CN112716608B - Master-slave tracking control method for minimally invasive surgery robot - Google Patents

Master-slave tracking control method for minimally invasive surgery robot Download PDF

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CN112716608B
CN112716608B CN202110073439.7A CN202110073439A CN112716608B CN 112716608 B CN112716608 B CN 112716608B CN 202110073439 A CN202110073439 A CN 202110073439A CN 112716608 B CN112716608 B CN 112716608B
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joint
arm
slave
coordinate system
joints
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CN112716608A (en
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姜英俊
王炳强
王淑林
孙之建
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Shandong Weigao Surgical Robot Co Ltd
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Shandong Weigao Surgical Robot Co Ltd
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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
    • A61B34/37—Master-slave 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
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Abstract

The invention relates to a master-slave tracking control method for a minimally invasive surgery robot, which solves the technical problems of poor real-time performance, poor accuracy and low precision of the master-slave tracking control method of the existing minimally invasive surgery robot system. The invention is widely applied to minimally invasive surgery robots.

Description

Master-slave tracking control method for minimally invasive surgery robot
Technical Field
The invention relates to the technical field of minimally invasive surgery robots, in particular to a master-slave tracking control method for a minimally invasive surgery robot.
Background
The reference is made to a Chinese patent with an authorization announcement number of CN109091237B and a name of an auxiliary system of a minimally invasive surgical instrument, a Chinese patent with an authorization announcement number of CN109091238B and a name of an auxiliary system of a split type minimally invasive surgical instrument, a utility model patent with an authorization announcement number of CN210872029U and a name of a doctor operating table, and the minimally invasive surgical robot is designed to be an equipment system which is operated in an operating room by a doctor and controls the surgical instrument to perform an operation under an endoscope. The doctor sits in front of the doctor operation panel, and through watching the 3D image display, operates the doctor arm, and the doctor can utilize the accurate control surgical instruments of patient arm to carry out various operation actions like ordinary operation.
Referring to the patent application publication nos. CN105286999A, CN105286989A, surgical instruments can perform different functions, including clamping, resection, cutting, suturing, stapling, etc. Surgical instruments come in different configurations, including an execution tip, wrist, instrument bar, instrument box, and the like.
In the existing minimally invasive surgery robot system, a doctor outputs an action command by holding a mechanical motion input device with multiple degrees of freedom, the collected action command can be converted into joint motion information of a mechanical arm through a master-slave motion mapping algorithm, the mechanical arm follows the motion of a master mechanical arm, and the current algorithm is poor in real-time performance, accuracy and precision.
Disclosure of Invention
The invention provides a master-slave tracking control method for a minimally invasive surgery robot, which aims to solve the technical problems of poor instantaneity, poor accuracy and low precision of the master-slave tracking control method of the existing minimally invasive surgery robot system and improve the poor instantaneity, poor accuracy and precision.
The invention provides a master-slave tracking control method for a minimally invasive surgery robot, which comprises the following steps:
establishing a D-H parameter table of the main operating arm by using a D-H method, wherein the D-H parameter table comprises the connecting rod lengths a of three joints of M1, M2 and M3iOffset d of the connecting rodiAngle of rotation of connecting rod alphaMiAnd joint angle thetaMiAccording to the principle of space transformation, a homogeneous transformation matrix between two adjacent joints is obtained according to the following formula:
Figure BDA0002906744240000021
establishing transformation between each adjacent joint according to the above formula, and then solving a homogeneous transformation matrix of the terminal coordinate system of the main operating arm relative to the base coordinate system according to the following formula
Figure BDA0002906744240000022
Figure BDA0002906744240000023
Obtaining the position of the tail end of the main operating arm relative to the base coordinate system from the homogeneous transformation matrix;
will be provided with
Figure BDA0002906744240000024
