CN113768626B - Surgical robot control method, computer device and surgical robot system - Google Patents
Surgical robot control method, computer device and surgical robot system Download PDFInfo
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- CN113768626B CN113768626B CN202110891652.9A CN202110891652A CN113768626B CN 113768626 B CN113768626 B CN 113768626B CN 202110891652 A CN202110891652 A CN 202110891652A CN 113768626 B CN113768626 B CN 113768626B
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- 238000000034 method Methods 0.000 title claims abstract description 88
- 238000004590 computer program Methods 0.000 claims description 12
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- 230000009471 action Effects 0.000 claims description 5
- 230000001131 transforming effect Effects 0.000 claims description 2
- 230000003287 optical effect Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
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- 230000036544 posture Effects 0.000 description 3
- 210000003625 skull Anatomy 0.000 description 3
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- 238000002513 implantation Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2072—Reference field transducer attached to an instrument or patient
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Abstract
The application relates to a surgical robot control method, computer equipment and a surgical robot system. The surgical robot control method comprises the steps of obtaining position information of an end adapter fixed at the end of the mechanical arm at a first positioning point and position information of a second positioning point, and obtaining a planning path of the mechanical arm corresponding to the movement of the end adapter along a first axis from the first positioning point to the second positioning point. And judging whether the planned path of the mechanical arm has singularity or not. And if the planned path of the mechanical arm does not generate singularity, converting the compensated control signal into a speed signal. And controlling the mechanical arm to drive the tail end adapter to linearly move along the first axis between the first positioning point and the second positioning point according to the speed signal. The surgical robot control method controls the mechanical arm to drive the tail end adapter to linearly move along the first shaft through the speed control method, so that the mechanical arm runs smoothly, and jamming is avoided.
Description
Technical Field
The present disclosure relates to the field of detection technologies, and in particular, to a surgical robot control method, a computer device, and a surgical robot system.
Background
In orthopaedics puncture or implantation operation, it is generally necessary to drill holes after an electric drill tool is positioned at the cranium insertion point to form a hole. To achieve a more precise alignment of the tunnels, surgical robots are often used to assist in performing the procedure. The end adapter of the robotic arm of the surgical robot is used to locate the cranium entry point. A power drill tool is secured to the end adapter. The drill tool drills a hole at the location of the cranium point. In the prior art, the mechanical arm holds the surgical tool to move, and the position and the posture of the mechanical arm change. In the existing control method, the mechanical arm moves to be blocked and is not smooth.
Disclosure of Invention
Accordingly, it is necessary to provide a surgical robot control method, a computer device, and a surgical robot system, in order to solve the problem of how to improve the smoothness of the movement of the surgical robot.
A surgical robot control method, comprising:
acquiring the position information of a first positioning point and the position information of a second positioning point, and acquiring a planning path of the mechanical arm corresponding to the terminal adapter when the terminal adapter moves from the first positioning point to the second positioning point along a first axis according to the position information of the first positioning point and the position information of the second positioning point, wherein the first axis sequentially passes through the first positioning point and the second positioning point;
judging whether the planned path of the mechanical arm has singularity or not;
if the planned path of the mechanical arm does not have singularity, collecting a control signal, and acquiring a speed signal through the control signal;
and controlling the mechanical arm to move according to the speed signal, so that the mechanical arm drives the tail end adapter to move linearly along the first axis between the first locating point and the second locating point.
Based on the same inventive concept, the present application provides a surgical robot control method, comprising:
the mechanical arm is controlled to drive the tail end adapter to linearly move along the first shaft between the first positioning point and the second positioning point,
and if the distance between the tail end adapter fixed at the tail end of the mechanical arm and the first shaft is larger than a third preset value, controlling the tail end adapter to move to the first shaft so that the mechanical arm drives the tail end adapter to linearly move along the first shaft between a first positioning point and a second positioning point.
Based on the same inventive concept, the application provides a control signal processing method of a surgical robot, wherein the surgical robot comprises a signal sensing device, a first connecting piece, a second connecting piece and an end adapter, the signal sensing device is fixedly arranged at the tail end of a mechanical arm of the surgical robot, the end adapter is fixedly arranged at the tail end of the signal sensing device, which is far away from the mechanical arm, the end adapter is connected with the signal sensing device through the second connecting piece before, and the signal sensing device is connected with the tail end of the mechanical arm through the first connecting piece;
the method comprises the following steps:
and compensating the control signal according to the mass and the mass center of the signal sensing device, the tail end adapter, the first connecting piece and the second connecting piece.
