CN109109018B - Device and method for detecting working state of sensing equipment on mechanical arm, mechanical arm and medical robot - Google Patents
Device and method for detecting working state of sensing equipment on mechanical arm, mechanical arm and medical robot Download PDFInfo
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- CN109109018B CN109109018B CN201811069317.5A CN201811069317A CN109109018B CN 109109018 B CN109109018 B CN 109109018B CN 201811069317 A CN201811069317 A CN 201811069317A CN 109109018 B CN109109018 B CN 109109018B
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- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract
The application relates to the technical field of medical instruments, in particular to a device and a method for detecting working states of sensing equipment on a mechanical arm, the mechanical arm and a medical robot. A device for detecting the working state of sensing equipment on a mechanical arm aims at first sensing equipment used for collecting absolute state parameters of rotating joints between a target joint arm and a base, first posture information is obtained through the absolute state parameters collected based on the first sensing equipment, meanwhile, the absolute posture information of the base and the target joint arm can be collected respectively based on other sensing equipment, second posture information is obtained based on the absolute posture information of the base and the absolute posture information of the target joint arm, whether the data collected by the first sensing equipment is accurate or not can be judged according to the first posture information and the second posture information, whether the sensing equipment is in an abnormal working state or not can be found in time, the safety of a medical robot is improved, and the probability of safety accidents is reduced.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a device and a method for detecting the working state of sensing equipment on a mechanical arm, the mechanical arm and a medical robot.
Background
Minimally invasive surgery refers to a new technique for performing surgery by introducing elongated surgical instruments (e.g., laparoscopes, thoracoscopes, and surgical instruments) into a patient through a small incision. It has the advantages of small wound, light pain, quick recovery, short hospitalization time, less bleeding, etc. However, because the incision is small, how to complete complex surgical operations in a narrow working space is a significant challenge facing the surgical robotic system. The high-redundancy flexible mechanical arm solves the problem that the traditional rigid joint mechanical arm cannot work in a narrow space, and therefore the high-redundancy flexible mechanical arm is mostly adopted in a surgical robot system. However, how to accurately control the motion posture of the high-redundancy mechanical arm becomes an important factor influencing the working reliability of the high-redundancy mechanical arm and also an important factor influencing the safety of the surgical robot. Particularly, in the working process, whether the tail end joint moves according to the expected movement track directly influences the working precision and reliability of the mechanical arm, and further influences the safety of the operation.
In the prior art, the position of the robotic arm is typically determined by an encoder. When the encoder fails, especially when the absolute position encoder fails, the position of the mechanical arm cannot be determined, so that the distal end of the mechanical arm cannot move according to an expected posture, and a surgical instrument poking dirty device may cause a surgical safety accident. Therefore, the existing surgical robot can monitor the working state of the mechanical arm through mutual detection of the absolute position encoder and the incremental encoder of the mechanical arm during working. However, during the period from power-off to power-on of the surgical robot, the mechanical arm of the surgical robot is passively adjusted for various reasons, and these changes cannot be detected by the encoder, thereby causing inconsistency between the actual state of the joint and the detection result of the encoder when the surgical robot is started up. The existing technology can not detect whether the detection result of the absolute position encoder is correct when the computer is started.
Therefore, there is a need in the art for a new apparatus for detecting whether the operation of the sensing device on the robot arm is normal, and particularly for detecting whether the operation of the sensing device is normal when the robot arm is turned on.
Disclosure of Invention
In view of the above, it is necessary to provide an apparatus and a method for detecting an operating state of a sensing device on a robot arm, the robot arm, and a medical robot.
In an alternative embodiment, the present application provides an apparatus for detecting an operating condition of a sensing device on a robotic arm, the robotic arm may have a free end and a fixed end, the fixed end for coupling to a base, the free end for coupling to a manipulator; the mechanical arm may include a first sensing device, a plurality of joints, and a joint arm connected by the joints, the plurality of joints may include revolute joints, and the first sensing device may be configured to acquire absolute state parameters of each of the revolute joints between the target joint arm and the fixed end; the apparatus may comprise:
the processing equipment is used for acquiring first attitude information according to the absolute state parameter;
the second sensing equipment is used for respectively acquiring the first absolute attitude information and the second absolute attitude information; the first absolute attitude information is absolute attitude information of the base, and the second absolute attitude information is absolute attitude information of the target articulated arm;
wherein the processing device is further configured to obtain second pose information according to the first absolute pose information and the second absolute pose information, and the first pose information and the second pose information are both used to characterize a pose relationship of the target articulated arm with respect to the base; and
the processing device is further configured to determine a working state of the first sensing device according to the first posture information and the second posture information.
In the embodiment of the apparatus for detecting the working state of the sensing device on the mechanical arm, for the first sensing device configured to acquire the absolute state parameters of each joint located between the target joint arm and the base, the first posture information is acquired based on the absolute state parameters acquired by the first sensing device, meanwhile, the absolute posture information of the base and the target joint arm can be acquired based on other sensing devices, and the second posture information is acquired based on the absolute posture information of the base and the absolute posture information of the target joint arm, because the first posture information and the second posture information can be both used for the relative posture relationship between the target joint arm and the base, whether the data acquired by the first sensing device is accurate or not is judged based on the first posture information and the second posture information, and whether the sensing device is in an abnormal working state or not can be found when the mechanical arm is started, whether the detection result is wrong or not is judged to avoid inaccurate or even wrong state parameters detected by the sensing equipment in the working process, so that the tail end of the mechanical arm is ensured to move according to an expected track, the operating instrument arranged at the tail end of the mechanical arm cannot collide or poke a non-target area, the safety of the medical robot is improved, and the probability of safety accidents is reduced.
In an alternative embodiment, the target articulated arm may be an articulated arm located at and connected to a distal end of the revolute joint; for example, the target articulated arm may be an articulated arm to which the distal end of any of the revolute joints is connected.
