Paraoperative device, surgical robot and method for compensating for vibration of robot arm

Abstract

The invention provides a para-patient operation device, a surgical robot and a method for compensating vibration of a mechanical arm. The affected part operation equipment comprises a base, a stand column, a mechanical arm, an inertia measurement unit and a stabilizing assembly. The inertial measurement unit is arranged on at least one of the base, the stand column and the mechanical arm, and the inertial measurement unit is used for obtaining speed change parameters of the mechanical arm. The stabilizing assembly is connected to the stand column and conducts vibration compensation motion on the mechanical arm according to the speed change parameters. Through the arrangement of the inertial measurement unit and the stabilizing assembly, vibration can be effectively suppressed. The inertial measurement unit can accurately capture the vibration frequency of equipment such as a mechanical arm in real time and provide immediate feedback for the system, so that the stabilizing assembly takes corresponding measures on vibration, and the operation accuracy and effectiveness of the operation equipment beside the patient are improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically to a patient-side operating device, a surgical robot, and a method for compensating for vibrations in a robotic arm. Background Technology

[0002] Patient-side operating devices, typically surgical carts equipped with robotic arms, are an important component of surgical robots. The robotic arm is the core mechanical structure of the surgical cart, used to perform surgical procedures on the patient side using surgical instruments. During surgery, the patient-side operating device must remain stationary and stable to ensure accurate instrument movement. In practical applications, vibrations are unavoidable, causing interference and vibration of the end-effectors, thus affecting the precise operation of the instruments and significantly impacting surgical quality and safety.

[0003] Therefore, there is a need to provide a patient-side operating device, a surgical robot, and a method for compensating for robotic arm vibration, in order to at least partially solve the above problems. Summary of the Invention

[0004] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0005] To at least partially address the above-mentioned problems, a first aspect of this application provides a patient-side manipulation device, comprising:

[0006] Base;

[0007] The column is connected to the base;

[0008] A robotic arm, which is movably connected to the column;

[0009] An inertial measurement unit, wherein the inertial measurement unit is disposed in at least one of the base, the column, and the robotic arm, the inertial measurement unit being used to acquire the speed change parameters of the robotic arm; and

[0010] A stabilizing component that performs vibration compensation motion on the robotic arm according to the speed change parameters.

[0011] According to the patient-side operating device of the first aspect of this application, vibration can be effectively suppressed by setting up an inertial measurement unit and a stabilizing component. The inertial measurement unit can capture the vibration frequency of equipment such as robotic arms in real time and accurately, and provide immediate feedback to the system, thereby enabling the stabilizing component to take corresponding measures against vibration, improving the accuracy and effectiveness of the operation of the patient-side operating device.

[0012] Optionally, the stabilizing component can apply a reverse force and / or the same frequency to the robotic arm according to the speed change parameters to compensate for the vibration of the robotic arm during movement.

[0013] Optionally, the stabilizing component includes a drive member and an eccentric rotating mass, the drive member driving the eccentric rotating mass to oscillate or rotate about a first rotation axis.

[0014] Optionally, the driving element includes:

[0015] A first driving component is connected to the column.

[0016] A second driving component, connected to the first driving component; wherein...

[0017] The first driving member drives the second driving member to move relative to the robotic arm, and the second driving member drives the eccentric rotating mass to move relative to the robotic arm.

[0018] Optionally, the eccentric rotating mass is rotatably connected to the second drive member about the first rotation axis;

[0019] The second driving member is rotatably connected to the first driving member about a second rotation axis; wherein

[0020] The first axis of rotation intersects with or is not in the same plane as the second axis of rotation.

[0021] Optionally, the first rotation axis is perpendicular to the second rotation axis.

[0022] Optionally, the stabilizing component is connected to the proximal end of the robotic arm.

[0023] Optionally, the base includes a chassis for supporting the patient-side operating device on a fixed surface;

[0024] The stabilizing component includes an elastic element connected between the chassis and the fixed surface.

[0025] Optionally, the elastic element is at least one of a spring, a damper, and a rubber body.

