A surgical robot control system with force feedback and method thereof

Abstract

The application relates to the technical field of force feedback surgical robots, in particular to a surgical robot control system with force feedback and a method thereof, which comprises a surgical robot used for performing surgical actions and a robot control device used for controlling the surgical robot; the surgical robot comprises a motion module used for driving the motion of an interventional instrument; the robot control device comprises an operation module used for manually operating the surgical robot; force signals generated by the motion of the interventional instrument are collected in real time during the working process of the surgical robot, and are transmitted to the hands of an operator through the operation module. According to the force feedback provided by the device and combined with visual feedback, the doctor can help to judge the force of the instrument on the tissue and other tissue characteristics in real time, help the surgical process to proceed smoothly, and improve the surgical efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical robots, and particularly relates to a surgical robot control system with force feedback and a method thereof. BACKGROUND

[0002] The surgical robot is controlled by a doctor to control the robot action to perform surgery on a patient, and can reduce the incision of the patient's lesion. The robot control module can be in the form of a button, a joystick, etc. When the button is kept pressed / the joystick is kept sent, the data transmission module sends the motion signal generated by the button or the joystick to the surgical robot, and the surgical robot controls the instrument movement device to move. For example, a blood vessel intervention surgery for treating malignant trophoblastic tumor needs precise intervention of the instrument, and the blood vessel intervention surgery robot can well assist the surgery.

[0003] However, the applicant finds that the prior art at least has the following problems:

[0004] At present, most of the surgical robots use a visual feedback system. When a surgeon controls a mechanical arm to perform surgery, the surgeon needs to analyze visual information to judge the force of the instrument on the tissue and other tissue characteristics in real time, which affects the surgery efficiency to a certain extent. SUMMARY

[0005] Therefore, the present application aims to provide a surgical robot control system with force feedback and a method thereof to solve the problem that the surgeon needs to judge the force of the instrument on the tissue and other tissue characteristics in real time when performing surgery, which affects the surgery efficiency to a certain extent.

[0006] To achieve the above purpose, the present application provides a surgical robot control system with force feedback, which comprises a surgical robot for performing a surgical action and a robot control device for controlling the surgical robot; the surgical robot comprises a movement module for driving the movement of an intervention instrument; the robot control device comprises an operation module for manually operating the surgical robot; the force signal generated by the movement of the intervention instrument is collected in real time during the operation of the surgical robot and transmitted to the operator's hand through the operation module.

[0007] Optionally, the movement module comprises a DC motor, an encoder, a motor driver and at least one set of rollers; the rollers are driven by the DC motor and used for clamping and driving the movement of the intervention instrument; the encoder is connected to the DC motor and used for feeding back the speed and position feedback signal of the DC motor to the motor driver; the motor driver is used for providing rated voltage and driving current to the DC motor, monitoring the driving current used by the DC motor in real time through the DC motor feedback line, and converting the monitored driving current into a digital signal through AD conversion;

[0008] The surgical robot further comprises a robot data transmission module, the robot data transmission module comprising a surgical robot CPU and an interface, the surgical robot CPU receiving digital signals of real-time feedback of the motor driver, and transmitting the digital signals to the robot control device through the interface.

[0009] Optionally, the motor driver provides driving current for the DC motor according to the instructions of the CPU, and monitors the real-time rotating speed of the DC motor and the size of the driving current used; the driving current value corresponds to the torque generated by the DC motor, and can be converted into the linear thrust generated by the DC motor in the linear direction on the interventional instrument; the linear thrust and the DC motor torque and the roller radius torque have the following relationship:

[0010] F=T / r

[0011] Wherein, F is the linear thrust, T is the DC motor torque, and r is the roller radius.

[0012] Optionally, the operation module comprises a base plate, a rocker mounted on one side of the base plate, and a mounting plate mounted on the side of the base plate close to the rocker, the rocker signal controls the action of the surgical robot, the torsional spring is mounted on the mounting plate and located on both sides of the rocker, the torsional spring comprises two end contact rods, the two end contact rods are arranged at a certain angle, one end contact rod is connected with a cam, the other end contact rod is used for cooperating with the rocker, and the cam is power-connected with a stepping motor.

[0013] Optionally, the robot control device further comprises a control device data transmission module having a control device CPU, when the robot control device receives the force signal collected and returned by the surgical robot, the control device CPU calculates the pulse number Plus value required to be generated by the corresponding stepping motor according to the force signal, informs the corresponding stepping motor to rotate the corresponding angle according to the calculated Plus value to compress the torsional spring, and finally generates the acting force on the finger at the rocker according to a certain proportion.

