CN113180828A - Operation robot constrained motion control method based on rotation theory - Google Patents
Operation robot constrained motion control method based on rotation theory Download PDFInfo
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Abstract
The surgical robot constraint motion control method based on the rotation theory comprises the following steps: s1, calibrating an RCM point; s2, aligning the virtual RCM point with the notch hole; s3, generating RCM constraint; and S4, controlling the movement of the end effector. Wherein, step S1 includes: sub-process S11: determining the positions and postures of the binocular camera and the robot base coordinate; s12; determination of tool axes in end effector coordinates; s13: and defining the position of the RCM point on the axis to be determined, and calibrating the position of the virtual RCM point on the tool axis by adopting a binocular camera, a visual auxiliary marker and a visual probe.
Description
Technical Field
The present invention relates to medical instruments, and more particularly, to motion control of a surgical robot when a surgical instrument performs fixed-point rotation during minimally invasive surgery, and more particularly, to a method of motion control of a surgical robot with remote center of motion constraint ("RCM") based on a rotation theory.
Background
In minimally invasive surgery, surgical tools (e.g., surgical instruments, endoscopes, etc.) are inserted into the body through small holes cut through the body surface of a patient, and the surgical tools are operated from outside the body under the guidance of an endoscope camera to complete the surgery. The introduction of these surgical conditions brings great benefit to the patient compared to previous open surgery, but the surgical field is limited, demanding the operator and physically demanding.
The introduction of robots in minimally invasive surgery can provide surgeons with important support in terms of accuracy and comfort, so as to improve the quality of the surgery and shorten the recovery time of patients. In the robot-assisted minimally invasive surgery, after a robot mechanical arm carries a surgical tool and enters a body through a small incision on the body surface of a patient, the movement of the surgical tool must be carried out around the incision hole, and the non-axial-direction translation cannot be generated at the incision, so that the injury to the patient is avoided. More specifically, the robot link to which the surgical tool is fixed can only translate along its axis and rotate with the incision hole as a fulcrum. The fulcrum on the tool axis coincident with the incision is the so-called remote center of motion ("RCM"). Currently in the art, the RCM constraints of surgical robots can be guaranteed by mechanical design, e.g., da
Surgical robots, Hugo Ras surgical robots, Raven surgical robots, and the like. The RCM mechanism of this type of robot has a high safety, but is costly and designed for specific applications.
The RCM constraint can also be realized by controlling the motion of the serial mechanical arm, and along with the continuous development of the robot, the safety of the robot reaches the same level of the mechanical RCM constraint, so that the method is more flexible and saves space, and the position of a virtual RCM point can be randomly selected in a reasonable axial line range. The document "Task Control with Remote Center of Motion Constraint for minimum investment Robotic Surgery" proposes a general kinematics expression form of programmable RCM Constraint, but the RCM Motion Control of the robot obtains joint velocity through a Jacobian matrix and then integrates to obtain joint vectors, and the method aims at all configurations of series mechanical arms. The method has the disadvantages of large calculation amount, long calculation time and accumulative error. For serial mechanical arms meeting Pieper criterion in kinematic structure, as analytic solutions exist in kinematic inverse solutions, robot motion control can be directly realized in Cartesian space based on position RCM constraint, namely joint vectors of the robot are directly obtained.
Disclosure of Invention
To solve the above problems, the present invention provides a rotation theory-based motion control method for RCM constraint of a surgical robot, which is used to define a virtual RCM point to be registered with an incision on the body surface of a patient in a simple and safe manner under a base coordinate system of the robot, and simultaneously ensure that the tip of a surgical tool reaches a designated position and achieves a designated posture in the body of the patient.
In one aspect of the present invention, there is provided a robotic surgical system, the system comprising: human-computer interaction device, surgical robot and surgical tool. The human-computer interaction device is used for transmitting the operation of a doctor to the surgical robot, and the surgical robot is used for controlling the surgical tool to perform spherical rotation motion in a patient body around a virtual RCM point in a base coordinate system of the robot.
