CN116172724B - Surgical robot touch force feedback system based on bioimpedance - Google Patents
Surgical robot touch force feedback system based on bioimpedanceInfo
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- CN116172724B CN116172724B CN202310246582.0A CN202310246582A CN116172724B CN 116172724 B CN116172724 B CN 116172724B CN 202310246582 A CN202310246582 A CN 202310246582A CN 116172724 B CN116172724 B CN 116172724B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Leader-follower robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种基于生物阻抗的手术机器人触觉力反馈系统，包括信号处理模块、主端控制器、带张力传感器和双电极的末端执行器以及生物电阻抗双电极等效电路。双电极分别采用皮下电极和绝缘干电极，以贴片的方式集成到器械末端，其外层用一层薄的柔性玻璃包裹；皮下电极的输入端和绝缘干电极的输出端连接到信号处理模块。张力传感器选用穿轴式张力传感器，通过四根钢丝分别与主端控制器和器械末端相连，钢丝用石墨烯包裹屏蔽电磁干扰。本发明使操控主端控制器的医生在手术时获得器械末端的位置信息和力信息，提高力触觉反馈效果。
This invention discloses a bioimpedance-based tactile force feedback system for surgical robots, comprising a signal processing module, a master controller, an end effector with a tension sensor and dual electrodes, and a bioimpedance dual-electrode equivalent circuit. The dual electrodes are a subcutaneous electrode and an insulated dry electrode, integrated into the instrument end effector via a patch, and encased in a thin layer of flexible glass. The input end of the subcutaneous electrode and the output end of the insulated dry electrode are connected to the signal processing module. The tension sensor is a through-shaft tension sensor, connected to the master controller and the instrument end effector via four steel wires, which are shielded from electromagnetic interference by graphene. This invention enables the surgeon operating the master controller to obtain position and force information of the instrument end effector during surgery, improving the tactile force feedback effect.
Description
Technical Field
The invention belongs to the field of surgical robots in medical instruments, and relates to a surgical robot tactile force feedback system based on biological impedance.
Background
The surgical robot is a medical instrument product integrating multiple subjects such as medicine, machine science, biomechanics, computer science and the like, can provide support for a doctor to perform surgical operation in vision, hearing and touch sense by means of minimally invasive surgery and related bottom technology development, and is used for realizing accurate control of surgical instruments in the field of minimally invasive surgery. Compared with open surgery and traditional minimally invasive surgery, the robot assisted surgery has the advantages that ① reduces surgical wounds, fast postoperative recovery and fewer postoperative complications, the ② flexible mechanical arm is compatible with highly complex surgery, the accuracy of ③ surgery and the stability of surgical results, ④ reduces fatigue of surgeons and shortens learning curves, ⑤ reduces radiation exposure and the like.
The application of the surgical robot at home and abroad has shown technical advancement, but at the same time, the surgical robot has some limitations, including the lack of a tactile force feedback system, so that an operator can only compensate the tactile information through the feedback of visual information, which increases the uncertainty and risk of the surgery, thereby limiting the further development and application of the surgical robot. Currently, most surgical robots used in clinic use visual feedback systems, and a surgeon cannot palpate a patient when controlling a mechanical arm to perform a surgery. The lack of haptic force feedback has therefore become a major challenge in limiting the development of surgical robots.
The tactile force feedback system of the surgical robot accurately sends data information such as movement, position and gesture of the operation tail end to the core processor in real time, and feeds the data back to a doctor through the display system and the control system, so that the doctor obtains real surgical operation experience, and safe and reliable operation of the manipulator is ensured. The tactile force feedback not only can provide proper operation force for the mechanical arm, but also can enable a doctor to feel different characteristics of the soft tissue such as texture, morphology and the like, and further can distinguish pathological tissues. The surgical robot with the tactile force feedback system can strengthen the presence of a surgeon during surgery and improve the safety and precision of the surgery.
