CN111407416B - A tremor elimination method and system for vascular interventional surgery robot system - Google Patents

Abstract

Translated fromChinese

一种针对血管介入手术机器人系统的震颤消除方法及系统，主要由消除生理震颤策略以及消除应激震颤策略组成；消除应激震颤的策略主要包括对由紧张引起的应激震颤的识别和补偿，识别主要从安全碰撞力的角度出发，利用牛顿第二定律间接得到安全的加速度；通过将实时加速度和安全加速度进行对比以达到对应激震颤的识别并补偿；这种策略对于人手操作的高精度医疗器械领域具有非常强的实用性和可推广性，且结构简单，容易实现。

A tremor elimination method and system for a vascular interventional surgery robot system mainly consists of a strategy for eliminating physiological tremor and a strategy for eliminating stress tremor; the strategy for eliminating stress tremor mainly includes identifying and compensating for stress tremor caused by tension, Recognition mainly starts from the perspective of safe collision force, and uses Newton's second law to indirectly obtain safe acceleration; by comparing real-time acceleration and safe acceleration to identify and compensate for stress tremor; The device field has very strong practicability and generalizability, and the structure is simple and easy to implement.

Description

Tremor elimination method and system for vascular intervention surgical robot system

Technical Field

The invention belongs to the technical field of medical robots, in particular to a tremor elimination method and a system for a vascular intervention surgical robot system, which can indirectly identify physiological tremor of human beings caused by tension from the perspective of safe contact force and achieve the function of eliminating the tremor, and the application scene is mainly in the field of master-slave medical robots operated by human beings.

Background

With the rapid development of telemedicine technology, more and more master-slave surgical robot systems are put into use. The most frequently used and most rapidly developed robot system is a master-slave type vascular interventional surgery robot system. The master-slave vascular interventional surgical robot system has the working mode that: the main end operation equipment of the master-slave type blood vessel intervention operation robot system is operated by a doctor, the main end operation equipment acquires displacement signals of hands of the doctor through a linear displacement sensor, the displacement signals at the moment are analog signals, the displacement signals are transmitted to a central processing unit through an analog interface, the central processing unit internally converts the analog signals into digital signals in a self-running mode, the slave end operation equipment receives the displacement signals transmitted by the central processing unit through a digital interface, the received displacement signals are digital signals converted and completed by the central processing unit, the displacement signals at the moment are transmitted to a stepping motor installed on the slave end operation equipment through the digital interface, the stepping motor receives the displacement signals and then drives the slave end operation equipment to displace, and the operation is carried out. However, since the master-end operation device of the master-slave vascular interventional surgical robot system needs to be operated by a human hand, the inevitable problem is that the motion signal acquisition device at the master end acquires the slight tremor of the human hand while acquiring the normal motion of the human hand, and the slight tremor is expressed on the slave-end operation device. This subtle tremor can often cause fatal injury to the patient during vascular interventional procedures where accuracy is critical. But the technology for eliminating the hand tremor of the main end of a minimally invasive surgical robot system is still a blank field, and in order to solve the technical problem, the invention provides a tremor elimination strategy specially aiming at the vascular intervention surgical robot system, regular physiological tremor is identified and eliminated by the frequency and amplitude of the known physiological tremor, the safe acceleration is obtained by utilizing the safe contact force through the Newton's second law, and the stress tremor caused by tension is identified and eliminated by measuring the acceleration of the hand action in real time and comparing the measured acceleration with the safe acceleration.

Disclosure of Invention

The invention aims to provide a tremor elimination method for a vascular intervention surgical robot system, which can make up for the defects of the prior art and is a method which is simple to operate, easy to realize and capable of effectively eliminating tremor.

The technical scheme adopted by the invention is as follows: a tremor elimination method for a vascular intervention surgical robot system is characterized by comprising two parts of regular physiological tremor recognition and elimination and stress tremor recognition and elimination caused by tension; the regular physiological tremor is caused by muscle fatigue due to long operation time, and the tremor in the form presents a sinusoidal state with the frequency of 8-12 Hz and the amplitude of about 50 μm; the stress tremor caused by tension is caused by the inevitable tension during the operation, and in this case, the human hand generates a stress tremor which is difficult to identify because of no regularity.

The regular physiological tremor identification and elimination method is characterized in that the tremor is identified and eliminated by utilizing the tremor rule, and specifically comprises the following steps:

(1) acquiring a displacement signal of a doctor hand by a linear displacement sensor, wherein the acquired signal is a time domain signal, performing Fourier transform on the signal, converting the signal from the time domain signal into a frequency domain signal, and obtaining the frequency distribution of the original time domain signal;

(2) because the physiological tremor rule is mainly embodied in frequency and presents a frequency form of 8-12 Hz, the frequency domain signal obtained in the step (1) is filtered by an ideal filter technology;

in the step (2), the ideal filter technology is used for filtering the signal, specifically: the ideal filter is used for filtering out signals with specified frequency by setting the signals with the specified frequency to be 0, setting all the signals with the frequency between 8 Hz and 12Hz in the signals to be 0, and setting all the signals with other frequencies to be 1, so that the aims of identifying and filtering physiological tremor are fulfilled.