The following is written:
Figure BDA0002906744240000025
then, the following steps are carried out:
Figure BDA0002906744240000026
PMthe position coordinates of the wrist of the main operation arm are obtained;
establishing a corresponding dynamic coordinate system at the tail end position point of the main operating arm, and calculating the rotation angle values theta of the three joints M4, M5 and M6 of the wrist according to the following formulaMiIndicating the posture of the wrist 4;
θMi＝AMi/μMi
wherein A isMiRepresents the amount of change, mu, of the joint encoder valueMiThe product of the joint encoder precision, the speed reduction ratio of the speed reducer and the transmission ratio of the mechanical structure;
establishing a kinematic model by a D-H parameter method aiming at the end of the operation arm from a joint S1, a joint S2 and a joint L3 of the operation arm, a joint S4, a joint S5 and a joint S6 of the wrist at the tail end of the surgical instrument, and obtaining a homogeneous transformation matrix of the tail end of the operation arm in a base coordinate system according to a homogeneous transformation matrix calculation formula
Figure BDA0002906744240000027
The rotation angle values theta of the three joints of the wrist of the surgical instrument are calculated according to the following formulaSi：
θSi＝ASi/μSi
Mapping the position base coordinate system of the master operating arm into the base coordinate system described by the slave operating arm, and obtaining a homogeneous transformation matrix of the slave operating arm after mapping as follows:
Figure BDA0002906744240000031
wherein the content of the first and second substances,
Figure BDA0002906744240000032
is a transformation matrix from the base coordinate system of the master operation arm to the base coordinate system of the slave operation arm,
Figure BDA0002906744240000033
a scale factor that is a master-slave mapping;
Figure BDA0002906744240000034
written in this form:
Figure BDA0002906744240000035
from the position coordinates of the operating arm
Figure BDA0002906744240000036
According to a homogeneous transformation matrix of the joints S1, S2 and L3 of the operation arm, which is derived from the configuration of the mechanical arm according to a D-H parameter method:
Figure BDA0002906744240000037
wherein, the following relation is further established:
psx＝xs
psy＝ys
psz＝zs
according to the three equations, the unknown parameters theta of the joints S1, S2 and L3 can be obtaineds1、θs2、ls3；
The calculation formula of the expected angle values of the wrist three joints at the tail end of the operation arm instrument is as follows:
θs4＝θM4
θs5＝θM5
θs6＝θM6
wherein, thetaM4、θM5、θM6Respectively representing the actual rotation angle values of three joints of the main operation wrist part;
and then the motion controller is used for outputting a corresponding numerical value to the slave operation arm to realize master-slave following.
The beneficial effects of the invention are: the invention discloses a simplified kinematic modeling method combining a heterogeneous mapping mode and a homogeneous mapping mode. The position part of the master-slave manipulator adopts a heterogeneous mapping mode, and the posture part of the master-slave manipulator adopts an isomorphic mapping mode. The complexity of the whole kinematics calculation process is simplified, and the real-time performance, accuracy and precision of the master-slave tracking motion control system are improved.
Further features and aspects of the present invention will become apparent from the following description of the embodiments with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a main operating arm of a minimally invasive surgical robot;
FIG. 2 is a schematic diagram of the structure of the wrist shown in FIG. 1;
FIG. 3 is a block diagram of the wrist shown in FIG. 2;
FIG. 4 is a configuration diagram of the main operating arm position adjustment;
FIG. 5 is a schematic view of the slave operating arm in a folded state;
FIG. 6 is a schematic view of the slave arm in a deployed state;
FIG. 7 is a schematic view of the slave arm in a deployed state;
FIG. 8 is a configuration view of the slave arm;
FIG. 9 is a configuration diagram of a surgical instrument;
FIG. 10 is a mechanical schematic of the surgical instrument;
FIG. 11 is a configuration diagram of the wrist.
The symbols in the drawings illustrate that:
1. the device comprises a base, 2, a first arm rod, 3, a second arm rod, 4, a wrist, 4-1, a fixed connecting rod, 4-2, a first L-shaped connecting rod, 4-3, a second L-shaped connecting rod, 4-4, a handle, 4-5, an opening and closing seat, 4-6, a first encoder, 4-7, a second encoder and 4-8, a third encoder, wherein the first arm rod is arranged on the base; 5. the connecting seat is rotated. 201. The base end base, 202, the connecting rod base, 203, the slave end connecting rod I, 204, the slave end connecting rod II, 205, the instrument installation device, 206, the instrument lifting base, 207, the surgical instrument, 208, the motor, 209 and the motor.
