CN104757928A - Digestive endoscopy assisting interventional robot control system and method - Google Patents
Digestive endoscopy assisting interventional robot control system and method Download PDFInfo
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- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
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- A—HUMAN NECESSITIES
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- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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Abstract
The invention provides a digestive endoscopy assisting interventional robot control method and system, and belongs to the field of medical robots. The digestive endoscopy assisting interventional robot control method comprises the following steps: extracting and processing action messages of an operator operating a main end handle, and obtaining a movement command of a robot according to the set position control and speed control working modes; measuring convey resistance and torsional resistance torque messages according to a force feedback device mounted at an actuator end, removing zero offset and gravity disturbance, and displaying the processed messages on a human-computer interaction interface for prompt; feeding the messages back to a main end control handle to provide force sensing for the operator, wherein when the resistance and the resistance torque exceed the set value, an upper computer alarms, and the convey force and the torque are partially and autonomously adjusted to a safe range; extracting and processing information of a pedal; switching the working modes; and performing the functions of air supply, water supply and suction. The control system comprises a main end control device, a bottom-layer controller, a force feedback device, a position limitation protector, a motor driver, an air pressure adjustor, a photoelectric coupler and a solenoid valve. The digestive endoscopy assisting interventional robot control method and system can improve the security of a digestive endoscopy assisting interventional robot.
Description
Technical field
The invention belongs to technical field of medical equipment, disclose a kind of digestive endoscopy and assist the control device getting involved robot, get involved the control of auxiliary robot for flexible endoscopes.
Background technology
According to World Health Organization's statistics, the whole world has the people of about 70% to suffer from gastroenteropathy in various degree.There is the gastroenteropathy patient of nearly 8,000 ten thousand in China, and along with aging populations increase, rhythm of life is accelerated, the increase etc. of social stress's factor, the disease incidences such as gastrointestinal tumor, gastrointestinal hemorrhage, gastrointestinal dysfunction increase, and social need is huge.Digestive endoscopy inspection has become the conventional means of digestive tract disease Clinics and Practices, have little, the misery of damage less, the advantage such as few intercurrent disease, recovery be fast.Domestic at county level and 98% all carried out digestive endoscopy inspection to go to the hospital, but there is larger difference in the operation of doctor and diagnostic level, and also number of patients is far away more than required endoscopy doctor; In addition, the diagnosis and treatment of digestive tract disease endoscopy have the Risk characteristics of high pollution.The blood etc. of the saliva of doctor long-term contact patient in diagnostic procedure, gastro-intestinal Fluid, secretions and pollution, professional risk is large, causes staff to become the high-risk group of easily infected and radiation etc., and may wide-scale distribution in patients by medical personnel.Along with Endoscopic Treatment project gets more and more, the endoscopy of infectious disease patient and treatment, scope increases in conjunction with operations such as X-ray, and the chance by roentgenization greatly increases.Radiation causes whole body or local lesion, as the infringement such as carcinogenic, hereditary, hemopoietic organ, skin on the one hand; On the other hand, carry out that this type of operation needs to put lead shield, wears plumbous clothing, wears plumbous cap, neck cover, be with protective glasses if desired, such that the operating environment of medical personnel is expensive and physical demands is huge.
Utilize the high accuracy of robot, stability, operation that motility assist physician carries out digestive endoscopy, improve the level of digestive endoscopy operation, efficiency and safety, alleviate the manual work of medical personnel, improve occupational protection level; The contradiction of reduction of patient One's name is legion and doctor's wretched insufficiency of doing some training very often.The control system that the present invention proposes and control method can complete scope intervention diagnosis and treatment by robot assisted doctor is more high-precision, and provide power perception, improve the safety of operation.
Summary of the invention
In view of above problem, the present invention proposes a kind of digestive endoscopy that can be applicable to and assists the control system and control method that get involved robot, improves the safety of digestive endoscopy auxiliary robot interventional procedure.
