Control system of a surgical robot
A control system of a surgical robot arm, the surgical robot arm comprising a series of joints by which the configuration of that surgical robot arm can be altered and one or more force or torque sensors, each force or torque sensor configured to sense a force or torque at a joint of the series of joints, the control system being configured to control the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by: receiving sensory data from the one or more force or torque sensors indicative of a sensed force or torque at a part of the surgical robot arm resulting from the externally applied force or torque; determining a position of the part of the surgical robot arm using a reference position, whereby the sensed force or torque would be compensated by moving the part of the surgical robot arm to the determined position; sending a command signal to the surgical robot arm to drive the part of the surgical robot arm to the determined position; and updating the reference position if the difference between the reference position and the determined position is greater than a threshold displacement.
1 . A control system of a surgical robot arm, the surgical robot arm comprising a series of joints by which the configuration of that surgical robot arm can be altered and one or more force or torque sensors, each force or torque sensor configured to sense a force or torque at a joint of the series of joints, the control system being configured to cause the robot arm to operate in:
a compliant mode in which the control system is configured to control the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by:
receiving sensory data from the one or more force or torque sensors indicative of a sensed force or torque at a part of the surgical robot arm resulting from the externally applied force or torque;
determining a position of the part of the surgical robot arm using a reference position, whereby the sensed force or torque would be compensated by moving the part of the surgical robot arm to the determined position;
sending a command signal to the surgical robot arm to drive the part of the surgical robot arm to the determined position; and
updating the reference position if the difference between the reference position and the determined position is greater than a threshold displacement such that the control system is configured to control the configuration of the surgical robot arm:
to have elastic behavior, in which the robot arm is displaced from a position in response to the externally applied force or torque, but returns to that position when the externally applied force or torque is no longer being applied, if the difference between the reference position and the determined position is less than the threshold displacement; and
to have plastic behavior, in which the robot arm is displaced to a position in response to the externally applied force or torque, and retains that position even when the externally applied force or torque is no longer being applied, if the difference between the reference position and the determined position is greater than a threshold displacement; and
a surgical mode in which the control system is configured to control the configuration of the surgical robot arm to be altered in response to inputs receiving at a remote surgeon console, the remote surgeon console being configured to receive inputs from a surgeon via one or more surgeon input devices so as to enable the surgeon to control the surgical robot arm to perform surgery.
2 . The control system as claimed in claim 1 , the control system being further configured to iteratively perform a control loop comprising the receiving, determining, sending and updating steps.
3 . The control system as claimed in claim 2 , the control system being further configured to maintain, for a subsequent iteration, the reference position used in the determining step of the present iteration if the difference between the reference position and the determined position is less than the threshold displacement.
4 . The control system as claimed in claim 1 , wherein the reference position is the position to which the control system is configured to cause the part of the surgical robot arm to be driven when sensory data is received from the one or more force or torque sensors indicative of no external force or torque acting at the part.
5 . The control system as claimed in claim 1 , wherein determining the position of the part of the surgical robot arm using the reference position comprises determining a position that satisfies a mass-spring-damper model having a position term that depends on the reference position and the determined position.
6 . The control system as claimed in claim 5 , wherein the mass-spring-damper model takes the form, M{umlaut over (P)}+D{dot over (P)}+K(P−P ref )=−X, where P is the determined position, P ref is the reference position, X is the sensed force or torque at the part of the surgical robot arm and M, D and K are constants.
7 . The control system as claimed in claim 1 , the surgical robot arm further comprising an attachment for a surgical instrument at a distal end of the robot arm, wherein the control system is configured to cause the robot arm to operate in:
the surgical mode in which a surgical instrument attached to the attachment is inside a patient's body; and
an instrument retract mode in which the surgical instrument is retracted from the patient's body in response to the externally applied force or torque.
8 . The control system as claimed in claim 7 , wherein the part of the robot arm is a point defined with respect to the distal end of the robot arm or a point defined with respect to the surgical instrument.
9 . The control system as claimed in claim 8 , wherein the sensory data is received from two or more force or torque sensors and is indicative of sensed forces or torques at two or more joints of the series of joints resulting from the externally applied force or torque, and the control system is further configured to:
resolve said sensory data so as to determine the force or torque at the defined point resulting from the externally applied force or torque.
