CN114454172B - Control method of tail end adapter of mechanical arm - Google Patents
Control method of tail end adapter of mechanical arm Download PDFInfo
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- CN114454172B CN114454172B CN202210179785.8A CN202210179785A CN114454172B CN 114454172 B CN114454172 B CN 114454172B CN 202210179785 A CN202210179785 A CN 202210179785A CN 114454172 B CN114454172 B CN 114454172B
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- 238000000034 method Methods 0.000 title claims abstract description 67
- 230000033001 locomotion Effects 0.000 claims abstract description 75
- 238000004590 computer program Methods 0.000 claims description 11
- 238000000926 separation method Methods 0.000 claims description 5
- 238000007428 craniotomy Methods 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 description 44
- 210000005013 brain tissue Anatomy 0.000 description 7
- 210000003625 skull Anatomy 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 102100029469 WD repeat and HMG-box DNA-binding protein 1 Human genes 0.000 description 1
- 101710097421 WD repeat and HMG-box DNA-binding protein 1 Proteins 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Mechanical Engineering (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The application relates to a control method of an end adapter of a mechanical arm. The control method includes acquiring a motion mode, and acquiring a first path if the motion mode is a planar motion mode. The first path passes through the first target point and the first cranium entry point, and the terminal adapter is located at the first location point. The first location point is located on a side of the first cranium entry point remote from the first target point. And acquiring the position information of the second target point. And obtaining a second path comprising the second target point according to the position information of the second target point and the first path. The drive end adapter moves perpendicular to the first path to a second setpoint. The second locating point is located on the second path, and the second locating point and the second target point are arranged at intervals. The control method is used for obtaining the second path according to the position information of the second target point and the first path by positioning the second target point, so that the modeling, the data acquisition and the path planning are avoided, and the time is saved.
Description
Technical Field
The application relates to the technical field of medical treatment, in particular to a control method of an end adapter of a mechanical arm.
Background
The existing technology for fine tuning targets is realized through a mechanical structure. A special mechanical structure is adapted to the mechanical arm end of the surgical robot or the stereotactic frame, and the structure provides 5 puncture paths in an orderly arrangement. One of the paths is a central path, which passes through the target point. The other four paths are respectively positioned in the four directions of the upper, lower, left and right of the central path and are separated from the central path by a fixed distance. The four peripheral paths pass through the area near the target point.
During surgery, the user performs a positioning operation in a central path. If the target position needs to be regulated, the target position is switched to four paths up, down, left and right, and the area where the four paths pass through is fixed. If the four paths cannot accurately reach the target area, modeling, data acquisition and path planning are needed again, so that the operation time is increased, and the operation efficiency is reduced.
Disclosure of Invention
Accordingly, it is necessary to provide a method for controlling the distal end adapter of the robot arm in order to solve the problem of how to improve the surgical efficiency.
A method of controlling an end adapter of a robotic arm, comprising:
Acquiring a motion mode, and if the motion mode is a plane motion mode, acquiring a first path, wherein the first path passes through a first target point and a first cranium-entering point, the terminal adapter is positioned at a first positioning point, and the first path sequentially passes through the first positioning point, the first cranium-entering point and the first target point;
and acquiring a position command, and controlling the terminal adapter to move along a first plane where the first positioning point is located according to the position command, wherein the first plane is perpendicular to the first path.
In one embodiment, if the position command includes position information of a second target point, the step of controlling the movement of the end adapter in a first plane in which the first positioning point is located according to the position command includes:
Obtaining a second path passing through the second target point according to the position information of the second target point and the first path, wherein the second path is parallel to the first path, and the second path and the first plane intersect at a second positioning point;
The end adapter is driven to move to the second positioning point.
In one embodiment, the step of driving the end adapter to move to the second anchor point comprises:
driving the end adapter to move to the second positioning point perpendicular to the first path;
After the step of driving the end adapter to move perpendicular to the first path to the second setpoint, the control method further includes:
the tip adapter is controlled to move along the second path.
In one embodiment, after the step of driving the end adapter to move to a second setpoint, the control method further comprises:
And controlling the tail end adapter to move along the second path towards the second positioning point for a certain distance, and switching the movement mode to the spherical movement mode.
In one embodiment, after the step of driving the end adapter to move to a second anchor point, if the movement mode is switched from the planar movement mode to the spherical movement mode:
And acquiring position information of a fourth cranium-entering point, controlling the terminal adapter to take the second target point as a sphere center, and taking the distance between the second target point and the second locating point as a radius to perform arc-shaped movement so as to enable the terminal adapter to move to the fourth locating point, wherein the second target point, the fourth cranium-entering point and the fourth locating point are sequentially arranged on the same straight line.
In one embodiment, the control method of the end adapter of the mechanical arm further includes:
obtaining the maximum allowable arc length;
and controlling the end adapter to lock when the arc length of the end adapter reaches the maximum allowable arc length.
