CN101340850A - 外科器械的力和扭矩检测 - Google Patents

外科器械的力和扭矩检测 Download PDF

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CN101340850A
CN101340850A CNA2006800484751A CN200680048475A CN101340850A CN 101340850 A CN101340850 A CN 101340850A CN A2006800484751 A CNA2006800484751 A CN A2006800484751A CN 200680048475 A CN200680048475 A CN 200680048475A CN 101340850 A CN101340850 A CN 101340850A
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CN101340850B (zh
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S·J·布卢门克兰兹
D·Q·拉金
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Intuitive Surgical Operations Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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Abstract

提供了用于改进力和扭矩的检测并将力和扭矩反馈回执行遥控机器人外科手术的外科医生的设备、系统和方法。轴向取向的应变测量器组位于接近机器人外科器械的可移动的腕的器械轴的远端上从而检测在器械的远顶端上的力和扭矩。有优势地，消除了由顶端的构造改变或者稳定状态的温度变化产生的误差。公开了其它的有优势的构造和方法。

Description

外科器械的力和扭矩检测
技术领域
【0001】本发明一般地涉及外科机器人系统，并更具体地涉及用于检测施加于外科器械的力的系统和方法。
背景技术
【0002】在机器人辅助外科手术中，外科医生典型地从可能远离病人的位置(例如，在手术室的对面，在与病人不同的房间或者在与病人所在建筑物完全不同的建筑物内)操作主控制器从而控制外科器械在外科手术部位的运动或移动。主控制器通常包括一个或者多于一个的手输入装置，例如手持式腕万向节、操纵杆、外骨骼手套、手钻或者类似的装置，这些装置通过带有伺服电机的控制器耦合到外科器械，用于关节连接器械在外科部位的位置和方向。伺服电机典型地是机电或电动机械装置或者外科操作装置臂(“从动装置”)的一部分，机电装置或者外科操作装置臂包括多个连接在一起的关节、连杆结构等等，以支撑和控制已直接地被引入显露的外科部位或者经由套管针套被插入体腔(例如病人的腹部)内的切口的外科器械。取决于外科程序，有可利用的多种外科器械，例如组织抓取器、针驱动器、电外科学的烧灼探测器等等，为外科医生执行各种功能：例说，收回组织、保持或者驱动针、缝合、抓取血管、或者解剖、烧灼或者凝结组织。外科医生在治疗期间可以利用许多不同的外科器械/工具。
【0003】当然，经由遥控操纵执行遥控机器人外科手术的这种新的方法已产生了很多新挑战。其中一个挑战是提供给外科医生凭借机器人操作装置准确地“感觉”正在由外科器械操纵的组织的能力。外科医生必须依赖由器械或者缝合施加的力的可见指示。为了经由系统手控或者通过例如视觉显示或者可听声音的其它的装备将力和扭矩反馈到外科医生用户，检测施加到器械的尖端的力和扭矩是所期望的，例如机器人内窥镜外科器械的末端受动器或末端执行器(例如，夹钳、抓紧器、刀片等等)。来自在DLR的G.Hirzinger的实验室的用于这一目的的一个装置由F.Cepolina和R.C.Michelini在“Review of Fixtures for Low-InvasivenessSurgery”文中进行了描述，该文章在Int’l Journal of Medical Robotics and Computer Assisted Surgery，Vol.1，Issue 1，page 58，其内容为所有目的以参考形式并入本文。然而，该设计不利地将力传感器放置于腕关节的末端(或者外侧)，因此需要使丝线或电线或者光纤经由可弯曲腕关节传送并且也需要使偏航轴和抓取轴位于不同的旋转轴线上。
【0004】执行外科手术典型地所期望的另一个问题是像相对小的器械那样在尽可能小的空间装配和定位末端受动器或末端执行器的机械动作所必要的电线。
【0005】因此，所需要的是在病人的外科部位上远程控制外科器械的改进的遥控机器人系统和方法。特别地，这些系统和方法应该配置成将力和扭矩的准确的反馈提供给外科医生从而改进用户对器械的认知和控制。
发明内容
