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WO2001019272A1 - Robots de precision a cinematique parallele ayant un systeme detecteur redondant - Google Patents

Robots de precision a cinematique parallele ayant un systeme detecteur redondant Download PDF

Info

Publication number
WO2001019272A1
WO2001019272A1 PCT/DE2000/003180 DE0003180W WO0119272A1 WO 2001019272 A1 WO2001019272 A1 WO 2001019272A1 DE 0003180 W DE0003180 W DE 0003180W WO 0119272 A1 WO0119272 A1 WO 0119272A1
Authority
WO
WIPO (PCT)
Prior art keywords
worktop
frame plate
measuring sections
precision robot
robot according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DE2000/003180
Other languages
German (de)
English (en)
Inventor
Matthias Wapler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Urs Universal Robot Systems & Co KG GmbH
Original Assignee
Urs Universal Robot Systems & Co KG GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Urs Universal Robot Systems & Co KG GmbH filed Critical Urs Universal Robot Systems & Co KG GmbH
Priority to EP00967571A priority Critical patent/EP1212002A1/fr
Publication of WO2001019272A1 publication Critical patent/WO2001019272A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B25J17/0216—Compliance devices comprising a stewart mechanism
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1623—Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • 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
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42318—Using two, more, redundant measurements or scales to detect bad function
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50162—Stewart platform, hexapod construction