In one embodiment, the step of controlling the end adapter to move to a fourth location point in an arc motion with the second target point as a center of sphere and the distance between the second target point and the second location point as a radius includes:
the end adapter is controlled to move to the fourth positioning point in steps of a first arc length.
In one embodiment, the control method of the end adapter of the mechanical arm further includes:
Acquiring the maximum allowable arc length;
acquiring the interval arc length between the second positioning point and the fourth positioning point;
the tip adapter is prevented from moving away from the second anchor point when the difference between the maximum allowable arc length and the spaced arc length is less than the first arc length.
In one embodiment, the tip adapter is controlled to move in steps of a second arc length when the difference between the maximum allowable arc length and the spacing arc length is less than the first arc length and greater than the second arc length;
Performing the step of preventing the tip adapter from moving away from the second anchor point when the difference between the maximum allowable arc length and the spaced arc length is less than the second arc length;
The second arc length is less than the first arc length.
A method of controlling an end adapter of a robotic arm, comprising:
Acquiring a motion mode, and if the motion mode is a plane motion mode, acquiring a first path, wherein the first path passes through a first target point and a first cranium-entering point, the terminal adapter is positioned at a first positioning point, and the first path sequentially passes through the first positioning point, the first cranium-entering point and the first target point;
Acquiring a position command, and controlling the terminal adapter to move along a first plane where the first positioning point is located according to the position command, wherein the first plane is perpendicular to the first path;
Obtaining a maximum allowable distance;
and controlling the end adapter to lock when the distance travelled by the end adapter in the first plane reaches the maximum allowable distance.
In one embodiment, if the position command includes position information of a second target point, the step of controlling the movement of the end adapter along a first plane in which the first positioning point is located according to the position command includes:
Obtaining a second path passing through the second target point according to the position information of the second target point and the first path, wherein the second path is parallel to the first path, and the second path and the first plane intersect at a second positioning point;
The end adapter is driven to move to the second positioning point.
In one embodiment, the step of driving the end adapter to move to the second anchor point comprises:
the end adapter is driven to move perpendicular to the first path to the second anchor point.
In one embodiment, the step of driving the end adapter to move perpendicular to the first path to the second anchor point comprises:
the end adapter is controlled to move to the second positioning point in steps of a first step size.
In one embodiment, the control method of the end adapter of the mechanical arm further includes:
acquiring the maximum allowable distance;
acquiring the interval distance between the first positioning point and the second positioning point;
And preventing the tip adapter from moving away from the first location point when the difference between the maximum allowable distance and the spacing distance is less than the first step size.
In one embodiment, the tip adapter is controlled to move stepwise in a second step when the difference between the maximum allowable distance and the separation distance is less than the first step and greater than the second step;
Performing the step of preventing the tip adapter from moving away from the first location point when the difference between the maximum allowable distance and the separation distance is less than the second step size;
The second step size is smaller than the first step size.
A method of controlling an end adapter of a robotic arm, comprising:
Acquiring a motion mode, and if the motion mode is a spherical motion mode, acquiring a first path, wherein the first path passes through a first target point and a first cranium-entering point, the terminal adapter is positioned at a first positioning point, and the first path sequentially passes through the first positioning point, the first cranium-entering point and the first target point;
Acquiring a position command, and controlling the terminal adapter to move along a first spherical surface where the first positioning point is located according to the position command;
obtaining the maximum allowable arc length;
and controlling the end adapter to lock when the arc length of the end adapter reaches the maximum allowable arc length.
In one embodiment, if the position command is the position information of the second cranium-entering point, the step of controlling the movement of the terminal adapter along the first sphere where the first positioning point is located according to the position command includes:
And controlling the tail end adapter to move to a third positioning point by taking the first target point as a sphere center and taking the distance between the first target point and the first positioning point as a radius in an arc-shaped manner, wherein the first target point, the second craniotomy point and the third positioning point are sequentially arranged on a straight line.
In one embodiment, the step of controlling the tip adapter to move to a third location point by moving the tip adapter in an arc with the first target point as a center and the distance between the first target point and the first location point as a radius comprises:
controlling the tip adapter to move stepwise in a first arc length to the third positioning point;
after the end adapter moves to the third positioning point, the control method further includes:
controlling the movement of the tip adapter toward the first target point.
In one embodiment, the method for controlling the end adapter of the mechanical arm further includes:
Acquiring the maximum allowable arc length;
acquiring a spacing arc length between the first positioning point and the third positioning point;
The tip adapter is prevented from moving away from the first location point when the difference between the maximum allowable arc length and the spacing arc length is less than the first arc length.
In one embodiment, the tip adapter is controlled to move in steps of a second arc length when the difference between the maximum allowable arc length and the spacing arc length is less than the first arc length and greater than the second arc length;
performing the step of preventing the tip adapter from moving away from the first location point when the difference between the maximum allowable arc length and the spaced arc length is less than the second arc length;
The second arc length is less than the first arc length.