【0006】本发明提供用于改进并检测反馈回执行遥控机器人外科手术的外科医生的力和扭矩的设备、系统以及方法。轴向取向的应变测量器的组位于或者靠近接近(或者内侧)机器人外科器械的可移动的腕的器械轴的远端的位置从而检测在器械的远顶端的力和扭矩，没有由于顶端(例如用可移动的腕)结构的变化或者稳定状态的温度变化产生的误差。
【0007】有利地，本发明改进了力和/或扭矩的检测和反馈回外科医生并且基本消除了使精密的丝线或电线经由器械的可弯曲腕关节的问题。
【0008】发明的范围由并入本章供参考的权利要求限定。通过下面的一个或者多个实施例的详细的描述将使本领域的技术人员获得对本发明的实施例的更完整的理解和对其中附加的优点的认识。下文会参考附页的图，附页的图将首先被简要地说明。
附图说明
【0009】图1A是根据本发明实施例的机器人外科系统和方法的透视图。
【0010】图1B是根据本发明实施例的图1A中的机器人外科系统的机器人外科臂推车系统的透视图。
【0011】图1C是根据本发明实施例的图1A中的机器人外科系统的主控制台的主透视图。
【0012】图2是根据本发明实施例的显示了腕、抓取夹钳以及与遥控机器人外科系统一起使用的力传感器的外科器械的远端的透视图。
【0013】图3是根据本发明实施例的显示了施加的力的图2的外科器械的第一俯视图。
【0014】图4是根据本发明实施例的显示了施加的力的图2的外科器械的第一侧视图。
【0015】图5是根据本发明实施例的显示了施加的扭矩的图2的外科器械的第二俯视图。
【0016】图6是根据本发明实施例的显示了施加的扭矩的图2的外科器械的第二侧视图。
【0017】图7显示根据本发明的一个实施例的受到由腕机构施加的载荷和力矩的器械轴和近腕U形夹的自由体受力图。
【0018】图8显示了根据本发明的实施例的用于嵌入应变测量器的带有凹槽的器械轴。
【0019】图9A-9C显示了根据本发明的一个实施例的应变测量器线缆或电缆或者光纤的不同构造的应变释放器和辅助环。
【0020】通过参考下面的详细描述很好地理解本发明的实施例和它们的优点。应该认识到，在一个或者多于一个的图中相同的参考数字用于表示相同的元件。也应该认识到，图不一定是成比例绘制的。
具体实施方式
【0021】本发明提供了用于当为病人执行机器人辅助外科程序的时候检测施加到组织的力的多部件系统、设备以及方法，外科程序特别地包括开放的外科程序、如立体定向技术的神经外科程序和内窥镜程序，内窥镜程序例如为腹腔镜检查、关节镜检查、胸腔镜检查以及类似的程序。本发明的系统和方法作为允许外科医生从远离病人的位置经由伺服机构操纵外科器械的遥控机器人外科系统的一部分是特别有用的。所以，本发明的操作装置设备或者从动装置通常将由具有六个或者更多自由度(例如，3个自由度控制位置而3个自由度控制方向)的运动学上等效的主控器驱动从而形成带有力反馈的远程呈现系统。适当的从-主系统的描述可以在1995年8月21日申请的序号为08/517,053的美国专利申请中找到，该申请的全部公开内容为所有目的以参考形式在此并入。
【0022】详细地参考图，其中相同的数字代表相同的元件，根据本发明的实施例显示了机器人外科系统10。如图1A到1C所示，机器人系统10通常包括一个或者多于一个安装到或者靠近手术台的外科操作装置组件51和用于使外科医生S观察手术部位并控制操作装置组件51的主控制组件90。系统10也将包括一个或者多于一个的观察范围组件和适于可移动地耦合到操作装置51(下面更详细的讨论)的多个外科器械组件54。机器人系统10通常包括至少两个操作装置组件51并且优选地包括三个操作装置组件51。操作装置组件51的精确的数目将取决于外科手术或外科程序和手术室内的空间限制和其它的因素。如下面详细描述的，其中一个组件51将典型地操作观察范围组件(例如，在内窥镜检查的程序中)以便观察外科部位，而其它的操作装置组件51操作外科器械54以便在病人P上执行各种程序。
【0023】控制组件90可以位于外科医生的控制台，外科医生的控制台通常位于与手术室O相同的房间以便外科医生可以与他/她的助手(们)通话并直接地监视手术程序。然而，应该理解，外科医生S能够位于不同的房间或者在与病人P处于完全不同的建筑物内。主控制组件90通常包括支撑件、用于将外科部位的图象显示给外科医生S的监视器以及用于控制操作装置组件51的一个或者多于一个主控器。主控器可以包括多种输入装置，例如手持式腕万向节、操纵杆、手套、板机枪、手动操作的控制器、声音识别装备或者类似的装置。优选地，将提供给主控器与关联的外科器械组件54相同的自由度从而提供给外科医生远程呈现、外科医生立即接近并专注于外科部位的感知以及直观印象，主控器与器械54形成一体的感知使得外科医生具有好象器械54是他的手的一部分似的直接地和直观地控制器械54的强烈的感受。也可在器械组件54上利用位置、力和触觉反馈传感器(未示出)，从而当外科医生操作遥控机器人系统的时候将位置、力和触觉感知从外科器械传送回到外科医生的手部。在1995年8月21日申请的序号为08/517,053的美国专利申请中描述了提供给操作者遥控呈现的一个适当的系统和方法，该申请已在前面并入供参考。