(3) And (3) performing Fourier inversion on the frequency signal obtained in the step (2) and filtered out the physiological tremor, converting the frequency signal into a time domain signal again, transmitting the time domain signal to a stepping motor arranged on the slave end surgical equipment, and driving the slave end surgical equipment to move by a driving motor to perform surgery.

The identification and elimination of stress tremor caused by stress specifically comprises the following steps:

(1) placing the contact end of the force sensor at the end point of the displacement from the end surgical device, and colliding with the pressure sensor when moving from the end to the place where the force measuring device is installed, thereby obtaining a collision force F;

(2) in order to improve the data accuracy, the collision force of the slave-end surgical equipment moving under three random accelerations is measured by the force measuring equipment;

and (3) selecting three random accelerations in the step (2), wherein the three random accelerations are respectively 1 cm/s, 2 cm/s and 4 cm/s.

(3) According to Newton's second law F ═ Ma, three masses can be obtained under three different accelerations, and the M coefficient of the slave surgical equipment, namely the mass parameter in the Newton's second law, is obtained by averaging the three masses;

(4) the safety force threshold value of the slave end operation device is 120mn, when the force of the slave end contacting the blood vessel exceeds 120mn, the blood vessel is at risk of being punctured, and the safe acceleration of the motion of the slave end operation device can be obtained by substituting the M coefficient obtained in the step (3) into F ═ Ma through Newton's second law;

(5) acquiring a displacement signal of the main-end operating equipment as a time-domain signal by using a linear displacement sensor, and obtaining the displacement signal after physiological tremor is eliminated after the physiological tremor elimination strategy shown in fig. 2, wherein the displacement signal at the moment is the time-domain signal; the 1 microsecond displacement signal is subjected to second-order derivation, and the real-time acceleration of the motion of the main-end operation equipment can be obtained;

(6) during the advancing of the catheter from the end-effector, if the catheter does not contact the vessel wall, the following steps are not performed, and the following steps (7) - (8) are continued only when the vessel wall is contacted;

the judging mode of whether the catheter contacts the vessel wall in the step (6) is as follows: measuring the real-time acceleration of the slave-end surgical equipment through an incremental photoelectric encoder, and when the real-time acceleration of the slave-end surgical equipment is reduced, proving that the catheter starts to touch the blood vessel wall, starting to enter the steps (7) - (8), otherwise, returning to the step (5);

(7) comparing the real-time acceleration of the motion of the main-end operation equipment obtained in the step (5) with the safe acceleration obtained in the step (4); if the acceleration is greater than the safe acceleration, the tremor belongs to dangerous tremor, and if the slave surgical equipment continues to move at the same acceleration, the force generated by collision between the slave surgical equipment and the vessel wall after the slave surgical equipment pushes the catheter into the vessel can possibly puncture the vessel to harm the life safety of the patient, and the displacement at the moment is judged to be dangerous stress tremor;

(8) and (3) eliminating the dangerous tremor obtained in the step (7), and if the displacement signal of 1 microsecond is judged as a dangerous signal according to the judgment result in the step (7), the displacement signal of 1 microsecond cannot be transmitted to the slave end surgical equipment and drives the motor to displace, and the dangerous stress tremor is filtered in a mode that the dangerous signal is directly abandoned and is not transmitted to the slave end surgical equipment.

A system for realizing regular physiological tremor identification and elimination comprises a master end operation device, a slave end operation device and a central controller, and is characterized in that the system is composed of a linear displacement sensor, a stepping motor and an incremental photoelectric encoder; the linear displacement sensor is used for acquiring hand motion signals of a doctor; the stepping motor drives the slave end operation equipment to displace so as to achieve the purpose of completing the operation; the incremental photoelectric encoder is used for receiving a motion signal of the slave surgical equipment; the central controller is used for receiving the displacement signals acquired by the linear displacement sensor through the analog signal interface, and transmitting the tremor-removed signals to the stepping motor on the slave surgical equipment for driving through the digital signal interface after the defibrillation treatment; the control signals between the slave end operation equipment and the central controller are transmitted in two directions; and the motion signals between the main-end operation equipment and the central controller are transmitted in two directions.

The linear displacement sensor is a TP-0200-.

The stepping motor is an ARM24SAK-H100 type stepping motor produced by Orientalmotor.

The incremental photoelectric encoder is a GTH08-OC-RAG2500Z1-2M incremental photoelectric encoder.

The central controller employs an Arduino DUE microprocessor.

A system for realizing the recognition and elimination of stress tremor caused by tension comprises a main end operation device, a slave end operation device, a medical catheter and a central controller, and is characterized in that the system consists of a linear displacement sensor, a force measuring device and a stepping motor; the linear displacement sensor is used for obtaining linear displacement data of the master end operation equipment and the slave end operation equipment; the force measuring equipment consists of a pressure sensor and a digital display; the pressure sensor is used for measuring the collision force of the slave surgical equipment and displaying the information of the collision force on the digital display; the stepping motor is used for driving the catheter for the instrument to move.

