CN119097425A - Motion control method, device, electronic device and storage medium for laparoscopic surgical robot - Google Patents
Motion control method, device, electronic device and storage medium for laparoscopic surgical robot Download PDFInfo
- Publication number
- CN119097425A CN119097425A CN202411571155.0A CN202411571155A CN119097425A CN 119097425 A CN119097425 A CN 119097425A CN 202411571155 A CN202411571155 A CN 202411571155A CN 119097425 A CN119097425 A CN 119097425A
- Authority
- CN
- China
- Prior art keywords
- slave
- master
- slave operation
- position information
- operation ratio
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- A61B34/37—Leader-follower robots
-
- 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
-
- 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
-
- 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
- A61B34/74—Manipulators with manual electric input means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- A61B2034/2059—Mechanical position encoders
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Software Systems (AREA)
- Mathematical Physics (AREA)
- Fuzzy Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a motion control method and device of an endoscopic surgery robot, electronic equipment and a storage medium. The method comprises the steps of obtaining position information of a slave-end mechanical arm joint of the endoscopic surgery robot in real time, inputting the position information of the slave-end mechanical arm joint of the endoscopic surgery robot into a pre-constructed master-slave operation proportion adjustment model to obtain a dynamic master-slave operation proportion, obtaining a static master-slave operation proportion, determining a target master-slave operation proportion based on the dynamic master-slave operation proportion and the static master-slave operation proportion, wherein the target master-slave operation proportion is used for adjusting the movement speed of the slave-end mechanical arm joint of the endoscopic surgery robot. According to the technical scheme, the dynamic adjustment of the joint position is realized by the master-slave operation proportion under the singular position, so that the dynamic adjustment of the joint movement speed of the slave mechanical arm is finished, and the damage of the singular position to the endoscope robot is avoided.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and apparatus for controlling motion of an endoscopic surgical robot, an electronic device, and a storage medium.
Background
In modern medical technology, the application of endoscopic surgical robots has become an important means for improving surgical accuracy and reducing surgical risks.
And the motion control of the endoscopic surgery robot takes the motion track of the tail end of the handle at the main end as input, and obtains the target track of the tail end of the instrument at the auxiliary end through master-slave mapping. In the process, under the singular shape position, the slave mechanical arm needs to meet the target track of the tail end of the instrument at a faster joint speed, and the required joint speed can be larger than the bearing capacity of a motor, so that the damage to hardware such as an electromechanical system of the endoscopic surgery robot is generated.
Disclosure of Invention
The invention provides a motion control method, a motion control device, electronic equipment and a storage medium of an endoscopic surgical robot, which are used for realizing the dynamic adjustment of the position of a master-slave operation proportion following joint under an odd-shaped position, thereby completing the dynamic adjustment of the joint motion speed of a slave-end mechanical arm and avoiding the damage of the odd-shaped position to the endoscopic robot.
According to an aspect of the present invention, there is provided a motion control method of an endoscopic surgical robot, including:
Acquiring position information of a slave mechanical arm joint of the laparoscopic surgery robot in real time;
Inputting the position information of the slave-end mechanical arm joint of the laparoscopic surgery robot into a pre-constructed master-slave operation proportion adjustment model to obtain the dynamic master-slave operation proportion of the laparoscopic surgery robot;
And acquiring a static master-slave operation proportion, and determining a target master-slave operation proportion based on the dynamic master-slave operation proportion and the static master-slave operation proportion, wherein the target master-slave operation proportion is used for adjusting the movement speed of a slave mechanical arm joint of the laparoscopic surgery robot.
According to another aspect of the present invention, there is provided a motion control apparatus of an laparoscopic surgical robot, including:
The joint position information acquisition module is used for acquiring the position information of the slave-end mechanical arm joint of the endoscopic surgery robot in real time;
the dynamic master-slave operation proportion determining module is used for inputting the position information of the slave-end mechanical arm joint of the endoscopic surgery robot into a pre-constructed master-slave operation proportion adjusting model to obtain the dynamic master-slave operation proportion of the endoscopic surgery robot;
The joint movement speed adjusting module is used for acquiring a static master-slave operation proportion, and determining a target master-slave operation proportion based on the dynamic master-slave operation proportion and the static master-slave operation proportion, wherein the target master-slave operation proportion is used for adjusting the movement speed of a slave end mechanical arm joint of the endoscopic surgical robot.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor;
and a memory communicatively coupled to the at least one processor;
The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the motion control method of the laparoscopic surgery robot according to any one embodiment of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the motion control method of the laparoscopic surgical robot according to any one of the embodiments of the present invention when executed.
