Summary of the invention
Technical problem
The object of the invention is to, a kind of surgical robot system is provided, in the time will appending the hand-held surgical device that uses other, can directly provides power source by operating robot, and by with the communicating by letter of robot, the operating theater instruments that can be appended by robot control.
The method of dealing with problems
According to an aspect of the present invention, provide a kind of surgical robot system, it comprises: operating robot body; The first power source, is connected on body, for providing by the driving force of body control; The first mechanical arm, is connected on body, receives driving force and moves from the first power source; Robot apparatus (robotic instrument), is arranged on the first mechanical arm, receives driving force move from the first power source; The second power source, is connected on body, for providing by the driving force of body control; Hand-held instruments (handheld instrument), from second power source receive driving force move, and by user manually to operate.
The first mechanical arm moves take n (n is as natural number) degree of freedom, can determine according to the action of the first mechanical arm the position of robot apparatus, now, the end of robot apparatus is combined with executor, executor receives driving force from the first power source, thereby can move take m (m is as natural number) degree of freedom.
Hand-held instruments moves with n degree of freedom by user, the position that can determine according to the manual operation of user hand-held instruments, now, the end of hand-held instruments is combined with executor, executor receives driving force from the second power source, thereby can move with m degree of freedom.
The second power source can be configured to the structure that can draw from body, so that its end is combined on hand-held instruments.
In addition, be further combined with the second mechanical arm on body, the end of the second mechanical arm is provided with adapter, and the second power source can pass through adapter transmission of drive force, and now, the second power source can comprise: interface, and it mates with adapter; Cable, its one end is connected on interface, and the other end is connected on hand-held instruments, for the driving force transmitting by adapter is passed to hand-held instruments.
On robot apparatus, be formed with the interface of regulation shape, to receive driving force, and the end of the first mechanical arm can be provided with and the adapter of Interface Matching.Now, be formed with described interface on hand-held instruments, to receive driving force, and the end of the second power source can be provided with and the adapter of Interface Matching.
Be arranged on body and the first mechanical arm one above for the erecting bed that hand-held instruments is installed, hand-held instruments is by being installed on erecting bed, thereby can determine its position.
Body comprises the control part for controlling the second power source, and control part receives the information about its mode of operation from hand-held instruments, and generates based on this control signal, and hand-held instruments can move according to control signal.
Hand-held instruments is marked with optical markings (optical marker), and further comprise optical tracker (optical traker), described optical tracker is according to the associated picture information output information relevant with mark position of labelling, and control part can receive information to determine the position of hand-held instruments from optical tracker.Or, may further include magnetic tracking device (magnetic tracker), described magnetic tracking device utilizes magnetic field to export the information about hand-held instruments position, and control part can receive information to determine the position of hand-held instruments from magnetic tracking device.
By the following drawings, claim scope and detailed description of the invention, the clearly aspect of other except above-mentioned, feature, advantage.
Invention effect
According to a preferred embodiment of the invention, owing to appending the drive source that driving force can be provided to other apparatus on operating robot, therefore, if append while using hand-held instruments, can directly receive power source from operating robot, and the apparatus appending by with the communicating by letter of robot, can be controlled by robot, thereby, the hand-held instruments of making according to the specification of appending power source can use as the operating theater instruments of mounting robot, its result, can improve application and the autgmentability of operating robot.
The specific embodiment
The present invention can carry out multiple variation, also can have various embodiments, illustrates specific embodiment be elaborated at this.But the present invention is not limited to the specific embodiment, should be understood to, comprise that all changes that belong in thought of the present invention and technical scope, equipollent are to sub.Think in the case of obscuring order of the present invention the detailed description about known technology in explanation of the present invention, omit this detailed description.
Can use such as the term of " first " and " second " and describe various elements, but described element is not limited by described term.Described term is only for distinguishing an element and another element.
The term using in this application, only for specific embodiment is described, is not intended to limit the present invention.Odd number represents to comprise complex representation, as long as can clearly distinguish understanding.In this application, represent to be present in the feature, sequence number, step, operation, element, assembly or its combination that in the description of description, adopt such as the term such as " comprising " or " having ", and do not get rid of the probability that exists or increase one or more different features, sequence number, step, operation, element, assembly or its combination.
Below, embodiments of the present invention will be described in detail with reference to the accompanying drawings, and in the time describing with reference to accompanying drawing, identical or corresponding element is given same reference numerals, omits the repeat specification to it.