Detailed Description
The main operating arm applied to the invention is a doctor mechanical arm in the utility model patent with the name of doctor operating table and the publication number of CN 210872029U. The slave manipulator arm used is the mechanical arm of patent No. 201711314221.6, named the master manipulator arm for minimally invasive surgery.
As shown in fig. 1, the rear end of the first arm lever 2 is connected to the base 1 through a first joint, the first arm lever 2 can rotate on the horizontal plane, the rotation connecting base 5 is connected to the front end of the first arm lever 2 through a second joint, the rotation connecting base 5 can rotate on the horizontal plane, the second arm lever 3 is connected to the rotation connecting base 5 through a third joint, and the second arm lever 3 can rotate on the vertical plane.
In the operation process, a doctor holds the wrist 4 with a hand to operate, and the joints of the main operation arm rotate around a first joint axis 14 of the first joint, a second joint axis 15 of the second joint and a third joint axis 16 of the third joint respectively, wherein the third joint axis 16 is vertical to the gravity direction, and the first joint axis 14 and the second joint axis 15 are vertical to the ground.
As shown in figures 2 and 3, the wrist 4 comprises a fixed connecting rod 4-1, a first L-shaped connecting rod 4-2, a second L-shaped connecting rod 4-3, a handle 4-4, an opening and closing seat 4-5, a first encoder 4-6, a second encoder 4-7 and a third encoder 4-8. The wrist 4 is provided with a joint M4, a joint M5, and a joint M6.
Fig. 4 shows a main operation arm position adjustment configuration diagram, wherein the three joints M1, M2 and M3 are the first joint, the second joint and the third joint in the configuration diagram shown in fig. 1. As shown in FIGS. 3 and 11, the three joints M4, M5 and M6 are posture-adjustingAnd the 6 joint degrees of freedom respectively determine the position and the posture of the tail end of the main operation arm in a Cartesian coordinate system. According to the configuration of the main operating arm, the kinematic analysis of the main operating arm can be carried out by adopting a D-H method, and a D-H parameter table is established, wherein the D-H parameter table comprises the connecting rod lengths a of three joints of M1, M2 and M3iOffset d of the connecting rodiAngle of rotation of connecting rod alphaMiAnd joint angle thetaMi. For example, in FIG. 1, a1Denotes the distance, a, between the axis of the joint M1 and the axis of the joint M22Denotes the distance, a, between the axis of the joint M2 and the axis of the joint M33Indicating the distance between the axis of the joint M3 and the wrist 4. The link offset is the distance between two adjacent common perpendicular lines along the axial direction, and the link offset diAre all 0. Knowing the parameters of each joint, a homogeneous transformation matrix between two adjacent joints is obtained according to the principle of spatial transformation as follows.
Figure BDA0002906744240000051
The transformation between each adjacent joint is established according to the above formula, and then the controller can obtain a homogeneous transformation matrix of the coordinate system of the tail end of the main operation arm (namely the coordinate system of the wrist 4) relative to the base coordinate system according to the following formula
Figure BDA0002906744240000061
And i takes values of 1, 2 and 3, and the position of the tail end of the main operating arm relative to the base coordinate system can be obtained from the homogeneous transformation matrix.
Figure BDA0002906744240000062
Figure BDA0002906744240000063
The following can also be written:
Figure BDA0002906744240000064
then, the following steps are carried out:
Figure BDA0002906744240000065
PMi.e. the position coordinates of the wrist 4 of the main operating arm.
Establishing a corresponding dynamic coordinate system at the tail end position point of the main operating arm, and calculating the rotation angle values theta of the three joints M4, M5 and M6 of the wrist 4 according to the following formulaMiAnd represents the posture of the wrist 4.
θMi＝AMi/μMi
Wherein A isMiRepresents the amount of change, mu, of the joint encoder valueMiThe product of the joint encoder precision, the speed reduction ratio of the speed reducer and the transmission ratio of the mechanical structure. Referring to FIG. 3, θM4For the rotation angle value of the joint M4, the corresponding encoder is the first encoder 4-6, thetaM5For the value of the rotation angle of the joint M5, the corresponding encoder is the second encoder 4-7, thetaM6For the rotational angle value of the joint M6, the corresponding encoder is the third encoder 4-8.