Based on the same inventive concept, the present application provides a surgical robot control method, comprising:
in a speed mode, collecting a control signal, and acquiring a speed signal through the control signal;
and controlling the mechanical arm to move according to the speed signal, so that the mechanical arm drives the tail end adapter to linearly move along a first shaft between a first positioning point and a second positioning point, and the first shaft sequentially passes through the first positioning point and the second positioning point.
Based on the same inventive concept, the present application provides a surgical robot control method, comprising:
in a joint mode, collecting control signals, and acquiring joint point signals through the control signals;
and controlling the mechanical arm to move according to the joint point signals, so that the mechanical arm drives the tail end adapter to linearly move along a first shaft between a first positioning point and a second positioning point, and the first shaft sequentially passes through the first positioning point and the second positioning point.
Based on the same inventive concept, the present application provides a computer device comprising a memory and a processor. The memory stores a computer program which when executed by the processor implements the steps of the method of any of the embodiments described above.
Based on the same inventive concept, the present application provides a surgical robotic system comprising a robotic arm, a signal sensing device, a tip adapter, and a control device. The signal sensing device is fixed at the tail end of the mechanical arm. The terminal adapter is fixedly mounted to the signal sensing device. The tip adapter is used for installing surgical instruments and receiving control signals. The control device includes a memory and a processor. The memory stores a computer program. The steps of the method of any of the embodiments described above are implemented when the processor executes the computer program.
Based on the same inventive concept, the present application provides a non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any of the embodiments described above.
The surgical robot control method comprises the steps of obtaining position information of a first locating point and position information of a second locating point, and obtaining a planning path of the mechanical arm corresponding to the terminal adapter when the terminal adapter moves from the first locating point to the second locating point along a first axis according to the position information of the first locating point and the position information of the second locating point. The first shaft sequentially passes through the first locating point and the second locating point. And judging whether the planned path of the mechanical arm has singularity or not. And if the planned path of the mechanical arm does not have singularity, collecting a control signal, and acquiring a speed signal through the control signal. And controlling the mechanical arm to move according to the speed signal, so that the mechanical arm drives the tail end adapter to move linearly along the first axis between the first locating point and the second locating point.
According to the surgical robot control method, the first positioning point and the second positioning point are limited to linearly move along the first axis, so that the calculation of other two degrees of freedom in the movement process of the tail end adapter is reduced, the operation amount is reduced, and the working efficiency of the robot is improved.
In addition, the control method controls the movement of the mechanical arm by adopting a speed control method under the condition that the singular occurrence is avoided through the singular judgment of the planned path, so that the flexibility of the movement of the mechanical arm can be improved.
Drawings
In order to more clearly illustrate the technical solutions of embodiments or conventional techniques of the present application, the drawings required for the descriptions of the embodiments or conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a flow chart of the surgical robot control method provided in one embodiment of the present application;
FIG. 2 is a schematic structural view of the surgical robotic system provided in one embodiment of the present application;
FIG. 3 is a flow chart of the surgical robot control method provided in another embodiment of the present application;
fig. 4 is a schematic flow chart of the speed control method according to another embodiment of the present application.
Reference numerals:
10. a surgical robotic system; 20. a mechanical arm; 30. a signal sensing device; 300. a first connector; 40. a terminal adapter; 400. a second connector; 101. a first location point; 102. a second positioning point; 103. a cranium insertion point; 104. a target spot; 100. a first shaft; 110. an optical monitoring device; 111. an optical element; 112. and a detector.
Description of the embodiments
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is, however, susceptible of embodiment in many other ways than those herein described and similar modifications can be made by those skilled in the art without departing from the spirit of the application, and therefore the application is not limited to the specific embodiments disclosed below.
The numbering of the components itself, e.g. "first", "second", etc., is used herein only to divide the objects described, and does not have any sequential or technical meaning. The terms "coupled" and "connected," as used herein, are intended to encompass both direct and indirect coupling (coupling), unless otherwise indicated. In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," etc. indicate or refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
The prior art cannot adjust the distance from the adapting device to the target point if a stereotactic frame is adopted, because the radius of the arc part of the stereotactic frame is fixed and cannot be flexibly adjusted. With surgical robots, the distance of the end effector from the intended target can only be changed by repositioning the robotic arm. The process is cumbersome and time consuming and not flexible enough. In addition, in the prior art, a doctor holds an electric drill to drill the skull, the drilling depth is difficult to accurately control, and unnecessary cortex damage is easy to cause.
