking may cause operational errors in the surgical process and reduce the accuracy of surgical operations, the present invention, on the one hand, proposes an input signal compensation system and a method thereof for eliminating robot arm motion errors caused by human hand shaking. On the other hand, the present invention provides a jitter simulation output system and a method thereof including a jitter acquisition device of an input signal compensation system for simulating human hand jitter to test the filtering effect of a console surgical robot arm, further assisting in improving the accuracy of the surgery, thereby being able to eliminate noise signals in the input signal transmitted to the robot arm in real time without affecting the response speed of the robot arm.

[0005] Technical solution:

[0006] An input signal compensation system, comprising:

[0007] A jitter signal collection device is worn on the part of the user where the jitter signal needs to be collected, and is used to collect the jitter signal;

[0008] An input signal acquisition device, used to acquire input signals from the manipulator operated by the user;

[0009] The host computer receives the jitter signal and the input signal, and performs reverse compensation filtering thereon to obtain a compensation signal.

[0010] The jitter signal acquisition device includes a sensor for acquiring jitter signals from relevant parts of a user and a wireless transmission module for transmitting the jitter signals to a host computer.

[0011] The sensor is a gyroscope.

[0012] The gyroscope is a 6-axis electronic gyroscope.

[0013] The wireless transmission module is a Bluetooth module or a Wifi module.

[0014] The jitter signal acquisition device also includes a base and a battery fixedly mounted on the base. The sensor and the wireless transmission module are arranged on the base and are electrically connected to the battery.

[0015] The jitter signal acquisition device also includes wearing belts arranged on both sides of the base.

[0016] The specific steps of the reverse filtering compensation are: the host computer inverts the jitter signal to obtain a reverse signal, and then superimposes the reverse signal with the input signal to obtain a superimposed signal.

[0017] The reverse filtering step also includes: filtering the superimposed signal through a low-pass filter and a frequency notch to remove the noise signal to obtain the compensation signal.

[0018] A method for inputting a signal compensation system, comprising:

[0019] (1) The user wears the jitter collection device at the part where the user needs to collect jitter signals, and the user operates the manipulator;

[0020] (2) The input signal acquisition device acquires the input signal of the manipulator in real time and sends it to the host computer. The input signal acquired by the input signal acquisition device includes the actual input signal of the manipulator and the jitter signal generated by the jitter of the human hand;

[0021] (3) The jitter collection device synchronously and in real time collects jitter signals generated by hand shaking during user operation and sends them to the host computer;

[0022] (4) The host computer performs reverse compensation filtering according to the input signal and the jitter signal to obtain a compensation signal.

[0023] The specific steps of the reverse filtering compensation are: the host computer inverts the jitter signal to obtain a reverse signal, and then superimposes the reverse signal with the input signal to obtain a superimposed signal.

[0024] The superposition signal is calculated as follows:

[0025] Assume that the actual input signal of the manipulator is S(n), the actual jitter signal is N(n), the noise signal in the input signal collected by the signal acquisition device, and the difference signal between the jitter signal collected by the jitter signal acquisition device and the actual jitter signal are D1(n) and D2(n) respectively; then the input signal Y(n) collected by the signal acquisition device is:

[0026] Y(n)=S(n)+N(n)+D1(n)

[0027] The jitter signal C(n) collected by the jitter signal collection device is:

[0028] C(n)=N(n)+D2(n)

[0029] Then the superposition signal G(n) after reverse compensation is:

[0030] G(n)=Y(n)-C(n)=S(n)+N(n)+D1(n)-N(n)-D2(n)=S(n)+D1(n)-D2(n)

[0031] The reverse filtering step also includes: filtering the superimposed signal through a low-pass filter and a frequency notch to remove the noise signal to obtain the compensation signal.

[0032] The compensation signal H(n) is calculated as follows:

[0033] H(n)=a*G(n)+(1-a)*G(n-1)

[0034] Among them, G(n) is the superimposed signal after the current reverse compensation, a is the filter coefficient, and G(n-1) is the superimposed signal after the previous reverse compensation.

[0035] A jitter simulation output system includes the jitter signal acquisition device, a control board and an analog output component. The jitter signal acquisition device includes a base, a battery fixedly mounted on the base and a sensor. The control board is connected to the lithium battery and the sensor, and receives and saves the jitter signal collected by the sensor in real time. The analog output component includes a bracket connected to the base and three motors mounted to the bracket. The axes of the three motors are perpendicular to each other, and an eccentric wheel is provided on the motor shaft of each motor.