According to the technical scheme, the position information of the slave-end mechanical arm joint of the laparoscopic surgery robot is obtained in real time, the position information of the slave-end mechanical arm joint of the laparoscopic surgery robot is further input into a pre-built master-slave operation proportion adjustment model, the dynamic master-slave operation proportion of the laparoscopic surgery robot is obtained, the static master-slave operation proportion is further obtained, the target master-slave operation proportion is determined based on the dynamic master-slave operation proportion and the static master-slave operation proportion, and the movement speed of the slave-end mechanical arm joint of the laparoscopic surgery robot is further adjusted through the target master-slave operation proportion. According to the technical scheme, the dynamic adjustment of the joint position is realized by the master-slave operation proportion under the singular position, so that the dynamic adjustment of the joint movement speed of the slave mechanical arm is finished, and the damage of the singular position to the endoscope robot is avoided.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for controlling motion of an laparoscopic surgical robot according to a first embodiment of the present invention;
fig. 2 is a flowchart of a motion control method of an endoscopic surgical robot according to a second embodiment of the present invention;
FIG. 3 is a flow chart of a method of motion control of an laparoscopic surgical robot provided according to a third embodiment of the present invention;
FIG. 4 is a flow chart of a method for controlling motion of an laparoscopic surgical robot according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural view of a motion control device of an laparoscopic surgery robot according to a fifth embodiment of the present invention;
Fig. 6 is a schematic structural view of an electronic device implementing a motion control method of an endoscopic surgical robot according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The technical scheme of the application obtains, stores, uses, processes and the like the data, which all meet the relevant regulations of national laws and regulations.
Example 1
Fig. 1 is a flowchart of a motion control method of an laparoscopic surgery robot according to a first embodiment of the present invention, where the embodiment is applicable to a case where the laparoscopic surgery robot performs master-slave control, the method may be performed by a motion control device of the laparoscopic surgery robot, the motion control device of the laparoscopic surgery robot may be implemented in a form of hardware and/or software, and the motion control device of the laparoscopic surgery robot may be configured in an electronic device such as the laparoscopic surgery robot. As shown in fig. 1, the method includes:
S110, acquiring position information of a slave mechanical arm joint of the laparoscopic surgery robot in real time.
The endoscopic surgery robot refers to medical equipment designed for completing various minimally invasive surgeries. The endoscope operation robot comprises a control console and an operation platform, wherein the control console is in communication connection with the operation platform, the control console is used as a master end for realizing master-slave teleoperation, and the operation platform is used as a slave end for realizing master-slave teleoperation. The console refers to a platform on which a user performs surgical operations and controls. The console may include, but is not limited to, a tip handle, a joint position sensor, a display device, a root base, and the like, without limitation. The surgical platform may include robotic arms, instrument tips, etc., and is not specifically limited herein.
In the embodiment of the invention, the odd-shaped bit refers to the position of the jacobian matrix when the jacobian matrix is reduced in rank or changed into a singular matrix in the motion process of the slave mechanical arm joint. Illustratively, the singular shape may be that the parallelogram joint is at a limit, or that the slipway joint is at an upper limit, etc., and is not specifically limited herein. The position information of the slave manipulator joint refers to the joint angle of the manipulator, and can be acquired by a joint position sensor.
S120, inputting the position information of the slave end mechanical arm joint of the endoscopic surgery robot into a pre-constructed master-slave operation proportion adjustment model to obtain the dynamic master-slave operation proportion of the endoscopic surgery robot.
In the embodiment of the invention, the master-slave operation proportion adjustment model refers to a model capable of dynamically adjusting the master-slave operation proportion of the endoscopic surgical robot.
The master-slave operation proportion adjustment model may be a dynamic master-slave operation proportion prediction model obtained based on neural network training, and the master-slave operation proportion adjustment model may also be a curve function designed in advance, which is not particularly limited herein.
S130, acquiring a static master-slave operation proportion, and determining a target master-slave operation proportion based on the dynamic master-slave operation proportion and the static master-slave operation proportion, wherein the target master-slave operation proportion is used for adjusting the movement speed of a slave-end mechanical arm joint of the laparoscopic surgery robot.