Referring to fig. 1 and 2, an embodiment of the present application provides a surgical robot control method, including:
s100, pose information of the terminal adapter 40 fixed at the tail end of the mechanical arm at a first locating point 101 and pose information of a second locating point 102 are obtained, and a planning path of the mechanical arm 20 corresponding to the movement of the terminal adapter 40 along a first axis 100 from the first locating point 101 to the second locating point 102 is obtained according to the pose information of the first locating point 101 and the pose information of the second locating point 102. The first shaft 100 passes through the first positioning point 101, the second positioning point 102, the cranium access point 103 and the target point 104 in sequence, and the tip adapter 40 is used to hold a surgical tool.
The robotic arm 20 includes a plurality of components. Two adjacent components are connected through joints so as to ensure that the two components can rotate relatively. One end of the mechanical arm 20 is fixed to the base. The other end of the mechanical arm 20 is fixedly connected with the end adapter 40. The tip adapter 40 is used to mount surgical tools. The surgical tool includes a scalpel, a drill, or other surgical tool.
When the mechanical arm 20 drives the end adapter 40 to move linearly along the first axis 100 from the first positioning point 101 to the second positioning point 102, the mechanical arm 20 changes different configurations. The relative positions of the plurality of members in the different configurations are different. The planned path of the robotic arm 20 includes a plurality of the robotic arm configurations.
The distance between the second positioning point 102 and the cranium-entering point 103 is a safe distance. The tip adapter 40 does not grip a surgical tool when the tip adapter 40 is moved along the first axis 100. When the surgical tool is an electric drill, the drill bit of the electric drill has a certain length. In order to avoid that the drill bit will touch the skull after installation, a safety distance is set. The mechanical arm 20 drives the end adapter 40 to reach the second positioning point 102 and then cannot move close to the cranium-entering point 103.
In one embodiment, before the step S100, the control method further includes:
s010, setting a maximum moving distance, wherein one end point of the maximum moving distance is the first positioning point 101, and the other end of the maximum moving distance is arranged between the first positioning point 101 and the second positioning point 102. The mechanical arm 20 drives the end adapter 40 to move only within the range corresponding to the maximum movement distance.
In one embodiment, if the maximum movement distance is not set, it defaults to the maximum movement distance between the current location of the tip adapter 40 and the first location point 101. I.e. the tip adapter 40 can only be moved along the first axis 100 away from the cranium point 103.
The maximum moving distance is set to adapt to different lengths of surgical tools, so that operation safety is guaranteed.
And S200, judging whether the planned path of the mechanical arm 20 has singularity or not. I.e. judging whether the configuration of a plurality of the mechanical arms has singularity.
In one embodiment, the robotic arm 20 includes a first member, a second member, and a third member. The first member is connected with the second member by a first joint. The second member is connected to the third member by a second joint. In one configuration of the robotic arm having singularity, the speed of the first member at the first joint is equal in magnitude and opposite in direction to the speed of the third member at the second joint. The speeds at the two ends of the second member are the same and the directions are opposite. The second member is not movable. In this case, the robot arm configuration is fanciful. The matrix has singularities when deriving the velocity with the displacement of the articulation point. If the robotic arm configuration is odd, the speed of the articulation point cannot be accurately controlled.
And S300, if the planned path of the mechanical arm 20 is not abnormal, collecting a control signal and performing compensation processing on the control signal.
The control signal acquired by the signal acquisition device needs to be compensated by the position set by the signal acquisition device and the influence of the intermediate device, so as to eliminate the influence of environmental factors or other devices on the control signal and improve the control precision of the end adapter 40.
The control signal may be a force signal applied by a person to the robotic arm 20 or the tip adapter 40, or an electrical signal applied by an external control device.
And S400, converting the control signal after the compensation processing into a speed signal. The S400 is a speed control method.
S500, controlling the mechanical arm 20 to move according to the speed signal, so that the mechanical arm 20 drives the terminal adapter 40 to move linearly along the first axis 100 between the first positioning point 101 and the second positioning point 102.
The surgical robotic control method allows the robotic arm 20 and the tip adapter 40 to move only along the first axis 100 toward the target site 104 or away from the target site 104, and does not allow the tip adapter 40 to move in other directions.