The technical scheme that the present invention is adopted for achieving the above object is: a kind of digestive endoscopy assists the control system getting involved robot, comprises main side control device, handle, pedal, bottom controller, motor driver, barometric control unit, photoelectrical coupler, electromagnetic valve, device for force feedback and limiting and protecting device;
Described device for force feedback, for measuring the resistance and the moment of resistance that when digestive endoscopy is got involved, near-end runs into;
Described barometric control unit, for regulating the air pressure of gas circuit, controls executor to the chucking power of digestive endoscopy;
Described electromagnetic valve, controls its break-make by photoelectrical coupler, for controlling inflation and the venting of executor's clamping device, coordinates actuator driven mechanism to complete digestive endoscopy conveying;
Described bottom controller, sends to described motor driver, barometric control unit, photoelectrical coupler after receiving main side control device command process, and sampling resistance and moment of resistance information send described main side control device to;
Described limiting and protecting device, is not damaged for the protection of robot executor and digestive endoscopy operating portion knob;
Described main side control device, is bi-directionally connected with bottom controller;
Described bottom controller, first outfan connects described motor driver, second outfan connects the input of described barometric control unit, IO outfan connects the input of described photoelectrical coupler, first input end connects the outfan of described force transducer, second input connects the outfan of described torque sensor, and the 3rd input connects the outfan of described limiting and protecting device;
Described handle, connects main side control device, for controlling the end pose of gastroscope;
Described pedal, connects main side control device, supplies gas, send water, pumping function for switching working mode and control.
Described device for force feedback comprises the resistance measurement apparatus and moment of resistance measuring device that are arranged on robot executor end.
Described main side control device comprises:
Handle information retrieval and processing module, for extracting handle action message, and process obtains robot motion's instruction;
Pedal information retrieval and processing module, for extracting pedal action message, process obtains mode of operation and supplies gas, send water and pump command;
Force feedback information processing module, to measure in resistance and the moment of resistance zero partially and the interference of gravity for removing device for force feedback, showing to human-computer interaction interface module, and being mapped to main side joystick according to preset ratio;
Human-computer interaction interface module, for the display setting of mode of operation and the display of robotary.
Described human-computer interaction interface module comprises:
Force information prompting and alarm module, for showing transporting resistance and torsional resistance square information, and start image when described resistance and the moment of resistance exceed preset value or auditory tone cues is reported to the police;
Digestive endoscopy dynamic information prompt module, for pointing out the multidate information of end effector of robot, comprises the conveying to digestive endoscopy, rotation, bending and supply gas, send water, vacuuming operation;
Digestive endoscopy end 3 d pose display module, for pointing out the 3 d pose information of digestive endoscopy end, handled easily person operate;
Mode of operation display setting module, for display and setup control pattern.
The alter mode of described mode of operation comprises human-computer interaction interface amendment and pedal alter mode.
Digestive endoscopy assists the control method getting involved robot, comprises the following steps:
Main side control device and bottom controller parameter initialization, setting mode of operation: speed control mode or position control mode;
Start intervalometer, read the control command of handle information as robot executor;
When to set mode of operation be speed control mode, calculate handle button press after change in displacement, the speed of service of scale amplifying as executor is carried out to change in displacement, sends a command to bottom controller;
When setting mode of operation is position control mode, according to the nearly far-end corresponding relation model of the digestive endoscopy set up, carried out the variable quantity of each joint variable of Jacobi inverse transformation calculating robot by the change in location of handle, and transmitting control commands is to bottom controller;
The control command that main side control device passes through to send calculates the change of digestive endoscopy end 3 d pose according to digestive endoscopy nearly far-end corresponding relation model;
Digestive endoscopy end 3 d pose change display is to human-computer interaction interface;
The order of bottom controller to main side control device is changed, and sends to motor driver, barometric control unit, photoelectrical coupler;
Motor driver drive motors moves according to control command, and barometric control unit regulates gas circuit air pressure, and photoelectrical coupler controls executor's clamping device by Controlling solenoid valve break-make and coordinates driving mechanism to complete the conveying of mirror body.