[0026] Optionally, a plurality of the elastic element arrays are arranged, wherein the number of the elastic elements is greater than or equal to 3.

[0027] Optionally, a parking pillar is provided on the side of the chassis facing the fixed surface, and four parking pillars are arranged in an array at the four corners of the base.

[0028] Optionally, the elastic element is connected between the parking pillar and the fixed surface.

[0029] A second aspect of this application provides a surgical robot, including the aforementioned patient-side operating device.

[0030] The surgical robot according to the second aspect of this application, including the aforementioned patient-side operating device, has similar technical effects to the patient-side operating device.

[0031] A third aspect of this application provides a method for compensating for vibration of a robotic arm, employing the aforementioned patient-side operating device, the method comprising:

[0032] The speed change parameters of the robotic arm are obtained in real time from the inertial measurement unit.

[0033] The speed change parameters are analyzed and processed to obtain vibration compensation signals;

[0034] The stabilization component is controlled to drive the actuator to apply a reverse force and / or vibration of the same frequency to the robotic arm according to the vibration compensation signal.

[0035] According to the method for compensating for robotic arm vibration according to the third aspect of this application, the above method can significantly improve the stability, operational accuracy and service life of the robotic arm.

[0036] Optionally, the speed parameters for each of the robotic arms are obtained in six degrees of freedom. Attached Figure Description

[0037] The following drawings, illustrating embodiments of this application, are incorporated herein by reference and are used to understand this application. The drawings illustrate embodiments of this application and their descriptions, serving to explain the principles of this application. In the drawings,

[0038] Figure 1 This is a schematic diagram of a surgical robot according to a preferred embodiment of this application;

[0039] Figure 2 This is a perspective view of a preferred embodiment of the patient-side operation device of this application;

[0040] Figure 3 A perspective view of a preferred embodiment of the patient-side operating device of this application; and

[0041] Figure 4This is a perspective view of a preferred embodiment of the patient-side operation device of this application. In the figure, the patient-side operation device has multiple robotic arms.

[0042] Explanation of reference numerals in the attached figures

[0043] 1: Surgical control console

[0044] 2: Patient-side operating equipment

[0045] 3: Video System

[0046] 10: Base

[0047] 11: Column

[0048] 12: Chassis

[0049] 13: Parking pillar

[0050] 20: Robotic Arm

[0051] 30: Drive components

[0052] 31: First driving component

[0053] 32: Second drive unit

[0054] 40: Eccentric Rotational Mass

[0055] 50: Elastic element

[0056] AX1: First axis of rotation

[0057] AX2: Second axis of rotation Detailed Implementation

[0058] In the following description, numerous specific details are set forth to provide a more thorough understanding of this application. However, it will be apparent to those skilled in the art that embodiments of this application may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with embodiments of this application.

[0059] In this document, ordinal numbers such as “first” and “second” used in this application are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0060] In this article, terms such as "up," "down," "front," "back," "left," and "right" are used only to indicate the relative positional relationship between related parts, rather than to define the absolute position of these related parts.

[0061] In this document, terms such as “equal” and “same” are not strict mathematical and / or geometric limitations, but also include errors that are understandable to those skilled in the art and permissible in manufacturing or use.

[0062] The terms "distal" and "proximal" used in this application are directional terms commonly used in the field of interventional medical devices. "Distal" refers to the end furthest from the operator during the procedure, while "proximal" refers to the end closest to the operator. In a master-slave remote-controlled medical system, the operator can be understood as someone operating the device.

[0063] The terms “parallel” / “perpendicular” and similar expressions used in this application include absolute parallel / perpendicular relationships and approximately parallel / perpendicular relationships (e.g., relationships that differ from absolute parallel / perpendicular relationships by a range of -5° to +5°), and have equivalent effects.

[0064] Unless otherwise stated, the numerical ranges in this document include not only the entire range within its two endpoints, but also the subranges contained therein.

[0065] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0066] The surgical robot according to embodiments of this application is a robot capable of remotely controlling surgery. (See also...) Figure 1 The surgical robot may include a surgical console 1, a patient-side operating device 2 (also known as a robotic arm 20 system) and a vision system 3.

