CN118319483A

CN118319483A - Surgical arm compliance adjustment method and surgical robot using same

Info

Publication number: CN118319483A
Application number: CN202410458378.XA
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Agile Medical Technology Suzhou Co ltd
Current assignee: Agile Medical Technology Suzhou Co ltd
Priority date: 2024-04-16
Filing date: 2024-04-16
Publication date: 2024-07-12

Abstract

The embodiment of the application provides a method for flexibly adjusting an operation arm and an operation robot using the same, wherein the method comprises the steps of obtaining actual encoder deviation and theoretical encoder deviation between a motor encoder and a joint encoder corresponding to a target joint on the operation arm; then, based on an adjustment difference between an actual encoder deviation and a theoretical encoder deviation corresponding to the target joint, determining a thrust direction and a thrust value of thrust received by the joint to be adjusted; and finally, determining the target position of the motor corresponding to the joint to be adjusted based on the thrust direction and the thrust value, and generating a corresponding control instruction according to the target position to instruct the motor corresponding to each joint to be adjusted to move to the target position, so that the motor can run in a position mode, the influence caused by uneven force output of the constant force spring in the process of adjusting the position of the operation arm is avoided, the maximum static friction force between each joint can be overcome, the user is not required to manually overcome, and the flexibility and smoothness in the process of adjusting the operation arm can be improved.

Description

Surgical arm compliance adjustment method and surgical robot using same

Technical Field

The invention relates to the technical field of medical instruments, in particular to a surgical arm compliance adjusting method and a surgical robot using the same.

Background

With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery is increasingly widely applied with the advantages of small surgical wounds, short rehabilitation time, less pain of patients and the like, and minimally invasive surgery robots can avoid operation limitations such as tremors of hands during filtering operation and the like due to the characteristics of high dexterity, high control precision, visual surgical images and the like, and are widely applied to operation departments such as urology surgery, thoracic surgery, general surgery and neurosurgery.

The most widely used of minimally invasive surgical robots are laparoscopic surgical robots for performing surgery on the abdominal, pelvic, thoracic, etc. regions of a patient. The laparoscopic surgical robot generally includes a doctor console and a surgical platform on which a plurality of surgical arms are provided, each of which includes a plurality of joints, and a vertical lifting joint among the plurality of joints includes a motor, a constant force spring, a screw rod, and a load (a plurality of joints located behind the vertical lifting joint). Wherein, motor and lead screw cooperation action can drive vertical lift joint and remove along vertical direction to adjust the height of operation arm, and constant force spring hangs on vertical lift joint for the weight of a part of load is shared to the motor.

Prior to surgery, a positioning operation is usually required for the surgical arm, i.e. the surgical arm is dragged to adjust the position of the surgical arm (e.g. adjust the height of the surgical arm), but during the process of adjusting the position of the surgical arm, there are some problems that affect the compliance of the adjustment of the surgical arm. For example, since the constant force spring is not a perfect constant force, the force of the spring varies along with the expansion and contraction of the spring, and the gravity of the surgical arm is different due to different instruments or endoscopes installed on the surgical arm, and the like, the existing compensation method cannot well compensate the gravity moment of the surgical arm, so that the problem that the pushing initial force is large and dragging is not smooth (namely, the flexibility is poor) exists in the surgical arm.

Disclosure of Invention

The application provides a surgical arm compliance adjusting method and a surgical robot using the same, which can solve the technical problem of poor compliance when the surgical arm is subjected to position adjustment.

In a first aspect of the present application, there is provided a method of compliant adjustment of a surgical arm, comprising:

Acquiring actual encoder deviation and theoretical encoder deviation between a motor encoder and a joint encoder corresponding to a target joint on an operation arm; the target joint is a joint which is adjacent to the joint to be adjusted and can enable the joint to be adjusted to move along a preset direction;

determining the thrust direction and the thrust value of the thrust force received by the joint to be adjusted based on the adjustment difference between the actual encoder deviation and the theoretical encoder deviation corresponding to the target joint;

And determining the target position of the motor corresponding to the joint to be adjusted based on the thrust direction and the thrust value corresponding to the joint to be adjusted, and generating a corresponding control instruction according to the target position, wherein the control instruction is used for indicating the motors corresponding to the joints to be adjusted to move to the target position so that the joint to be adjusted moves along the thrust direction according to the corresponding thrust value.

In some embodiments, obtaining a theoretical encoder bias between a motor encoder and a joint encoder corresponding to a target joint on a surgical arm comprises:

acquiring joint positions and statics of a plurality of joints on an operation arm, and determining theoretical gravity moment corresponding to a target joint based on the joint positions and statics of each joint;

Determining a theoretical elastic deviation corresponding to the target joint based on the theoretical gravity moment and the elastic coefficient corresponding to the target joint; the elastic deviation is used for indicating deviation formed by the motor encoder and the joint encoder based on elastic displacement of the joint end part;

Determining a theoretical spurious deviation of the target joint based on the joint position and the fitting function of the target joint; the stray deviation is the deviation formed by the motor encoder and the joint encoder based on the error;

And determining the theoretical encoder deviation corresponding to the target joint based on the sum of the theoretical elastic deviation and the theoretical spurious deviation corresponding to the target joint.

In some embodiments, the method further comprises:

when the operation arm is in a first configuration, acquiring a first gravity moment and a first encoder deviation corresponding to a preset angle of a target joint;

when the operation arm is in a second configuration, obtaining a second heavy moment and a second encoder deviation corresponding to the target joint at a preset angle;

Determining the elastic moment corresponding to the target joint based on the difference value between the first heavy moment and the second heavy moment corresponding to the preset angle of the target joint;

determining an elastic deformation amount corresponding to the target joint based on a difference value between a first encoder deviation and a second encoder deviation corresponding to a preset angle of the target joint;

And obtaining the elastic coefficient corresponding to the target joint based on the quotient between the elastic moment corresponding to the target joint and the elastic deformation.

In some embodiments, the method further comprises:

Determining a first elastic deviation of the target joint corresponding to a preset angle based on a first gravitational moment corresponding to the target joint; the first elastic deviation is the elastic deviation corresponding to the target joint when the operation arm is in the first configuration;

determining a second elastic deviation of the target joint corresponding to a preset angle based on a second gravitational moment corresponding to the target joint; the second sample elastic deviation is the elastic deviation corresponding to the target joint when the operation arm is in the second configuration;

Obtaining a first stray deviation of the target joint corresponding to a preset angle based on a difference value between a first encoder deviation corresponding to the target joint and a first elastic deviation;

obtaining a second stray deviation of the target joint corresponding to a preset angle based on a difference value between a second encoder deviation corresponding to the target joint and a second elastic deviation;

And fitting the first stray deviation and the second stray deviation corresponding to the target joint to obtain a fitting function.

In some embodiments, determining the thrust direction and thrust value of the thrust force experienced by the joint to be adjusted based on the adjustment difference between the actual encoder bias and the theoretical encoder bias corresponding to the target joint comprises:

if the adjustment difference is larger than the first threshold value, determining the thrust direction of the thrust received by the joint to be adjusted as the first direction, and determining the adjustment difference as the thrust value of the thrust received by the joint to be adjusted.

If the adjustment difference is smaller than the second threshold value, determining the thrust direction of the thrust received by the joint as a second direction, and determining the adjustment difference as a thrust value of the thrust received by the joint to be adjusted; the second direction is opposite to the first direction.