The change of described calculating digestive endoscopy end 3 d pose comprises the following steps:
Digestive endoscopy end 3 d pose is real-time update, while control instruction sends, the 3 d pose display module of digestive endoscopy end can calculate position and the attitudes vibration of scope end according to digestive endoscopy nearly far-end corresponding relation model, compare and upgrade with current pose.
During described startup intervalometer, also read the resistance that returns of device for force feedback and moment of resistance information, perform operation as follows:
Main side control device force feedback information processing module to collecting Resistance Pressure information and moment of resistance information process, remove zero partially and gravity disturb;
Force information feeds back to man machine interface display after treatment, and show according to the size of resistance and moment of resistance value, when resistance or moment of resistance value are greater than preset alert threshold value, man machine interface occurs that picture is pointed out and is attended by auditory tone cues, now end effector has certain autonomy, return back to its laststate, until resistance or the moment of resistance return in safety range;
Force information after treatment, after preset ratio is amplified, maps to handle and provides power perception to operator.
During described startup intervalometer, also read the information of pedal, realize mode of operation according to the state of pedal and switch and supply gas, send water, pumping function.
The present invention has the following advantages and beneficial effect:
1. the present invention control the carrier of digestive endoscopy auxiliary robot and operator realize digestive endoscopy advance, retrogressing, rotation, end bend, supply gas, send water function;
2. in control procedure, gather the information of force transducer and torque sensor, give main hand-power feedback; When force information exceeds secure threshold, regulate carrying capacity to safety range by locally autonomous;
3. man-computer interface shows digestive endoscopy status information, power and torque information and has warning function;
4. assist physician completes the interventional procedure of digestive endoscopy in human body, reduces operation easier, improves the safety of operation, ensures the physical and mental health of medical personnel.
Accompanying drawing explanation
Fig. 1 is control system the general frame;
Fig. 2 is man machine interface schematic diagram;
Fig. 3 is schematic flow sheet of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Figure 1, a kind of digestive endoscopy is auxiliary gets involved robot system, comprises main side control device 1, handle 2, bottom controller 3, motor driver 4, barometric control unit 5, electromagnetic valve 6, device for force feedback 7, limiting and protecting device 8, pedal 9 and photoelectrical coupler 10, described device for force feedback 7 comprises the resistance measurement apparatus 701 and moment of resistance measuring device 702 that are arranged on robot executor end, for measuring the resistance and the moment of resistance that when digestive endoscopy is got involved, near-end runs into, described barometric control unit 5 is for regulating the air pressure of gas circuit, control executor to the chucking power of digestive endoscopy and the pressure to digestion endoscopic technic portion button, described electromagnetic valve 6 controls its break-make by photoelectrical coupler 10, for controlling inflation and the venting of executor's clamping device, actuator driven mechanism is coordinated to complete digestive endoscopy conveying, described electromagnetic valve 6 is also for controlling the motion of actuator buttons operating mechanism, complete and supply gas, send water, pumping function, described bottom controller 3 sends to motor driver 4 after receiving main side control device command process, barometric control unit 5, photoelectrical coupler 10, sampling resistance and moment of resistance information send main side control device 1 to, described limiting and protecting device is not damaged for the protection of robot executor and digestive endoscopy operating portion knob, described