A surgical robotic system includes a robotic arm and a control device. The robotic arm includes a tip adapter. The control device includes a memory and a processor. The memory stores a computer program. The processor, when executing the computer program, implements the steps of the method as described in any of the embodiments above.
A computer-readable storage medium having a computer program stored thereon. The computer program, when executed by a processor, implements the steps of the method as described in any of the embodiments above.
The control method of the tail end adapter of the mechanical arm provided by the embodiment of the application comprises the following steps: and acquiring a motion mode, and acquiring a first path if the motion mode is a plane motion mode. The first path passes through a first target point and a first cranium entry point, and the tip adapter is positioned at a first location point. The first positioning point is positioned on one side of the first cranium entry point away from the first target point. And acquiring the position information of the second target point. And obtaining a second path comprising the second target according to the position information of the second target and the first path. The second path is parallel to the first path. The end adapter is driven to move to a second anchor point. The second locating point is located on the second path, and the second locating point and the second target point are arranged at intervals. According to the control method of the tail end adapter of the mechanical arm, the second path parallel to the first path is obtained according to the position information of the second target point and the first path by positioning the second target point, so that modeling, data acquisition and path planning are avoided, and time is saved. Even if the position of the target point changes for a plurality of times, a new puncture path can be obtained rapidly, and the operation efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments or the conventional techniques of the present application, the drawings required for the descriptions of the embodiments or the conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
Fig. 1 is a flowchart of a control method of an end adapter of a robot arm according to a first embodiment of the present application;
FIG. 2 is a schematic plan view of an end adapter of the robotic arm provided in one embodiment of the application;
FIG. 3 is a flow chart of a method for controlling an end adapter of a robotic arm provided in a second embodiment of the application;
FIG. 4 is a flow chart of a method for controlling an end adapter of a robotic arm provided in a third embodiment of the application;
FIG. 5 is a flow chart of a method of controlling an end adapter of a robotic arm provided in a fourth embodiment of the application;
FIG. 6 is a flowchart of a method for controlling an end adapter of a robot arm according to a fifth embodiment of the present application;
FIG. 7 is a schematic view illustrating a planar mode switching to a spherical mode of an end adapter of the manipulator according to an embodiment of the present application;
fig. 8 is a flowchart of a control method of an end adapter of a robot arm according to a sixth embodiment of the present application;
fig. 9 is a flowchart of a control method of an end adapter of a robot arm according to a seventh embodiment of the present application;
fig. 10 is a flowchart of a control method of an end adapter of a robot arm according to an eighth embodiment of the present application;
FIG. 11 is a schematic view of a spherical mode of an end adapter of the robotic arm provided in one embodiment of the application;
Fig. 12 is a flowchart of a control method of an end adapter of a robot arm according to a ninth embodiment of the present application;
fig. 13 is a flowchart of a control method of an end adapter of a robot arm according to a tenth embodiment of the present application.
Reference numerals:
100. A mechanical arm; 110. a terminal adapter; 111. a first path; 113. a first limit point; 112. a second path; 114. a second limit point; 115. a third path; lmax, maximum allowable distance; lmax, maximum allowable arc length; 101. a first target; 102. a first cranium entry point; 103. a first location point; 201. a second target; 202. a third cranium entry point; 203. a second positioning point; 302. a fourth cranium entry point; 303. a fourth positioning point; 402. a second cranium entry point; 403. and a third positioning point.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the application, which is therefore not limited to the specific embodiments disclosed below.
The numbering of the components itself, e.g. "first", "second", etc., is used herein only to divide the objects described, and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated. In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In a robot-assisted surgery, a doctor performs an image scan of the brain of a patient. By scanning the image, the doctor can judge the relevant information of the focus. Based on information about the lesion and other information about the patient's brain. The doctor will customize the surgical plan. The surgical plan includes a plurality of puncture paths. Each puncture path comprises information such as a target point of the puncture path, a position of an cranium access point, a diameter of the path or a length of an instrument. The target spot is arranged at the focus position. The cranium entry point is arranged on the skull surface of the patient. The puncture path is also referred to as the path of the needle track. During the puncturing process, the end adapter 110 of the mechanical arm 100 needs to be positioned near the cranium access point, and then the doctor performs the puncturing operation.
Referring to fig. 1 and 2, an embodiment of the present application provides a method for controlling an end adapter 110 of a mechanical arm 100, including:
S1000, a first path 111 is acquired. The first path 111 passes through the first target point 101 and the first cranium entry point 102, and the tip adapter 110 is positioned at the first location 103. The first path 111 passes through the first localization point 103, the first cranium entry point 102, and the first target 101 in sequence.
S2000, acquiring a position command, and controlling the terminal adapter 110 to move along a first plane or a first spherical surface where the first positioning point 103 is located according to the position command, where the first plane is perpendicular to the first path 111.