【0024】监视器94将适当地耦合到观察范围组件，这样外科部位的图像被提供到接近在外科医生控制台的外科医生的手部。优选地，监视器94将在显示器上显示图象，设置显示器的方向使得外科医生感觉到他或者她实际上直接俯视在手术部位之上。所以，虽然观测点(例如，内诊镜或者观察照相机)可能并不源于图象的视点，但是外科器械54的图象看上去像是大致位于操作者手部所在的位置。另外，实时图象优选地转换成立体图象，这样操作者能够如同以基本真实的呈现观察工作空间似的操纵末端受动器和手动控制器。真实的呈现意味着图象的呈现是模拟实际上操纵外科器械54的操作者的视点的真实的立体图象。因此，控制器(未示出)将外科器械54的坐标转换为被觉察的位置以便立体图象是当照相机或者内诊镜直接位于外科器械54后面时可以看到的立体图象。在1994年5月5日申请的序号为08/239,086的美国专利申请现在美国专利号为5,631,973中描述了用于提供这个虚拟图象的适当的坐标转换系统，该申请的完整的公开在此以参考形式为所有目的并入。
【0025】提供伺服控制以便将主控器的机械运动传递到操作装置组件51。伺服控制可以从操作装置组件51分离或者与操作装置组件51形成一体。伺服控制通常将提供从外科器械51到手动操作主控器的力和扭矩反馈。另外，伺服控制可以包括安全监视控制器(未示出)从而安全地暂停系统操作或者至少抑制响应识别的非期望的状况的所有机器人运动(例如，对病人应用过大的力，错配的编码器读取，等等)。伺服控制优选地具有截断至少10赫兹频率的3分贝截止频率伺服带宽以便系统能够迅速地并准确地响应外科医生行使的快速的手动作而过滤出非期望的外科医生的手的震动。为了有效地操作这个系统，操作装置组件51具有相对低的惯性，并且驱动电机具有相对低变速轮或者滑轮耦合。任何适当的常规的或者专用的伺服控制都可以用于实施本发明，那些并入的力和扭矩反馈特别适用于系统的遥控呈现手术或操作。
【0026】现在结合图1A-1C参考图2-6，将描述根据本发明的实施例的用于检测力和扭矩并将力和扭矩反馈给外科医生的改进的设备、系统以及方法。
【0027】图2显示了包括轴110、腕关节112和114以及可用于操纵外科工具和/或者接触病人的末端部分120的外科器械的一部分100的透视图。外科器械也包括在一个实施例中凭借无菌适配器界面可操作地与自动或机器人操作装置臂接合的外壳150(图9A-9C)。在2005年12月20日申请的序号为11/314,040的美国专利申请和序号为60/752,755的美国临时申请中都公开了可应用的外壳、无菌适配器界面以及操作装置臂，申请的全部公开内容(包括其中作为参考并入的所有参考)在此以参考方式为所有目的并入。可应用的轴、末端部分、外壳、无菌适配器以及操作装置臂可从加利福尼亚的Sunnyvale的直观外科手术公司购买到。
【0028】在优选的构造中，凭借经由轴110的线缆或电缆和传递来自操作装置臂51的运动和电信号的外壳150，末端部分120具有包括末端受动器的俯仰和偏航运动、绕z轴旋转以及动作的一系列运动。末端部分120沿x、y和z轴的运动可以由操作装置臂51提供。例如在序号为6,331,181、6,491,701和6,770,081的美国专利中描述了驱动组件、臂、前臂组件、适配器以及其它的可应用的零件的实施例，这些专利的全部公开内容(包括其中作为参考并入的公开内容)在此以参考形式为所有目的并入本文。
【0029】注意根据本发明可以改进各种外科器械，包括但不限于带有和不带有末端受动器的工具，例如，夹钳、剪刀、抓紧器、针夹持器、微型解剖器、U形钉施夹钳、缝合器、抽吸注入工具、施夹钳、切割刀片、冲洗器、导尿管以及抽吸口。可选择地，外科器械可以包含用于烧蚀、切除、切割或者凝结组织的电外科学探测器。这种外科器械可以在市场上从加利福尼亚的Sunnyvale的直观外科手术公司购买到。
【0030】根据本发明的实施例，器械部分100包括安装在轴110的外表面上其取向平行于称作z轴线的轴的轴线的传感器(例如，应变测量器)。垂直于轴的两个轴线命名为x轴线和y轴线。用各种总和和差分(将在下面更详细说明)的算术方法合并来自传感器的信号从而获得应用在器械顶端上的三个垂直的力(例如，FX、FY和FZ)和垂直于轴的轴线(Tx，Ty)(例如，x轴线和y轴线)绕两个轴线的扭矩的测量值。根据本发明，力的测量独立于在器械的远端的关节相连的腕机构的方向和有效的杠杆臂长度。对末端部分120施加的力被力感测元件探测，力感测元件可操作地耦合或联结到伺服控制，凭借询问器(interrogator)或者处理器将探测到的这些力传送给主控器。
【0031】在一个实施例中，八个应变测量器101、102、103、104、105、106、107和108安装到轴110的外表面或者靠近外表面的浅的凹进处并分别提供应变数据ε1、ε2、ε3、ε4、ε5、ε6、ε7、ε8。测量器的主要应变感测方向的取向平行于轴的纵向轴线(z轴线)。测量器分两组安装，一组四个，其中在一组中的四个测量器均匀分布，在一个轴向位置绕轴的圆周间隔90度放置(即形成两个“环形”的应变测量器)。一组的四个应变测量器(例如，测量器101、103、105和107)尽可能靠近轴110的远端，接近腕机构安装。第二组的四个应变测量器(例如，测量器102、104、106和108)安装在离第一组的四个应变测量器(朝向轴110的近端)的选定距离“l”处并且与第一组对齐以便在两组中的应变测试对彼此对齐(例如，测量器101对齐102，103对齐104，105对齐106，107对齐108)。