The tactile sensation of the human body is a complex bioelectric signal reaction process, and to simulate the tactile response of the human body, the tactile sensor of the mechanical arm must also be capable of performing digital simulation processing on the texture, smoothness, morphology and the like of the soft tissue. At present, leven and the like successfully acquire tactile information of tissues by using endoscopic ultrasound in the operation treatment of liver cancer under the assistance of a robot and can reproduce the information in a two-dimensional or three-dimensional image form, but the technology can be widely applied to other operations to be further researched, and the tactile information reproduced by the image is still a form of visual compensation and does not accord with the physiological habit of human body tactile perception.
Disclosure of Invention
In order to enable a mechanical arm of a surgical robot to acquire tactile force feedback, strengthen the surgical presence of a surgeon, and improve the safety and precision of the surgical robot operation, the invention provides a surgical robot tactile force feedback system based on biological impedance.
According to the surgical robot tactile force feedback system based on the bioimpedance, signals with different frequencies can be applied to the bioelectrical detection electrode integrated at the tail end of the instrument, the signal processing module can calculate the impedance after obtaining the feedback of the electric signals, the position of the surgical instrument between tissues can be judged, the position information is fed back to a doctor, meanwhile, the force information of the tail end of the instrument is obtained through the tension sensor of the mechanical shaft close to the tail end of the instrument and fed back to the doctor, the doctor can synchronously obtain the position information of the surgical instrument and the force information between tissues, and the surgical robot tactile force feedback system is beneficial to more accurately and safely completing surgery.
The invention discloses a tactile force feedback system of a surgical robot based on biological impedance, which comprises a signal processing module, a sensor 3, a main end controller, a mechanical shaft and a mechanical arm instrument end, wherein the instrument end comprises a double-electrode structure, a first electrode 1 adopts a subcutaneous electrode, an electrode with the smallest potential difference possible can be formed to be connected with an electrolyte solution, a second electrode 2 adopts an insulated dry electrode, the input end of the first electrode 1 is connected with the signal processing module, the output end of the second electrode 2 is connected with the signal processing module, the output of the signal processing module is connected with the main end controller, the sensor 3 and the instrument end are connected with each other through four steel wires, the instrument end is also connected with soft tissues, the main end controller controls the movement of the instrument end through the steel wires, the sensor 3 measures the tension generated by the steel wires due to movement tremble, and feeds the tension back to the main end controller, so that an operator can obtain the force information of the surgical instrument in the soft tissues, and the main end controller can effectively combine the obtained position information and the force information.
Furthermore, the first electrode 1 and the second electrode 2 are integrated at the tail end of the instrument in a patch type, and are arranged in 3 layers, wherein the layer 3 is a patch basal layer, the layer 3 is arranged inside the tail end of the instrument or at the bottoms of the electrode 1 and the electrode 2, the layer 2 is an electrode layer, and the uppermost layer 1 is an insulating shielding layer.
Further, the sensor 3 is a through-shaft tension sensor for detecting tension generated by movement of the steel wire.
Further, the insulating shielding layer is made of flexible glass, and is high in hardness and air tightness, so that the electrodes are prevented from being wetted and electric leakage.
Further, the outermost layer of the steel wire is wrapped by graphene, so that electromagnetic interference is prevented.
Compared with the prior art and the method, the invention has the following advantages:
1. the invention relates to a surgical robot tactile force feedback system based on biological impedance, which maps the force application condition of an end effector of a mechanical arm between tissues to a main end controller, and reduces the in-situ feeling of a doctor during operation, thereby reducing the surgical risk and improving the surgical accuracy.
2. The invention relates to a surgical robot tactile force feedback system based on biological impedance, which is characterized in that a force sensor is integrated at the position of a mechanical shaft close to the tail end of an instrument, and a current loop is formed in a mode that a double electrode is added into an end effector of a mechanical arm, so that the integration degree is improved.
3. The invention relates to a surgical robot tactile force feedback system based on biological impedance, which directly acquires force information of an end effector by receiving tremors of the tail end of an instrument through a tension sensor, so that the transformation cost is saved.
Drawings
Fig. 1 is a schematic diagram of a surgical robot tactile force feedback system based on bioimpedance.
Fig. 2 bioelectrical impedance double-electrode equivalent circuit model.
