CN119632608A - Method and device for determining transmission idle stroke and transmission ratio of instrument assembly and surgical robot - Google Patents
Method and device for determining transmission idle stroke and transmission ratio of instrument assembly and surgical robot Download PDFInfo
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- CN119632608A CN119632608A CN202411907237.8A CN202411907237A CN119632608A CN 119632608 A CN119632608 A CN 119632608A CN 202411907237 A CN202411907237 A CN 202411907237A CN 119632608 A CN119632608 A CN 119632608A
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Abstract
本申请实施例提供一种器械组件传动空程与传动比确定方法、装置及手术机器人，该方法包括：控制适配器分别沿第一方向和第二方向转动预设角度，以使得目标关节以关节初始位置为起点进行转动，得到目标关节转动后的位置以及目标关节的实际关节角度；第一方向和第二方向相反；预设角度大于主动端和从动端之间的空程间隙对应的角度；确定理论关节角度和实际关节角度之间的角系数，并基于角系数和理论传动比，确定钢丝绳的实际传动比；基于实际传动比以及目标关节转动后的位置，确定适配器的目标空程间隙；如此，可以同时采集到计算目标空程间隙的数据以及计算实际传动比的数据，提高测量效率，降低测量的工作强度。
An embodiment of the present application provides a method, device and surgical robot for determining the transmission idle motion and transmission ratio of an instrument component, the method comprising: controlling an adapter to rotate by preset angles in a first direction and a second direction respectively, so that a target joint rotates with an initial joint position as a starting point, and obtaining the position of the target joint after rotation and the actual joint angle of the target joint; the first direction and the second direction are opposite; the preset angle is greater than the angle corresponding to the idle motion gap between the active end and the driven end; determining the angular coefficient between the theoretical joint angle and the actual joint angle, and determining the actual transmission ratio of the wire rope based on the angular coefficient and the theoretical transmission ratio; determining the target idle motion gap of the adapter based on the actual transmission ratio and the position of the target joint after rotation; in this way, data for calculating the target idle motion gap and data for calculating the actual transmission ratio can be collected at the same time, thereby improving measurement efficiency and reducing measurement workload.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a method and a device for determining transmission idle stroke and transmission ratio of an instrument assembly and a surgical robot.
Background
The existing laparoscopic surgery robot terminal instrument is usually driven by a motor reducer, an adapter and a steel wire rope, but the instrument terminal joint cannot be directly provided with an encoder, and the encoder can only be arranged at the motor terminal, so that when the encoder feeds back the actual angle, the encoder feeds back the actual angle of the motor. Meanwhile, as the output end of the motor is clamped with the adapter through the mechanical gear to drive the instrument, a certain idle stroke gap exists in the driving process of the machinery, and an error exists between the actual transmission ratio and the theoretical transmission ratio of the steel wire rope, when the angle of the measured motor end reaches the theoretical position, the instrument end may not rotate to the theoretical angle, and thus, the position and the gesture precision of the instrument end are affected. In order to improve the pose precision of the instrument, the transmission idle stroke clearance and the actual transmission ratio can be measured to compensate and correct.
At present, in the process of measuring the transmission idle stroke gap and the actual transmission ratio of an instrument, the actual transmission ratio of a steel wire rope is measured after the idle stroke is fully consumed, and then the transmission idle stroke gap is measured. However, when the measured data are more, the measuring efficiency is lower, and the working intensity of the measurement is increased.
Disclosure of Invention
The application provides a method and a device for determining the transmission idle stroke and the transmission ratio of an instrument assembly and a surgical robot, which can simultaneously obtain the idle stroke gap of an adapter and the actual transmission ratio of a steel wire rope, can improve the measurement efficiency, avoid multiple measurements and reduce the working strength of the measurement.
According to a first aspect of the application, there is provided a method for determining transmission backlash and transmission ratio of an instrument assembly, the instrument assembly comprising a motor, an adapter, a wire rope and a surgical instrument, wherein a driving end of the adapter is connected with an output shaft of the motor, and a driven end of the adapter is connected with a target joint in the surgical instrument through the wire rope, the method comprising:
the adapter is controlled to rotate a preset angle along a first direction and a second direction respectively, so that the target joint rotates by taking a joint initial position as a starting point to obtain a rotated position of the target joint and an actual joint angle of the target joint, wherein the first direction and the second direction are opposite;
Determining an angle coefficient between a theoretical joint angle and the actual joint angle, and determining the actual transmission ratio of the steel wire rope based on the angle coefficient and the theoretical transmission ratio, wherein the angle coefficient represents the slope of a straight line corresponding to the linear relationship between the theoretical joint angle and the actual joint angle;
a target lost motion clearance of the adapter is determined based on the actual gear ratio and the rotated position of the target joint.