【0032】由八个测试输出的总和乘以因数EA/8得到z轴线的力(Fz)，其中E是在轴向方向的轴材料的弹性模数，并且A是轴的截面面积。由在轴的相对侧的的一对测量器的测量器输出的差分和沿轴的这对差分之间的差分乘以因数EI/2rl得到在或者靠近顶端的沿x和y轴(FX和FY)的横向力，其中E是在轴向方向的轴材料的弹性模数，I是轴截面的惯性矩，r是从轴的轴线到测量器的作用平面的半径，而l是4个一组的2组应变测量器之间的距离。力的计算由下面的方程推导。
【0033】关于图2，
E＝σ/ε
A＝π(r0 2-ri 2)
I＝(π/4)(r0 4-ri 4)
σ＝(F/A)+(Mr/I)
ε＝[ε1ε2ε3ε4ε5ε6ε7ε8]
Fx 1 - 1 - 1 1 0 0 0 0 EI / 21 r F y 0 0 0 0 1 - 1 - 1 1 EI / 21 r F z 1 1 1 1 1 1 1 1 - EA / 8
关于图3和图4，
A＝π(r0 2-ri 2)
I＝(π/4)(r0 4-ri 4)
σ＝Mr/I
σ1＝FLr/I
σ2＝F(L+l)r/I
E＝σ/ε＝＞ε＝σ/E
ε1＝-FxLr/EI
ε2＝-Fx(L+l)r/EI
ε2-ε1＝-Fxlr/EI
ε4-ε3＝Fxlr/EI
(ε4-ε3)-(ε2-ε1)＝2Fxlr/EI
因此，
  (ε1-ε2-ε3+ε4)EI/2lr＝Fx(ε5-ε6-ε7+ε8)EI/2lr＝Fy(ε1+ε2+ε3+ε4+ε5+ε6+ε7+ε8)EA/8＝Fz
【0035】因此，Fx和Fy不随L的变化而改变并且在稳定状态下不随温度的变化而改变。
【0036】优选地，本发明使测量的在器械顶端的力独立于在外科手术期间由腕的方向改变或者抓取位置在末端部分中的改变所产生的有效的杠杆臂长的变化。另外，当所有测量器都处于热平衡时，沿x轴线和y轴线测量的力独立于温度的变化。这点可以通过将平衡温度干扰应变添加到在Fx和Fy的方程中的所有的四个测量器并考虑干扰抵销来证明。在热瞬变期间测量器温度是不平衡的热瞬变不会被这种设计补偿，但是可以采取其它的测量方式实现。
【0037】在器械顶端的绕x和y轴线的扭矩的测量(Tx和Ty)来源于跨过轴直径的配对的测量器的差分和沿轴的轴线的这对差分的总和乘以因数EI/4r，其中再次地E是在轴向方向的轴材料的弹性模数，I是轴的截面惯性矩，r是从轴的轴线到测量器的作用平面的半径。因此在没有腕的方向或者抓取的工具的位置产生的误差的情况下测量出施加在器械顶端的力(Fx，Fy，Fz)和扭矩(Tx，Ty)，所述工具例如在夹钳内的缝合针或者在抓取器中的组织夹持器。绕x和y轴线的扭矩测量也独立于在稳定状态下的温度。扭矩的计算由下面的方程推导。
【0038】关于图5和图6结合图2进行说明，
T x 0 0 0 0 - 1 - 1 1 1 EI / 4 r T y 1 1 - 1 - 1 0 0 0 0 EI / 4 r
σ＝Mr/I
σ1＝σ2＝Tr/I
E＝σ/ε＝＞ε＝σ/E
ε1＝ε2＝Tr/EI
因此，
  (ε1+ε2-ε3-ε4)EI/4r＝Ty(-ε5-ε6+ε7+ε8)EI/4r＝Tx
【0039】虽然上面描述的发明可以应用于各种构造的外科器械，但是与在一个实例中的各向异性线性光纤增强聚合体管一起使用有特别的价值，因为所有的测量器的取向平行于具有恒定的并且容易确定的弹性性能的轴线。适当特征的编织的增强管可以取得类似的优点并且该方法也可应用于具有均匀弹性性能的管。
【0040】在一个实例中，可以使用各种应变计或应变测量器，包括但不限于常规的箔型电阻式测量器、半导体测量器、使用布拉格光栅或者法布里-珀罗技术的光纤型测量器，或者其它的装置，例如应变检测表面声波(SAW)装置。在两个检测元件可能沿一个光纤以已知间距放置的情况中，光纤布拉格光栅(FBG)测量器可能是有优势的，因为其仅需要沿器械轴提供四条光纤。
【0041】作为一个实例，这没有限制本发明的意图，上面提到的两种在市场上可购买到的光纤应变测量器技术将更详细地描述。
【0042】第一个技术利用由两光纤熔接在一起形成的法布里-珀罗空腔以在连接处制成半反射镜，然后将光纤的顶端抛光从而形成全反射镜。将光射入光纤中从而产生来自半反射镜和全反射镜两者的反射。这两个反射产生干涉图，干涉图是两个反射镜之间的距离的函数，因此使光纤中的应变被检测出。可以在市场上从加拿大的魁北克的FISO TechnologiesInc.购买到这个法布里-珀罗技术，更多可用的信息在http://www.fiso.com。
【0043】第二个技术使用由紫外(UV)激光写入光纤中的布拉格光栅。光纤布拉格光栅(FBG)测量器包含沿光纤的轴线的折射率的空间周期性。优选地进入FBG的光以构成折射率变化周期的函数的特定波长(布拉格波长)反射。其它的波长通过FBG不改变。为了测量应变，宽光谱IR光射入光纤，并且反射的波长指示应变。可以在市场上从英格兰的Bracknell的Smart Fibres Ltd.购买到这个FBG技术，更多可用的信息在http://www.smartfibres.com。
