A master hand clamping device capable of simultaneously superimposing force feedback and tactile vibration feedback

Abstract

The application discloses a master hand clamping device capable of simultaneously superimposing force feedback and tactile vibration feedback, which can intuitively transmit clamping action commands to a surgical robot from an end effector and accurately feed clamping force of the end effector to fingers of an operator through force feedback, so that the operator can realistically feel clamping force of the surgical end effector applied to tissues and enhance the sense of presence of operation; in addition, over-force reminding can also be simultaneously performed by applying vibration stimulation to the fingers of the operator, or different frequency or amplitude vibrations can be applied according to hardness and other characteristics of clamped biological tissues to help the operator distinguish tissue types, or different frequency or amplitude vibration stimulations can be applied according to the degree of deviation of the surgical end effector from a predetermined operation track to assist the operator in controlling the end effector to move along the predetermined track, so that more accurate surgical operation can be performed and surgical difficulty is reduced.

Description

Technical Field

[0001] This invention relates to the field of master hand gripping device technology, and in particular to a master hand gripping device that can simultaneously superimpose force feedback and tactile vibration feedback. Background Technology

[0002] With the development of surgical robot technology, more and more robot-assisted minimally invasive surgical systems are being used in clinical surgery. Currently, surgical robots primarily operate in a master-slave mode. The master hand is directly operated by the surgeon, used to acquire information such as the surgeon's hand movement trajectory, and then transmits this data wirelessly or via wired transmission to the distal slave hand (the surgical instrument at the end of the surgical robot), controlling the slave hand to perform surgical operations at the patient's surgical site. The surgeon obtains information about the surgical site through the image displayed on a monitor via an endoscope. Existing master-slave surgical robots lack force and vibration feedback, providing only visual feedback. This makes it difficult for surgeons to perform precise operations on the lesion area in confined spaces with poor visibility. To overcome this problem, surgeons should be able to feel the force applied to the tissue and provide over-force warnings. Therefore, the master hand needs to be able to receive contact force signals from the slave hand's clamps and provide force and over-force warnings.

[0003] Currently available force feedback hand grippers, while some offer both force and vibration feedback, employ two separate actuators for each, resulting in complex structures, large sizes, and high costs. There is currently a lack of hand grippers and control methods that utilize a single actuator to simultaneously provide superimposed force and vibration feedback. Furthermore, most force feedback hand grippers use rotary motors as their power source. These motors convert the linear motion of the cylinder into the opening and closing motion of the gripping handle via a cylinder and crank-slider mechanism to achieve force feedback. This approach requires an external air pump, making the entire system cumbersome and impacting the doctor's hand movements and immersive experience. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a master hand gripping device that can simultaneously superimpose force feedback and tactile vibration feedback, so that the operator can realistically feel the gripping force of the surgical instruments applied to the tissue, enhance the sense of presence of the operation, and reduce the difficulty of the surgery.

[0005] To solve the above-mentioned technical problems, the present invention provides a master hand gripping device that can simultaneously superimpose force feedback and tactile vibration feedback, comprising: a housing base, a gripping mechanism, a transmission mechanism, and a force feedback voice coil motor; the gripping mechanism includes two symmetrical gripping handles, the ends of which are hinged to the housing base; the force feedback voice coil motor is connected to the housing base by bolts; the transmission mechanism includes a transmission slide rod and a connecting rod; the end of the transmission slide rod is connected to the mover of the force feedback voice coil motor by bolts and is fixed to the central axis of the housing base by a linear bearing; the two ends of the connecting rod are respectively hinged to the gripping handles and the transmission slide rod.

[0006] Preferably, the opening and closing angle of the handle is detected by an angle sensor at the end of the clamping handle to track the opening and closing movements of the doctor's fingers.

[0007] Preferably, the middle end of the clamping handle is connected to the transmission slide rod inside the housing base via a connecting rod to form a crank-slider mechanism. The two ends of the transmission slide rod are fixed to the central axis of the housing base by linear bearings and can slide along the central axis to transmit the force output of the force feedback voice coil motor to the clamping handle.