In some embodiments, the controlling the adaptor to rotate by a preset angle along a first direction and a second direction, so that the target joint rotates with a joint initial position as a starting point, and the obtaining the rotated position of the target joint includes:
Controlling the adapter to rotate by the preset angle along the first direction so as to enable the target joint to rotate from the joint initial position to a first joint position;
controlling the adapter to rotate in the second direction by the preset angle so as to enable the target joint to rotate from the first joint position to a second joint position;
Controlling the adapter to continue rotating the preset angle along the second direction so as to enable the target joint to rotate from the second joint position to a third joint position;
And controlling the adapter to rotate along the first direction by the preset angle so as to enable the target joint to rotate from the third joint position to the fourth joint position, wherein the first joint position, the second joint position, the third joint position and the fourth joint position are positions of the target joint after rotation.
In some embodiments, the determining the target lost motion clearance of the adapter based on the actual gear ratio and the position of the target joint after rotation comprises:
the target lost motion clearance is determined based on the actual gear ratio, and the fourth joint position and the second joint position.
In some embodiments, the determining the target lost motion gap based on the actual gear ratio and based on the fourth joint position and the second joint position comprises:
determining a first difference between the four joint position and the second joint position;
and determining the ratio between the absolute value of the first difference value and the actual transmission ratio as the target idle stroke gap.
In some embodiments, the determining an angular coefficient between the theoretical joint angle and the actual joint angle comprises:
And fitting the theoretical joint angle serving as an abscissa and the actual joint angle serving as an ordinate to obtain the angle coefficient.
In some embodiments, the determining the actual gear ratio of the wire rope based on the angular coefficient and the theoretical gear ratio comprises:
The product between the angular coefficient and the theoretical gear ratio is determined as the actual gear ratio.
In some embodiments, the joint initial positions include a first joint initial position and a second joint initial position;
the method further comprises the steps of:
Controlling the adapter to rotate a preset angle along the first direction and the second direction respectively, so that the target joint rotates by taking the initial position of the first joint as a starting point to obtain a first position of the target joint after rotation, and determining a first idle stroke gap of the adapter based on the actual transmission ratio and the first position;
Controlling the adapter to rotate a preset angle along the first direction and the second direction respectively, so that the target joint rotates by taking the initial position of the second joint as a starting point to obtain a second position of the target joint after rotation, and determining a second idle stroke gap of the adapter based on the actual transmission ratio and the second position;
And determining an average value of the first idle stroke gap and the second idle stroke gap, and determining the average value as the target idle stroke gap.
In a second aspect of the present application, there is provided an apparatus for determining transmission backlash and transmission ratio of an instrument assembly, comprising:
The control module is used for controlling the adapter to rotate a preset angle along a first direction and a second direction respectively so as to enable the target joint to rotate by taking the initial position of the joint as a starting point, and obtaining the rotated position of the target joint and the actual joint angle of the target joint, wherein the first direction is opposite to the second direction;
The device comprises a wire rope, a determining module, a target idle stroke gap, a control module and a control module, wherein the wire rope is used for connecting the wire rope to the target joint, the determining module is used for determining an angle coefficient between a theoretical joint angle and the actual joint angle, determining an actual transmission ratio corresponding to the wire rope based on the angle coefficient and the theoretical transmission ratio, the angle coefficient represents the slope of a straight line corresponding to the linear relation between the theoretical joint angle and the actual joint angle, and determining the target idle stroke gap of the adapter based on the actual transmission ratio and the rotated position of the target joint.
In a third aspect, the application provides a surgical robot comprising an instrument assembly and a control device, wherein the instrument assembly comprises a motor, an adapter, a wire rope and a surgical instrument, the driving end of the adapter is connected with the output shaft of the motor, the driven end of the adapter is connected with a target joint in the surgical instrument through the wire rope, and the control device comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, and the processor realizes the steps of the method of any embodiment when executing the program.
In a fourth aspect the present application provides a non-transitory computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor implements the steps of the method of any of the embodiments described above.
The embodiment of the application provides a method for determining transmission idle stroke and transmission ratio of an instrument assembly, wherein the instrument assembly comprises a motor, an adapter, a steel wire rope and a surgical instrument, a driving end of the adapter is connected with an output shaft of the motor, a driven end of the adapter is connected with a target joint in the surgical instrument through the steel wire rope, the method comprises the steps of controlling the adapter to rotate a preset angle along a first direction and a second direction respectively to enable the target joint to rotate by taking an initial joint position as a starting point, obtaining a position after the target joint rotates and an actual joint angle of the target joint, wherein the first direction and the second direction are opposite, the preset angle is larger than an angle corresponding to the idle stroke gap between the driving end and the driven end, determining an angle coefficient between the theoretical joint angle and the actual joint angle, determining the actual transmission ratio of the steel wire rope based on the angle coefficient and the theoretical transmission ratio, the angle represents the slope of a straight line corresponding to the linear relation between the theoretical joint angle and the actual joint angle, and determining the target idle stroke gap of the adapter based on the actual transmission ratio and the position after the target joint rotates, and calculating the target joint, calculating data of the target joint and calculating the target joint and the idle stroke gap and calculating the idle stroke gap and the actual transmission ratio and measuring the idle stroke gap and the measuring the idle stroke and the idle stroke.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an instrument assembly in a surgical robot according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for determining transmission backlash and transmission ratio of an instrument assembly according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a gear engagement relationship between a driving end and a driven end of an adapter according to an embodiment of the present application;
FIG. 4 is a schematic illustration of the meshing relationship of gears between the drive and driven ends of another adapter provided in accordance with an embodiment of the present application;
FIG. 5 is a flow chart of another method for determining transmission backlash and transmission ratio of an instrument assembly according to an embodiment of the present application;
FIG. 6 is a flow chart of yet another method for determining transmission backlash and transmission ratio of an instrument assembly according to an embodiment of the present application;
FIG. 7 is a flow chart of yet another method for determining transmission backlash and transmission ratio of an instrument assembly according to an embodiment of the present application;
FIG. 8 is a flow chart of yet another method for determining transmission backlash and transmission ratio of an instrument assembly according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a device for determining transmission backlash and transmission ratio of an instrument assembly according to an embodiment of the present application;
fig. 10 is a schematic structural view of a control device in a surgical robot according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings.
