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WO2015118466A1 - Réglage angulaire de robot à l'aide de courant à partir d'articulations - Google Patents

Réglage angulaire de robot à l'aide de courant à partir d'articulations Download PDF

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Publication number
WO2015118466A1
WO2015118466A1 PCT/IB2015/050853 IB2015050853W WO2015118466A1 WO 2015118466 A1 WO2015118466 A1 WO 2015118466A1 IB 2015050853 W IB2015050853 W IB 2015050853W WO 2015118466 A1 WO2015118466 A1 WO 2015118466A1
Authority
WO
WIPO (PCT)
Prior art keywords
joint
arm
recited
load
robot
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/IB2015/050853
Other languages
English (en)
Inventor
Haytham Elhawary
Aleksandra Popovic
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.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips NV
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 Koninklijke Philips NV filed Critical Koninklijke Philips NV
Publication of WO2015118466A1 publication Critical patent/WO2015118466A1/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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • 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
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41111—Vertical position and orientation with respect to vertical
    • 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
    • G05B2219/45118—Endoscopic, laparoscopic manipulator

Definitions

  • This disclosure relates to robotic positioning and more particularly to robot orientation using motor current feedback.
  • a surgeon introduces laparoscopic instruments (which are long and slender) into the abdomen or thorax, while a robot manipulates an endoscope.
  • the robot is usually designed to move the endoscope through a fulcrum point in a necessary workspace to perform the surgery.
  • the robot may be mounted onto an operating room table above the patient and locked in place using a passive or active mechanical arm. It is common for robots with arch-based kinematics to align a first axis completely vertically to a remote center of motion. This maximizes the endoscope workspace inside of the patient's chest or abdomen. It also minimizes a torque requirement of the axis motor which, in turn, minimizes the size and weight of the system. To align the axis manually is challenging, as it is difficult to know with the naked eye exactly when the axis is vertical.
  • the robot If the robot is not set-up in a correct initial position over the body of the patient, it will not be able to reach the desired workspace and assist the surgeon during the procedure, rendering it useless.
  • setting up the robot at an angle instead of vertically aligned with the incision point can put excessive loading on a joint motor, causing it to overheat and malfunction.
  • Equipment, such as, spirit levels, may be used to do this; however, such use may result in long setup times.
  • a method for aligning a robot includes connecting a passive arm to a fixed position, and aligning a remote center of motion (RCM) for a tool held by a manipulator arm with a target location.
  • the manipulator arm is connected to the passive arm by a joint.
  • the joint is immobilized in a closed loop position control. A load on the joint is measured.
  • the joint is aligned with a vertical by adjusting a position of the passive arm until the load is minimized for the joint.
  • Another method for aligning a robot includes connecting a passive arm to a fixed position in an operating environment; aligning a remote center of motion (RCM) for a tool held by a manipulator arm with a location on a body where an incision is made or is to be made, the manipulator arm being connected to the passive arm by a joint; moving the joint in different orientations about a substantially vertical axis; measuring a load on the joint; and aligning the joint with a vertical position corresponding with the load being minimized for the motor joint.
  • RCM remote center of motion
  • a system for aligning a robot includes a passive arm coupled to a fixed position, and a manipulator arm connected to the passive arm by a joint to be aligned vertically. An actuation force is provided to reposition the joint.
  • a load measurement device is configured to monitor a loading condition in the joint while the joint is repositioned, the load
  • measurement device including an output configured as feedback for determining a position of the joint such that when the loading condition is minimized the joint is vertically aligned.
  • FIG. 1 is a block/flow diagram showing a robot system for perfo vertical alignment capabilities in accordance with illustrative embodime
  • FIG. 2A is a schematic diagram showing a vertically aligned Wari torque equal to zero;
  • FIG. 2B is a schematic diagram showing a joint motor having an vertical alignment having a motor torque proportional to sin(a);
  • FIG. 3 is a diagram showing a robot system in greater detail for ] alignment in accordance with the present principles
  • FIG. 4 is a flow diagram showing a method for performing verti ⁇ accordance with the present principles.
  • FIG. 5 is a diagram showing a bull's eye as a display for feedbac motor joint in accordance with one illustrative embodiment.
  • a robot can be setup with vertical alignment with respect to an incision po other target area without the use of any external equipment.