【0044】如果多重FBG是以使用不同的波长范围这样一种方式形成的，那么多重FBG能够被写入光纤中，并且如上所述，这对于仅需四个光纤嵌入器械轴中的双环应变测量器的实施例是特别有用的特性，每个光纤带有分开已知距离的两个FBG，为了在双环布置的应变测量器中实施法布里-珀罗技术，将需要八个光纤。
【0045】两种光纤技术都需要将光学编码应变信息解码成与机器人外科系统的计算机控制硬件兼容的电信号的询问器单元。然后可以使用处理器根据上面列出的方程，结合来自应变测量器/传感器的信号计算力。在一个实施例中，询问器单元170(图9A)可以安装在操作装置上，或者在外科系统的其它位置，这些位置可能需要越过无菌边界的光纤的路径规划。在一种情况中，光耦合可以并入带有操作装置的标准器械界面，以便在操作装置上安装器械，自动地形成与器械之间的光路。有利地，这可以避免将外部线缆或电缆带到器械中的需要。在第二种情况中，光纤的尾部可以离开器械的顶端以便与呈现在操作装置上但不是器械界面的一部分的连接器配合。在这两种情况中，询问器可以构建在操作装置中，或者光缆可以贯穿操作装置而接到询问器，询问器安装在外科系统上或者位于与操作装置分开的手术室中。在第三种情况中，光纤的尾部可以在不经过操作装置与安装在与操作装置分开的手术室中的询问器单元配合的情况下离开器械的顶端，这样具有当器械附着到操作装置或者从操作装置移除时不需要光缆的连接的好处。
【0046】测量器的取向的其它的结合方式、测量器的数目以及输出也在本发明的范围内。根据本发明的另一个实施例，两组环形的八个测量器布置的有意义的简化是移除一组环形测量器。这种简化移除了辨别指定轴线的(例如，x或者y)力和力矩的能力，但是在外科环境中的许多项目(例如，人的组织，缝合)不能很好地支持力矩，因此可以假定所有的应变信息都来自x和y轴线的力。在更进一步的实施例中，间隔120度放置的三个测量器可用于形成取代间隔90度放置的四个测量器的一套测量器。因此，测量器的组合可以包括单环的间隔120度放置的三个测量器，两组环形的间隔120度放置的三个测量器(也就是，总共六个)，单环的间隔90度放置的四个测量器以及两组环形的间隔90度放置的四个测量器(也就是，总共八个)。单环的测量器实施例对非腕力移动工具(例如，探测器)可能是有用的。测量器也可以成不同角度取向在轴110的表面上这些角度准许绕轴的轴线的附加扭矩信号Tz的恢复。然而，必须考虑偏离轴线的弹性性能。
【0047】根据本发明的另一个实施例，如上所公开的在器械轴的远端的传感器可以探测x和y轴线的力，而靠近器械的近端的位于主体外面的传感器可以探测z轴线的力。在主体外面可以使用各种传感器探测z轴线的力，包括但不限于应变测量器和/或者光纤技术。
【0048】典型地，因为器械轴受到来自将扭矩传送到器械的俯仰、偏航轴线所必需的内部线缆或电缆的z方向的很大的内部力，所以不能很轻易地检测到在器械顶端的z轴线的力。这些电缆贯穿在器械轴内并且实验已显示出在轴上的压力载荷随器械的操作改变很大。尝试通过在器械轴上的测量器检测z方向应变除了将包括研究的施加的z轴线的力之外还将包括很大的电缆“噪声”。因此，优选地在基本不受到内部电缆力的位置检测z轴线的力。注意到因为电缆不是完全居中的并且腕滑轮的任一侧的电缆张力随着腕被操作而改变，这些电缆也传递在轴的基部分一些x和y的力矩。然而，实验已显示与z方向电缆力不同，这些变化与预期的外部施加力相比相对较小。
【0049】然而，可以相对准确地在主体外面探测z轴线的力，其中主要地套管密封摩擦和轴在套管中的滑动摩擦将“噪声”添加到研究的信号。在一个实施例中，套管密封是一次性的并且可以用润滑油封装，在另一个实施例中，可以用减小摩擦的涂层(例如，PTFE)处理器械轴表面从而消除不期望的摩擦噪声。两种方法也可以同时使用。根据本发明传感器可以放置在接近外科手术器械的近端的主体外面的各个位置。优选地传感器设置或内建在操作装置中，而不是在一次性器械中，但不是必需这样做。在一个实施例中，可以在操作装置臂插入(z轴线)滑架上的器械无菌适配器的安装点使用一个(多于一个)传感器160(图9A)。在另一个实施例中，器械外壳/滑架中的输入/输出轴线滑轮可以安装在一个(多于一个)传感器上，以允许由I/O电机施加在I/O轴线的力的检测。然而，这种放置可能也引入与I/O轴线自身相关联的附加的摩擦噪声。而在另一个实施例中，一个(多于一个)传感器可以放置在器械后板处。这将与把传感器放置在无菌适配器安装点上基本等同，但会需要在每个器械中设置另外的传感器。