handle 2 is bi-directionally connected with described main side control device 1, described pedal 9 is bi-directionally connected with described main side control device 1, described main side control device 1 and bottom controller 2 are bi-directionally connected, first outfan of described bottom controller 3 connects motor driver 4, second outfan of described bottom controller 3 connects the input of barometric control unit 5, the IO outfan of described bottom controller 3 connects the input of photoelectrical coupler 106, the first input end of described bottom controller 3 connects the outfan of described resistance measurement apparatus 701, second input of described bottom controller 3 connects the outfan of described moment of resistance measuring device 702, 3rd input of described bottom controller 3 connects the outfan of described limiting and protecting device 8,
Described main side control device 1 comprises handle information retrieval and processing module 101, force feedback information processing module 102, human-computer interaction interface module 103, pedal information retrieval and processing module 104, described handle information retrieval and processing module 101 are for extracting handle action message, and process obtains robot motion's instruction; Force feedback information processing module 102 to measure in resistance and the moment of resistance zero partially and the interference of gravity for removing device for force feedback, shows to human-computer interaction interface module, and is mapped to main side joystick 2 according to preset ratio; Described pedal information retrieval and processing module 104 are for extracting pedal information, and process obtains motor pattern switching and supplies gas, send water, aspirates instruction;
The display setting of described human-computer interaction interface module 103 for mode of operation and the display of robotary, as shown in Figure 2, described human-computer interaction module 103 comprises force information prompting and alarm module 1031, digestive endoscopy end 3 d pose display module 1032, digestive endoscopy multidate information display module 1033 and mode of operation display setting module 1034, the prompting of described force information and alarm module 1031 comprise resistance and shows and the moment of resistance shows, give operator in concentric circles intuitively to show, the size of concentrically ringed radius and force information is proportional, according to clinical experiment preset security and warning two threshold values, corresponding inner circle and cylindrical respectively, when resistance or the moment of resistance are less than secure threshold, force information display is in green, when resistance or the moment of resistance are between secure threshold and warning threshold, force information display is in yellow, when resistance or moment of resistance information are greater than warning threshold, force information display takes on a red color, and with auditory tone cues, the command calculations digestive endoscopy terminal angle that described digestive endoscopy end 3 d pose display module 1032 sends according to main side control device also uses three-dimensional drawing to show in real time in man machine interface, described digestive endoscopy multidate information display module 1033 shows each action that executor operates digestive endoscopy, comprise advance, retrogressing, upper curved, lower curved, left curved, right curved, turn clockwise, be rotated counterclockwise, supply gas, send water, suction, when executor performs above-mentioned action one or more, corresponding action can be glimmered, the ongoing operation of prompting operator, described mode of operation display setting module 1034, for display and setup control pattern.
In the present embodiment, bottom controller adopts the Clipper type multi-axis motion control card of Delta Tau company.Clipper multi-axis motion control card CPU is the DSP5603 of 80MHz, has the user SRAM of 256K*24, and use Ethernet and the upper machine communication of 100Mbps, mainboard has 4 channel axis interface circuits, can expand to 12 axles, is applicable to the control of multi-axis robot; Its configurable adnexa supports multi-channel A/D sampling and IO.