  • emb current is employed as a proxy for the vertical alignment of the robot.
  • C also be employed, e.g., torque measurement, etc.
  • load is reduced on indicates an improved vertical alignment.
  • a passive mechanical arm is thus manually moved until current is small and alignment is complete.
  • an actuated mechanical arm is moved automatically to a position in which the joint motor has minimal load current, assuring vertical alignment.
  • a robot In robotic guided minimally invasive surgery, a robot often holds an endoscope and a surgeon manually manipulates other tools.
  • Small ports that are placed on or in a patient's body are usually the only incision points through which the instruments and an endoscope may pass to access the inside of the patient.
  • Some robots implement a remote center of motion (RCM) at a fulcrum point, that is, they enforce that only rotation can be performed at the port and all translational forces at that location are eliminated. This can be achieved by implementing a mechanical design which has a remote center of motion at a specific location in space, and then that point in space is aligned with the port.
  • RCM remote center of motion
  • the robot may be designed to move the endoscope through the fulcrum point in the necessary workspace to perform the surgery. Therefore, an initial setup of the robot is an important consideration in making sure that the robot will be able to reach the entire workspace.
  • the robot is mounted onto the operating room table or other structure above the patient and locked in place using a passive or active mechanical arm. If the robot is not setup in a correct initial position over the body of the patient, it will not be able to reach the desired workspace and assist the surgeon during the procedure. This also leads to long set-up times to ensure the robot is well-aligned at the beginning of the procedure.
  • Robots with arch-based kinematics align a first axis vertically (e.g., vertical relative to ground).
  • a remote center of motion (RCM) is usually below an arched robot arm in an arch- based robot set-up, but need not be. This maximizes the endoscope workspace inside of the patient's chest or abdomen.
  • To align this axis manually is challenging, as it is difficult to know with the naked eye exactly when the axis is vertical.
  • setting up the robot at an angle instead of being vertically aligned with the incision point or RCM can put excessive loading on the joint motor, causing it to overheat and malfunction.
  • the present invention will be described in terms of medical instruments; however, the teachings of the present invention are much broader and are applicable to any robotic instruments.
  • the present principles are employed in tracking, guiding, manipulating or maneuvering in complex biological or mechanical systems.
  • the present principles are applicable to robot-controlled procedures for or on biological systems (e.g., procedures in all areas of the body such as the lungs, gastro-intestinal tract, excretory organs, blood vessels, etc.).
  • the elements depicted in the FIGS may be implemented in various combinations of hardware and software and provide functions which may be combined in a single element or multiple elements.
  • processors can be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software.
  • the functions can be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which can be shared.
  • explicit use of the term "processor” or “controller” should not be construed to refer exclusively to hardware capable of executing software, and can implicitly include, without limitation, digital signal processor ("DSP”) hardware, read-only memory (“ROM”) for storing software, random access memory
  • DSP digital signal processor
  • ROM read-only memory
  • RAM random access memory
  • non-volatile storage etc.
  • all statements herein reciting principles, aspects, and embodiments of the invention, as well as specific examples thereof, are intended to encompass both structural and functional equivalents thereof. Additionally, it is intended that such equivalents include both currently known equivalents as well as equivalents developed in the future (i.e., any elements developed that perform the same function, regardless of structure).
  • block diagrams presented herein represent conceptual views of illustrative system components and/or circuitry embodying the principles of the invention.
  • any flow charts, flow diagrams and the like represent various processes which may be substantially represented in computer readable storage media and so executed by a computer or processor, whether or not such computer or processor is explicitly shown.
  • embodiments of the present invention can take the form of a computer program product accessible from a computer-usable or computer-readable storage medium providing program code for use by or in connection with a computer or any instruction execution system.
  • a computer-usable or computer readable storage medium can be any apparatus that may include, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
  • the medium can be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system (or apparatus or device) or a propagation medium.
  • System 100 may include a workstation or console 112 from which a procedure is supervised and/or managed.