[0008] Preferably, the force feedback voice coil motor includes a permanent magnet stator, a coil, and a mover. The energized coil is wound around the mover. When the coil is energized, it is driven to move by the Lorentz force in the magnetic field formed by the permanent magnet stator. The direction and magnitude of the output force of the force feedback voice coil motor can be changed by changing the direction and magnitude of the current in the coil.

[0009] Accordingly, a control method for a master hand gripping device capable of simultaneously superimposing force feedback and tactile vibration feedback includes the following steps:

[0010] Step 1: The force feedback regulator calculates the low-frequency current command based on the force F applied to the doctor's finger as needed. Where α is the proportionality coefficient;

[0011] Step 2, Low-frequency current command Subtract low-frequency current feedback signal Obtain low-frequency current error Low-frequency current controller The low-frequency drive voltage V is calculated using the input and control algorithms (such as PID control, fuzzy control, sliding mode control, etc.). L ;

[0012] Step 3, Low-frequency drive voltage V L and high-frequency drive voltage V H The sum is the PWM voltage V. PWM The voltage converter will convert V PWM The voltage is converted into a pulse width modulated (PWM) pulse voltage and applied to the phase line of the voice coil motor via an H-bridge circuit, or the V signal is converted into a pulse voltage using a linear power amplifier.PWM After linear amplification, it is directly applied to the phase line of the voice coil motor;

[0013] Step 4: The current sensor measures the phase current I of the voice coil motor. sense The low-pass filter will I sense The low-frequency components are extracted and used as low-frequency current feedback signals. The high-pass filter will I sense The high-frequency components are extracted and used as high-frequency current feedback signals. The amplitude of the high-frequency current signal is extracted via a phase-locked loop and used as the high-frequency current amplitude feedback signal.

[0014] Step 5: High-frequency current amplitude command Subtract the high-frequency current amplitude feedback signal Obtain the high-frequency current amplitude error High-frequency current controller The high-frequency drive voltage amplitude is calculated using the input and control algorithms (such as PID control, fuzzy control, sliding mode control, etc.).

[0015] Step 6: The signal gating module selects its allowed output signal based on the value of mode. When mode = 1... in The amplitude of the high-frequency drive voltage is set manually. The amplitude of the selected high-frequency drive voltage, when mode=2. High-frequency voltage generators utilize high-frequency drive voltage amplitude and the input high-frequency drive voltage frequency Calculate and generate high-frequency driving voltage Where t is time and φ is phase.

[0016] Preferably, in step 4, the current sensor is a Hall current sensor and a current sampling resistor. The current sampling resistor is a resistor connected in series, and the current is measured by measuring the voltage across the resistor.

[0017] The beneficial effects of this invention are as follows: This invention can intuitively transmit the gripping action command to the surgical robot's end-effector and accurately feed the gripping force of the instrument back to the operator's fingers through force feedback, allowing the operator to realistically feel the gripping force applied to the tissue by the surgical instrument, enhancing their sense of presence during operation; in addition, it can also simultaneously provide over-force reminders by applying vibration stimulation to the operator's fingers, or apply vibrations of different frequencies or amplitudes according to the hardness and other characteristics of the gripped biological tissue to help the operator identify the tissue type, or apply vibration stimulations of different frequencies or amplitudes according to the degree to which the surgical instrument deviates from the predetermined operating trajectory to assist the operator in controlling the end-effector to move along the predetermined trajectory in order to carry out more precise surgical operations and reduce the difficulty of surgery. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the device structure of the present invention.

[0019] Figure 2 This is a schematic diagram of the internal structure of the device of the present invention.

[0020] Figure 3 This is a schematic diagram illustrating the working principle of the device of the present invention.

[0021] Figure 4 This is a schematic cross-sectional view of the voice coil motor structure of the present invention.