In an alternative embodiment, the first sensing device comprises an absolute position encoder;
at least one absolute position encoder is arranged on any rotating joint between the target joint arm and the fixed end, and any absolute position encoder is used for acquiring the absolute state parameters of the rotating joint corresponding to the absolute position encoder.
In an alternative embodiment, the absolute position encoder comprises at least one of an absolute optical encoder, an absolute magnetic encoder, and an absolute rotary transformer encoder.
In an alternative embodiment, the second sensing device comprises at least:
the first sensing unit is arranged on the base and used for acquiring the first absolute attitude information; and
the second sensing unit is arranged on the target joint arm and used for acquiring the second absolute attitude information;
wherein the first sensing unit and the second sensing unit each comprise a magnetic field sensor and a level sensor working in cooperation.
In an optional embodiment, the first sensing device includes an absolute position encoder, and at least one absolute position encoder is disposed on any one of the rotary joints, and is configured to obtain an absolute state parameter of each of the rotary joints;
the joint arm connected with the far end of each rotary joint is provided with the second sensing unit so as to obtain second absolute attitude information of each rotary joint; and
the processing device obtains the first attitude information and second attitude information of the joint arm connected to the distal end of each revolute joint, and further detects the operating state of each absolute position encoder.
In an optional embodiment, the working state comprises an abnormal working state and a normal working state; the processing device may include:
an operation unit, configured to obtain the first attitude information according to the absolute state parameter, obtain the second attitude information according to the first absolute attitude information and the second absolute attitude information, and calculate a difference between the first attitude information and the second attitude information;
a storage unit storing a preset threshold; and
the judging unit is used for judging whether the difference value is larger than the preset threshold value or not;
when the difference is larger than the preset threshold, the judging unit judges that the first sensing equipment is in the abnormal working state.
In an alternative embodiment, the arithmetic unit may calculate the first posture information based on a mechanical arm kinematics model.
In an alternative embodiment, the above apparatus may further include:
the alarm device is connected with the judging unit;
the judging unit outputs the information of the abnormal working state to the alarm device after judging that the first sensing device is in the abnormal working state so as to trigger the alarm device to send out an alarm message.
In an optional embodiment, the storage unit is further configured to store at least one of the first absolute posture information, the second absolute posture information, the first posture information, the second posture information, the difference value, and the operating state.
In an alternative embodiment, the present application further provides a method of detecting an operational status of a sensing device on a robotic arm, the robotic arm having opposing free and fixed ends, the fixed end being coupled to a base, the free end being configured to couple to a manipulator instrument, the robotic arm comprising a plurality of joints and an articulated arm coupled by joints, the joints comprising revolute joints; the method comprises the following steps:
acquiring absolute state parameters of each rotating joint between a target joint arm and the fixed end, wherein the absolute state parameters are acquired by first sensing equipment;
acquiring first attitude information according to the absolute state parameter;
respectively acquiring first absolute attitude information and second absolute attitude information, wherein the first absolute attitude information is the absolute attitude information of the base, and the second absolute attitude information is the absolute attitude information of the target articulated arm;
acquiring second attitude information according to the first absolute attitude information and the second absolute attitude information, wherein the first attitude information and the second attitude information are both used for representing the attitude relationship of the target articulated arm relative to the base; and
and judging the working state of the first sensing equipment according to the first posture information and the second posture information.
In the embodiment of the method for detecting the working state of the sensing equipment on the mechanical arm, for the first sensing equipment used for acquiring the absolute state parameters of the rotating joint between the target joint arm and the base, the first posture information is acquired based on the absolute state parameters acquired by the first sensing equipment, meanwhile, the second posture information is acquired based on the absolute posture information of the base and the absolute posture information of the target joint arm, because the first posture information and the second posture information can be both used for the relative posture relation between the target joint arm and the base, whether the absolute state parameters acquired by the first sensing equipment are accurate is judged based on the first posture information and the second posture information, whether the first sensing equipment is in an abnormal working state can be judged when the machine is started, whether the detection result is wrong, and further, the situation that the sensing equipment is detected inaccurately in the working process can be effectively avoided, even wrong state parameters, so that the tail end of the mechanical arm can move according to an expected track, the operation instrument arranged at the tail end of the mechanical arm cannot collide or poke a non-target area, the safety of the medical robot is improved, and the probability of safety accidents is reduced.
In an alternative embodiment, the target articulated arm may be an articulated arm to which the distal end of any of the revolute joints is connected.
In an optional embodiment, the step of obtaining the first posture information according to the absolute state parameter may include;
and calculating the first attitude information according to the absolute state parameters based on a mechanical arm kinematics model.
In an optional embodiment, the working state comprises a normal working state and an abnormal working state; the step of determining the working state of the first sensing device according to the first posture information and the second posture information may include:
calculating a difference between the first pose information and the second pose information;
judging whether the difference value is larger than a preset threshold value or not;
and if the difference value is larger than a preset threshold value, judging that the first sensing equipment is in the abnormal working state.
In an optional embodiment, the method further comprises:
when the difference value is judged to be larger than a preset threshold value, sending an alarm message;
wherein the alarm message may include at least one of a sound signal, a light signal, a vibration signal, and an image signal.
In an alternative embodiment, the present application further provides a robot arm, which may include:
the mechanical arm body is provided with a free end and a fixed end, the fixed end is used for being connected to the base, and the free end is used for being connected with an operating instrument; the mechanical arm body comprises a plurality of joints and a joint arm connected through the joints, and the joints comprise rotary joints;
the first sensing equipment is used for acquiring absolute state parameters of each rotating joint between the target joint arm and the fixed end; and
the device is arranged on the mechanical arm body.
In an alternative embodiment, the robotic arm may be a flexible robotic arm having redundancy.
In an alternative embodiment, the present application further provides a medical robot, which may include:
a base;
an operating instrument; and
a plurality of mechanical arms arranged on the base;
the operation instrument is connected with the free end of the mechanical arm body, the base is connected with the fixed end of the mechanical arm body, and the operation instrument is a surgical instrument or a diagnostic instrument.