  • Workstation 112 preferably includes one or more processors 114 and memory 116 for storing programs and applications.
  • Memory 116 may store a robot control module 115 configured to interpret commands from a user or from a program and control movement (e.g., translation and rotation), velocity, angular velocity, acceleration, angular acceleration, etc. for a robot system 108.
  • Motion of the robot system 108 is provided using motion devices 130, which may include passive or active joints including but not limited to motors, actuators, servos, etc.
  • the control module 115 may include hardware (control boards, software and/or combinations thereof).
  • the robot system 108 is employed for minimally invasive surgery, although the robot system 108 may be employed in other surgical procedures and non-surgical tasks.
  • the robot system 108 may be employed to hold an instrument 102, such as, e.g., imaging device or endoscope with a camera or other device or instrument.
  • Other instruments 122 and 124 may also be employed for use during the surgery.
  • the imaging device 102 and other instruments 122, 124 may include a catheter, a guidewire, a probe, an endoscope, a robot, an electrode, a filter device, a balloon device, forceps, clamps, other component or tools, etc.
  • the workstation 112 may include software or hardware modules for planning and controlling the robot systems 108; however, these modules are optional and presented here for as non-limiting examples of some of the functionality that may be employed in accordance with the present principles.
  • the workstation 112 may include a planning module 104 for storing and executing a surgical plan.
  • the planning module 104 may provide instruction to the robot system 108 during the procedure.
  • the robot system 108 may be controlled using image guidance.
  • An image guidance module 106 provides commands to the control systems in accordance with image data 134 collected by, e.g., the imaging device 102, an additional imaging system 110 (e.g., X-ray.
  • An image processing module 148 may be provided to convert image data into instructions for the robot system 108. It should be understood that other configurations and control systems for controlling the robot system 108 are also contemplated
  • Workstation 112 may include a display 118 for viewing an internal volume 131 of a subject (patient) 160.
  • Display 118 may also permit a user to interact with the workstation 112 and its components and functions, or any other element within the system 100. This is further facilitated by an interface 120, which may include a keyboard, mouse, a joystick, a haptic device, or any other peripheral or control to permit user feedback from and interaction with the workstation 112.
  • the robot system 108 is configured to be aligned vertically using a feedback loop 126 from one or more motion devices 130.
  • the robot system (robot) 108 can be setup at a perfectly vertical alignment with respect to an incision point 128 of the patient 160 without the use of any external equipment and without relying on an operator to make sure that the orientation is correct.
  • current (or torque) of a motor (motion device) 130 is employed as a proxy for a manual vertical alignment of the robot 108.
  • the robot system 108 is moved with the intention of minimizing the motor current as measured by a torque or current sensor 125.
  • the sensor 125 may be part of the workstation 112 or may be a separate device.
  • the sensor 125 may work with a visible gauge or meter for viewing its measurements by an operator.
  • One method for vertically aligning a robot system 108 includes attaching to a mechanical passive arm 138 that is controllable by an operator (e.g., a surgeon or a nurse). This arm 138 is then attached to an operating room table or other fixed position, and the robot 108 is positioned such that a remote center of motion (RCM) of the robot 108 is aligned with the incision point 128 (e.g., in the chest) through which the endoscope or other tool 102 will be inserted.
  • RCM remote center of motion
  • the next step involves the surgeon, physician assistant and/or control module 115 aligning the motor joint 130 of the robot along the vertical axis to make sure that a manipulator arm 140 of the robot 108 can reach an adequate workspace (in the chest) and to ensure minimal load on the motor 130, as will be described below.
  • FIGS. 2A and 2B schematic diagrams are shown for two motor configurations.
  • the amount of torque (T mot or) for a motor 204 to move a horizontal bar 206 is zero.
  • the bar 206 has a length L and a mass M.
  • the motor 204 moves the bar in the direction of arrow "A". This means that very small motors can be used to move large loads in this configuration, providing a very efficient manipulator.
  • FIG. 2B side view
  • the motor load depends on the mass M of the bar 206 that is being displaced.
  • T mot or M*g*sin(a)*L where g is the gravitational constant.
  • the bar 206 is oriented coming out of the page.
  • the motor torque is directly proportional to the current, and hence the total torque (T motor ) exerted by the motor 204 can be obtained by the motor current, which is may be measured by the control module 115 (FIG. 1) and or sensor 125 (FIG.l), which may be included, e.g., on a motor control board or boards of the control module 115.
