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WO2015014668A1 - Équipement de saisie pour la commande gestuelle avec dispositif de protection - Google Patents

Équipement de saisie pour la commande gestuelle avec dispositif de protection Download PDF

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Publication number
WO2015014668A1
WO2015014668A1 PCT/EP2014/065708 EP2014065708W WO2015014668A1 WO 2015014668 A1 WO2015014668 A1 WO 2015014668A1 EP 2014065708 W EP2014065708 W EP 2014065708W WO 2015014668 A1 WO2015014668 A1 WO 2015014668A1
Authority
WO
WIPO (PCT)
Prior art keywords
input device
robot
sensor
arm
control
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/EP2014/065708
Other languages
German (de)
English (en)
Inventor
Bernd Gombert
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.)
ABB Gomtec GmbH
Original Assignee
Gomtec 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 Gomtec GmbH filed Critical Gomtec GmbH
Publication of WO2015014668A1 publication Critical patent/WO2015014668A1/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
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00207—Electrical control of surgical instruments with hand gesture control or hand gesture recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00371—Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
    • 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
    • A61B90/60—Supports for surgeons, e.g. chairs or hand supports

Definitions

  • the invention relates to an input device for controlling a robot by means of gestures according to the preamble of patent claim 1, and to a method for controlling a robot according to the preamble of patent claim 13.
  • Known robot systems include an input device for gesture control of a robot having an image processing system for detecting gestures generated by a robot
  • the image processing system includes a camera and a control unit which processes the image data captured by the camera and converts it into corresponding control signals.
  • the control unit comprises for this purpose a software algorithm that is able to detect certain gestures of the user, and finally generates control signals with which the actuators of the robot or z.
  • a tool mounted on the robot can be controlled, so that the robot or the tool performs the actions desired by the user. More complex robot systems, such. B. Surgery robots are often operated simultaneously with two hands. In such systems, the user z. B. with a first hand a first control function such. B. a movement of
  • Robot head and with a second hand, a second control function, such. As an operation of a surgical instrument perform.
  • Input device for controlling a surgery robot which is operated in a similar manner as a joystick.
  • the control specifications manually executed by the operator are converted into corresponding control commands for the robot.
  • the operator while operating the input device, the operator must simultaneously operate a switch integrated with a handle of the input device. When the operator grasps the handle, the switch is automatically activated. In doing so, the operator confirms that the inputs he has made are intentional and valid. However, when the operator releases his hand from the grip, the input device becomes
  • From US 201 1/0 001 813 A1 is also an input device for
  • Gesture control of a robot known that can recognize different hand gestures and converts into corresponding control commands for the robot.
  • the input device comprises an image processing system with which the gestures are recorded.
  • erroneous operations of the robot may occur when the operator moves the arm or the hand, but does not want to control the robot. Since both hands are usually required to carry out certain control commands or gestures, a handle with a switch integrated therein, as is known from US Pat. No. 8,232,072 B1, would be a hindrance in this case.
  • Robot system proposed by gestures comprising an image processing system for detecting gestures, which are given by an operator by moving at least one arm and / or at least one hand, and further comprising a control unit that detects certain gestures and converts them into corresponding control commands for controlling the robot system
  • the input device further comprises a protective device which is actuated by means of an arm, wherein the protective device actively switches the gesture control when it is actuated, and deactivated when it is not actuated. Since the protective device according to the invention comprises an arm-operated sensor, the operator of the robot has his hands free and can thus use the robot
