WO2021147266A1 - Force feedback measurement method of surgical mechanical arm, and surgical mechanical arm - Google Patents

Abstract

A force feedback measurement method of a surgical mechanical arm, and the surgical mechanical arm. The surgical mechanical arm comprises a force sensor (20) and an execution rod (1424) connected to the force sensor (20). The method comprises: receiving mechanical information measured by the force sensor (20); decomposing the gravity of the execution rod (1424) according to an offset angle of the execution rod (1424), so as to obtain a first action force of the execution rod (1424) and a first moment of force of the execution rod (1424); and determining an environmental force and an environmental moment of force at a tail end of the execution rod (1424) according to the mechanical information, the first action force and the first moment of force, so that the problem of low precision of force feedback measurement during control of a surgical mechanical arm is solved.

Description

Force feedback measurement method of surgical manipulator arm and surgical manipulator arm

Related application

This application claims the priority of the Chinese patent application filed on January 23, 2020 with the application number 202010076422.2 and titled "Force Feedback Measurement Method of Surgical Robot Arm and Surgical Robot Arm", the entire content of which is incorporated into this application by reference middle.

Technical field

This application relates to the technical field of medical devices, and in particular to a force feedback measurement method of a surgical robot arm and a surgical robot arm.

Background technique

With the development of science and technology, surgical robots have greatly increased the flexibility of surgical operations. Doctors can perform more delicate operations. At the same time, adding ergonomic design can reduce doctors’ fatigue. Surgical robots overcome the shortcomings of traditional surgery in terms of observation, pleasantness, operation, and flexibility. However, in related technologies, surgical robots still lack force feedback function and cannot accurately feedback the contact force between surgical instruments and patient tissues to the doctor. Therefore, doctors cannot identify tissue attributes or pathological changes through tissue touch. Therefore, in related technologies, the accuracy of force feedback detection in surgical robotic arm control is low, which leads to the doctors wanting to apply precise precision when performing some delicate operations. The force also becomes very difficult.

Aiming at the problem of low accuracy of force feedback detection in the control of surgical manipulators in related technologies, no effective solution has yet been proposed.

Summary of the invention

According to various embodiments of the present application, a force feedback measurement method of a surgical robot arm and a surgical robot arm are provided.

According to one aspect of the present application, there is provided a force feedback measurement method of a surgical robot arm, the surgical robot arm including a force sensor and an actuator rod, the force sensor is connected to the actuator rod, and the method includes:

Receiving mechanical information measured by the force sensor;

Decompose the gravity of the execution rod according to the offset angle of the execution rod, and obtain the first force of the execution rod and the first moment of the execution rod;

According to the mechanical information, the first force and the first moment, the environmental force and the environmental moment at the end of the actuator rod are determined.

In one of the embodiments, the decomposing the gravity of the execution rod according to the offset angle of the execution rod, and obtaining the first force of the execution rod and the first moment of the execution rod includes:

Obtain the first force according to the first included angle, the second included angle and the gravity of the actuator rod; wherein, the first included angle is the offset angle of the actuator rod with respect to the first coordinate axis, The second included angle is the offset angle of the actuator rod relative to the second coordinate axis;

The first moment of force of the first force is determined according to the coordinates of the first center of mass of the actuating rod; and the first moment is obtained according to the first force arm and the first force.

In one of the embodiments, the surgical manipulator arm further includes a rotation driving part and a control driving part, the rotation driving part is mounted on the force sensor, and the control driving part is disposed on the execution rod and the rotation driving part In between, the rotation driving part, the speed control driving part and the execution rod constitute a first execution instrument, and after receiving the mechanical information obtained by the force sensor, the method includes:

Decompose the gravity of the first execution instrument according to the offset angle of the execution rod, and obtain the second force of the first execution instrument and the second moment of the first execution instrument;

The environmental force and the environmental torque are determined according to the mechanical information, the second force and the second moment.

In one of the embodiments, the gravitational force of the first execution instrument is resolved according to the offset angle of the execution rod, and the second force of the first execution instrument and the second force of the first execution instrument are obtained. Torque includes:

Obtaining the second force according to the first included angle, the second included angle, and the gravity of the first actuator;

The second force arm of the second force is determined according to the second center-of-mass coordinates of the first actuator; and the second torque is obtained according to the second force arm and the second force.

In one of the embodiments, the surgical manipulator arm further includes a telecentric control assembly, a rotation drive, and a control drive. The telecentric control assembly includes a moving platform, and the execution rod is mounted on the control drive. The control driving part is installed on the force sensor; the rotation driving part is installed on the moving platform, the force sensor is installed on the rotation driving part, and the control driving part and the execution rod are composed For the second execution device, after receiving the mechanical information measured by the force sensor, the method includes:

Decompose the gravity of the second execution device according to the offset angle of the execution rod, and obtain the third force of the second execution device and the third moment of the second execution device;

Obtain the total inertial torque according to the third center-of-mass coordinates of the second actuator and the fourth center-of-mass coordinates of the force sensor;

The environmental force and the environmental moment are determined according to the mechanical information, the third force, the third moment, and the total moment of inertia.

In one of the embodiments, the obtaining the total inertial torque according to the third center-of-mass coordinates of the second execution device and the fourth center-of-mass coordinates of the force sensor includes:

Acquiring, according to the third center of mass coordinate, the first distance between the rotation axis of the second executing instrument and the parallel axis passing through the second executing instrument's center of mass;

Obtain the first moment of inertia of the second actuator according to the first distance; and obtain the first torque of the second actuator according to the first moment of inertia and the rotational angular acceleration of the actuator rod;

Obtaining the second distance between the rotation axis of the force sensor and the parallel axis passing the center of mass of the force sensor according to the fourth center of mass coordinate;

Obtain the second moment of inertia of the force sensor according to the second distance; and obtain the second torque of the force sensor according to the second moment of inertia and the rotational angular acceleration;

According to the first torque and the second torque, the total inertia torque is obtained.

In one of the embodiments, the determining the environmental force and the environmental moment at the end of the actuator rod according to the mechanical information, the first force, and the first moment includes:

The mechanical information is decomposed in the first coordinate axis direction, the second coordinate axis direction, and the third coordinate axis direction, and the force is decomposed according to the first force, the first moment, and the force. The mechanical information of, obtain the environmental component force and the decomposed environmental moment after the force is decomposed;

The environment resultant force is obtained according to the environmental component force, and the force point coordinates of the environment resultant force are obtained according to the environment component force and the decomposed environment moment.