As shown in Figure 3, a kind of digestive endoscopy assists the control method getting involved robot, comprises the following steps:
Step one, main side control device and bottom controller parameter initialization, setting mode of operation, mode of operation can be changed in real time as requested in interventional procedure;
Step 2, start intervalometer, in timing response function, there are two category informations to need process, be respectively and read the control command of handle information as robot executor, the resistance that reading device for force feedback returns and moment of resistance information, read pedal information and switch as pattern and supply gas, send water, pump command;
Step 3, mode of operation is selected; Perform step 4 when setting mode of operation is speed control mode, perform step 5 when setting mode of operation is position control mode;
Step 4, calculate handle button press after change in displacement, the speed of service of scale amplifying as executor is carried out to change in displacement, sends a command to bottom controller
Step 5, according to the nearly far-end corresponding relation model of the digestive endoscopy set up, carried out the variable quantity of each joint variable of Jacobi inverse transformation calculating robot, and transmitting control commands is to bottom controller by the change in location of handle;
Step 6, the control command that main side control device passes through to send calculates the change of digestive endoscopy end 3 d pose according to digestive endoscopy nearly far-end corresponding relation model;
Step 7, digestive endoscopy end 3 d pose change display is to human-computer interaction interface;
Step 8, the order of bottom controller to main side control device is changed, and sends to motor driver, barometric control unit, photoelectrical coupler;
Step 9, motor driver drive motors moves according to control command, and barometric control unit regulates gas circuit air pressure, and photoelectrical coupler controls executor's clamping device by Controlling solenoid valve break-make and coordinates driving mechanism to complete the conveying of mirror body;
Step 10, in step 2, main side control device timing acquiring force information and torque information, process, if step 11 is to step 13, is parallel with step 3 to nine;
Step 11, main side control device force feedback information processing module to collecting Resistance Pressure information and moment of resistance information process, remove zero partially and gravity disturb;
Step 12, force information feeds back to man machine interface display after treatment, and show according to the size of resistance and moment of resistance value, when resistance or moment of resistance value are greater than preset alert threshold value, man machine interface occurs that picture is pointed out and is attended by auditory tone cues, now end effector has certain autonomy, makes resistance or the moment of resistance return in safety range by regulating self pose;
Step 13, force information after treatment, after preset ratio is amplified, maps to handle and provides power perception to operator.
Step 14, judges whether respective foot pedal is pressed, and carries out mode of operation switching, otherwise enter step 15 as pressed;
Step 15, judges whether respective foot pedal is pressed, and carries out supplying gas, sending water or vacuuming operation, otherwise return step 2 as pressed;
The nearly far-end corresponding relation model of described digestive endoscopy and Jacobi inverse transformation are with reference to paper " Ott; L.; etal.; Robotic Assistance to Flexible Endoscopy by Physiological-Motion Tracking.IEEE Transactions on Robotics, 2011.27 (2): p.346-359. ".
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, for those skilled in the art without departing from the inventive concept of the premise; can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (9)
1. a digestive endoscopy assists the control system getting involved robot, it is characterized in that, comprise main side control device, handle, pedal, bottom controller, motor driver, barometric control unit, photoelectrical coupler, electromagnetic valve, device for force feedback and limiting and protecting device;
Described device for force feedback, for measuring the resistance and the moment of resistance that when digestive endoscopy is got involved, near-end runs into;
Described barometric control unit, for regulating the air pressure of gas circuit, controls executor to the chucking power of digestive endoscopy;
Described electromagnetic valve, controls its break-make by photoelectrical coupler, for controlling inflation and the venting of executor's clamping device, coordinates actuator driven mechanism to complete digestive endoscopy conveying;
Described bottom controller, sends to described motor driver, barometric control unit, photoelectrical coupler after receiving main side control device command process, and sampling resistance and moment of resistance information send described main side control device to;
Described limiting and protecting device, is not damaged for the protection of robot executor and digestive endoscopy operating portion knob;
Described main side control device, is bi-directionally connected with bottom controller;
Described bottom controller, first outfan connects described motor driver, second outfan connects the input of described barometric control unit, IO outfan connects the input of described photoelectrical coupler, first input end connects the outfan of described force transducer, second input connects the outfan of described torque sensor, and the 3rd input connects the outfan of described limiting and protecting device;
Described handle, connects main side control device, for controlling the end pose of gastroscope;
Described pedal, connects main side control device, supplies gas, send water, pumping function for switching working mode and control.
2. a kind of digestive endoscopy according to claim 1 assists the control system getting involved robot, it is characterized in that, described device for force feedback comprises the resistance measurement apparatus and moment of resistance measuring device that are arranged on robot executor end.
3. a kind of digestive endoscopy according to claim 1 assists the control system getting involved robot, and it is characterized in that, described main side control device comprises:
Handle information retrieval and processing module, for extracting handle action message, and process obtains robot motion's instruction;
Pedal information retrieval and processing module, for extracting pedal action message, process obtains mode of operation and supplies gas, send water and pump command;
Force feedback information processing module, to measure in resistance and the moment of resistance zero partially and the interference of gravity for removing device for force feedback, showing to human-computer interaction interface module, and being mapped to main side joystick according to preset ratio;
Human-computer interaction interface module, for the display setting of mode of operation and the display of robotary.