The existing laparoscopic surgery robot terminal instrument is usually driven by a motor reducer, an adapter and a steel wire rope, but the instrument terminal joint cannot be directly provided with an encoder, and the encoder can only be arranged at the motor terminal, so that when the encoder feeds back the actual angle, the encoder feeds back the actual angle of the motor. Meanwhile, as the output end of the motor is clamped with the adapter through the mechanical gear to drive the instrument, a certain idle stroke gap exists in the driving process of the machinery, and an error exists between the actual transmission ratio and the theoretical transmission ratio of the steel wire rope, when the angle of the measured motor end reaches the theoretical position, the instrument end may not rotate to the theoretical angle, and thus, the position and the gesture precision of the instrument end are affected. In order to improve the pose precision of the instrument, the transmission idle stroke clearance and the actual transmission ratio can be measured to compensate and correct.
At present, in the process of measuring the transmission idle stroke gap and the actual transmission ratio of an instrument, the actual transmission ratio of a steel wire rope is measured after the idle stroke is fully consumed, and then the transmission idle stroke gap is measured. However, when the measured data are more, the measuring efficiency is lower, and the working intensity of the measurement is increased.
In order to solve the technical problems. The application provides a method for determining the transmission idle stroke and the transmission ratio of an instrument assembly, which can be used for simultaneously acquiring data for calculating a target idle stroke gap and data for calculating an actual transmission ratio, and respectively calculating the idle stroke gap of an adapter and the actual transmission ratio of a steel wire rope based on the acquired data, namely, acquiring the actual transmission ratio of the idle stroke gap of the adapter and the actual transmission ratio of the steel wire rope through one-time data acquisition, so that the actual transmission ratio of the target idle stroke gap of the adapter and the actual transmission ratio of the steel wire rope can be obtained without multiple times of measurement, the measurement efficiency can be improved, and the measured working strength can be reduced.
Before describing the technical scheme of the embodiment of the application, the structure of the surgical robot applying the method for determining the transmission idle stroke and the transmission ratio of the instrument assembly in the embodiment of the application is described with reference to the accompanying drawings.
In some embodiments, a surgical robot includes an instrument assembly and a control device. Fig. 1 is a schematic structural view of an instrument assembly according to an embodiment of the present application. As shown in fig. 1, the instrument assembly in the surgical robot comprises a motor 11, an adapter 12, a wire rope 13 and a surgical instrument, wherein the driving end of the adapter 12 is connected with the output shaft of the motor 11, and the driven end of the adapter 12 is connected with a target joint 14 in the surgical instrument through the wire rope 13.
Illustratively, the adapter 12 includes a driving end and a driven end, the driving end of the adapter 12 is driven by the driving end and the driven end through gears, the driving end of the adapter 12 is connected with the output shaft of the motor 11 through the motor reducer 111, that is, the output shaft of the motor 11 is connected with the motor reducer 111, and the output shaft of the motor reducer 111 is connected with the driving end of the adapter 12.
In some embodiments, as motor 11 rotates, motor 11 rotates the drive end of adapter 12 in synchronization via motor reducer 111. With rotation of the drive end of the adapter 12, the driven end of the adapter 12 will rotate in synchronism with the drive end of the adapter 12 via a gear transmission, thereby actuating the target joint 14.
Illustratively, the driving end of adapter 12 may be a gear and the driven end may be a pulley. When the motor 11 rotates, the driving gear corresponding to the driving end of the driving adapter 12 rotates, the driven gear corresponding to the driven end of the gear driving adapter 12 rotates, and the pulley at the driven end rotates synchronously with the driven gear. The steel wire rope is wound between the pulley corresponding to the driven end of the adapter 12 and the joint pulley corresponding to the target joint, so that the joint pulley rotates synchronously with the rotation of the pulley corresponding to the driven end of the adapter 12, and the target joint 14 performs corresponding actions.
It should be noted that, the specific structural relationship among the adapter 12, the motor 11 and the surgical instrument is the prior art, and will not be described herein.
Illustratively, the target joint 14 may include at least one of a revolute joint, a wrist joint, and a clamp head joint. The embodiment of the present application is not limited thereto. The following embodiments will be exemplified with the target joint 14 as a jaw joint.
In some embodiments, the control device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, which when executed implements a method for determining transmission backlash and transmission ratio of an instrument assembly according to embodiments of the present application.