As shown in fig. 5-7, the slave manipulator arm comprises a slave end base 201, a link base 202, a slave end link I203, a slave end link II204, an instrument lift base 206, and an instrument mounting device 205. The link base 202 is rotatably mounted at one end of the slave base 201 with its axis of rotation aligned with the direction of gravity. The surgical instrument 207 may be mounted on the instrument mounting device 205.
As shown in fig. 8, the configuration of the slave arm is such that the joint S1 is a rotary joint for moving the link base 202, the slave end link I203, the slave end link II204, and the instrument lifter base 206 in the entire lateral direction, the joint S2 is a parallelogram-shaped pivoting joint that pivots in the pitch direction about the axis (i.e., extends or folds the slave end link I203, the slave end link II204, and the instrument lifter base 206), the joint L3 is a joint for moving the instrument attachment device 205 along the instrument lifter base 206, the joints S1 and S2 define the position of the distal dead point (point P in fig. 7), and the joint L3 that moves in the vertical direction about the axis of the distal dead point defines the position of point P. Such asAs shown in fig. 9 and 10, the surgical instrument adopts a wrist degree of freedom layout of "self-transmission-deflection-end self-transmission", and the joints S4, S5 and S6 of the wrist at the end of the surgical instrument determine the posture of the end of the surgical instrument. Similarly, the slave manipulator end also adopts a D-H parameter method to establish a kinematic model of the slave manipulator, and the homogeneous transformation matrix of the tail end of the slave manipulator in the base coordinate system is obtained according to the homogeneous transformation matrix calculation formula
Figure BDA0002906744240000071
The position of the surgical instrument tip in the base coordinate system from the manipulator arm can be derived from the homogeneous transformation matrix. The rotation angle values theta of the three joints of the wrist of the surgical instrument can be calculated according to the following formulaSiAre each thetaS4、θS5、θS6And represents the posture of the wrist from the end of the manipulator instrument.
θSi＝ASi/μSi
Wherein A isSiRepresents the variation of the joint encoder value, muSiIs the product of the precision of the joint encoder, the deceleration ratio of the speed reducer and the transmission ratio of the mechanical structure.
According to the designed configurations of the main operating arm and the auxiliary operating arm, the surgical instrument and the wrist three joint axes of the isomorphic main hand at the tail end of the surgical instrument are intersected at one point, and the decoupling of the position and the posture in the kinematic analysis can be realized. By combining the structural characteristics, the invention establishes master-slave mapping with separated pose and isomorphic tail ends. In the position and motion mapping, a position base coordinate system of the master operation arm needs to be mapped into a base coordinate system described by the slave operation arm, and a homogeneous transformation matrix of the slave operation arm position is obtained after mapping as follows:
Figure BDA0002906744240000072
wherein the content of the first and second substances,
Figure BDA0002906744240000073
is a transformation matrix from the base coordinate system of the master operation arm to the base coordinate system of the slave operation arm,
Figure BDA0002906744240000074
the motion of the main manipulator is mapped into the motion of the manipulator after being reduced according to a certain proportion for the scale factor of the master-slave mapping.
Figure BDA0002906744240000075
The following can also be written:
Figure BDA0002906744240000076
from the position coordinates of the operating arm
Figure BDA0002906744240000077
A homogeneous transformation matrix of the joints S1, S2 and L3 of the operation arm is derived according to a D-H parameter method from the configuration of the mechanical arm:
Figure BDA0002906744240000081
wherein each element in the matrix is a joint 1 to joint 3 parameter (θ)s1、θs2、ls3) Is described in (1). The following relationships are established according to the above description:
psx＝xs
psy＝ys
psz＝zs
according to the three equations, the unknown parameters theta of the joints S1, S2 and L3 can be obtaineds1、θs2、ls3。
And the posture mapping of the instrument and the tail end of the main hand is realized by adopting a one-to-one mapping mode. Therefore, the calculation formula of the expected angle values of the wrist three joints at the tail end of the operation arm instrument is as follows:
θs4＝θM4
θs5＝θM5
θs6＝θM6
wherein, thetaM4、θM5、θM6Respectively representing the actual rotation angle values of the three joints of the main operating wrist. Then the motion controller is used for outputting corresponding numerical values to the slave operation arm, and the purpose of master-slave following is achieved. The invention provides a modeling method for simplifying a kinematics model of a minimally invasive surgery robot according to the concept of master-slave operation arm configuration, namely the concept of separation of postures and isomorphism of tail ends, simplifies the complexity of the whole kinematics calculation process and improves the real-time property of a motion control system.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, since various modifications and changes will be apparent to those skilled in the art.