According to the control method for the terminal adapter 110 of the mechanical arm 100 provided by the embodiment of the application, the terminal adapter 110 is controlled to move along the first plane or the first spherical surface where the first positioning point 103 is located according to the position command, and the first plane is perpendicular to the first path 111, so that the freedom degree of movement of the terminal adapter 110 is reduced, the re-modeling, the data acquisition and the path planning are avoided, and the time is saved. Even if the position of the target point changes for a plurality of times, a new puncture path can be obtained rapidly, and the operation efficiency is improved.
The position command includes mode information, distance information, direction information, step size information, or the like.
In one embodiment, if the position command includes position information of the second target point 201, the step of controlling the movement of the end adapter 110 along the first plane in which the first positioning point 103 is located according to the position command includes:
s200 obtains a second path 112 through the second target 201 according to the position information of the second target 201 and the first path 111. The second path 112 is parallel to the first path 111.
And S300, driving the end adapter 110 to move to the second positioning point 203.
According to the control method of the terminal adapter 110 of the mechanical arm 100, provided by the embodiment of the application, the second path 112 parallel to the first path 111 is obtained according to the position information of the second target point 201 and the first path 111 by positioning the second target point 201, so that the re-modeling, the data acquisition and the path planning are avoided, and the time is saved. Even if the position of the target point changes for a plurality of times, a new puncture path can be obtained rapidly, and the operation efficiency is improved.
The location information of the second target point 201 may include moving direction information, target location information, or the like.
The first target 101 is a primary target. The first cranium entry point 102 is the original cranium entry point. The second target 201 is a new target corrected based on the original target. The third cranium entry point 202 is a new cranium entry point corrected for the original cranium entry point. The first path 111 is the original puncture path. The second path 112 is a new puncture path.
The tip adapter 110 is used to mount surgical tools. The surgical tool includes a scalpel, a drill, or other surgical tool.
The end adapter 110 is moved to the first positioning point 103 manually or automatically.
The step of obtaining a second path 112 through the second target point 201 according to the position information of the second target point 201 and the first path 111 in the step S200 includes:
a straight line parallel to the first path 111 is made through the second target point 201. The straight line is a straight line where the second path 112 is located.
The tip adapter 110 may be moved to the straight line along a straight line or a curved line.
In one embodiment, the method for controlling the end adapter 110 of the mechanical arm 100 further includes:
S410, acquiring a safety distance, wherein the safety distance is the minimum distance between the tail end adapter 110 and the third cranium entry point 202. The tip adapter 110 is controlled to lock when the tip adapter 110 is a safe distance from the third cranium Point 202.
In one embodiment, the surgical instrument is an electric drill. After the electric drill is installed on the tail end adapter 110, the tail end adapter 110 is controlled to drive the electric drill to punch holes at the third cranium entry point 202.
In one embodiment, the step of driving the end adapter 110 to move to the second anchor point 203 in the step S300 includes:
The end adapter 110 is driven to move perpendicular to the first path 111 to the second anchor point 203. The distance from the vertical movement of the tip adaptor 110 to the second positioning point 203 is the shortest, so that the time for preparing the operation is shortened, and the working efficiency is improved.
After the step of driving the end adapter 110 to move to the second positioning point 203 perpendicular to the first path 111, the control method further includes:
the end adapter 110 is controlled to move along the second path 112.
Referring to fig. 3, in one embodiment, after the step S300, the method for controlling the end adaptor 110 of the mechanical arm 100 further includes:
s310, obtaining the maximum allowable distance Lmax.
And S320, controlling the end adapter 110 to lock when the distance travelled by the end adapter 110 in the first plane reaches the maximum allowable distance Lmax.
The maximum allowable distance Lmax is the maximum displacement that allows the end adapter 110 to move perpendicular to the first path 111. The distance travelled by the end adapter 110 is the diameter distance between the location of the end adapter 110 and the first positioning point 103.
In one embodiment, the movement of the end adapter 110 along a straight line perpendicular to the first path 111 is controlled, and then the movement range of the end adapter 110 is a circular area with the first positioning point 103 as a center point and the maximum allowable distance Lmax as a radius. The plane in which the circular area lies is perpendicular to the first path 111. The point on the edge of the circular area is the first extreme point 113. The distance between the first limiting point 113 and the first positioning point 103 is the maximum allowable distance Lmax. I.e. the end adapter 110 can only move in the circular area.
The projection area of the circular area towards the skull of the patient is the area that allows correction of the cranium entry point.
The maximum allowable distance Lmax is related to the primary target location and the structural organization near the primary target. And the projection area of the circular area corresponding to the maximum allowable distance Lmax projected to the head of the patient is a safety area. The doctor perforates the skull or resects the focus in the safe area without damaging other brain tissues or with little damage.
The maximum allowable distance Lmax is generally small. The maximum allowable distance Lmax is between 5mm and 10 mm.