In addition, by design, be made into the surgery instrument that is arranged on the control of surgery mechanical Bei Shangbingbei robot and be called " robot apparatus (robotic instrument) ", and by design, make adult and be called " hand-held instruments (handheld instrument) " with the hand-held surgery instrument using and move by power (itself have or from outside supply) of holding.
Fig. 1 is the integrally-built concept map that represents the surgical robot system of one embodiment of the invention.With reference to Fig. 1, figure is shown with body 1, the first power source 3, mechanical arm 5, robot apparatus 7, executor 9, the second power source 10, hand-held instruments 14, control part 30.
The operating robot that robot apparatus is installed of the present embodiment has following characteristics, by making the part of power source for the action such as mechanical arm or apparatus, hand-held instruments is moved, and, because hand-held instruments is connected with robot, utilize its annexation that hand-held instruments also can be controlled by robot.
Conventionally, operating robot is divided into master unit and from unit, and various with independent device, lead (master) robot and form from (slave) robot, and be placed in respectively different positions, and send and accept the signals such as input, output, processing by wire-wireless communication to carry out robotic surgery.For example, when doctor's operating host device people is to generate, to transmit when input signal, what be placed in far-end receives its signal from robot, and as doctor performs the operation with hands in person, makes robot motion.The operating robot of this conception of species can be called as " remote robot (teleoperated robot) ".
The robot (from robot) performing the operation possesses mechanical arm, and robot apparatus 7 is installed on mechanical arm, and robot apparatus 7 is by receiving by the required action of performing the operation of the driving force of robot control.In addition, in operating room, not only there is operating robot, and also have necessary various auxiliary device, instrument, utensil etc. in operation, be used for performing the operation simultaneously, and according to circumstances, auxiliary device receives power (, auxiliary device being connected in robot) to move from robot.The operating robot of this conception of species can become " assisting formula robot (cooperative robot) "
The present embodiment is that " remote robot " and " assisting formula robot " carried out to integrated concept, and by utilizing the part of power source for operating robot, (for example can use other device, hand-held instruments), thus make " remote robot " also can bring into play the effect of " assisting formula robot ".
In prior art, if be arranged on outside the robot apparatus on operating robot, while appending the hand-held instruments that uses other, hand-held instruments moves by other power source (power source that apparatus itself possesses or be arranged on the power sources such as outside electric motor units), thus, hand-held instruments and robot apparatus are there is no each other the mode of interaction relation, respectively individually by operation, control.
With respect to this, surgical robot system of the present invention is characterised in that, the required power source of action of hand-held instruments 14 is not set individually, but the power source that utilizes robot to possess moves hand-held instruments 14.
For example, in the time that operating robot has seven power lines, wherein three positions for definite mechanical arm 5, other three directions that are arranged on the apparatus on mechanical arm 5 for determining (are specially, be combined in the executor's 9 of the end of apparatus direction), remaining one for example can be used for actuate actuators 9(, (grip) action of holding with a firm grip).
When the example of this " mechanical arm 5-apparatus " dynamical system is incorporated into hand-held instruments 14, not needing three power lines of the position for determining mechanical arm 5, is unwanted for three power lines of driving device arm 5 at hand-held instruments 14.Because hand-held instruments 14 is that people holds with hand-held, therefore can determine its position by people, thereby not need three power lines of the position for determining mechanical arm 5.
When hand-held instruments being connected to while using in robot, as mentioned above, the position of hand-held instruments is to be determined by people, now, by the unit of the additional position that can determine hand-held instruments, it is perhaps more convenient that operating robot and hand-held instruments are unified to control.
That is, utilize optical tracking (optical tracking) and/or magnetic tracking (magnetic tracking) technology, can confirm the position of hand-held instruments.
For this reason, on hand-held instruments, represent optical markings, and utilize optical tracker and according to the image information of associated mark, can export the information of the position of associated mark, and operating robot control part can be by the position of the validation of information hand-held instruments exported by optical tracker.
Or, arranges and utilize magnetic field to export the magnetic tracking device (magnetic tracker) about the positional information of hand-held instruments, and the control part of operating robot can be by the position of the validation of information hand-held instruments exported by magnetic tracking device.
For example, optical tracker can be moved as follows: labelling is made up of the material of reflection ray, be included in the induction installations such as the infrared camera in optical tracker and detect the light being reflected by labelling, to follow the trail of the position of hand-held instruments, and magnetic tracking device can move as follows: the isolated system that is provided for producing magnetic field in outside, on hand-held instruments, be pasted with magnetic field sensor, thereby export the information about the position of hand-held instruments by sensor.