[0014] Optionally, the pulse number of the stepping motor is calculated as follows:

[0015] Plus=k*f(F);

[0016] Plus=k*θ3*n / θ s ;

[0017] θ3=arccos((c 2 -a 2 -b 2 ) / (2ab));

[0018]

[0019] θ2=-θ1-(F2*L) / KT+π / 2;

[0020] KT = (E * d) / (64 * N * D) / (180 * π) ; 4

[0021] F2 = F1 / cos θ4;

[0022] θ4 = π / 2 - θ5 - θ1;

[0023] F1 = F2 * L2 / L;

[0024] F3 = F * cos θ6;

[0025] Where: Plus: the number of pulses of the stepper motor;

[0026] θ s : pitch angle of the stepper motor, which changes according to the selection of the stepper motor;

[0027] n: the fraction (constant) of the stepper motor;

[0028] L: the effective arm length of one end of the torsion spring (constant);

[0029] a: the long axis of the cam (constant);

[0030] b: the distance from the center of the cam to the center of the torsion spring (constant);

[0031] c: the effective arm length of the other end of the torsion spring (changes according to the change of θ3);

[0032] L2: the length of the rocker (constant);

[0033] KT: the torsion spring torque coefficient (changes according to the change of θ3);

[0034] d: the wire diameter of the torsion spring (constant);

[0035] D: the spring diameter (constant);

[0036] N: the effective number of turns of the torsion spring (constant);

[0037] E: the elastic coefficient of the torsion spring (constant);

[0038] θ1: the pre-compression angle of the torsion spring (constant);

[0039] θ2: the real-time change of the torsion spring (changes according to the change of θ3);

[0040] θ3: the operating angle of the cam (changes according to the change of M);

[0041] θ: the actual compression angle of the torsion spring (changes according to the change of θ3);

[0042] ​θ6: pre-compression angle of torsion spring (constant);

[0043] k: proportional coefficient (constant, when k = 1, the feedback force is generated according to one-to-one);

[0044] F2: force transmitted to the rocker by the torsion spring (varies according to the change of θ3);

[0045] F: horizontal feedback force generated by the rocker (varies according to the change of θ3);

[0046] M: torque signal collected and returned (input variable).

[0047] Optionally, the rocker comprises a stopper integrally formed or fixedly connected at the bottom end, and a photoelectric tube is mounted on the bottom surface of the base plate, the photoelectric tube cooperates with the stopper, when the stopper shields the photoelectric tube, the robot control device sends an advancing instruction to the surgical robot for controlling the movement of the interventional instrument controlled by the rocker, and the surgical robot sends a force signal received by the interventional instrument to the robot control device at a certain frequency when pushing the interventional instrument.

[0048] Optionally, the operation module comprises a shell wrapping the base plate, and the shell further comprises:

[0049] a rotation operation member, and operation of the rotation operation member performs a rotation action of the interventional instrument, and releasing the rotation operation member stops the movement of the interventional instrument;

[0050] a connection state indicator, which is bright when the robot control device is successfully connected with the surgical robot;

[0051] an instrument feeding speed indicator, the speed of each set of movement units is provided with multiple levels, and the instrument feeding speed indicator indicates the speed level of the movement unit;

[0052] a feeding operation member, and pressing the feeding operation member performs a feeding action of the interventional instrument, and releasing the feeding operation member stops the feeding action;

[0053] an instrument selection operation member, long pressing the instrument selection operation member for a certain time t1, short pressing the instrument selection operation member for a certain time t2, switches the currently selected interventional instrument, wherein t1 and t2 are not equal; and long pressing the instrument selection operation member again for a certain time t3, exits the instrument selection mode;

[0054] a speed adjustment operation member, selecting an instrument after long pressing the instrument selection operation member for a certain time t1, and single clicking the speed adjustment operation member changes the speed of the currently selected instrument, and the number of instrument feeding speed indicators brightened changes;

[0055] an emergency stop button, which is used for terminating all current operations.

[0056] The application provides a control method of a surgical robot control system with force feedback, comprising:

[0057] The robot control device sends instructions to the surgical robot to control the surgical robot to perform actions;

[0058] The surgical robot monitors the force signal of the interventional instrument and feeds back the force signal to the robot control device;

[0059] The robot control device sends a certain number of pulses to the stepper motor according to the force signal, so that the stepper motor drives the cam to rotate a certain angle for compressing one end of the spring, and the spring deforms under force and transmits the pressure to the rocker and finally to the operator's hand.

[0060] Optionally, the robot controller sends a certain number of pulses to the stepper motor according to the mechanical signal, and the calculation method is as follows:

[0061] Plus=k*f(F);

[0062] Plus=k*θ3*n / θ s ;

[0063] θ3=arccos((c 2 -a 2 -b 2 ) / (2ab));

[0064]

[0065] θ2=-θ1-(F2*L) / KT+π / 2;

[0066] KT=(E*d 4 ) / (64*N*D) / (180*π);

[0067] F2=F1 / cosθ4;

[0068] θ4=π / 2-θ5-θ1;

[0069] F1=F2*L2 / L;

[0070] F3=F*cosθ6;

[0071] Wherein: Plus: the number of pulses of the stepper motor;

[0072] θ s : the step angle of the stepper motor, which changes according to the selection of the stepper motor;

[0073] n: the step fraction (constant) of the stepper motor;

[0074] L: the effective arm length of the torsion spring (constant);

[0075] a: long axis of cam (constant);

[0076] b: distance from cam center to torsion spring center (constant);