[0067] The surgical control console 1 is the core component of the surgical robot, allowing surgeons to remotely operate it. The console typically features a high-definition display screen, enabling doctors to observe real-time images of the surgical area. It also includes various operation buttons and handles for precise control of the robot's movements and the motion of surgical instruments, facilitating human-machine interaction.

[0068] The imaging system 3 is the "eyes" of the surgical robot. It transmits real-time images of the surgical area to the display screen on the surgical console 1, allowing the surgeon to clearly see the situation in the surgical area. The imaging system 3 typically includes a camera and an image transmission device. The camera captures images of the surgical area, while the image transmission device transmits the images to the console in real time.

[0069] The patient-side manipulation device 2 is typically a surgical cart equipped with a robotic arm 20 and is an important component of the surgical robot. The robotic arm 20 is the core mechanical structure of the surgical cart, used to hold surgical instruments and perform surgical operations from the patient's side. The patient-side manipulation device 2 may include at least one robotic arm 20, but the number of robotic arms 20 can be flexibly increased depending on the specific needs and complexity of the surgery, such as... Figure 4 As shown, the patient-side manipulation device 2 is equipped with multiple robotic arms 20. Each robotic arm 20 has several connecting arms, and adjacent connecting arms move relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm 20 to achieve multi-degree-of-freedom movement. The end effector of the robotic arm 20 is equipped with a holding arm, on which surgical instruments are detachably mounted. Surgical instruments can be replaced and used as needed for the surgery. Surgical instruments can be instruments used to perform surgical procedures, such as electrocautery devices, clamps, and vascular occluders; they can also be cameras used to acquire images of the surgical area, such as endoscopes; or other auxiliary surgical instruments, such as uterine manipulators. A cannula can be provided on the holding arm, and the cannula is operably mounted to the holding arm. The surgical instruments enter the body after passing through the cannula, thus the cannula provides some support to the axis of the surgical instruments. In the initial stage of the surgery, the position of the cannula relative to the body is determined first, that is, the orientation of the surgical instruments entering the body is determined first, and then the holding mechanism is dragged to align with the cannula.

[0070] The movement of several connecting arms of the robotic arm 20 can be coupled mechanically or through software control, enabling the robotic arm 20 to drive surgical instruments mounted on the holding arms to move around a remote center of motion (RCM). For example, in laparoscopic surgery, the RCM is selected as the port into the patient's abdominal cavity during the procedure. During the surgery, surgical instruments enter the patient's body through this port and can perform movements such as pitch, yaw, insertion, and rotation around the central point. This ensures that the movement of the surgical instruments does not deviate from the preset trajectory, thereby avoiding unnecessary harm to the patient.

[0071] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application.

[0072] The patient-side operating device 2 of this application also includes a base 10, on which a column 11 is provided, and on the column 11 is at least one robotic arm 20 that can be raised and lowered relative to the base 10. A handle may also be provided on the base 10, which the operator can use to assist in moving the base 10.

[0073] The base 10 is primarily used for preoperative positioning of the patient-side operating device 2, thereby achieving initial preoperative positioning of the instrument holding mechanism. In one example, the base 10 can be placed on the ground, for example, the bottom of the base 10 can be equipped with wheels for easy movement. In another example, the base 10 can also be suspended from a wall or ceiling, for example, the base 10 can be mounted on a wall or ceiling via guide rails for easy movement. In yet another example, the base 10 can also be mounted on an operating table or integrated into the operating table.

[0074] A lifting platform is installed on the column 11. The lifting platform is used to connect the robotic arm 20. The column 11 and the lifting platform can be connected by a sliding joint. For example, the sliding joint can include a slide rail and a slider. By setting up the lifting platform on the column 11, the working height of the robotic arm 20 can be easily adjusted to meet the needs of different surgical sites.

[0075] In common application scenarios, the position of the patient-side operating device 2 needs to be adjusted to a suitable location, thus requiring the movement of the patient-side operating device 2. During the operation, the patient-side operating device 2 must remain stationary and stable to ensure accurate actuation of the surgical instruments.

