CN119302748A - A compensation method and device for a pitch joint of a surgical instrument and a slave controller - Google Patents
A compensation method and device for a pitch joint of a surgical instrument and a slave controller Download PDFInfo
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Abstract
The invention discloses a method and a device for compensating pitching joints of a surgical instrument and a slave end controller, and relates to the technical field of industrial control. The method is applied to a slave end controller of a master-slave operation robot, and comprises the steps of receiving an instrument joint instruction transmitted by a master end of the master-slave operation robot in real time, wherein the instrument joint instruction comprises an instrument yaw center line joint instruction and an instrument pitch joint instruction, determining a pitch compensation angle of a current period based on a pitch compensation angle of a previous period, the instrument yaw center line joint instruction and a compensation proportion coefficient, generating a target pitch joint instruction based on the pitch compensation angle of the current period and the instrument pitch joint instruction under the condition that the pitch compensation angle of the current period is smaller than or equal to a maximum compensation angle of the current period, and transmitting the target pitch joint instruction to a pitch joint motor to drive a pitch joint to move. The invention can compensate the unexpected motion generated by the pitching joint, and effectively improve the position precision of the pitching joint of the surgical instrument of the master-slave operation robot.
Description
Technical Field
The invention relates to the technical field of industrial control, in particular to a method and a device for compensating pitching joints of a surgical instrument and a slave end controller.
Background
At present, a master-slave control is adopted by the endoscopic surgery robot, namely, a mapping relation between a master end and a slave end is established, and a corresponding control method is designed according to the mapping relation so as to realize complete control of the master end to the slave end.
However, the transmission mode of the surgical instrument joint of the endoscopic surgical robot is wire transmission, and the pitching joint and the yawing joint have a coupling relationship due to the mechanical structures of the pitching joint and the yawing joint. This coupling relationship results in the yaw joint wire exerting a force on the pitch joint wire during yaw joint movement, thereby causing unintended movement of the pitch joint. Therefore, the pitch joint may not move to the commanded position, and when the operator is operating the yaw joint of the surgical instrument during surgery, the pitch joint may move that is not in line with the subjective expectations of the operator.
Disclosure of Invention
The invention provides a method and a device for compensating a pitching joint of a surgical instrument and a slave end controller, which are used for solving the problem that unexpected movement of the pitching joint is caused by acting force applied to the pitching joint by the movement of the yaw joint.
According to an aspect of the present invention, there is provided a method of compensating a pitch joint of a surgical instrument, applied to a slave-end controller of a master-slave surgical robot, comprising:
Receiving an instrument joint instruction transmitted by a main end of the master-slave operation robot in real time, wherein the instrument joint instruction comprises an instrument deflection center line joint instruction and an instrument pitching joint instruction;
Determining a pitch compensation angle of a current period based on the pitch compensation angle of a previous period, the instrument yaw center line joint command and a compensation proportionality coefficient, wherein the pitch compensation angle is used for compensating unexpected motion of a pitch joint, and the unexpected motion is generated by acting force applied to the pitch joint by the yaw joint motion through a coupling relation;
And under the condition that the pitch compensation angle of the current period is smaller than or equal to the maximum compensation angle of the current period, generating a target pitch joint instruction based on the pitch compensation angle of the current period and the instrument pitch joint instruction, and sending the target pitch joint instruction to a pitch joint motor so that the pitch joint motor drives the pitch joint to move.
According to another aspect of the present invention, there is provided a compensation device for a pitch joint of a surgical instrument, applied to a slave-end controller of a master-slave surgical robot, comprising:
the instrument joint instruction receiving module is used for receiving instrument joint instructions transmitted by the main end of the master-slave operation robot in real time, wherein the instrument joint instructions comprise instrument deflection center line joint instructions and instrument pitching joint instructions;
The pitching compensation angle determining module is used for determining a pitching compensation angle of the current period based on the pitching compensation angle of the previous period, the instrument yaw center line joint command and the compensation proportion coefficient, wherein the pitching compensation angle is used for compensating unexpected motion of the pitching joint, and the unexpected motion is generated by acting force applied to the pitching joint by the yaw joint motion through a coupling relation;
The target pitch joint instruction generation module is used for generating a target pitch joint instruction based on the pitch compensation angle of the current period and the instrument pitch joint instruction under the condition that the pitch compensation angle of the current period is smaller than or equal to the maximum compensation angle of the current period, and sending the target pitch joint instruction to a pitch joint motor so that the pitch joint motor drives the pitch joint to move.