In one embodiment, the end adapter 110 is manually operated by a technician, but only allows the end adapter 110 to move perpendicular to the first path 111. The technician may manually move the tip adapter 110 about the circular area.
In one embodiment, the step of driving the end adapter 110 to move perpendicular to the first path 111 to the second anchor point 203 comprises:
The control method of the terminal adapter 110 of the mechanical arm 100 controls the terminal adapter 110 to move in a stepping movement mode, so that the position information of the terminal adapter 110 can be accurately obtained by recording the steps, information delay is reduced, and safety is improved.
The first step size is smaller than the maximum allowable distance Lmax. The first step is between 0.1mm and1 mm.
Referring to fig. 4, in one embodiment, after the step S300, the method for controlling the end adaptor 110 of the mechanical arm 100 further includes:
S301, obtaining a maximum allowable distance Lmax.
S302, acquiring the interval distance between the first positioning point 103 and the second positioning point 203.
S303, when the difference between the maximum allowable distance Lmax and the spacing distance is smaller than the first step, preventing the end adapter 110 from moving away from the first positioning point 103. I.e. the end adapter 110 can only move or not move towards the first positioning point 103, avoiding that the end adapter 110 exceeds the maximum allowed distance Lmax and that a safety zone is exceeded, damaging brain tissue.
In one embodiment, the tip adapter 110 is controlled to move in steps of a second step when the difference between the maximum allowable distance Lmax and the separation distance is less than the first step and greater than the second step. The second step size is smaller than the first step size.
The step of preventing the end adapter 110 from moving away from the first location point 103 is performed when the difference between the maximum allowable distance Lmax and the separation distance is less than the second step size.
By adjusting the step size of the tip adapter 110 small, the step size of the tip adapter 110 can be increased to strive for a larger correction space for the cranium and target points.
In the above embodiment, the movement mode of the tip adapter 110 is a planar movement mode. The end adapter 110 moves vertically to the second anchor point 203 and then moves along the second path 112 parallel to the first path 111. Both the cranium entry point and the target point are corrected.
Referring to fig. 5, in one embodiment, before the step of acquiring the first path 111, the method further includes:
S001, acquiring a motion mode, and if the motion mode is a planar motion mode, executing the step of acquiring the first path 111.
Referring to fig. 6 and 7 together, in one embodiment, after the step of driving the end adapter 110 to move to the second positioning point 203, if the movement mode is switched from the planar movement mode to the spherical movement mode, then:
S400, acquiring the position information of the fourth cranium-entering point 302, and controlling the terminal adapter 110 to perform arc-shaped movement by taking the second target point 201 as a sphere center and taking the distance between the second target point 201 and the second locating point 203 as a radius, so that the terminal adapter 110 moves to the fourth locating point 303, and the second target point 201, the fourth cranium-entering point 302 and the fourth locating point 303 are sequentially arranged on the same straight line.
The movement range of the end adapter 110 in the spherical movement mode is a partial spherical surface when the end adapter 110 takes the second target point 201 as a sphere center and takes the distance between the second target point 201 and the second positioning point 203 as a radius to perform arc movement. The center of the sphere is the second target 201. The radius of the sphere is the distance between the second target point 201 and the second positioning point 203.
The connection line between the second target 201 and the fourth cranium entry point 302 is the third path 115. The intersection point of the third path 115 and the skull of the patient is a puncture target point. The puncture target is noted as a fourth cranium entry point 302.
In one embodiment, after the step of driving the end adapter 110 to move to the second anchor point 203, the control method further comprises: the end adapter 110 is controlled to move along the second path 112 for a distance towards the second positioning point 203, and then the movement mode is switched to the spherical movement mode.
By switching the movement mode, the position of the cranium entering point can be changed, and the important brain tissues between the cranium entering point and the target point can be selectively avoided, so that the safety of the operation is improved.
Referring to fig. 8, in one embodiment, the method for controlling the end adapter 110 of the mechanical arm 100 further includes:
s410, obtaining the maximum allowable arc length lmax.
S420, when the arc length of the tail end adapter 110 reaches the maximum allowable arc length lmax, controlling the tail end adapter 110 to lock so as to ensure the safety of the cranium access point position of the puncture operation.
The maximum allowable arc length lmax is the maximum displacement of arc movement with the second target point 201 as the sphere center and the distance between the second target point 201 and the second positioning point 203 as the radius.
In fig. 2, the arc length between the second anchor point 203 and the fourth anchor point 303 is the maximum allowable arc length lmax. The maximum allowable arc length lmax is related to the position of the original target spot and the brain tissue structure.
In one embodiment, the step of controlling the end adapter 110 to move to the fourth anchor point 303 by moving in an arc shape with the second target point 201 as a center of sphere and the distance between the second target point 201 and the second anchor point 203 as a radius includes:
The end adapter 110 is controlled to move in steps of a first arc length to a fourth anchor point 303.