The surgical robot control method can improve the positioning accuracy of the surgical tool to the cranium point 103 when the robotic arm 20 moves the end adapter 40 in a direction toward the target 104. When the robotic arm 20 moves the tip adapter 40 away from the target site 104, a greater operating space is provided for surgical tools to be mounted to the tip adapter 40.
The mechanical arm 20 drives the end adapter 40 to move between the first positioning point 101 and the second positioning point 102. When the tip adapter 40 drills the skull bone, it does not drill too deep into the cortical tissue.
The control method of the surgical robot provided by the embodiment of the application controls the movement of the mechanical arm 20 by adopting a speed control method under the condition that the singularity does not occur through the singularity judgment of the planned path. The speed control method causes the robotic arm 20 and the end adapter 40 to move at respective speeds under control of a speed signal. The speed control method allows for smoother movement of the robotic arm 20 and the tip adapter 40 relative to the position (joint point position) control method.
In one embodiment, after the step S200, the surgical robot control method further includes:
and S210, if the planned path of the mechanical arm 20 is abnormal, collecting a control signal and performing compensation processing on the control signal.
S220, converting the control signal after compensation processing into a joint point signal.
And S230, controlling the mechanical arm 20 to move according to the joint point signals, so that the mechanical arm 20 drives the tail end adapter 40 to move along the first shaft 100 in a straight line between the first positioning point 101 and the second positioning point 102.
When the planned path of the robot arm 20 is irregular, there is a case where the robot arm configuration is irregular. In this case, the speed control method is inconvenient to control the joint speed, and speed runaway is easy to cause. Therefore, when the planned path of the robot arm 20 is singular, the movement of the robot arm 20 and the tip adapter 40 is controlled by using a position control method, thereby improving the safety of the surgical robot.
In one embodiment, before the step S220, the control method further includes:
and performing real-time collision detection.
In one embodiment, the control signal includes an operating force signal acting on the tip adapter 40. The step of compensating the control signal in the step S300 includes:
and compensating the operation force signal to eliminate the influence of environment and other devices.
In one embodiment, the signal acquisition device is a signal sensing device 20. The signal sensing device 20 is fixed to the end of the mechanical arm 20. The end adapter 40 is fixedly mounted to a side of the signal sensing device 20 remote from the end of the robot arm 20. The terminal adapter 40 is connected to the signal sensor 20 by a second connector 400. The signal sensing device 20 is connected to the end of the mechanical arm 20 through a first connector 300.
The signal sensing device 20, the tip adapter 40, the first connector 300, and the second connector 400 all have weights. When the pose of the distal end of the robot arm 20 and the distal end adapter 40 is changed, a weight may be present in the first shaft 100, affecting the accuracy of the operating force signal. Therefore, the operation force signal needs to be compensated to eliminate the influence of the weight of the signal sensing device 20, the tip adapter 40, the first connector 300, and the second connector 400 on the operation force signal.
The step of S400 includes:
and transforming the compensated operation force signal to obtain a first speed.
The first speed is projected onto the first shaft 100 to obtain a second speed to move the end adapter 40 at the first shaft 100 at the second speed.
In one embodiment, the first speed is a speed in a cartesian coordinate system. The first speed includes components in three axes. The first axis 100 is the Z-axis in a cartesian coordinate system.
The step of S500 includes:
s510, acquiring the position information of the end adapter 40, and performing collision detection on the mechanical arm 20 according to the position information of the end adapter 40 and the second speed.
S520 controlling the tip adaptor 40 to move between the first positioning point 101 and the second positioning point 102 at the second speed if the robot arm 20 does not collide.
S510 and S520 avoid collision between the mechanical arm 20 and other objects in the process of driving the terminal adapter 40 to move, thereby improving the safety of the surgical robot.
Referring to fig. 3, in one embodiment, the control signal further includes a stepping signal, and before the step of compensating the operation force signal, the surgical robot control method further includes:
s4011, judging whether the operation force signal is larger than a first preset value and the treading signal is at a high level, and executing the step of compensating the operation force signal if the operation force signal is larger than the first preset value and the treading signal is at the high level. F in fig. 3 represents the operating force signal.
Only when the two conditions that the operation force signal is larger than the first preset value and the trampling signal is at a high level are satisfied, the step of converting the compensated operation force signal to obtain a first speed is executed, and misoperation caused by misoperation of the input signal is avoided.