In some embodiments, determining the target position of the motor corresponding to the joint to be adjusted based on the thrust direction and the thrust value includes:

determining the instruction speed corresponding to the joint to be adjusted based on the product of the thrust value corresponding to the joint to be adjusted and a preset coefficient;

obtaining a displacement increment of a motor corresponding to the joint to be adjusted based on the product of the command speed corresponding to the joint to be adjusted and a preset control period;

and obtaining the target position of the motor corresponding to the joint to be adjusted based on the sum of the displacement increment of the motor and the current displacement quantity of the motor.

In some embodiments, the method further comprises:

acquiring an operation signal input by a user; the operation signal is used for indicating the user to apply external force to the operation arm;

based on the operation signal, the target joint on the operation arm and the joint located behind the target joint are locked.

In a second aspect of the present application, there is provided a surgical arm compliance adjustment device comprising:

The acquisition module is used for acquiring actual encoder deviation and theoretical encoder deviation between the motor encoder and the joint encoder corresponding to the target joint on the operation arm; the target joint is a joint which is adjacent to the joint to be adjusted and can enable the joint to be adjusted to move along a preset direction;

The processing module is used for determining the thrust direction and the thrust value of the thrust received by the joint to be adjusted based on the adjustment difference between the actual encoder deviation and the theoretical encoder deviation corresponding to the target joint; the motor adjusting device is also used for determining the target position of the motor corresponding to the joint to be adjusted based on the thrust direction and the thrust value;

the generating module is used for generating a corresponding control instruction according to the target position, and the control instruction is used for indicating the motors corresponding to the joints to be adjusted to move to the target position so that the joints to be adjusted move along the thrust direction according to the corresponding thrust values.

In a third aspect the application provides a control device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of the embodiments described above when the program is executed by the processor.

In a fourth aspect of the application, there is provided a surgical robot comprising a surgical arm, a motor encoder, a joint encoder and a control device as provided in the third aspect;

The motor encoder is arranged on a motor of a corresponding joint on the operation arm, and the joint encoder is arranged at the end part of the corresponding joint on the operation arm; the motor encoder, the joint encoder and the surgical arm are all coupled to a control device, and the motor encoder and the joint encoder are each configured to detect a corresponding joint on the surgical arm, and when executed by a processor in the control device, are configured to implement the steps of the method of any of the embodiments described above.

In a fifth aspect the present application provides a non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor implements the steps of the method of any of the embodiments described above.

The embodiment of the application provides a method for flexibly adjusting an operation arm, which comprises the following steps: firstly, acquiring actual encoder deviation and theoretical encoder deviation between a motor encoder and a joint encoder corresponding to a target joint on an operation arm; the target joint is a joint which is adjacent to the joint to be adjusted and can enable the joint to be adjusted to move along a preset direction; then, based on an adjustment difference between an actual encoder deviation and a theoretical encoder deviation corresponding to the target joint, determining a thrust direction and a thrust value of thrust received by the joint to be adjusted; and finally, determining the target position of the motor corresponding to the joint to be adjusted based on the thrust direction and the thrust value corresponding to the joint to be adjusted, and generating a corresponding control instruction according to the target position, wherein the control instruction is used for indicating the motor corresponding to each joint to be adjusted to move to the target position so that the joint to be adjusted moves along the thrust direction according to the corresponding thrust value, thus the motor can be operated in a position mode, the influence caused by uneven constant force spring force in the position adjustment process of the surgical arm can be avoided, the motor operated in the position mode can also overcome the maximum static friction force among the joints, the user is not required to manually overcome, and the flexibility in the operation arm adjustment process can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of an operation arm according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of a method for compliant adjustment of an arm for surgery according to an embodiment of the present application;

FIG. 3 is a flow chart of another method for compliant adjustment of a surgical arm according to an embodiment of the present application;

FIG. 4 is a flow chart of yet another method for compliant adjustment of a surgical arm according to an embodiment of the present application;

FIG. 5 is a flow chart of yet another method for compliant adjustment of a surgical arm according to an embodiment of the present application;

FIG. 6 is a flow chart of yet another method for compliant adjustment of a surgical arm according to an embodiment of the present application;

FIG. 7 is a flow chart of yet another method for compliant adjustment of a surgical arm according to an embodiment of the present application;

FIG. 8 is a flow chart of yet another method for compliant adjustment of a surgical arm according to an embodiment of the present application;

FIG. 9 is a schematic structural view of a compliant surgical arm adjustment apparatus in accordance with an embodiment of the present application;

fig. 10 is a schematic structural diagram of a control device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings.

In this description, numerous specific details are set forth in order to provide a thorough understanding of the present application by those skilled in the art. It is understood, however, that embodiments of the application may be practiced without these specific details. Such detailed description of technical details should not be taken as limiting the application, and the scope of the application is defined only by the claims. Well-known structures, connections/positional relationships, circuits, and/or other details may not be shown in detail, so as not to obscure the gist of the application.

In this specification, the drawings show schematic representations of several embodiments of the application. However, the drawings are merely schematic, and it is understood that variations in mechanical structure, connection/positional relationships, physical composition, electrical and steps may be made without departing from the spirit and scope of the application. Such variations may be substituted or combined with elements of the several embodiments of the application, or with known alternatives or combinations.

The terminology used herein below is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "lower," "upper," "middle," "inner," "outer," "center," "edge," and the like, may be used for convenience of description to describe one element or feature as illustrated in the figures relative to another element or feature. It will be understood that spatially relative terms are intended to be used in the context of the orientation of the device in use or operation (except in the orientation where specifically defined in the figures), and are not necessarily exclusive or unchanged. For example, if the device in the figures is turned over 180 ° up and down along the page, elements described as "below" other components or features would then be oriented "above" the other components or features. Thus, the exemplary term "below" can encompass both an orientation of above and below, depending on how the device is positioned. While the device may be oriented in other directions (e.g., rotated 90 or oriented in other directions) and the spatially relative descriptors used herein interpreted accordingly.

As used herein, "a," "an," and "the" are intended to also include the plural forms, unless the context indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.

The term "object" generally refers to a component or group of components. Throughout the specification and claims, the terms "object," "component," "portion," "part," "module," "assembly," and "element" are used interchangeably.

The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, generally including an end effector. The end effector may be a surgical tool associated with one or more surgical procedures, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizer or retractor, clip applier, stapling apparatus, imaging apparatus (e.g., endoscope or ultrasound probe), and the like. Some instruments used with embodiments of the present application further provide articulating supports (sometimes referred to as "wrist joints," "joint seats") for surgical tools that allow for flexible manipulation of the position and/or orientation of an end effector relative to an instrument shaft with one or more mechanical degrees of freedom. Further, many end effectors include functional mechanical degrees of freedom such as open or closed jaws or blades that translate along a particular path. The instrument may also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updateable by the surgical system. Accordingly, the system may provide for one-way or two-way information communication between the instrument and one or more system components.

The term "mated" (sometimes referred to as "connecting," "coupling," "mounting," "fitting") can be broadly understood to be any situation where two or more objects are connected in a manner that allows the mated objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather, many objects or components may be used to mate two or more objects. For example, objects a and B may be mated by using object C. Furthermore, the term "detachably coupled" or "detachably mated" may be interpreted to mean a non-permanent coupling or mating situation between two or more objects. This means that the detachably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

The term "joint position" is to be understood in a broad sense as the angle of the joint or its spatial position. The angle of the joint refers to the angle at which the joint actually rotates relative to zero in its range of rotation, and if there is no zero, it is the incremental angle of rotation. The spatial position refers to the position of the virtual joint center under a specific spatial coordinate system, for example, for a cartesian spatial coordinate system, and the spatial position refers to a three-dimensional position under XYZ coordinates.