[0077] c: effective arm length of other end of torsion spring (varies according to change in θ3);

[0078] L2: length of rocker (constant);

[0079] KT: torsion spring torsion coefficient (varies according to change in θ3);

[0080] d: torsion spring wire diameter (constant);

[0081] D: spring mean diameter (constant);

[0082] N: effective number of turns of torsion spring (constant);

[0083] E: torsion spring elasticity coefficient (constant);

[0084] θ1: pre-compression angle of torsion spring (constant);

[0085] θ2: real-time change amount of torsion spring (varies according to change in θ3);

[0086] θ3: operating angle of cam (varies according to change in M);

[0087] θ: actual compression angle of torsion spring (varies according to change in θ3);

[0088] θ6: pre-compression angle of torsion spring (constant);

[0089] k: proportional coefficient (constant, when k = 1, feedback force is generated in a one-to-one manner);

[0090] F2: force transmitted to rocker by torsion spring (varies according to change in θ3);

[0091] F: horizontal feedback force generated by rocker (varies according to change in θ3);

[0092] M: collected torque signal (input variable).

[0093] The application provides a surgical robot control system with force feedback and a method thereof. BRIEF DESCRIPTION OF DRAWINGS

[0094] In order to more clearly illustrate the technical solutions in the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are merely the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of the drawings.

[0095] Figure 1 A structure schematic diagram of a surgical robot control system with force feedback in an embodiment of the application;

[0096] Figure 2 A module schematic diagram of a surgical robot in the embodiment of the application;

[0097] Figure 3 A structure schematic diagram of an interventional instrument of a surgical robot control system with force feedback in the embodiment of the application;

[0098] Figure 4 A module schematic diagram of a robot control device in the embodiment of the application;

[0099] Figure 5 A structure schematic diagram of an operation module in the embodiment of the application;

[0100] Figure 6 An internal structure schematic diagram of the operation module in the embodiment of the application;

[0101] Figure 7 An internal bottom structure schematic diagram of the operation module in the embodiment of the application;

[0102] Figure 8 An internal side structure schematic diagram of the operation module in the embodiment of the application;

[0103] Figure 9 A rocker force schematic diagram of the operation module in the embodiment of the application;

[0104] Figure 10 Fig. 2 is a force analysis diagram of a torsion spring of an operating module of an embodiment of the present application;

[0105] Figure 11 Fig. 3 is a force analysis diagram of a rocker of an operating module of an embodiment of the present application.

[0106] Fig. 1 shows the structure of a surgical robot according to an embodiment of the present application, wherein:

[0107] 010, surgical robot; 011, robot data transmission module; 012, motion module; 020, robot control device; 021, control device data transmission module; 022, operating module; 101, housing; 102, connection status indicator light; 103, instrument feed speed indicator light; 104, feed button one; 105, feed button two; 106, speed adjustment button; 107, instrument selection button; 108, emergency stop button; 109, rotation button; 110, base plate; 201, rocker; 202, mounting plate; 203, mounting shaft; 204, torsion spring; 205, stepper motor; 206, cam; 207, travel switch; 208, photoelectric tube; 209, baffle; 210, abutting column; 301, interventional instrument; 302, driving wheel; 303, driven wheel. DETAILED DESCRIPTION

[0108] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to specific embodiments.

[0109] It should be noted that, unless otherwise defined, technical terms or scientific terms used in the present application should be understood as their common meanings to those having ordinary skill in the art to which the present application pertains. The terms "first", "second" and similar terms used in the present application do not denote any order, quantity or importance, but are merely used to distinguish different components. The terms "include" or "contain" and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, without excluding other elements or objects. The terms "connect" or "connected" and similar terms do not mean only physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "upper", "lower", "left", "right" and the like are merely used to indicate relative positional relationships, and when the absolute positions of the described objects are changed, the relative positional relationships can also be changed accordingly.

[0110] As Figure 1As shown, the embodiment of the present application provides a surgical robot control system with force feedback, which comprises a surgical robot 010 for performing surgical actions and a robot control device 020 for controlling the surgical robot; the surgical robot 010 comprises a motion module 012 for driving the motion of an interventional instrument; the robot control device 020 comprises an operation module 022 for manually operating the surgical robot 010; and the force signal generated by the motion of the interventional instrument 301 during the operation of the surgical robot 010 is collected in real time and transmitted to the operator's hand through the operation module 022.

[0111] During the blood vessel interventional surgery and similar surgical procedures, the surgeon controls the surgical robot 010 to perform surgical actions through the robot control device 020. During the operation, the surgeon controls the surgical robot to feed the interventional instrument 301 by manually operating the operation module 022. During the feeding process, the interventional instrument 301 and the blood vessel wall generate an interactive force. The surgical robot 010 collects the force signal received by the interventional instrument 301 and transmits the force signal to the robot control device 020. The operation module 022 simulates the force received by the interventional instrument 301 and provides force feedback to the surgeon's hand, combined with visual feedback, so as to help the surgeon to judge the force of the instrument on the tissue and other tissue characteristics in real time, help the surgical process to proceed smoothly, and improve the surgical efficiency.