In one of the embodiments, the obtaining the coordinate of the force point of the environmental resultant force according to the environmental component force and the decomposed environmental moment includes:

Determine a first calculation model according to the coordinate of the force point, the first environmental component force in the direction of the first coordinate axis, and the first decomposed environmental moment in the direction of the first coordinate axis;

Determine a second calculation model according to the coordinate of the force point, the second environmental component force in the direction of the second coordinate axis, and the second decomposition environmental moment in the direction of the second coordinate axis;

Determine a third calculation model according to the coordinate of the force point, the third environmental component force in the direction of the third coordinate axis, and the third decomposition environmental moment in the direction of the third coordinate axis;

Determine the coordinate of the force point according to the first calculation model, the second calculation model, and the third calculation model.

In one of the embodiments, the surgical manipulator further includes a main manipulator, and after obtaining the force point coordinates of the environmental resultant force according to the environmental component force and the decomposed environmental torque, the method includes:

The main operator generates a force according to the feedback of the environment resultant force and the coordinate of the force point.

In one of the embodiments, before the receiving the mechanical information measured by the force sensor, the method includes:

When the executive rod is in a horizontal state, the environmental force is the largest in the directions of the first coordinate axis and the second coordinate axis;

When the executive rod is in a vertical state, the environmental force is the largest in the direction of the third coordinate axis.

According to another aspect of the present application, there is provided a surgical robotic arm, including a force sensor, an actuator rod and a control system, the force sensor is connected with the actuator rod;

The control system receives the mechanical information measured by the force sensor;

The control system decomposes the gravity of the execution rod according to the offset angle of the execution rod, and obtains the first force of the execution rod;

The control system obtains the first moment of the execution rod according to the first force and the first center of mass coordinates of the execution rod;

The control system determines the environmental force and the environmental torque at the end of the actuator rod according to the mechanical information, the first force, and the first moment.

In one of the embodiments, the surgical manipulator arm further includes a telecentric control assembly, a rotation drive, and a control drive for driving the movement of the surgical instrument on the execution rod; the telecentric control assembly includes a moving platform;

The force sensor is connected to the control driving part, and the control driving part is connected to the rotation driving part;

The rotation driving part is installed on the moving platform; the rotation driving part drives the surgical instrument along the axial direction of the execution rod by driving the control driving part, the force sensor and the execution rod Rotate.

In one of the embodiments, the surgical manipulator arm further includes a control rotation driving member and a control driving member for driving the movement of the surgical instrument on the execution rod, the rotation driving member is installed on the force sensor, and the control The driving part is arranged between the execution rod and the rotation driving part, and the rotation driving part, the control driving part and the execution rod form a first execution instrument;

The control system decomposes the gravity of the first execution instrument according to the offset angle of the execution rod, and obtains the second force of the first execution instrument;

The control system obtains the second moment of the first execution device according to the second force and the second center of mass coordinates of the first execution device;

The control system determines the environmental force and the environmental torque according to the mechanical information, the second force, and the second torque.

In one of the embodiments, the surgical robot arm further includes a telecentric control assembly; the telecentric control assembly includes a moving platform, and the force sensor is installed on the moving platform.

In one of the embodiments, the surgical manipulator arm further includes a telecentric control assembly, a rotation drive, and a control drive. The telecentric control assembly includes a moving platform, and the execution rod is mounted on the control drive. The control driving part is installed on the force sensor; the rotation driving part is installed on the moving platform, the force sensor is installed on the rotation driving part, and the control driving part and the execution rod are composed The second execution device;

The control system decomposes the gravity of the second execution device according to the offset angle of the execution rod, and obtains the third force of the second execution device and the third moment of the second execution device;

The control system obtains the total inertial torque according to the third center-of-mass coordinates of the second execution instrument and the fourth center-of-mass coordinates of the force sensor;

The control system determines the environmental force and the environmental torque according to the mechanical information, the third force, the third moment, and the total moment of inertia.

In one of the embodiments, the surgical robotic arm further includes a main manipulator;

The control system determines the environmental resultant force and the coordinate of the force point according to the environmental force and the environmental moment;

The main operator generates a force according to the environment resultant force fed back by the control system and the coordinate of the force point.

A computer device includes a memory, a processor, and a computer program that is stored on the memory and can run on the processor, and the processor implements the following steps when the processor executes the computer program:

According to another aspect of the present application, there is provided a computer device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The processor implements any of the foregoing when the computer program is executed. The steps of the method.

According to another aspect of the present application, there is provided a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the foregoing methods are implemented.

Through this application, a force feedback measurement method of a surgical manipulator is adopted. The surgical manipulator includes a force sensor and an actuator rod, and the force sensor is connected to the actuator rod. The method includes: receiving the force measured by the force sensor. Information; decompose the gravity of the execution rod according to the offset angle of the execution rod, and obtain the first force of the execution rod and the first moment of the execution rod; according to the mechanical information, the first force and the first moment , To determine the environmental force and the environmental moment at the end of the actuator, thereby solving the problem of low accuracy of force feedback detection in the control of the surgical manipulator.

Description of the drawings

In order to better describe and illustrate the embodiments and/or examples of those disclosed herein, one or more drawings may be referred to. The additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the disclosed, currently described embodiments and/or examples and the best mode currently understood.

Fig. 1 is a schematic diagram of an application model of a surgical robotic arm according to an embodiment of the present application;

Fig. 2 is a schematic structural diagram of a surgical robotic arm according to an embodiment of the present application;

Fig. 3 is a flowchart of a force feedback measurement method of a surgical manipulator according to an embodiment of the present application;

Fig. 4A is a schematic diagram of a mechanical working condition analysis of an executive rod according to an embodiment of the present application;

Fig. 4B is a schematic diagram of a mechanical working condition analysis of an executive rod according to another embodiment of the present application;

4C is a schematic diagram of a mechanical working condition analysis of an executive rod according to another embodiment of the present application;

Fig. 4D is a schematic diagram of a mechanical working condition analysis of an executive rod according to another embodiment of the present application;

Fig. 5 is a schematic diagram of a force analysis of an executive rod according to an embodiment of the present application;

Fig. 6 is a flowchart of a force feedback measurement method of a surgical manipulator according to another embodiment of the present application;

Fig. 7 is a flowchart of a force feedback measurement method of a surgical manipulator according to another embodiment of the present application;

Fig. 8 is a schematic structural diagram of a surgical robotic arm according to another embodiment of the present application;

Fig. 9 is a flowchart of a force feedback measurement method of a surgical manipulator according to another embodiment of the present application;

Fig. 10 is a schematic diagram of a mechanical working condition analysis of an execution device according to an embodiment of the present application;

Fig. 11 is a schematic diagram of a force analysis of an execution device according to an embodiment of the present application;

Fig. 12 is a schematic structural diagram of a surgical robotic arm according to another embodiment of the present application;

FIG. 13 is a flowchart of a force feedback measurement method of a surgical manipulator according to another embodiment of the present application;