  • Robot system 302 includes a manipulator arm 304 configured to hold and move a tool 305 (e.g., an endoscope).
  • the manipulator arm 304 is coupled to a passive arm 306 that is controllable by an operator (e.g., a surgeon or a nurse) to move in one or more directions 308 using an actuator 309 or the like or manually.
  • the passive arm 306 is attachable to an operating room table or other fixed position 310.
  • the robot system 302 is positioned such that a remote center of motion (RCM) 312 is aligned with an incision point 314 (e.g., in the chest) through which the endoscope or other tool 305 will be inserted.
  • RCM remote center of motion
  • a joint 316 couples the passive arm 306 to the manipulator arm 304.
  • the joint 316 may be motorized or may be moved using an external motor, actuator, linkage, etc.
  • a surgeon, physician assistant and/or control module 115 may align the joint 316 of the robot 302 along a vertical axis 318 to make sure that the robot 302 can reach an adequate workspace (in the chest) and to ensure minimal load on the joint 316.
  • a current meter 320 is employed to monitor the current drawn by the joint 316 and is employed as feedback for determining whether the joint has achieved vertical alignment (e.g., current is zero or substantially zero). It should be understood that additional linkages, joints, motors, etc. may be employed. In addition, each joint or a subset thereof may be aligned in accordance with the present principles.
  • the robot system 302 may include arch-based kinematics (e.g., arch-shapes arms), although other configurations are also contemplated.
  • an actuated mechanical arm 324 may optionally be configured to move one of the manipulator arm 304 or the passive arm 306 automatically to a position in which the joint 316, e.g., motor joint, has virtually no load/current. This assures vertical alignment.
  • the actuated mechanical arm 324 may be manually controlled or computer controlled or a combination of both.
  • a passive arm is connected to an operating room table or other stable surface.
  • a manipulator is rotatably connected to the passive arm using a joint, such as a motorized joint, which rotates about an upright axis. Other joints or couplings are also contemplated.
  • the passive arm may be controlled by an operator (e.g. a surgeon or a nurse) or by a computer.
  • the robot is positioned such that a remote center of motion of the robot is aligned with the incision point or other target region through which an endoscope or other tool held by the manipulator arm will be inserted.
  • the surgeon or physician assistant aligns a motor joint of the robot along the vertical axis to make sure that the robot can reach an adequate workspace in the chest and to ensure minimal load on the motor.
  • the joint motor is rendered immobile in a closed loop control, which means that the joint motor will try and hold the robot completely still. The amount of torque needed to do so will depend on the angle at which the motor is aligned with respect to the vertical.
  • the operator of the robot can move the passive mechanical arm until the motor joint is exerting a very small torque (e.g., drawing a very small amount or zero current) which is indicative of vertical alignment.
  • the current value can be measured in block 411 and indicated or shown, in block 413, to the operator in a graphical interface or readout that is easy to understand even if the operator is not skilled in technical components of the system, such as, e.g., showing a bull' s eye (FIG. 5), alignment dial, meter, digital readout or indicator, as feedback.
  • an actuated or controlled arm may be employed to hold the manipulator arm. The separate actuator arm can be moved using actuation such that the manipulator arm is moved until the current drawn by the joint motor is drastically reduced or zero to indicate of vertical alignment.
  • an illustrative display 502 of a bull's eye 506 is shown in accordance with one embodiment.
  • the display 502 may be rendered on the display device 118 (FIG. 1) or as a meter to indicate the load (e.g., torque, current, etc.) being measured as a result of an actuating force or motion imparted to a motor joint during alignment in accordance with the present principles.
  • the load e.g., torque, current, etc.
  • a cursor or indicator 504 will get closer to a center of the bull's eye to indicate alignment has been achieved.
  • other symbols, displays, meters, etc. may be employed for feedback to users and/or control systems instead of or in addition to those described herein.
  • the present principles may be employed in a plurality of different applications including minimally invasive surgery, other robotic surgeries, robotic application such as in manufacturing or processing; etc.
  • Applications where the present principles are particularly useful include cardiac surgery, such as minimally invasive coronary artery bypass grafting, atrial septal defect closure, valve repair/replacement, etc.; laparoscopic surgery, such as hysterectomy, prostactomy, gall bladder surgery, etc.; or other surgeries.
  • the other surgeries may include, e.g., natural orifice transluminal surgery
  • NOTES single incision laparoscopic surgery
  • pulmonary/bronchoscopic surgery minimally invasive diagnostic interventions, such as, arthroscopy, etc.