In one embodiment, before the step S4011, the surgical robot control method further includes:
s4010, determining whether the distance between the terminal adapter 40 and the second positioning point 102 is smaller than a second preset value, if yes, determining the acting direction of the operation force signal when it is determined that the operation force signal is larger than the first preset value and the pedal signal is at a high level. If the direction of the operating force signal deviates from the second setpoint 102, a step of acquiring the operating force signal of the end adapter 40, compensating for the operating force is performed.
The end adapter 40 moves between the first positioning point 101 and the second positioning point 102, and when the distance between the end adapter 40 and the second positioning point 102 is greater than the second preset value, the end adapter 40 is far away from the second positioning point 102, and at this time, the speed control method is adopted, so that the controllability is high, and the risk is avoided.
The distance of the end adapter 40 from the second positioning point 102 is smaller than the second preset value. When the operating force signal is used for enabling the terminal adapter 40 to move away from the second positioning point 102, the terminal adapter 40 is far away from the first positioning point 101, and the speed control method is adopted to control the terminal adapter 40 to move without danger. S in fig. 3 indicates the distance of the end adapter 40 from the second positioning point 102.
In the above embodiment, when the distance between the end adapter 40 and the second positioning point 102 is smaller than the second preset value, the operation force signal is larger than the first preset value, and the pedal signal is at a high level, if the direction of the operation force signal is toward the second positioning point 102, the end adapter 40 is controlled to move to the second positioning point 102.
When the distance between the end adapter 40 and the second positioning point 102 is relatively short, and the position of the end adapter 40 is not easy to control by adopting a speed control method, the end adapter 40 is directly controlled to move to the second positioning point 102 by adopting a displacement control method, so that the safety is improved.
In one embodiment, the control signal includes an operation force signal acting on the end adapter 40, and the step of compensating the control signal in the step S210 includes:
and compensating the operation force signal.
The control method of the robot system further includes, before the step of collecting the control signal and compensating the control signal in S210:
s211, obtaining multiple groups of node information to be moved by the mechanical arm 20 according to the planned path of the mechanical arm 20.
The path plan of the robotic arm 20 includes a plurality of the robotic arm configurations. Each of the robotic arm configurations corresponds to a set of the articulation point information. The plurality of mechanical arm configurations correspond to the plurality of sets of joint point information.
In one embodiment, a line segment between the first location point 101 and the second potential point of the first axis 100 is divided into a plurality of nodes in joint space where the end adapter 40 moves by interpolation.
The plurality of joint point information of the movement of the end adapter 40 corresponds to the plurality of groups of joint point information of the robot arm 20 one by one. I.e., each time the tip adapter 40 is moved to a joint, the robotic arm 20 changes one of the robotic arm configurations.
S212, collision detection of the mechanical arm 20 is carried out according to the joint point information of the plurality of groups, and the mechanical arm 20 is prevented from colliding with other objects.
The step S230 includes:
position information of the tip adapter 40 and the joint point signal are acquired.
And obtaining the joint point information of the mechanical arm 20 to be moved under the action of the operation force signal according to the position information of the tail end adapter 40 and the joint point signal.
The mechanical arm 20 is controlled to move according to the information of the joint points required to move, and the terminal adapter 40 is driven to move linearly along the first axis 100.
By the position information of the tip adapter 40, the robot arm configuration and the joint point information corresponding to the robot arm configuration can be obtained. And then the mechanical arm configuration and the joint point information corresponding to the mechanical arm configuration, which need to be changed under the action of the operation force signal, of the mechanical arm 20 can be calculated through the joint point information corresponding to the mechanical arm configuration and the operation force signal after the compensation processing. By solving for the articulation point information and controlling the movement of the end adapter 40 by adopting the method of the articulation point position, the movement position of the end adapter 40 is more accurate.
In one embodiment, after the step of controlling the mechanical arm 20 to move according to the joint information required to move and driving the tip adaptor 40 to move linearly along the first axis 100, the surgical robot control method further includes:
the number of joints that the end adapter 40 has traversed is calculated. The number of joints traversed by the tip adapter 40 corresponds to the location of the tip adapter 40.
Calculating the number of joints traversed by the end adapter 40 is to obtain the current position information of the end adapter 40.
In fig. 3 i represents the number of joints the end adapter 40 has undergone. n is the total number of the joint points.
Judging whether the number of the joints of the end adapter 40 is smaller than the total number of the joints required by the end adapter 40 to move from the first positioning point 101 to the second positioning point 102, and if the number of the joints of the end adapter 40 is smaller than the total number of the joints, returning to the step of compensating the operation force signal.