Illustratively, a control device may be coupled to the motor 11 for controlling the rotation of the motor 11.
In some embodiments, the control device may be a server or a terminal device. The terminal device may include at least one of a trolley (also referred to as a surgical robot), a personal computer, a notebook computer, a smart phone, a tablet computer and a portable wearable device, and the server may include an independent server or a server cluster formed by a plurality of servers.
The following describes a method for determining transmission idle stroke and transmission ratio of an instrument assembly according to an embodiment of the present application with reference to fig. 2. It should be noted that, the method for determining the transmission idle stroke and the transmission ratio of the instrument assembly provided by the embodiment of the application is applied to the control device, and in the following embodiment, the method for determining the transmission idle stroke and the transmission ratio of the instrument assembly is applied to the control device, and the control device is exemplified by the surgical robot. As shown in FIG. 2, an embodiment of the present application provides a method for determining a transmission backlash and a transmission ratio of an instrument assembly, comprising S201-S203.
S201, the control adapter rotates a preset angle along the first direction and the second direction respectively, so that the target joint rotates with the initial position of the joint as a starting point, and the rotated position of the target joint and the actual joint angle of the target joint are obtained.
Wherein the first direction and the second direction are opposite. The preset angle is a preset value and is larger than an angle corresponding to a target idle stroke gap between the driving end and the driven end, so that idle strokes between the driving end and the driven end can be filled when the driving end rotates by the preset angle.
Illustratively, the first direction may be positive (also referred to as clockwise) and the second direction may be negative (also referred to as counterclockwise), as embodiments of the application are not limited in this regard.
In some embodiments, the surgical robot controls the motor to rotate in response to the measurement instructions, thereby controlling the drive end of the adapter to rotate in the first direction or the second direction. Along with the rotation of the driving end of the adapter, the driven end of the adapter synchronously rotates, and the target joint is driven to perform corresponding actions through the transmission of the steel wire rope.
For example, the measurement instructions may be generated based on a user-triggered selection operation of a control, or may be generated when an external force is applied to a target joint of the surgical robot. The embodiment of the present application is not limited thereto.
In some embodiments, since the drive of the adapter is typically a gear drive, the instrument drive backlash (which may also be referred to as the target backlash) in embodiments of the present application is understood to be the gap between any tooth on the driving end and an adjacent tooth on the driven end that meshes with that tooth. As shown in fig. 3, in the meshing relationship of the gears, two adjacent teeth are meshed with one tooth, when the driving end is at the initial position, a gap a exists between any tooth (A1 in fig. 3) of the driving end and the adjacent tooth (B1 in fig. 3) of the driven end positioned on the left side of the tooth, and a gap B exists between the adjacent tooth (B2 in fig. 3) of the driven end positioned on the right side of the tooth, so that the angle corresponding to the target idle gap is a+b. For convenience of explanation in the following embodiments, the meshing relationship of gears between the driving end and the driven end is equivalent to a straight line form as shown in fig. 4. The position of the left side of the driven end is equivalent to the position of the target joint, the end point of the straight line represents the teeth, and the length of the straight line represents the tooth spacing (i.e. idle stroke).
As shown in fig. 5, the transmission structure of the motor control adapter rotates by a preset angle along the first direction and the second direction respectively, so that the target joint rotates with the initial position of the joint as a starting point, and the positions of the target joint after rotation are obtained, including S501-S504.
S501, controlling the adapter to rotate a preset angle along a first direction so as to enable the target joint to rotate from the initial joint position to the first joint position.
Illustratively, as shown in fig. 4 a, when the initial position of the drive end of any tooth (e.g., tooth D) of the drive end of the adapter is x 1, the backlash between the tooth D and the left tooth (e.g., tooth E) of the driven end is a, the backlash between the tooth D and the right tooth (e.g., tooth F) of the driven end is b, and the initial position of the joint of the target joint is x 1'. The initial joint position of the target joint is the angle from the zero position to the current position of the surgical instrument, for example, 20 degrees, 40 degrees, 60 degrees, -20 degrees, -40 degrees and-60 degrees. The preset angle is deltax degrees. If S501 is performed, i.e. the drive end rotates Δx degrees in the forward direction (first direction), tooth D will push and abut against tooth F, causing tooth E to rotate from the drive end initial position x 1 to the first drive end position x 2 and the target joint to rotate from the joint initial position x 1 'to the first joint position x 2'.
S502, controlling the adapter to rotate a preset angle along a second direction so as to enable the target joint to rotate from the first joint position to the second joint position.
Illustratively, as shown in b in fig. 4, when the drive end rotates by Δx degrees in the negative direction (second direction), i.e., tooth D rotates by Δx degrees in the negative direction, tooth D will abut tooth E, rotating from a first drive end position x 2 to a second drive end position x 3, and the target joint rotates from a first joint position x 2 'to a second joint position x 3'.
S503, the control adapter continues to rotate a preset angle along the second direction, so that the target joint rotates from the second joint position to the third joint position.