Drawings
FIG. 1 is a schematic diagram of an alternative embodiment of an apparatus for detecting the operating condition of a sensing device on a robotic arm;
FIG. 2 is a schematic diagram of the operation of another alternative embodiment of the apparatus for detecting the operating condition of the sensing device on the robotic arm;
FIG. 3 is a schematic flow chart illustrating a method for detecting the operating condition of sensing equipment on a robotic arm according to an alternative embodiment;
fig. 4 is a detailed flow diagram of the power-on self-test of the medical robot;
FIG. 5 is a schematic view of a medical robot in an alternative embodiment;
FIG. 6 is a schematic view of the patient end of the medical robot shown in FIG. 5;
figure 7 is a schematic view of a robotic arm at the patient end shown in figure 6;
fig. 8 is a detailed structural view of one rotational joint of the robot arm shown in fig. 7.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The embodiment of the application creatively provides a device and a method for detecting the working state of sensing equipment on a mechanical arm, the mechanical arm and a medical robot, which can judge the working state of first sensing equipment for acquiring absolute motion parameters of each rotary joint of the mechanical arm through second attitude information acquired based on absolute attitude information, namely, the first attitude information can be acquired based on the absolute motion parameters of the rotary joint acquired by the first sensing equipment, the first attitude information is compared with the second attitude information, the running state of the first sensing equipment is judged according to the comparison result, and then whether the sensing equipment arranged on the mechanical arm of the medical robot is in an abnormal working state can be found when the medical robot is started, so that the sensing equipment can be effectively prevented from acquiring wrong absolute rotation parameters in time, further ensuring that the distal end of the mechanical arm moves according to the expected posture; aiming at a medical robot, particularly a laparoscopic surgery robot and an orthopedic robot which can carry out an interventional surgery, the operating instrument arranged at the tail end of the mechanical arm can not collide or poke a non-target area, so that the safety of the medical robot is improved, and the probability of safety accidents is reduced.
Fig. 1 is a schematic diagram illustrating the operation of an apparatus for detecting the operation of a sensing device on a robot arm according to an alternative embodiment. As shown in fig. 1, an apparatus for detecting the operating state of a sensing device on a robot arm, which may include a first sensing device 1, may include a processing device 2 and a second sensing device 3, and the processing device 2 may be connected to the first sensing device 1 and the second sensing device 3, respectively. The mechanical arm may have a free end (i.e., a distal end) and a fixed end (i.e., a proximal end), the fixed end may be connected to the base to fix and support the mechanical arm for movement in multiple directions, and the free end may be connected to various operating instruments for disease treatment and diagnosis. Meanwhile, at least one (such as one, two or four) of the above-mentioned mechanical arms may be disposed on one base, and each mechanical arm may include the above-mentioned first sensing device 1, a plurality of joints and a plurality of joint arms, and the above-mentioned joints and joint arms are connected to form a mechanical configuration of the mechanical arm; wherein, the joints can comprise rotary joints. The first sensing device can be used for acquiring absolute state parameters of each rotating joint between the target joint arm and the fixed end. In an embodiment of the invention, the fixing end is movably connected or fixedly connected to the base.
In an alternative embodiment, as shown in fig. 1, the first sensing device 1 may be configured to acquire absolute state parameters of each rotating joint located between the target joint arm and the fixed end on the mechanical arm, and the processing device 2 may be configured to receive the absolute state parameters of each rotating joint and obtain the first posture information according to the received absolute state parameters of each rotating joint. The second sensing device 3 may be configured to acquire first absolute attitude information and second absolute attitude information, and the processing device 2 may be further configured to receive the first absolute attitude information and the second absolute attitude information, and may acquire second attitude information according to the first absolute attitude information and the second absolute attitude information; the first absolute attitude information is absolute attitude information of a base, the second absolute attitude information is absolute attitude information of a target joint arm of the mechanical arm, and both the first attitude information and the second attitude information can be used for representing the attitude relationship of the target joint arm relative to the base. Wherein, the processing device 2 is further configured to determine the working state of the first sensing device 1 according to the first posture information and the second posture information.
It should be noted that in the embodiments of the present application, the "absolute state parameter" may be used to characterize the current amount of change in the motion of each component of the robot arm (e.g., the joint, the target joint arm, etc.) relative to a fixed reference point (e.g., an initialization point). For example, the "absolute state parameter" of the rotary joint is an absolute rotation angle of the rotary joint, and refers to a rotation angle of the rotary joint with respect to a position at which the robot arm is initialized. In addition, "absolute pose" may be used to characterize the pose of the target articulated arm and base relative to the geodetic coordinate system.
In the embodiment of the apparatus for detecting the working state of the sensing device on the mechanical arm, the second sensing device is used to obtain the second posture information, and the working state of the first sensing device used for obtaining the first posture information can be determined based on the second posture information, so that whether the first sensing device is in an abnormal working state or not can be effectively and timely obtained when the robot is started, thereby avoiding that the first sensing device detects wrong absolute state parameters in the working process, enabling the tail end of the mechanical arm to move according to an expected posture, enabling the operation instrument arranged at the tail end of the mechanical arm not to collide or stamp a non-target area, and effectively reducing the occurrence probability of safety accidents of the medical robot.
In the embodiment of the present invention, the "target joint arm" is not particularly limited, and may be set according to actual needs, and may be a joint arm connected to a distal end of a revolute joint closest to the base, a joint arm connected to a distal end of a revolute joint farthest from the base, or a joint arm connected to a distal end of any revolute joint between a revolute joint closest to the base and a revolute joint farthest from the base may be used as the target joint arm. For any joint, the joint arm at the distal end of the joint and connected to the joint may be generally used as the target joint arm.