Fig. 14 is a schematic diagram of a mechanical working condition analysis of an execution device according to another embodiment of the present application;

Fig. 15 is a schematic diagram of a force analysis of an execution device according to another embodiment of the present application;

Fig. 16 is a structural block diagram of a surgical robotic arm according to an embodiment of the present application;

Fig. 17 is a structural block diagram of a surgical robotic arm according to another embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions, and advantages of this application clearer and clearer, the following further describes the application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

In this embodiment, an application model of a surgical robot arm is provided. FIG. 1 is a schematic diagram of an application model of a surgical robot arm according to an embodiment of the present application, as shown in FIG. 1. The surgical robotic arm includes a preoperative positioning assembly 12 and an active arm 14. The preoperative positioning assembly 12 includes a telescopic mechanism 122 and a rotating mechanism 124; the telescopic mechanism 122 is used for telescopic movement to control the telescopic position, and is mainly used for preoperative positioning; the rotating mechanism 124 is used for preoperative positioning and is used for Adjust the position of the mechanism.

The active arm 14 includes an executive component 142 and a telecentric control component 144; the executive component 142 includes a driver 1422, an executive rod 1424, and a surgical instrument 1426. The executive rod 1424 and the surgical instrument 1426 are connected by a rotary joint, and the executive rod 1424 is connected to the surgical instrument 1426. The edges of the revolving joints are all smooth transitions, no edges and corners, to avoid harm to the human body or organs; a steel wire rope is placed inside the executive rod 1424 to control the action of the surgical instrument 1426, and the driving member 1422 is used to drive the wire rope to move, thereby driving and controlling the The three-degree-of-freedom rotation of the rod 1424 is performed, and the tissue grasping action of the surgical instrument 1426 is controlled.

The telecentric control assembly 144 is a spatial parallel mechanism formed by a multi-directional end effector connected to the other fixed end of the mechanical system through a hinge and a retractable mechanism. The telecentric control assembly 144 can be a Stewart Platform, the Stewart platform includes a static platform 1442, 6 telescopic elements 1444 and a moving platform 1446. The static platform 1442 and the 6 telescopic elements 1444 are hinged with a U pair. The static platform 1442 can rotate in the x-axis and y-axis directions, However, the degree of freedom in the z-axis direction is limited; the telescopic element 1444 is composed of an electrode and a screw, and the electric cylinder can be freely extended and retracted by driving the screw through the electrode, thereby changing the motion state of the movable platform 1446. The six telescopic elements 1444 are in accordance with A certain regular arrangement makes the deflection angle of the Stewart platform smaller. Among them, the deflection angle range of the telescopic element 1444 and the z axis is between ±20°; the diameter of the movable platform 1446 is smaller than the diameter of the static platform 1442 and the movable platform 1446 The motion state is controlled by the change in the length of the telescopic element 1446. The movable platform 1446 and the telescopic element 1444 adopt a ball hinge method, which can realize rotation in the three directions of the x-axis, the y-axis and the z-axis.

The moving platform 1446 is also provided with a force sensor, which is connected to the execution rod 1424 and is used to detect the environmental force and/or environmental torque received by the surgical instrument 1426.

In this embodiment, a surgical robotic arm is provided. FIG. 2 is a schematic structural diagram of a surgical robotic arm according to an embodiment of the present application. As shown in FIG. 2, the design scheme 1 of the surgical robotic arm is: The surgical manipulator arm also includes a control drive 22 and a rotation drive 24. The force sensor 20 is directly connected to the actuator rod 1424; the force sensor 20 includes a sensing element 22 and a mounting platform 24. The sensing element 22 and the control drive 22 are installed separately On both sides of the installation platform 24; the force sensor 20 is connected to the control driving member 22 for driving the movement of the surgical instrument 1426, the control driving member 22 is connected to the rotation driving member 24; the rotation driving member 24 is installed on the movable platform At 1446, by driving the control driving member 22, the force sensor 20 and the actuator rod 1424, the surgical instrument 1426 is driven to rotate along the axial direction of the actuator rod 1424.

According to design plan 1, a method for controlling a surgical manipulator is provided. FIG. 3 is a flowchart of a force feedback measurement method for a surgical manipulator according to an embodiment of the present application. As shown in FIG. 3, the method includes the following step:

Step S302, receiving mechanical information measured by the force sensor 20; the execution rod 1424 is above the measurement surface, assuming that the opening and closing of the surgical instrument 1426 of the execution rod 1424 does not affect the measurement of the force sensor 20; A schematic diagram of a mechanical working condition analysis of an executive rod according to an embodiment, FIG. 4B is a schematic diagram of a mechanical working condition analysis of an executive rod according to another embodiment of the application, and FIG. 4C is a schematic diagram of a mechanical working condition analysis of an actuator according to another embodiment of the application A schematic diagram of a mechanical condition analysis of an actuator rod. FIG. 4D is a schematic diagram of a mechanical condition analysis of an actuator rod according to another embodiment of the present application. The force sensor 20 will simultaneously measure during work: the actuator rod 1424 is at During work, the force exerted by the organization, that is, the environmental force that needs to be finally obtained, as shown in Figure 4A; the force and moment generated by the weight of the actuator rod 1424, as shown in Figure 4B; the torque generated by the rotation of the actuator rod 1424, as shown in Figure 4C As shown; friction and torque, as shown in Figure 4D; where the length of the actuator rod 1424 is L=350mm, the diameter of the actuator rod 1424 is d=5mm, the quality of the actuator rod 1424=M, the maximum force F the end of the actuator rod 1424 bears , The friction force is f. The mechanical information includes: the force and moment on the z-axis, x-axis, and y-axis measured by the force sensor 20, namely F _z , F _y , F _x , T _z , _Ty , and T _x .

Step S304: Analyze the gravity of the actuator rod 1424 according to the offset angle of the actuator rod 1424, and obtain the first force of the actuator rod 1424 and the first moment of the actuator rod 1424; wherein, the first force is the actuator rod 1424. The gravity decomposition of the rod 1424 on the z-axis, the x-axis, and the y-axis are respectively F _Gz , F _Gy , and F _Gx ; the first moment includes: T _Gz , T _Gy , and T _Gx .

Step S306: Determine the environmental force and the environmental moment at the end of the actuator rod 1424 according to the mechanical information, the first force, and the first moment; wherein, FIG. 5 is an actuator rod according to an embodiment of the present application. The schematic diagram of the force analysis is shown in FIG. 5, the force/torque measured by the force sensor 20-the force/torque generated by the weight of the actuator 1424 = the force/torque generated by the environment.