The linear displacement sensor and the linear displacement sensor in the system for identifying and eliminating regular physiological tremor are the same device.

The force measuring device is a force measuring device produced by Contronix.

The stepping motor is an ARM24SAK-H100 type stepping motor for driving the medical catheter to advance.

The working principle of the invention is as follows: regular physiological tremor is identified and eliminated by utilizing the tremor rule, and the physiological tremor rule is mainly reflected in frequency and presents in a form of 8-12 Hz. The main method for identifying the law is to perform Fourier transform on the collected displacement signal of the main-end operator, convert the signal from a time domain signal to a frequency domain signal, the frequency domain signal can represent the frequency distribution of the time domain signal, and then all signals of 8-12 Hz are set to be 0 and all signals of other frequencies are set to be 1 through an ideal filter, so that the physiological tremor can be identified and filtered.

For stress tremor caused by stress, the main way of identification is based on the safety force of the catheter contacting the vessel wall and the newton's second law, which has been derived from existing studies, three quantities of which are force F, mass M and acceleration a, we need to derive a safety acceleration from the safety touch force and mass M from the end-surgical device, by comparing the real-time acceleration with the safety acceleration; from a surgical safety standpoint, the force of the end-effector impacting the vessel wall after advancing the catheter into the vessel has a safe threshold of 120 mn. When the collision force is larger than the threshold value, the blood vessel is possibly punctured to harm the life safety of a patient, according to the safety force threshold value of the catheter contacting the blood vessel wall and Newton's second law in the known technology, the safety acceleration is obtained, the motion speed of the main end operation equipment is measured by using the linear displacement sensor, the real-time motion speed is compared with the safety acceleration, the time interval for reading the linear displacement sensor is set to be 1 microsecond in a central processing unit Arduino DUE, 1 microsecond is the minimum interval for reading data by the Arduino DUE, the minimum acquisition interval is adopted to improve the accuracy of acquiring the hand motion of a doctor, after the displacement signal of 1 microsecond is acquired, the displacement signal of 1 microsecond is subjected to secondary derivation to obtain the real-time acceleration of the doctor operating the main end operator within 1 microsecond, and the acceleration of 1 microsecond is compared with the safety acceleration, if the acceleration is greater than the safe acceleration, the vibration is identified as unsafe chatter, the 1 microsecond displacement information is not transmitted to the slave-end surgical equipment, if the acceleration is less than the safe acceleration, the motion is within the safe acceleration range, the safe normal operation is considered, the 1 microsecond displacement information is transmitted to the slave-end surgical equipment, the stepping motor is driven to move, and the dangerous chatter is identified and eliminated in the mode.

A force-measuring device manufactured by Contronix, the device comprising a pressure sensor and a digital display. The propulsion acceleration of the slave-end surgical equipment is set to be a known fixed value by using a mode that an Arduino DUE microprocessor outputs regular PWM waves, the slave-end surgical equipment propels and collides with a force sensor under the condition of known acceleration, real-time collision force is displayed on a digital display, and M of the slave-end surgical equipment can be calculated by using the real-time collision force and the known acceleration through Newton's second law. In order to realize the strategy, the collected displacement data needs to be processed to obtain an analog voltage value through a TP-0200-. And linear displacement data of the master-end device and the slave-end device are obtained (see fig. 5).

The invention has the advantages that: the recognition and elimination of stress tremor and physiological tremor caused by manual operation in the system are realized; stress tremor caused by tension can be removed at the same time under the condition of removing regular physiological tremor; the medical robot system has higher safety and improves the success rate of the operation by eliminating the tremor; has higher practicability and research value in the field of medical robots.

Drawings

Fig. 1 is a hardware overall framework diagram of a tremor elimination method for a vascular intervention surgical robotic system according to the present invention.

FIG. 2 is a schematic flow chart of a regular physiological tremor elimination method in the tremor elimination method for a vascular interventional surgical robot system according to the present invention.

FIG. 3 is a schematic flow chart of a stress tremor elimination method caused by stress in the tremor elimination method of the vascular interventional surgical robot system according to the present invention.

Fig. 4 is a schematic diagram of a specific implementation principle of recognizing stress tremor caused by tension in a tremor elimination method for a vascular intervention surgical robot system according to the present invention.

Fig. 5 is a schematic diagram of an implementation manner of processing motion data in a tremor elimination method for a vascular intervention surgical robot system according to the present invention.

Detailed Description

Example (b): a tremor elimination method for a vascular intervention surgical robot system is characterized by comprising two parts of identification and elimination of regular physiological tremor and identification and elimination of stress tremor caused by tension, which are respectively shown in fig. 2 and fig. 3; the regular physiological tremor is caused by muscle fatigue due to long operation time, and the tremor in the form presents a sinusoidal state with the frequency of 8-12 Hz and the amplitude of about 50 μm; the stress tremor caused by tension is caused by the inevitable tension during the operation, and in this case, the human hand generates a stress tremor which is difficult to identify because of no regularity.