【0050】与z轴线的力相对比，在主体外面不能轻易地检测出x和y轴线的力，因为分到器械的远处中心的大的主体壁的力和扭矩掩盖了相对小的x和y轴线的组织接触力。因此，优选地在基本不受到主体壁的力或扭矩的位置检测x和y轴线的力，所述位置例如为上面所述的接近器械腕关节的器械轴的远端。在上面的公开中，描述了与内窥镜外科器械轴的管状远端集成的力-扭矩传感器。在一个实施例中，传感器由两套位于绕轴的周围的四个应变测量器构成，这样四个一组的构件绕轴间隔90度放置并且四个一组的两组的构件沿轴间隔距离l。在一方面，期望确定在器械的顶端或者夹钳上的侧向载荷(例如，Fy)。此公开解释了通过计算由侧向载荷在每组传感器上产生的弯曲力矩并将这两个值相减，可以得出独立于腕方向的侧向载荷的测量值和产生的有效杠杆臂长度。一个关注点是由器械的腕轴的动作施加到轴的远端的并由腕枢轴中的摩擦传递到轴的力矩将干扰侧向载荷的要进行的测量。然而，通过将由于这些力矩产生的项带入算法控制测量的应变，可以看到当计算侧向载荷力时由这种力矩产生的项不参与计算。
【0051】现在参考图7和下面的方程，通过由八个应变测量器检测到的应变的适当的算术组合可以消除不需要的轴腕的电缆力和腕的动作扭矩，同时保存期望的侧向载荷力。图7示出了受到由腕机构施加的载荷和力矩的轴的自由体受力图。虽然根据顶端载荷、电缆载荷的组合、腕的运动以及加速度，多种的力和力矩的组合可以施加到外侧的腕自身的自由体，但是在Y-Z平面和轴的坐标系统观察到的施加到轴的末端的力和力矩总是减到Fy(侧向载荷)、Fz(轴向载荷)以及Mx(腕枢轴摩擦力矩载荷)。
【0052】因此，如下面所示由这三个载荷能够表示这个平面中的四个测量器上的应变ε5、ε6、ε7和ε8并推导出期望的侧向力Fy的表达式。
拉伸应变＞0
压缩应变＜0
ε7＝-Fz/EA+Mxr/EI+FyLr/EI
ε5＝-Fz/EA-Mxr/EI-FyLr/EI
ε8＝-Fz/EA+Mxr/EI+Fy(l+L)r/EI
ε6＝-Fz/EA-Mxr/EI-Fy(l+L)r/EI
[(ε8-ε6)-(ε7-ε5)]＝-Fz/EA[(l-1)-(l-1)]
+Mxr/EI[(l-(-1))-(1-(-1))]
+Fyr/EI{[(l+L)-(-(1+L))]-[L-(-L)]}
＝2lFyr/EI
因此，
  Fy＝[(ε8-ε6)-(ε7-ε5)]EI/2lr
Mx和Fz不出现。
【0053】能够看出，由在两套测量器上感测到的相同的力矩载荷Mx产生的应变不参与计算，留下由施加的侧向力Fy产生的力矩载荷。同样地由在两套测量器上感测到的相同的轴向力Fz产生的应变分量也不参与计算。因此，由于腕关节中的摩擦将腕引起的扭矩传送到带有应变传感器的轴，当来自两套传感器的信号相减时导致力矩载荷抵消，仅仅留下希望的侧向力载荷产生的较纯信号。x与y交换，上面公开的内容类似地可适用于在x-z平面中的ε1-4。
【0054】计算基本仅由侧向力载荷产生的纯信号有利地消除了如前面为了消除腕摩擦力矩那样将传感器放置在腕关节的外侧(远端)的需要。因此本发明避免了发送与应变测量器相关联的丝线或电线或者光纤经由可弯曲腕关节的需要。更进一步地，偏航和抓取轴线可以设置在同一旋转轴线，而不是如前面那样将它们分开。
【0055】对于上面提到的方法和设备，使用校准过程可能是有优势的，在校准过程中连续地、同时地将力和扭矩的组合施加到器械顶端，或结合同时确定修正因数和偏差从而应用到用于组合测量器的输出以获得Fx、Fy、Fz、Tx和Ty的理论方程。这种校准可以通过直接计算修正因数和偏差实现或者通过例如嵌入在校准固定设备或者器械本身中的神经网络的学习系统实现。在任何校准方法中，校准数据可被编程嵌入在器械中的集成电路内，以便使用单独器械的外科系统在器械使用的过程中能够正确地识别和施加它的修正因数和偏差。
【0056】优选地嵌入在器械轴中的光纤应该以一种不妨碍轴相对器械外壳/滑架旋转同时保持光纤的物理完整性的方式在靠近器械的近端离开轴。现在参考图8和9A-9C，根据本发明的实施例，法布里-珀罗或者FBG检测元件可以靠近器械轴的远顶端恰好在腕U形钩的后面嵌入到稍低于轴110的表面的浅槽130中，然后用环氧树脂或者罐封装入适当的位置。槽130可以被引向包括运动输入和腕电缆执行器机构(“外壳”)150的器械的近端。可以在初始的拉伸过程中将槽130形成在轴中或者可以在轴生产制造之后加工槽。在靠近近端机构或者外壳的一个点，光纤可以以柔和的角度从槽中伸出并且经由应变释放器140捆成束放进保护性可弯曲护套141中，护套141可以将光缆带到在机构外壳150的顶盖上的应变消除固定点142。如图9A-9C所示，可弯曲的护套141、应变释放器140、固定点142应该具有充分的长度和柔性从而准许当器械轴110旋转经由转动轴运动范围的正/负四分之三转时安全反复地弯曲和扭转。
【0057】在另一个实施例中，如果器械轴由树脂和纤维(例如，玻璃纤维或者碳化纤维)制成的，在施加树脂之前光纤可以被编织或者与处于期望的角度(90或者120度)和半径(靠近表面)位置的线性轴向增强纤维一起嵌入到器械轴纤维基体中。