Through the above steps S302 to S306, the influence of the actuator rod 1424 in the surgical robot arm on the mechanical information is analyzed, and the mechanical information measured by the force sensor 20 is processed, and the interactive force analysis is carried out for the force information detection of the surgical robot, and finally based on the mechanical information. Information, the first force and the first moment of the actuator rod 1424, determine the environmental force and the environmental torque, so that the accuracy of the measurement value of the mechanical information fed back by the force sensor 20 is improved, thereby solving the force feedback detection in the control of the surgical manipulator The problem of low accuracy.

In one embodiment, a force feedback measurement method of a surgical manipulator is provided, and the method further includes the following steps:

Step S402: Obtain the first force according to the first included angle, the second included angle and the gravity of the actuating rod 1424; where the first included angle is the offset angle of the actuating rod 1424 relative to the first coordinate axis , The second included angle is the offset angle of the actuator 1424 relative to the second coordinate axis; in this embodiment, the first coordinate axis is the x-axis, and the second coordinate axis is the y-axis; where the gravity of the actuator 1424 is G ₁ , the length of the actuator 1424 is L, the radius of the actuator 1424 is r, the angle between the actuator 1424 and the vertical is θ _G , the angle between the actuator 1424 and the x-axis is

It can be seen from Fig. 4 that by decomposing the gravity of the actuator 1424 into the x, y, and z axes, the first force can be obtained, as shown in formula 1, formula 2, and formula 3:

F _Gz ＝G ₁ cosθ _G formula 1

Step S404: Determine the first moment arm of the first force according to the first center of mass coordinate of the actuating rod 1424; and obtain the first moment according to the first moment arm and the first force; wherein, it is known that the The coordinates of the first center of mass, that is, the coordinates of the point of application of gravity are (x ₁ , y ₁ , z ₁ ), and the first arm of the first force is: the arm of F _Gz :

_Force arm of F Gy:

_Force arm of F Gx:

Then the first moment generated by the gravity of the actuator 1424 is shown in formula 4, formula 5 and formula 6:

In one embodiment, a force feedback measurement method of a surgical robot arm is provided. FIG. 6 is a flowchart of a force feedback measurement method of a surgical robot arm according to another embodiment of the present application, as shown in FIG. 6, The method also includes the following steps:

Step S602: Perform force decomposition of the mechanical information in the first coordinate axis direction, the second coordinate axis direction, and the third coordinate axis direction, and perform force decomposition according to the first force, the first moment, and the force decomposed Mechanics information, the environmental component force and the decomposed environmental moment after the force decomposition are obtained; the environmental component force obtained by the solution is shown in formula 7 to formula 9:

F _Hz ＝F _z -F _Gz1 formula 7

F _Hy ＝F _y -F _Gy1 formula 8

F _Hx =F _x -F _Gx1 formula 9

The decomposed environmental moment is shown in formula 10 to formula 12:

T _Hz ＝T _z -T _Gz1 formula 10

T _Hy ＝T _y -T _Gy1 formula 11

T _Hx ＝T _x -T _Gx1 Formula 12

Step S604: Obtain the environmental resultant force according to the environmental component force, and obtain the force point coordinates of the environmental resultant force according to the environmental component force and the decomposed environment moment; wherein, the environmental resultant force

_{The angle θ H} between the environmental resultant force and the vertical direction is shown in formula 13:

The angle between the environmental resultant force and the x-axis direction

As shown in Equation 14:

At the same time, suppose the coordinate of the force point is (x, y, z), where, according to _{the force arm of F Hz} , we can get:

According to the force arm of _{F Hy:}

According to _{the force arm of F Hx} , we can get:

Then the solution is

In one embodiment, a force feedback measurement method of a surgical manipulator is provided. FIG. 7 is a flowchart 3 of a force feedback measurement method of a surgical manipulator according to an embodiment of the present application. As shown in FIG. 7, the The method also includes the following steps:

In step S702, the main operator generates a force according to the feedback of the environmental resultant force and the coordinate of the force point; wherein, the control system controls the force sensor 20 according to the environmental force and/or environmental torque detected by the surgical instrument 1426. One or more driving parts of the main manipulator move, and feed back to the main manipulator in the same size through the transmission mechanism of the main manipulator, so that the doctor can perceive surgical instruments and patient tissues in real time during the operation.的contact force.

In one embodiment, a surgical robotic arm is provided. FIG. 8 is a second structural diagram of a surgical robotic arm according to an embodiment of the present application. As shown in FIG. 8, the design scheme 2 of the surgical robotic arm is: The surgical manipulator arm also includes a rotation driving member 24 and a control driving member 22; the rotation driving member 24 is mounted on the force sensor 20, the force sensor 20 is mounted on the movable platform 1446, and the force sensor 20 is between the force sensor 20 and the surgical instrument 1426. There is no synchronous rotation along the axial direction of the actuator rod 1424; the control driving member 22 is arranged between the actuator rod 1424 and the rotation driving member 24, the control driving member 22 is used to control the opening and closing of the surgical instrument 1426, and the control driving The member 22, the rotating drive member 24 and the execution rod 1424 constitute a first execution instrument.

According to design plan 2, a force feedback measurement method of a surgical manipulator is provided. FIG. 9 is a flowchart of a force feedback measurement method of a surgical manipulator according to another embodiment of the present application. As shown in FIG. 9, the The method also includes the following steps:

Step S902, decompose the gravity of the first actuator according to the offset angle of the actuator rod, and obtain the second force of the first actuator and the second moment of the first actuator; wherein, FIG. 6 is a diagram according to the present application. A schematic diagram of the mechanical working condition analysis of an execution instrument of the embodiment. As shown in FIG. 6, the rotation of the execution rod 1424 and the opening and closing of the surgical instrument 1426 belong to the internal force of the first execution instrument system. It is assumed that the force sensor 20 only detects the first 1. The overall gravity and environmental forces of the actuator, as well as changes in torque, are negligible for changes caused by motor vibration.

Step S904: Determine the environmental force and the environmental torque according to the mechanical information, the second force and the second moment. Among them, the force sensor 20 has a biasing capability, which can bias the gravity and torque of the first actuator in the initial state. The force sensor 20 directly measures the environmental force and environmental torque at the end of the first actuator. The offset can no longer be performed, so the gravity of the first actuator needs to be analyzed. Fig. 7 is a schematic diagram 1 of the force analysis of an actuator according to an embodiment of the present application. As shown in Fig. 7, the force of the end of the first actuator is analyzed, and the effect of the control driving member 22 on the actuator rod 1424 is first ignored. The pulling force and rotating torque, etc., only consider the gravity of the first actuator and the external environmental force. Since the actuator rod 1424, the control drive member 22 and the rotary drive motor are connected as a whole, it is simplified into a rod of uniform quality.