Claims (1)

1. A master-slave tracking control method for a minimally invasive surgery robot is characterized by comprising the following steps:
establishing a D-H parameter table of the main operating arm by using a D-H method, wherein the D-H parameter table comprises the connecting rod lengths a of three joints of M1, M2 and M3iOffset d of the connecting rodiAngle of rotation of connecting rod alphaMiAnd joint angle thetaMiAccording to the principle of space transformation, a homogeneous transformation matrix between two adjacent joints is obtained according to the following formula:
Figure FDA0002906744230000011
establishing transformation between each adjacent joint according to the above formula, and then solving a homogeneous transformation matrix of the terminal coordinate system of the main operating arm relative to the base coordinate system according to the following formula
Figure FDA0002906744230000012
Figure FDA0002906744230000013
Obtaining the position of the tail end of the main operating arm relative to the base coordinate system from the homogeneous transformation matrix;
will be provided with
Figure FDA0002906744230000014
Written in this form:
Figure FDA0002906744230000015
then, the following steps are carried out:
Figure FDA0002906744230000016
PMthe position coordinates of the wrist of the main operation arm are obtained;
establishing a corresponding dynamic coordinate system at the tail end position point of the main operating arm, and calculating the rotation angle values theta of the three joints M4, M5 and M6 of the wrist according to the following formulaMiIndicating the posture of the wrist 4;
θMi＝AMi/μMi
wherein A isMiRepresents the amount of change, mu, of the joint encoder valueMiThe product of the precision of the joint encoder, the deceleration ratio of the speed reducer and the transmission ratio of the mechanical structure;
establishing a kinematic model by a D-H parameter method aiming at the end of the operation arm from a joint S1, a joint S2 and a joint L3 of the operation arm, a joint S4, a joint S5 and a joint S6 of the wrist at the tail end of the surgical instrument, and obtaining a homogeneous transformation matrix of the tail end of the operation arm in a base coordinate system according to a homogeneous transformation matrix calculation formula
Figure FDA0002906744230000021
The rotation angle values theta of the three joints of the wrist of the surgical instrument are calculated according to the following formulaSi：
θSi＝ASi/μSi
Mapping the position base coordinate system of the master operating arm into the base coordinate system described by the slave operating arm, and obtaining a homogeneous transformation matrix of the slave operating arm after mapping as follows:
Figure FDA0002906744230000022
wherein the content of the first and second substances,
Figure FDA0002906744230000023
is a transformation matrix from the base coordinate system of the master operation arm to the base coordinate system of the slave operation arm,
Figure FDA0002906744230000024
scale factors for master-slave mapping;
Figure FDA0002906744230000025
written in this form:
Figure FDA0002906744230000026
from the position coordinates of the operating arm as
Figure FDA0002906744230000027
According to a homogeneous transformation matrix of the joints S1, S2 and L3 of the operation arm, which is derived from the configuration of the mechanical arm according to a D-H parameter method:
Figure FDA0002906744230000028
wherein, the following relation is further established:
psx＝xs
psy＝ys
psz＝zs
the joints S1, S2 and S can be obtained according to the three equationsUnknown parameter θ of L3s1、θs2、ls3；
The calculation formula of the expected angle values of the wrist three joints at the tail end of the operation arm instrument is as follows:
θs4＝θM4
θs5＝θM5
θs6＝θM6
wherein, thetaM4、θM5、θM6Respectively representing the actual rotation angle values of three joints of the main operation wrist part;
and then the motion controller is used for outputting a corresponding numerical value to the slave operation arm to realize master-slave following.
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