According to another aspect of the present invention, there is provided a slave end controller including:
and a memory communicatively coupled to the at least one processor;
wherein the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of compensating for a pitch joint of a surgical instrument according to any of the embodiments 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 execute a method of compensating for a pitch joint of a surgical instrument according to any embodiment of the present invention.
According to the technical scheme, the device joint instruction transmitted by the main end of the master-slave operation robot is received in real time, the device joint instruction comprises a device deflection center line joint instruction and a device pitching joint instruction, the pitching compensation angle of the current period is determined based on the pitching compensation angle of the previous period, the device deflection center line joint instruction and the compensation proportion coefficient, and when the pitching compensation angle of the current period is smaller than or equal to the maximum compensation angle of the current period, a target pitching joint instruction is generated based on the pitching compensation angle of the current period and the device pitching joint instruction, and the target pitching joint instruction is sent to a pitching joint motor so that the pitching joint motor drives the pitching joint to move. The problem that unexpected movement of the pitching joint is generated due to the fact that acting force is applied to the pitching joint by the movement of the yaw joint can be solved, the unexpected movement generated by the pitching joint is compensated, and the position accuracy of the pitching joint of the master-slave operation robot surgical instrument is effectively improved.
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 compensating a pitch joint of a surgical instrument according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a compensating device for a pitch joint of a surgical instrument according to a second embodiment of the present invention;
Fig. 3 is a schematic structural diagram of a slave controller according to a third 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 invention 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 invention 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.
Before describing embodiments of the present invention in detail, a description will be made first of the present invention, in which a master-slave surgical robot includes a master end and a slave end, and an operator performs operations on the master end (typically, a console or an operation handle), where the operations include moving a mechanical arm, rotating a tool, controlling force, and the like. The sensors (e.g., position sensors, force sensors, etc.) at the host end capture the details of the operator's operation and convert them to electrical or digital signals. The control system encodes the captured operation signal, converts it into an instruction format that can be recognized and executed by the slave, and transmits the encoded instruction to the slave through network communication (such as a wired network, a wireless network, or the like). The slave receives the control instruction transmitted by the master, decodes the control instruction, and restores the control instruction to an original operation signal. And the controller at the slave end controls the mechanical arm or the surgical instrument to move according to the decoded instruction.
Example 1
Fig. 1 is a flowchart of a method for compensating a pitch joint of a surgical instrument according to an embodiment of the present invention, where the method may be applied to a case of compensating an angle of a pitch joint of a slave end surgical instrument of a master-slave surgical robot, and the method may be performed by a device for compensating a pitch joint of a surgical instrument, where the device for compensating a pitch joint of a surgical instrument may be implemented in a form of hardware and/or software, and the device for compensating a pitch joint of a surgical instrument may be configured in a slave end controller of a master-slave surgical robot, where the master-slave surgical robot may be a laparoscopic surgical robot. As shown in fig. 1, the method includes:
s110, receiving an instrument joint instruction transmitted by a main end of the master-slave operation robot in real time, wherein the instrument joint instruction comprises an instrument deflection center line joint instruction and an instrument pitching joint instruction.
The instrument joint instruction refers to a control instruction sent by a master end of a master-slave surgical robot and used for controlling a surgical instrument joint, and specifically, the instrument joint instruction comprises parameters such as an angle, a speed or a position of the instrument joint. The instrument joint instruction comprises an instrument yaw center line joint instruction and an instrument pitch joint instruction, wherein the instrument yaw center line joint instruction controls the left and right movement of a yaw joint, and the instrument pitch joint instruction is used for controlling the up and down movement of a pitch joint. It will be appreciated that depending on the mechanical configuration and transmission of the yaw joint (including the left yaw joint and the right yaw joint), the forces generated by the yaw joint wires of the surgical robotic surgical instrument are affected by the yaw joint movement speed and clamping force. Therefore, the forces generated by the yaw joint wires directly affect the magnitude of the unintended motion of the pitch joint.