[0112] As shown in some optional embodiments, Figure 1 The surgical robot 010 further comprises a robot data transmission module for communicating with the robot control device 020 through wired or wireless connection. The robot data transmission module comprises a CPU and an interface for data sending and receiving. The robot control device 020 comprises a control device data transmission module 021 for communicating with the surgical robot 010 through wired or wireless connection. The control device data transmission module 021 comprises a CPU and an interface for data sending and receiving. The interface can be a wired interface or a wireless interface. Specifically, the robot control device 020 is internally equipped with a wired interface (such as RJ45, 485 interface) or a wireless interface (such as wifi module), which can communicate with the wired interface (such as RJ45, 485 interface) or the wireless interface (such as wifi module) of the surgical robot 010. The robot control device 020 is provided with a connection state indicating lamp on the surface to display the current connection state.

[0113] As shown in some optional embodiments, Figures 2-3As shown, in some optional embodiments, the surgical robot 010 includes a motion module 012. The motion module 012 includes at least one set of rollers for clamping the interventional instrument 301. The rollers include driving rollers and driven rollers. The driving rollers are driven by a DC motor. The other end of the DC motor is connected to an encoder, which provides speed and position feedback signals. The DC motor is provided with rated voltage and drive current by a motor driver. Simultaneously, the motor driver monitors the current drive current of the motor through the DC motor feedback line. With this configuration, the encoder monitors the real-time speed and position of the DC motor. The motor driver converts the drive current of the DC motor into a digital signal via AD conversion and feeds it back to the CPU of the surgical robot 010 in real time. Then, the CPU of the surgical robot 010 transmits the signal to the robot control device 020 via a wired or wireless interface. Simultaneously, the CPU of the surgical robot controls the speed of the DC motor. When the speed of the DC motor is lower or higher than the CPU's set value due to load (including the rollers), the motor driver compensates for the drive current of the DC motor using a PID algorithm, thereby causing the DC motor to move at the set speed. Mathematical signals can be converted into force signals through a program, and finally the force on the interventional device can be simulated through the operation module of the robot control device.

[0114] like Figures 2-3 As shown, in some optional embodiments, the driver provides drive current to the DC motor according to the CPU's instructions; and monitors the motor's current speed and the magnitude of the current used; the current value corresponds to the torque generated by the motor and can be converted into the DC motor's thrust in the linear direction; the calculation formula is as follows:

[0115] F = T / r

[0116] Where F is the linear thrust, T is the motor torque, and r is the roller radius.

[0117] Based on the real-time linear thrust data obtained from the torque generated by the motor corresponding to the current value, it can be known that the thrust of the interventional instrument 301 and the equal feedback force provided by the tissue surface corresponding to the thrust are known. Since the real-time driving current value corresponds to the real-time thrust and feedback force received by the interventional instrument 301, the robot control device 020 can calculate and simulate the force based on the current value to achieve a force corresponding to this thrust, thereby realizing simulated force feedback.

[0118] The drive current of the DC motor can be converted to determine the force exerted by the motor on the interventional device 301 in the axial (linear) or radial (rotational) direction. Therefore, the drive current consumed by the motor is actually equivalent to the driving force obtained by the interventional device 301 through the DC motor.

[0119] In some alternative embodiments, the operation module comprises a substrate 110, a rocker 201 mounted on one side of the substrate 110, and a mounting plate 202 mounted on the side of the substrate 110 close to the rocker 201, the rocker 201 controls the action of the surgical robot, torsional springs 204 are mounted on both sides of the rocker 201, the mounting plate 202 is mounted on the side of the substrate 110 close to the rocker 201, the torsional springs 204 are mounted on the mounting plate 202 and located on both sides of the rocker 201, the torsional springs 204 comprise two end contact rods arranged at a certain angle, preferably 90°, one end contact rod is connected with a cam 206, and the other end contact rod is used to cooperate with the rocker 201, and the cam 206 is drivingly connected with a stepping motor 205. When the operator moves the rocker 201 to a specified position, the robot control device 020 sends a motion instruction to the surgical robot 010, and the surgical robot 010 simultaneously sends a force feedback signal to the robot control device 020; after the robot control device 020 obtains the force feedback signal, a certain number of pulses are sent to the stepping motor 205 through calculation, so that the stepping motor 205 drives the cam 206 to rotate by a certain angle for compressing one end of the torsional spring 204, and the torsional spring 204 deforms under stress and then transmits the pressure to the rocker 201 and finally to the operator's hand.

[0120] In some alternative embodiments, the mounting plate 202 is provided with a mounting shaft 203, and the torsional spring 204 is mounted on the mounting shaft 203, and the connection point between the mounting shaft 203 and the torsional spring 204 is the right-angle end point of the torsional spring 204. The torsional spring 204 is driven by the driving unit to rotate around the mounting shaft 203, so as to realize force feedback of the rocker.