Finally, the terms "or" and/or "as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means any one of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C. An exception to this definition will occur only when a combination of elements, functions, steps or acts are in some way inherently mutually exclusive.

With the continuous development of medical instruments, computer technology and control technology, minimally invasive surgery has been increasingly widely used with the advantages of small surgical trauma, short rehabilitation time, less pain of patients and the like, while minimally invasive surgery robots can avoid operation limitations such as tremors of hands during filtering operation and the like with the characteristics of high dexterity, high control precision, visual surgical images and the like, and are widely applied to the surgical areas such as abdominal cavities, pelvic cavities, thoracic cavities and the like. The largest type of minimally invasive surgical robots is an endoscopic surgical robot, and the endoscopic surgical robot comprises a doctor console, a patient surgical platform and an image platform, wherein a plurality of surgical arms (also called mechanical arms) are arranged on the surgical platform. A surgeon sits on a surgeon control platform, views two-or three-dimensional images of the surgical field transmitted by a scope (sometimes referred to as an "endoscope") placed within the patient, and manipulates the movement of a surgical arm on the patient's surgical platform, as well as surgical instruments or scopes attached to the surgical arm. The operation arm is equivalent to the arm simulating the human body, the operation instrument is equivalent to the hand simulating the human body, and the operation arm and the operation instrument provide a series of actions simulating the wrist of the human body for the surgeon, and meanwhile, the tremble of the human hand can be filtered, so that the operation instrument has wider application in the operation, particularly in the abdominal cavity, thoracic cavity and general surgery.

In some embodiments, a patient surgical platform generally includes a chassis, a column, a plurality of surgical arms connected to the column, and one or more surgical instrument manipulators at the end of a support assembly of each surgical arm. The surgical instrument and/or the endoscope are detachably coupled to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and/or a scope that are operated at a surgical site within a patient. Each surgical instrument manipulator may be allowed to control the associated surgical instrument in various forms of motion in one or more mechanical degrees of freedom (e.g., all six cartesian degrees of freedom, five or less cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located where the surgical instrument enters the body wall, and which is commonly referred to as a "telecentric point" or "motionless point.

Illustratively, fig. 1 shows a schematic structural view of a surgical arm. As shown in fig. 1, the surgical arm includes a first joint 1 (also called a vertical lifting joint), a second joint 2 (also called a revolute joint), a third joint 3 (also called a revolute joint), a fourth joint 4 (also called a revolute joint), and a fifth joint 5 (also called a manipulator arm) connected in this order. The first joint 1 is in sliding connection with the operation platform and is vertically arranged, so that the first joint 1 can move up and down along the vertical direction. The second joint 2 is rotatably connected to the first joint 1, and the second joint 2 performs a horizontal rotational movement about the axis of the first joint 1. The third joint 3 is rotatably connected with the second joint 2, the third joint 3 performs vertical rotational movement around the axis of the second joint 2, and the rotational axis of the third joint 3 intersects with and is perpendicular to the axis of the first joint 1. The fourth joint 4 is rotationally connected with the third joint 3, and the fourth joint 4 performs horizontal rotational movement around the axis of the third joint 3; the rotation axis of the fourth joint 4 is perpendicular to and intersects the rotation axis of the third joint 3; one end of the fifth joint 5 is connected to the fourth joint 4 and the other end is used for attaching surgical instruments and/or a scope.

In some embodiments, the plurality of joints includes a vertical lift joint and a plurality of rotational joints. Wherein, vertical lift joint includes motor, constant force spring and lead screw. The motor and the screw rod are matched to act, and can drive the vertical lifting joint to move along the vertical direction, so that the height of the operation arm is adjusted, and the constant force spring is hung on the numerical lifting joint and is used for sharing the weight of a part of load (a plurality of rotating joints positioned behind the vertical lifting joint) for the motor; the rotating joints comprise rotating shafts and motors. The motors corresponding to the joints are sleeved outside the corresponding rotating shafts of the next joints, and the motors corresponding to the joints can drive the rotating shafts of the next joints to rotate so that the next joints can rotate.

Illustratively, as shown in fig. 1, a motor (not shown in the drawing) of the first joint 1 is sleeved outside a rotating shaft (not shown in the drawing) of the second joint 2, and the motor in the first joint 1 can drive the rotating shaft of the second joint 2 to rotate, so that the second joint 2 performs horizontal rotation motion around an axis of the first joint 1.

In some embodiments, the image platform generally includes one or more video displays having video image capturing functionality (commonly endoscopes) and for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, optics are included to transfer images from within the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope, and then to transfer the video images to a host computer of the image platform by photoelectric conversion or the like. The processed image is then displayed on a video display for viewing by other doctors or assistants through image processing.

In some embodiments, the surgeon control platform generally includes a chassis, a foot pedal assembly, a stereo monitor, a master control arm, and a manual controller coupled to the end of the master control arm, by which the surgeon effects specific motion and/or energy activation of the surgical instrument. The surgeon control platform may be at a single location in a surgical system comprised of laparoscopic surgical robots or it may be distributed at two or more locations in the system, and the remote master/slave operation may be accomplished according to a predetermined degree of control, for example, one location as the master of the master operation and another location as the slave of a slave operation, the master completing the primary surgical operation, the slave completing the auxiliary operations of the scope movement or tissue retraction, etc. In some embodiments, the manual controller may be an input device capable of performing one or more manual operations, such as a joystick, exo-skeletal glove, power and gravity compensation manipulator, or the like. The input devices collect operation signals of a surgeon, and control signals of the mechanical arm and the surgical instrument manipulator are generated after the operation signals are processed by the control system, so that remote control motors on the surgical instrument manipulator are controlled, and the motors further control final movement of the surgical instrument.

Typically, the force generated by the teleoperated motor is transmitted via a transmission system, transmitting the force from the teleoperated motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device controlling the manipulator may be located remotely from the patient, either in or out of the room in which the patient is located, or even in a different city. The input signal of the input device is then transmitted to the control system. Those familiar with tele-manipulation, tele-control and tele-presentation surgery will understand such systems and their components and are not described in detail herein.

In some embodiments, prior to surgery, it is often necessary to perform a positioning operation on the surgical arm, i.e., drag the surgical arm to adjust the position of the surgical arm (e.g., adjust the height of the surgical arm), but there are problems in adjusting the position of the surgical arm that affect the compliance of the surgical arm. For example, in adjusting the first joint 1 of the surgical arm shown in fig. 1, since the force of the constant force spring varies with the expansion and contraction of the spring, the compensation force generated by the constant force spring cannot compensate the moment of gravity well, thereby making pushing of the surgical arm difficult.

For example, the adjustment threshold may be determined according to an actual moment and a theoretical moment of a target joint on the surgical arm, and then the thrust direction and the thrust magnitude of the thrust force applied to the surgical arm may be determined according to a magnitude relation between a difference between the actual moment and the theoretical moment of the target joint and the adjustment threshold. However, because the target joint on the operation arm has larger static friction, the static friction is changed continuously along with the time, and the static friction affects the actual moment, so that the actual moment is changed continuously along with the time, and therefore, the adjustment threshold value is not easy to be determined according to the actual moment and the theoretical moment of the target joint on the operation arm, and the adjustment of the operation arm is affected.