Fig. 2 is a schematic diagram of the working principle of the device for detecting the working state of the sensing equipment on the mechanical arm in another alternative embodiment. In an alternative embodiment, as shown in fig. 1-2, the robot arm may include a plurality of joints and a joint arm, and the joints may include at least one rotational joint. In some alternative embodiments, the joints may also include a mobile joint. The first sensing device 1 may comprise an absolute position encoder 11, and the absolute position encoder 11 may be in communication with the processing device 2, and at least one absolute position encoder 11 may be disposed on all the revolute joints located between the target articulated arm and the fixed end, so as to acquire absolute state parameters of each revolute joint. In an alternative embodiment, as shown in fig. 1-2, the absolute position encoder 11 may be at least one of an absolute optical encoder, an absolute magnetic encoder, an absolute rotary transformer encoder, and the like.
As shown in fig. 1-2, in an alternative embodiment, the operating state of the first sensing device 1 may include an abnormal operating state and a normal operating state, the processing device 2 may include an operation unit 21, a storage unit 23, a judgment unit 24, and the like, the judgment unit 24 may be connected to the operation unit 21 and the storage unit 23, respectively, the operation unit 21 may be further connected to the absolute position encoder 11 and the second sensing device 3, respectively, and configured to receive and obtain the first posture information according to the rotation angle of each joint arm, and may be configured to obtain the second posture information according to the first absolute posture information and the second absolute posture information collected by the second sensing device 3, and a preset threshold may be stored in the storage unit 23; the determining unit 24 is configured to calculate a difference between the first posture information and the second posture information, retrieve a threshold range preset in the storage unit 23, and determine whether the difference is greater than the preset threshold. If the difference between the first posture information and the second posture information is greater than the preset threshold, the determining unit 24 may determine that the first sensing device is in an abnormal operating state, and may output data such as an abnormal operating state report based on the above-mentioned various information; otherwise, the determining unit 24 determines that the first sensing device is in a normal working state, and may output data information related to the normal working state, or may not perform any operation. The preset threshold may be set according to a specific mechanical arm configuration, accuracy of the sensing device, and a surgical requirement, which is not specifically limited in the embodiment of the present invention.
In an alternative embodiment, as shown in fig. 1-2, the arithmetic unit 21 may calculate the first attitude information according to the absolute state parameters of each of the rotational joints based on a mechanical arm kinematics model. For example, the arithmetic unit 21 described above may also obtain the first posture information by the D-H method based on the absolute state parameters of the respective rotational joints. In this embodiment, the mechanical arm may be a structure formed by sequentially connecting a rotating joint and a joint arm, and the first posture information may be obtained according to the absolute state parameter acquired by the first sensing device 1. In other embodiments, the robot arm may further include a mobile joint, but since the absolute state parameter (i.e., absolute displacement) of the mobile joint only affects the position of the target joint arm, the posture of the target joint arm obtained according to the robot arm kinematic model using the absolute state parameter of each rotational joint may still be used.
As shown in fig. 1-2, in an alternative embodiment, the second sensing device 3 may include a first sensing unit 31 and a second sensing unit 32, and the first sensing unit 31 and the second sensing unit 32 may be respectively connected to the arithmetic unit 21; the first sensing unit 31 may be fixedly disposed on the base for acquiring the above-mentioned first absolute attitude information, and the second sensing unit 32 may be fixedly disposed on the target articulated arm of the robot arm for acquiring the second absolute attitude information. As an alternative embodiment, the first sensing unit 31 and the second sensing unit 32 may each include a magnetic field sensor and a level sensor working together to collect and acquire corresponding absolute attitude information. It will be appreciated by those skilled in the art that the second sensing device 3 may also comprise further sensing units for detecting whether the first sensing device 1 located between the target articulated arm to the fixed end is in an abnormal state. For example, if each absolute position encoder 11 of the robot arm in the above-described embodiment is detected to be in an abnormal state, a sensing unit may be provided on the joint arm at the distal end of each rotational joint to obtain the second posture information of each joint arm, and the detection may be performed sequentially from the absolute position encoder 11 closest to the fixed end to the absolute position encoder 11 at the farthest end.
As shown in fig. 1 to 2, in an optional embodiment, the apparatus for monitoring an operation state of a sensing device on a robot arm may further include an alarm device 4, where the alarm device 4 may be connected to the determining unit 24, that is, after the determining unit 24 determines that the working state of the first sensing device 1 is an abnormal working state, the determining unit may output information of the abnormal working state to the alarm device 4, so as to trigger the alarm device 4 to send corresponding warning information. For example, when the determining unit 24 determines that the first sensing device 1 is in the abnormal operation state, the alarm device 4 may be triggered to emit an alarm message such as a sound signal, a light signal, a vibration signal and/or an image signal, so as to prompt an alarm. In addition, when the judging unit 24 judges that the operating state of the first sensing apparatus 1 is the normal operating state, the normal state indicating information may also be issued by the alarm apparatus 4. For example, when the first device 1 is judged to be abnormal, the alarm device 4 is triggered to emit red light, and when the first device 1 is normal, the alarm device 4 is triggered to emit green light, so that the current working state of the first device 1 is displayed in real time.
As shown in fig. 1-2, in an optional embodiment, the apparatus for monitoring the operation state of the sensing device on the robot arm may further include a memory, where the memory may be the storage unit 23 described above, or may be a storage medium separately provided separately, and the memory may be connected to each of the units and the devices described above, respectively, for storing relevant information and data, such as the first absolute posture information, the second absolute posture information, the first posture information, the second posture information, the report of the abnormal operation state, the difference value between the first posture information and the second posture information, and the operation state of the first sensing device, so as to facilitate subsequent maintenance or calling and viewing of other devices.
FIG. 3 is a flow chart illustrating a method for detecting an operating condition of a sensing device on a robotic arm according to an alternative embodiment. As shown in fig. 3, an embodiment of the present application further provides a method for detecting an operating state of a sensing device on a robot arm, where the robot arm may have a free end for connecting to a manipulator and a fixed end connected to a base, and the robot arm may include a plurality of joints and a joint arm sequentially connected through the plurality of joints, and the plurality of joints may include a revolute joint, and the joint arm at a distal end of any revolute joint may be used as a target joint arm. The method may be combined with any one of the above embodiments of the apparatus for detecting the working state of the sensing device on the mechanical arm, and for any target joint arm, the method may specifically include the following steps:
and step S10, acquiring absolute state parameters of each rotating joint between the target joint arm and the fixed end, acquired by the first sensing equipment.