Fig. 3 is a schematic diagram of an electrode integration scheme.
Wherein, the first electrode 1 is a stimulating electrode, the second electrode 2 is a detecting electrode, and the sensor 3 is a through shaft type tension sensor. In the left graph of FIG. 2, the resistance of Re-extracellular fluid, the parallel capacitance of Ce-extracellular fluid, the resistance of Rm-cell membrane, the parallel capacitance of Cm-cell membrane, the resistance of Ri-intracellular fluid, the parallel capacitance of Ci-intracellular fluid, the equivalent internal fluid resistance of Ri-biological tissue, the equivalent external fluid resistance of Re-biological tissue, and the equivalent membrane capacitance of Cm-biological tissue are shown in the right graph of FIG. 2. Layer 1-insulating shielding layer, layer 2-electrode layer, and layer 3-patch substrate layer.
Detailed Description
According to the requirements of biomechanics of elastic modulus, stress, strength, biocompatibility and the like of the mechanical arm of the surgical robot in clinic, the end effector of the mechanical arm is modified by combining bioelectrical impedance measurement characteristics, and the mechanical arm with the tension sensor and the double-electrode structure is designed and manufactured.
Firstly, two bioelectrical detection electrodes, namely a first electrode 1 and a second electrode 2, are integrated at the tail end of an instrument, a signal with a certain frequency is applied to the first electrode 1 through a signal processing module of a surgical robot system, a complete bioelectrical impedance current loop is formed after the tail end of the instrument is contacted with soft tissues, at the moment, the second electrode 2 receives an electric signal transmitted by the soft tissues because of being connected into the bioelectrical impedance current loop, the electric signal is fed back to the signal processing module through the output end of the second electrode 2, the bioelectrical impedance is calculated by the signal processing module according to a bioelectrical impedance double-electrode equivalent circuit model, so that the depth of the surgical instrument in the soft tissues is obtained, and the position information (the depth of the surgical instrument in the soft tissues) is fed back to a main end controller of the surgical robot system by the signal processing module. Secondly, a sensor 3 is arranged at the position, close to the tail end of the instrument, of the mechanical shaft, the sensor 3 is respectively connected with a main end controller of the surgical robot system and the tail end of the instrument through four steel wires, the steel wires are used for controlling the movement of the tail end of the instrument and transmitting force information, the sensor 3 measures the tension of the steel wires through tremble generated when the instrument moves, and meanwhile, the force information is fed back to the main end controller through the four steel wires between the main end controller and the sensor 3. The main end controller of the surgical robot system acquires the position information of the surgical instrument in the soft tissue from the signal processing module and acquires the force information of the surgical instrument when the surgical instrument performs operations such as cutting and suturing on the soft tissue from the tension sensor, and the synchronous acquisition of the position information and the force information achieves the purpose of receiving tactile force feedback, so that the control of the operation force by a surgeon is facilitated, and the safety of the operation is improved.
The first electrode 1 is a subcutaneous electrode, and can form an electrode with the smallest potential difference as possible to be connected with electrolyte solution.
The second electrode 2 is an insulated dry electrode, and has the advantages of stability and interference resistance.
The input end of the first electrode 1 and the output end of the second electrode 2 are both connected to a signal processing module.
The sensor 3 is a threading type tension sensor and is used for detecting the force pulling the steel wire.
The outermost layer of the steel wire is wrapped by graphene, so that electromagnetic interference is prevented.
For the tactile force detection of the surgical robot manipulator end effector, the detection elements are generally mounted at four positions of the joint driving module, the extra-abdominal mechanical shaft, the intra-abdominal mechanical shaft, and the instrument end of the surgical robot, depending on the structure of the end effector. According to the invention, a tail end tactile force detection method of a rear sensor is adopted, a first electrode 1 and a second electrode 2 are integrated at the tail end of an instrument, a sensor 3 is arranged at a position, close to the tail end of the instrument, of a mechanical shaft, and the sensor 3 and the tail end of the instrument are connected through four steel wires.