[0076] To stabilize the patient-side manipulation device 2, the base 10 needs to be heavier to lower the center of gravity and bring it closer to the ground. For the same reason, the parts of the patient-side manipulation device 2 related to the drive of the robotic arm 20 (such as the motor, reducer, transmission mechanism, etc.) also need to be lighter. Therefore, the design of the drive robotic arm 20 is constrained to ensure the stability of the patient-side manipulation device 2.

[0077] In common applications, before or during surgery, the robotic arm 20 needs to perform different actions in different postures. During the movement of the robotic arm 20, the gear transmission mechanism driven by its joints generates mechanical friction and recoil forces, which cause mechanical vibrations.

[0078] For example, during surgery, the surgeon's operational needs are highly dynamic, especially when the surgeon makes rapid movements of the master hand at the control console. These rapid commands require the robotic arm 20 to respond quickly, enabling frequent acceleration and deceleration. However, such high-speed acceleration and deceleration processes are often accompanied by significant vibration problems.

[0079] Vibrations caused by the actuator restrict the surgeon's precision and freedom of movement, which can affect surgical performance. Vibrations cannot be completely eliminated passively; they persist even under conditions of limited surgical freedom and may exacerbate surgical performance issues.

[0080] The patient-side operating device 2 provided in this application can improve or overcome one or more of the above-mentioned problems, namely, the effect of vibration on surgical operation.

[0081] Reference Figures 2-3 In this application, the patient-side operating device 2 is equipped with an inertial measurement unit and a stabilization system. The inertial measurement unit and stabilization system effectively suppress vibration. The inertial measurement unit is located in at least one of the base 10, the column 11, and the robotic arm 20, and is used to acquire the speed parameters of the robotic arm 20. The inertial measurement unit can capture the vibration frequency of the robotic arm 20 and other equipment in real time and accurately, and provides immediate feedback to the system, thereby enabling the stabilization components to take corresponding measures against vibration, improving the accuracy and effectiveness of the operation of the patient-side operating device 2.

[0082] When the patient-side operating device 2 is ready for surgery, the stabilizing component is activated. This component acts as an oscillator, actively counteracting the frequency generated by the input operation. Based on vibration data acquired by the inertial measurement unit, the stabilizing component generates an anti-vibration opposite to the vibration.

[0083] Understandably, when the patient-side operating device 2 is working, in order to compensate for vibrations or normal disturbances / vibrations during robot movement, this application uses an inertial measurement unit to obtain vibration data. The vibration data obtained by the inertial measurement unit is transmitted to the controller of the stabilizing component, and the controller of the stabilizing component generates a signal opposite to the vibration signal of the obtained vibration data in order to at least partially cancel the vibration.

[0084] An inertial measurement unit (IMU) can provide three linear acceleration values ​​for translational motion and three angular velocities for rotational speed as measured values. Typically, an IMU may have three mutually orthogonal accelerometers and three mutually orthogonal rotational speed sensors. The three accelerometers are used to detect translational motion along the X, Y, or Z axes, and the three mutually orthogonal rotational speed sensors are used to detect rotational motion about the X, Y, or Z axes.

[0085] In one example, the inertial measurement unit includes a magnetoresistive sensor, an accelerometer, and an angular rate gyroscope, capable of measuring the heading angle, acceleration, and angular rate of motion of the carrier, respectively. The inertial measurement unit can employ existing inertial measurement devices, and this application does not limit its specific structure.

[0086] The stabilization component is connected to the column 11. Based on the speed change parameters, the stabilization component can apply a counterforce and / or the same frequency to the robotic arm 20 to compensate for vibrations during movement. Based on data from the inertial measurement unit, the stabilization component can adjust the posture and position of the robotic arm 20 in real time to adapt to changes during the surgical procedure, ensuring that the surgical instruments are always in optimal working condition.

[0087] In one example, the stabilization components include a sensor interface, a controller, an actuator, and a feedback system. The sensor interface connects to the inertial measurement unit (IMU) to receive and process variable speed parameters (such as acceleration and angular velocity). The controller uses this data to calculate the required counterforce or vibration of the same frequency to compensate for the vibration. The actuator is responsible for translating these control signals into physical actions, such as vibration, oscillation, rotation, and translation. The feedback system monitors the execution effect to ensure that the robot arm 20's posture and position reach the predetermined target.

[0088] During the surgery, the inertial measurement unit monitors the motion state of the robotic arm 20 in real time and transmits the speed change parameters to the controller of the stabilization component. The controller analyzes and processes this data to identify the vibration mode and amplitude of the robotic arm 20. Subsequently, the controller calculates the counterforce or vibration signal of the same frequency that can counteract these vibrations and applies it to the robotic arm 20 through the actuator to compensate for the vibration during the movement and ensure the stability of the surgical instruments.

[0089] In this application, by combining the inertial measurement unit with the stabilization component, the vibration of the robotic arm 20 during movement can be significantly reduced, thereby improving the precision of surgical operations, helping doctors to more accurately control the position and posture of surgical instruments, and reducing surgical risks.

[0090] By compensating for the vibration of the robotic arm 20 in real time, the stabilization component ensures that surgical instruments maintain a stable posture and position during surgery, helping to reduce instrument wobbling or displacement caused by vibration and improving the overall stability of the surgery. The patient-side operating device 2 can be more widely used in various surgical scenarios. It not only addresses vibration issues in traditional surgeries but also adapts to more complex and delicate surgical needs, such as neurosurgery and ophthalmological surgery.

[0091] Optionally, the stabilizing component includes a drive element 30 and an eccentric rotating mass 40. The drive element 30 drives the eccentric rotating mass 40 to oscillate or rotate around a first rotation axis AX1. By precisely controlling the rotational speed and phase of the eccentric rotating mass 40, precise compensation for the vibration of the robotic arm 20 can be achieved, thereby improving the precision and accuracy of the surgical operation. Specifically, when the center of the eccentric rotating mass 40 does not coincide with the rotation center, an unbalanced force will be generated during rotation, causing the eccentric rotating mass 40 to vibrate. At high speeds, even if the eccentric rotating mass 40 is relatively small, it will still generate a relatively large centrifugal force, resulting in significant vibration. In this application, the centrifugal force generated by the eccentric rotating mass 40 during rotation can cancel out the vibration generated during the movement of the robotic arm 20, thereby effectively reducing mechanical vibration and improving the stability of the surgical operation. In this application, because the drive element 30 and the eccentric rotating mass 40 have high flexibility and adjustability, this stabilizing component can adapt to the needs of various surgical scenarios and meet the stability and precision requirements of different surgical operations. Meanwhile, the stabilizing component has a relatively simple structure, making it easy to integrate with other components of the patient-side operating device 2.

[0092] Optionally, the drive unit 30 includes a first drive unit 31 and a second drive unit 32. The first drive unit 31 is connected to the column 11. The second drive unit 32 is connected to the first drive unit 31. The first drive unit 31 drives the second drive unit 32 to move relative to the robotic arm 20, and the second drive unit 32 drives the eccentric rotating mass 40 to move relative to the robotic arm 20.

[0093] In this application, the combined use of the first drive member 31 and the second drive member 32 provides multiple degrees of freedom for the motion control of the eccentric rotating mass 40, thereby enabling the stabilizing assembly to cope with more complex and variable surgical scenarios and improving the flexibility and adaptability of the equipment. The first drive member 31 is connected to the column 11, providing basic support and initial driving force for the entire stabilizing assembly. The second drive member 32 is connected to the first drive member 31, further refining the driving force and achieving more precise motion control. Optionally, the first drive member 31 and the second drive member 32 can operate simultaneously. In this embodiment, the setting of the drive member 30 can be controlled in real time according to the actual needs during the surgical process, ensuring that the surgical instruments are always kept in the optimal working position and posture, with fast response speed, improving surgical efficiency and success rate.