In step S20, first posture information is acquired based on the absolute state parameters of the respective revolute joints acquired in step S10.
Step S30, respectively collecting first absolute attitude information and second absolute attitude information; the first absolute attitude information is absolute attitude information of the base, and the second absolute attitude information is absolute attitude information of the target articulated arm.
Step S40, obtaining second attitude information according to the first absolute attitude information and the second absolute attitude information collected in step S30; the first posture information and the second posture information can be used for representing the posture relation of the target joint arm on the mechanical arm relative to the base.
Step S50, determining the operating status of the first sensing device according to the first posture information obtained in step S20 and the second posture information obtained in step S40; the working state of the first sensing device can comprise a normal working state and an abnormal working state.
For example, the difference between the first posture information and the second posture information may be calculated first, and then it is determined whether the difference is greater than a preset threshold, and when the difference is greater than the preset threshold, it may be determined that the first sensing device is in an abnormal operating state; otherwise, no operation is performed, and the related information that the first sensing equipment is in the normal working state can be output.
In an alternative embodiment, when the first sensing device is determined to be in an abnormal working state, the alarm device may be triggered to emit an alarm message such as a sound signal, a light signal, a vibration signal and/or an image signal.
It should be noted that the sequence between the steps S10-S20 and the steps S30-S40 may be reversed or performed simultaneously, and the specific arrangement may be specifically arranged according to the actual situation.
In the embodiment of the method for monitoring the operation state of the sensing equipment on the mechanical arm, the working state of the first sensing equipment for acquiring the first attitude information is judged by utilizing the second attitude information acquired by the absolute attitude information, so that whether the first sensing equipment acquires wrong absolute state parameters can be found when the mechanical arm is started, the mechanical arm is effectively prevented from being operated by mistake due to the wrong absolute state parameters, and meanwhile, the working state of the first sensing equipment is detected.
As shown in fig. 3, in an alternative embodiment, in step S20, the first posture information may be calculated according to the rotation angle of each joint arm and the D-H parameter of the robot arm based on a robot arm kinematic model.
In an alternative embodiment, the first sensing device may comprise an absolute position encoder, and the absolute position encoder 11 is communicatively coupled to the processing device 2. The absolute position encoder is at least one of an absolute optical encoder, an absolute magnetic encoder, an absolute rotary transformer encoder, and the like.
In an alternative embodiment, the present application further provides a robot arm (see the graphical structure shown in fig. 7), which may include a robot arm body, a first sensing device, and the apparatus for detecting the working state of the sensing device on the robot arm set forth in any of the above embodiments; the mechanical arm body can be provided with a free end and a fixed end; meanwhile, the fixed end of the mechanical arm body can be used for being connected to the base, and the free end of the mechanical arm body can be used for being connected with an operating instrument. The robot arm body may include a plurality of joints and a plurality of joint arms, that is, the joints and the joint arms are connected to form a mechanical configuration of the robot arm, and the joints may include a rotating joint, and the first sensing device may be configured to acquire an absolute state parameter of each rotating joint located between the target joint arm and the fixed end of the robot arm. In an alternative embodiment, the robot arm may be a flexible robot arm with redundancy, i.e., a flexible robot arm with a number of joints greater than the required number of degrees of freedom.
In another alternative embodiment, the present application further provides a medical robot (see the structure shown in fig. 5 and 6), which may specifically include a base, a handling apparatus, and the mechanical arm described in the above embodiments, wherein a fixed end of the mechanical arm may be used to connect to the base, and a free end of the mechanical arm may be used to connect to the above handling apparatus, so as to control the handling apparatus to perform operations such as diagnosis or treatment. Wherein, the operation instrument can be at least one of a surgical instrument and a diagnostic instrument; for example, for any one of the robot arms, the operation instrument connected to the free end of the robot arm may be a surgical instrument or a diagnostic instrument. It should be noted that, in the embodiment of the present invention, there is no particular limitation on the surgical instrument, the diagnostic instrument, and the like, for example, the surgical instrument may be a scalpel, an electric hook, a forceps, and the like, and the diagnostic instrument may be a laparoscope, a thoracoscope, and the like.
Fig. 4 is a schematic diagram of a detailed process of power-on self-test of the medical robot. As shown in fig. 4, the medical robot sets a threshold value K at the time of shipment. After the medical robot is powered on and started, the medical robot can read the threshold K and then enters self-checking. The self-checking process may include detecting the operating state of the sensing device on the robotic arm. After reading the value of the absolute position encoder, calculating the posture information (namely first posture information) of the target joint arm on the mechanical arm relative to the base based on the mechanical arm kinematics model; meanwhile, after the values of the two groups of attitude sensors are read, the attitude information (namely second attitude information) of the target articulated arm relative to the base is calculated by adopting the difference; wherein, the two attitude information (i.e. the first attitude information and the second attitude information) obtained by the above calculation can be both used for representing the attitude information of the target articulated arm relative to the base. And finally, after calculating the difference value between the two attitude information, judging whether the difference value is larger than the set threshold value K. For example, if the difference is greater than the set threshold K, it may be determined that the mechanical arm is in an abnormal working state at present, and the medical robot enters a failure state; otherwise, the mechanical arm can be judged to be in a normal state at present, and the medical robot can enter a normal working mode or continue to complete detection of other equipment.