[0036] The bracket includes two side plates that are vertically arranged and connected to each other and a top plate fixedly installed on the top ends of the two side plates, and the motor is respectively installed on the two side plates and the top plate.

[0037] A jitter simulation output method, comprising:

[0038] (1) Wearing the jitter collection device at a position where jitter signals need to be collected, collecting jitter signals from relevant parts of the user, and sending the jitter signals to a host computer;

[0039] (2) The host computer decomposes the jitter signal into jitter signals X(t), Y(t), and Z(t) in the three directions of X, Y, and Z, and converts the jitter time threshold signal into frequency domain signals F(W1), F(W2), and F(W3) through fast Fourier transform respectively;

[0040] Among them, F(W1)=F{X(t)}, F(W2)=F{Y(t)}, F(W3)=F{Z(t)};

[0041] F{X(t)}, F{Y(t)}, and F{Z(t)} respectively represent frequency signals obtained by converting the jitter signals X(t), Y(t), and Z(t) through Fourier transform;

[0042] (3) Use the sorting algorithm to find the frequency points fx, fy, and fz with the largest amplitudes in the three directions of X, Y, and Z, and use these points as the fundamental frequencies of vibration in the corresponding directions, and calculate the simulated vibration frequencies output by each axis:

[0043] Wherein, fx=Max(F(W1)), fy=Max(F(W2)), fz=Max(F(W3));

[0044] Max(F(W1)), Max(F(W2)), and Max(F(W3)) represent the frequency points where the amplitudes of the frequency domain signals F(W1), F(W2), and F(W3) are the largest within the frequency range, respectively;

[0045] (4) The simulated vibration frequency obtained in step (3) is sent to the motor, and the motor in the corresponding direction is controlled to generate a shaking frequency consistent with the base frequency to synthesize a simulated shaking signal.

[0046] Beneficial effects:

[0047] The present invention collects the doctor's hand shaking signal through a shaking signal acquisition device, collects the input signal of the manipulator through an input signal acquisition device, and sends the shaking signal and the input signal to a host computer. The host computer performs reverse compensation filtering on the two signals to obtain a compensation signal, and controls the movement of the manipulator through the compensation signal, thereby eliminating the movement error of the manipulator caused by hand shaking during the operation and improving the accuracy of the surgery.

[0048] In addition, the jitter simulation output system including the jitter signal acquisition device in the input signal compensation system of the present invention can simulate human hand jitter, which can be used to test the filtering effect of the console surgical robot arm, further helping to improve the accuracy of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 An exploded view of the device of the present invention;

[0050] Figure 2 It is a front view of the device of the present invention;

[0051] Figure 3 is a three-dimensional diagram of the device of the present invention;

[0052] Figure 4It is a partial schematic diagram of the device of the present invention;

[0053] Figure 5 is a flow chart of the input signal compensation method of the present invention;

[0054] Figure 6 It is a flow chart of the jitter simulation output of the present invention.

[0055] In the figure, 1. Wearing belt, 2. Base, 3. Lithium battery, 4. Sensor, 5. Control board, 6. Analog output component;

[0056] 61. Bracket, 62. X-direction motor, 63. Y-direction motor, 64. Z-direction motor, 65. Eccentric wheel. DETAILED DESCRIPTION

[0057] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments.

[0058] The surgical robot consists of a console manipulator, a host computer, an input signal compensation system, and a robotic arm. The doctor controls the manipulator, and the host computer transmits the movement information of the manipulator to the robotic arm so that the robotic arm performs corresponding movements to perform surgery. The input signal compensation system identifies, separates, and compensator-filters the jitter signals generated by the doctor's hand tremors, thereby preventing misoperations caused by the doctor's hand tremors.

[0059] The input signal compensation system of the present invention includes a host computer and a jitter acquisition device. More specifically, refer to Figure 1 As shown, the jitter collection device of the present invention includes a base 2, a lithium battery 3 fixedly mounted on the base 2, a sensor 4, and an input signal collection device (not shown) for collecting motion signals of the manipulator. Wearing belts 1 are fixedly mounted at both ends of the base 2, and the jitter collection device is worn on a part where jitter collection is required, such as the user's wrist, through the wearing belt 1; the sensor 4 is electrically connected to the lithium battery 3, and is powered by the lithium battery 3. A wireless transmission module is also installed on the sensor 4, and is connected to the host computer through the wireless transmission module. The sensor 4 collects the jitter signal of the user's arm in real time, and then sends it to the host computer through the wireless transmission module. The wireless transmission module can be a Bluetooth module or a Wifi module.