The control method of the terminal adapter 110 of the mechanical arm 100 adopts a stepping movement mode to control the terminal adapter 110, so that the position information of the terminal adapter 110 can be accurately obtained by recording the number of steps, information delay is reduced, and safety is improved.
Referring to fig. 9, in one embodiment, the method for controlling the end adapter 110 of the mechanical arm 100 further includes:
S401, obtaining the maximum allowable arc length lmax.
S402, acquiring the interval arc length between the second positioning point 203 and the fourth positioning point 303.
S403, when the difference between the maximum allowable arc length lmax and the interval arc length is smaller than the first arc length, preventing the end adapter 110 from moving away from the second positioning point 203. I.e. the end adapter 110 can only move or not move close to the second positioning point 203, avoiding that the end adapter 110 exceeds the maximum allowable arc length lmax and that a safety area is exceeded, damaging brain tissue.
In one embodiment, the tip adapter 110 is controlled to move in steps of a second arc length when the difference between the maximum allowable arc length lmax and the spacing arc length is less than the first arc length and greater than the second arc length. The second arc length is less than the first arc length.
The step of preventing the tip adapter 110 from moving away from the second anchor point 203 is performed when the difference between the maximum allowable arc length lmax and the spaced arc length is less than the second arc length. By adjusting the stepped arc length of the tip adapter 110 to a small value, the stepped range of the tip adapter 110 can be increased to strive for a larger correction space for the cranium entry point.
In one embodiment, the method for controlling the end adapter 110 of the mechanical arm 100 further includes:
The end adapter 110 is controlled to be reset to the first positioning point 103, so that a rerouting caused by misoperation is avoided.
Referring to fig. 10 and 11, in one embodiment, if the position command is the position information of the second cranium entry point 402, the step of controlling the movement of the end adapter 110 along the first sphere where the first positioning point 103 is located according to the position command includes:
The end adaptor 110 is controlled to move to a third positioning point 403 in an arc-shaped motion with the first target point 101 as a sphere center and with a distance between the first target point 101 and the first positioning point 103 as a radius. The first target 101, the second cranium entry point 402, and the third location point 403 are sequentially arranged on a straight line.
According to the control method of the terminal adapter 110 of the mechanical arm 100 provided by the embodiment of the application, the new puncture path is obtained by positioning the second cranium-entering point 402 and the first target point 101, taking the first target point 101 as a sphere center, and taking the distance between the first target point 101 and the first positioning point 103 as a radius for arc movement. The control method of the end adapter 110 of the mechanical arm 100 avoids re-modeling, data acquisition and path planning, and saves time. Even if the position of the target point changes for a plurality of times, a new puncture path can be obtained rapidly, and the operation efficiency is improved.
Referring to fig. 12, in one embodiment, after the step S020, the method for controlling the end adaptor 110 of the mechanical arm 100 further includes:
S030, obtaining a maximum allowable arc length lmax.
S040, when the arc length of the tail end adapter 110 reaches the maximum allowable arc length lmax, controlling the tail end adapter 110 to lock so as to ensure the safety of the cranium access point position of the puncture operation.
The maximum allowable arc length lmax is the maximum displacement of arc movement with the first target point 101 as the sphere center and the distance between the first target point 101 and the first positioning point 103 as the radius.
In fig. 3, the arc length between the first positioning point 103 and the third positioning point 403 is the maximum allowable arc length lmax. The maximum allowable arc length lmax is related to the position of the original target spot and the brain tissue structure.
In one embodiment, the step of controlling the tip adaptor 110 to move to the third positioning point 403 by moving the tip adaptor 110 in an arc with the first target point 101 as a center and the distance between the first target point 101 and the first positioning point 103 as a radius includes:
The tip adapter 110 is controlled to move stepwise in a first arc length to a third positioning point 403.
After the end adapter 110 moves to the third positioning point 403, the control method further includes:
The tip adaptor 110 is controlled to move towards the first target site 101.
The control method of the terminal adapter 110 of the mechanical arm 100 adopts a stepping movement mode to control the terminal adapter 110, so that the position information of the terminal adapter 110 can be accurately obtained by recording the number of steps, information delay is reduced, and safety is improved.
Referring to fig. 13, in one embodiment, after the step S020, the method for controlling the end adaptor 110 of the mechanical arm 100 further includes:
S021, obtaining the maximum allowable arc length lmax.
S022, obtaining a spacing arc length between the first positioning point 103 and the third positioning point 403.
S023, when the difference between the maximum allowable arc length lmax and the spacing arc length is less than the first arc length, preventing the tip adapter 110 from moving away from the first detent 103. I.e. the end adapter 110 can only move or not move close to the first positioning point 103, avoiding that the end adapter 110 exceeds the maximum allowable distance Lmax and the safety area is exceeded, and damaging brain tissue.