In this embodiment, when an operator performs an operation on a master end, the master end of the master-slave operation robot sends an instrument joint instruction to a slave end in real time, and the slave end controller receives the instrument joint instruction. The main end can be a console of an operator, and the auxiliary end can be a mechanical arm where the surgical instrument is located.
And S120, determining the pitch compensation angle of the current period based on the pitch compensation angle of the previous period, the instrument yaw center line joint command and the compensation proportion coefficient.
Wherein the pitch compensation angle is used to compensate for unintended movement of the pitch joint due to forces exerted by yaw joint movement on the pitch joint through the coupling relationship. It will be appreciated that by compensating for the unintended movement of the pitch joint by the pitch compensation angle, the unintended movement effects of yaw joint movement on the pitch joint can be eliminated or reduced.
In this embodiment, to correct the influence of the motion of the yaw joint on the unexpected motion of the pitch joint, the pitch compensation angle of the current cycle is determined based on the pitch compensation angle of the previous cycle, the instrument yaw centerline joint command, and the compensation scaling factor. The pitch compensation angle refers to an angle value calculated and added to an original instruction of the pitch joint in order to eliminate or reduce the unexpected motion influence of the yaw joint motion on the pitch joint.
The compensation proportion coefficient is a parameter for adjusting the size of the pitching compensation angle. It determines how the system should adjust the pitch joint instructions to eliminate or reduce the effects of unintended motion under given conditions. It will be appreciated that if the compensation scaling factor is set too large, it may cause the system to overcompensate, causing unnecessary vibrations or instability, and if the compensation scaling factor is set too small, it may not be possible to effectively eliminate the effects of unintended motion, resulting in reduced system accuracy. In practical applications, the compensation scaling factor is usually determined by experiments and debugging, which is not limited herein.
On the basis of the embodiment, optionally, the step of determining the pitch compensation angle of the current period based on the pitch compensation angle of the previous period, the instrument yaw center line joint instruction and the compensation proportionality coefficient comprises the steps of determining motion data of the yaw center line based on the instrument yaw center line joint instruction of the previous period and the instrument yaw center line joint instruction of the current period, wherein the motion data comprises the motion speed and the motion direction of the yaw center line, and determining the pitch compensation angle of the current period based on the pitch compensation angle of the previous period, the motion data of the yaw center line and the compensation proportionality coefficient.
In the embodiment, the angle change amount can be determined based on the instrument joint angle in the instrument deflection center line joint instruction of the previous cycle and the instrument joint angle in the instrument deflection center line joint instruction of the current cycle, and further, the movement speed is determined according to the angle change amount and the time interval between the two cycles. For example, if the instrument joint angle is expressed in radians, the motion speed may be approximated as:
;
wherein V represents the movement speed, Representing the angle of the current cycle,The angle indicating the last period of time is indicated,Is the time interval between two cycles.
Wherein the compensation scaling factor is a predefined factor for adjusting the angular amount of the pitch compensation to accommodate different operating conditions or performance requirements. The compensation scaling factor may be determined based on experience, system model, or experimental data, and is not limited herein.
In this embodiment, the pitch compensation angle of the current period may be calculated based on the pitch compensation angle of the previous period, the motion data of the yaw center line, and the compensation scaling factor. The pitch compensation angle calculation formula for the current period is as follows:
;
Wherein, Representing the pitch compensation angle of the current period,Representing the pitch compensation angle of the last cycle,Motion data representing a yaw centerline, the motion data including a motion velocity and a motion direction,Representing the compensation scaling factor.
The embodiment can adjust the angle of the pitching compensation according to the movement speed of the yaw center line, thereby realizing more dynamic or finer control.
And S130, generating a target pitch joint instruction based on the pitch compensation angle of the current period and the instrument pitch joint instruction under the condition that the pitch compensation angle of the current period is smaller than or equal to the maximum compensation angle of the current period, and sending the target pitch joint instruction to a pitch joint motor so that the pitch joint motor drives the pitch joint to move.