[0060] In the embodiment disclosed in the present invention, a gyroscope is used as the sensor 4 for collecting user jitter signals, but the present invention is not limited thereto. The present invention may use other sensors with similar functions, such as a vibration sensor.

[0061] The present invention provides an input signal compensation method, comprising the following steps:

[0062] (1) The user wears the jitter collection device at the part where the jitter signal needs to be collected, such as the wrist, and operates the robot;

[0063] (2) The input signal acquisition device acquires the motion signal of the manipulator as a digital input signal and sends it to the host computer. The input signal acquired by the input signal acquisition device includes the actual input signal of the manipulator and the noise signal of the human hand shaking;

[0064] (3) The sensor 4 of the jitter collection device collects jitter signals during user operation in real time and sends them to the host computer;

[0065] (4) The host computer performs reverse compensation filtering on the input signal sent by the input signal acquisition device and the jitter signal sent by the jitter acquisition device to obtain a compensation signal, and controls the movement of the robot arm according to the compensation signal to perform surgery.

[0066] The specific steps of obtaining the compensation signal through reverse compensation filtering are as follows:

[0067] Under the unified timing, since the actual input signal of manual operation is a low-frequency signal, the frequency of the hand jitter signal is higher than that of the actual input signal of manual operation, and the system sampling frequency and data transmission cycle are much higher than the hand jitter frequency. Therefore, after the upper computer is connected to the sensor 4 of the jitter acquisition device through the wireless module, the communication cycle of the wireless module is used as the clock cycle of the unified timing. Due to the delay of the instruction operation time, the time of the postponed instruction operation is used as the starting point of the unified timing, and the jitter signal is collected through the aforementioned sensor 4 accordingly;

[0068] The host computer inverts the jitter signal collected by the sensor 4 at the same time according to the timing of the manipulator to obtain a reverse signal. After amplification or attenuation, the reverse signal is equal in magnitude and opposite in direction to the noise signal in the input signal collected by the input signal collection device. Therefore, after the input signal collected by the input signal collection device at the same time and the reverse signal after the jitter signal collected by the sensor 4 is inverted are superimposed, the noise signal caused by the hand jitter in the input signal is basically eliminated;

[0069] Since the noise signal collected by the input signal acquisition device and the jitter signal collected by the aforementioned sensor 4 are somewhat different from the actual jitter signal generated by human hand jitter, after the input signal and the reverse signal are superimposed, some of these differences will still exist in the form of noise. Therefore, the superimposed signal after superposition needs to be filtered out through a low-pass filter and a frequency notch to remove the residual noise signal, so as to output a compensation signal without a noise signal.

[0070] Assume that the actual input signal of the manipulator is S(n), the actual jitter signal generated by the human hand jitter is N(n), the noise signal in the input signal collected by the input signal acquisition device, and the difference signal between the jitter signal collected by the jitter signal acquisition device and the actual jitter signal are D1(n) and D2(n) respectively; then the input signal Y(n) collected by the signal acquisition device is:

[0071] Y(n)=S(n)+N(n)+D1(n)

[0072] The jitter signal C(n) collected by the jitter signal collection device is:

[0073] C(n)=N(n)+D2(n)

[0074] Then the superposition signal G(n) after reverse compensation is:

[0075] G(n)=Y(n)-C(n)=S(n)+N(n)+D1(n)-N(n)-D2(n)=S(n)+D1(n)-D2(n)

[0076] Since the noise signal collected by the input signal acquisition device and the jitter signal collected by the aforementioned sensor 4 are not much different from the actual jitter signal, the amplitude of D1(n)-D2(n) is small and the frequency is high, the difference signal can be filtered out by low-pass filtering operation H(n)=a*G(n)+(1-a)*G(n-1).

[0077] Among them, G(n) is the superimposed signal after the current reverse compensation, a is the filter coefficient, and G(n-1) is the superimposed signal after the previous reverse compensation; the compensation signal H(n) output after filtering is basically consistent with the actual input signal S(n) of the manipulator.