In the embodiment of the present invention, the static master-slave operation ratio refers to a master-slave operation ratio preset before operation, for example, the static master-slave operation ratio may be 1:1,1:2 or other operation ratios. Correspondingly, the dynamic master-slave operation proportion refers to a master-slave operation proportion calculated in real time according to the position information of the slave-end mechanical arm.
For example, the dynamic master-slave ratio may be added to the static master-slave ratio to obtain the target master-slave ratio. The target master-slave operating ratio may have an upper limit, and its minimum value may be 0.
It should be noted that, the target master-slave operation proportion is larger than the previous static master-slave operation proportion, namely the master-slave operation proportion is increased, so that the movement speed of the target track at the tail end of the instrument is reduced, and the movement speed of the slave-end mechanical arm joint is further reduced, and the damage to the hardware such as the electromechanical system of the endoscopic surgery robot caused by the too high joint speed can be avoided.
In some alternative embodiments, acquiring position information of slave-end mechanical arm joints of the laparoscopic surgery robot in real time comprises acquiring position information of a plurality of slave-end mechanical arm joints of the laparoscopic surgery robot, correspondingly inputting the position information of the slave-end mechanical arm joints of the laparoscopic surgery robot into a pre-constructed master-slave operation proportion adjustment model to obtain dynamic master-slave operation proportion of the laparoscopic surgery robot, respectively inputting the position information of the plurality of slave-end mechanical arm joints of the laparoscopic surgery robot into the pre-constructed master-slave operation proportion adjustment model to obtain master-slave operation proportion corresponding to the position information of the plurality of slave-end mechanical arm joints of the laparoscopic surgery robot, and taking the maximum value or the average value of the master-slave operation proportion corresponding to the position information of the plurality of slave-end mechanical arm joints of the laparoscopic surgery robot as the dynamic master-slave operation proportion of the laparoscopic surgery robot.
It should be noted that, by screening the master-slave operation proportion corresponding to the position information of the multiple joints, the accuracy and reliability of the dynamic master-slave operation proportion are ensured.
In some alternative embodiments, position information of slave-end mechanical arm joints of the laparoscopic surgery robot is obtained in real time, the method comprises the steps of obtaining the shape and position singular degrees of a plurality of slave-end mechanical arm joints of the laparoscopic surgery robot, screening the position information of the joints based on the shape and position singular degrees of the plurality of slave-end mechanical arm joints of the laparoscopic surgery robot to obtain target position information, and correspondingly, inputting the position information of the slave-end mechanical arm joints of the laparoscopic surgery robot into a pre-constructed master-slave operation proportion adjustment model to obtain dynamic master-slave operation proportion of the laparoscopic surgery robot, wherein the method comprises the steps of inputting the target position information into the pre-constructed master-slave operation proportion adjustment model to obtain dynamic master-slave operation proportion of the laparoscopic surgery robot.
In the embodiment of the invention, the singular degree of the shape and the position can be represented by the condition number of the jacobian matrix of the slave end mechanical arm joint in the motion process, namely the greater the condition number is, the greater the singular degree of the shape and the position is, otherwise, the smaller the condition number is, the smaller the singular degree of the shape and the position is. The method is characterized in that the position information of a plurality of joints is screened through the shape and position singular degree, so that the accuracy and the reliability of the dynamic master-slave operation proportion obtained through subsequent calculation are ensured.
Optionally, based on the shape and position singular degrees of the joints of the plurality of slave end mechanical arms of the laparoscopic surgery robot, the position information of the plurality of joints is screened to obtain target position information, wherein the target position information comprises the position information corresponding to the maximum value in the shape and position singular degrees of the plurality of joints as the target position information or the position information corresponding to the joints with the shape and position singular degrees larger than a preset shape and position singular degree threshold value as the target position information.
The method is characterized in that the position information of a plurality of joints is screened through the maximum value of the shape and position singular degree or the preset shape and position singular degree threshold value, so that the accuracy and the reliability of the dynamic master-slave operation proportion obtained through subsequent calculation are ensured.