On the other hand, other four power lines that executor 9 is moved, also can be applied in hand-held instruments 14 in an identical manner.Be in the present embodiment, a part for the power source of robot drawn and use on hand-held instruments 14, mean and in above-mentioned example, be suitable for four power lines that executor 9 is moved.
Below, will make mechanical arm 5 and the power source for driven machine people apparatus 7 mounted thereto be called " the first power source ", the power source of drawing for driving hand-held instruments 14 from robot be called " the second power source ".In above-mentioned example, make seven power lines that mechanical arm 5 and robot apparatus 7 move be equivalent to the example using as the first power source 3, make four power lines that hand-held instruments 14 moves be equivalent to the example using as the second power source 10., even identical power line, according to used purposes, can become the first power source 3 or the second power source 10.
The surgical robot system of the present embodiment by body 1, be combined in the mechanical arm 5 on body 1, robot apparatus 7, the first power source 3, the second power source 10 and the hand-held instruments 14 being arranged on mechanical arm 5 forms.
Mechanical arm 5 is combined on body 1, and on its end, robot apparatus 7 is installed.In addition, mechanical arm 5 receives power source from body 1, on three dimensions, can move by state as required.The result of the action of this mechanical arm 5, determines the position of the robot apparatus 7 being arranged on its end on three dimensions.As mentioned above, the power source of driving device arm 5 is equivalent to the first power source 3.
For example, when mechanical arm 5 is by the pitching centered by X-axis (pitching), rotation (rotating) centered by Y-axis and in the time that its position is determined in three actions of the movement of Z-direction, can think that mechanical arm 5 moves with 3DOF, thus, the robot apparatus 7 that is arranged on the end of mechanical arm 5 can, according to the result of the action of mechanical arm 5, be determined its position.
Robot apparatus 7 is arranged on mechanical arm 5, and with mechanical arm 5 in the same manner, can receive driving force and move from the first power source 3.The result of the action of this robot apparatus 7, the direction being combined on executor 9 the three dimensions of its end is determined.
For example, in the time being combined in four actions of the rotation of executor 9 centered by X-axis, the rotation centered by Y-axis, rotation centered by Z axis and clamping of end of robot apparatus 7 and determining its direction, can think that robot apparatus 7 moves with 4DOF, determine thus the executor's 9 of the end that is combined in apparatus direction, thereby can move (clamping).
Like this, mechanical arm 5 and the robot apparatus 7 that is arranged on mechanical arm 5 move by the first power source 3 of being controlled by body 1.
On the other hand, on the robot body 1 of the present embodiment, be connected with the second power source 10, and with the first power source 3 in the same manner, the driving force transmitting by the second power source 10 is controlled by body 1.
The second power source 10 is only used to according to using form and the first power source 3 to distinguish to name, in fact, when drawing the power line that can be applicable on the first power source 3 when being connected on hand-held instruments 14, the second power source 10 that its derivative power line also can be used as the present embodiment plays a role.
Certainly, the second power source 10 not necessarily forms in the mode identical with the first power source 3, when body 1(is in the mode different from the first power source 3) on independent electric motor units is set, and the action of electric motor units is while being controlled by body 1, independent electric motor units is equivalent to second power source 10 of the present embodiment.
Hand-held instruments 14 its character express are the same, are the apparatuses of holding use with hand-held, are not to be arranged on mechanical arm 5 as prerequisite is made, but carrying out in process at robotic surgery, user (for example, assistant) is for auxiliary robot apparatus 7, and holds use with hand-held.
Conventionally, hand-held instruments 14 is configured to, and for being connected with axle on the hand-held handgrip of holding of user, is combined with executor 9 at the tip of the axis.For driving the power source of hand-held instruments 14 to be included in handgrip with battery shape, also outside power source can be connected on handgrip, by handgrip transmission of drive force.
In the present embodiment, the second power source 10 being connected on robot body 1 is connected on hand-held instruments 14, thereby makes the second power source 10 as driving the required power source of hand-held instruments 14.
Thus, the hand-held instruments 14 of the present embodiment, can from robot (the second power source 10) receive driving force move, can be also individually or simultaneously by user manually to operate.
When the degree of freedom of motion of hand-held instruments 14 is compared with aforesaid robot apparatus 7, the motion of mechanical arm 5 is corresponding with the manual operation of user, and executor 9 action is identical.