  • a "robot system” is understood in particular to be a technical system with one or more robots, which may also comprise one or more robot-operated tools and / or one or more additional machines may be equipped, for example, one or more
  • Robotic each equipped with a surgical instrument or other tool, and include an electrically adjustable operating table, wherein all components of the robot system can be preferably controlled by gesture control.
  • a "robot” is understood in particular to mean any machine having one or more articulated arms which are movable by means of one or more actuators, such as electric motors.
  • the input device comprises an image acquisition system which converts the hand or arm movements of an operator into corresponding ones
  • Such a system has z.
  • a camera that can record various gestures of a user within an image capture area. The recorded gestures can z. B. be compared with a database in the
  • the protective device comprises at least one sensor which can be actuated by means of an arm. Since the sensor is operated by means of the arm, the operator has his hands free and can precisely control the robot by means of gesture control.
  • touch-sensitive sensor in particular a switch or button, or a non-contact sensor, such.
  • a proximity sensor or a camera act. In the case of the camera, a particular position or position of the arm could then be detected, as well as deformations of a
  • the sensor is preferably arranged so that it can be actuated by means of the elbow or forearm.
  • the at least one sensor z. B. be integrated in an armrest.
  • the armrest can
  • the z. B. may be attached to the chair or other device of the robot system. According to another
  • Embodiment of the invention could also be provided a kind of table on which the operator is supported with his two quick bows.
  • one or more sensors for activating / deactivating the table are in the table Gesture control integrated.
  • the armrest could also be integrated in a control panel.
  • a sensor is provided for both arms of the operator.
  • Protective device includes at least two sensors ("two sensors” should also be understood a sensor that is sensitive to the touch by two arms), the robot system can be activated or deactivated depending on the operating state of the sensors according to different methods:
  • the protection device is designed such that the input device or gesture control is completely deactivated if at least one of the sensors is not actuated.
  • the operator must therefore operate both sensors by means of his arms in order to be able to control the robot system. If he just removes one of his arms from the sensor, the input device or gesture control is completely deactivated.
  • the protective device is designed such that the input device is deactivated only for the arm which does not actuate the associated sensor. As long as the operator but with at least one arm actuates the associated sensor, he can
  • Control input interpreted and thus not implemented in a corresponding action of the robot system.
  • the protection device can also be designed such that the input device is activated for both arms when at least one of the sensors is actuated, and is completely deactivated when none of the sensors is actuated. This means that the operator only has to operate at least one of the sensors in order to be able to control the robot system with both arms or hands.
  • the input device according to the invention basically any components of a robot system can be controlled, such.
  • Robots of any design, robot-operated tools, but also any other machines or individual parts of the robot system can be used to control the same or the same actuators or different actuators of a robot and / or a tool and / or another component of the
  • the input device or its image acquisition system is in this case preferably designed such that it can distinguish the gestures executed by the left and right arms or left and right hands.
  • the protective device is preferably designed to be redundant.
  • the image acquisition system checks whether at least one sensor is actuated by an arm, and whether the signal output by the sensor coincides with the result of the image processing. When the sensor or its output signal indicates an actuated state and the image processing system also recognizes an actuated state, the input device is active at least for the relevant arm. However, if the detected by the sensor operating state of the of
  • Detected imaging state system actuation state this state is detected by the protection device as an error and the input device is preferably completely disabled.