Definitions

  • the invention relates to a precision robot with parallel kinematics according to the preamble of / claim 1.
  • Such an operating robot is described, for example, in DE 196 49 082 Cl. It basically consists of a tool carrier unit and an operating unit, both of which are functionally linked to one another via a control computer.
  • the tool carrier unit has on the one hand an adjustable frame which is firmly clamped to the workpiece clamping table or with the operating table and on the other hand a controllable movement unit which is aligned with its tool to the workpiece or to the body part of the patient. Since the workpiece or body part is also rigidly connected to the workpiece clamping table or to the operating table, the workpiece or body part is fixed in position relative to the tool.
  • Tool carrier units with parallel kinematics are used in particular for reasons of rigidity in compact and lightweight precision robots, with hexapods being used primarily.
  • Such parallel kinematic tool carrier units are described with their advantages in "Parallel Kinematic Machine Tools", ZWF Modern Machine Tools, Carl Hanser Verlag, Kunststoff, Volume 94 (1999) 6, pages 312-315. They consist of a frame in the form of a solid base plate and one, one End effector-carrying worktop, both of which are articulated in a special way by a certain number of separate linear drives.
  • the linear drives are designed as joint rods with an upper and a lower joint and can be driven hydraulically, pneumatically or electrically.
  • Electrical linear drives have become established for medical technology robots because of their higher accuracy and because they only require a small amount of force.
  • Each of these linear drives has a spindle, an electric motor and a measuring system that controls the movement of the linear drive. For this purpose, this measuring system is equipped with a sensor system which detects the change in length of the spindle directly or indirectly and evaluates it with the aid of the control computer.
  • an independent monitoring system is mandatory, particularly when used in medical technology, to immediately detect and signal errors in movement sequences and to interrupt the work process.
  • the monitoring device is designed as a black box. This enables retrofitting to an existing robot unit.
  • Fig. 2 a tool carrier unit in the form of a hexapod in side view
  • Fig. 3 the Hexapod in plan view.
  • the precision robot with parallel kinematics consists of the actual robot unit 1 and an operating unit 2, both of which are functionally connected to a control computer 5 via two data lines 3 and 4.
  • the robot unit 1, the control unit 2 and the control computer 5 form a device-related unit.
  • the control unit 2 is mainly equipped with an input device 6 and a monitor 7.
  • the robot unit 1 is fixedly mounted on an operating table 10 by means of adjustable carrying units 8 and 9, the operating table 10 being designed in a way largely freed from external influences.
  • the operating table 10 is equipped with a special holding device 11.
  • the robot unit 1 is also equipped with a tool carrier unit in the form of a hexapod 12, which can be aligned with the aid of the two carrying units 8, 9 from any direction to a predetermined point on the patient's body.
  • the Hexapod 12 is known to consist of a frame plate 13 with a guide carriage for connection to the carrying unit 9 and a worktop 14 for receiving a tool 15 and six, the frame plate 13 and the worktop 14 articulated linear drives 16.
  • the six linear drives 16 aligned in such a way and attached to the frame plate 13 and the worktop 14 steered that they form a closed link chain.
  • the worktop 14 and thus also the tool 15 located on the worktop 14 is articulated in relation to the fixed frame plate 13 in such a way that each movement initiated by the input device 6 of the operating unit 2 and signaled by the control computer 5 to one or more of the linear drives 16 can be transferred to the tool 15 with the greatest accuracy.
  • the individual linear drives 16 of a precision robot used in medical technology are generally operated electrically and accordingly have a threaded spindle articulated on the one hand with a defined length as a measured variable and an articulated threaded nut on the other hand and an electric motor controlled by a sensor. Together with the measured variable, this sensor and the electric motor form a measuring and control system for the controlled movement sequence of the respective linear drive 16 and thus ultimately the tool 15.
  • an additional monitoring system is arranged between the frame plate 13 and the worktop 14 of the hexapod 12.
  • This monitoring system consists of at least three measuring sections 17, which are arranged in a special way on the frame plate 13 and the worktop 14 independently of the linear drives 16.
  • each measuring section 17 has, on the one hand, an end point 18 located on the worktop 14, with the end points 18 of all measuring sections 17 possibly on one structurally smallest possible circle are arranged.
  • this smallest circle can have a diameter of zero and can be designed as a common end point, as shown in FIG. 2.
  • This smallest circle of the end points 18 or the common end point is preferably located in the area of the geometric center of the worktop 14, but can also lie outside the worktop 14 if a synchronous movement of the worktop 14 and the circle can be ensured by constructional means.
  • each measuring section 17 also has an end point 19, which is located on the frame plate 13, the end points 19 of all measuring sections 17 forming a polygon on the frame plate 13 and preferably, as shown in FIG. 3, also lying on a common circle.
  • the diameter of the two circles for the end points 18 and the end points 19 are of different sizes.
  • the diameter of the end points 19 lying on the frame plate 13 is larger than the diameter of the end points 18 on the worktop 14.
  • there is an inclination of each measuring path 17 to the main axis between the frame plate 13 and the work plans 14 each includes a right angle to the frame plate 13 and the working plate 14.
  • the inclination of each measuring section 17 preferably has an angle between 30 and 60 °.
  • the angles of all measuring sections 17 can be chosen to be the same or different, it being advantageous if the axes of all measuring sections 17 meet at a focal point.
  • This focal point can, as can be seen from FIG. 2 is located in the worktop 14 or spatially outside the hexapod.
  • each measuring section 17 is designed as a measured variable for a sensor which is connected to a measured value output device via the control computer 5.
  • the worktop 14 can be equipped with a firmly anchored platform 20.
  • commands are first transmitted from the input device 2 via the control computer 5 for setting up the robot unit 1 to the carrying devices 8, 9, as a result of which the tool 15 is aligned with the site to be operated on the patient. In this position, the patient's body and the robot unit 1 are firmly anchored.
  • the commands entered on the input device 2 for the required movements are again sent to the individual linear drives 16 via the control computer 5.
  • the control computer 5 compares the length positions of the threaded spindles determined by the individual sensors of the linear units 16 with the required length positions and initiates a corresponding correction of the length of each threaded spindle.
  • the different changes in length of the individual linear drives 16 lead to a defined movement of the worktop 14 and thus of the tool 15.
  • the worktop 14 also moves in a defined manner Fixed frame plate 13. This relative movement of the worktop 14 relative to the frame plate 13 is monitored on the basis of the at least three measuring sections 17, in which every deviation from the nominal value of the measured variables is detected, evaluated and converted into a corresponding output signal on the control computer 2. This output signal causes the precision robot to stop immediately.

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Abstract

On utilise des robots de ce type notamment en médecine mais ils ne sont pas suffisamment protégés contre les défaillances. Pour y remédier, l'invention propose un dispositif de surveillance indépendant composé d'au moins trois distances mesurées (17) distinctes contrôlées par un système détecteur. Les distances mesurées (17), situées entre la plaque bâti (13) et la plaque de travail (14), sont articulées à la plaque de travail (14) par des points terminaux (18) et à la plaque bâti (13) par des points terminaux (19). En outre, les distances mesurées (17) ont une orientation inclinée par rapport à l'axe principal perpendiculaire par rapport à la plaque bâti (13) et à la plaque de travail (14).
PCT/DE2000/003180 1999-09-16 2000-09-13 Robots de precision a cinematique parallele ayant un systeme detecteur redondant Ceased WO2001019272A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP00967571A EP1212002A1 (fr) 1999-09-16 2000-09-13 Robots de precision a cinematique parallele ayant un systeme detecteur redondant