Through the above steps S902 to S904, the mechanical analysis of the design scheme 2 in which the control driving member 22 in the surgical manipulator arm is arranged between the execution rod 1424 and the rotation driving member 24 is performed, which avoids the control of the driving member 22 and the rotary driving member 24 under this design scheme. The influence of the rotating drive member 24 on the mechanical information detected by the force sensor 20 improves the accuracy of force feedback detection in the surgical manipulator.

In one embodiment, a force feedback measurement method of a surgical manipulator is provided, and the method further includes the following steps:

Step S602: Obtain the second force according to the first included angle, the second included angle, and the gravity G _{2 of the} first actuator; where, as shown in FIG. 11, the gravity of the first actuator is decomposed into x, y , The z-axis, the second force can be obtained, as shown in formula 15, formula 16, and formula 17:

F _Gz ＝G ₂ cosθ _G formula 15

Step S604: Determine the second force arm of the second force according to the second center of mass coordinates of the first actuator; and obtain the second moment according to the second force arm and the second force; where it is known The coordinates of the second center of mass, that is, the coordinates of the point of action for performing the gravity of the first instrument are (x ₂ , y ₂ , z ₂ ), and the second force arm of the second force is: the force arm of F _Gz :

_Force arm of F Gy:

_Force arm of F Gx:

Then the second moment generated by the gravity of the first actuator is shown in formula 18, formula 19 and formula 20:

In addition, in the design solution 2 of the embodiment of the present application, the analysis of the environmental resultant force, the force point coordinates, and the main operating manual force feedback are the same as those in the design solution 1, and will not be repeated here.

In one embodiment, a surgical robotic arm is provided. FIG. 12 is a schematic structural diagram of a surgical robotic arm according to another embodiment of the present application. As shown in FIG. 12, the design scheme 3 of the surgical robotic arm is: The actuating rod is installed on the control driving member, and the control driving member is installed on the force sensor 20; the force sensor 20 includes a sensing element 200 and a mounting platform 202, and the sensing element 200 is mounted on the mounting platform 202; the The rotation driving member 24 is installed on the movable platform 1446, the force sensor 20 is installed on the rotation driving member 24, and the control driving member 22 and the execution rod 1424 constitute a second execution instrument.

According to design scheme 3, a force feedback measurement method of a surgical manipulator is provided. FIG. 13 is a flowchart of a force feedback measurement method of a surgical manipulator according to another embodiment of the present application. As shown in FIG. 13, the The method also includes the following steps:

_{Step S1302, decompose the gravity G 3} of the second actuator according to the offset angle of the actuator rod, and obtain the third force of the second actuator and the third moment of the second actuator; wherein, in design 3 The solution analysis of the third force and the third moment is the same as that in the design scheme 2, and will not be repeated here.

Step S1304: Acquire the total inertial torque according to the third center-of-mass coordinates of the second execution device and the fourth center-of-mass coordinates of the force sensor 20; wherein, FIG. 14 is a mechanical engineering of an execution device according to another embodiment of the present application. The schematic diagram of the situation analysis, as shown in Figure 14, is obtained according to the third center of mass coordinates (x ₃ , y ₃ , z ₃ ) between the rotation axis of the second actuator and the parallel axis passing through the center of mass of the second actuator. A distance, namely

According to the first distance, obtain the first moment of inertia of the second actuator, that is, J _G =Mr ² /2+Md ₁ ² , where M is the mass of the second actuator, and r is the radius of the first distance ; And according to the first moment of inertia and the rotational angular acceleration α of the actuating rod 1424, the first torque of the second actuating device is obtained, that is, N _G =J _G α.

According to the fourth center of mass coordinates (x ₄ , y ₄ , z ₄ ), the second distance between the rotation axis of the force sensor 20 and the parallel axis passing the center of mass of the force sensor 20 is obtained, namely

According to the second distance, the second moment of inertia of the force sensor 20 is obtained, namely

Wherein, M _s is the mass of the force sensor 20, r _s is the radius of the second distance; and according to the second moment of inertia and the rotational angular acceleration, the second torque of the force sensor 20 is obtained, that is, N _s =J _S α; then the total inertia torque T′ _{z of} the z-axis is shown in formula 21:

T′ _z ＝N _s +N _G formula 21

Step S1306: Determine the environmental force and the environmental torque according to the mechanical information, the second force, the second moment, and the total moment of inertia; wherein, FIG. 15 is an execution device according to another embodiment of the present application The schematic diagram of force analysis is shown in Figure 15. The force measured by the sensor-the force produced by the weight of the second actuator = the force produced by the environment; the torque measured by the sensor-the torque produced by the weight of the second actuator -Total moment of inertia of the Z-axis=torque generated by the environment; wherein, the environmental moment of the z-axis is as shown in formula 22:

T _Hz = T _z -T _Gz -T' _z Formula 22

In addition, in the design solution 3 of the embodiment of the present application, the analysis of the environmental resultant force, the coordinate of the force point and the feedback of the main operating hand force is the same as that in the design solution 1, and will not be repeated here.

Through the above steps S1302 to S1304, the mechanical analysis is performed on the design scheme of the control driving member 22 in the surgical manipulator arm between the execution rod 1424 and the force sensor 20, which avoids controlling the self-weight of the driving member 22 under this design scheme. And the influence of the torque generated by the rotation driving member 24 to drive the second actuator to rotate on the mechanical information detected by the force sensor 20 further improves the accuracy of force feedback detection in the surgical manipulator.

In one embodiment, a force feedback measurement method of a surgical manipulator is provided, and the method further includes the following steps:

Step S1402, when the execution rod 1424 is in the horizontal state, the environmental force is the largest in the direction of the first coordinate axis and the second coordinate axis, and when the execution rod 1424 is in the vertical state, the environmental force is in the third The coordinate axis direction is the largest; in this embodiment, the first coordinate axis is the x axis, the second coordinate axis is the y axis, and the third coordinate axis is the z axis. As shown in FIG. 4B, the execution rod 1424 is in a horizontal state, and the direction of the environmental force is vertical downwards. At this time, the maximum force and moment are generated on the x and y axes; as shown in FIG. 4C, the execution rod 1424 is vertically upward. And the environmental force is vertically downward, and the maximum force and moment are generated on the z-axis at this time.