The number of joints that the end adapter 40 experiences is less than the total number of joints, i.e. the end adapter 40 is not at the second anchor point 102.
In the above embodiment, the surgical robot control method further includes:
and judging whether the operation force signal is larger than a first preset value or not, and judging whether the treading signal is at a high level or not. If so, the step of controlling the movement of the joint point information of the mechanical arm 20 according to the movement requirement and driving the terminal adapter 40 to linearly move along the first axis 100 is returned.
The surgical robot control method avoids no input of signals and misoperation by judging whether the operation force signals and the trampling signals reach preset conditions at the same time.
In one embodiment, the signal sensing device 20 is coupled to the tip adapter 40 via the second coupling 400. The signal sensing device 20 is connected to the end of the mechanical arm 20 through the first connector 300. The tip adapter 40 is for connection with a surgical tool.
After the step of collecting the control signal in S300, the surgical robot control method further includes:
and filtering the control signal to eliminate noise influence.
The mass and centroid of the signal sensing device 20, the tip adapter 40, the first connector 300 and the second connector 400 are collected.
The step of compensating the control signal includes:
the control signal is compensated based on the mass and centroid of the signal sensing device 20, the tip adapter 40, the first connector 300 and the second connector 400.
Since the end of the mechanical arm 20 has different effects on the end adaptor 40 due to the surgical tool, the first connector 300 and the second connector 400 in different postures, the control signal needs to be compensated in real time in different postures, so that the magnitude of the operating force can be measured more accurately.
After the compensation process, the force vector at the coordinates of the signal sensing device 20 needs to be converted into a force vector at the coordinates of the end adapter 40 by a conversion matrix.
In one embodiment, after the step S500, the surgical robot control method further includes:
s600 controlling the movement of the tip adapter 40 to the first axis 100 to ensure the movement of the tip adapter 40 along the first axis 100 if the distance of the tip adapter 40 from the first axis 100 is greater than a third preset value.
In one embodiment, the movement of the end adapter 40 to the first axis 100 perpendicular to the first axis 100 is controlled to ensure that the distance the end adapter 40 moves to the first axis 100 is minimized.
In the speed mode, the step S600 is added to ensure that the position of the end tool is always on the planned path and the moving direction is always in the planned direction.
When the external force is lost, the mechanical arm stops moving, and the step S600 can make the end adapter always on the first shaft 100, that is, the end adapter always on the planned path, so that the operation accuracy (position and direction) can be ensured.
In one embodiment, if the force applied to the tip adapter 40 is 0, the tip adapter is locked to ensure the safety of the procedure.
The position control method is also applicable to the situation that the planned path of the mechanical arm 20 is not abnormal.
In one embodiment, the surgical robot control method further comprises:
and receiving an end signal and ending the control.
In one embodiment, the surgical robot control method further comprises:
the movement of the end adapter 40 to the first positioning point 101 is controlled by a coordinated or automatic means.
Referring to fig. 4, in an embodiment, when the planned path of the mechanical arm 20 is singular, the step of using a speed control method to make the mechanical arm 20 drive the end adapter 40 to move linearly along the first axis 100 between the first positioning point 101 and the second positioning point 102 includes:
and collecting control signals and performing compensation processing on the control signals.
Step S400 is performed to make the mechanical arm 20 drive the end adapter 40 to move linearly along the first axis 100 between the first positioning point 101 and the second positioning point 102.
When the mechanical arm 20 moves to a singular configuration, the speed direction of the mechanical arm 20 articulation point is changed and the speed of the mechanical arm 20 articulation point is limited.
After the robotic arm 20 leaves the singular configuration, the position and velocity of the robotic arm 20 are modified to move the end adapter 40 to the first axis 100.
In one embodiment, the direction of the second velocity of the robot arm 20 articulation point is changed and the velocity of the robot arm 20 articulation point is limited by a method of solving a pseudo-inverse of jacobian.
In one embodiment, after step S400 is performed, step S500 is also performed.
Embodiments of the present application provide a computer device including a memory and a processor. The memory stores a computer program which when executed by the processor implements the steps of the method of any of the embodiments described above. According to the computer equipment provided by the embodiment of the application, the end adapter 40 is limited to linearly move along the first shaft 100 between the first positioning point 101 and the second positioning point 102, so that the calculation of other two degrees of freedom in the movement process of the end adapter 40 is reduced, the calculation amount is reduced, and the working efficiency of the robot is improved.