The maximum compensation angle of the current period is the maximum compensation angle of the current period in the motion direction of the yaw center line, and it can be understood that if the pitch compensation angle of the current period exceeds the maximum compensation angle of the current period, the pitch compensation angle of the current period cannot be compensated. In this embodiment, the pitch compensation angle of the current period is compared with the maximum compensation angle of the current period, and if the pitch compensation angle of the current period is smaller than or equal to the maximum compensation angle of the current period, the pitch compensation angle of the current period is added to the original instrument pitch joint command to generate the target pitch joint command. Optionally, the original instrument pitch joint command may also be adjusted according to a specific compensation strategy to obtain the target pitch joint command. Further, the generated target pitching joint instruction is sent to a pitching joint motor, and the pitching joint motor drives the pitching joint to perform corresponding movement according to the received instruction, so that accurate control of the surgical instrument is realized. The target instruction is used for guiding the pitching joint motor to accurately move so as to eliminate the influence of the yawing joint movement on the pitching joint and ensure that the surgical instrument can move according to the intention of an operator.
On the basis of the embodiment, optionally, the instrument yaw center line joint command comprises clamping force, and the determination of the maximum compensation angle of the current period comprises the steps of determining the maximum compensation angle of unexpected motion generated by a pitching joint based on the motion speed of the yaw center line, the clamping force and a gain coefficient, wherein the gain coefficient is obtained by fitting a compensation model of the motion speed of the instrument yaw center line and the unexpected motion amplitude of the clamping force and the pitching joint in a test stage, and determining the maximum compensation angle of the current period based on the motion direction of the yaw center line and the maximum compensation angle of unexpected motion generated by the pitching joint.
During the test phase, a large amount of data is collected about the speed of motion of the yaw centerline joint, the clamping force, and the corresponding magnitude of unintended motion of the pitch joint. These data are used to fit a compensation model that describes the relationship between yaw centerline motion speed, clamp force, and pitch joint unintended motion amplitude. During the fitting process, one or more gain coefficients (possibly a multi-dimensional vector or matrix) are derived that reflect the extent to which different input parameters have an effect on the magnitude of the unintended motion. Where the gain factors are the direct result of model fitting, they map the yaw centerline motion velocity and clamping force to the pitch joint's unintended motion amplitude. Specifically, the gain coefficients include a yaw centerline speed gain coefficient and a clamping force gain coefficient.
In this embodiment, the motion speed and the clamping force of the yaw center line are obtained in real time, the maximum compensation angle is determined according to the motion speed, the clamping force and the gain coefficient obtained by fitting of the yaw center line, and the maximum compensation angle of the current period is determined based on the motion direction of the yaw center line and the maximum compensation angle of the unexpected motion generated by the pitching joint. Wherein the maximum compensation angle is used as the upper limit value of the compensation angle.
The maximum compensation angle calculation formula is as follows:
;
Wherein, Indicating the maximum compensation angle of the compensation,The gain coefficient of the motion velocity is represented,The clamping force gain factor is indicated,For the speed of movement of the yaw center line,Is the clamping force.
The calculation formula of the maximum compensation angle of the current period is as follows:
;
Wherein, Representing the maximum compensation angle for the current period,Representing the maximum compensation angle at which the pitch joint produces unintended motion,Indicating the direction of motion of the yaw centerline.
Based on the embodiment, optionally, the method further comprises determining a bias amount based on the instrument pitch joint command of the current period and a bias model, wherein the bias model is obtained by fitting the pitch joint angle and the bias amount in a test stage, and updating the maximum compensation angle of the pitch joint for generating unexpected motion based on the bias amount.
In the test stage, the offset at different pitch joint angles is recorded. Such data may be from measurements in multiple experiments or actual operations. The offset at different pitch angles is used to fit an offset model that describes the relationship between pitch angle and offset. The bias model may be a polynomial, linear equation, look-up table, or more complex machine learning model.
Specifically, the bias model may be:
;
Wherein, As a result of the amount of the offset,For the pitch joint angle,、AndIs an unknown parameter to be determined by fitting.
In this embodiment, according to the instrument pitch joint command of the current period, the fitted bias model is used to calculate the corresponding bias amount. It will be appreciated that this offset represents the amount of additional adjustment needed to accurately achieve the target pitch angle to compensate for errors or external disturbances within the system. Further, a maximum compensation angle at which the pitch joint produces unintended motion is updated based on the offset.
Specifically, the offset may be used as a correction term to be added to the maximum compensation angle calculated based on the yaw center line movement speed, the clamping force and the gain coefficient. Thus, the updated maximum compensation angle will more accurately reflect the system dynamics under the current conditions.