According to the technical scheme, the position information of the slave-end mechanical arm joint of the laparoscopic surgery robot is obtained in real time, the position information of the slave-end mechanical arm joint of the laparoscopic surgery robot is further input into a pre-built master-slave operation proportion adjustment model, the dynamic master-slave operation proportion of the laparoscopic surgery robot is obtained, the static master-slave operation proportion is further obtained, the target master-slave operation proportion is determined based on the dynamic master-slave operation proportion and the static master-slave operation proportion, and the movement speed of the slave-end mechanical arm joint of the laparoscopic surgery robot is further adjusted through the target master-slave operation proportion. According to the technical scheme, the dynamic adjustment of the joint position is realized by the master-slave operation proportion under the singular position, so that the dynamic adjustment of the joint movement speed of the slave mechanical arm is finished, and the damage of the singular position to the endoscope robot is avoided.
Example two
Fig. 2 is a flowchart of a motion control method of an laparoscopic surgery robot according to a second embodiment of the present invention, where the method of the present embodiment may be combined with each of the alternatives in the motion control method of an laparoscopic surgery robot provided in the foregoing embodiment. The motion control method of the endoscopic surgical robot provided by the embodiment is further optimized. Optionally, the master-slave operation proportion adjustment model is provided with ratio=a/(1+EXP (k× JointAngle +b)), wherein Ratio represents the dynamic master-slave operation proportion of the endoscopic surgical robot, jointAngle represents the position information of the slave-end mechanical arm joint of the endoscopic surgical robot, a is used for determining the limit value of the dynamic master-slave operation proportion, k is used for determining the growth rate of the dynamic master-slave operation proportion, and b is used for translating a curve corresponding to the master-slave operation proportion adjustment model.
As shown in fig. 2, the method includes:
S210, acquiring position information of a slave mechanical arm joint of the laparoscopic surgery robot in real time.
S220, inputting position information of a slave-end mechanical arm joint of the endoscopic surgery robot into a pre-constructed master-slave operation proportion adjustment model to obtain a dynamic master-slave operation proportion of the endoscopic surgery robot, wherein the master-slave operation proportion adjustment model is ratio=a/(1+EXP (k× JointAngle +b)), wherein Ratio represents the dynamic master-slave operation proportion of the endoscopic surgery robot, jointAngle represents the position information of the slave-end mechanical arm joint of the endoscopic surgery robot, a is used for determining a limit value of the dynamic master-slave operation proportion, k is used for determining an increase rate of the dynamic master-slave operation proportion, and b is used for translating a curve corresponding to the master-slave operation proportion adjustment model.
S230, acquiring a static master-slave operation proportion, and determining a target master-slave operation proportion based on the dynamic master-slave operation proportion and the static master-slave operation proportion, wherein the target master-slave operation proportion is used for adjusting the movement speed of a slave-end mechanical arm joint of the laparoscopic surgery robot.
In the embodiment of the invention, a, b and c are parameters which are designed in advance. The parameter design process is specifically that the required speed of the joint is calculated according to the end speed of the instrument of the endoscopic surgical robot and the joint shape and position of the mechanical arm, and then the parameter a is designed according to the difference between the required speed of the joint and the corresponding speed of typical performance. The parameters b and c aim to realize excessive smoothness and continuity of the master-slave operation proportion, reduce the action interval as much as possible and reduce the influence on the operation of the non-singular shape and position area.
According to the technical scheme provided by the embodiment of the invention, dynamic adjustment of the master-slave operation proportion under the singular shape position is realized through ratio=a/(1+EXP (k× JointAngle +b)), so that the adjustment of the joint movement speed of the slave mechanical arm is completed, and the damage of the odd-shaped position to the endoscope robot is avoided.
Example III
Fig. 3 is a flowchart of a motion control method of an laparoscopic surgery robot according to a third embodiment of the present invention, where the method of the present embodiment may be combined with each of the alternatives in the motion control method of an laparoscopic surgery robot provided in the foregoing embodiment. The motion control method of the endoscopic surgical robot provided by the embodiment is further optimized. Optionally, before the target master-slave operation proportion is determined based on the dynamic master-slave operation proportion and the static master-slave operation proportion, the method further comprises the steps of obtaining position information of a first slave end mechanical arm of the endoscope operation robot and position information of a second slave end mechanical arm of the endoscope operation robot, determining a distance between the slave end mechanical arms based on the position information of the first slave end mechanical arm of the endoscope operation robot and the position information of the second slave end mechanical arm of the endoscope operation robot, and increasing and adjusting the dynamic master-slave operation proportion if the distance between the slave end mechanical arms meets an anti-collision proportion adjusting condition.