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

Abstract

L'invention porte sur un procédé pour aligner un robot, lequel procédé met en œuvre la liaison (402) d'un bras passif à une position fixe, et l'alignement (406) d'un centre de mouvement distant (RCM) pour un outil supporté par un bras de manipulateur avec un emplacement cible. Le bras de manipulateur est relié au bras passif par l'articulation. L'articulation est immobilisée (410) dans une commande de position en boucle fermée. Une charge sur l'articulation est mesurée (411). L'articulation est alignée (412) avec la verticale par le réglage d'une position du bras passif jusqu'à ce que la charge soit minimisée pour l'articulation.
PCT/IB2015/050853 2014-02-04 2015-02-04 Réglage angulaire de robot à l'aide de courant à partir d'articulations Ceased WO2015118466A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201461935671P 2014-02-04 2014-02-04
US61/935,671 2014-02-04

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WO2015118466A1 true WO2015118466A1 (fr) 2015-08-13

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116269668A (zh) * 2023-01-31 2023-06-23 杭州华匠医学机器人有限公司 定位器、内窥镜系统及远心定位方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0595291A1 (fr) * 1992-10-30 1994-05-04 International Business Machines Corporation Robot télécommandé avec mouvement autour d'un point central destiné à la chirurgie
WO2000007503A1 (fr) * 1998-08-04 2000-02-17 Intuitive Surgical, Inc. Elements articules servant a positionner un manipulateur, dans une chirurgie robotise
EP1815949A1 (fr) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Système médical robotisé comprenant un bras manipulateur de type à coordonées cylindriques

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0595291A1 (fr) * 1992-10-30 1994-05-04 International Business Machines Corporation Robot télécommandé avec mouvement autour d'un point central destiné à la chirurgie
WO2000007503A1 (fr) * 1998-08-04 2000-02-17 Intuitive Surgical, Inc. Elements articules servant a positionner un manipulateur, dans une chirurgie robotise
EP1815949A1 (fr) * 2006-02-03 2007-08-08 The European Atomic Energy Community (EURATOM), represented by the European Commission Système médical robotisé comprenant un bras manipulateur de type à coordonées cylindriques

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116269668A (zh) * 2023-01-31 2023-06-23 杭州华匠医学机器人有限公司 定位器、内窥镜系统及远心定位方法

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