In order to solve the above technical problems. The application provides a method for flexibly adjusting a surgical arm, wherein a motor can operate in a position mode, so that the motor can not be influenced by uneven force of a constant force spring in the process of adjusting the position of the surgical arm, and the motor operating in the position mode can overcome the maximum static friction force between joints without manual overcoming by a user, so that the flexibility of the surgical arm during adjustment can be improved.

Referring to fig. 2, an embodiment of the application provides a method for adjusting compliance of an operation arm, which includes S101-S103.

S101, acquiring actual encoder deviation and theoretical encoder deviation between a motor encoder and a joint encoder corresponding to a target joint on an operation arm.

The target joint is adjacent to the joint to be adjusted and can enable the joint to be adjusted to move along the preset direction. The actual encoder deviation is the difference between the value of the motor encoder corresponding to the target joint on the surgical arm and the value of the joint encoder in the actual scene. And subtracting the current value of the motor encoder of the target joint from the current value of the joint encoder, so as to determine the actual encoder deviation between the motor encoder and the joint encoder corresponding to the target joint. The theoretical encoder deviation is the difference between the value of the motor encoder corresponding to the target joint on the surgical arm and the value of the joint encoder in the theoretical scene.

In some embodiments, a joint adjacent to and capable of moving the joint to be adjusted in a preset direction refers to a joint of the surgical arm that is positioned behind the joint to be adjusted, the first joint being capable of moving the joint to be adjusted in a preset direction (e.g., a vertical direction).

For example, as shown in fig. 1, if the joint to be adjusted is the first joint 1, the user pushes the distal end of the surgical arm to expect the first joint 1 to move upward, and since the second joint 2 can only rotate around its own axis (the axis of the numerical value coinciding with the axis of the first joint 1) and this rotation does not cause the up-and-down movement of the distal end of the surgical arm, the movement of the second joint 2 does not affect the upward movement of the first joint 1, i.e. the pushing force can be completely transmitted to the first joint 1 through the second joint 2; since the axis of the third joint 3 is horizontal, it will cause the up-and-down motion of the distal end of the surgical arm when rotating around its own axis, and therefore, in the case where the friction of the third joint 3 is greater than that of the first joint 1, the presence of the third joint 3 will cause the pushing force to be not completely transmitted to the first joint 1; thus, the target joint is the third joint 3.

In some embodiments, the motor encoder and the joint encoder may be disposed on the motors of the corresponding joints on the surgical arm, or the motor encoder may be disposed on the motors of the corresponding joints on the surgical arm, and the joint encoder is disposed between two adjacent joints on the surgical arm. The motor encoder is used for detecting a corresponding motor on the operation arm; the joint encoder is used for detecting the joint position of the corresponding joint on the operation arm. A speed reducer can be arranged between the motor encoder and the motor, and the speed reducer is used for converting high-speed low torque of the motor into low-speed high torque and changing the direction of an output shaft of the motor so as to transmit power to the motor encoder. The motor encoder, the joint encoder and the operation arm are all coupled with the controller, and the controller can execute S101-S103 to control the motor corresponding to the joint to be adjusted on the operation arm, so as to complete the adjustment of the operation arm.

For example, the motor encoder and the joint encoder may be provided on a joint located behind the vertically lifting joint among the plurality of joints of the surgical arm. As shown in fig. 1, the second joint 2, the third joint 3 and the fourth joint 4 are provided with a motor encoder (not shown) and a joint encoder (not shown) for detecting the corresponding joints, respectively.

It should be noted that, the motor encoder may be directly connected to the motor, or may be indirectly connected to the motor through a speed reducer. The above embodiment is exemplified by the motor encoder indirectly connected to the motor through the decelerator. The connection mode between the motor encoder and the motor and the connection mode between the joint encoder and the corresponding joint end are all in the prior art, and are not described herein.

As shown in fig. 3, in some embodiments, obtaining a theoretical encoder bias between a motor encoder and a joint encoder corresponding to a target joint on a surgical arm may include S301-S304.

S301, acquiring joint positions and statics of a plurality of joints on an operation arm, and determining theoretical gravity moment corresponding to a target joint based on the joint positions and statics of each joint.

In some embodiments, the joint position may be detected by a joint encoder, where the joint position may refer to an angular size, an angular orientation, etc. of the joint. The embodiment of the present application is not limited thereto. The statics parameters corresponding to each joint include a plurality of preset values, such as: link mass, centroid position, etc.

For example, when determining the theoretical gravity moment corresponding to the target joint according to the joint position and the statics parameters of each joint, the statics parameters of each joint may be used to determine the gravity component of the connecting rod corresponding to the target joint, then the joint position of each joint may be used to determine the moment arm of the connecting rod corresponding to the target joint, and finally the moment equation m=r×f (M is the theoretical gravity moment of the target joint, r is the moment arm, and F is the gravity component) may be used to determine the theoretical gravity moment corresponding to the target joint; and determining the theoretical gravity moment corresponding to the target joint according to the joint position and the statics parameter of each joint based on a preset dynamics model. The embodiment of the present application is not limited thereto. And determining the theoretical gravity moment corresponding to the target joint according to the joint position and the statics parameter of each joint is the prior art, and will not be repeated here.

It should be noted that the surgical arms have different configurations. The surgical arm has different configurations, and the corresponding ranges of the joints are different when the positions of the joints and the statics parameters corresponding to the joints on the surgical arm are obtained. For example, the plurality of joints may include a target joint and at least one joint located behind the target joint capable of affecting a moment of the target joint, and the plurality of joints may further include the target joint and all joints located behind the target joint. The following embodiments are exemplified by taking a plurality of joints including a target joint and all joints located behind the target joint as examples.

S302, determining theoretical elastic deviation corresponding to the target joint based on the theoretical gravity moment and the elastic coefficient corresponding to the target joint.

Wherein the elastic deviation is used for indicating the deviation formed by the motor encoder and the joint encoder based on the elastic displacement (also called elastic deformation) of the joint end. The larger the theoretical gravity moment of the target joint is, the larger the elastic deformation generated at the end part of the target joint is, the larger the deviation value between the motor encoder and the joint encoder is, namely, the larger the theoretical elastic deviation corresponding to the target joint is. When the end of the joint on the operation arm is elastically displaced, the reading of the joint encoder is changed but the reading of the motor encoder is not affected, and when the end of the joint on the operation arm is elastically displaced, the value of the joint encoder is changed but the value of the motor encoder is not changed.

In some embodiments, the elastic modulus is a determined value. As shown in FIG. 4, the method for adjusting the compliance of the surgical arm provided by the embodiment of the application further comprises S401-S405.

S401, when the operation arm is in a first configuration, acquiring a first gravity moment and a first encoder deviation corresponding to a preset angle of a target joint.

S402, when the operation arm is in a second configuration, obtaining a second heavy moment and a second encoder deviation corresponding to the target joint at a preset angle.

In some embodiments, the configuration of the surgical arm refers to the structural form and arrangement of the components of the surgical arm, and may also be configured as the appearance and basic composition of the mechanical arm, i.e., the structural form and arrangement of the components of the surgical arm in the first configuration are different from those in the second configuration.

Illustratively, after S401 is performed, the position of at least one joint on the surgical arm in the first configuration may be changed to adjust the surgical arm from the first configuration to the second configuration.

In some embodiments, the first encoder bias refers to a bias value between a value of a motor encoder corresponding to the target joint and a value of a joint encoder when the surgical arm is in the first configuration and the target joint is at the preset angle; the first gravity moment refers to a theoretical gravity moment corresponding to the target joint when the surgical arm is in a first configuration and the target joint is at a preset angle. The second encoder deviation refers to a deviation value between a value of a motor encoder corresponding to the target joint and a value of a joint encoder when the surgical arm is in a second configuration and the target joint is at a preset angle, and the second heavy moment refers to a theoretical gravity moment corresponding to the target joint when the surgical arm is in the second configuration and the target joint is at the preset angle.