In one embodiment, the method for controlling the end adapter 110 of the mechanical arm 100 further includes:
The tip adapter 110 is controlled to move stepwise in a second arc length when the difference between the maximum allowable arc length lmax and the spacing arc length is less than the first arc length and greater than the second arc length. The second arc length is less than the first arc length.
The step of preventing the tip adapter 110 from moving away from the first location point 103 is performed when the difference between the maximum allowable arc length lmax and the spaced arc length is less than the second arc length. By adjusting the stepped arc length of the tip adapter 110 to a small value, the stepped range of the tip adapter 110 can be increased to strive for a larger cranium point correction space.
In one embodiment, when the difference between the maximum allowable arc length and the spacing arc length is less than the first arc length and greater than a second arc length, the tip adapter 110 is controlled to move in steps at the second arc length;
performing the step of preventing the tip adapter 110 from moving away from the first detent 103 when the difference between the maximum allowable arc length and the spaced arc length is less than the second arc length; the second arc length is less than the first arc length. By adjusting the stepped arc length of the tip adapter 110 to a small value, the stepped range of the tip adapter 110 can be increased to strive for a larger correction space for the cranium entry point.
In the spherical mode, any point may be set as a target point, and the control end adapter 110 may move on the spherical surface with the target point as a center of sphere and the distance from the position of the point on the end adapter 110 to the target point as a radius.
Wherein the target point may be set as an cranium entry point, a target point, or any other point.
Wherein the end adapter 110 may be self-defining at all. The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The examples described above represent only a few embodiments of the present application and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (19)
1. A surgical robotic system comprising a robotic arm, the robotic arm comprising a tip adapter, and a control device, the control device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor when executing the computer program implements the control method of:
Acquiring a motion mode, and if the motion mode is a plane motion mode, acquiring a first path, wherein the first path passes through a first target point and a first cranium-entering point, the terminal adapter is positioned at a first positioning point, and the first path sequentially passes through the first positioning point, the first cranium-entering point and the first target point;
Acquiring a position command, and controlling the terminal adapter to move along a first plane where the first positioning point is located according to the position command, wherein the first plane is perpendicular to the first path;
if the position command includes position information of a second target point, the step of controlling the movement of the terminal adapter on the first plane where the first positioning point is located according to the position command includes:
Obtaining a second path passing through the second target point according to the position information of the second target point and the first path, wherein the second path is parallel to the first path, and the second path and the first plane intersect at a second positioning point;
driving the end adapter to move to the second positioning point;
after the step of driving the end adapter to move to a second setpoint, switching the movement mode to a spherical movement mode movement.
2. The surgical robotic system of claim 1, wherein the step of driving the tip adapter to move to the second anchor point comprises:
driving the end adapter to move to the second positioning point perpendicular to the first path;
The control method further includes:
After the step of driving the end adapter to move perpendicular to the first path to the second setpoint, controlling the end adapter to move along the second path.
3. The surgical robotic system of claim 2, wherein the control method further comprises:
After the step of driving the terminal adapter to move to the second positioning point, if the motion mode is switched from the plane motion mode to the spherical motion mode, position information of a second cranium entering point is obtained, the terminal adapter is controlled to move in an arc mode by taking the second target point as a sphere center and taking the distance between the second target point and the second positioning point as a radius, so that the terminal adapter moves to a fourth positioning point, and the second target point, the second cranium entering point and the fourth positioning point are sequentially arranged on the same straight line.
4. The surgical robotic system of claim 3, wherein the control method further comprises:
obtaining the maximum allowable arc length;
and controlling the end adapter to lock when the arc length of the end adapter reaches the maximum allowable arc length.
5. The surgical robotic system of claim 4, wherein the step of controlling the tip adapter to move in an arcuate motion about the second target point as a center of sphere and about a distance between the second target point and the second anchor point as a radius to a fourth anchor point comprises:
the end adapter is controlled to move to the fourth positioning point in steps of a first arc length.
6. The surgical robotic system of claim 5, wherein the control method further comprises:
Acquiring the maximum allowable arc length;
acquiring the interval arc length between the second positioning point and the fourth positioning point;
the tip adapter is prevented from moving away from the second anchor point when the difference between the maximum allowable arc length and the spaced arc length is less than the first arc length.
7. The surgical robotic system of claim 6, wherein the control method further comprises:
controlling the tip adapter to move stepwise in a second arc length when the difference between the maximum allowable arc length and the spaced arc length is less than the first arc length and greater than the second arc length;
Performing the step of preventing the tip adapter from moving away from the second anchor point when the difference between the maximum allowable arc length and the spaced arc length is less than the second arc length;
The second arc length is less than the first arc length.
8. A surgical robotic system comprising a robotic arm, the robotic arm comprising a tip adapter, and a control device, the control device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor when executing the computer program implements the control method of:
Acquiring a motion mode, and if the motion mode is a plane motion mode, acquiring a first path, wherein the first path passes through a first target point and a first cranium-entering point, the terminal adapter is positioned at a first positioning point, and the first path sequentially passes through the first positioning point, the first cranium-entering point and the first target point;
Acquiring a position command, and controlling the terminal adapter to move along a first plane where the first positioning point is located according to the position command, wherein the first plane is perpendicular to the first path;
Obtaining a maximum allowable distance;
and controlling the end adapter to lock when the distance travelled by the end adapter in the first plane reaches the maximum allowable distance.