The updated maximum compensation angle calculation formula is as follows:
;
Wherein, Indicating the amount of offset.
In some embodiments, optionally, the method further comprises comparing the pitch compensation angle of the current period with the maximum compensation angle of the current period, and if the pitch compensation angle of the current period is greater than the maximum compensation angle of the current period, taking the maximum compensation angle of the current period as the pitch compensation angle of the current period.
In this embodiment, the pitch compensation angle of the current period is compared with the maximum compensation angle of the current period, if the pitch compensation angle of the current period is smaller than or equal to the maximum compensation angle of the current period, the pitch compensation angle of the current period can be directly used, and if the pitch compensation angle of the current period is larger than the maximum compensation angle of the current period, the maximum compensation angle is used as the pitch compensation angle of the current period.
According to the technical scheme, an instrument joint instruction transmitted by a main end of a master-slave operation robot is received in real time, the instrument joint instruction comprises an instrument deflection center line joint instruction and an instrument pitching joint instruction, a pitching compensation angle of a current period is determined based on a pitching compensation angle of a previous period, the instrument deflection center line joint instruction and a compensation proportion coefficient, and a target pitching joint instruction is generated based on the pitching compensation angle of the current period and the instrument pitching joint instruction under the condition that the pitching compensation angle of the current period is smaller than or equal to a maximum compensation angle of the current period, and is sent to a pitching joint motor so that the pitching joint motor drives the pitching joint to move. The problem that unexpected movement of the pitching joint is generated due to the fact that acting force is applied to the pitching joint by the movement of the yaw joint can be solved, the unexpected movement generated by the pitching joint is compensated, and the position accuracy of the pitching joint of the master-slave operation robot surgical instrument is effectively improved.
Example two
Fig. 2 is a schematic structural diagram of a compensating device for a pitch joint of a surgical instrument according to a second embodiment of the present invention. As shown in fig. 2, the apparatus is applied to a slave-end controller of a master-slave surgical robot, and includes:
An instrument joint command receiving module 210, configured to receive in real time an instrument joint command transmitted by a main end of the master-slave surgical robot, where the instrument joint command includes an instrument yaw center line joint command and an instrument pitch joint command;
A pitch compensation angle determining module 220, configured to determine a pitch compensation angle of a current period based on a pitch compensation angle of a previous period, the instrument yaw centerline joint command, and a compensation scaling factor, where the pitch compensation angle is used to compensate for an unexpected motion of the pitch joint, where the unexpected motion is generated by a force applied to the pitch joint by a yaw joint motion through a coupling relationship;
The target pitch joint command generating module 230 is configured to generate a target pitch joint command based on the pitch compensation angle of the current period and the instrument pitch joint command, and send the target pitch joint command to a pitch joint motor to enable the pitch joint motor to drive the pitch joint to move when the pitch compensation angle of the current period is less than or equal to the maximum compensation angle of the current period.
According to the technical scheme, an instrument joint instruction transmitted by a main end of a master-slave operation robot is received in real time, the instrument joint instruction comprises an instrument deflection center line joint instruction and an instrument pitching joint instruction, a pitching compensation angle of a current period is determined based on a pitching compensation angle of a previous period, the instrument deflection center line joint instruction and a compensation proportion coefficient, and a target pitching joint instruction is generated based on the pitching compensation angle of the current period and the instrument pitching joint instruction under the condition that the pitching compensation angle of the current period is smaller than or equal to a maximum compensation angle of the current period, and is sent to a pitching joint motor so that the pitching joint motor drives the pitching joint to move. The problem that unexpected movement of the pitching joint is generated due to the fact that acting force is applied to the pitching joint by the movement of the yaw joint can be solved, the unexpected movement generated by the pitching joint is compensated, and the position accuracy of the pitching joint of the master-slave operation robot surgical instrument is effectively improved.
On the basis of the above embodiment, optionally, the pitch compensation angle determining module 220 is configured to determine motion data of the yaw center line based on the previous-period instrument yaw center line joint command and the current-period instrument yaw center line joint command, where the motion data includes a motion speed and a motion direction of the yaw center line, and determine a pitch compensation angle of the current period based on the pitch compensation angle of the previous period, the motion data of the yaw center line, and a compensation scaling factor.