In a second aspect of the present invention, there is provided a motion control method, comprising the steps of:
the method comprises the following steps: calibrating a virtual RCM point;
determining the position of the virtual RCM point on the axis of the surgical tool through a calibration device;
step two: the virtual RCM point is aligned with the notch hole;
under gravity compensation dragging, inserting a mechanical arm end effector of the surgical robot into a patient body through an incision hole in the body surface of the patient and aligning the virtual RCM point with the incision hole;
step three: setting a virtual RCM point, and generating RCM constraint;
the position of the virtual RCM under the robot base coordinate system is recorded and stored. And defining a rotation axis on a tool coordinate system of the mechanical arm end effector based on a rotation theory, mapping the output of the interactive equipment into rotation around the rotation axis and the other two axes of the auxiliary coordinate system thereof, and generating a target posture which always meets RCM constraint.
Step four: controlling movement of surgical robot end effectors
And (3) obtaining the joint angle of the mechanical arm by combining position-based robot inverse kinematics around the generated target gesture meeting the RCM constraint, and controlling the end effector to move to an accurate physical position under a robot base coordinate system.
The technical scheme of the invention has the following beneficial technical effects:
(1) the invention is suitable for the operation of minimally invasive surgical robots entering the way through a single incision or through a natural cavity channel, such as minimally invasive laparoscopy, percutaneous nephroscopy, transurethral prostatectomy, transurethral bladder cancer resection and the like, has a plurality of indications, can form different types of surgical robots according to different surgical modes, reduces the cost and improves the auxiliary clinical application of the robots.
(2) The surgical robot mechanical arm adopts a modular design, the end effector is suitable for different types of surgical tools (such as an endoscope, an resectoscope, a nephroscope, various surgical forceps and the like), and has a quick assembling and disassembling function, the preoperative deployment efficiency is improved, the robot auxiliary operation is changed into manual operation by a quick separating function in case of emergency, the intra-operative risk is reduced, and the surgical safety is improved.
(3) The programmable RCM constraint control method directly maps the operation of a doctor to the rotation of the tail end of the surgical robot about the rotation axis and the auxiliary coordinate axis, does not need to consider a constraint equation and solve the problems of speed and integral obtained by a Jacobian matrix and the like, simplifies the control flow, reduces the calculation difficulty and improves the response speed.
(4) The calibration of the virtual RCM point is determined by a binocular camera and a hand-eye calibration method of visual auxiliary mark points (X-angle points), the virtual RCM point can be randomly selected at the position of an axis of a surgical tool, a doctor can determine the corresponding insertion depth aiming at medical image data of a preoperative patient, the alignment of the virtual RCM point and an actual incision point is ensured, and the damage to the patient is avoided or reduced.
(5) The surgical robot mechanical arm is in a 7-degree-of-freedom redundant S-R-S configuration, and can realize obstacle avoidance and joint limitation avoidance in a null space while meeting RCM constraint, avoid interference with a human body in a surgical process and improve the surgical safety.
Drawings
FIG. 1 is a schematic illustration of a robotic surgical system in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a calibration apparatus according to an embodiment of the present invention;
FIG. 3 is a flow chart of surgical robot motion constraint control based on a rotation theory according to one embodiment of the present invention;
FIG. 4 is a sub-flowchart of one embodiment of the present invention incorporating step S1 of FIG. 3;
fig. 5 is a sub-flowchart of an embodiment of the present invention that combines step S3 of fig. 3.
Detailed Description
In order that the objects, aspects and advantages of the present invention will become more apparent, the present invention will be described in detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1, a robotic surgical system 1 according to an embodiment of the present invention includes: a main control console 2; a surgical robot 3; a surgical tool 4; the console 2 includes: a display device 5 for displaying an in-patient image and an operation image; and a human-machine interaction device 6 by means of which the operation of the surgeon can be output to the surgical robot 6.
The surgical robot includes a redundant manipulator defined in the present invention as 7 degrees of freedom that is kinematically configured in a S-R-S configuration (Spherical-Revolute-Spherical joint) to more easily achieve RCM constraints and solve for kinematic inverse solutions by a position-based approach. The surgical robot also includes an end effector for carrying a surgical tool and providing operating power. The end effector is connected to the robotic arm by a quick release device (not shown).