  • the invention also relates to a method for controlling a robot by means of gesture control, in which the gestures predetermined by an operator by moving his arms or hands are detected by means of an image processing system and the image data recorded by the image processing system are processed and converted into corresponding control commands for controlling the robot system. According to the invention, it is further determined whether a safety device operable by the operator by means of an arm is actuated. if the
  • Protective device is actuated, the operator can at least the robot system steer with one arm and / or one hand. However, if the safety device is not actuated, the input device is deactivated. The operator can do that
  • Robot system then at least with one of his arms and / or hands no longer control.
  • Fig. 1 is a schematic representation of a robot system with a
  • FIG. 2 shows a first embodiment of a protective device for
  • Fig. 3 shows a second embodiment of a protective device for
  • Fig. 4 shows a development of the robot system, which provides an optical feedback to the user of the protective device.
  • the robot 3 in this embodiment has two articulated arms, which are each connected to one another via one or more joints.
  • the individual joints are each driven by a motor, here an electric motor (not shown), and can perform a pivoting and / or rolling movement of the articulated arms.
  • the robot 3 has a freely movable end, which also acts as a robot head
  • a surgical instrument 1 1 is attached, which is tailored to the particular application of the robot.
  • the robot head for example, with an endoscope, a laparoscopic instrument, a cutting, gripping, holding, connecting, sewing or other surgical tool or
  • the robot system shown in FIG. 1 is controlled by means of an input device 10, which in this exemplary embodiment has a camera 2 and a camera
  • Control unit 9 includes.
  • the camera 2 is on the operator of the robot system, such. As a doctor, directed, the two arms 6 a, 6 b are shown schematically here.
  • the operator can by executing certain control instructions by means of his arms 6a, 6b or hands the robot 3 and / or the on
  • Robot system such. B. the operating table 12, control.
  • the camera 2 continuously records images that are processed by an image processing software included in the control unit 9.
  • the image processing software is capable of interpreting movements made with the forearms, hands or fingers as a control input and generating corresponding control signals.
  • the images taken by the camera 2 z. B. are compared with the stored in a database movement patterns or gestures.
  • an associated control signal is generated by which, finally, the robot 3 or another component of the robotic system, e.g. the instrument 1 1, is controlled.
  • the input device 10 is preferably configured so that both static gestures, such. B.
  • Hand signals as well as dynamic gestures, such. B. Waving, can be detected.
  • the robot moves accordingly and operated by a running with the other hand gesture the tool or surgical instrument 1 1.
  • the action taken by the robotic system in response to a particular control default is preferably freely configurable.
  • the robot system shown in FIG. 1 further comprises a protective device 1, 9 with which the gesture control is selectively deactivated can be.
  • a protective device 1, 9 with which the gesture control is selectively deactivated can be.
  • the protective device comprises an armrest 4, in which for each arm 6a, 6b, an associated sensor 5a, 5b is integrated.
  • the armrest 4 can z. B. be part of a chair or seat back.
  • the sensors 5a, 5b may be, for example, touch-sensitive sensors, such. As switches or buttons, or acting on the capacitive or inductive principle sensors. Alternatively, non-contact sensors, such. B. Proximity switch, be provided, which already react when approaching the sensor surface.
  • Robot system with his elbows 8a, 8b each on one of the sensors 5a, 5b.
  • the forearms 7a, 7b and the hands remain free to move.
  • the operator can thus by means of his forearms 7a, 7b and / or hands
  • the protective device 1, 9 functions like a switch with which activates or deactivates the control of the robot system can be.
  • the operator places his elbow 8a, 8b on one of the
  • gestures are to be considered as taxable In this case, the gestures detected by the image acquisition system 10 are converted into corresponding ones
  • Hand movements are not interpreted as a control, so he can lift his arm from the respective sensor 5a, 5b and thus disable the control.
  • both arms 6a, 6b are sensory detected, there are in principle several ways that