As shown in figure 1, the signal processing module applies a low-frequency signal (lower than 1 MHz) to the electrode 1, when the tail end of the instrument contacts with soft tissue, a complete bioelectrical impedance current loop is formed with the soft tissue, a bioelectrical impedance double-electrode equivalent circuit is shown in figure 2, the second electrode 2 detects an electric signal and outputs the electric signal to the signal processing module, the signal processing module calculates bioelectrical impedance according to a bioelectrical impedance double-electrode equivalent circuit model, the depth of the tail end of the instrument in the soft tissue can be obtained, and the signal processing module feeds back the position information to the main end controller, so that an operating doctor can obtain the position information of the surgical instrument in the soft tissue. Simultaneously, the main end controller controls the movement of the tail end of the instrument through the steel wire, the sensor 3 measures the tension of the steel wire caused by movement tremble, and the tension is fed back to the main end controller so that an operator can obtain the force information of the surgical instrument in soft tissues. And the master end controller effectively combines the obtained position information and force information to obtain the tactile force feedback.
The signal processing module and the main end controller are self modules of the surgical robot system, the first electrode 1 is a subcutaneous electrode to ensure that the potential difference between the electrode and an electrolyte solution is as small as possible, the second electrode 2 is an insulated dry electrode to ensure that a bioelectrical impedance double-electrode circuit is stable and can resist interference, the sensor 3 is a shaft-penetrating type tension sensor, the working environment condition (the temperature is 0-40 ℃ and the relative humidity is 95%) of the sensor is close to the inside of a human body and is used for detecting tension generated when the main end controller pulls a steel wire, and the outermost layer of the steel wire is wrapped by graphene to effectively shield electromagnetic interference.
As shown in fig. 2, in the bioelectrical impedance double-electrode equivalent circuit model, re represents the resistance of extracellular fluid, ce represents the parallel capacitance of extracellular fluid, rm represents the resistance of cell membrane, cm represents the parallel capacitance of cell membrane, ri represents the resistance of intracellular fluid, and Ci represents the parallel capacitance of intracellular fluid. In the low frequency range (below 1 MHz), the leakage resistance Rm of the cell membrane is large, which can be regarded as an open circuit, and the parallel capacitances Ci and Ce of the intracellular and extracellular fluids are small, which can also be regarded as an open circuit. Since a biological tissue is composed of a large number of cells and is a collection of many cells, the circuit model of the biological tissue can be equivalent to the circuit shown in the right diagram of fig. 2, where Ri represents the equivalent internal fluid resistance of the biological tissue, re represents the equivalent external fluid resistance of the biological tissue, and Cm represents the equivalent membrane capacitance of the biological tissue.
As shown in figure 3, the invention adopts a patch type integrated mode of the first electrode 1 and the second electrode 2 at the tail end of the instrument, wherein the patch type integrated device is divided into 3 layers, the layer 3 is a patch basal layer, the layer 3 is arranged in the tail end of the instrument or at the bottoms of the first electrode 1 and the second electrode 2, the layer 2 is an electrode layer and consists of the electrode 1 or the electrode 2, the layer 1 is an insulating shielding layer, and flexible glass is selected for high hardness and high air tightness to prevent the electrode from being wetted and leaked.
The scope of the invention is defined by the claims and their equivalents.
Claims (5)
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| CN103068348A (en) * | 2010-08-02 | 2013-04-24 | 约翰霍普金斯大学 | Method for presenting force sensor information using cooperative robot control and audio feedback |
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| US20080167662A1 (en) * | 2007-01-08 | 2008-07-10 | Kurtz Anthony D | Tactile feel apparatus for use with robotic operations |
| US11259860B2 (en) * | 2017-09-25 | 2022-03-01 | Covidien Lp | Systems and methods for providing sensory feedback with an ablation system |
| ES2949693T3 (en) * | 2020-04-27 | 2023-10-02 | Rob Surgical Systems Sl | Sensory perception surgical system for robotic-assisted laparoscopic surgery |
| CN112223242B (en) * | 2020-10-09 | 2022-03-01 | 河南理工大学 | A force feedback device for teleoperating systems based on skin stimulation |
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