Illustratively, as shown at c in fig. 4, as the drive end continues to rotate Δx degrees in the negative direction, i.e., tooth D continues to rotate Δx degrees in the negative direction, tooth D will abut and push tooth E, rotating from the second drive end position x 3 to the third drive end position x 4, and the target joint from the second joint position x 3 'to the third joint position x 4'.
S504, the control adapter rotates a preset angle along the first direction so that the target joint rotates from the third joint position to the fourth joint position.
As shown by D in fig. 4, when the drive end is rotated by Δx degrees in the forward direction, i.e., tooth D is rotated by Δx degrees in the forward direction, tooth D will abut and push tooth F, rotating tooth D from third drive end position x 4 to fourth drive end position x 5, and the target joint from third joint position x 4 'to fourth joint position x 5'.
In some embodiments, the first joint position, the second joint position, the third joint position, and the fourth joint position are all positions after rotation of the target joint.
In some embodiments, the actual joint angle of the target joint may be acquired during execution of S501-S504. The method for acquiring the actual joint angle of the target joint is the prior art, and is not described herein.
Illustratively, in performing S501-S504, the acquired actual joint angle of the target joint may include at least one of a first joint position x 2 ', a second joint position x 3 ', and a fourth joint position x 5 '.
S202, determining an angle coefficient between the theoretical joint angle and the actual joint angle, and determining the actual transmission ratio of the steel wire rope based on the angle coefficient and the theoretical transmission ratio.
Wherein the angular coefficient characterizes a slope of a straight line corresponding to a linear relationship between the theoretical joint angle and the actual joint angle. The theoretical joint angle is a preset value.
In some embodiments, let the theoretical angle of the input end of the adapter be In t, the theoretical output angle of the target joint (instrument end joint) be O t, the target backlash be S t, the theoretical transmission ratio of the wire rope be i t, the actual output angle of the target joint be O m, and the actual transmission ratio of the wire rope be i m. Then the relationship between In t、Ot、St and i t is shown In equation 1 and the relationship between In t、Om、St and i m is shown In equation 2:
(In t-St)it＝Ot equation 1
(In t-St)im＝Om equation 2
Dividing equation 1 by equation 2 yields equation 3:
according to the formula 3, it can be known that the actual joint angle of the target joint is in a linear relationship with the theoretical joint angle, and the product of the slope of the straight line corresponding to the linear relationship and the theoretical transmission ratio is the actual transmission ratio. Therefore, the slope of the straight line corresponding to the linear relationship between the theoretical joint angle and the actual joint angle can be determined first, and then the actual transmission ratio corresponding to the steel wire rope in the instrument assembly is determined based on the angle coefficient and the theoretical transmission ratio.
In some embodiments, determining the angular coefficient between the theoretical joint angle and the actual joint angle includes fitting the theoretical joint angle as an abscissa and the actual joint angle as an ordinate to obtain the angular coefficient.
The method for fitting the actual joint angle and the theoretical joint angle by using the least square method is not limited to the embodiment of the application, and the actual joint angle and the theoretical joint angle can be fitted by using other methods. Since the least square method is the prior art, the details are not repeated here.
In some embodiments, determining the actual gear ratio of the wire rope in the instrument based on the angular coefficient and the theoretical gear ratio includes determining a product between the angular coefficient and the theoretical gear ratio as the actual gear ratio.
Illustratively, the actual gear ratio of the wire rope can be obtained by equation 4:
Wherein, As an angular coefficient, i t is the theoretical gear ratio.
S203, determining a target idle stroke gap of the adapter based on the actual transmission ratio and the rotated position of the target joint.
The target idle stroke clearance of the adapter refers to the idle stroke clearance of the adapter which is finally determined through calculation.
In some embodiments, determining the target backlash of the adapter based on the actual gear ratio and the position of the target joint after rotation includes determining the target backlash based on the actual gear ratio and the fourth joint position and the second joint position.
In some embodiments, based on fig. 4, the first active end position x 2 may be represented as equation 5:
x 2＝x1 + deltax equation 5
The first joint position x 2' can be expressed as equation 6:
x 2'＝x1' + (Δx-b) im equation 6
The second active end position x 3 can be expressed as equation 7:
x 3＝x2 - Δx equation 7
The second joint position x 3' can be expressed as equation 8:
x 3'＝x2' - [ (Δx- (a+b)) ] im formula 8
The third active end position x 4 can be expressed as equation 9:
x 4＝x3 - Δx equation 9
The third joint position x 4' can be expressed as formula 10:
x 4'＝x3'-Δxim equation 10
The fourth active end position x 5 can be expressed as equation 11:
x 5＝x4 + deltax equation 11
The fourth joint position x 5' can be expressed as equation 12:
x 5'＝x4' + [ Deltax- (a+b) ] im is disclosed
12. Fig.
Wherein the subtraction of the four joint position x 5 'from the second joint position x 3' yields equation 13:
x 5'-x3' = - (a+b) im equation 13
In equation 5-equation 13, a and b are tooth spaces between any tooth on the driving end and an adjacent tooth engaged with the tooth on the driven end, Δx is a preset angle, and i m is an actual transmission ratio.