In addition, the computer device controls the movement of the mechanical arm 20 by adopting a speed control method under the condition that the singular occurrence is not caused by the singular judgment of the planned path. The speed control method causes the robotic arm 20 and the end adapter 40 to move at respective speeds under control of a speed signal. The computer device employs the speed control method to make the movement of the robotic arm 20 and the tip adapter 40 smoother relative to the position control method.
Embodiments of the present application provide a surgical robotic system 100 including a robotic arm 20, a signal sensing device 20, a tip adapter 40, and a control device. The signal sensing device 20 is fixed to the end of the mechanical arm 20. The end adapter 40 is fixedly mounted to the signal sensing device 20. The tip adapter 40 is used to mount surgical tools and to receive control signals. The control device includes a memory and a processor. The memory stores a computer program. The steps of the method of any of the embodiments described above are implemented when the processor executes the computer program.
The surgical robot system 100 limits the linear motion of the end adapter 40 along the first axis 100 between the first positioning point 101 and the second positioning point 102, so as to reduce the computation of other two degrees of freedom in the motion process of the end adapter 40, reduce the computation load, and improve the working efficiency of the robot.
In addition, the surgical robot system 100 controls the movement of the robot arm 20 using a speed control method without occurrence of singularities through the singularity judgment of the planned path. The speed control method causes the robotic arm 20 and the end adapter 40 to move at respective speeds under control of a speed signal. The speed control method employed by the surgical robotic system 100 allows for smoother movement of the robotic arm 20 and the tip adapter 40 relative to the position control method.
In one embodiment, the surgical robotic system 100 further includes a first connector 300 and a second connector 400. The first connector 300 is connected between the signal sensing device 20 and the terminal adapter 40 to facilitate the removal and replacement of the terminal adapter 40. The second connector 400 is connected to the end adapter 40 and the end of the robot arm 20, so as to facilitate the disassembly and replacement of the signal sensing device 20.
In one embodiment, the surgical robotic system 100 further includes an optical monitoring device 110. The optical monitoring device 110 comprises an optical element 111 and a detector 112. The optical element 111 is disposed on the end adapter 40, and the optical element 111 is configured to generate an optical signal. The detector 112 is electrically connected to the detector 112. The detector 112 is configured to receive the optical signal, detect the position information of the end adapter 40 according to the optical signal, and output the position information to the control device.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (12)
1. A surgical robot control method, comprising:
acquiring the position information of an end adapter fixed at the end of a mechanical arm at a first positioning point and the position information of a second positioning point, and acquiring a planning path of the mechanical arm corresponding to the movement of the end adapter along a first axis from the first positioning point to the second positioning point according to the position information of the first positioning point and the position information of the second positioning point, wherein the first axis sequentially passes through the first positioning point and the second positioning point;
judging whether the planned path of the mechanical arm has singularity or not;
if the planned path of the mechanical arm does not have singularity, collecting a control signal and performing compensation processing on the control signal; acquiring a speed signal from the compensated control signal;
controlling the mechanical arm to move according to the speed signal, so that the mechanical arm drives the tail end adapter to move linearly along the first axis between the first positioning point and the second positioning point; and if the distance between the end adapter fixed at the tail end of the mechanical arm and the first shaft is larger than a third preset value, controlling the end adapter to move to the first shaft so that the mechanical arm drives the end adapter to linearly move along the first shaft between the first positioning point and the second positioning point.
2. The surgical robot control method of claim 1, wherein the control signal includes an operating force signal acting on the tip adapter, and the step of compensating the control signal includes:
performing compensation processing on the operation force signal;
the obtaining the speed signal by the control signal after the compensation processing comprises the following steps:
transforming the operation force signal after compensation processing to obtain a first speed;
projecting the first velocity onto the first axis results in a second velocity.
3. The surgical robot control method of claim 2, further comprising:
judging whether the distance between the tail end adapter and the second locating point is smaller than a second preset value, if yes, then
When the operation force signal is larger than a first preset value and the trampling signal is at a high level, the acting direction of the operation force signal is judged, and if the direction of the operation force signal faces to the second locating point, the terminal adapter is controlled to move to the second locating point.
4. The surgical robot control method according to claim 1, further comprising, after the step of determining whether the planned path of the robot arm has a singularity:
if the planned path of the mechanical arm is singular, then:
collecting control signals and compensating the control signals; acquiring a joint point signal through the control signal after compensation processing;
and controlling the mechanical arm to move according to the joint point signals, so that the mechanical arm drives the tail end adapter to move linearly along the first axis between the first positioning point and the second positioning point.