As shown in fig. 3, the method includes:
s310, acquiring position information of a slave mechanical arm joint of the laparoscopic surgery robot in real time.
S320, inputting the position information of the slave end mechanical arm joint of the endoscopic surgery robot into a pre-constructed master-slave operation proportion adjustment model to obtain the dynamic master-slave operation proportion of the endoscopic surgery robot.
S330, acquiring the position information of the first slave end mechanical arm of the laparoscopic surgery robot and the position information of the second slave end mechanical arm of the laparoscopic surgery robot.
S340, determining the distance between the slave end mechanical arms based on the position information of the first slave end mechanical arm of the laparoscopic surgery robot and the position information of the second slave end mechanical arm of the laparoscopic surgery robot.
And S350, if the distance between the slave mechanical arms meets the anti-collision proportion adjusting condition, increasing and adjusting the dynamic master-slave operation proportion.
S360, acquiring a static master-slave operation proportion, and determining a target master-slave operation proportion based on the dynamic master-slave operation proportion and the static master-slave operation proportion after the adjustment, wherein the target master-slave operation proportion is used for adjusting the movement speed of a slave-end mechanical arm joint of the laparoscopic surgery robot.
In the embodiment of the present invention, the first slave-end mechanical arm and the second slave-end mechanical arm may be any two mechanical arms of the slave end of the laparoscopic surgery robot, which is not specifically limited herein. The collision avoidance ratio adjustment condition may be that the distance between the slave end mechanical arms is smaller than a preset distance threshold value or other judgment conditions are not limited herein.
The distance between the first slave-end mechanical arm and the second slave-end mechanical arm can be obtained through envelope detection or current detection, and if the distance between the first slave-end mechanical arm and the second slave-end mechanical arm is smaller than a preset distance threshold, the dynamic master-slave operation proportion is increased and adjusted, so that the movement speed of the instrument is reduced, and the collision risk is further reduced. In some alternative embodiments, in a case that the distance between the first slave-end mechanical arm and the second slave-end mechanical arm is smaller than the preset distance threshold value, the operator may be further prompted that the collision risk exists.
According to the technical scheme provided by the embodiment of the invention, the collision risk can be reduced by arranging the anti-collision proportion adjusting mechanism.
Example IV
Fig. 4 is a flowchart of a motion control method of an laparoscopic surgery robot according to a fourth embodiment of the present invention, where the method of the present embodiment may be combined with each of the alternatives in the motion control method of an laparoscopic surgery robot provided in the foregoing embodiment. The motion control method of the endoscopic surgical robot provided by the embodiment is further optimized. Optionally, before the target master-slave operation proportion is determined based on the dynamic master-slave operation proportion and the static master-slave operation proportion, the method further comprises the steps of increasing and adjusting the dynamic master-slave operation proportion when the movement direction of the slave end mechanical arm of the laparoscopic surgery robot increases the movement speed of the slave end mechanical arm, decreasing and adjusting the dynamic master-slave operation proportion when the movement direction of the slave end mechanical arm of the laparoscopic surgery robot decreases the movement speed of the slave end mechanical arm, increasing and adjusting the dynamic master-slave operation proportion when the distance between the slave end mechanical arms of the laparoscopic surgery robot decreases, decreasing and adjusting the dynamic master-slave operation proportion when the distance between the slave end mechanical arms of the laparoscopic surgery robot increases, increasing and adjusting the dynamic master-slave operation proportion when the collision interference degree between the slave end mechanical arms of the laparoscopic surgery robot increases, and decreasing the dynamic master-slave operation proportion when the collision interference degree between the slave end mechanical arms of the laparoscopic surgery robot decreases.
As shown in fig. 4, the method includes:
S410, acquiring position information of a slave mechanical arm joint of the laparoscopic surgery robot in real time.
S420, inputting the position information of the slave end mechanical arm joint of the endoscopic surgery robot into a pre-constructed master-slave operation proportion adjustment model to obtain the dynamic master-slave operation proportion of the endoscopic surgery robot.
S430, increasing and adjusting the dynamic master-slave operation proportion under the condition that the joint speed of the slave-end mechanical arm of the endoscopic surgery robot is increased by the movement direction of the slave-end mechanical arm, and decreasing and adjusting the dynamic master-slave operation proportion under the condition that the joint speed of the slave-end mechanical arm of the endoscopic surgery robot is reduced by the movement direction of the slave-end mechanical arm.