【0058】有利地，通过结合应变测量并使传感器位于腕俯仰和偏航轴线的内侧，本发明消除了来自腕执行器电缆张力(Fz)和腕执行力矩(Mx)的非期望的干扰，实现了顶端侧向载荷(Fy)的期望的检测。相应地，丝线或电线或者光纤不需要通过腕关节，因此避免了可能的信号损失，电线或者光纤的断裂，干扰噪声和/或者电流泄漏(光纤不需要电流并且不提供泄漏途径)，同时确保了更大的可靠性和更简单更便宜的构造。纤维应变测量器的使用有利地提供了对电场和磁场的抗扰性，而电场和磁场构成对产生大电流和电压的烧灼工具的一个问题，同时也提供了生物兼容性，抵抗与高压灭菌相关联的温度和压力的耐久性以及尺寸方面的优势。更进一步地，腕的偏航和抓取轴线可以分享同一个枢轴的轴和用于偏航的差动操作的执行器电缆并且以相同的模式用于抓取，因此简化并减小了组件的成本同时增加了可靠性。另外，腕和末端受动器或末端执行器的组合的总长度可以保持在当腕弯曲时减小侧向偏移距离的最小长度。
【0059】上面所描述的实施例用于说明而不作为该发明的限制。也应该理解，根据本发明的原理许多的修改和变化是可能的。例如，应变测量器的数目和它们的结构可以变化，但必须允许确定可应用的力和扭矩。而在另一个实例中，应变测量器可以非均匀地偏移成环形，例如以60度和120度。因此，发明的范围仅由下面的权利要求限定。

Claims (53)

1.外科器械，包含：
可操作与机器人外科系统的操作装置臂连接的外壳部分；
包括纵向轴线的轴；
在所述轴的远端的多个应变测量器；
可操作耦合到所述轴的所述远端的腕关节；以及
可操作耦合到所述腕关节的末端部分。
2.根据权利要求1所述的器械，其中所述轴包括沿所述轴的纵向轴线的用于装纳所述多个应变测量器的多个槽。
3.根据权利要求1所述的器械，其中所述多个应变测量器包括四个一组的两组的八个应变测量器，每组中的每个所述应变测量器绕所述轴间隔90度放置。
4.根据权利要求1所述的器械，其中所述多个应变测量器包括三个一组的两组的六个应变测量器，每组中的每个所述应变测量器绕所述轴间隔120度放置。
5.根据权利要求1所述的器械，其中所述多个应变测量器包括绕所述轴间隔90度放置的四个应变测量器。
6.根据权利要求1所述的器械，其中所述多个应变测量器包括绕所述轴间隔120度放置的三个应变测量器。
7.根据权利要求1所述的器械，其中每个应变测量器沿平行于所述轴的纵向轴线对齐另一个应变测量器。
8.根据权利要求1所述的器械，其中所述多个应变测量器位于接近所述腕的俯仰和偏航轴线的位置。
9.根据权利要求1所述的器械，其中每个所述应变测量器的主要的应变检测方向的取向平行于所述轴的纵向轴线。
10.根据权利要求1所述的器械，其中所述多个应变测量器选自由光纤、箔、表面声波以及半导体型应变测量器组成的组。
11.根据权利要求1所述的器械，其中应变测量器选自由法布里-珀罗应变测量器和光纤布拉格光栅应变测量器组成的组。
12.根据权利要求1所述的器械，其中所述多个应变测量器包括沿一个光纤的至少两个光纤布拉格光栅。
13.根据权利要求1所述的器械，其中所述腕关节分享偏航和抓取轴线的共同的枢轴轴线。
14.根据权利要求1所述的器械，其中所述外科器械的所述末端部分选自由夹钳、剪刀、抓紧器、针夹持器、微型解剖器、U形钉施夹钳、缝合器、抽吸注入工具、血管夹施夹钳、切割刀片、烧灼探测器、冲洗器、导尿管以及抽吸口组成的组。
15.根据权利要求1所述的器械，其中所述外壳部分与覆盖所述操作装置臂的无菌遮盖件的无菌适配器接合。
16.根据权利要求1所述的器械，其中所述外壳部分光学地联接到所述操作装置臂。
17.根据权利要求1所述的器械，进一步包含用于检测沿所述轴的所述纵向轴线的轴向力的接近所述外壳部分的力传感器。
18.根据权利要求1所述的器械，进一步包含存储外科器械力传感器的校准数据的集成电路。
19.根据权利要求1所述的器械，进一步包含可操作耦合到所述轴的近端的可旋转的应变释放器，所述应变释放器用于将多个光纤从所述轴的纵向轴线以一定角度送出所述轴。
20.机器人外科系统，包含：
包括操作装置臂的操作装置组件；以及
可操作地耦合到所述操作装置臂的外科器械，所述外科器械包括：
可操作与所述操作装置臂接合的外壳部分；
包括纵向轴线的轴；
在所述轴的远端的多个应变测量器；
可操作耦合到所述轴的所述远端的腕关节；以及
可操作耦合到所述腕关节的末端部分。
21.根据权利要求20所述的系统，其中所述操作装置臂是病人侧操作装置臂或者是内窥镜照相机操作装置臂。
22.根据权利要求20所述的系统，其中所述轴包括沿所述轴的纵向轴线的用于装纳所述多个应变测量器的多个槽。
23.根据权利要求20所述的系统，其中所述多个应变测量器包括四个一组的两组的八个应变测量器，每组中的每个所述应变测量器绕所述轴间隔90度放置。
24.根据权利要求20所述的系统，其中所述多个应变测量器包括三个一组的两组的六个应变测量器，每组中的每个所述应变测量器绕所述轴间隔120度放置。
25.根据权利要求20所述的系统，其中所述多个应变测量器包括绕所述轴间隔90度放置的四个应变测量器。
26.根据权利要求20所述的系统，其中所述多个应变测量器包括绕所述轴间隔120度放置的三个应变测量器。
27.根据权利要求20所述的系统，其中每个应变测量器沿平行于所述轴的纵向轴线对齐另一个应变测量器。
28.根据权利要求20所述的系统，其中所述多个应变测量器位于腕的俯仰和偏航轴线的内侧设置。
29.根据权利要求20所述的系统，其中每个所述应变测量器的主要应变检测方向的取向平行于所述轴的纵向轴线。