[0121] When the robot control device 020 receives the instrument force signal returned by the surgical robot, the robot control device 020 drives the cam on the stepping motor to rotate by a certain angle, and after rotation, the torsional spring 204 will further deform, as shown in Figure 8 and Figure 9 At this time, the force applied by the top end of the push rod to the finger is Fb, and the range of the real resistance that can be simulated by the top end of the push rod is Fa~Fb, and the force analysis diagram is as shown in Figure 10 and 11

[0122] In some alternative embodiments, as shown in Figures 6-11 The robot control device 020 further comprises a control device data transmission module with a control device CPU, the control device CPU calculates the number of pulses Plus required to be generated by the corresponding stepping motor according to the force signal, informs the corresponding stepping motor to rotate by a corresponding angle to compress the spring according to the calculated Plus value, and finally generates a force on the finger at the handle rocker in a certain proportion.​

[0123] In some alternative embodiments, the number of pulses of the stepper motor is calculated as follows:

[0124] Plus = k * f(F);

[0125] Plus = k * θ3 * n / θ s ;

[0126] θ3 = arccos((c 2 -a 2 -b 2 ) / (2ab));

[0127]

[0128] θ2 = -θ1 - (F2 * L) / KT + π / 2;

[0129] KT = (E * d 4 ) / (64 * N * D) / (180 * π);

[0130] F2 = F1 / cos θ4;

[0131] θ4 = π / 2 - θ5 - θ1;

[0132] F1 = F2 * L2 / L;

[0133] F3 = F * cos θ6;

[0134] Wherein: Plus: the number of pulses of the stepper motor;

[0135] θ s : the step angle of the stepper motor, which varies according to the selection of the stepper motor;

[0136] n: the coefficient (constant) of the stepper motor;

[0137] L: the effective arm length of one end of the torsion spring (constant);

[0138] a: the long axis of the cam (constant);

[0139] b: the distance from the center of the cam to the center of the torsion spring (constant);

[0140] c: the effective arm length of the other end of the torsion spring (varies according to the change of θ3);

[0141] L2: the length of the rocker (constant);

[0142] KT: the torsion coefficient of the torsion spring (varies according to the change of θ3);

[0143] d: the wire diameter of the torsion spring (constant);

[0144] D: spring diameter (constant);

[0145] N: effective number of turns of torsion spring (constant);

[0146] E: spring constant of torsion spring (constant);

[0147] θ1: pre-compression angle of torsion spring (constant);

[0148] θ2: real-time change of torsion spring (changes according to θ3);

[0149] θ3: operating angle of cam (changes according to M);

[0150] θ: actual compression angle of torsion spring (changes according to θ3);

[0151] θ6: pre-compression angle of torsion spring (constant);

[0152] k: proportional coefficient (constant, when k = 1, the feedback force is generated according to a ratio of 1:1);

[0153] F2: force transmitted by torsion spring to rocker (changes according to θ3);

[0154] F: horizontal feedback force generated by rocker (changes according to θ3);

[0155] M: torque signal collected and transmitted (input variable).

[0156] In some alternative embodiments, as shown in FIG. 2B, the mounting plate 202 is provided with a stroke switch 207, which is used as the initial position calibration of the stepper motor 205. Since the stepper motor 205 inevitably produces a step loss during operation, which accumulates errors, the stepper motor 205 can eliminate all previous accumulated errors when it returns to the initial position each time. Another more preferred solution is to add an absolute value encoder at the other end of the stepper motor 205 to monitor the position of the stepper motor in real time, which does not produce errors. Figure 2 Figure 4 In some alternative embodiments, as shown in FIG. 2B, the mounting plate 202 is provided with a stroke switch 207, which is used as the initial position calibration of the stepper motor 205. Since the stepper motor 205 inevitably produces a step loss during operation, which accumulates errors, the stepper motor 205 can eliminate all previous accumulated errors when it returns to the initial position each time. Another more preferred solution is to add an absolute value encoder at the other end of the stepper motor 205 to monitor the position of the stepper motor in real time, which does not produce errors.

[0157] In some alternative embodiments, as shown in FIG. 2B, the mounting plate 202 is provided with a stroke switch 207, which is used as the initial position calibration of the stepper motor 205. Since the stepper motor 205 inevitably produces a step loss during operation, which accumulates errors, the stepper motor 205 can eliminate all previous accumulated errors when it returns to the initial position each time. Another more preferred solution is to add an absolute value encoder at the other end of the stepper motor 205 to monitor the position of the stepper motor in real time, which does not produce errors.

[0158] In some alternative embodiments, as shown in FIG. 2B, the mounting plate 202 is provided with a stroke switch 207, which is used as the initial position calibration of the stepper motor 205. Since the stepper motor 205 inevitably produces a step loss during operation, which accumulates errors, the stepper motor 205 can eliminate all previous accumulated errors when it returns to the initial position each time. Another more preferred solution is to add an absolute value encoder at the other end of the stepper motor 205 to monitor the position of the stepper motor in real time, which does not produce errors. Figure 3 ​As shown, the rocker 201 includes a stopper 209 integrally formed or fixedly connected at the bottom end, and a photoelectric tube 208 is mounted on the bottom surface of the substrate 110, and the photoelectric tube 208 cooperates with the stopper 209. When the stopper 209 shields the photoelectric tube 208, the robot control device 020 sends an advancing instruction to the surgical robot 010 for controlling the movement of the interventional instrument 301 controlled by the rocker 201, and the surgical robot 010 sends a force signal received by the interventional instrument 301 to the robot control device 020 at a certain frequency when pushing the interventional instrument 301 to move.