S440, when the distance between the slave end mechanical arms of the endoscopic surgery robot is smaller, the dynamic master-slave operation proportion is increased and adjusted, and when the distance between the slave end mechanical arms of the endoscopic surgery robot is larger, the dynamic master-slave operation proportion is decreased and adjusted.
S450, when the collision interference degree between the slave end mechanical arms of the endoscopic surgery robot is large, the dynamic master-slave operation proportion is increased and adjusted, and when the collision interference degree between the slave end mechanical arms of the endoscopic surgery robot is small, the dynamic master-slave operation proportion is decreased and adjusted.
S460, acquiring a static master-slave operation proportion, and determining a target master-slave operation proportion based on the dynamic master-slave operation proportion and the static master-slave operation proportion, wherein the target master-slave operation proportion is used for adjusting the movement speed of a slave-end mechanical arm joint of the laparoscopic surgery robot.
In the embodiment of the invention, the adjustment of the master-slave operation proportion can have directionality, namely, the master-slave operation proportion can be dynamically adjusted according to the change of speed, the change of distance and the change of collision interference degree, so that the collision risk is reduced or the user is reminded of approaching odd-shaped positions.
Example five
Fig. 5 is a schematic structural diagram of a motion control device of an laparoscopic surgery robot according to a fifth embodiment of the present invention. As shown in fig. 5, the apparatus includes:
the joint position information acquisition module 510 is used for acquiring the position information of the slave-end mechanical arm joint of the laparoscopic surgery robot in real time;
The dynamic master-slave operation proportion determining module 520 is configured to input the position information of the slave-end mechanical arm joint of the laparoscopic surgery robot into a pre-constructed master-slave operation proportion adjusting model, so as to obtain a dynamic master-slave operation proportion of the laparoscopic surgery robot;
the joint movement speed adjusting module 530 is configured to obtain a static master-slave operation ratio, and determine a target master-slave operation ratio based on the dynamic master-slave operation ratio and the static master-slave operation ratio, where the target master-slave operation ratio is used to adjust a movement speed of a slave-end mechanical arm joint of the laparoscopic surgery robot.
According to the technical scheme, the position information of the slave-end mechanical arm joint of the laparoscopic surgery robot is obtained in real time, the position information of the slave-end mechanical arm joint of the laparoscopic surgery robot is further input into a pre-built master-slave operation proportion adjustment model, the dynamic master-slave operation proportion of the laparoscopic surgery robot is obtained, the static master-slave operation proportion is further obtained, the target master-slave operation proportion is determined based on the dynamic master-slave operation proportion and the static master-slave operation proportion, and the movement speed of the slave-end mechanical arm joint of the laparoscopic surgery robot is further adjusted through the target master-slave operation proportion. According to the technical scheme, the dynamic adjustment of the joint position is realized by the master-slave operation proportion under the singular position, so that the dynamic adjustment of the joint movement speed of the slave mechanical arm is finished, and the damage of the singular position to the endoscope robot is avoided.
In some alternative embodiments, the joint position information acquisition module 510 includes:
the multi-joint position information acquisition unit is used for acquiring position information of a plurality of slave-end mechanical arm joints of the endoscopic surgery robot;
accordingly, the dynamic master-slave operation proportion determination module 520 includes:
The multi-joint master-slave operation proportion determining unit is used for respectively inputting the position information of the plurality of slave-end mechanical arm joints of the endoscopic surgery robot into a pre-constructed master-slave operation proportion adjusting model to obtain master-slave operation proportions corresponding to the position information of the plurality of slave-end mechanical arm joints of the endoscopic surgery robot;
And the multi-joint master-slave operation proportion screening unit is used for taking the maximum value or the average value of master-slave operation proportions corresponding to the position information of the plurality of slave-end mechanical arm joints of the endoscopic surgery robot as the dynamic master-slave operation proportion of the endoscopic surgery robot.
In some alternative embodiments, the joint position information acquisition module 510 includes:
The shape and position singular screening unit is used for acquiring the shape and position singular degrees of a plurality of slave-end mechanical arm joints of the endoscopic surgery robot, and screening the position information of a plurality of joints based on the shape and position singular degrees of the plurality of slave-end mechanical arm joints of the endoscopic surgery robot to obtain target position information;
accordingly, the dynamic master-slave operation proportion determination module 520 includes:
And the target position information adjusting unit is used for inputting the target position information into a pre-constructed master-slave operation proportion adjusting model to obtain the dynamic master-slave operation proportion of the endoscopic surgical robot.