Among them, in the maximum force analysis of the design scheme 1 of the surgical manipulator, the x and y axes produce the largest force and moment as shown in formula 23 and formula 24:

Fx,ymax=Mg+F Formula 23

Tx,ymax=Mg×l+F×L Formula 24

The maximum moment Tzmax in the z-axis direction = the moment generated by the rod’s own weight + the moment generated by the friction force, the maximum force and moment in the z-axis direction are shown in formula 25 and formula 26:

Fzmax=Mg+F Formula 25

Tzmax==0.5M×r ² ×α+f×r Formula 26

Assuming that: the maximum rotation speed of the wrist is 60RPM, the time from resting to the maximum rotation speed of the hand is 0.5s, α=2π/0.5=4πrad/s ² ; the first center of mass coordinate of the actuator 1424 is (0, 0, 175); and In the horizontal position, the self-gravity arm of the actuator 1424 is l=175mm; the friction force is f=0-10N; the material of the actuator 1424 is steel, and the mass is uniform, with a density of 7.85g/cm ³ , a volume of 6546.108cm ³ , and a mass of M =52g; The estimated value of tissue exerted force is F=0-20N; Substituting the above data into formula 23 to formula 26, you can get:

Fx,ymax=Mg+F=0.052×10+20=20.52N

Tx,ymax=0.5×Mg×l+F×L=0.052×10×0.175+20×0.35=7.091N.m

Fzmax=Mg+F=0.052×10+20=20.52N

Tzmax=0.5M×r ² ×α+f×r=0.5×0.052×10×(0.0025) ² ×4π+10×0.0025=0.025Nm

At the same time, the rotating drive member 24 in the design scheme 1 is installed on the movable platform 1446, and the gear ratio of the rotating drive member 24 to the actuator rod 1424 is 1:1, so w ₁ =w ₂ ＝60RPM, where w ₁ is the rotating drive member 24 Angular velocity, w ₂ is the rotational angular velocity of the actuator rod 1424; the gravity to be lifted by the rotating drive member 24 is 20.52N, which is approximately 25N; the radius of the rotating drive member 24 is 8mm, and the power P of the rotating drive member 24 is:

P=output torque×angular speed/9550=25N×8mm×60/9550=1.3w

In the maximum force analysis of Design Plan 2, the x and y axes produce the maximum force and moment as shown in formula 27 and formula 28:

Fx, ymax=G+F Formula 27

Tx,ymax=Gl+FL Formula 28

The maximum force and moment in the z-axis direction are shown in Equation 29 and Equation 30:

Fzmax=G+F Formula 29

Tzmax=F×r Formula 30

Assuming that the force sensor 20 only detects the overall gravity and environmental force of the execution device, as well as the torque change, the change caused by the vibration of the motor is neglected. The dead weight of the device is 16N, the maximum force arm of gravity is 60mm, and the external environmental force F=5N ; Substituting the above data into formula 27 to formula 30, you can get:

Fx, ymax=G+F=16+5=19N

Tx, ymax=Gl+FL=16×0.06+5×0.442=2.63432N.m

Fzmax=G+F=F=16+5=19N

Tzmax=F×r=5×0.005=0.025N.m

At the same time, the gravity to be lifted by the rotating drive member 24 in Design Plan 2 is 19N, and the power P of the rotating drive member 24 is:

P=output torque×angular speed/9550=19N×8mm×60/9550=1w

In the maximum force analysis of Design Plan 3, the x and y axes produce the largest force and moment as shown in formula 11 and formula 12, and the maximum force in the z axis direction is as shown in formula 13; the maximum moment of z axis is mainly The torque generated by the environmental force and when the actuator rotates, the actuator rod 1424, the control driving member 22 and the force sensor 20 are as shown in formula 31:

_{T max = T G + T s} + T H Formula 31

Assuming that the length of the actuator rod 1424 is 350mm, the length of the control driving member 22 is 90mm, the total length of the front end of the actuator is L=350+90=440mm, the radius of the actuator 1424 is r=2.5mm; the mass of the front end of the actuator is M=1kg , The front end of the actuator is gravity G=10N, and the third center of mass coordinates (x ₃ , y ₃ , z ₃ )=(0, 0, 60), that is, the first distance d _{1 =0.} The maximum force arm of gravity l=z ₂ =60mm. Sensor mass M _s =256g, the fourth center of mass coordinate (x ₄ , y ₄ , z _{4 )=(0,0,0), the second distance d s} between the rotation axis of the force sensor 20 and the parallel axis passing through the center of mass = 0, radius r _s = 37mm, and other assumptions are the same as in Design Plan 1 and Design Plan 2. Substituting the above data into Formula 27 to Formula 29, and Formula 31, you can get:

Fx, ymax=G+F=10+5=15N

Tx, ymax=Gl+FL=10×0.06+5×0.44=2.464N.m

Fzmax=G+F=15N

Tzmax=F×r=5×0.0025+(1×0.0025 ² /2+0.256×0.037 ² /2)×4π==0.0147Nm

At the same time, the gravity to be lifted by the rotating drive member 24 in the design scheme 3 is 15N, and the power P of the rotating drive member 24 is:

P=output torque×angular speed/9550=15N×8mm×60/9550≈1w

According to the above analysis, you can choose a force sensor 20 of Mini40 with a diameter of 40mm, or a force sensor 20 of GAMMA with a diameter of 75.4mm; the range of the force sensor 20 is shown in Table 1. :

Table 1 Force sensor range table

model	Mini40	GAMMA	GAMMA
Fx, Fy(±N)	80	32	65
Fz(±N)	240	100	200
Tx, Ty(±Nm)	4	2.5	5
Tz(±Nm)	4	2.5	5
Resolution Fx, Fy(N)	0.02	0.00625	0.0125
Resolution Fz(N)	0.04	0.0125	0.025

Through the above step S1402, the maximum force of the actuator 1424 under different conditions is analyzed, and based on this, the power of the control driving member 22 and the range of the force sensor 20 are determined, and the force feedback surgical robot is tested through static calibration and test experiments. The technology has been validated.

It should be understood that although the steps in the flowcharts of FIGS. 3, 6, 7, 9 and 13 are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless specifically stated in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in Figure 3, Figure 6, Figure 7, Figure 9 and Figure 13 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be completed at the same time. When executed at different times, the execution order of these sub-steps or stages is not necessarily performed sequentially, but may be executed alternately or alternately with other steps or at least part of the sub-steps or stages of other steps.

In this embodiment, a surgical robotic arm is provided. FIG. 16 is a structural block diagram of a surgical robotic arm according to an embodiment of the present application. As shown in FIG. 16, the surgical robotic arm includes a force sensor 20 and an actuator rod. 1424 and a control system 160, the force sensor 20 is connected to the execution rod 1424;

The control system 160 receives the mechanical information measured by the force sensor 20;

The control system 160 decomposes the gravity of the execution rod 1424 according to the offset angle of the execution rod 1424, and obtains the first force of the execution rod 1424;

The control system 160 obtains the first moment of the execution rod 1424 according to the first force and the first center of mass coordinates of the execution rod 1424;

The control system 160 determines the environmental force and the environmental torque at the end of the actuator rod 1424 according to the mechanical information, the first force, and the first moment.