As can be seen from equation 13, the target backlash of the adapter is the difference between the fourth joint position x 5 'and the second joint position x 3' and the actual gear ratio. Therefore, when determining the target backlash based on the actual transmission ratio and the fourth joint position and the second joint position, the difference between the fourth joint position and the second joint position may be determined first, and then the target backlash may be obtained by determining the ratio between the absolute value of the difference between the fourth joint position and the second joint position and the actual transmission ratio.
In some embodiments, determining the target backlash based on the actual gear ratio, and the fourth joint position and the second joint position, may include S601-S602, as shown in fig. 6.
S601, determining a first difference between the fourth joint position and the second joint position.
In some embodiments, the fourth joint position is subtracted from the second joint position to obtain a first difference.
S602, determining the ratio of the absolute value of the first difference value to the actual transmission ratio as a target idle stroke gap.
In some embodiments, the first difference may also be divided by the actual gear ratio to obtain a corresponding quotient, which is taken as the target backlash.
In some embodiments, the joint initial position may be one or a plurality of joints.
In an exemplary case where the initial joint position is one, S501-S504 may be performed once to obtain a set of actual joint angles and one idle stroke gap data, and in a case where the initial joint position is multiple, S501-S504 may be performed multiple times to obtain multiple sets of actual joint angles and multiple idle stroke gap data, and then fitting is performed based on the multiple sets of actual joint angles and the corresponding theoretical joint angles to obtain an angle coefficient, and an average value of the multiple idle stroke gap data is determined as a final target idle stroke gap. Wherein, each joint initial position corresponds to a set of actual joint angles and a lost motion clearance data.
Illustratively, the initial joint positions include 20 degrees, 40 degrees, 60 degrees, -20 degrees, -40 degrees, and-60 degrees, and the target joint can be controlled to rotate from 20 degrees, 40 degrees, 60 degrees, -20 degrees, -40 degrees, and-60 degrees by executing S501-S504, respectively. Along with the rotation of the target joint, acquiring actual joint angles of the target joint of 20 degrees, 40 degrees, 60 degrees, -20 degrees, -40 degrees and-60 degrees, and fitting an angle coefficient based on the acquired actual joint angles and the corresponding theoretical joint angles to obtain the actual transmission ratio of the steel wire rope; and simultaneously, determining a plurality of idle running clearances obtained when the target joint rotates from 20 degrees, 40 degrees, 60 degrees, -20 degrees, -40 degrees and 60 degrees, and determining the average value of the plurality of idle running clearance data as the target idle running clearance. In this way, the data for calculating the target idle stroke gap and the data for calculating the actual transmission ratio can be collected simultaneously in the process of executing S501-S504, so that the measurement efficiency can be improved.
As shown in fig. 7, in some embodiments, in the case where the joint initial position includes a first joint initial position and a second joint initial position, the apparatus transmission backlash and transmission ratio measurement method provided by the embodiment of the present application may include S701-S703.
S701, controlling the adapter to rotate a preset angle along a first direction and a second direction respectively, so that the target joint rotates by taking the initial position of the first joint as a starting point, obtaining a first position of the target joint after rotation, and determining a first idle stroke gap of the adapter based on an actual transmission ratio and the first position.
S702, controlling the adapter to rotate a preset angle along the first direction and the second direction respectively, so that the target joint rotates by taking the initial position of the second joint as a starting point, obtaining a second position of the target joint after rotation, and determining a second idle stroke gap of the adapter based on the actual transmission ratio and the second position.
S703, determining an average value of the first idle stroke gap and the second idle stroke gap, and determining the average value as a target idle stroke gap.
In an exemplary embodiment, after the first idle stroke gap is obtained, the target joint may be rotated to the second joint initial position, and then the driving end is controlled to rotate by a preset angle along the first direction and the second direction, so that the target joint rotates with the second joint initial position as a starting point, and the second idle stroke gap is determined based on the second position of the target joint after rotation.
In some embodiments, the first and second positions of the target joint may be obtained by performing S501-S504, and the first and second lost motion clearances may be obtained by performing S601-S602.
It is understood that, after obtaining a plurality of lost motion gaps based on a plurality of joint initial positions, an average value of the plurality of lost motion gaps is determined as a target lost motion gap, so that measurement accuracy can be improved.
As shown in FIG. 8, in some embodiments, embodiments of the present application also provide a method of determining transmission backlash and transmission ratio of an instrument assembly, comprising S801-S807.
S801, the joint rotates to a first joint position after rotating forward by a preset angle from an initial angle joint initial position.
Illustratively, the target joint (which may also be referred to as a joint) is rotated forward a preset angle from the joint initial position x 1 'to the first joint position x 2'.
S802, the joint rotates to the second joint position after rotating from the first joint position to the same angle in the negative direction.
The target joint is illustratively rotated from the first joint position x 2' to the second joint position after being rotated negatively by the same predetermined angle
x3。
And S803, continuing to rotate the joint in the negative direction from the second joint position by the same angle and then rotating the joint to the third joint position.
Illustratively, the target joint continues to rotate negatively from the second joint position x 3 'to the third joint position x 4' after the same preset angle of rotation.
S804, the joint continuously rotates forward from the third joint position by the same angle and then rotates to the fourth joint position.