In some alternative embodiments, the shape and position singular screening unit may be further specifically configured to:
taking the position information corresponding to the maximum value in the singular degrees of the shape and the position of the joints as target position information;
Or the position information corresponding to the joints with the shape and position singular degree larger than the preset shape and position singular degree threshold value is used as the target position information.
In some alternative embodiments, the master-slave operation scaling model is:
Ratio=a/(1+EXP(k×JointAngle+b));
The Ratio represents the dynamic master-slave operation proportion of the endoscopic surgical robot, jointAngle represents the position information of a slave-end mechanical arm joint of the endoscopic surgical robot, a is used for determining the limit value of the dynamic master-slave operation proportion, k is used for determining the growth rate of the dynamic master-slave operation proportion, and b is used for translating a curve corresponding to a master-slave operation proportion adjustment model.
In some alternative embodiments, a motion control device for an laparoscopic surgical robot includes:
The anti-collision proportion adjusting module is used for acquiring the position information of the first slave end mechanical arm of the laparoscopic surgery robot and the position information of the second slave end mechanical arm of the laparoscopic surgery robot, determining the distance between the slave end mechanical arms based on the position information of the first slave end mechanical arm of the laparoscopic surgery robot and the position information of the second slave end mechanical arm of the laparoscopic surgery robot, and increasing and adjusting the dynamic master-slave operation proportion if the distance between the slave end mechanical arms meets the anti-collision proportion adjusting condition.
In some alternative embodiments, a motion control device for an laparoscopic surgical robot includes:
The device comprises a directivity proportion adjusting module, a dynamic master-slave operation proportion adjusting module and a dynamic master-slave operation proportion adjusting module, wherein the directivity proportion adjusting module is used for increasing and adjusting the dynamic master-slave operation proportion when the movement direction of a slave-end mechanical arm of the laparoscopic surgery robot increases the joint speed of the slave-end mechanical arm, decreasing and adjusting the dynamic master-slave operation proportion when the movement direction of the slave-end mechanical arm of the laparoscopic surgery robot decreases the joint speed of the slave-end mechanical arm, increasing and adjusting the dynamic master-slave operation proportion when the distance between the slave-end mechanical arms of the laparoscopic surgery robot decreases, decreasing and adjusting the dynamic master-slave operation proportion when the distance between the slave-end mechanical arms of the laparoscopic surgery robot increases, increasing and adjusting the dynamic master-slave operation proportion when the collision interference degree between the slave-end mechanical arms of the laparoscopic surgery robot increases, and decreasing and adjusting the dynamic master-slave operation proportion when the collision interference degree between the slave-end mechanical arms of the laparoscopic surgery robot decreases.
The motion control device of the endoscopic surgery robot provided by the embodiment of the invention can execute the motion control method of the endoscopic surgery robot provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example six
Fig. 6 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., helmets, eyeglasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 6, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An I/O interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including an input unit 16, such as a keyboard, mouse, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a magnetic disk, optical disk, etc., and a communication unit 19, such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a method of controlling motion of a laparoscopic surgical robot, the method comprising:
Acquiring position information of a slave mechanical arm joint of the laparoscopic surgery robot in real time;
Inputting the position information of the slave-end mechanical arm joint of the laparoscopic surgery robot into a pre-constructed master-slave operation proportion adjustment model to obtain the dynamic master-slave operation proportion of the laparoscopic surgery robot;
And acquiring a static master-slave operation proportion, and determining a target master-slave operation proportion based on the dynamic master-slave operation proportion and the static master-slave operation proportion, wherein the target master-slave operation proportion is used for adjusting the movement speed of a slave mechanical arm joint of the laparoscopic surgery robot.