The regular physiological tremor is identified and eliminated by utilizing the tremor rule, and as shown in fig. 2, the method specifically comprises the following steps:

(1) the linear displacement sensor is used for acquiring displacement signals of the hands of a doctor, the acquired signals are time-domain signals, in order to ensure the acquisition accuracy, the minimum acquisition interval of the central processing unit is 1 microsecond, and the smaller the used acquisition interval is, the higher the accuracy of the acquired displacement signals is; carrying out Fourier transform on the signal, converting the signal from a time domain signal into a frequency domain signal, and obtaining the frequency distribution of the original time domain signal; acquiring 1 microsecond displacement information for eliminating physiological tremor, and performing secondary derivation on the displacement information in a subsequent strategy for eliminating stress tremor to obtain real-time acceleration; the time domain signal and the frequency domain signal are opposite to each other in signal form and can be converted into each other, and the analog signal and the digital signal are opposite to each other in signal form and can be converted into each other;

(2) because the physiological tremor rule is mainly embodied in frequency and presents a frequency form of 8-12 Hz, the frequency domain signal obtained in the step (1) is filtered by an ideal filter technology;

in the step (2), the ideal filter technology is used for filtering the signal, specifically: the ideal filter is used for filtering out signals with specified frequency by setting the signals with the specified frequency to be 0, setting all the signals with the frequency between 8 Hz and 12Hz in the signals to be 0, and setting all the signals with other frequencies to be 1, so that the aims of identifying and filtering physiological tremor are fulfilled.

(3) And (3) performing Fourier inversion on the frequency signal obtained in the step (2) and filtered out the physiological tremor, converting the frequency signal into a time domain signal again, transmitting the time domain signal to a stepping motor arranged on the slave end surgical equipment, and driving the slave end surgical equipment to move by a driving motor to perform surgery.

The identification and elimination of stress tremor caused by stress, as shown in fig. 3, specifically comprises the following steps:

(1) placing the contact end of the force sensor at the end point of the displacement from the end surgical device, and colliding with the pressure sensor when moving from the end to the place where the force measuring device is installed, thereby obtaining a collision force F;

(2) in order to improve the data accuracy, the collision force of the slave-end surgical equipment moving under three random accelerations is measured by the force measuring equipment;

and (3) selecting three random accelerations in the step (2), wherein the three random accelerations are respectively 1 cm/s, 2 cm/s and 4 cm/s.

(3) According to Newton's second law F ═ Ma, three masses can be obtained under three different accelerations, and the M coefficient of the slave surgical equipment, namely the mass parameter in the Newton's second law, is obtained by averaging the three masses;

(4) the safety force threshold value of the slave end operation device is 120mn, when the force of the slave end contacting the blood vessel exceeds 120mn, the blood vessel is at risk of being punctured, and the safe acceleration of the motion of the slave end operation device can be obtained by substituting the M coefficient obtained in the step (3) into F ═ Ma through Newton's second law;

(5) acquiring a displacement signal of the main-end operating equipment as a time-domain signal by using a linear displacement sensor, and obtaining the displacement signal after physiological tremor is eliminated after the physiological tremor elimination strategy shown in fig. 2, wherein the displacement signal at the moment is the time-domain signal; the 1 microsecond displacement signal is subjected to second-order derivation, and the real-time acceleration of the motion of the main-end operation equipment can be obtained;

(6) during the advancing of the catheter from the end-effector, if the catheter does not contact the vessel wall, the following steps are not performed, and the following steps (7) - (8) are continued only when the vessel wall is contacted;

the judging mode of whether the catheter contacts the vessel wall in the step (6) is as follows: measuring the real-time acceleration of the slave-end surgical equipment through an incremental photoelectric encoder, and when the real-time acceleration of the slave-end surgical equipment is reduced, proving that the catheter starts to touch the blood vessel wall, starting to enter the steps (7) - (8), otherwise, returning to the step (5);

(7) comparing the real-time acceleration of the motion of the main-end operation equipment obtained in the step (5) with the safe acceleration obtained in the step (4); if the acceleration is greater than the safe acceleration, the tremor belongs to dangerous tremor, and if the slave surgical equipment continues to move at the same acceleration, the force generated by collision between the slave surgical equipment and the vessel wall after the slave surgical equipment pushes the catheter into the vessel can possibly puncture the vessel to harm the life safety of the patient, and the displacement at the moment is judged to be dangerous stress tremor;

(8) and (3) eliminating the dangerous tremor obtained in the step (7), and if the displacement signal of 1 microsecond is judged as a dangerous signal according to the judgment result in the step (7), the displacement signal of 1 microsecond cannot be transmitted to the slave end surgical equipment and drives the motor to displace, and the dangerous stress tremor is filtered in a mode that the dangerous signal is directly abandoned and is not transmitted to the slave end surgical equipment.