[0159] In some optional embodiments, as shown, the rocker 201: pushing the rocker 201 to a certain stroke, the robot control device 020 sends an interventional instrument advancing command to the surgical robot 010; pushing the rocker 201 to a certain stroke, the robot control device 020 sends an interventional instrument retreating command to the surgical robot 010; releasing the rocker 201 to automatically return to zero; when the operator pushes or pulls the rocker 201, the robot control device 020 receives a resistance signal generated by the movement of the instrument sent by the surgical robot 010 at a certain frequency, and simulates the current received force signal at a certain proportion on the rocker 201;

[0160] The operation module includes a shell 101 wrapping the substrate 110, and the shell 101 further includes:

[0161] The rotation button 109: operating the rotation button 109 performs a rotation action of the interventional instrument 301, and releasing the rotation button 109 stops the movement of the interventional instrument 301;

[0162] The connection status indicator 102: when the robot control device 020 is successfully connected with the surgical robot 010, the connection status indicator 102 is bright;

[0163] The instrument feed speed indicator 103: each set of movement unit speed provides 3 adjustable levels, and the instrument feed speed indicator indicates the speed level of the movement unit;

[0164] The feed operation member includes a feed button one 104 and a feed button two 105, and pressing down performs a feed action of the interventional instrument 301, and releasing stops the feed action;

[0165] The instrument selection operation member 107: after long pressing the instrument selection operation member for a certain time t1, short pressing the instrument selection operation member for a certain time t2 switches the currently selected interventional instrument 301, wherein t1 and t2 are not equal; long pressing the instrument selection operation member again for a certain time t3 exits the instrument selection mode;

[0166] The speed adjustment operation member 106: after long pressing the instrument selection operation member for a certain time t1, single clicking the speed adjustment operation member changes the speed of the currently selected instrument, and the number of instrument feed speed indicators brightened changes.

[0167] In the embodiment, the instrument selection operation member 107 is a CS instrument selection button, long pressing t1 is 2s, the corresponding instrument indicator light flashes, short pressing the CS instrument selection button switches the instrument, and long pressing 2s again exits the instrument selection mode; the speed adjustment operation member 106 is a SPEED instrument speed adjustment button, after the CS instrument selection button is long pressed for 2s, single-clicking the SPEED instrument speed adjustment button changes the speed of the currently selected instrument, and the number of instrument feeding speed indicator lights changes.

[0168] The emergency stop button 108 is used to terminate all current operations.

[0169] The working principle of the application is as follows: in a vascular interventional surgery or the like, a surgeon controls a surgical robot 010 to perform a surgical action through a robot control device 020, and when operating, the surgeon controls the surgical robot to feed an interventional instrument 301 through manual manipulation of an operation module 022, in the feeding process, an interaction force is generated between the interventional instrument 301 and a blood vessel wall, the surgical robot 010 collects a force signal received by the interventional instrument 301 and transmits the force signal to the robot control device 020, the operation module 022 simulates the force received by the interventional instrument 301 and provides a force feedback acting on the surgeon's hand, combined with visual feedback, thereby helping the surgeon to judge the force of the instrument on the tissue and other tissue characteristics in real time, helping the surgical process to proceed smoothly and improving the surgical efficiency.

[0170] The application further provides a surgical robot control method with force feedback, comprising:

[0171] The robot control device sends an instruction to the surgical robot to control the surgical robot to perform an action;

[0172] The surgical robot monitors a mechanical signal of the interventional instrument and feeds the mechanical signal back to the robot controller;

[0173] The robot controller calculates a certain number of pulses to be sent to the stepping motor according to the mechanical signal, so that the stepping motor drives the cam to rotate a certain angle for compressing one end of the spring, the spring is deformed under stress, the pressure is transmitted to the rocker, and finally transmitted to the operator's hand.

[0174] In some optional specific embodiments, the robot controller calculates a certain number of pulses to be sent to the stepping motor according to the mechanical signal, and the calculation method is as follows:

[0175] Plus=k*f(F);

[0176] Plus=k*theta3*n / theta s ;

[0177] θ3 = arccos ((c 2 -a 2 -b 2 ) / (2ab)) ;

[0178]

[0179] θ2 = -θ1 - (F2*L) / KT + π / 2;

[0180] KT = (E*d 4 ) / (64*N*D) / (180*π) ;

[0181] F2 = F1 / cosθ4;

[0182] θ4 = π / 2 - θ5 - θ1;

[0183] F1 = F2*L2 / L;

[0184] F3 = F*cosθ6;

[0185] Wherein: Plus: the number of pulses of the stepper motor;

[0186] θ s : the step angle of the stepper motor, which varies according to the selection of the stepper motor;