[0078] The present invention collects the doctor's hand shaking signal through a shaking signal acquisition device, collects the input signal of the manipulator through an input signal acquisition device, and sends the shaking signal and the input signal to a host computer. The host computer performs reverse compensation filtering on the two signals to obtain a compensation signal, and controls the movement of the manipulator through the compensation signal, thereby eliminating the movement error of the manipulator caused by hand shaking during the operation and improving the accuracy of the surgery.

[0079] The jitter simulation output system including the jitter signal acquisition device of the present invention can simulate the vibration output, which is used to test the specificity of each user's hand jitter during the operation, so multiple jitters are required to test the input. The present invention also provides a jitter simulation output system including the aforementioned jitter signal acquisition device to simulate human hand jitter, which can simulate the hand jitter signal of an operator with hand jitter to test the manipulator, thereby facilitating the adjustment of the filtering performance of the manipulator.

[0080] like Figure 1 , 2 As shown in Figure 4, the jitter simulation output system of the present invention includes the aforementioned jitter acquisition device, a host computer, a control board 5 fixedly mounted on the base 2, and an analog output component 6. Among them, the control board 5 is connected to the lithium battery 3 and the sensor 4 respectively, and is powered by the lithium battery 3, and receives and saves the jitter signal collected by the sensor 4 in real time. The analog output component 6 includes a bracket 61 fixedly mounted on the base 2, and the bracket 61 includes two side panels arranged perpendicularly and connected to each other and a top panel fixedly mounted on the top of the two side panels. Both the two side panels and the top panel are provided with mounting grooves, and motors are installed in the mounting grooves. A coordinate system is established with the direction perpendicular to one of the side panels as the X-axis, the direction perpendicular to the top panel as the Z-axis, and the direction orthogonal to the X-axis and the Z-axis as the Y-axis. The axes of the motors mounted on the two side panels and the top panel are parallel to the X-axis, the Z-axis and the Y-axis respectively. The three motors are defined as the X-direction motor 62, the Y-direction motor 63 and the Z-direction motor 64 respectively, and an eccentric wheel 65 is fixedly mounted on the motor shaft of each motor. When each motor rotates, the eccentric wheel 65 installed on the motor shaft will generate a centrifugal force, thereby generating vibrations of different frequencies on the output shaft of each motor. The vibration frequency and vibration amplitude can be achieved by controlling the rotation speed of the motor.

[0081] When arm shaking simulation is needed, the shaking signals in the three directions of XYZ are first collected through the gyroscope. The shaking signals in the three directions are respectively converted into frequency domain signals through fast Fourier transform. The amplitude point of the maximum vibration in the three directions of XYZ is found through the sorting algorithm. This point is used as the fundamental frequency of the vibration and as the simulated vibration frequency output by each axis. The motor in the XYZ direction is driven by the motor to generate a shaking frequency consistent with the fundamental frequency, thereby synthesizing a simulated shaking signal.

[0082] The method of the jitter simulation output system of the present invention is as follows:

[0083] (1) Wear the jitter collection device on the part where the jitter signal needs to be collected, such as the wrist, collect the jitter signal of the relevant part of the user through the sensor 4, and send it to the host computer through the wireless transmission module;

[0084] (2) The host computer decomposes the jitter signal into jitter signals X(t), Y(t), and Z(t) in the three directions of X, Y, and Z, and converts the jitter time threshold signal into frequency domain signals F(W1), F(W2), and F(W3) through fast Fourier transform respectively;

[0085] Among them, F(W1)=F{X(t)}, F(W2)=F{Y(t)}, F(W3)=F{Z(t)};

[0086] F{X(t)}, F{Y(t)}, and F{Z(t)} respectively represent frequency signals obtained by converting the jitter signals X(t), Y(t), and Z(t) through Fourier transform;

[0087] (3) Use the sorting algorithm to find the frequency points fx, fy, and fz with the largest amplitudes in the three directions of X, Y, and Z, and use these points as the fundamental frequencies of vibration in the corresponding directions, and calculate the simulated vibration frequencies output by each axis:

[0088] Wherein, fx=Max(F(W1)), fy=Max(F(W2)), fz=Max(F(W3));

[0089] Max(F(W1)), Max(F(W2)), and Max(F(W3)) represent the frequency points where the amplitudes of the frequency domain signals F(W1), F(W2), and F(W3) are the largest within the frequency range, respectively;

[0090] The simulated vibration frequencies fy and fz in the Y and Z directions are calculated in the same way;

[0091] (4) sending the simulated vibration frequency obtained in step (3) to the motor, controlling the motor in the corresponding direction to generate a shaking frequency consistent with the base frequency, thereby synthesizing a simulated shaking signal;

[0092] The simulated vibration frequency outputted by each shaft is calculated specifically as follows: the rotation speed of the eccentric wheel shaft in the corresponding direction is calculated through the frequency points in each direction, and then the simulated vibration frequency outputted by the motor in the corresponding direction is calculated.