In some embodiments, the motion control method of the laparoscopic surgical robot may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the motion control method of the laparoscopic surgical robot described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the motion control method of the laparoscopic surgical robot in any other suitable way (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system-on-chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include being implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be a special or general purpose programmable processor, operable to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user, for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a Local Area Network (LAN), a Wide Area Network (WAN), a blockchain network, and the Internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411571155.0A CN119097425A (en) | 2024-11-06 | 2024-11-06 | Motion control method, device, electronic device and storage medium for laparoscopic surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411571155.0A CN119097425A (en) | 2024-11-06 | 2024-11-06 | Motion control method, device, electronic device and storage medium for laparoscopic surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN119097425A true CN119097425A (en) | 2024-12-10 |
Family
ID=93718089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411571155.0A Pending CN119097425A (en) | 2024-11-06 | 2024-11-06 | Motion control method, device, electronic device and storage medium for laparoscopic surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN119097425A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102614019A (en) * | 2010-12-17 | 2012-08-01 | 伊顿株式会社 | Surgical robot system and adaptive control method thereof |
| CN114569252A (en) * | 2022-03-02 | 2022-06-03 | 中南大学 | Master-slave mapping proportion control system and method for surgical robot |
| CN115338869A (en) * | 2022-09-13 | 2022-11-15 | 浙江大学 | Master-slave control method and system for master-slave heterogeneous teleoperation system |
| CN117017507A (en) * | 2023-10-09 | 2023-11-10 | 华中科技大学同济医学院附属协和医院 | Precise master-slave control system and method for puncture operation robot |
-
2024
- 2024-11-06 CN CN202411571155.0A patent/CN119097425A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102614019A (en) * | 2010-12-17 | 2012-08-01 | 伊顿株式会社 | Surgical robot system and adaptive control method thereof |
| CN114569252A (en) * | 2022-03-02 | 2022-06-03 | 中南大学 | Master-slave mapping proportion control system and method for surgical robot |
| CN115338869A (en) * | 2022-09-13 | 2022-11-15 | 浙江大学 | Master-slave control method and system for master-slave heterogeneous teleoperation system |
| CN117017507A (en) * | 2023-10-09 | 2023-11-10 | 华中科技大学同济医学院附属协和医院 | Precise master-slave control system and method for puncture operation robot |
Non-Patent Citations (1)
| Title |
|---|
| 李政;王国慧;凌颢;张国凯;李炜;周仲荣;王树新;朱晒红;: "基于术中轨迹的微创手术机器人的主从映射比例评估", 机械工程学报, no. 17, 5 September 2018 (2018-09-05) * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114274148B (en) | Track planning method and device, electronic equipment and storage medium | |
| CN115946120B (en) | Mechanical arm control method, device, equipment and medium | |
| CN119074239A (en) | Master-slave control method, device, console and storage medium for laparoscopic surgical robot | |
| CN119097425A (en) | Motion control method, device, electronic device and storage medium for laparoscopic surgical robot | |
| CN117428779A (en) | Robot grabbing control method, device, equipment and storage medium | |
| CN117808898A (en) | Method and device for calibrating pose of robot base, robot and medium | |
| CN119077752B (en) | A robot arm control method, device, electronic device and storage medium | |
| CN113012281B (en) | Determination method and device for human body model, electronic equipment and storage medium | |
| CN119077753B (en) | Method, device, electronic device and storage medium for estimating friction force of robot joint | |
| CN118177993A (en) | Port distance recommending method, device, equipment and storage medium for surgical port | |
| CN114571457B (en) | Singular pose avoidance method, apparatus, device and storage medium | |
| CN119655902A (en) | Master-slave displacement compensation method and device for surgical robot, electronic equipment and storage medium | |
| CN119632686A (en) | Structural parameter determining method and device for surgical robot, electronic equipment and storage medium | |
| CN118163094A (en) | Method and device for determining angle of main hand joint of robot, robot and medium | |
| CN118832595A (en) | Master-slave control method, device, equipment and medium | |
| CN118952217A (en) | Method, device, equipment and medium for determining joint posture of robot arm | |
| RU2756437C1 (en) | Method and system for planning the movement of a manipulator robot by correcting the reference trajectories | |
| CN119326514A (en) | A method and device for compensating transmission gap of surgical instrument and slave controller | |
| CN115562038B (en) | Early warning method, device, equipment and medium for feedback control system change | |
| CN119795196A (en) | Path planning method, path planning device, hand robot and medium | |
| CN119407792A (en) | Path planning method, device, equipment, medium and product of mechanical arm actuator | |
| CN118732827A (en) | Image acquisition system, control method, device, equipment and storage medium | |
| CN114895720A (en) | Motion control method, device, equipment and medium of actuator | |
| CN115237128A (en) | Load identification method, device, equipment and storage medium of robot | |
| CN119292189A (en) | A robot following precision optimization method, device, electronic device and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |