Surgical robot system with acceleration sensor

Abstract

A surgical robot system with an acceleration sensor comprises an accelerometer, an end effector, a surgical robot slave end trolley, a surgical robot master end trolley, an operating handle and a mechanical arm installed on the surgical robot slave end trolley. By adopting the surgical robot system with the acceleration sensor, the structure and the control algorithm of the surgical robot can be further optimized, and the accuracy, the stability and the safety of the surgical robot are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical devices. Specifically, it relates to a surgical robot system with an acceleration sensor. Background Art

[0002] The smooth movement of the end effector of a surgical robot is a basic requirement. Especially during the instant when the end effector moves from motion to stop or from stop to motion, there is no jitter or very slight jitter in the end effector, thus not affecting the normal cutting operation of the surgery. Therefore, detecting the vibration amplitude of the end effector of the surgical robot trolley is the key to ensuring the accuracy, stability, and safety of the surgical robot. Summary of the Utility Model

[0003] To ensure the accuracy, stability, and safety of the surgical robot, the utility model uses the method of detecting acceleration with an accelerometer to detect the vibration of the end effector. The accelerometer is attached to the end effector of the surgical robot trolley. The robotic arm is operated to move at different speeds, and the maximum acceleration value during the rapid start and stop process is detected and recorded. Then, the vibration amplitude of the end effector is calculated, and the result is fed back to the operator.

[0004] Using the above detection results of the jitter of the end effector of the surgical robot, the structure of the surgical robot and the control algorithm can be further optimized to improve the accuracy, stability, and safety of the surgical robot.

[0005] The utility model provides a surgical robot system based on acceleration measurement. The accelerometer is pasted at the end of the end effector. By collecting relevant data such as displacement, velocity, and acceleration through the accelerometer, the accuracy, stability, and safety of the surgical operation of the surgical robot system are improved.

[0006] The utility model provides a surgical robot system based on acceleration measurement. The vibration of the end effector of the surgical robot trolley mainly occurs at the moment of braking after the robotic arm stops moving. Therefore, in the selection of data, mainly the part after the end of the movement is selected. A suitable data interval is selected to calculate the jitter acceleration, and then the jitter amplitude is obtained. Description of the Drawings

[0007] Figure 1 It is a schematic structural diagram of a surgical robot system with an acceleration sensor provided by an embodiment of the utility model.

[0008] Figure 2 It is a schematic structural diagram of an end effector in a surgical robot system with an acceleration sensor provided by an embodiment of the utility model.

[0009] Figure 3 It is a graph showing the experimental results of acceleration fluctuation.

[0010] Figure 4 It is a graph showing the experimental results of the jitter period of the robotic arm. Specific implementation manner

[0011] As Figure 1 shown, the present utility model provides a surgical robot system with an acceleration sensor, which includes an accelerometer 01, an end effector 02, a slave trolley 03 of the surgical robot, a master trolley 04 of the surgical robot, an operating handle 05, and a robotic arm installed on the slave trolley 03 of the surgical robot. The inspector operates the operating handle 05 to drive the robotic arm, the accelerometer 01 detects data and transmits the detected data to a computer, and the computer stores the detected data.

[0012] As Figure 1 shown, the master trolley 04 of the surgical robot includes a display screen, a base, a pedal, and rollers. Among them, rollers are arranged under the base to facilitate the movement of the master trolley 04 of the surgical robot; the display screen is arranged at the uppermost end of the master trolley 04 of the surgical robot, the operating handle 05 is arranged on the right side at the middle position of the master trolley 04 of the surgical robot, and the pedal is installed above the base.

[0013] The slave trolley 03 of the surgical robot further includes a main body, rollers installed under the main body, and handrails arranged at the upper edge of the main body. Generally, more than 3 rollers are arranged, for example, 4 rollers can be arranged to facilitate the movement of the slave trolley 03 of the surgical robot. The handrails facilitate the operator to push the slave trolley 03 of the surgical robot.

[0014] The robotic arm installed on the slave trolley 03 of the surgical robot is a six-degree-of-freedom robotic arm, or a robotic arm with redundant degrees of freedom above six degrees of freedom.

[0015] The end effector 02 is connected to the end of the robotic arm through an end flange.

[0016] The accelerometer 01 can obtain three types of data by feedback, namely acceleration, angular velocity, and displacement. In the actual operation process, the displacement data can be directly used to draw the motion trajectory of the measurement part, and the jitter situation can be observed in the motion trajectory. However, since the displacement data is calculated based on the velocity value, considering that there is a filtering situation for the displacement data feedback by some accelerometers, resulting in the inability to directly observe the jitter, so the embodiments of the present utility model mainly estimate the jitter situation of the measurement part through the acceleration data.

[0017] First is the selection of the estimated numerical range. The vibration of the surgical robot trolley mainly focuses on the instantaneous braking after the robotic arm stops moving. Therefore, in the selection of data, mainly the part after the end of the movement is selected.

[0018] After selecting the appropriate data interval, perform data fitting on this part of the data. The result of this fitting can be approximately regarded as the normal motion acceleration of the surgical robot, while the actual motion acceleration a t and the normal motion acceleration a r The difference between them is approximately regarded as the acceleration caused by jitter.

[0019] Δa = a t - a r

[0020] After obtaining the acceleration values in the corresponding interval, it is necessary to find the time T of a jitter period according to the corresponding interval. The specific method is to plot the angular velocity of this section of the interval as a curve. The change in angular velocity in this section of the interval can be regarded as caused by the jitter of the robotic arm. By finding the peak-to-peak value between two wave peaks, the period of a jitter can be determined, and then substituting it into the formula can approximately estimate the amplitude d of the jitter.

[0021]

[0022] As Figure 3 shown, this figure is the acceleration data at different moments of the robotic arm's movement. The vertical coordinate is the magnitude of the acceleration, and the horizontal coordinate is the number of the data. Then, at the beginning of the movement of the robotic arm during this movement process, theoretically, this movement should be a uniformly accelerated movement, that is, the acceleration should be a constant value. However, there is a fluctuation phenomenon in the acceleration of the robotic arm in this data, which can indicate that there is jitter when the robotic arm starts to move. Taking the average of the acceleration during this period can obtain a r = 0.1. And at this time, select the point with the largest acceleration fluctuation as the maximum amplitude of a jitter, that is, a t = 0.12.

[0023] After obtaining the theoretical acceleration value and the actual acceleration value of the robotic arm, it is necessary to determine the jitter period of the robotic arm according to the peak-to-peak value between two wave peaks in the waveform. As Figure 4 shown by the identification line in, then find the real times corresponding to these two data in the data source. After searching, the real times corresponding to these two data are 2458.964 s and 2459.021 s respectively. According to these data, T = 2459.021 - 2458.964 = 0.057 s

[0024] According to these data, the maximum amplitude of the robotic arm jitter can be calculated as

[0025]

Claims

1. A surgical robot system with an acceleration sensor, characterized in that: The surgical robot system with an acceleration sensor comprises an accelerometer (01), an end effector (02), a surgical robot slave-end trolley (03), a surgical robot master-end trolley (04), an operating handle (05), and a mechanical arm mounted on the surgical robot slave-end trolley (03).

2. The surgical robot system with an acceleration sensor according to claim 1, characterized in that: The surgical robot main end trolley (04) comprises a display screen, a base, pedals, and rollers; Among them, rollers are arranged under the base to facilitate the movement of the surgical robot main end trolley (04); the display screen is arranged at the uppermost end of the surgical robot main end trolley (04), the operating handle (05) is arranged on the right side of the middle position of the surgical robot main end trolley (04), and the pedal is installed above the base.

3. The surgical robot system with an acceleration sensor according to claim 1, characterized in that: The surgical robot side trolley (03) also includes a main body, rollers installed below the main body, and handrails arranged on the upper edge of the main body.

4. The surgical robot system with an acceleration sensor according to claim 3, characterized in that: There are more than 3 rollers.

5. The surgical robot system with an acceleration sensor according to claim 3, characterized in that: The mechanical arm installed on the trolley (03) at the secondary end of the surgical robot is a six-degree-of-freedom mechanical arm.

6. The surgical robot system with an acceleration sensor according to claim 3, characterized in that: The mechanical arm installed on the surgical robot slave end trolley (03) is a mechanical arm with more than six degrees of freedom and redundant degrees of freedom.

7. The surgical robot system with an acceleration sensor according to claim 1, characterized in that: The end effector (02) is connected to the end of the robot arm via an end flange.

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