Through the above embodiment, the influence of the actuator rod 1424 in the surgical manipulator arm on the mechanical information is analyzed, and the mechanical information measured by the force sensor 20 is processed, and the interaction force analysis is carried out for the force information detection of the surgical robot, and finally based on the mechanical information, The first force and the first moment of the executive rod 1424 determine the environmental force and the environmental torque, so that the accuracy of the measurement value of the mechanical information fed back by the force sensor 20 is improved, thereby solving the accuracy of the force feedback detection in the control of the surgical manipulator Low degree of problem.

In one embodiment, a surgical robotic arm is provided, the surgical robotic arm further includes a telecentric control assembly 144, a rotation driving member 24, and a control driving member 22 for driving the movement of the surgical instrument 1426 on the actuator rod 1424; The telecentric control assembly 144 includes a moving platform 1446;

The force sensor 20 is connected to the control driving part 22, and the control driving part 22 is connected to the rotation driving part 24;

The rotation driving member 24 is installed on the moving platform 1446; the rotation driving member 24 drives the control driving member 22, the force sensor 20, and the actuator rod 1424 to drive the surgical instrument 1426 along the axial direction of the actuator rod 1424 Rotate.

In one embodiment, a surgical robotic arm is provided, the surgical robotic arm further includes a rotation driving member 24 and a control driving member 22 for driving the movement of the surgical instrument 1426 on the actuator rod 1424, and the rotation driving member 24 is installed On the force sensor 20, the control driving member 22 is disposed between the execution rod 1424 and the rotation driving member 24, and the rotation driving member 24, the control driving member 22 and the execution rod 1424 constitute a first execution instrument;

The control system 160 decomposes the gravity of the first execution device according to the offset angle of the first execution device, and obtains the second force of the first execution device;

The control system 160 obtains the second moment of the first execution device according to the second force and the second center of mass coordinate of the first execution device;

The control system 160 determines the environmental force and the environmental torque according to the mechanical information, the second force, and the second torque.

In one embodiment, a surgical robotic arm is provided. The surgical robotic arm further includes a moving platform 1446 of the telecentric control assembly 144, and the force sensor 20 is installed on the moving platform 1446.

In one embodiment, a surgical robotic arm is provided, the surgical robotic arm further includes a telecentric control assembly 14, a rotation drive 24, and a control drive 22. The telecentric control assembly 14 includes a moving platform 1446, and the actuator 1424 is mounted on the control drive member 22, the control drive member 22 is mounted on the force sensor 20; the rotation drive member 24 is mounted on the movable platform 1446, the force sensor 20 is mounted on the rotation drive member 24, the The control driving member 22 and the execution rod 1424 constitute a second execution instrument;

The control system decomposes the gravity of the second actuator according to the offset angle of the actuator rod 1424, and obtains the third force of the second actuator and the third moment of the second actuator;

The control system 160 obtains the total inertial torque according to the third center-of-mass coordinates of the second actuator and the fourth center-of-mass coordinates of the force sensor 20;

The control system 160 determines the environmental force and the environmental torque according to the mechanical information, the third force, the third moment, and the total moment of inertia.

In one embodiment, a surgical robotic arm is provided. FIG. 17 is a structural block diagram of a surgical robotic arm according to another embodiment of the present application. As shown in FIG. 17, the surgical robotic arm further includes a main operating hand 170 ；

The control system 160 determines the environmental resultant force and the coordinate of the force point according to the environmental force and the environmental moment;

The main operator generates force according to the environment resultant force and the coordinate of the force point fed back by the control system 160.

In one embodiment, a computer device is provided, and the computer device may be a server. The computer equipment includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide calculation and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used to store environmental force-related data. The network interface of the computer device is used to communicate with an external terminal through a network connection. The computer program is executed by the processor to realize a force feedback measurement method of a surgical manipulator.

In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The processor executes the computer program to implement the surgical manipulator provided by the foregoing embodiments. Steps in the feedback measurement method.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and the computer program is executed by a processor to realize the steps in the surgical manipulator arm force feedback measurement method provided by the foregoing embodiments.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium. Here, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database, or other media used in the embodiments provided in this application may include non-volatile and/or volatile memory. Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not a limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered as the range described in this specification.

The above embodiment only expresses several implementation manners of the application, and its description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent application. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can be made, and these all fall within the protection scope of this application. Therefore, the scope of protection of the patent of this application shall be subject to the appended claims.

Claims (18)

1. A method for measuring force feedback of a surgical manipulator, wherein the surgical manipulator includes a force sensor and an execution rod, the force sensor is connected with the execution rod, and the method includes:

   Receiving mechanical information measured by the force sensor;

   Decompose the gravity of the execution rod according to the offset angle of the execution rod, and obtain the first force of the execution rod and the first moment of the execution rod;

   According to the mechanical information, the first force and the first moment, the environmental force and the environmental moment at the end of the actuator rod are determined.
2. The method according to claim 1, characterized in that said decomposing the weight of the execution rod according to the offset angle of the execution rod, and obtaining the first force of the execution rod and the first force of the execution rod. Torque includes:

   Obtain the first force according to the first included angle, the second included angle and the gravity of the actuator rod; wherein, the first included angle is the offset angle of the actuator rod with respect to the first coordinate axis, The second included angle is the offset angle of the actuator rod relative to the second coordinate axis;

   The first moment of force of the first force is determined according to the coordinates of the first center of mass of the actuating rod; and the first moment is obtained according to the first force arm and the first force.
3. The method according to claim 1, characterized in that the surgical manipulator arm further comprises a rotation driving part and a control driving part, the rotation driving part is mounted on the force sensor, and the control driving part is disposed on the execution rod Between the rotation driving part and the rotation driving part, the rotation driving part, the control driving part and the execution rod constitute a first execution instrument. After receiving the mechanical information obtained by the force sensor, the method includes:

   Decompose the gravity of the first execution instrument according to the offset angle of the execution rod, and obtain the second force of the first execution instrument and the second moment of the first execution instrument;

   The environmental force and the environmental torque are determined according to the mechanical information, the second force and the second moment.
4. The method according to claim 3, characterized in that said decomposing the weight of the executing instrument according to the offset angle of the executing rod to obtain the second force of the first executing instrument and the force of the executing instrument The second moment includes:

   Obtaining the second force according to the first included angle, the second included angle, and the gravity of the first actuator;

   The second force arm of the second force is determined according to the second center-of-mass coordinates of the first actuator; and the second torque is obtained according to the second force arm and the second force.
5. The method according to claim 1, wherein the surgical manipulator arm further comprises a telecentric control assembly, a rotation drive, and a control drive, the telecentric control assembly includes a moving platform, and the execution rod is mounted on the On the control driving part, the control driving part is installed on the force sensor; the rotation driving part is installed on the moving platform, the force sensor is installed on the rotation driving part, the control driving part And the execution rod form a second execution instrument, and after receiving the mechanical information measured by the force sensor, the method includes:

   Decompose the gravity of the second execution device according to the offset angle of the execution rod, and obtain the third force of the second execution device and the third moment of the second execution device;

   Obtain the total inertial torque according to the third center-of-mass coordinates of the second actuator and the fourth center-of-mass coordinates of the force sensor;

   The environmental force and the environmental moment are determined according to the mechanical information, the third force, the third moment, and the total moment of inertia.
6. The method according to claim 5, wherein the obtaining the total inertial torque according to the third center-of-mass coordinates of the second execution instrument and the fourth center-of-mass coordinates of the force sensor comprises:

   Acquiring, according to the third center of mass coordinate, the first distance between the rotation axis of the second executing instrument and the parallel axis passing through the second executing instrument's center of mass;

   Obtain the first moment of inertia of the second actuator according to the first distance; and obtain the first torque of the second actuator according to the first moment of inertia and the rotational angular acceleration of the actuator rod;

   Obtaining the second distance between the rotation axis of the force sensor and the parallel axis passing the center of mass of the force sensor according to the fourth center of mass coordinate;

   Obtain the second moment of inertia of the force sensor according to the second distance; and obtain the second torque of the force sensor according to the second moment of inertia and the rotational angular acceleration;

   According to the first torque and the second torque, the total inertia torque is obtained.
7. The method according to claim 1, wherein the determining the environmental force and the environmental torque at the end of the actuator rod according to the mechanical information, the first force, and the first moment comprises:

   The mechanical information is decomposed in the first coordinate axis direction, the second coordinate axis direction, and the third coordinate axis direction, and the force is decomposed according to the first force, the first moment, and the force. The mechanical information of, obtain the environmental component force and the decomposed environmental moment after the force is decomposed;

   The environment resultant force is obtained according to the environmental component force, and the force point coordinates of the environment resultant force are obtained according to the environment component force and the decomposed environment moment.
8. The method according to claim 7, wherein the obtaining the force point coordinates of the environmental resultant force according to the environmental component force and the decomposed environmental moment comprises:

   Determine a first calculation model according to the coordinate of the force point, the first environmental component force in the direction of the first coordinate axis, and the first decomposed environmental moment in the direction of the first coordinate axis;

   Determine a second calculation model according to the coordinate of the force point, the second environmental component force in the direction of the second coordinate axis, and the second decomposition environmental moment in the direction of the second coordinate axis;

   Determine a third calculation model according to the coordinate of the force point, the third environmental component force in the direction of the third coordinate axis, and the third decomposition environmental moment in the direction of the third coordinate axis;

   Determine the coordinate of the force point according to the first calculation model, the second calculation model, and the third calculation model.
9. The method according to claim 7, wherein the surgical manipulator further comprises a main manipulator, and after obtaining the force point coordinates of the environmental resultant force according to the environmental component force and the decomposed environmental moment, The method includes:

   The main operator generates a force according to the feedback of the environment resultant force and the coordinate of the force point.
10. The method according to any one of claims 1 to 9, wherein before the receiving the mechanical information measured by the force sensor, the method comprises:

    When the executive rod is in a horizontal state, the environmental force is the largest in the directions of the first coordinate axis and the second coordinate axis;

    When the executive rod is in a vertical state, the environmental force is the largest in the direction of the third coordinate axis.
11. A surgical robotic arm, characterized by comprising a force sensor, an execution rod and a control system, the force sensor being connected with the execution rod;

    The control system receives the mechanical information measured by the force sensor;

    The control system decomposes the gravity of the execution rod according to the offset angle of the execution rod, and obtains the first force of the execution rod;

    The control system obtains the first moment of the execution rod according to the first force and the first center of mass coordinates of the execution rod;

    The control system determines the environmental force and the environmental torque at the end of the actuator rod according to the mechanical information, the first force, and the first moment.
12. The surgical manipulator arm according to claim 11, wherein the surgical manipulator arm further comprises a telecentric control assembly, a rotation driving member, and a control driving member for driving the movement of the surgical instrument on the execution rod; the The telecentric control component includes a moving platform;

    The force sensor is connected to the control driving part, and the control driving part is connected to the rotation driving part;

    The rotation driving part is installed on the moving platform; the rotation driving part drives the surgical instrument along the axial direction of the execution rod by driving the control driving part, the force sensor and the execution rod Rotate.
13. The surgical manipulator arm according to claim 11, wherein the surgical manipulator arm further comprises a rotation driving member and a control driving member for driving the movement of the surgical instrument on the execution rod, and the rotation driving member is mounted on On the force sensor, the control driving part is arranged between the execution rod and the rotation driving part, and the rotation driving part, the control driving part and the execution rod constitute a first execution instrument;

    The control system decomposes the gravity of the first execution instrument according to the offset angle of the execution rod, and obtains the second force of the first execution instrument;

    The control system obtains the second moment of the first execution device according to the second force and the second center of mass coordinates of the first execution device;

    The control system determines the environmental force and the environmental torque according to the mechanical information, the second force, and the second torque.
14. The surgical robot arm according to claim 13, wherein the surgical robot arm further comprises a telecentric control assembly; the telecentric control assembly includes a moving platform, and the force sensor is installed on the moving platform.
15. The surgical robot arm according to claim 11, wherein the surgical robot arm further comprises a telecentric control assembly, a rotation driving part and a control driving part, the telecentric control assembly includes a moving platform, and the actuator rod is installed On the control driving part, the control driving part is installed on the force sensor; the rotation driving part is installed on the moving platform, the force sensor is installed on the rotation driving part, and the control The driving member and the execution rod constitute a second execution instrument;

    The control system decomposes the gravity of the second execution device according to the offset angle of the execution rod, and obtains the third force of the second execution device and the third moment of the second execution device;

    The control system obtains the total inertial torque according to the third center-of-mass coordinates of the second execution instrument and the fourth center-of-mass coordinates of the force sensor;

    The control system determines the environmental force and the environmental torque according to the mechanical information, the third force, the third moment, and the total moment of inertia.
16. The surgical robotic arm according to any one of claims 11 to 15, wherein the surgical robotic arm further comprises a main operating hand;

    The control system determines the environmental resultant force and the coordinate of the force point according to the environmental force and the environmental moment;

    The main operator generates a force according to the environment resultant force fed back by the control system and the coordinate of the force point.
17. A computer device, comprising a memory, a processor, and a computer program stored on the memory and running on the processor, wherein the processor implements any one of claims 1 to 9 when the computer program is executed The steps of the method.
18. A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the method according to any one of claims 1 to 9 when the computer program is executed by a processor.

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