For example, the first moment of gravity corresponding to the target joint at the preset angle when the surgical arm is in the first configuration may be determined by the joint position and the statics parameters of each joint on the surgical arm in the first configuration. And in the same way, the second moment of gravity corresponding to the target joint at the preset angle when the surgical arm is in the second configuration can be determined through the joint positions and the statics parameters of all joints on the surgical arm in the second configuration. The method for determining the gravity moment of the target joint is the same as the method for determining the theoretical gravity moment corresponding to the target joint in S301 and is the prior art, and will not be described herein.

In some embodiments, the preset angles in S401 and S402 may be one or more, and in the case that the preset angles are plural, after the plural preset angles are ordered according to the angle sizes, the difference between two adjacent preset angles is 1 degree; the first moment of gravity and the first encoder deviation corresponding to the target joint can be obtained at intervals of 1 degree. It should be noted that the preset angles are all located in the movement ranges of the corresponding joints.

S403, determining the elastic moment corresponding to the target joint based on the difference value between the first heavy moment and the second heavy moment corresponding to the preset angle of the target joint.

In some embodiments, the first heavy moment and the second heavy moment corresponding to the target joint at the same preset angle are subtracted to obtain a difference value between the first heavy moment and the second heavy moment, and the difference value between the first heavy moment and the second heavy moment is determined as the elastic moment corresponding to the target joint.

S404, determining the elastic deformation amount corresponding to the target joint based on the difference value between the first encoder deviation and the second encoder deviation corresponding to the preset angle of the target joint.

In some embodiments, the first encoder deviation and the second encoder deviation of the target joint corresponding to the preset angle are subtracted to obtain a difference value between the first encoder deviation and the second encoder deviation, and the difference value between the first encoder deviation and the second encoder deviation is determined as the elastic deformation amount corresponding to the target joint.

S405, obtaining the elastic coefficient corresponding to the target joint based on the quotient between the elastic moment corresponding to the target joint and the elastic deformation quantity.

In some embodiments, the quotient between the elastic moment and the elastic deformation is obtained by dividing the elastic moment corresponding to the target joint by the elastic deformation, and the quotient between the elastic moment and the elastic deformation is determined as the elastic coefficient corresponding to the target joint.

S303, determining theoretical spurious deviations of the target joint based on joint positions of the target joint and a fitting function.

The stray deviation is a deviation formed by the motor encoder and the joint encoder based on errors. The error includes an error between the reduction ratio of the speed reducer and the actual reduction ratio and an error caused by the installation process of the encoder (e.g., joint encoder, motor encoder).

In some embodiments, the spurious deviation of the target joint at the preset angle may be determined, and then the spurious deviation of the target joint at the preset angle is fitted to a curve such as a 5 th order polynomial to obtain a fitting function. As shown in FIG. 5, the method for flexibly adjusting the surgical arm provided by the embodiment of the application further comprises S501-S505.

S501, determining a first elastic deviation of the target joint corresponding to a preset angle based on a first moment of gravity corresponding to the target joint.

The first elastic deviation is the elastic deviation corresponding to the target joint when the operation arm is in the first configuration.

S502, determining a second elastic deviation of the target joint corresponding to the preset angle based on a second heavy moment corresponding to the target joint.

The second sample elastic deviation is the elastic deviation corresponding to the target joint when the operation arm is in the second configuration.

In some embodiments, the spring bias is proportional to the weight moment, the first spring bias may be determined based on the spring mechanics and the first weight moment, and similarly, the second spring bias may be determined based on the spring mechanics and the second weight moment.

It should be noted that, the method for determining the elastic deviation of the target relationship corresponding to the preset angle according to the gravity moment of the target joint is the prior art, which is not limited in the embodiment of the present application.

S503, obtaining a first stray deviation of the target joint corresponding to a preset angle based on a difference value between a first encoder deviation corresponding to the target joint and a first elastic deviation.

S504, obtaining a second stray deviation of the target joint corresponding to the preset angle based on a difference value between a second encoder deviation corresponding to the target joint and a second elastic deviation.

In some embodiments, the encoder bias includes an elastic bias and a spurious bias, and subtracting the elastic bias from the encoder bias results in the spurious bias.

In an exemplary embodiment, the first encoder deviation corresponding to the target joint is subtracted from the first elastic deviation to obtain a difference between the first encoder deviation and the first elastic deviation, and the difference between the first encoder deviation and the first elastic deviation is determined as a first spurious deviation corresponding to the target joint at a preset angle. Subtracting the second encoder deviation corresponding to the target joint from the second elastic deviation to obtain a difference value between the second encoder deviation and the second elastic deviation, and determining the difference value between the second encoder deviation and the second elastic deviation as a second stray deviation corresponding to the target joint at a preset angle.

S505, fitting the first stray deviation and the second stray deviation corresponding to the target joint to obtain a fitting function.

It should be noted that the first and second spurious deviations are only examples and indicate spurious deviations at different positions, and not that the fitting function can be obtained with only two spurious deviations. In practice, it is necessary to obtain enough spurious deviations over the range of joint angles to obtain a sufficiently accurate fitting function.

In some embodiments, if the preset angles are multiple, fitting is performed on the first stray deviation and the second stray deviation of the target joint corresponding to the preset angles respectively, so as to obtain a fitting function.

S304, determining the theoretical encoder deviation corresponding to the target joint based on the sum of the theoretical elastic deviation and the theoretical spurious deviation corresponding to the target joint.

In some embodiments, the theoretical elastic deviation and the theoretical spurious deviation corresponding to the target joint are added to obtain a sum of the theoretical elastic deviation and the theoretical spurious deviation, and the sum of the theoretical elastic deviation and the theoretical spurious deviation is determined as the theoretical encoder deviation corresponding to the target joint.

In order to facilitate the acquisition of the actual moment and the theoretical moment of each joint at the current position, and in order to improve the accuracy of acquired data, the position of the joint is prevented from changing in the process of acquiring the data. In some embodiments, the target joint on the surgical arm and the joint located behind the target joint may be locked prior to acquiring the actual and theoretical moments of each joint at the current position.

As shown in fig. 6, in some embodiments, before acquiring the actual moment and the theoretical moment corresponding to each of the plurality of joints of the surgical arm at the current position, the method for controlling compliance of the surgical arm according to the embodiment of the present application further includes S601-S602.

S601, acquiring an operation signal input by a user.

The operation signal is used for indicating the user to apply external force to the operation arm.

In some embodiments, the user may generate and transmit the operating signal to the patient surgical platform by applying an external force to the surgical arm, for example, pulling an arm lever (e.g., second arm lever 6 in fig. 1) to which the surgical instrument is secured.

In some embodiments, the operation signal may be obtained through deviation between the motor encoder and the joint encoder, or may be obtained through a force sensor; the embodiment of the present application is not limited thereto.

S602, locking a target joint on the operation arm and a joint positioned behind the target joint based on the operation signal.

Wherein the other joints located behind the target joint are connected or indirectly connected with the target joint and are far away from all joints of the joints to be adjusted.

In some embodiments, after receiving an operation signal input by a user, the patient operation platform locks both the target joint on the operation arm and the joint located behind the target joint, that is, fixes the target joint on the operation arm and the joint located behind the target joint at the current position, so that the target joint on the operation arm and the joint located behind the target joint cannot be displaced.