[0022] Figure 5 This is a schematic diagram of the control method of the present invention. Detailed Implementation

[0023] like Figure 1 and 2 As shown, a master hand gripping device capable of simultaneously superimposing force feedback and tactile vibration feedback includes: a housing base, a gripping mechanism, a transmission mechanism, and a force feedback voice coil motor; the gripping mechanism includes two symmetrical gripping handles, the ends of which are hinged to the housing base; the force feedback voice coil motor is connected to the housing base by bolts; the transmission mechanism includes a transmission slide rod and a connecting rod; the end of the transmission slide rod is connected to the mover of the force feedback voice coil motor by bolts and is fixed to the central axis of the housing base by a linear bearing; the two ends of the connecting rod are respectively hinged to the gripping handles and the transmission slide rod.

[0024] The end of the gripping handle uses an angle sensor (such as a rotary potentiometer) to detect the opening and closing angle of the handle, tracking the opening and closing movements of the doctor's fingers. The middle end of the gripping handle is connected to a transmission slide rod inside the housing base via a connecting rod, forming a crank-slider mechanism. The two ends of the transmission slide rod are fixed to the central axis of the housing base by linear bearings and can slide along the central axis, transmitting the force output of the force feedback voice coil motor to the gripping handle.

[0025] like Figure 3As shown, the force feedback voice coil motor includes a permanent magnet stator, an energized coil, and a mover. The coil is wound around the mover. When the coil is energized, it is driven to move by the Lorentz force in the magnetic field formed by the permanent magnet stator. The direction and magnitude of the output force of the force feedback voice coil motor can be changed by changing the direction and magnitude of the current in the coil.

[0026] like Figure 4 As shown, sensors mounted on the clamps detect clamping force or tissue stiffness. Upon receiving this force or stiffness signal, the master hand controls a voice coil motor to generate force and vibration, which is then fed back to the user's fingers via a transmission device and clamping handle. Simultaneously, the clamps receive opening and closing angle signals from the master hand and follow the opening and closing movements of the clamping handle to perform surgical procedures.

[0027] like Figure 5 As shown, a control method for a master hand gripping device capable of simultaneously superimposing force feedback and tactile vibration feedback includes the following steps:

[0028] Step 1: The force feedback regulator calculates the low-frequency current command based on the force F applied to the doctor's finger as needed. Where α is the proportionality coefficient;

[0029] Step 2, Low-frequency current command Subtract low-frequency current feedback signal Obtain low-frequency current error Low-frequency current controller The low-frequency drive voltage V is calculated using the control algorithm as input. L ;

[0030] Step 3, Low-frequency drive voltage V L and high-frequency drive voltage V H The sum is the PWM voltage V. PWM The voltage converter will convert V PWM The voltage is converted into a pulse width modulated (PWM) pulse voltage and applied to the phase line of the voice coil motor via an H-bridge circuit, or the V signal is converted into a pulse voltage using a linear power amplifier. PWM After linear amplification, it is directly applied to the phase line of the voice coil motor;

[0031] Step 4: The current sensor measures the phase current I of the voice coil motor. sense The low-pass filter will I sense The low-frequency components are extracted and used as low-frequency current feedback signals. The high-pass filter will I sense The high-frequency components are extracted and used as high-frequency current feedback signals. The amplitude of the high-frequency current signal is extracted via a phase-locked loop and used as the high-frequency current amplitude feedback signal.

[0032] Step 5: High-frequency current amplitude command Subtract the high-frequency current amplitude feedback signal Obtain the high-frequency current amplitude error High-frequency current controller The high-frequency drive voltage amplitude is used as input and calculated using a control algorithm.

[0033] Step 6: The signal gating module selects its allowed output signal based on the value of mode. When mode = 1... in The amplitude of the high-frequency drive voltage is set manually. The amplitude of the selected high-frequency drive voltage, when mode=2. High-frequency voltage generators utilize high-frequency drive voltage amplitude and the input high-frequency drive voltage frequency Calculate and generate high-frequency driving voltage Where t is time and φ is phase.