[0093] The jitter simulation output system including the jitter signal acquisition device in the input signal compensation system of the present invention can simulate the jitter of human hands, and can be used to test the filtering effect of the surgical robot arm of the console, further helping to improve the accuracy of the surgery.

[0094] In the present invention, the gyroscope used is specifically a 6-axis electronic gyroscope.

[0095] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations (such as quantity, shape, position, etc.) can be made to the technical scheme of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. An input signal compensation system, characterized in that: include: A jitter signal collection device is worn on the part of the user where the jitter signal needs to be collected, and is used to collect the jitter signal; An input signal acquisition device, used to acquire input signals from the manipulator operated by the user; The host computer receives the jitter signal and the input signal, and performs reverse compensation filtering thereon to obtain a compensation signal; The host computer inverts the jitter signal to obtain a reverse signal, superimposes the reverse signal with the input signal to obtain a superimposed signal, and filters the superimposed signal through a low-pass filter and a frequency notch to remove the noise signal to obtain the compensation signal; The compensation signal H(n) is calculated as follows: H(n)=a G(n)+(1-a) G(n-1); Wherein, G(n) is the superposition signal after the current reverse compensation, a is the filter coefficient, and G(n-1) is the superposition signal after the previous reverse compensation; The superposition signal G(n) after the current reverse compensation is: G(n)= S(n)+D1(n)-D2(n); Among them, S(n) is the actual input signal of the manipulator, D1(n) and D2(n) are respectively the noise signal in the input signal collected by the signal acquisition device and the difference signal between the jitter signal collected by the jitter signal acquisition device and the actual jitter signal.

2. The input signal compensation system according to claim 1, characterized in that: The jitter signal acquisition device includes a sensor for acquiring jitter signals from relevant parts of a user and a wireless transmission module for transmitting the jitter signals to a host computer.

3. The input signal compensation system according to claim 2, characterized in that: The sensor is a gyroscope.

4. The input signal compensation system according to claim 3, characterized in that: The gyroscope is a 6-axis electronic gyroscope.

5. The input signal compensation system according to claim 2, characterized in that: The wireless transmission module is a Bluetooth module or a Wifi module.

6. The input signal compensation system according to claim 2, characterized in that: The jitter signal acquisition device also includes a base and a battery fixedly mounted on the base. The sensor and the wireless transmission module are arranged on the base and are electrically connected to the battery.

7. The input signal compensation system according to claim 6, characterized in that: The jitter signal acquisition device also includes wearing belts arranged on both sides of the base.

8. A method of input signal compensation system as claimed in claim 1, characterized in that: include: (1) The user wears the jitter signal acquisition device at the part where the user needs to collect jitter signals, and the user operates the manipulator; (2) The input signal acquisition device acquires the input signal of the manipulator in real time and sends it to the host computer. The input signal acquired by the input signal acquisition device includes the actual input signal of the manipulator and the jitter signal generated by the jitter of the human hand; (3) The jitter collection device synchronously and in real time collects the jitter signal generated by the user's hand shaking during operation and sends it to the host computer; (4) The host computer performs reverse compensation filtering according to the input signal and the jitter signal to obtain a compensation signal.

9. The method according to claim 8, characterized in that: The superposition signal is calculated as follows: Assuming that the actual jitter signal is N(n), the input signal Y(n) collected by the input signal collection device is: Y(n)=S(n)+N(n)+D1(n); The jitter signal C(n) collected by the jitter signal collection device is: C(n)=N(n)+D2(n); Then the superposition signal G(n) after reverse compensation is: G(n)=Y(n)-C(n)=S(n)+N(n)+D1(n)-N(n)-D2(n)=S(n)+D1(n)-D2(n).

10. The method according to claim 9, characterized in that: The reverse compensation filtering step also includes: filtering the superimposed signal through a low-pass filter and a frequency notch to remove the noise signal to obtain the compensation signal.

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