[0094] Optionally, the eccentric rotating mass 40 is rotatably connected to the second drive member 32 about the first rotation axis AX1. The second drive member 32 is rotatably connected to the first drive member 31 about the second rotation axis AX2. The first rotation axis AX1 and the second rotation axis AX2 intersect or are not in the same plane. Through the synergistic action of the two drive members 30, precise control of the position of the eccentric rotating mass 40 can be achieved. The eccentric rotating mass 40 can swing and rotate in two different directions, thereby generating centrifugal force in multiple directions to compensate for the vibration of the robotic arm 20 in multiple directions. Different rotational speeds can be achieved by controlling the vibration frequency of the second drive.

[0095] This solution boasts high compatibility, flexibility, and adaptability, making it suitable for a variety of surgical scenarios. Whether it's a simple surgical operation or a complex procedure, the requirements can be met by adjusting the parameters of the eccentric rotational mass 40 and the drive component 30.

[0096] Optionally, the first rotation axis AX1 is perpendicular to or perpendicular to the second rotation axis AX2 in opposite planes. The two rotational motions are spatially independent and stable. The perpendicular or opposite-plane perpendicular rotation axis design allows the second drive 32 to more precisely control the oscillation frequency, rotation direction, and angle of the eccentric rotating mass 40. Orthogonal arrangement helps reduce vibration and jitter caused by non-parallel axes or improper intersection angles, achieving more efficient dynamic balance and thus improving the stability of the entire system. Precise control facilitates accurate posture adjustment of surgical instruments during surgery, ensuring the accuracy and reliability of surgical operations.

[0097] Optionally, a stabilizing component is attached to the proximal end of the robotic arm 20. Placing the stabilizing component at the proximal end of the robotic arm 20 effectively reduces the impact of vibrations generated by the distal movement of the robotic arm 20 on the surgical site. It also avoids adding weight to the distal end of the robotic arm 20, allowing the distal portion of the robotic arm 20 to perform surgical operations more flexibly without being restricted by the stabilizing component, thereby further reducing vibration transmission and improving the stability and accuracy of the surgical procedure.

[0098] Because the robotic arm of the patient-side robot is relatively long (20mm), the end effector vibrates significantly at high operating speeds.

[0099] The vibration is transmitted to the patient's skin through the RCM point. Optionally, this application can also utilize the chassis 12 to suppress the vibration of the robotic arm 20. That is, the chassis 12 is used to reduce vibration to improve the damping of the robotic arm 20 of the patient-side operating device 2, thereby reducing the vibration of the robotic arm 20 during teleoperation. In one example, the base 10 is placed on the ground. The base 10 includes a chassis 12 for placing the patient-side operating device 2 on a fixed surface (the ground). The stabilizing component includes an elastic element 50 connected between the chassis 12 and the fixed surface. The elastic element 50 can effectively absorb and disperse vibrations and shocks generated during device operation, reducing the transmission of vibrations and shocks, thus reducing the swaying of the patient-side operating device 2 on the fixed surface and improving the stability of the entire system. The combination of the stable base 10 and the stabilizing component helps to achieve precise control of the actuators such as the robotic arm 20, thereby improving the stability and controllability of the patient-side operating system.

[0100] Optionally, the type of elastic element 50 includes, but is not limited to, springs, dampers, and rubber bodies. These elastic elements 50 can effectively absorb and disperse vibrations and shocks generated during equipment operation, while helping to extend the service life of the equipment. Specifically, springs absorb energy through their elastic deformation. Springs have high stiffness and restoring force, enabling them to respond quickly and absorb impact energy, making them suitable for scenarios requiring rapid response and recovery. Dampers dissipate energy through their internal damping medium (such as oil, gas, etc.). In addition to their vibration reduction effect, dampers can also control the vibration decay rate by adjusting the damping coefficient, making them suitable for scenarios requiring precise control of the vibration decay rate. Rubber bodies utilize their high elasticity and damping properties to reduce vibration transmission. Rubber bodies have good damping and sealing properties, providing effective vibration reduction over a wide frequency range while preventing liquid or gas leakage.