The surgical tool is broadly defined herein as a single hole orAny device in surgery through a natural orifice. Examples of surgical tools for purposes of the present invention include, but are not limited to, any surgical instrument (e.g., an electrosurgical knife, bipolar forceps, separation forceps, titanium forceps, etc.) and any scope (e.g., laparoscope, cystoscope, hysteroscope, nephroscope, etc.). In an embodiment of the invention, the surgical tool is mounted on an end effector of a surgical robot, the surgical tool being used for pose in a surgical robot-based coordinate system
Representing the pose of the surgical tool in the end effector coordinate system
And (4) showing.
As shown in fig. 2, the calibration apparatus includes a binocular camera 7, a visual auxiliary mark point (X-corner point) 8, and a visual probe 9. In the calibration process, the positions of the binocular camera 7 under the base coordinate system of the surgical robot are relatively fixed, and the visual auxiliary marking points 8 are fixed on the end effector.
The flow shown in fig. 3 illustrates the main steps of the rotation theory-based constrained motion control method for a surgical robot according to an embodiment of the present invention, which involves the hand-eye calibration of a surgical tool in the coordinates of an end effector and the generation of RCM constraint based on rotation theory.
As shown in fig. 3, according to an embodiment of the present invention, the surgical robot constraint motion control method based on the rotation theory includes step S1, RCM point calibration; s2, aligning the virtual RCM point with the notch hole; s3, generating RCM constraint; and S4, controlling the movement of the end effector.
Wherein, step S1 includes: sub-process S11: determining the positions and postures of the binocular camera and the robot base coordinate; s12; determination of tool axes in end effector coordinates; s13: and defining the position of the RCM point on the axis to be determined, and calibrating the position of the virtual RCM point on the tool axis by adopting a binocular camera, a visual auxiliary marker and a visual probe.
It will be appreciated that the surgical robot includes, in addition to the base coordinate system { B }, the end effector coordinate system { E }. The visual auxiliary marker is arranged on the end effector and is kept fixed, the coordinate system of the visual auxiliary marker is { M }, and during the movement and rotation of the end effector, the visual auxiliary marker is provided with a black and white X corner point so that the pose of the visual auxiliary marker can be identified by a binocular camera (the coordinate system of the visual auxiliary marker is { C }).
Specifically, the step of stage S11 is as follows: first, the positions of the binocular camera 7 and the surgical robot 3 are fixed, and the markers on the surgical robot end effector are placed under the field of view of the binocular camera 7, ensuring that the markers appear in the two lens fields of view simultaneously. Acquiring the pose of the auxiliary marker coordinate system relative to the binocular camera coordinate system and recording the pose as
Meanwhile, the pose of the base coordinate system of the surgical robot relative to the end effector coordinate system is collected through the kinematic program of the surgical robot and recorded as
Changing the position and the posture of the end effector, repeating the steps, collecting a plurality of groups of data, and utilizing a robot hand-eye calibration formula: and solving the pose relation of the binocular camera coordinate system relative to the base coordinate system of the surgical robot, and recording the pose relation as AX (X), XB (X, X and B)
Corresponding relationships as shown in fig. 3, the pose relationships can be described as:
wherein,
and
in the ith and jth groups, respectively
And
the same is true. Finally, the maximum likelihood estimation method is used to obtain
Further, in one embodiment of the present invention, stage S12 includes: the surgical tool is installed on the end effector, the virtual RCM point is always on the axis of the surgical tool, and the position of the surgical tool in practice is inconsistent with the position of the surgical tool in a model due to errors such as installation and matching, so that a visual probe is adopted to pick points on the surface of the long axis of the surgical tool to acquire the vector on the tool axis.