  • the protection device 1, 9 is configured such that both sensors 5a, 5b must be actuated in order to activate the control. If only one of the sensors 5a, 5b is not actuated, the control is completely deactivated and the robot system can no longer be controlled by input of gestures.
  • the protection device is configured such that the control is activated for an arm 6a, 6b which actuates one of the sensors 5a, 5b.
  • the gesture recognition is designed to distinguish the right arm / hand and the left arm / hand of a user from each other and evaluate separately. An appropriate algorithm may be implemented in gesture recognition.
  • the protection device 1, 9 can also be configured such that the robot system can be controlled by both arms 6a, 6b or hands, if at least one of the sensors 5a, 5b is actuated. That the operator only has to operate at least one of the sensors 5a, 5b in order to be able to control the robot system with both arms. If, on the other hand, none of the sensors 5a, 5b is actuated, the gesture control will be activated
  • the input device 10 z. B. have a hardware or software switch, the z. B. the forwarding of the control signals to the robot 3 interrupts.
  • the z. B. the forwarding of the control signals to the robot 3 interrupts.
  • a single sensor could be provided, which is able to distinguish an operation by means of one or two arms 6a, 6b.
  • Imaging system 10 used to check whether at least one of the sensors 5a, 5b by an arm 6a, 6b, is actuated.
  • the signal output by the sensors 5a, 5b is then compared with the result of the optical image recognition. If both signals indicate in unison that one of the sensors 5a, 5b is actuated, the actuated state of the sensor 5a, 5b is assumed to be safe.
  • the gesture control can be activated or deactivated accordingly.
  • Protective device can be freely selected by the operator. This can be the
  • Robot system z. B. have a switch or other input means with which can be switched between the different modes. So z. B. experienced users the less restrictive mode of the
  • Fig. 2 shows an embodiment of a protective device with a sensor 5, which is integrated in an armrest of a chair.
  • the protective device is activated or deactivated in this case by placing a forearm 7b.
  • FIG 3 shows an embodiment of a protective device with two sensors 5a, 5b, which are integrated in an armrest 4.
  • sensors 5a, 5b For each arm 6a, 6b is a separate sensor 5a and 5b provided.
  • the sensors are actuated by supporting the rapid bends 8a, 8b.
  • the user will be different
  • FIG. 4 shows a development of the invention which provides an optical feedback to the user of the protective device 1.
  • the user can be displayed to what extent the robot 3, the instrument 1 1 and / or the operating table 12 are switched to be active or inactive by the protective device 1.
  • the protective device 1 is connected to a monitor 13, which represents the user-to-use elements.
  • the status of the element to be controlled can be highlighted in color on the monitor. For example, all active elements can be displayed green and all inactive elements red on the monitor.
  • instrument 1 1 is operated and displayed on the monitor 13.
  • the instrument 1 1 has a plurality of axes 14, 15 and 16 to the parts of the
  • Instruments 1 1 can be swiveled.
  • gesture recognition can be used to control individual parts of the instrument.
  • the shaft 17 of the instrument 11 can be rotated about the axis 14 and the arm 6b of the end effector 18 can be actuated about the axis 16.
  • Embodiment in which only elements of that arm are controlled can, who operates the protection device 1.
  • only arm 6b actuates the protective device 1, so that consequently only the end effector 18 could be moved about the axis 16.
  • Gestures of the arm 6a would be ignored and would not trigger movement of the instrument 1 1 about the axis 14.
  • axis 16 would be active and axis 14 inactive. This condition could be indicated to the user on the monitor by a corresponding color marking.
  • the end effector 18 and / or its axis 16 may be green and the shaft 17 and / or its axis 14 may be red.
  • the user immediately receives a status feedback on which elements are currently active and which are not.
  • gesture-recognition operation is not limited to just one instrument, but can include multiple instruments.
  • a robot and / or the operating table can also be controlled.
  • the user can control two instruments simultaneously by means of gestures of his hands or arms, whereby he can control an instrument 19 with arm 6a and another instrument 11 with arm 6b.
  • Instrument 19 would be inactive. In order to display this state in turn on the monitor 13 in color, the instrument 19 with a red
  • Marker and instrument 1 1 are highlighted with a green marker.