[0187] n: the step fraction (constant) of the stepper motor;

[0188] L: the effective arm length of one end of the torsion spring (constant);

[0189] a: the long axis of the cam (constant);

[0190] b: the distance from the center of the cam to the center of the torsion spring (constant);

[0191] c: the effective arm length of the other end of the torsion spring (varies according to the change of θ3);

[0192] L2: the length of the rocker (constant);

[0193] KT: the torsion spring torque coefficient (varies according to the change of θ3);

[0194] d: the wire diameter of the torsion spring (constant);

[0195] D: the spring diameter (constant);

[0196] N: the effective number of turns of the torsion spring (constant);

[0197] E: the elastic coefficient of the torsion spring (constant);

[0198] θ1: the pre-compression angle of the torsion spring (constant);

[0199] θ2: real-time change amount of torsion spring (changes according to change of θ3);

[0200] θ3: operating angle of cam (changes according to change of M);

[0201] θ: actual compression angle of torsion spring (changes according to change of θ3);

[0202] θ6: pre-compression angle of torsion spring (constant);

[0203] k: proportional coefficient (constant, when k = 1, feedback force is generated in a one-to-one manner);

[0204] F2: acting force of torsion spring transmitted to rocker (changes according to change of θ3);

[0205] F: horizontal feedback force generated by rocker (changes according to change of θ3);

[0206] M: collected torque signal (input variable).

[0207] It should be understood by those of ordinary skill in the art that the above discussion of any of the embodiments is merely exemplary and is not intended to suggest the scope of the present application (including the claims) is limited to these examples; under the concept of the present application, the above embodiments or technical features among different embodiments can also be combined, steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in details for the sake of brevity.

[0208] The present application is intended to cover all such alternatives, modifications, and variations as fall within the broad scope of the appended claims. Accordingly, any and all such modifications, variations, and equivalents that fall within the spirit and scope of the present application are intended to be included within the scope of the present application.

Claims

1. A surgical robotic control system with force feedback, characterized by, The application relates to a surgical robot and a robot control device for controlling the surgical robot; the surgical robot comprises a motion module for driving the movement of an interventional instrument; the robot control device comprises an operation module for manually operating the surgical robot; force signals generated by the movement of the interventional instrument are collected in real time during the operation of the surgical robot and transmitted to the operator through the operation module; The operation module comprises a base plate, a rocker installed on one side of the base plate and a mounting plate installed on the side of the base plate close to the rocker; the rocker controls the action of the surgical robot; torsional springs are installed on the mounting plate and located on both sides of the rocker; the torsional springs comprise two end contact rods arranged at a certain angle; one end contact rod is connected with a cam; the other end contact rod is used for cooperating with the rocker; the cam is connected with a stepping motor in power; The robot control device further comprises a control device data transmission module with a control device CPU; when the robot control device receives the force signals collected and transmitted by the surgical robot, the control device CPU calculates the pulse number Plus required by the corresponding stepping motor according to the force signals, informs the corresponding stepping motor to rotate by the angle calculated according to the Plus value to compress the torsional spring, and finally generates the acting force on the fingers at the rocker according to a certain proportion.

2. The surgical robotic control system with force feedback of claim 1, wherein, The motion module comprises a DC motor, an encoder, a motor driver and at least one set of rollers; the rollers are driven by the DC motor and used for clamping and driving the movement of the interventional instrument; the encoder is connected with the DC motor and used for feeding back the rotating speed and position feedback signal of the DC motor to the motor driver; The motor driver is used for providing rated voltage and driving current for the DC motor; the driving current used by the DC motor in real time is monitored through a DC motor feedback line; and the monitored driving current is converted into a digital signal through AD conversion; The surgical robot further comprises a robot data transmission module; the robot data transmission module comprises a surgical robot CPU and an interface; the surgical robot CPU receives the digital signal fed back in real time by the motor driver and transmits the digital signal to the robot control device through the interface.

3. The surgical robotic control system with force feedback of claim 2, wherein, The motor driver provides driving current for the DC motor according to the instruction of the surgical robot CPU and monitors the rotating speed and driving current used by the DC motor in real time; the driving current value corresponds to the torque generated by the DC motor and can be converted into the straight-line thrust generated by the DC motor in the straight-line direction on the interventional instrument; the straight-line thrust and the torque of the DC motor and the torque of the roller radius have the following relationship: F=T / r Wherein, F is the straight-line thrust, T is the torque of the DC motor, and r is the roller radius.