A system for realizing regular physiological tremor identification and elimination is shown in figure 1 and comprises a main end operation device, a slave end operation device and a central controller, and is characterized in that the system is composed of a linear displacement sensor, a stepping motor and an incremental photoelectric encoder; the linear displacement sensor is used for acquiring hand motion signals of a doctor; the stepping motor drives the slave end operation equipment to displace so as to achieve the purpose of completing the operation; the incremental photoelectric encoder is used for receiving a motion signal of the slave surgical equipment; the central controller is used for receiving the displacement signals acquired by the linear displacement sensor through the analog signal interface, and transmitting the tremor-removed signals to the stepping motor on the slave surgical equipment for driving through the digital signal interface after the defibrillation treatment; the control signals between the slave end operation equipment and the central controller are transmitted in two directions; and the motion signals between the main-end operation equipment and the central controller are transmitted in two directions.

The linear displacement sensor is a TP-0200-.

The stepping motor is an ARM24SAK-H100 type stepping motor produced by Orientalmotor.

The incremental photoelectric encoder is a GTH08-OC-RAG2500Z1-2M incremental photoelectric encoder.

The central controller employs an Arduino DUE microprocessor.

A system for realizing the recognition and elimination of stress tremor caused by tension comprises a main end operation device, a slave end operation device, a medical catheter and a central controller, as shown in figure 4, and is characterized in that the system consists of a linear displacement sensor, a force measuring device and a stepping motor; the linear displacement sensor is used for obtaining linear displacement data of the master end operation equipment and the slave end operation equipment; the force measuring equipment consists of a pressure sensor and a digital display; the pressure sensor is used for measuring the collision force of the slave surgical equipment and displaying the information of the collision force on the digital display; the stepping motor is used for driving the catheter for the instrument to move.

The linear displacement sensor and the linear displacement sensor in the system for identifying and eliminating regular physiological tremor are the same device.

The force measuring device is a force measuring device produced by Contronix.

The stepping motor is an ARM24SAK-H100 type stepping motor for driving the medical catheter to advance.

The present invention will be described in further detail with reference to the following embodiments, which are illustrative only and not limiting, and the scope of the present invention is not limited thereby.

A tremor elimination method for a vascular intervention surgical robot system specifically comprises the following steps:

(1) obtaining the M coefficient of the mobile end of the slave end operation equipment for implementing the strategy;

(2) according to the mode shown in fig. 4, the contact end of the force sensor is placed at the terminal point of the movable end of the surgical equipment, and the contact end of the force sensor is collided when the movable end moves to the terminal point, so that collision force is obtained;

(3) the slave surgical device is measured by force sensors to move the tip at three different sets of accelerations: 1 cm/sec, 2 cm/sec, 4 cm/sec, measuring the impact force during movement, and randomly selecting three groups of accelerations only to increase the data accuracy;

(4) under the condition that three groups of accelerations and collision forces which are artificially set are known, an M coefficient can be obtained according to Newton's second law;

(5) after the M coefficient is obtained, the safety force threshold value 120mn of the known data is obtained through previous research, and the safety acceleration of the moving end of the slave end surgical equipment is calculated in a mode that the acceleration can be obtained under the condition of known force and mass M through Newton's second law;

(6) the linear displacement sensor 2 is used for acquiring displacement data of the hands of a doctor, the acceleration of movement is obtained in a secondary derivation mode, and the frequency data of physiological tremor is obtained by performing Fourier transform on signals;

(7) under the condition of frequency distribution of a known physiological tremor law, firstly, the motion data can process displacement data according to a strategy shown in fig. 2, the physiological tremor is identified and eliminated according to a known frequency range of 8-12 Hz, the principle mode for identifying the law is to perform Fourier transformation on an acquired displacement signal of a main-end operator, the signal is converted into a frequency domain signal from a time domain signal, the frequency domain signal can represent the frequency distribution of the time domain signal, all signals of 8-12 Hz are set to be 0 through an ideal filter, all signals of other frequencies are set to be 1, and the physiological tremor can be identified and filtered through the method.

(8) After physiological tremor is eliminated, displacement data enter a strategy shown in fig. 3, the motion speed of the master-end operation equipment is measured by using a linear displacement sensor, the real-time motion speed is compared with a safe acceleration, if the acceleration is greater than the safe acceleration, the 1 microsecond displacement information is not transmitted to the slave-end operation equipment, if the acceleration is less than the safe acceleration, the 1 microsecond displacement information is transmitted to the slave-end operation equipment and drives a motor to move, and dangerous tremor is identified and eliminated in such a way;

(9) after elimination by the strategy of fig. 2 and 3, physiological tremor and stress tremor are identified and filtered out.

The following is a further description of the drawings:

FIG. 1 is a hardware overall framework diagram of a tremor elimination method for a vascular interventional surgical robotic system according to the present invention; which comprises the following steps: an Arduino DUE microprocessor, a TP-0200-101-411-102-type linear displacement sensor, a slave-end surgical device, a GTH08-OC-RAG2500Z1-2M incremental photoelectric encoder and a master-end operator.

FIG. 2 is a schematic flow chart of a regular physiological tremor elimination method in the tremor elimination method for a vascular interventional surgical robot system according to the present invention; firstly, displacement signals are collected through a linear displacement sensor on main-end surgical equipment, the collected displacement signals are transmitted to a central processing unit through an analog interface, Fourier analysis is carried out on the signals in the central processing unit to convert time domain signals into frequency domain signals, an ideal filter is used for filtering, the displacement signals after physiological tremor is filtered are obtained through Fourier inverse transformation, and the displacement signals at the moment are transmitted to the next strategy.