The following describes in detail an apparatus and a method for detecting a sensing device on a robot arm, using a joint arm at a distal end (i.e., a free end) of the robot arm as a target joint arm, by way of specific examples:
fig. 5 is a schematic view of a medical robot in an alternative embodiment, fig. 6 is a schematic view of a patient end of the medical robot shown in fig. 5, fig. 7 is a schematic view of a robotic arm at the patient end shown in fig. 6, and fig. 8 is a detailed schematic view of a revolute joint of the robotic arm shown in fig. 7. As shown in fig. 5 to 8, the medical robot is a remote operation robot, and includes a doctor end 10 and a patient end 20, that is, a doctor can operate the patient end 20 through the doctor end 10 to perform operations such as treatment or diagnosis on a patient (see fig. 5).
Referring to fig. 6-7, patient end 20 may include a base 201, a plurality of robotic arms 202 disposed on base 201, and a manipulator coupled to robotic arms 202. For any one of the robot arms 202, one end (i.e., a fixed end) of the robot arm 202 is fixed to the base 201, and the other end (i.e., a free end or a distal end) is connected to the above-described operating instrument. The operation device can be a diagnosis device (such as laparoscope or thoracoscope) 203 or a surgical device (such as electric hook, surgical forceps) 204 for treating or diagnosing a patient 206 carried on a patient bed 205.
Meanwhile, as shown in fig. 6 to 7, any of the robot arms 202 may include a robot arm body including a plurality of rotating joints 304 and a plurality of joint arms 305, and the adjacent rotating joints 304 are connected by the joint arms 305 to form a chain-type serial mechanical configuration, and an absolute position sensing device 404. For example, as shown in fig. 7, the base 201 may include a base 301 and a post 302 fixed to the base 301, one end (i.e., a fixed end) of the mechanical arm body is fixed to the post 302 by a joint arm 305, and the other end (i.e., a free end) is connected to the surgical instrument 204, so as to perform a therapeutic or diagnostic operation such as an interventional surgery.
In one embodiment, as shown in fig. 8, any of the robotic arms 202 described above may further include a drive device 401, a deceleration device 402, and an absolute position sensing device 404. The speed reducer 402 may include a first wheel 405 sleeved on the output shaft of the driving device 401, a second wheel 406 sleeved on the rotation shaft of the rotating joint 304, and a transmission device 403, and the absolute position sensor 404 is also sleeved on the rotation shaft of the rotating joint 304. The driving device 401 may drive the rotating joint 304 to rotate through the speed reducer 402, and the absolute position sensor 404 may acquire the absolute state parameter of the rotating joint 30 in real time. The absolute position sensor 404 may be an absolute optical encoder, an absolute magnetic encoder, an absolute rotary transformer, a rotary potentiometer, or the like.
As shown in fig. 5 to 8, when the surgical robot performs a surgery on a patient, especially an interventional surgery, due to a narrow operation space, a mechanical arm of the surgical robot is required to have high accuracy and operation stability, and in an actual operation process, terminal attitude information is generally acquired through absolute state information acquired by sensing devices (such as an absolute position sensing device 404) arranged on each joint of the mechanical arm, so as to perform accurate operation and control; however, the above-mentioned sensing device has many unstable factors, for example, when the surgical robot is powered off and then powered on again, some mechanical arms are operated by mistake, absolute attitude state parameters of joints are changed, and the changes are not detected by the absolute position encoder, so that the absolute position encoder detects wrong absolute state parameters after the surgical robot is powered on, and accurate attitude information of the mechanical arms cannot be obtained, so that the distal end of the mechanical arm cannot move according to an expected track, and an operating instrument can stamp a non-target area, thereby causing a medical accident.
As shown in fig. 7 to 8, in order to detect the sensing device on the robot arm when the robot arm is started, a set of attitude sensors 303 for acquiring absolute attitude information may be respectively disposed on the joint arm 305 and the upright 302 at the end of the robot arm 202, and each set of attitude sensors 303 may include an earth magnetic field sensor and a horizontal sensor that can cooperate with each other. Meanwhile, the surgical robot may further include a processing device, which may be a general processor in a control system of a conventional surgical robot, or a separately configured processor, as long as the processing device can obtain the posture information of the end joint arm of the mechanical arm based on the kinematic model of the mechanical arm according to the absolute state parameters acquired by the absolute position sensing device 404. Wherein, the mechanical arm kinematics model that above-mentioned processing apparatus can adopt:
wherein,
the attitude relationship (first attitude information) of the end joint arm of the current robot arm with respect to the base 301 (or the column 302), Rz(θm) The rotation operator of the mth rotary joint of the mechanical arm, m is the serial number of the rotary joint, and m is more than or equal to 1.
In an alternative embodiment, the medical robot has a threshold K pre-stored therein, and the threshold K may be set according to the specific mechanical arm configuration, the accuracy of the sensing device and the surgical requirements. If the difference is greater than the threshold K, it indicates that one of the absolute position sensing device 404 and the attitude sensor 303 is in an abnormal working state, and in practical applications, the attitude sensor 303 can obtain the attitude information of the target articulated arm of the current mechanical arm relative to the base when the robot is started up, and the absolute position sensing device 404 is likely to receive interference during power-off to cause erroneous detection data during power-on, so that the threshold K can be used to determine whether the absolute position sensing device 404 is in an abnormal working state when the robot is powered on again after power-off.
In an alternative embodiment, as shown in FIGS. 7-8, the absolute position of each revolute joint may be sensed by reading the absolute position sensor 404The posture information of the end articulated arm of the upper mechanical arm relative to the upright 302 can be calculated by adopting a D-H method. Wherein, the above-mentioned processing equipment can be obtained by adopting the formula: thetamThe current absolute state parameter of each rotational joint 304 is calculated by (cnt) (n) -cnt (zero))/resolution × 360, where θmIs the absolute state parameter (namely the absolute rotation angle) of the mth rotation joint; cnt (n) is the measured value of the absolute position sensing device 404 at the current position of the mth rotary joint, resolution is the resolution of each circle of the absolute position encoder, cnt (zero) is the measured value of the absolute position sensing device 404 when the current joint arm is initialized, m is the serial number of the rotary joint, and m is more than or equal to 1.