[0101] Optionally, multiple elastic elements 50 are arranged in an array, with the number of elastic elements 50 being greater than or equal to 3. By arranging multiple elastic elements 50 in an array, the base 10 can distribute the load more evenly when bearing the weight of the equipment and various forces generated during operation, reducing local deformation or damage caused by excessive force at a single point, thereby improving the stability of the entire system. The coordinated work of the stable base 10 and multiple elastic elements 50 helps to achieve precise control of actuators such as the robotic arm 20.

[0102] As mentioned above, wheels can be provided at the bottom of the base 10 for easy movement. To avoid braking multiple wheels individually, parking posts 13 are provided on the side of the chassis 12 facing the fixed surface. Optionally, the parking posts 13 are typically designed to be telescopic or adjustable. When the equipment is parked, the parking posts 13 are lowered and pressed against the ground. Pressing against the ground generates significant pressure, thereby braking the equipment. When the braking is released, the parking posts 13 are raised, thus releasing the braking state from the ground. Optionally, four parking posts 13 are arranged in an array at the four corners of the base 10. The four parking posts 13, located at the four corners of the base 10, form a stable support structure. The parking posts 13 can contact the fixed surface, providing additional support force, thereby significantly enhancing the stability of the equipment.

[0103] Based on the above embodiment, the elastic element 50 is connected between the parking post 13 and the fixed surface. The elastic element 50 can adjust the stiffness damping of the connection between the parking post 13 and the ground, thereby reducing the magnitude of vibration at the robot's end effector.

[0104] In this application, by establishing a simulation dynamic model, the equivalent mass matrix, damping matrix and stiffness matrix of the trolley relative to the center of mass are constructed to establish the relationship between the stiffness and damping of the elastic element 50 and the installation position and attitude of the elastic element 50 relative to the center of mass, thereby obtaining the stiffness and damping of the elastic element 50.

[0105] This application also provides a method for compensating for the vibration of a robotic arm 20, which uses the above-mentioned patient-side operating device 2 and utilizes components such as stabilizing components in the patient-side operating device 2 to compensate for the vibration of the robotic arm 20.

[0106] The method for compensating for vibration of robotic arm 20 includes at least the following steps:

[0107] (1) Data acquisition: Obtain the speed change parameters of the robotic arm 20 in real time by the inertial measurement unit; Specifically, by acquiring the speed change parameters of the robotic arm 20 in real time by the inertial measurement unit, the vibration information generated by the robotic arm 20 during the movement can be quickly captured, and the real-time monitoring provides an accurate data basis for subsequent vibration compensation.

[0108] (2) Data processing: The speed parameters are analyzed and processed to obtain vibration compensation signals. Based on the collected data, the vibration compensation signals are obtained through processing, and the stabilizing components (such as piezoelectric ceramic actuators, electromagnetic actuators, etc.) are controlled to apply a reverse force or vibration of the same frequency to the robotic arm 20 according to the signals, thereby effectively suppressing the vibration of the robotic arm 20. This vibration compensation mechanism can significantly improve the stability of the robotic arm 20 during dynamic operation.

[0109] (3) Vibration Compensation: Based on the vibration compensation signal, the control stabilization component drives the actuator to apply a reverse force and / or vibration of the same frequency to the robotic arm 20. Vibration compensation significantly reduces the vibration amplitude of the robotic arm 20 during movement, thereby reducing end-effector errors caused by vibration and improving operational accuracy. This is particularly important for applications requiring high-precision positioning, such as surgical robots and precision machining robotic arms 20.

[0110] The above method can be used to compensate for the vibration of the robotic arm 20, which can significantly improve the stability, operation accuracy and service life of the robotic arm 20.

[0111] Optionally, the speed change parameters of each robotic arm 20 are obtained in six degrees of freedom. These six degrees of freedom consist of three translational degrees of freedom and three rotational degrees of freedom. That is, information on the changes in velocity and acceleration can be obtained in six independent motion dimensions, thereby accurately grasping the motion characteristics and dynamic changes of the robotic arm 20 in various directions. This further provides more accurate data support for vibration compensation. The control system can accurately calculate the required counterforce or vibration of the same frequency based on these parameters to effectively suppress the vibration of the robotic arm 20, thereby improving the adaptability and continuous operation capability of the robotic arm 20 in complex and variable working environments.