Further, in a preferred embodiment of the present invention, stage S12 includes: through pre-registration, the binocular camera calculates the three-dimensional coordinate information of the probe tip after identifying the corner point of the vision probe, in the visual field of the binocular camera, the probe tip is used for taking four points in a circle on the circumference of any point (marked as point A, see figure 4) on the near end of the outer sheath of the surgical tool, the three-dimensional coordinate of the circle center of the point A under the coordinate system of the binocular camera is obtained through calculating the average value, and the three-dimensional coordinate of any point (marked as point B, see figure 4) on the far end of the outer sheath can be obtained in the same way. Thus, the vector on the axis of the surgical tool under the coordinate system of the binocular camera is obtainedCPAB. Pose of binocular camera with respect to surgical robot base coordinate system calculated by stage S11
And easily acquired pose of the base coordinate system relative to the end effector
The pose of the vector under the coordinate system of the end effector can be obtained:
thereby obtaining the unit of the axis of the operation toolDirection vector ndSimilarly, three-dimensional coordinates of the center point of the surgical tool tip under { E } can be obtainedEptip。
Further, in one embodiment of the present invention, stage S13 includes: before operation, the doctor sets the offset l from the tip point of the operation tool to the virtual RCM point on the axis line by combining the medical image of the patientos. Obtaining the coordinates of the virtual RCM point on the axisEprcm＝Eprcm-los*nd。
Step S2 of flowchart 3 represents the initial preparation of the surgical procedure, and in one embodiment of the present invention, step S2 includes: under gravity compensation dragging, the surgical robot end effector is moved to the position near the incision hole, the surgical tool and the end effector are in a separated state at the moment, then the surgical tool is inserted into the body of a patient through the incision hole in the body surface of the patient, the virtual RCM point is aligned with the incision hole, then the end effector and the surgical tool are dragged to be rapidly installed, and the injury to the patient in the process of dragging the end effector is avoided.
Step S3 in flowchart 3 relates to the method for representing the RCM constraint based on the rotation theory of the present invention, and in one embodiment of the present invention, the RCM motion is represented as a rigid body motion around the rotation axis in the six-dimensional special euclidean group SE (3). SE (3) is a three-dimensional real vector space
And a special orthogonal group SO (3). The special orthogonal group SO (3), also called rotation matrix group, is a space describing the rotation around the origin of the coordinate system. According to the theory of momentum, the motion of a rigid body can be decomposed into rotational motion around a rotation axis and translational motion along a coordinate axis. The motion vector xi can be expressed in the form of a six-dimensional vector:
wherein,
one unit vector ω ═ ω [ ω ] representing rotational motion1,ω2,ω3]TThe inverse symmetric matrix corresponding to ω is
Is a vector pointing from the origin of the coordinate system to any point on the axis of rotation, and h is the pitch of the helix, so the amount of rotation of the motion
Can be expressed as
The amount of the kinetic rotation can also be expressed in the form of a helical axis, i.e.
Wherein,
is the unit vector of the axis of rotation, θ is the angle or distance of rotation.
Further, in an embodiment of the present invention, in conjunction with fig. 5, the reference surgeon outputs the operation to the surgical robot segment through the human-computer interaction device at the console, and the variation is represented as Δ ═ α, β, γ, x, y, z, where α, β, γ respectively represent the increment of rotation of the human-computer interaction device around the z-axis, y-axis, and x, y, z respectively represent the increment of movement along the x-axis, y-axis, and z-axis of the coordinate system. In the coordinate system { E } of the end effector, with virtual RCM pointsEptipAs q of the motion vectors, a unit direction vector n of the surgical tool axis obtained in step S12 is useddAs
(the rotation axis can be selected at will in the coordinate system { E }, which is convenient in the embodiment, the axis of the tool is selected as the rotation axis for simplifying calculation amount), the moving distance along the axis direction is taken as h, and the rotation angle around the axis is taken as theta, so that the motion rotation amount is established.At the same time, in a dotEptipAs the origin, in ndArbitrarily as the z-axis, arbitrarily giving a vector in { E } as the x-axis direction, obtaining the y-axis through the vector cross product, and further obtaining the attached coordinate system { R } of { E }. Alpha, beta, gamma, x, y, z output by the human-computer interaction equipment are subjected to a proper proportion control strategy to obtain alpha ', beta', gamma ', x', y ', z', and a change matrix T of the robot end effector under an auxiliary coordinate system { R } is obtained in a matrix exponential expression mode, namely the change matrix T is obtained
T ∈ SE (3) is obtained. The solving formula is as follows:
for the amount of rotation
If | | | ω | | | | 1, for an arbitrary screw axis distance, the screw axis is inclined
Are all provided with
If | | | ω | | | 0 and | | | v | | | 1, then
Step S4 in the flowchart 3: after obtaining the transformation matrix T of the end effector under its attached coordinate system { R } relative to its initial state, in one embodiment of the present invention, joint variables of the surgical robotic arm corresponding to the end effector target pose are obtained by using a position-based kinematic inverse solution method, thereby controlling the robot to move to the corresponding pose.