30.根据权利要求20所述的系统，其中所述多个应变测量器选自由光纤、箔、表面声波以及半导体型应变测量器组成的组。
31.根据权利要求20所述的系统，其中应变测量器选自由法布里-珀罗应变测量器和光纤布拉格光栅应变测量器组成的组。
32.根据权利要求20所述的系统，其中所述多个应变测量器包括沿一个光纤的至少两个光纤布拉格光栅。
33.根据权利要求20所述的系统，其中所述腕关节分享偏航和抓取轴线的共同的枢轴轴线。
34.根据权利要求20所述的系统，其中所述外科器械的所述末端部分选自由夹钳、剪刀、抓紧器、针夹持器、微型解剖器、U形钉施夹钳、缝合器、抽吸注入工具、血管夹施夹钳、切割刀片、烧灼探测器、冲洗器、导尿管以及抽吸口组成的组。
35.根据权利要求20所述的系统，其中所述外壳部分与覆盖所述操作装置臂的无菌遮盖件的无菌适配器接合。
36.根据权利要求20所述的系统，其中外壳部分可光学连接到所述操作装置臂。
37.根据权利要求20所述的系统，进一步包含用于检测沿所述轴的所述纵向轴线的轴向力的接近所述外壳部分的力传感器。
38.根据权利要求20所述的系统，进一步包含用于检测沿所述轴的所述纵向轴线的轴向力的在所述操作装置臂上的力传感器。
39.根据权利要求20所述的系统，进一步包含至少以从一套应变测量器选出的信号之间的总和和差为基础计算力的处理器。
40.根据权利要求20所述的系统，其中所述外科器械进一步包含存储外科器械力传感器的校准数据的集成电路。
41.根据权利要求20所述的系统，其中所述外科器械进一步包含可操作耦合到所述轴的近端的应变释放器，所述应变释放器用于将多个光纤从所述轴的纵向轴线以一定角度送出所述轴。
42.检测在机器人外科器械的顶端上的力的方法，所述外科器械包括可操作地与操作装置臂接合的外壳部分；包括纵向轴线的轴；在所述轴的远端的一套应变测量器；可操作地耦合到所述轴的所述远端的腕关节；以及可操作联结到所述腕关节的末端部分，所述方法包含：
将所述外科器械的所述外壳部分可操作耦合到所述操作装置臂；
以来自所述一套应变测量器的选出信号之间的总和和差至少之一为基础计算力；以及
将计算出的力传送给用户。
43.根据权利要求42所述的方法，其中所述力选自由侧向力、轴向力以及扭矩构成的组。
44.根据权利要求42所述的方法，其中计算出的力独立于稳定状态均匀的温度变化。
45.根据权利要求42所述的方法，其中计算出的力独立于所述末端部分的远端的距离的变化。
46.根据权利要求42所述的方法，其中侧向力Fx由Fx＝(ε1-ε2-ε3+ε4)EI/2lr计算，其中ε1、ε2、ε3和ε4是来自所述一套应变测量器的选出信号，E是在轴向方向的所述轴的材料的弹性模数，I是所述轴的截面惯性矩，l是两个在一行的应变测量器之间的距离，r是从所述轴的轴线到所述测量器的作用平面的半径。
47.根据权利要求42所述的方法，其中侧向力Fy由Fy＝(ε5-ε6-ε7+ε8)EI/2lr计算，其中ε5、ε6、ε7和ε8是从所述一套应变测量器选出的信号，E是在轴向方向的所述轴的材料的弹性模数，I是所述轴的截面惯性矩，l是两个在一行的应变测量器之间的距离，r是从所述轴的轴线到所述测量器的作用平面的半径。
48.根据权利要求42所述的方法，其中轴向力Fz由Fz＝(ε1+ε2+ε3+ε4+ε5+ε6+ε7+ε8)EA/8计算，其中ε1、ε2、ε3、ε4、ε5、ε6、ε7和ε8是来自所述一套应变测量器的选出信号，E是在轴向方向的所述轴的材料的弹性模数，并且A是所述轴的横截面积。
49.根据权利要求42所述的方法，其中扭矩Ty由Ty＝(ε1+ε2-ε3-ε4)EI/4r计算，其中ε1、ε2、ε3和ε4是来自所述一套应变测量器的选出信号，E是在轴向方向的所述轴的材料的弹性模数，I是所述轴的截面惯性矩，r是从所述轴的轴线到所述测量器的作用平面的半径。
50.根据权利要求42所述的方法，其中扭矩Tx由Tx＝(-ε5-ε6+ε7+ε8)EI/4r计算，其中ε5、ε6、ε7和ε8是来自所述一套应变测量器的选出信号，E是在轴向方向的所述轴的材料的弹性模数，I是所述轴的截面惯性矩，r是从所述轴的轴线到所述测量器的作用平面的半径。
51.根据权利要求42所述的方法，进一步包含通过连续地、同时地将力和扭矩的组合施加到所述器械顶端，或结合同时确定修正因数和偏差来校准所述外科器械。
52.根据权利要求42所述的方法，其中直接地或者凭借神经网络确定所述修正因数和偏差。
53.根据权利要求42所述的方法，进一步包含使用接近所述外壳部分的力传感器检测沿所述轴的所述纵向轴线的轴向力。
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US20150164598A1 (en) 2015-06-18
CN101340850B (zh) 2011-06-15
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US20070151390A1 (en) 2007-07-05

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