For example, when mechanical arm 5 moves with 3DOF by the first power source 3, and play determine robot apparatus 7 position do the used time, hand-held instruments 14 moves with 3DOF by the manual operation of user, and determines its position by the manual operation of user.
In addition, be combined in hand-held instruments 14 end executor 9 and robot apparatus 7 in the same manner, can receive driving force from robot (being specially the second power source 10) for example, moves with 4DOF (rotation of, respectively three axles being carried out as center and clamping).
Hand-held instruments 14 can move from being received driving force by the second power source 10 of robot control, and for this reason, the second power source 10 can be configured to the structure that can draw from robot body 1 its end (can draw from body 1).
As the mode of a part (the second power source 10) for the power source of " drawing " robot for hand-held instruments 14, as shown in Figure 1, can be suitable for the mode of drawing from robot body 1 part for power source as independent power line.
Or, also can be in the following ways: the apparatus that is provided with mechanical arm 6 in end is installed with the required interface of the driving that hand-held instruments 14 is installed on adapter, rather than mounting robot apparatus 7.Relevant structure, is described in more details with reference to Fig. 2 described later.
Fig. 2 is the integrally-built concept map that represents the surgical robot system of another embodiment of the present invention.With reference to Fig. 2, figure is shown with body 1, the first power source 3, mechanical arm 5,6, robot apparatus 7, the second power source 10, hand-held instruments 14, adapter 16a, 16b, interface 18a, 18b, cable 20.
The present embodiment is as the embodiment that draws the mode of the second power source 10 from robot, and the apparatus that is provided with mechanical arm 6 in end is installed with the required interface 18a of the driving that hand-held instruments 14 is installed on adapter 16a.
; in order to draw the second power source 10; on mechanical arm 6 ends that are incorporated on body 1, form adapter 16a; and connect by interface 18a mate with adapter 16a be connected to drawing with mechanism (hereinafter referred to as " the second power source is drawn cable ") that cable 20 on interface 18a forms, thereby the second power source 10 is led to the end of cable 20.
Connect hand-held instruments 14 by the end of drawing cable at the second power source, thereby make hand-held instruments 14 receive driving force and move from the second power source 10.Now, the second power source 10 can be formed as the annexation of " power line-mechanical arm 6-adapter 16a-interface 18a-cable 20 ", and by this annexation, is passed to hand-held instruments 14 from the driving force of operating robot.
This is the mode of a part for the power source of the interface 18a exteriorization robot by being formed on the adapter 16a on mechanical arm 6 and mate with it, if be made into identically with the adapter 16b for mounting robot apparatus 7 by being formed on adapter 16a on mechanical arm 6, on the end of mechanical arm 6 (adapter 16a), optionally mounting robot apparatus 7 and the second power source are drawn cable.
When on the adapter 16b at mechanical arm 5 when mounting robot apparatus 7, robot apparatus 7 can move by the power source (the first power source 3) being provided by body 1, in the time the second power source being installed on the adapter 16a at mechanical arm 6 and being drawn cable, hand-held instruments 14 can move by the power source (the second power source 10) being provided by body 1.
For this reason, the interface 18a that certainly the interface 18b of robot apparatus 7 and the second power source can be drawn to cable is made into identical, like this, by making the matching relationship standardization between " adapter-interface ", other operation devices of the interface identical with standard interface can be connected, thereby application and the autgmentability of operating robot can be improved.
As the explanation with reference to Fig. 2 carried out, can the apparatus by existing machinery arm 6 install and draw hand-held instruments 14 with adapter 16a and move required power source (the second power source 10), as the explanation with reference to Fig. 1 carried out, the mode of power line that also can be by utilizing other is drawn.
In addition,, about the second power source 10, can, using a part that is configured in the power source on robot body 1 as the second power source 10, also can append independent electric motor units, and this electric motor units appending is played a role as the second power source 10.
In the time using independent electric motor units as the second power source 10, although the dynamical system (the second power source 10-hand-held instruments 14) of the dynamical system of remote robot (teleoperated robot) (the first power source 3-mechanical arm 5-robot apparatus 7) and assistance formula robot (cooperative) is separated from each other, but now also can make each robot be controlled by intercoming mutually, thereby Shi Liangge robot form as one simultaneously.