10 . The control system as claimed in claim 8 , the control system being further configured to, in the instrument retract mode:
resolve the sensory data so as to determine the components of the sensed force or torque parallel with the longitudinal axis of the surgical instrument attached to the attachment; and
determining the position of the defined point of the surgical robot arm using the reference position, whereby only the resolved components of the sensed force or torque would be compensated by moving the point of the surgical robot arm to the determined position, such that the determined position is constrained to be on the axis parallel with the longitudinal axis of the surgical instrument.
11 . The control system as claimed in claim 10 , wherein the threshold displacement is a linear displacement along the axis parallel with the longitudinal axis of the surgical instrument.
12 . The control system as claimed in claim 10 , the control system being further configured to control the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by:
receiving sensory data from a force or torque sensor indicative of a sensed force or torque at a revolute joint of the series of joints resulting from the externally applied force or torque, the rotational axis of the revolute joint being parallel with the longitudinal axis of the surgical instrument;
determining an angular position of the revolute joint using a reference angular position, whereby the sensed force or torque would be compensated by moving the revolute joint to the determined angular position;
sending a command signal to the surgical robot arm to drive the revolute joint to the determined angular position; and
updating the reference angular position if the difference between the reference angular position and the determined angular position is greater than a threshold displacement.
13 . The control system as claimed in claim 12 , the control system being further configured to iteratively perform a control loop comprising the receiving, determining, sending and updating steps of claim 12 .
14 . The control system as claimed in claim 13 , the control system being further configured to maintain, for a subsequent iteration, the reference angular position used in the determining step of the present iteration if the difference between the reference angular position and the determined angular position is less than the threshold displacement.
15 . The control system as claimed in claim 12 , wherein the reference angular position is the angular position to which the control system is configured to cause the revolute joint to be driven when no external force is sensed at the revolute joint.
16 . The control system as claimed in claim 12 , wherein determining the angular position of the revolute joint using the reference angular position comprises determining an angular position that satisfies a mass-spring-damper model having a position term that depends on the reference angular position and the determined angular position.
17 . The control system as claimed in claim 16 , wherein the mass-spring-damper model takes the form, M{umlaut over (θ)}+D{dot over (θ)}+K(θ−θ ref )=−X, where θ is the determined angular position, θ ref is the reference angular position, X is the sensed force or torque at the revolute joint of the surgical robot arm and M, D and K are constants.
18 . The control system as claimed in claim 1 , wherein the part of the surgical robot arm is a joint of the series of joints and the threshold displacement is an angular displacement of the joint.
19 . The control system as claimed in claim 1 , wherein the surgical robot arm further comprises one or more motors, each motor being configured to drive a joint of the series of joints in response to the command signal sent by the control system.
20 . A method of controlling a surgical robot arm, the surgical robot arm comprising a series of joints by which the configuration of that surgical robot arm can be altered and one or more force or torque sensors, each force or torque sensor configured to sense a force or torque at a joint of the series of joints, the method comprising causing the robot arm to operate in:
a compliant mode by controlling the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by:
receiving sensory data from the one or more force or torque sensors indicative of a sensed force or torque at a part of the surgical robot arm resulting from the externally applied force or torque;
determining a position of the part of the surgical robot arm using a reference position, whereby the sensed force or torque would be compensated by moving the part of the surgical robot arm to the determined position;
sending a command signal to the surgical robot arm to drive the part of the surgical robot arm to the determined position; and
updating the reference position if the difference between the reference position and the determined position is greater than a threshold displacement such that the control system controls the configuration of the surgical robot arm:
to have elastic behaviour, in which the robot arm is displaced from a position in response to the externally applied force or torque, but returns to that position when the externally applied force or torque is no longer being applied, if the difference between the reference position and the determined position is less than the threshold displacement; and
to have plastic behaviour, in which the robot arm is displaced to a position in response to the externally applied force or torque, and retains that position even when the externally applied force or torque is no longer being applied, if the difference between the reference position and the determined position is greater than a threshold displacement; and
a surgical mode by controlling the configuration of the surgical robot arm to be altered in response to inputs received at a remote surgeon console, the remote surgeon console being configured to receive inputs from a surgeon via one or more surgeon input devices so as to enable the surgeon to control the surgical robot arm to perform surgery.