5. The surgical robot control method of claim 4, wherein the control signal comprises an operating force signal acting on the tip adapter, the surgical robot control method further comprising:
obtaining multiple groups of joint point information required to be moved by the mechanical arm according to the planned path of the mechanical arm;
the step of controlling the mechanical arm to move according to the joint point signal so that the mechanical arm drives the tail end adapter to move linearly along the first axis between the first positioning point and the second positioning point comprises the following steps:
acquiring position information and an operation force signal of the terminal adapter;
obtaining information of a joint point of the mechanical arm to be moved under the action of the operation force signal according to the position information of the tail end adapter and the operation force signal;
and controlling the mechanical arm to move according to the information of the joint points which need to move, and driving the tail end adapter to move linearly along the first axis between the first positioning point and the second positioning point.
6. The surgical robot control method of claim 5, wherein after the step of acquiring the position information and the operation force signal of the tip adapter, the surgical robot control method further comprises:
calculating the number of joint points passed by the end adapter;
and judging whether the number of the joints passed by the terminal adapter is smaller than the total number of the joints passed by the terminal adapter required to move from the first positioning point to the second positioning point, and if the number of the joints passed by the terminal adapter is smaller than the total number of the joints, returning to obtain the joint information required to move of the mechanical arm under the action of the operation force signal according to the position information and the operation force signal of the terminal adapter.
7. The surgical robot control method of claim 6, further comprising:
judging whether the operation force signal is larger than a first preset value or not and whether the treading signal is at a high level or not; if yes, executing the step of obtaining the joint point information of the mechanical arm to be moved under the action of the operation force signal according to the position information of the tail end adapter and the operation force signal.
8. A surgical robot control method, comprising:
acquiring the position information of an end adapter fixed at the end of a mechanical arm at a first positioning point and the position information of a second positioning point, and acquiring a planning path of the mechanical arm corresponding to the movement of the end adapter along a first axis from the first positioning point to the second positioning point according to the position information of the first positioning point and the position information of the second positioning point, wherein the first axis sequentially passes through the first positioning point and the second positioning point;
judging whether the planned path of the mechanical arm has singularity or not;
when the planned path of the mechanical arm has singularity, collecting control signals and compensating the control signals;
converting the control signal after compensation processing into a speed signal;
and controlling the mechanical arm to move according to the speed signal, so that the mechanical arm drives the tail end adapter to move linearly along the first axis between the first locating point and the second locating point.
9. The surgical robot control method of claim 8, wherein a velocity direction of an articulation point of the robotic arm is changed and a magnitude of a velocity of the articulation point of the robotic arm is limited when the robotic arm moves to a singular configuration.
10. The surgical robotic control method of claim 8, wherein after the robotic arm leaves the singular configuration, the robotic arm is modified to move the tip adapter to the first axis.
11. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 10 when the computer program is executed.
12. A surgical robotic system, comprising:
a mechanical arm;
the signal sensing device is fixed at the tail end of the mechanical arm;
the terminal adapter is fixedly arranged on the signal sensing device and is used for installing surgical tools and receiving control signals;
control device comprising a memory storing a computer program and a processor implementing the steps of the method of any of claims 1 to 10 when said computer program is executed.
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| CN202110891652.9A CN113768626B (en) | 2020-09-25 | 2020-09-25 | Surgical robot control method, computer device and surgical robot system |
| CN202011026975.3A CN112168352B (en) | 2020-09-25 | 2020-09-25 | Surgical robot control method, computer equipment and surgical robot system |
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| US20240025053A1 (en) * | 2020-09-25 | 2024-01-25 | Wuhan United Imaging Healthcare Surgical Technology Co., Ltd. | Surgical robot control method, computer device, and surgical robot system |
| CN114310910B (en) * | 2021-12-23 | 2023-09-05 | 真健康（北京）医疗科技有限公司 | Control method, control equipment and auxiliary system suitable for mechanical arm for puncture operation |
| CN115245387B (en) * | 2022-09-22 | 2022-12-20 | 深圳市爱博医疗机器人有限公司 | Elongated medical device delivery system, delivery method, apparatus, and medium |
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| CN118058844A (en) | 2024-05-24 |
| CN113768626A (en) | 2021-12-10 |
| CN112168352A (en) | 2021-01-05 |
| CN112168352B (en) | 2021-08-17 |
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