On the basis of the embodiment, optionally, the instrument yaw center line joint instruction further comprises a clamping force, the device further comprises a determining module of a maximum compensation angle of the current period, the determining module is used for determining the maximum compensation angle of the unexpected motion of the pitching joint based on the motion speed of the yaw center line, the clamping force and a gain coefficient, wherein the gain coefficient is obtained by fitting a compensation model of the motion speed of the instrument yaw center line and the unexpected motion amplitude of the clamping force and the pitching joint in a test stage, and the maximum compensation angle of the current period is determined based on the motion direction of the yaw center line and the maximum compensation angle of the unexpected motion of the pitching joint.
On the basis of the embodiment, the device optionally further comprises a maximum compensation angle updating module, wherein the maximum compensation angle updating module is used for determining the offset based on the instrument pitching joint instruction of the current period and an offset model, the offset model is obtained by fitting the pitching joint angle and the offset in the test stage, and the maximum compensation angle of the unexpected motion generated by the pitching joint is updated based on the offset.
On the basis of the above embodiment, optionally, the bias model is:
;
Wherein, As a result of the amount of the offset,For the pitch joint angle,、AndIs an unknown parameter.
Optionally, on the basis of the above embodiment, the gain coefficient includes a yaw center line movement speed gain coefficient and a clamping force gain coefficient.
On the basis of the foregoing embodiment, optionally, the device further includes a pitch compensation angle detection module, configured to compare the pitch compensation angle of the current period with the maximum compensation angle of the current period, and if the pitch compensation angle of the current period is greater than the maximum compensation angle of the current period, take the maximum compensation angle of the current period as the pitch compensation angle of the current period.
The compensating device for the pitching joint of the surgical instrument provided by the embodiment of the invention can execute the compensating method for the pitching joint of the surgical instrument provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method.
Example III
Fig. 3 is a schematic structural diagram of a slave controller according to a third embodiment of the present invention. The slave controller 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The slave controller may also represent various forms of mobile devices such as personal digital processing, cellular telephones, smart phones, wearable devices (e.g., helmets, glasses, 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. 3, the slave controller 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 RAM13, various programs and data required for the operation of the slave-end controller 10 can also be stored. The processor 11, the ROM12 and the RAM13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
The various components in the slave end-controller 10 are connected to an 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 slave end controller 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 the method of compensating for a pitch joint of a surgical instrument.
In some embodiments, the method of compensating for a pitch joint of a surgical instrument may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the slave end controller 10 via the ROM12 and/or the communication unit 19. When the computer program is loaded into RAM13 and executed by processor 11, one or more steps of the method of compensating for a pitch joint of a surgical instrument described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the method of compensating for a pitch joint of the surgical instrument 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 circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load 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.
The computer program for implementing the method of compensating for a pitch joint of a surgical instrument 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.
Example IV
The fourth embodiment of the present invention also provides a computer readable storage medium storing computer instructions for causing a processor to execute a method for compensating a pitch joint of a surgical instrument, the method being applied to a slave controller of a master-slave surgical robot, and comprising:
receiving an instrument joint instruction transmitted by a main end of a master-slave operation robot in real time, wherein the instrument joint instruction comprises an instrument deflection center line joint instruction and an instrument pitching joint instruction;
Determining a pitch compensation angle of the current period based on the pitch compensation angle of the previous period, the instrument yaw center line joint command and the compensation proportionality coefficient, wherein the pitch compensation angle is used for compensating unexpected motion of a pitch joint, and the unexpected motion is generated by acting force applied to the pitch joint by the yaw joint motion through a coupling relation;
Under the condition that the pitch compensation angle of the current period is smaller than or equal to the maximum compensation angle of the current period, generating a target pitch joint instruction based on the pitch compensation angle of the current period and the instrument pitch joint instruction, and sending the target pitch joint instruction to a pitch joint motor so that the pitch joint motor drives the pitch joint to move.
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 a slave end controller 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 slave end controller. 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)
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| CN202411855095.5A CN119302748A (en) | 2024-12-17 | 2024-12-17 | A compensation method and device for a pitch joint of a surgical instrument and a slave controller |
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| CN202411855095.5A CN119302748A (en) | 2024-12-17 | 2024-12-17 | A compensation method and device for a pitch joint of a surgical instrument and a slave controller |
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