[0112] For example, each robotic arm 20 has many modes, which are usually masked by lower-order modes in practical applications. Therefore, only the first-order mode is considered in the dynamic analysis. At the same time, the vibration of the first-order mode has the most direct and significant impact on the system performance during the movement of the robotic arm 20. In this application, only the vibration characteristics corresponding to the first-order mode are considered. Optionally, the first-order mode of the robotic arm 20 is the rotational mode along the yaw axis.

[0113] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Terms such as “setup” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0114] This application has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the described embodiments. Those skilled in the art will understand that many more variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A patient-side operating device, characterized in that, include: Base; The column is connected to the base; A robotic arm, which is movably connected to the column; An inertial measurement unit is disposed in at least one of the base, the column, and the robotic arm, and the inertial measurement unit is used to acquire the speed change parameters of the robotic arm; as well as A stabilizing component is connected to the column, and the stabilizing component performs vibration compensation movement on the robotic arm according to the speed change parameters.

2. The patient-side operating device according to claim 1, characterized in that, The stabilization component can apply a reverse force and / or the same frequency to the robotic arm according to the speed change parameters to compensate for the vibration of the robotic arm during movement.

3. The patient-side operating device according to claim 2, characterized in that, The stabilizing component includes a driving element and an eccentric rotating mass, wherein the driving element drives the eccentric rotating mass to oscillate or rotate about a first rotation axis.

4. The patient-side operating device according to claim 3, characterized in that, The driving component includes: A first driving component is connected to the column. A second driving component, connected to the first driving component; wherein... The first driving member drives the second driving member to move relative to the robotic arm, and the second driving member drives the eccentric rotating mass to move relative to the robotic arm.

5. The patient-side operating device according to claim 4, characterized in that, The eccentric rotating mass is rotatably connected to the second drive member about the first rotation axis; The second driving member is rotatably connected to the first driving member about a second rotation axis; wherein The first axis of rotation intersects with or is not in the same plane as the second axis of rotation.

6. The patient-side operating device according to claim 5, characterized in that, The first axis of rotation is perpendicular to the second axis of rotation.

7. The patient-side operating device according to any one of claims 3 to 6, characterized in that, The stabilizing component is connected to the proximal end of the robotic arm.

8. The patient-side operating device according to any one of claims 1 to 6, characterized in that, The base includes a chassis, which is used to support the patient-side operating device on a fixed surface; The stabilizing component includes an elastic element connected between the chassis and the fixed surface.

9. The patient-side operating device according to claim 8, characterized in that, The elastic element is at least one of a spring, a damper, and a rubber body.

10. The patient-side operating device according to claim 8, characterized in that, Multiple elastic element arrays are arranged, and the number of elastic elements is greater than or equal to 3.

11. The patient-side operating device according to claim 8, characterized in that, Parking pillars are provided on the side of the chassis facing the fixed surface, and four parking pillars are arranged in an array at the four corners of the base.

12. The patient-side operating device according to claim 11, characterized in that, The elastic element is connected between the parking pillar and the fixed surface.

13. A surgical robot, characterized in that, Includes the patient-side operation device according to any one of claims 1 to 12.

14. A method for compensating for vibration of a robotic arm, characterized in that, The method, using the patient-side manipulation device according to any one of claims 1 to 12, comprises: The speed change parameters of the robotic arm are obtained in real time from the inertial measurement unit. The speed change parameters are analyzed and processed to obtain vibration compensation signals; The stabilization component is controlled to drive the actuator to apply a reverse force and / or vibration of the same frequency to the robotic arm according to the vibration compensation signal.

15. The method for compensating for vibration of a robotic arm according to claim 14, characterized in that, The speed parameters for each robotic arm are obtained in six degrees of freedom.

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