As shown in fig. 7 to 8, in an alternative embodiment, after reading the values of the attitude sensors 303 disposed on the upright 302 and the end joint arm of the robot, that is, the values of the earth magnetic field sensor and the level sensor in each attitude sensor 303, the processing device calculates and obtains the attitude information (i.e., the second attitude information) of the end joint arm of the robot (i.e., the target joint arm) relative to the upright 302. Specifically, the processing device receives measurements R of attitude sensors on the column 302CAnd the measured value R of the attitude sensor on the end joint arm of the mechanical armXThen, the difference is made to obtain the relative attitude information of the end of the mechanical arm relative to the upright 302
Namely, it is
Attitude information (second attitude information) of the end-articulated arm of the robot arm with respect to the base is calculated.
In an alternative embodiment, as shown in FIGS. 7-8, the above-mentioned relative attitude information can be used
(second attitude information) and the attitude relationship of the end of the current robot arm to the post 302
(first attitude information) to obtain a difference D, i.e.
And continuously determining the magnitude relationship between the difference D and the set threshold K to determine whether the absolute position sensing device 404 is in a normal operating state, that is:
when D is larger than K, the absolute position sensing device 404 can be judged to be in an abnormal working state at the moment, alarm equipment can be triggered to alarm, meanwhile, the mechanical arm can be triggered to stop working, and misoperation of the mechanical arm is avoided while an operator is reminded of the abnormal working state;
when D is not greater than K, it may be determined that absolute position sensing device 404 is in a normal operating state at this time, and no operation may be performed, or the warning light may be displayed as green to prompt the operator, and current absolute position sensing device 404 has no abnormal condition, and may also prompt to enter another state.
For example, when the absolute position sensing device 404 is determined to be in a normal working state, the surgical robot may prompt the operator through voice prompt, image prompt, or the like, and may automatically enter a working mode, or complete self-checking of other devices.
In an optional embodiment, the data collected by each device, the calculation, the judgment result, the information of the abnormal working state, and the like, may be stored in the memory correspondingly, so as to facilitate subsequent operations such as maintenance, analysis, and verification.
In the above embodiment, the earth magnetic field sensor and the level sensor may be installed on both the upright column and the end joint arm of the robot arm, the relative attitude relationship of the end joint arm of the robot arm with respect to the upright column is calculated, the absolute state parameters of each rotational joint of the robot arm are obtained by the absolute position sensor, the relative attitude relationship of the end of the robot arm with respect to the upright column is calculated again, and the processing device determines whether the absolute position sensor is in a normal operating state by comparing the relative attitude relationships calculated twice.
Since medical robots, particularly laparoscopic surgery robots and orthopedic robots for interventional surgery, have a small operation space and high operation accuracy, it is necessary to acquire state parameters of each joint of a manipulator in real time by using sensing devices such as encoders and/or potentiometers, and to control corresponding driving devices according to the acquired state parameters to drive the manipulator and the manipulator to a desired posture. Therefore, it is important that the sensing device detects the state parameters of the respective joints accurately. The device and the method for detecting the working state of the sensing equipment on the mechanical arm, the mechanical arm and the medical robot provided in the embodiments can detect the running state of the sensing equipment when the robot is started, so that the condition parameters of the mechanical arm, which are acquired due to the failure of the sensing equipment, are not accurate, even completely wrong, and the condition parameters can be effectively avoided, and the condition that the far end (namely the free end) of the mechanical arm cannot move according to an expected track to reach an expected posture due to the wrong condition parameters of the mechanical arm, so that the safety accident of the medical robot caused by the collision or the poking of an operating instrument arranged at the tail end of the mechanical arm in a non-target area is avoided.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (18)
1. The device for detecting the working state of the sensing equipment on the mechanical arm is characterized in that the mechanical arm is provided with a free end and a fixed end, the fixed end is connected to a base, and the free end is connected with an operating instrument; the mechanical arm comprises a first sensing device, a plurality of joints and a joint arm connected through the joints, the joints comprise rotating joints, and the first sensing device is used for acquiring absolute state parameters of the rotating joints between a target joint arm and the fixed end; the device comprises:
the processing equipment is used for acquiring first attitude information according to the absolute state parameter; and
the second sensing equipment is used for respectively acquiring the first absolute attitude information and the second absolute attitude information; the first absolute attitude information is absolute attitude information of the base, and the second absolute attitude information is absolute attitude information of the target articulated arm;
the processing device is further configured to obtain second attitude information according to the first absolute attitude information and the second absolute attitude information, where the first attitude information and the second attitude information are both used to represent an attitude relationship of the target articulated arm with respect to the base; and
the processing device is further configured to determine the working state of the first sensing device according to the first posture information and the second posture information;
the second sensing device includes at least:
the first sensing unit is arranged on the base and used for acquiring the first absolute attitude information; and
and the second sensing unit is arranged on the target joint arm and is used for acquiring the second absolute attitude information.
2. The device of claim 1, wherein the target articulated arm is an articulated arm to which a distal end of any of the revolute joints is connected.
3. The apparatus of claim 1, wherein the first sensing device comprises an absolute position encoder;
at least one absolute position encoder is arranged on any rotating joint between the target joint arm and the fixed end, and any absolute position encoder is used for acquiring the absolute state parameters of the rotating joint corresponding to the absolute position encoder.
4. The apparatus of claim 3, wherein the absolute position encoder comprises at least one of an absolute optical encoder, an absolute magnetic encoder, and an absolute rotary transformer encoder.
5. The apparatus of claim 1, wherein the first sensing unit and the second sensing unit each comprise a magnetic field sensor and a level sensor that work in concert.
6. The apparatus according to claim 5, wherein the first sensing device comprises an absolute position encoder, and at least one absolute position encoder is disposed on each of the rotary joints for obtaining absolute state parameters of each of the rotary joints;
the joint arm connected with the far end of each rotary joint is provided with the second sensing unit so as to obtain second absolute attitude information of each rotary joint; and
the processing device obtains the first attitude information and second attitude information of the joint arm connected to the distal end of each revolute joint, and further detects the operating state of each absolute position encoder.