Illustratively, after the user has pulled up or down the first joint 1 of the surgical arm in fig. 1, an operating signal will be generated and input to the patient surgical platform; after receiving the operation signal, the patient operation platform responds to the operation signal to lock the third joint 3, the fourth joint 4 and the fifth joint 5 in fig. 1, so that the third joint 3, the fourth joint 4 and the fifth joint 5 are fixed at the current position and cannot be displaced.

It will be appreciated that S101 or S301-S304 can thus be performed with the target joint on the surgical arm and the joint located behind the target joint in a locked state, improving the accuracy of the resulting currents of the respective corresponding motors of the respective joints in the current position, and thus improving the accuracy of the resulting actual and theoretical moments of the target joint.

S102, determining the thrust direction and the thrust value of the thrust received by the joint to be adjusted based on the adjustment difference between the actual encoder deviation and the theoretical encoder deviation corresponding to the target joint.

if the adjustment difference is smaller than the second threshold value, determining the thrust direction of the thrust received by the joint as the second direction, and determining the adjustment difference as the thrust value of the thrust received by the joint to be adjusted.

Wherein the second direction is opposite to the first direction.

In some embodiments, the deviation value between the joint encoder and the motor encoder corresponding to the target joint is stable when the surgical arm is in the free state. If the user adjusts the position of the surgical arm, the user needs to apply a certain force to the surgical arm, so that the surgical arm is separated from the free state. At this time, the actual encoder deviation between the joint encoder and the motor encoder corresponding to the target joint will change, that is, an adjustment difference will be generated between the actual encoder deviation and the theoretical encoder deviation corresponding to the target joint. And if the adjustment difference is larger than the first threshold value, determining the thrust direction of the thrust received by the joint to be adjusted as a first direction. Wherein the first direction may be downward. And if the adjustment difference is smaller than the second threshold value, determining that the thrust direction of the thrust received by the joint to be adjusted is the second direction. Since the second direction is opposite to the first direction, if the first direction is downward, the second direction is upward.

It should be noted that, the first threshold value and the second threshold value are preset values, and can be adjusted according to actual requirements. And the first threshold and the second threshold may be equal, e.g., the first threshold and the second threshold are both 0; the first threshold and the second threshold may also be unequal, e.g., the first threshold is positive and the second threshold is negative. The embodiment of the present application is not limited thereto.

S103, determining target positions of motors corresponding to the joints to be adjusted based on the thrust directions and the thrust values, and generating corresponding control instructions according to the target positions, wherein the control instructions are used for indicating the motors corresponding to the joints to be adjusted to move to the target positions, so that the joints to be adjusted move along the thrust directions according to the corresponding thrust values.

In some embodiments, the target position of the motor is used to indicate the position at which the rotor of the motor is stopped.

For example, after the patient operation platform determines the target position of the motor corresponding to the joint to be adjusted, a corresponding control instruction may be generated according to the target position of the motor corresponding to the joint to be adjusted, and the control instruction may be sent to the controller of the corresponding motor. After the controller of the motor receives the control instruction, the motor is enabled to move from the current position to the target position in response to the control instruction, so that the to-be-adjusted joint can realize displacement under the action of pushing force, and the adjustment of the surgical arm is completed.

As shown in fig. 7, in some embodiments, determining the target position of the motor corresponding to the joint to be adjusted based on the thrust direction and the thrust value corresponding to the joint to be adjusted includes S701-S703.

S701, determining the instruction speed corresponding to the joint to be adjusted based on the product of the thrust value corresponding to the joint to be adjusted and the preset coefficient.

In some embodiments, the preset coefficient is a preset value, which may be determined according to actual requirements, which is not limited in the embodiments of the present application. The command speed is used to indicate the speed of movement of the joint to be adjusted. The larger the preset coefficient is, the faster the movement speed of the joint to be adjusted is, namely the faster the instruction speed corresponding to the joint to be adjusted is; the smaller the preset coefficient is, the slower the movement speed of the joint to be adjusted is, namely, the slower the instruction speed corresponding to the joint to be adjusted is.

The method includes the steps of multiplying a thrust value corresponding to a joint to be adjusted by a preset coefficient to obtain a product of the thrust value corresponding to the joint to be adjusted and the preset coefficient, and determining a command speed corresponding to the joint to be adjusted according to the product of the thrust value corresponding to the joint to be adjusted and the preset coefficient.

S702, obtaining the displacement increment of the motor corresponding to the joint to be adjusted based on the product of the command speed corresponding to the joint to be adjusted and the preset control period.

In some embodiments, the displacement increment refers to the distance the joint to be adjusted needs to move under the action of the pushing force.

The method comprises the steps of multiplying a command speed corresponding to a joint to be adjusted by a preset control period to obtain a product of the command speed corresponding to the joint to be adjusted and the preset control period; and obtaining the displacement increment of the motor corresponding to the joint to be adjusted according to the product of the command speed corresponding to the joint to be adjusted and the preset control period.

S703, obtaining a target position of the motor corresponding to the joint to be adjusted based on the sum of the displacement increment of the motor and the current displacement quantity of the motor.

The displacement increment of the motor is added with the current displacement quantity of the motor to obtain the sum of the displacement increment of the motor and the current displacement quantity of the motor, and the target position of the motor corresponding to the joint to be adjusted is obtained according to the sum of the displacement increment of the motor and the current displacement quantity of the motor. The adjustment difference corresponding to the target joint obtained in S102 may be a positive value or a negative value, and thus, the thrust value of the thrust received by the joint to be adjusted based on the adjustment difference may be a positive value or a negative value. Therefore, when executing S701-S703, the resulting displacement increment of the motor will be a positive or negative value; when the displacement increment of the motor is a positive value, after the target position of the motor corresponding to the joint to be adjusted is determined according to the sum of the displacement increment of the motor and the current displacement quantity of the motor, the motor can be controlled to move to the target position along a third direction; when the displacement increment of the motor is a negative value, after the target position of the motor corresponding to the joint to be adjusted is determined according to the sum of the displacement increment of the motor and the current displacement quantity of the motor, the motor can be controlled to move to the target position along the fourth direction. The third direction and the fourth direction are opposite, for example, when the displacement increment of the motor is a positive value, the motor may be rotated in the clockwise direction to the target position; when the displacement increment of the motor is a negative value, the motor can be rotated in the counterclockwise direction to the target position.

It should be noted that, after determining the displacement increment of the motor in S701-S702, a control instruction may be generated based on the displacement increment of the motor, and the control instruction indicates the motor to move by a displacement distance corresponding to the displacement increment, so that the joint to be adjusted moves, so as to complete the adjustment of the surgical arm. After the target position of the motor is determined in S701-S703, a control instruction is generated based on the target position of the motor, and the motor is instructed to move to the target position by the control instruction, so that the joint to be adjusted is displaced, and the adjustment of the surgical arm is completed. The embodiment of the present application is not limited thereto. The above-described embodiments are exemplified by generating a control instruction based on a target position of a motor after determining the target position of the motor.

It can be understood that, in the embodiment of the application, the respective values of the motor encoder and the joint encoder of the target joint of the surgical arm are irrelevant to time, that is, the respective values of the motor encoder and the joint encoder do not change continuously with time, so that the thrust magnitude and the thrust direction of the thrust applied to the surgical arm are determined more accurately according to the theoretical encoder deviation and the actual encoder deviation between the joint encoder and the motor encoder.