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19944457.9 1999-09-16
DE19944457A DE19944457C1 (de) 1999-09-16 1999-09-16 Präzisionsroboter mit paralleler Kinematik

Publications (1)

Publication Number Publication Date
WO2001019272A1 true WO2001019272A1 (fr) 2001-03-22

Family

ID=7922272

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2000/003180 Ceased WO2001019272A1 (fr) 1999-09-16 2000-09-13 Robots de precision a cinematique parallele ayant un systeme detecteur redondant

Country Status (3)

Country Link
EP (1) EP1212002A1 (fr)
DE (1) DE19944457C1 (fr)
WO (1) WO2001019272A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6741912B2 (en) * 2001-07-02 2004-05-25 Microbotic A/S Flexible tool for handling small objects
AT503883B1 (de) * 2004-11-17 2008-09-15 Ehrenleitner Franz Antrieb für eine parallelkinematische mechanische anordnung
CN100509307C (zh) * 2007-09-06 2009-07-08 上海交通大学 六维力传感器装配机械手姿态及力的控制方法
US8442677B2 (en) 2004-02-04 2013-05-14 Mazor Surgical Technologies, Ltd. Verification system for robot pose
CN105108762A (zh) * 2015-09-02 2015-12-02 吉林大学 一种基于力/触觉引导的遥操纵手控器

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2923377B1 (fr) * 2007-11-12 2012-05-04 Agnes Leteurtre Bloc operatoire pour tele-chirurgie, utilisable meme en milieu inhospitalier
CN107307910B (zh) * 2017-07-31 2023-09-05 成都博恩思医学机器人有限公司 用于操纵执行机构的控制手柄

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3902247A1 (de) * 1989-01-26 1990-08-09 Bodenseewerk Geraetetech Vorrichtung zur steuerung der bewegungsablaeufe von handlingsystemen oder robotern
US5299288A (en) * 1990-05-11 1994-03-29 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
DE19649082C1 (de) * 1996-11-27 1998-01-08 Fraunhofer Ges Forschung Vorrichtung zur Fernsteuerung eines Werkzeugs
EP0834383A1 (fr) * 1996-10-07 1998-04-08 Gec Alsthom Systemes Et Services Sa Robot à structure parallèle
US5950629A (en) * 1991-06-13 1999-09-14 International Business Machines Corporation System for assisting a surgeon during surgery

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3902247A1 (de) * 1989-01-26 1990-08-09 Bodenseewerk Geraetetech Vorrichtung zur steuerung der bewegungsablaeufe von handlingsystemen oder robotern
US5299288A (en) * 1990-05-11 1994-03-29 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US5950629A (en) * 1991-06-13 1999-09-14 International Business Machines Corporation System for assisting a surgeon during surgery
EP0834383A1 (fr) * 1996-10-07 1998-04-08 Gec Alsthom Systemes Et Services Sa Robot à structure parallèle
DE19649082C1 (de) * 1996-11-27 1998-01-08 Fraunhofer Ges Forschung Vorrichtung zur Fernsteuerung eines Werkzeugs

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6741912B2 (en) * 2001-07-02 2004-05-25 Microbotic A/S Flexible tool for handling small objects
US8442677B2 (en) 2004-02-04 2013-05-14 Mazor Surgical Technologies, Ltd. Verification system for robot pose
AT503883B1 (de) * 2004-11-17 2008-09-15 Ehrenleitner Franz Antrieb für eine parallelkinematische mechanische anordnung
CN100509307C (zh) * 2007-09-06 2009-07-08 上海交通大学 六维力传感器装配机械手姿态及力的控制方法
CN105108762A (zh) * 2015-09-02 2015-12-02 吉林大学 一种基于力/触觉引导的遥操纵手控器
CN105108762B (zh) * 2015-09-02 2017-01-18 吉林大学 一种基于力/触觉引导的遥操纵手控器

Also Published As

Publication number Publication date
DE19944457C1 (de) 2001-05-17
EP1212002A1 (fr) 2002-06-12

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