7. The apparatus of claim 1, wherein the operating state comprises an abnormal operating state and a normal operating state; the processing apparatus includes:
an operation unit, configured to obtain the first attitude information according to the absolute state parameter, obtain the second attitude information according to the first absolute attitude information and the second absolute attitude information, and calculate a difference between the first attitude information and the second attitude information;
a storage unit storing a preset threshold; and
the judging unit is used for judging whether the difference value is larger than the preset threshold value or not;
when the difference is larger than the preset threshold, the judging unit judges that the first sensing equipment is in the abnormal working state.
8. The apparatus according to claim 7, wherein the arithmetic unit calculates the first posture information based on a robot arm kinematics model.
9. The apparatus of claim 7, further comprising:
the alarm device is connected with the judging unit;
after the judging unit judges that the first sensing equipment is in the abnormal working state, the judging unit outputs the information of the abnormal working state to the alarm equipment so as to trigger the alarm equipment to send out an alarm message.
10. The apparatus of claim 7, wherein the storage unit is further configured to store at least one of the first absolute pose information, the second absolute pose information, the first pose information, the second pose information, the difference value, and the operating state.
11. A method for detecting the working state of sensing equipment on a mechanical arm is characterized in that the mechanical arm is provided with a free end and a fixed end, the fixed end is connected to a base, the free end is used for connecting an operating instrument, the mechanical arm comprises a plurality of joints and a joint arm connected through the joints, and the joints comprise rotating joints; the method comprises the following steps:
acquiring absolute state parameters of each rotating joint between a target joint arm and the fixed end, wherein the absolute state parameters are acquired by first sensing equipment;
acquiring first attitude information according to the absolute state parameter;
respectively acquiring first absolute attitude information and second absolute attitude information, wherein the first absolute attitude information is the absolute attitude information of the base, and the second absolute attitude information is the absolute attitude information of the target articulated arm;
acquiring second attitude information according to the first absolute attitude information and the second absolute attitude information, wherein the first attitude information and the second attitude information are both used for representing the attitude relationship of the target articulated arm relative to the base; and
judging the working state of the first sensing equipment according to the first posture information and the second posture information;
the first absolute attitude information is collected by a first sensing unit arranged on the base; the second absolute pose information is collected by a second sensing unit disposed on the target articulated arm.
12. The method of claim 11, wherein the target articulated arm is an articulated arm to which a distal end of any revolute joint is connected.
13. The method of claim 11, wherein the step of obtaining first pose information based on the absolute state parameters comprises;
and calculating the first attitude information according to the absolute state parameters based on a mechanical arm kinematics model.
14. The method of claim 11, wherein the operating state comprises a normal operating state and an abnormal operating state; the step of determining the working state of the first sensing device according to the first posture information and the second posture information includes:
calculating a difference between the first pose information and the second pose information;
judging whether the difference value is larger than a preset threshold value or not;
and if the difference value is larger than a preset threshold value, judging that the first sensing equipment is in the abnormal working state.
15. The method of claim 14, wherein the method further comprises:
when the first sensing equipment is judged to be in the abnormal working state, sending out an alarm message;
wherein the alarm message includes at least one of a sound signal, a light signal, a vibration signal, and an image signal.
16. A robot arm, comprising:
the mechanical arm body is provided with a free end and a fixed end, the fixed end is used for being connected to the base, and the free end is used for being connected with an operating instrument; the mechanical arm body comprises a plurality of joints and a joint arm connected through the joints, and the joints comprise rotary joints;
the first sensing equipment is used for acquiring absolute state parameters of each rotating joint between the target joint arm and the fixed end; and
the device as claimed in any one of claims 1 to 10 provided on the robot arm body.
17. A robotic arm as claimed in claim 16, wherein the robotic arm is a flexible robotic arm having redundancy.
18. A medical robot, comprising:
a base;
an operating instrument; and
a plurality of robotic arms as claimed in claim 16 or 17 disposed on the base;
the operation instrument is connected with the free end of the mechanical arm body, the base is connected with the fixed end of the mechanical arm body, and the operation instrument is a surgical instrument or a diagnostic instrument.
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| CN110125985B (en) * | 2019-06-28 | 2022-05-17 | 国创移动能源创新中心(江苏)有限公司 | Method, system and device for detecting and processing abnormal starting-up of chassis mechanical arm |
| CN110587603A (en) * | 2019-09-05 | 2019-12-20 | 北京工业大学 | Pose self-induction joint module motion control system based on multi-sensor data fusion |
| JP7443740B2 (en) * | 2019-12-12 | 2024-03-06 | セイコーエプソン株式会社 | Robot system and robot system control method |
| WO2021249379A1 (en) * | 2020-06-10 | 2021-12-16 | 苏州艾利特机器人有限公司 | Industrial robot having improved safety control performance, and control method therefor |
| CN111761576A (en) * | 2020-06-15 | 2020-10-13 | 上海高仙自动化科技发展有限公司 | Health monitoring method and system, intelligent robot and readable storage medium |
| CN111798518B (en) * | 2020-07-17 | 2025-07-15 | 腾讯科技（深圳）有限公司 | Robotic arm posture detection method, device and equipment and computer storage medium |
| CN112043396B (en) * | 2020-10-08 | 2022-03-04 | 深圳市精锋医疗科技股份有限公司 | Surgical robot, graphical control device thereof and graphical display method |
| CN115502970A (en) * | 2022-09-02 | 2022-12-23 | 北京极智嘉科技股份有限公司 | Position detection components, motion control systems and robots |
| CN115990882B (en) * | 2023-01-17 | 2025-10-31 | 上海捷勃特机器人有限公司 | Safety control method and system for robot |
| CN116509449B (en) * | 2023-07-03 | 2023-12-01 | 深圳华大智造云影医疗科技有限公司 | Pose information determining method and device of mechanical arm and electronic equipment |
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