FIG. 3 is a schematic flow chart of the stress tremor elimination method caused by stress in the tremor elimination method of the vascular interventional surgical robot system according to the present invention; firstly, signals output from the strategy of fig. 2 are received, the process of transmitting signals between the two strategies is completely finished in the central processing unit, then whether the catheter contacts with the vascular wall is judged through whether the acceleration measured by the incremental photoelectric encoder arranged at the moving end of the slave operation equipment changes, the strategy is mainly aimed at the condition that the catheter touches the vascular wall, the strategy is not executed under the non-contact condition, the calculation burden of the central processing unit can be reduced, the real-time acceleration is mainly measured through the incremental encoder, if the acceleration changes, the obstruction force is received, if the acceleration of the moving end of the slave operation equipment changes, the resistance when the catheter contacts with the vascular wall is received, and if the catheter contacts with the vascular wall, the strategy is continuously executed. And performing secondary derivation on the displacement data of the main-end manipulator measured by the linear displacement sensor to obtain real-time acceleration, comparing the measured acceleration of the main-end manipulator with the safe acceleration, if the measured acceleration is smaller than the safe acceleration, indicating that the action is safe, otherwise, judging that the action is unsafe, and if the action is safe, transmitting the displacement signal to the slave-end surgical equipment as a control signal of the stepping motor to drive the stepping motor to perform displacement so as to achieve the purpose of completing the surgery.

Fig. 4 is a schematic diagram illustrating a method for calculating a threshold of a safe acceleration in a tremor elimination method of a robot system for vascular intervention surgery according to the present invention. The acceleration of the slave-end surgical equipment is set through the central processing unit, the force sensor is used for measuring the collision force under the set acceleration, and finally the mass coefficient M of the slave-end surgical equipment is obtained through a Newton's second law formula. A safe acceleration threshold is then derived from the mass coefficient M of the end-use surgical device, and a known safe force threshold using Newton's second law.

Fig. 5 is a schematic diagram of an implementation manner of processing motion data in a tremor elimination method for a vascular intervention surgical robot system according to the present invention. The slave-end surgical equipment carrying the catheter is driven by the stepping motor to displace, the real-time acceleration of the slave-end surgical equipment is measured by the incremental photoelectric encoder arranged on the stepping motor, and the real-time acceleration of the slave-end surgical equipment is transmitted to the central processing unit for processing. The linear displacement sensor is used for measuring the displacement of the operating equipment at the main end operated by the hands of the doctor and transmitting a displacement signal to the central processing unit for processing.

Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the invention and the appended claims, and therefore the scope of the invention is not limited to the disclosure of the embodiments and the accompanying drawings.

Claims (7)