4. a kind of digestive endoscopy according to claim 3 assists the control system getting involved robot, and it is characterized in that, described human-computer interaction interface module comprises:
Force information prompting and alarm module, for showing transporting resistance and torsional resistance square information, and start image when described resistance and the moment of resistance exceed preset value or auditory tone cues is reported to the police;
Digestive endoscopy dynamic information prompt module, for pointing out the multidate information of end effector of robot, comprises the conveying to digestive endoscopy, rotation, bending and supply gas, send water, vacuuming operation;
Digestive endoscopy end 3 d pose display module, for pointing out the 3 d pose information of digestive endoscopy end, handled easily person operate;
Mode of operation display setting module, for display and setup control pattern.
5. a kind of digestive endoscopy according to claim 1 assists the control system getting involved robot, and it is characterized in that, the alter mode of described mode of operation comprises human-computer interaction interface setting and modifying and pedal setting and modifying mode.
6. digestive endoscopy assists the control method getting involved robot, it is characterized in that, comprises the following steps:
Main side control device and bottom controller parameter initialization, setting mode of operation: speed control mode or position control mode;
Start intervalometer, read the control command of handle information as robot executor;
When to set mode of operation be speed control mode, calculate handle button press after change in displacement, the speed of service of scale amplifying as executor is carried out to change in displacement, sends a command to bottom controller;
When setting mode of operation is position control mode, according to the nearly far-end corresponding relation model of the digestive endoscopy set up, carried out the variable quantity of each joint variable of Jacobi inverse transformation calculating robot by the change in location of handle, and transmitting control commands is to bottom controller;
The control command that main side control device passes through to send calculates the change of digestive endoscopy end 3 d pose according to digestive endoscopy nearly far-end corresponding relation model;
Digestive endoscopy end 3 d pose change display is to human-computer interaction interface;
The order of bottom controller to main side control device is changed, and sends to motor driver, barometric control unit, photoelectrical coupler;
Motor driver drive motors moves according to control command, and barometric control unit regulates gas circuit air pressure, and photoelectrical coupler controls executor's clamping device by Controlling solenoid valve break-make and coordinates driving mechanism to complete the conveying of mirror body.
7. a kind of digestive endoscopy according to claim 6 assists the control method getting involved robot, and it is characterized in that, the change of described calculating digestive endoscopy end 3 d pose comprises the following steps:
Digestive endoscopy end 3 d pose is real-time update, while control instruction sends, the 3 d pose display module of digestive endoscopy end can calculate position and the attitudes vibration of scope end according to digestive endoscopy nearly far-end corresponding relation model, compare and upgrade with current pose.
8. a kind of digestive endoscopy according to claim 6 is assisted and is got involved the control method of robot, it is characterized in that, during described startup intervalometer, also reads resistance and moment of resistance information that device for force feedback returns, performs operation as follows:
Main side control device force feedback information processing module to collecting Resistance Pressure information and moment of resistance information process, remove zero partially and gravity disturb;
Force information feeds back to man machine interface display after treatment, and show according to the size of resistance and moment of resistance value, when resistance or moment of resistance value are greater than preset alert threshold value, man machine interface occurs that picture is pointed out and is attended by auditory tone cues, now end effector has certain autonomy, makes resistance or the moment of resistance return in safety range by regulating self pose;
Force information after treatment, after preset ratio is amplified, maps to handle and provides power perception to operator.
9. a kind of digestive endoscopy according to claim 6 assists the control method getting involved robot, it is characterized in that, during described startup intervalometer, also read the information of pedal, realize mode of operation according to the state of pedal and switch and supply gas, send water, pumping function.
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