That is, on robot body 1, connect for providing the independent electric motor units of power to hand instrument 14, and make electric motor units by the unified control of robot body 1.For example, when the user (executing patient) of the control that is seated on the control station of robot body 1, when hand-held instruments 14 is held by other user (operation paraprofessional personnel), owing to can unifying to control electric motor units by robot body 1, therefore, execute patient and can be sitting in the apparatus controlling paraprofessional personnel on control station and hold (certainly, as mentioned above, because the position of hand-held instruments 14 own is determined by paraprofessional personnel's manual operation, therefore be difficult to control by control station, but can unify to control the executor's 9 who is combined in apparatus end action by control station).
Fig. 3 represents the adapter of power source of embodiments of the invention and the concept map of the interface of apparatus.With reference to Fig. 3, diagram has mechanical arm 5,6, robot apparatus 7, hand-held instruments 14, adapter 16b, 16c, interface 18b, 18c.
In the present embodiment, by carrying out standardization, make the adapter of power source and the interface of apparatus there is the structure that can mutually install, thereby by hand-held instruments 14 being installed on mechanical arm 6 or being drawn the end mounting robot apparatus 7 with cable at the second power source, can make each apparatus general.
The second power source 10 can be drawn by other power line, or can draw cable and draw by being arranged on the second power source of the adapter 16a being formed on mechanical arm 6.Now, as mentioned above, with robot apparatus 7 in the same manner, the interface 18a that can draw to being formed on adapter 16a on mechanical arm 6 and the second power source cable carries out standardization.
In addition, the end that independent power line end and the second power source are drawn cable is also combined with hand-held instruments 14, for this reason, also can be formed with the interface 18c for receiving driving force on hand-held instruments 14.
First observer robot apparatus 7, is provided with adapter 16b on the end of mechanical arm 5, be arranged on the interface 18b that forms regulation shape on the robot apparatus 7 on this adapter 16b.When apparatus is arranged on mechanical arm 5, because interface 18b mates with adapter 16b, thereby by mechanical arm 5, driving force is passed to apparatus from robot body 1.
On hand-held instruments 14, be also formed with interface 18c, can receive driving force, end (for example, the end of other power line or the second power source are drawn the end of cable) for the second power source 10 that hand-held instruments 14 is installed can be provided with the adapter 16c mating with interface 18c.
Thus, if identical with the interface 18b of robot apparatus 7 by carrying out interface 18c that standardization makes hand-held instruments 14, and make the adapter 16c of end of the second power source 10 identical with the adapter 16b of mechanical arm 5 by carrying out standardization, can as required hand-held instruments 14 be arranged on mechanical arm 6, or robot apparatus 7 is arranged on to the end of the second power source 10, and then other devices that adopt standard interface can be installed, thereby can improve the autgmentability of surgical robot system.
Fig. 4 represents that the hand-held instruments of one embodiment of the invention is arranged on the figure of the state on operating robot.With reference to Fig. 4, figure is shown with body 1, the first power source 3, mechanical arm 5, robot apparatus 7, the second power source 10, hand-held instruments 14, erecting bed 22, control part 30.
In the present embodiment, by the erecting bed 22 that hand-held instruments 14 can be installed is set on operating robot, making to be connected to the hand-held instruments 14 using in the mode of assisting on the second power source 10 can use as the apparatus being arranged on surgical engine mechanical arm.
That is, as shown in Figure 4, by erecting bed 22 is set, hand-held instruments 14 can be arranged on body 1 or mechanical arm 5, thereby hand-held instruments 14 can, to be arranged on the state of erecting bed 22, receive driving force and be controlled from robot.
Although the robot apparatus 7 being arranged on mechanical arm 5 is determined its position according to the action of the 3DOF of mechanical arm 5, but it is fixing that the position that is mounted in the hand-held instruments 14 on erecting bed 22 is mounted platform 22, operating robot can be controlled the executor's 9 who is combined in hand-held instruments 14 ends that are mounted action (in example as above, the action of 4DOF).
On the other hand, as mentioned above, hand-held instruments 14 can be by controlling by robot is unified with communicating by letter of robot body 1, for example, in the time of the operating means of operation setting on hand-held instruments 14, its corresponding signal is passed to robot body 1, and robot body 1 is controlled hand-held instruments 14 as control apparatus 7, thereby hand-held instruments 14 is moved.
, the control part 30 of controlling the body 1 of the second power source 10 receives the information about the mode of operation of hand-held instruments 14, and generates based on this signal (by controlling the second power source 10), thereby can control hand-held instruments 14.
Be illustrated with reference to the preferred embodiments of the present invention above, but for those skilled in the art, not exceeding in the scope in thought of the present invention that claims record and region, the present invention can carry out multiple modifications and changes.