Translated fromChinese

1.一种实现对有规律的生理震颤识别及消除的系统，包括主端操作设备、从端手术设备及中央控制器，其特征在于它是由直线位移传感器、步进电机和增量式光电编码器构成；其中，所述直线位移传感器用于采集医生的手部运动信号；所述步进电机将带动从端手术设备进行位移，来达到完成手术的目的；所述增量式光电编码器用于接收从端手术设备的运动信号；所述中央控制器用于通过模拟信号接口接收直线位移传感器采集到的位移信号，并经过除颤处理以后将去除震颤的信号通过数字信号接口传输到从端手术设备上的步进电机上进行驱动；所述从端手术设备与中央控制器之间控制信号呈双向传递；所述主端操作设备与中央控制器之间运动信号呈双向传递；1. a system that realizes the identification and elimination of regular physiological tremors, including the master operation equipment, the slave operation equipment and the central controller, it is characterized in that it is composed of a linear displacement sensor, a stepping motor and an incremental photoelectric Encoder composition; wherein, the linear displacement sensor is used to collect the doctor's hand motion signal; the stepper motor will drive the slave end surgical equipment to move to achieve the purpose of completing the operation; the incremental photoelectric encoder is used for It is used to receive the motion signal of the slave-end surgical equipment; the central controller is used to receive the displacement signal collected by the linear displacement sensor through the analog signal interface, and after defibrillation processing, transmit the defibrillation signal to the slave-end surgery through the digital signal interface. The stepper motor on the device is driven; the control signal between the slave-end surgical device and the central controller is bidirectionally transmitted; the motion signal between the master-end operating device and the central controller is bidirectionally transmitted;所述一种实现对有规律的生理震颤识别及消除的系统的震颤消除方法包括以下步骤：Described a tremor elimination method that realizes the recognition and elimination of regular physiological tremors, comprising the following steps:（1）由直线位移传感器采集医生手部的位移信号，此时采集的信号为时域信号，对该信号进行傅里叶变换，将该信号从时域信号转换成频域信号，得到原时域信号的频率分布；(1) The displacement signal of the doctor's hand is collected by the linear displacement sensor. At this time, the collected signal is a time domain signal. Fourier transform is performed on the signal, and the signal is converted from a time domain signal to a frequency domain signal, and the original time is obtained. the frequency distribution of the domain signal;（2）由于生理震颤的规律主要体现在频率上，呈现出8~12Hz的频率形式，因此将步骤（1）得到的频域信号，通过理想滤波器技术进行滤除；(2) Since the law of physiological tremor is mainly reflected in the frequency, showing the frequency form of 8~12Hz, the frequency domain signal obtained in step (1) is filtered through the ideal filter technology;（3）将步骤（2）中得到的滤除了生理震颤的频域信号进行傅里叶反变换，再次将其转换成时域信号，并将时域信号传输至从端手术设备上安装的步进电机，由驱动电机带动从端手术设备位移，进行手术。(3) Perform an inverse Fourier transform on the frequency domain signal obtained in step (2) after filtering out the physiological tremor, convert it into a time domain signal again, and transmit the time domain signal to the step device installed on the slave surgical equipment. The input motor is driven by the drive motor to drive the displacement of the slave end surgical equipment to perform surgery.2.根据权利要求1所述一种实现对有规律的生理震颤识别及消除的系统，其特性在于所述步骤（2）中利用理想滤波器技术对信号进行滤除，具体是指：理想滤波器是通过将指定频率的信号置0的方式滤除掉指定频率的信号，将信号中频率位于8~12Hz之间的信号全部置0，而其他频率的信号全部置1，达到对生理震颤的识别和滤除目的。2. A system for realizing the recognition and elimination of regular physiological tremors according to claim 1, characterized in that in the step (2), ideal filter technology is used to filter out signals, specifically: ideal filtering The device filters out the signal of the specified frequency by setting the signal of the specified frequency to 0, and sets all the signals with the frequency between 8 and 12 Hz in the signal to 0, and all the signals of other frequencies are set to 1, so as to achieve the anti-physiological tremor. Identification and filtering purposes.3.根据权利要求1所述一种实现对有规律的生理震颤识别及消除的系统，其特征在于所述直线位移传感器是Novotechink公司的TP-0200-101-411-102直线位移传感器；所述步进电机是Orientalmotor生产的ARM24SAK-H100型步进电机；所述增量式光电编码器是GTH08-OC-RAG2500Z1-2M增量式光电编码器；所述中央控制器采用Arduino DUE微型处理器。3. A system for realizing regular physiological tremor recognition and elimination according to claim 1, wherein the linear displacement sensor is the TP-0200-101-411-102 linear displacement sensor of Novotechink Company; the The stepping motor is an ARM24SAK-H100 stepping motor produced by Orientalmotor; the incremental photoelectric encoder is a GTH08-OC-RAG2500Z1-2M incremental photoelectric encoder; the central controller adopts an Arduino DUE microprocessor.4.一种实现对紧张引起的应激震颤的识别与消除的系统，包括主端操作设备、从端手术设备、医用导管及中央控制器，其特征在于它是由直线位移传感器、测力设备和步进电机构成；所述直线位移传感器用于得到主端操作设备及从端手术设备的直线位移数据；所述测力设备由压力传感器和数字显示器构成；所述压力传感器是用来测量从端手术设备的碰撞力，并将该碰撞力信息在数字显示器上显示；所述步进电机用于驱动仪用导管运动；4. A system for realizing the identification and elimination of stress-induced tremors caused by tension, including a master-end operating device, a slave-end surgical device, a medical catheter and a central controller, characterized in that it is composed of a linear displacement sensor, a force measuring device. It is composed of a stepper motor; the linear displacement sensor is used to obtain the linear displacement data of the master-end operating device and the slave-end surgical device; the force measuring device is composed of a pressure sensor and a digital display; the pressure sensor is used to measure the The collision force of the terminal surgical equipment, and the information of the collision force is displayed on the digital display; the stepper motor is used to drive the movement of the catheter for the instrument;所述一种实现对紧张引起的应激震颤的识别与消除的系统的震颤消除方法包括以下步骤：Described a tremor elimination