Illustratively, the target joint continues to rotate forward from the third joint position x 4 'the same predetermined angle and then to the fourth joint position x 5'.
S805, recording the first joint position, the second joint position and the fourth joint position to obtain an actual joint angle.
Illustratively, the angles corresponding to the first joint position x 2 ', the second joint position x 3 ', and the fourth joint position x 5 ' are the actual joint angles of the target joint.
S806, calculating the difference between the second joint position and the fourth joint position to obtain the target idle stroke gap.
In some embodiments, the target lost motion clearance is equal to the difference between the second joint position and the fourth joint position with an actual gear ratio of 1.
And S807, fitting the actual joint angle and the theoretical joint angle to obtain an actual transmission ratio.
Illustratively, the slope of the straight line obtained by fitting the actual joint angle and the theoretical joint angle is the actual transmission ratio.
Corresponding to the foregoing embodiments of the instrument assembly transmission backlash and transmission ratio determination method, the present application also provides embodiments of an instrument assembly transmission backlash and transmission ratio determination system.
Referring to fig. 9, an embodiment of the present application provides a device for determining transmission backlash and transmission ratio of an instrument assembly, comprising:
the control module 901 is used for controlling the adapter to rotate a preset angle along a first direction and a second direction respectively, so that a target joint rotates by taking a joint initial position as a starting point to obtain a position of the target joint after rotation and an actual joint angle of the target joint, wherein the first direction is opposite to the second direction;
The determining module 902 is configured to determine an angle coefficient between a theoretical joint angle and the actual joint angle, determine an actual transmission ratio corresponding to the steel wire rope based on the angle coefficient and the theoretical transmission ratio, characterize a slope of a straight line corresponding to a linear relationship between the theoretical joint angle and the actual joint angle, and determine a target idle stroke gap of the adapter based on the actual transmission ratio and a rotated position of the target joint.
In some embodiments, the control module 901 is further configured to control the adapter to rotate in the first direction by the preset angle to enable the target joint to rotate from the initial joint position to a first joint position, control the adapter to rotate in the second direction by the preset angle to enable the target joint to rotate from the first joint position to a second joint position, control the adapter to continue to rotate in the second direction by the preset angle to enable the target joint to rotate from the second joint position to a third joint position, and control the adapter to rotate in the first direction by the preset angle to enable the target joint to rotate from the third joint position to a fourth joint position, where the first joint position, the second joint position, the third joint position and the fourth joint position are positions after the target joint rotates.
In some embodiments, the determining module 902 is further configured to determine the target lost motion gap based on the actual gear ratio, and the fourth joint position and the second joint position.
In some embodiments, the determining module 902 is further configured to determine a first difference between the four joint position and the second joint position, and determine a ratio between an absolute value of the first difference and the actual gear ratio as the target lost motion gap.
In some embodiments, the determining module 902 is further configured to fit the theoretical joint angle as an abscissa and the actual joint angle as an ordinate, to obtain the angular coefficient.
In some embodiments, the determining module 902 is further configured to determine a product between the angular coefficient and the theoretical gear ratio as the actual gear ratio.
In some embodiments, the joint initial position comprises a first joint initial position and a second joint initial position, a control module 901, which is further used for controlling the adapter to rotate by a preset angle along the first direction and the second direction respectively, so that the target joint rotates by taking the first joint initial position as a starting point to obtain a first position after the target joint rotates, determining a first idle stroke gap of the adapter based on the actual transmission ratio and the first position, controlling the adapter to rotate by a preset angle along the first direction and the second direction respectively, so that the target joint rotates by a preset angle along the second joint initial position as a starting point to obtain a second position after the target joint rotates, and determining a second idle stroke gap of the adapter based on the actual transmission ratio and the second position;
The determining module 902 is further configured to determine an average value of the first idle stroke gap and the second idle stroke gap, and determine the average value as the target idle stroke gap.
As shown in FIG. 10, the surgical robot provided by the embodiment of the application comprises an instrument assembly and a control device, wherein the instrument assembly comprises a motor, an adapter, a wire rope and a surgical instrument, the driving end of the adapter is connected with the output shaft of the motor, the driven end of the adapter is connected with a target joint in the surgical instrument through the wire rope, the motor is coupled with the control device, and the control device can comprise a processor 1010, a communication interface Communications Interface 1020, a memory 1030 and a communication bus 1040, wherein the processor 1010, the communication interface 1020 and the memory 1030 are in communication with each other through the communication bus 1040. Processor 1010 may invoke logic instructions in memory 1030 to perform the methods described above.
Further, the logic instructions in the memory 1030 described above may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method for monitoring the mechanical state of a switching device according to the embodiments of the present invention. The storage medium includes a U disk, a rotating hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above methods.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiments of the present invention.