Fig. 8 shows a flow chart of yet another method for adjusting compliance of a surgical arm, as shown in fig. 8, the present application further provides a method for adjusting compliance of a surgical arm, comprising:

s801, when a user adjusts a joint to be adjusted, a target joint which is adjacent to the joint to be adjusted and can enable the operation arm to move up and down and other joints which are positioned behind the target joint are locked.

In some embodiments, when the user adjusts the joint to be adjusted, an operation signal is input to the patient operation platform, and after the patient operation platform receives the operation signal, the joint adjacent to the joint to be adjusted and capable of enabling the operation arm to move up and down and other joints located behind the joint are locked.

S802, sampling encoder deviation (first encoder deviation) between a joint encoder and a motor encoder of the surgical arm in a current configuration (first configuration) every 1 degree in the movement range of the joint; the encoder bias (second encoder bias) between the joint encoder and the motor encoder in the new configuration (second configuration) of the surgical arm was sampled every 1 degree.

In some embodiments, the joints of the surgical arm are in different positions to alter the configuration of the surgical arm so that the surgical arm can be altered from a current configuration to a new configuration.

S803, determining a corresponding gravity moment difference value of the surgical arm in the current configuration and the new configuration as an elastic moment, determining a corresponding difference value between encoder deviations of the surgical arm in the current configuration and the new configuration as an elastic deformation quantity, and dividing the elastic moment by the elastic deformation quantity to obtain an elastic coefficient of the target joint.

S804, according to the corresponding gravity moment of the operation arm in the current configuration and the new configuration, respectively corresponding elastic deviation of the target joint in the current configuration and the new configuration is determined, the difference value between the encoder deviation and the elastic deviation of the target joint in the current configuration and the new configuration is determined to be a stray deviation, and then the stray deviation is fitted to a 5 th order polynomial function of the target joint, so that a fitting function is obtained.

S805, collecting joint positions of a target joint and all joints behind the target joint in real time, determining a theoretical gravity moment of the target joint according to the joint positions and statics parameters of an operation arm, determining a theoretical elastic deviation corresponding to the target joint based on the theoretical gravity moment of the target joint, and determining a theoretical stray deviation of the target joint according to the joint positions and fitting functions of the target joint; and then determining the sum of the theoretical elastic deviation and the theoretical spurious deviation as the theoretical encoder deviation corresponding to the target joint.

In some embodiments, the joint position of the target joint is determined from the values of the motor or joint encoder.

S806, acquiring the actual encoder deviation corresponding to the target joint in real time, and determining a difference value (adjustment difference) between the actual encoder deviation and the theoretical encoder deviation.

S807, judging the thrust value and the thrust direction of the user according to the difference value between the actual encoder deviation and the theoretical encoder deviation.

In some embodiments, if the difference between the actual encoder bias and the theoretical encoder bias is greater than a preset calibration value, determining the thrust direction as pulling down the surgical arm (also referred to as a first direction); if the difference value of the two is smaller than the preset calibration value, determining that the thrust direction is to push the operation arm upwards (also called as a second direction); and taking the difference value of the theoretical moment and the actual moment of each joint as a thrust value.

S808, multiplying the thrust value by a preset coefficient to obtain a command speed of the joint to be adjusted, multiplying the command speed by a preset period to control the period to obtain a displacement increment, adding the displacement increment to the current displacement of the motor as a command position, and issuing the displacement increment to the motor for execution.

The application also provides an embodiment of the surgical arm compliance adjustment device corresponding to the embodiment of the surgical arm compliance adjustment method.

Referring to fig. 9, an embodiment of the present application provides a compliant surgical arm adjustment apparatus comprising:

The acquisition module 901 is used for acquiring the actual encoder deviation and the theoretical encoder deviation between the motor encoder and the joint encoder corresponding to the target joint on the operation arm; the target joint is adjacent to the joint to be adjusted and can enable the joint to be adjusted to move along a preset direction;

A processing module 902, configured to determine a thrust direction and a thrust value of a thrust force received by the joint to be adjusted based on an adjustment difference between the actual encoder deviation and the theoretical encoder deviation corresponding to the target joint; the motor is also used for determining the target position of the motor corresponding to the joint to be adjusted based on the thrust direction and the thrust value;

the generating module 903 is configured to generate a corresponding control instruction according to the target position, where the control instruction is configured to instruct a motor corresponding to each joint to be adjusted to move to the target position, so that the joint to be adjusted moves along the thrust direction according to the thrust value.

In some embodiments, the acquiring module 901 is further configured to acquire joint positions and statics parameters of a plurality of joints on the surgical arm;

The processing module 902 is further configured to determine a theoretical gravitational moment corresponding to the target joint based on the joint position and the statics parameter of each of the joints; the method is also used for determining theoretical elastic deviation corresponding to the target joint based on the theoretical gravity moment and the elastic coefficient corresponding to the target joint; the elastic deviation is used for indicating deviation formed by the motor encoder and the joint encoder based on elastic displacement of the joint end part; and determining a theoretical spurious deviation of the target joint based on the joint position and a fitting function of the target joint; the stray deviation is a deviation formed by the motor encoder and the joint encoder based on errors; and the encoder is further used for determining the theoretical encoder deviation corresponding to the target joint based on the sum of the theoretical elastic deviation and the theoretical spurious deviation corresponding to the target joint.

In some embodiments, the acquiring module 901 is further configured to acquire a first moment of gravity and a first encoder deviation corresponding to the target joint at a preset angle when the surgical arm is in the first configuration; the first encoder is used for acquiring a first moment of force and a first encoder deviation corresponding to the preset angle of the target joint when the surgical arm is in a first configuration;

The processing module 902 is further configured to determine an elastic moment corresponding to the target joint based on a difference between the first gravitational moment and the second gravitational moment corresponding to the preset angle of the target joint; the method is also used for determining the elastic deformation amount corresponding to the target joint based on the difference value between the first encoder deviation and the second encoder deviation corresponding to the preset angle of the target joint; and the elastic coefficient corresponding to the target joint is obtained based on the quotient between the elastic moment corresponding to the target joint and the elastic deformation.

In some embodiments, the processing module 902 is further configured to determine, based on the first gravitational moment corresponding to the target joint, a first elastic deviation of the target joint corresponding to the preset angle; the first elastic deviation is the elastic deviation corresponding to the target joint when the surgical arm is in the first configuration; the elastic deviation determining device is further used for determining a second elastic deviation of the target joint corresponding to the preset angle based on the second gravitational moment corresponding to the target joint; the second sample elastic deviation is the elastic deviation corresponding to the target joint when the surgical arm is in the second configuration; the method is further used for obtaining a first stray deviation of the target joint corresponding to the preset angle based on a difference value between the first encoder deviation corresponding to the target joint and the first elastic deviation; the method is further used for obtaining a second stray deviation of the target joint corresponding to the preset angle based on a difference value between the second encoder deviation corresponding to the target joint and the second elastic deviation; and the fitting function is also used for fitting the first stray deviation and the second stray deviation corresponding to the target joint to obtain the fitting function.

In some embodiments, the processing module 902 is further configured to determine the thrust direction of the thrust force received by the joint to be adjusted as a first direction and determine the adjustment difference as the thrust value of the thrust force received by the joint to be adjusted if the adjustment difference is greater than a preset calibration value.

In some embodiments, the processing module 902 is further configured to determine that the thrust direction of the thrust force received by the joint is a second direction if the adjustment difference is less than a preset calibration value, and determine that the adjustment difference is the thrust value of the thrust force received by the joint to be adjusted; the second direction is opposite to the first direction.