4. The surgical robotic control system with force feedback of claim 1, wherein, The pulse number of the stepping motor is calculated as follows: Plus=k*f(F); Plus = k * θ3 * n / θ s ; θ3 = arccos((c 2 -a 2 -b 2 ) / (2ab)); c= ； Theta2=-theta1-(F2*L) / KT+PI / 2; KT = (E * d 4 ) / (64 * N * D) / (180 * π); F2=F1 / COStheta4; Theta4=PI / 2-Theta5-Theta1; F1=F2*L2 / L; F3=F*COStheta6; Wherein: Plus: the pulse number of the stepping motor; θ s : step angle of the stepper motor, which varies according to the selection of the stepper motor; N: the step fraction (constant) of the stepping motor; L: the effective arm length of one end of the torsional spring (constant); A: the long axis of the cam (constant); b: distance from cam center to torsion spring center (constant); c: effective arm length of the other end of the torsion spring (changes according to θ3); L2: rocker length (constant); KT: torsion spring torsion coefficient (changes according to θ3); d: torsion spring wire diameter (constant); D: spring diameter (constant); N: effective number of turns of the torsion spring (constant); E: torsion spring elastic coefficient (constant); θ1: torsion spring pre-compression angle (constant); θ2: real-time change of the torsion spring (changes according to θ3); θ3: operating angle of the cam (changes according to M); θ: actual compression angle of the torsion spring (changes according to θ3); θ6: pre-compression angle of the torsion spring (constant); k: proportional coefficient (constant, when k=1, the feedback force is generated according to a ratio of 1:1); F2: force transmitted by the torsion spring to the rocker (changes according to θ3); F: horizontal feedback force generated by the rocker (changes according to θ3); M: torque signal collected and transmitted (input variable).

5. The force feedback surgical robotic control system of claim 1, wherein, The rocker includes a baffle integrally formed or fixedly connected at a bottom end, and a phototube is mounted on a bottom surface of the base plate, the phototube is matched with the baffle, when the baffle shields the phototube, the robot control device sends an advancing instruction to the surgical robot for controlling movement of an interventional instrument controlled by the rocker, and the surgical robot sends a force signal received by the interventional instrument to the robot control device at a certain frequency when pushing the interventional instrument to move.

6. The force feedback surgical robotic control system of claim 1, wherein, The operation module includes a shell wrapping the base plate, and the shell further includes: a rotating operation member, and operation of the rotating operation member performs a rotating action of the interventional instrument and releases the interventional instrument to stop movement; a connection state indicator, which is bright when the robot control device is successfully connected with the surgical robot; an instrument feeding speed indicator, which indicates a speed level of a motion unit where the instrument feeding speed indicator is located; a feeding operation member, which performs a feeding action of the interventional instrument when pressed and stops the feeding action when released; an instrument selection operation member, which switches a currently selected interventional instrument when the instrument selection operation member is long-pressed for a certain time t1 and short-pressed for a certain time t2, wherein t1 and t2 are not equal; and the instrument selection mode is exited when the instrument selection operation member is long-pressed again for a certain time t3; a speed adjustment operation member, which changes a speed of a currently selected instrument and changes a number of lighted instrument feeding speed indicators when the speed adjustment operation member is clicked after the instrument selection operation member is long-pressed for t1; an emergency stop button, which is used to terminate all current operations.

7. The control method of claim 1-6, wherein, The robot control device sends an instruction to the surgical robot to control the surgical robot to perform an action; The surgical robot monitors a force signal of an interventional instrument and feeds back the force signal to the robot control device; The robot control device calculates a certain number of pulses to be sent to a stepping motor according to the force signal, so that the stepping motor drives the cam to rotate by a certain angle to compress one end of the torsion spring, the torsion spring deforms under stress and transmits the pressure to the rocker, and finally to the operator's hand. ​ 8. The surgical robot control method with force feedback according to claim 7, characterized in that, The robot controller sends a certain number of pulses to the stepper motor according to the mechanical signal, and the calculation method is: Plus=k*f(F); Plus = k * θ3 * n / θ s ; θ3 = arccos((c 2 -a 2 -b 2 ) / (2ab)); c= ； θ2=-θ1-(F2*L) / KT+π / 2; KT = (E * d 4 ) / (64 * N * D) / (180 * π); F2=F1 / cosθ4; θ4=π / 2-θ5-θ1; F1= F2*L2 / L; F3=F*cosθ6; Where: Plus: the number of pulses of the stepper motor; θ s : step angle of the stepper motor, which varies according to the selection of the stepper motor; n: the fraction of the stepper motor (constant); L: the effective arm length of one end of the torsion spring (constant); a: the long axis of the cam (constant); b: the distance from the center of the cam to the center of the torsion spring (constant); c: the effective arm length of the other end of the torsion spring (changes according to the change of θ3); L2: the length of the rocker (constant); KT: the torsion coefficient of the torsion spring (changes according to the change of θ3); d: the wire diameter of the torsion spring (constant); D: the spring diameter (constant); N: the effective number of turns of the torsion spring (constant); E: the elastic coefficient of the torsion spring (constant); θ1: the pre-compression angle of the torsion spring (constant); θ2: the real-time change of the torsion spring (changes according to the change of θ3); θ3: the operating angle of the cam (changes according to the change of M); θ: the actual compression angle of the torsion spring (changes according to the change of θ3); θ6: the pre-compression angle of the torsion spring (constant); k: the proportional coefficient (constant, when k=1, the feedback force is generated according to one-to-one); F2: the force transmitted by the torsion spring to the rocker (changes according to the change of θ3); F: the horizontal feedback force generated by the rocker (changes according to the change of θ3); M: the collected torque signal (input variable).

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