In practical operation, the incision hole mentioned in the invention is used as an alignment point of a virtual RCM point, which is aimed at a minimally invasive surgery needing to open an incision on the surface of a patient, the RCM constraint motion control mentioned in the invention is also suitable for the minimally invasive surgery through a natural cavity, the matching position of the virtual RCM point in a body is determined by the corresponding anatomical structure of the patient, and the RCM constraint motion is still met, so that the details are not repeated.
In practical operation, the rotation-based RCM constraint motion control method is not limited to the inverse kinematics solving process of the robot based on the position, and is also suitable for other inverse kinematics solving processes.
It should be understood by those skilled in the art that the structures and methods specifically described herein and shown in the accompanying drawings are non-limiting exemplary embodiments and that the description, disclosure, and drawings should be considered as exemplary only of specific embodiments. It is to be understood, therefore, that this disclosure is not limited to the precise embodiments described, and that various other changes and modifications may be affected therein by one skilled in the art without departing from the scope or spirit of the disclosure. Additionally, elements and features shown or described in connection with certain embodiments may be combined with elements and features of certain other embodiments without departing from the scope of the present disclosure, and such modifications and variations are also included within the scope of the present disclosure. Accordingly, the subject matter of the present disclosure is not limited by what has been particularly shown and described.
Claims (9)
1. A surgical robot constrained motion control method based on a rotation theory is characterized by comprising the following steps: s1, calibrating an RCM point; s2, aligning the virtual RCM point with the notch hole; s3, generating RCM constraint; and S4, controlling the movement of the end effector.
Wherein, step S1 includes: sub-process S11: determining the positions and postures of the binocular camera and the robot base coordinate; s12; determination of tool axes in end effector coordinates; s13: and defining the position of the RCM point on the axis to be determined, and calibrating the position of the virtual RCM point on the tool axis by adopting a binocular camera, a visual auxiliary marker and a visual probe.
2. A method of constrained motion control for a surgical robot based on the momentum theory as recited in claim 1, wherein S11 comprises:
first, fix the binocular camera (7) and perform surgeryThe position of the robot (3) places the marker on the end effector of the surgical robot under the visual field of the binocular camera (7) to ensure that the marker appears in the two lens visual fields simultaneously; acquiring the pose of the auxiliary marker coordinate system relative to the binocular camera coordinate system and recording the pose as
Meanwhile, the pose of the base coordinate system of the surgical robot relative to the end effector coordinate system is collected through the kinematic program of the surgical robot and recorded as
Changing the position and the posture of the end effector, repeating the steps, collecting a plurality of groups of data, and utilizing a robot hand-eye calibration formula: and solving the pose relation of the binocular camera coordinate system relative to the base coordinate system of the surgical robot, and recording the pose relation as AX (X), XB (X, X and B)
The pose relationship can be described as:
wherein,
and
in the ith and jth groups, respectively
And
the same process is carried out; finally, the maximum likelihood estimation method is used to obtain
3. A method for constraining motion of a surgical robot based on a rotation theory according to claim 1 or 2, wherein S12 includes:
the surgical tool is installed on the end effector, the virtual RCM point is always on the axis of the surgical tool, and the position of the surgical tool in practice is inconsistent with the position of the surgical tool in a model due to errors such as installation and matching, so that a visual probe is adopted to pick points on the surface of the long axis of the surgical tool to acquire the vector on the tool axis.
4. The method of claim 3, wherein S12 further comprises:
through pre-registration, a binocular camera calculates three-dimensional coordinate information of a probe tip after identifying an angular point of a vision probe, the probe tip is used for taking four points in a circle on the circumference of any point (marked as point A, see figure 4) on the near end of an outer sheath of a surgical tool under the visual field of the binocular camera, the three-dimensional coordinate of the circle center of the point A under a coordinate system of the binocular camera is obtained through calculating an average value, and the three-dimensional coordinate of any point (marked as point B, see figure 4) on the far end of the outer sheath can be obtained in the same way; thus, the vector on the axis of the surgical tool under the coordinate system of the binocular camera is obtainedCPAB(ii) a Pose of binocular camera with respect to surgical robot base coordinate system calculated by stage S11
And easily acquired pose of the base coordinate system relative to the end effector
The pose of the vector under the coordinate system of the end effector can be obtained:
further obtaining a unit direction vector n of the axis of the surgical tooldSimilarly, three-dimensional coordinates of the center point of the surgical tool tip under { E } can be obtainedEptip。
5. The method of any of claims 1-4, wherein S13 comprises:
setting the offset from the tip point of the surgical tool to the virtual RCM point on the axis by combining the medical image of the patient to obtain the coordinates of the virtual RCM point on the axisEprcm＝Eprcm-los*nd。
6. The method of any of claims 1-5, wherein S2 comprises:
under gravity compensation dragging, the surgical robot end effector is moved to the position near the incision hole, the surgical tool and the end effector are in a separated state at the moment, then the surgical tool is inserted into the body of a patient through the incision hole in the body surface of the patient, the virtual RCM point is aligned with the incision hole, then the end effector and the surgical tool are dragged to be rapidly installed, and the injury to the patient in the process of dragging the end effector is avoided.
7. A method of constrained motion control for a surgical robot based on the theory of rotations as claimed in any of claims 1-6, wherein S3 includes:
expressing the RCM motion as rigid motion of a convolution axis in a six-dimensional special Euclidean group SE (3); SE (3) is a three-dimensional real vector space
And a special orthogonal group SO (3); the special orthogonal group SO (3), also called a rotation matrix group, is a space describing a rotation around the origin of the coordinate system; according to the momentum theory, the motion of the rigid body can be decomposed into rotational motion around a rotating shaft and translational motion along a coordinate axis; the motion vector xi can be expressed in the form of a six-dimensional vector:
wherein,
one unit vector ω ═ ω [ ω ] representing rotational motion1,ω2,ω3]TThe inverse symmetric matrix corresponding to ω is
Is a vector pointing from the origin of the coordinate system to any point on the axis of rotation, and h is the pitch of the helix, so the amount of rotation of the motion
Is expressed in matrix form as
The amount of rotation of movement being expressed in the form of a helical axis, i.e.
Wherein,
is the unit vector of the axis of rotation, θ is the angle or distance of rotation.
8. A method of constrained motion control for a surgical robot based on the theory of rotations as claimed in any of claims 1-7, wherein S3 includes:
the variation is recorded as Δ ═ α, β, γ, x, y, z, where α, β, γ respectively represent the increment of rotation of the human-computer interaction device around the z-axis, y-axis, and x-axis of its own coordinate system, and x, y, z represent the increment of movement along the x-axis, y-axis, and z-axis; in the coordinate system { E } of the end effector, with virtual RCM pointsEptipAs q of the motion vectors, a unit direction vector n of the surgical tool axis obtained in step S12 is useddAs
Establishing a motion rotation quantity by taking the moving distance along the axis direction as h and the rotating angle around the axis as theta; at the same time, in a dotEptipAs the origin, in ndArbitrarily setting a vector in { E } as a z-axis, arbitrarily setting a vector in { E } as an x-axis direction, and obtaining a y-axis through a vector cross product so as to obtain an attached coordinate system { R } of { E }; alpha, beta, gamma, x, y, z output by the human-computer interaction equipment are subjected to a proper proportion control strategy to obtain alpha ', beta', gamma ', x', y ', z', and a change matrix T of the robot end effector under an auxiliary coordinate system { R } is obtained in a matrix exponential expression mode, namely the change matrix T is obtained
Obtaining T epsilon SE (3); the solving formula is as follows:
for the amount of rotation
If | | | ω | | | | 1, for an arbitrary screw axis distance, the screw axis is inclined
Are all provided with
If | | | ω | | | 0 and | | | v | | | 1, then
9. A method of constrained motion control for a surgical robot based on the theory of rotations as claimed in any of claims 1-8, wherein S4 includes:
after a transformation matrix T of the end effector relative to the initial state of the end effector under the auxiliary coordinate system { R } is obtained, joint variables of the surgical robot arm corresponding to the target pose of the end effector are obtained by using a position-based kinematic inverse solution method, and the robot is controlled to move to the corresponding pose.
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| CN114952806A (en) * | 2022-06-16 | 2022-08-30 | 法奥意威(苏州)机器人系统有限公司 | Constraint motion control method, device and system and electronic equipment |
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