Claims (10)
1. The method for determining the transmission idle stroke and the transmission ratio of the instrument assembly is characterized in that the instrument assembly comprises a motor, an adapter, a steel wire rope and a surgical instrument, wherein the driving end of the adapter is connected with the output shaft of the motor, and the driven end of the adapter is connected with a target joint in the surgical instrument through the steel wire rope;
the method comprises the following steps:
the adapter is controlled to rotate a preset angle along a first direction and a second direction respectively, so that the target joint rotates by taking a joint initial position as a starting point to obtain a rotated position of the target joint and an actual joint angle of the target joint, wherein the first direction and the second direction are opposite;
Determining an angle coefficient between a theoretical joint angle and the actual joint angle, and determining the actual transmission ratio of the steel wire rope based on the angle coefficient and the theoretical transmission ratio, wherein the angle coefficient represents the slope of a straight line corresponding to the linear relationship between the theoretical joint angle and the actual joint angle;
a target lost motion clearance of the adapter is determined based on the actual gear ratio and the rotated position of the target joint.
2. The method of claim 1, wherein controlling the adapter to rotate a predetermined angle in the first direction and the second direction, respectively, such that the target joint rotates from the initial joint position to obtain the rotated position of the target joint comprises:
Controlling the adapter to rotate by the preset angle along the first direction so as to enable the target joint to rotate from the joint initial position to a first joint position;
controlling the adapter to rotate in the second direction by the preset angle so as to enable the target joint to rotate from the first joint position to a second joint position;
Controlling the adapter to continue rotating the preset angle along the second direction so as to enable the target joint to rotate from the second joint position to a third joint position;
And controlling the adapter to rotate along the first direction by the preset angle so as to enable the target joint to rotate from the third joint position to the fourth joint position, wherein the first joint position, the second joint position, the third joint position and the fourth joint position are positions of the target joint after rotation.
3. The method of claim 2, wherein the determining the target backlash of the adapter based on the actual gear ratio and the rotated position of the target joint comprises:
the target lost motion clearance is determined based on the actual gear ratio, and the fourth joint position and the second joint position.
4. A method according to claim 3, wherein said determining the target backlash based on the actual gear ratio and on the fourth joint position and the second joint position comprises:
determining a first difference between the four joint position and the second joint position;
and determining the ratio between the absolute value of the first difference value and the actual transmission ratio as the target idle stroke gap.
5. The method of claim 1, wherein said determining an angular coefficient between a theoretical joint angle and said actual joint angle comprises:
And fitting the theoretical joint angle serving as an abscissa and the actual joint angle serving as an ordinate to obtain the angle coefficient.
6. The method of claim 1 or 5, wherein said determining an actual gear ratio of the wire rope based on the angular coefficient and a theoretical gear ratio comprises:
The product between the angular coefficient and the theoretical gear ratio is determined as the actual gear ratio.
7. The method of claim 1, wherein the joint initial position comprises a first joint initial position and a second joint initial position;
the method further comprises the steps of:
Controlling the adapter to rotate a preset angle along the first direction and the second direction respectively, so that the target joint rotates by taking the initial position of the first joint as a starting point to obtain a first position of the target joint after rotation, and determining a first idle stroke gap of the adapter based on the actual transmission ratio and the first position;
Controlling the adapter to rotate a preset angle along the first direction and the second direction respectively, so that the target joint rotates by taking the initial position of the second joint as a starting point to obtain a second position of the target joint after rotation, and determining a second idle stroke gap of the adapter based on the actual transmission ratio and the second position;
And determining an average value of the first idle stroke gap and the second idle stroke gap, and determining the average value as the target idle stroke gap.
8. An instrument assembly transmission backlash and gear ratio determining device, comprising:
the control module is used for controlling the adapter to rotate a preset angle along a first direction and a second direction respectively so as to enable the target joint to rotate by taking the initial position of the joint as a starting point, and obtaining the rotated position of the target joint and the actual joint angle of the target joint, wherein the first direction is opposite to the second direction;
The determining module is used for determining an angle coefficient between a theoretical joint angle and the actual joint angle and determining an actual transmission ratio corresponding to the steel wire rope based on the angle coefficient and the theoretical transmission ratio; the angle coefficient represents the slope of a straight line corresponding to the linear relation between the theoretical joint angle and the actual joint angle, and is also used for determining the target idle stroke clearance of the adapter based on the actual transmission ratio and the position of the target joint after rotation.
9. A surgical robot comprising an instrument assembly and a control device;
The device assembly comprises a motor, an adapter, a steel wire rope and a surgical device, wherein the driving end of the adapter is connected with the output shaft of the motor, and the driven end of the adapter is connected with a target joint in the surgical device through the steel wire rope;
The control device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method according to any one of claims 1-7 when the program is executed.
10. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411907237.8A CN119632608A (en) | 2024-12-23 | 2024-12-23 | Method and device for determining transmission idle stroke and transmission ratio of instrument assembly and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411907237.8A CN119632608A (en) | 2024-12-23 | 2024-12-23 | Method and device for determining transmission idle stroke and transmission ratio of instrument assembly and surgical robot |
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| CN119632608A true CN119632608A (en) | 2025-03-18 |
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| CN202411907237.8A Pending CN119632608A (en) | 2024-12-23 | 2024-12-23 | Method and device for determining transmission idle stroke and transmission ratio of instrument assembly and surgical robot |
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| Country | Link |
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| CN (1) | CN119632608A (en) |
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