[0034] This invention provides a gripping action and tracks the opening and closing of the fingers to control the opening and closing of the gripper. Furthermore, the surgeon can accurately sense the magnitude of the gripping force from the robotic arm, thus feeling the force applied to the tissue. Simultaneously, when the surgeon applies excessive force, the handle vibrates to alert the operator. Vibrations of different amplitudes or frequencies are generated based on the magnitude of the force, or based on the hardness or other characteristics of the gripped biological tissue to help the operator identify the tissue type. Vibrations of different frequencies or amplitudes are also applied based on the degree to which the surgical instrument deviates from the predetermined operating trajectory to assist the operator in controlling the movement of the hand instrument along the predetermined path, enabling more precise surgical operations and reducing surgical difficulty. This increases the surgeon's sensory feedback during surgery (in addition to visual feedback), reduces the likelihood of tissue damage due to a lack of force perception, and improves surgical safety.

Claims

1. A master hand gripping device capable of simultaneously superimposing force feedback and tactile vibration feedback, characterized in that, include: The device comprises a housing base, a clamping mechanism, a transmission mechanism, and a force feedback voice coil motor. The clamping mechanism includes two symmetrical clamping handles, the ends of which are hinged to the housing base. An angle sensor detects the opening and closing angle of the handles to track the opening and closing movements of the doctor's fingers. The force feedback voice coil motor is connected to the housing base by bolts. The transmission mechanism includes a transmission slide rod and a connecting rod. The end of the transmission slide rod is connected to the moving part of the force feedback voice coil motor by bolts and is fixed to the central axis of the housing base by a linear bearing. The two ends of the connecting rod are respectively hinged to the clamping handles and the transmission slide rod. The control method for the master gripping device includes the following steps: Step 1: The force feedback regulator calculates the low-frequency current command based on the force F applied to the doctor's finger as needed. , ,in This is the proportionality coefficient; Step 2, Low-frequency current command Subtract low-frequency current feedback signal Obtain low-frequency current error Low-frequency current controller The low-frequency drive voltage is used as input and calculated using a control algorithm. ; Step 3, Low-frequency drive voltage and high frequency drive voltage The sum is the PWM voltage. The voltage converter will The voltage is converted into a pulse width modulated (PWM) pulse voltage and applied to the phase line of the voice coil motor via an H-bridge circuit, or a linear power amplifier is used. After linear amplification, it is directly applied to the phase line of the voice coil motor; Step 4: Measure the phase current of the voice coil motor using a current sensor. The low-pass filter will The low-frequency components are extracted and used as low-frequency current feedback signals. The high-pass filter will The high-frequency components are extracted and used as high-frequency current feedback signals. , The amplitude of the high-frequency current signal is extracted via a phase-locked loop and used as the high-frequency current amplitude feedback signal. ; Step 5: High-frequency current amplitude command Subtract the high-frequency current amplitude feedback signal Obtain the high-frequency current amplitude error High-frequency current controller The high-frequency drive voltage amplitude is used as input and calculated using a control algorithm. ; Step 6: The signal gating module selects its allowed output signal based on the value of mode. When mode = 1... ,in The amplitude of the high-frequency drive voltage is set manually. The amplitude of the selected high-frequency drive voltage, when mode = 2. The high-frequency voltage generator utilizes the high-frequency drive voltage amplitude and the input high-frequency drive voltage frequency Calculate and generate high-frequency driving voltage where t is time, For phase.

2. The main hand gripping device capable of simultaneously superimposing force feedback and tactile vibration feedback as described in claim 1, characterized in that, The middle end of the clamping handle is connected to the transmission slide rod inside the housing base via a connecting rod, forming a crank-slider mechanism. The two ends of the transmission slide rod are fixed to the central axis of the housing base by linear bearings and can slide along the central axis to transmit the force output of the force feedback voice coil motor to the clamping handle.

3. The main hand gripping device capable of simultaneously superimposing force feedback and tactile vibration feedback as described in claim 1, characterized in that, A force feedback voice coil motor includes a permanent magnet stator, an energized coil, and a mover. The coil is wound around the mover. When the coil is energized, it is driven to move by the Lorentz force in the magnetic field formed by the permanent magnet stator. The direction and magnitude of the output force of the force feedback voice coil motor can be changed by changing the direction and magnitude of the current in the coil.

4. The main hand gripping device capable of simultaneously superimposing force feedback and tactile vibration feedback as described in claim 1, characterized in that, In step 4, the current sensor is a Hall current sensor and a current sampling resistor.

Images