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

Abstract

L'invention concerne un équipement de saisie (10) destiné à la commande d'un système de robot (3), comprenant un système de traitement d'image (2, 9) destiné à l'acquisition de gestes qui sont prédéfinis par un opérateur en déplaçant au moins un bras (6a, 6b) et/ou au moins une main, et comprenant une unité de commande (9) qui reconnaît certains gestes et les convertit en signaux de commande correspondants pour la commande du système de robot (3). Selon l'invention, il existe un dispositif de protection (1, 9) actionné par bras avec lequel la commande du système de robot (3) peut être activée ou désactivée.
PCT/EP2014/065708 2013-07-30 2014-07-22 Équipement de saisie pour la commande gestuelle avec dispositif de protection Ceased WO2015014668A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013108114.2 2013-07-30
DE102013108114.2A DE102013108114B4 (de) 2013-07-30 2013-07-30 Eingabevorrichtung zur Gestensteuerung mit Schutzeinrichtung

Publications (1)

Publication Number Publication Date
WO2015014668A1 true WO2015014668A1 (fr) 2015-02-05

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PCT/EP2014/065708 Ceased WO2015014668A1 (fr) 2013-07-30 2014-07-22 Équipement de saisie pour la commande gestuelle avec dispositif de protection

Country Status (2)

Country Link
DE (1) DE102013108114B4 (fr)
WO (1) WO2015014668A1 (fr)

Cited By (4)

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CN107582305A (zh) * 2017-10-11 2018-01-16 中南大学湘雅二医院 一种体感控制的手术床
CN108214482A (zh) * 2016-12-14 2018-06-29 上银科技股份有限公司 非接触式的手势教导机器人
CN114521971A (zh) * 2022-04-24 2022-05-24 深圳市爱博医疗机器人有限公司 一种介入机器人系统和可读存储介质
US11701191B1 (en) 2022-04-24 2023-07-18 Shenzhen Institute Of Advanced Biomedical Robot Co., Ltd. Interventional robot system, and control method and readable-storage medium thereof

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US10377042B2 (en) 2016-06-17 2019-08-13 Intel Corporation Vision-based robot control system
JP6581056B2 (ja) * 2016-09-13 2019-09-25 ファナック株式会社 ロボット制御部と通信する教示操作盤を備えたロボットシステム
DE102016221861B4 (de) 2016-11-08 2022-05-05 Volkswagen Aktiengesellschaft Einrichtung und Verfahren zur Einwirkung auf Gegenstände
DE102017007908A1 (de) * 2017-08-21 2019-02-21 Hochschule Bochum Verfahren zur Steuerung der Bewegung eines mobilen Roboters
DE102019001373B4 (de) * 2019-02-27 2020-11-19 Florian Fried Verfahren zum berührungslosen Führen eines Robotersystems in einer Mensch-Roboter-Kollaboration (MRK)
DE102019115763A1 (de) * 2019-06-11 2020-12-17 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zum Betreiben eines Human Machine Interface
DE102021119646B4 (de) 2021-07-28 2023-07-20 Karl Storz Se & Co. Kg Eingabeeinheit für ein medizinisches Instrument sowie medizinisches System mit einer Eingabeeinheit
DE102024205154A1 (de) 2024-06-05 2025-12-11 Siemens Healthineers Ag Verfahren zur berührungslosen Bewegungssteuerung und mobiles medizinisches Gerät

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EP2614788A1 (fr) * 2012-01-11 2013-07-17 Biosense Webster (Israel), Ltd. Actionnement d'instrument d'ablation sans contact tactile par utilisation de capteurs de profondeur

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WO2011060185A1 (fr) * 2009-11-13 2011-05-19 Intuitive Surgical Operations, Inc. Procede et systeme pour detecter la presence de mains dans un systeme chirurgical peu invasif
EP2614788A1 (fr) * 2012-01-11 2013-07-17 Biosense Webster (Israel), Ltd. Actionnement d'instrument d'ablation sans contact tactile par utilisation de capteurs de profondeur

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108214482A (zh) * 2016-12-14 2018-06-29 上银科技股份有限公司 非接触式的手势教导机器人
CN108214482B (zh) * 2016-12-14 2021-02-02 上银科技股份有限公司 非接触式的手势教导机器人
CN107582305A (zh) * 2017-10-11 2018-01-16 中南大学湘雅二医院 一种体感控制的手术床
CN114521971A (zh) * 2022-04-24 2022-05-24 深圳市爱博医疗机器人有限公司 一种介入机器人系统和可读存储介质
CN114521971B (zh) * 2022-04-24 2022-07-05 深圳市爱博医疗机器人有限公司 一种介入机器人系统和可读存储介质
US11701191B1 (en) 2022-04-24 2023-07-18 Shenzhen Institute Of Advanced Biomedical Robot Co., Ltd. Interventional robot system, and control method and readable-storage medium thereof
WO2023206893A1 (fr) * 2022-04-24 2023-11-02 深圳市爱博医疗机器人有限公司 Système de robot d'intervention, méthode de contrôle et support de stockage lisible

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Publication number Publication date
DE102013108114A1 (de) 2015-02-19
DE102013108114B4 (de) 2015-02-12

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