method that realizes the identification and elimination system of stress tremor caused by tension comprises the following steps:①将力传感器的接触端放置在从端手术设备位移的终点处，当从端移动至安装测力设备处时碰撞到压力传感器，从而得到碰撞力F；①Place the contact end of the force sensor at the end point of the displacement of the surgical equipment from the slave end. When the slave end moves to the place where the force measuring device is installed, it collides with the pressure sensor, thereby obtaining the collision force F;②为了提高数据的精度，则通过测力设备分别测量在三个随机加速度下移动的从端手术设备运动时的碰撞力；②In order to improve the accuracy of the data, the force measuring equipment was used to measure the collision force of the slave surgical equipment moving under three random accelerations;③根据牛顿第二定律F=Ma，在三个不同的加速度下可以得到三个质量，通过对三个质量求取平均值，从而得到从端手术设备的M系数，即牛顿第二定律中的质量参数；③According to Newton's second law F=Ma, three masses can be obtained under three different accelerations. By taking the average value of the three masses, the M coefficient of the slave surgical equipment can be obtained, that is, the M coefficient in Newton's second law. quality parameters;④从端手术设备的安全力阈值为120mn，当从端接触血管的力超过120mn时，血管便会有被刺破的风险，通过牛顿第二定律，将步骤③得到的M系数带入F=Ma，则可以得到从端手术设备运动的安全加速度；④The safety force threshold of the surgical equipment from the slave end is 120mn. When the force of the slave end touching the blood vessel exceeds 120mn, the blood vessel will be at risk of being punctured. Through Newton's second law, the M coefficient obtained in step ③ is brought into F= Ma, the safe acceleration of the movement of the slave surgical equipment can be obtained;⑤由直线位移传感器采集主端操作设备的位移信号为时域信号，经过生理震颤的消除策略以后，得到了消除生理震颤以后位移信号，此时的位移信号为时域信号；将该位移信号二阶求导，即可得到主端操作设备运动的实时加速度；⑤ The displacement signal of the main-side operating device is collected by the linear displacement sensor as the time domain signal. After the elimination strategy of physiological tremor, the displacement signal after eliminating the physiological tremor is obtained, and the displacement signal at this time is the time domain signal; the displacement signal two order derivative, you can get the real-time acceleration of the movement of the main-side operating equipment;⑥在从端手术设备带动导管前进的过程中，如若导管未接触到血管壁时，则不执行下面的步骤，只有在接触到血管壁时才会继续执行下面的步骤⑦-⑧；⑥ In the process of driving the catheter forward from the surgical device from the end, if the catheter does not touch the blood vessel wall, the following steps are not performed, and the following steps ⑦-⑧ will only be performed when it contacts the blood vessel wall;⑦将步骤⑤中得到的主端操作设备运动的实时加速度与步骤④得到的安全加速度进行比较；如果该加速度大于安全加速度，说明震颤属于危险的颤动，此时若从端手术设备继续以相同的加速度运动，则从端手术设备推进导管进入血管后与血管壁产生碰撞的力将有可能刺破血管危害到患者的生命安全，则判定此时的位移为危险的应激震颤；⑦Compare the real-time acceleration of the movement of the master operating equipment obtained in step ⑤ with the safe acceleration obtained in step ④; if the acceleration is greater than the safe acceleration, it means that the tremor is a dangerous tremor. Acceleration movement, the force of collision with the blood vessel wall after pushing the catheter from the end of the surgical equipment into the blood vessel may puncture the blood vessel and endanger the life safety of the patient, then the displacement at this time is determined to be a dangerous stress tremor;⑧对步骤⑦中得到的危险震颤进行消除，根据步骤⑦中的判定结果，若此时的位移信号被判定为危险信号，则该位移信号将不会被传输至从端手术设备并驱动电机位移，通过将危险信号直接放弃不传输至从端手术设备的方式对危险的应激震颤进行滤除。⑧ Eliminate the dangerous tremor obtained in step ⑦. According to the judgment result in step ⑦, if the displacement signal at this time is judged to be a dangerous signal, the displacement signal will not be transmitted to the slave surgical equipment and drive the motor to move. , to filter out dangerous stress tremors by directly abandoning the danger signal and not transmitting it to the slave surgical device.5.根据权利要求4所述一种实现对紧张引起的应激震颤的识别与消除的系统，其特性在于所述步骤②中的三个的随机加速度选用三种加速度，分别是1厘米/平方秒，2厘米/平方秒，4厘米/平方秒。5. a kind of system that realizes the identification and elimination of stress tremor caused by tension according to claim 4, its characteristic is that the random acceleration of three in described step 2. selects three kinds of accelerations, is respectively 1 cm/square seconds, 2 cm/sq, 4 cm/s.6.根据权利要求4所述一种实现对紧张引起的应激震颤的识别与消除的系统，其特性在于所述步骤⑥中导管是否接触到血管壁的判断方式为：通过增量式光电编码器测得从端手术设备的实时加速度，当从端手术设备实时加速度减缓时，则证明导管开始触碰到血管壁，则开始进入步骤⑦-⑧，否则返回步骤⑤。6. a kind of system that realizes the identification and elimination of stress tremor caused by tension according to claim 4, its characteristic is that in the described step ⑥, the way of judging whether the catheter touches the blood vessel wall is: by incremental photoelectric coding The device measures the real-time acceleration of the slave-end surgical equipment. When the real-time acceleration of the slave-end surgical equipment slows down, it proves that the catheter begins to touch the blood vessel wall, and then starts to enter steps ⑦-⑧, otherwise returns to step ⑤.7.根据权利要求4所述一种实现对紧张引起的应激震颤的识别与消除的系统，其特征在于所述直线位移传感器是Novotechink公司的TP-0200-101-411-102直线位移传感器；所述测力设备是Contronix生产的测力设备；所述步进电机是驱动医用导管前进的ARM24SAK-H100型步进电机。7. A system for realizing the identification and elimination of stress tremor caused by tension according to claim 4, is characterized in that the linear displacement sensor is the TP-0200-101-411-102 linear displacement sensor of Novotechink company; The force measuring device is a force measuring device produced by Contronix; the stepping motor is an ARM24SAK-H100 stepping motor that drives the medical catheter forward.

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