9. The surgical robotic system of claim 8, wherein if the position command includes position information for a second target point, the step of controlling movement of the tip adapter along a first plane in which the first location point lies according to the position command includes:
Obtaining a second path passing through the second target point according to the position information of the second target point and the first path, wherein the second path is parallel to the first path, and the second path and the first plane intersect at a second positioning point;
The end adapter is driven to move to the second positioning point.
10. The surgical robotic system of claim 9, wherein the step of driving the tip adapter to move to the second anchor point comprises:
the end adapter is driven to move perpendicular to the first path to the second anchor point.
11. The surgical robotic system of claim 10, wherein the step of driving the tip adapter to move perpendicular to the first path to the second anchor point comprises:
the end adapter is controlled to move to the second positioning point in steps of a first step size.
12. The surgical robotic system of claim 11, wherein the control method further comprises:
acquiring the maximum allowable distance;
acquiring the interval distance between the first positioning point and the second positioning point;
And preventing the tip adapter from moving away from the first location point when the difference between the maximum allowable distance and the spacing distance is less than the first step size.
13. The surgical robotic system of claim 12, wherein the control method further comprises:
controlling the end adapter to move stepwise in a second step when the difference between the maximum allowable distance and the spacing distance is smaller than the first step and larger than the second step;
Performing the step of preventing the tip adapter from moving away from the first location point when the difference between the maximum allowable distance and the separation distance is less than the second step size;
The second step size is smaller than the first step size.
14. A surgical robotic system comprising a robotic arm, the robotic arm comprising a tip adapter, and a control device, the control device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor when executing the computer program implements the control method of:
Acquiring a motion mode, and if the motion mode is a spherical motion mode, acquiring a first path, wherein the first path passes through a first target point and a first cranium-entering point, the terminal adapter is positioned at a first positioning point, and the first path sequentially passes through the first positioning point, the first cranium-entering point and the first target point;
Acquiring a position command, and controlling the terminal adapter to move along a first spherical surface where the first positioning point is located according to the position command;
obtaining the maximum allowable arc length;
and controlling the end adapter to lock when the arc length of the end adapter reaches the maximum allowable arc length.
15. The surgical robotic system of claim 14, wherein if the position command is position information for a second cranium entry point, the step of controlling movement of the tip adapter along the first sphere where the first location point is located according to the position command comprises:
And controlling the tail end adapter to move to a third positioning point by taking the first target point as a sphere center and taking the distance between the first target point and the first positioning point as a radius in an arc-shaped manner, wherein the first target point, the second craniotomy point and the third positioning point are sequentially arranged on a straight line.
16. The surgical robotic system of claim 15, wherein the step of controlling the tip adapter to move to a third location point by arcuate movement about the first target point and about a radius that is the distance between the first target point and the first location point comprises:
controlling the tip adapter to move stepwise in a first arc length to the third positioning point;
after the end adapter moves to the third positioning point, the control method further includes:
controlling the movement of the tip adapter toward the first target point.
17. The surgical robotic system of claim 16, wherein the control method further comprises:
Acquiring the maximum allowable arc length;
acquiring a spacing arc length between the first positioning point and the third positioning point;
The tip adapter is prevented from moving away from the first location point when the difference between the maximum allowable arc length and the spacing arc length is less than the first arc length.
18. The surgical robotic system of claim 17, wherein the control method further comprises:
controlling the tip adapter to move stepwise in a second arc length when the difference between the maximum allowable arc length and the spaced arc length is less than the first arc length and greater than the second arc length;
performing the step of preventing the tip adapter from moving away from the first location point when the difference between the maximum allowable arc length and the spaced arc length is less than the second arc length;
The second arc length is less than the first arc length.
19. A computer readable storage medium having stored thereon a computer program, which when executed by a processor realizes the method steps performed by the control device of any of claims 1 to 18.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210179785.8A CN114454172B (en) | 2020-09-25 | 2020-09-25 | Control method of tail end adapter of mechanical arm |
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| CN202210179785.8A CN114454172B (en) | 2020-09-25 | 2020-09-25 | Control method of tail end adapter of mechanical arm |
| CN202011024626.8A CN112192566B (en) | 2020-09-25 | 2020-09-25 | Control method for end adapter of mechanical arm |
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| CN202011024626.8A Division CN112192566B (en) | 2020-09-25 | 2020-09-25 | Control method for end adapter of mechanical arm |
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| CN114454172A (en) | 2022-05-10 |
| CN112192566B (en) | 2022-03-01 |
| CN112192566A (en) | 2021-01-08 |
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