In some embodiments, the processing module 902 is further configured to determine a command speed corresponding to the joint to be adjusted based on a product of the thrust value corresponding to the joint to be adjusted and a preset coefficient; the displacement increment of the motor corresponding to the joint to be adjusted is obtained based on the product of the command speed corresponding to the joint to be adjusted and a preset control period; and the target position of the motor corresponding to the joint to be adjusted is obtained based on the sum of the displacement increment of the motor and the current displacement quantity of the motor.

In some embodiments, the obtaining module 901 is further configured to obtain an operation signal input by a user; the operation signal is used for indicating the user to apply external force to the operation arm;

the processing module 902 is further configured to lock the target joint and a joint located behind the target joint on the surgical arm based on the operation signal.

As shown in fig. 10, an electronic device provided by an embodiment of the present application may include: processor 1010, communication interface (Communications Interface) 1020, memory 1030, and communication bus 1040, wherein processor 1010, communication interface 1020, and memory 1030 communicate with each other via communication bus 1040. Processor 1010 may invoke logic instructions in memory 1030 to perform the methods described above.

Further, the logic instructions in the memory 1030 described above may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method for monitoring the mechanical state of a switching device according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In still another aspect, the present invention further provides a surgical robot including a surgical arm, a motor encoder, a joint encoder, and a control apparatus provided in the above embodiments; the motor encoder is arranged on a motor of a corresponding joint on the operation arm, and the joint encoder is arranged at the end part of the corresponding joint on the operation arm; the motor encoder, the joint encoder and the surgical arm are all coupled to the control device, the motor encoder and the joint encoder are each configured to detect a corresponding joint on the surgical arm, and the processor in the control device is configured to perform the steps of the method of any of the embodiments described above when executed.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above methods.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of compliant adjustment of a surgical arm, comprising:

Acquiring actual encoder deviation and theoretical encoder deviation between a motor encoder and a joint encoder corresponding to a target joint on an operation arm; the target joint is adjacent to the joint to be adjusted and can enable the joint to be adjusted to move along a preset direction;

determining a thrust direction and a thrust value of the thrust received by the joint to be adjusted based on an adjustment difference between the actual encoder deviation and the theoretical encoder deviation corresponding to the target joint;

and determining a target position of the motor corresponding to the joint to be adjusted based on the thrust direction and the thrust value, and generating a corresponding control instruction according to the target position, wherein the control instruction is used for indicating the motor corresponding to each joint to be adjusted to move to the target position, so that the joint to be adjusted moves along the thrust direction according to the corresponding thrust value.

2. The method of claim 1, wherein the obtaining a theoretical encoder bias between a motor encoder and a joint encoder corresponding to a target joint on the surgical arm comprises:

Acquiring joint positions and statics of a plurality of joints on the operation arm, and determining theoretical gravity moment corresponding to the target joint based on the joint positions and the statics of each joint;

determining a theoretical spurious deviation of the target joint based on the joint position and a fitting function of the target joint; the stray deviation is a deviation formed by the motor encoder and the joint encoder based on errors;

3. The surgical arm compliance adjustment method of claim 2, further comprising:

When the operation arm is in a first configuration, a first gravity moment and a first encoder deviation corresponding to the target joint at a preset angle are obtained;

when the operation arm is in a second configuration, acquiring a second heavy moment and a second encoder deviation of the target joint corresponding to the preset angle;

determining an elastic moment corresponding to the target joint based on a difference value between the first gravity moment and the second gravity moment corresponding to the preset angle of the target joint;

determining an elastic deformation amount corresponding to the target joint based on a difference value between the first encoder deviation and the second encoder deviation corresponding to the preset angle of the target joint;

4. A method of compliant adjustment for a surgical arm according to claim 3, the method further comprising:

Determining a first elastic deviation of the target joint corresponding to the preset angle based on the first gravity moment corresponding to the target joint; the first elastic deviation is the elastic deviation corresponding to the target joint when the surgical arm is in the first configuration;

determining a second elastic deviation of the target joint corresponding to the preset angle based on the second gravitational moment corresponding to the target joint; the second sample elastic deviation is the elastic deviation corresponding to the target joint when the surgical arm is in the second configuration;

obtaining a first stray deviation of the target joint corresponding to the preset angle based on a difference value between the first encoder deviation corresponding to the target joint and the first elastic deviation;

Obtaining a second stray deviation of the target joint corresponding to the preset angle based on a difference value between the second encoder deviation and the second elastic deviation corresponding to the target joint;

And fitting the first stray deviation and the second stray deviation corresponding to the target joint to obtain the fitting function.

5. The method according to claim 2, wherein determining the thrust direction and the thrust value of the thrust force received by the joint to be adjusted based on the adjustment difference between the actual encoder deviation and the theoretical encoder deviation corresponding to the target joint comprises:

And if the adjustment difference is larger than a first threshold value, determining the thrust direction of the thrust received by the joint to be adjusted as a first direction, and determining the adjustment difference as the thrust value of the thrust received by the joint to be adjusted.

6. The method according to claim 5, wherein determining the thrust direction and the thrust value of the thrust force received by the joint to be adjusted based on the adjustment difference between the actual encoder deviation and the theoretical encoder deviation corresponding to the target joint comprises:

if the adjustment difference is smaller than a second threshold value, determining that the thrust direction of the thrust received by the joint is a second direction, and determining that the adjustment difference is the thrust value of the thrust received by the joint to be adjusted; the second direction is opposite to the first direction.

7. The surgical arm compliance adjustment method of any one of claims 1-6, wherein the determining a target position of the motor corresponding to the joint to be adjusted based on the thrust direction and the thrust value comprises:

Obtaining a displacement increment of the motor corresponding to the joint to be adjusted based on the product of the command speed corresponding to the joint to be adjusted and a preset control period;

and obtaining the target position of the motor corresponding to the joint to be adjusted based on the sum of the displacement increment and the current displacement quantity of the motor.

8. The method of claim 1, further comprising:

based on the operating signal, the target joint on the surgical arm and a joint located behind the target joint are locked.

9. A compliant surgical arm adjustment apparatus comprising:

the acquisition module is used for acquiring actual encoder deviation and theoretical encoder deviation between the motor encoder and the joint encoder corresponding to the target joint on the operation arm; the target joint is adjacent to the joint to be adjusted and can enable the joint to be adjusted to move along a preset direction;

The processing module is used for determining the thrust direction and the thrust value of the thrust force born by the joint to be adjusted based on the adjustment difference between the actual encoder deviation and the theoretical encoder deviation corresponding to the target joint; the motor is also used for determining the target position of the motor corresponding to the joint to be adjusted based on the thrust direction and the thrust value;

the generation module is used for generating a corresponding control instruction according to the target position, and the control instruction is used for indicating the motors corresponding to the joints to be adjusted to move to the target position, so that the joints to be adjusted move along the thrust direction according to the corresponding thrust value.

10. A control device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1-8 when the program is executed.

11. A surgical robot comprising a surgical arm, a motor encoder, a joint encoder, and the control device of claim 10;

The motor encoder is arranged on a motor of a corresponding joint on the operation arm, and the joint encoder is arranged at the end part of the corresponding joint on the operation arm; the motor encoder, the joint encoder and the surgical arm are each coupled to the control device, the motor encoder and the joint encoder each being adapted to detect a corresponding joint on the surgical arm, the processor in the control device being adapted to perform the steps of the method according to any of claims 1-8.