NL2033941A - Method and apparatus for controlling master and slave manipulators of minimally invasive surgery robots for digestive endoscopy - Google Patents

Method and apparatus for controlling master and slave manipulators of minimally invasive surgery robots for digestive endoscopy Download PDF

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Publication number
NL2033941A
NL2033941A NL2033941A NL2033941A NL2033941A NL 2033941 A NL2033941 A NL 2033941A NL 2033941 A NL2033941 A NL 2033941A NL 2033941 A NL2033941 A NL 2033941A NL 2033941 A NL2033941 A NL 2033941A
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Prior art keywords
vector
slave manipulator
slave
coordinate
manipulator
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NL2033941A
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Dutch (nl)
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NL2033941B1 (en
Inventor
Liu Xiaotong
Sun Hudie
Sun Liping
Xu Bo
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Shanghai Univ Of Medicine & Health Sciences
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—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
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Abstract

Disclosed are a Hethod and apparatus for controlling master and slave manipulators of minimally invasive surgery robots for digestive endoscopy. The method includes: acquiring a coordinate of a first position and a coordinate of a second position; acquiring an angle of rotation and a displacement of each joint during the movement of a master manipulator from the first position to the second position according to the coordinate of the first position and the coordinate of the second position; taking the angle of rotation and the displacement of each joint of the master manipulator as control parameters for controlling the movement of the slave manipulator; controlling the slave manipulator to move from a third position to a fourth position according to the control parameters; judging whether a first vector is the same as a second vector.

Description

METHOD AND APPARATUS FOR CONTROLLING MASTER AND SLAVE MANIPULATORS
OF MINIMALLY INVASIVE SURGERY ROBOTS FOR DIGESTIVE ENDOSCOPY
TECHNICAL FIELD
The present application relates to the field of surgical ro- bots, and in particular to a method and apparatus for controlling master and slave manipulators of minimally invasive surgery robots for digestive endoscopy.
BACKGROUND ART
A master-slave teleoperation surgical robot control system is usually composed of a master manipulator console and a plurality of slave manipulator arms. The slave manipulator arms are mounted beside an operating table, and an endoscope and various surgical instruments may be mounted at the end of the slave manipulator arm and reach the lesion inside a patient through a tiny wound. A sur- geon may control the instruments at the end of the slave manipula- tor to complete various surgical operations only by operating a control end of the master manipulator, the surgeon is provided with a traditional operating environment for surgery, the surgeon may be assisted to complete more elaborate surgical actions, and the injury caused by the false operation due to fatigue or hand tremor during surgery. Meanwhile, the system is widely used be- cause of less injury and faster healing, which bring more ideal surgical results for patients.
In the prior art, a coordinate value of movement of a master manipulator is acquired, the coordinate value is then converted into a coordinate value of space where a slave manipulator is lo- cated, and the slave manipulator calculates how to move according to the coordinate value. This control mode is complex in calcula- tion, and may cause control delay.
SUMMARY
Embodiments of the present application provide a method and apparatus for controlling master and slave manipulators of mini-
mally invasive surgery robots for digestive endoscopy, in order to solve at least the problem of control delay probably caused by complex calculation for slave manipulator control in the prior art.
According to an aspect of the present application, there is provided a method for controlling master and slave manipulators of minimally invasive surgery robots for digestive endoscopy, includ- ing: acquiring a coordinate of a first position and a coordinate of a second position, wherein a master manipulator of a surgical robot moves from the first position to the second position, and master and slave manipulators of the surgical robot have corre- sponding joint structures; acquiring an angle of rotation and a displacement of each joint during the movement of the master ma- nipulator from the first position to the second position according to the coordinate of the first position and the coordinate of the second position; taking the angle of rotation and the displacement of each joint of the master manipulator as control parameters for controlling the movement of the slave manipulator, wherein the control parameters include an angle of rotation and a displacement of each joint of the slave manipulator; controlling the slave ma- nipulator to move from a third position to a fourth position ac- cording to the control parameters; judging whether a first vector is the same as a second vector after the slave manipulator moves to the fourth position, wherein a vector connecting the first po- sition with the second position is the first vector, a vector con- necting the third position with the fourth position is the second vector, the first vector being the same as the second vector means that the first vector and the second vector are in the same direc- tion and have proportional magnitudes; determining that the slave manipulator moves successfully if the first vector is the same as the second vector.
Further, if the first vector is different from the second vector, the method also includes: calibrating the slave manipula- tor.
Further, the calibrating the slave manipulator includes: sending a calibration command to the slave manipulator, wherein the calibration command carries a coordinate of a target position;
acquiring a coordinate of a current position to which the slave manipulator moves after the slave manipulator moves according to the calibration command; generating a calibration parameter ac- cording to a difference value between the coordinate of the cur- rent position and the coordinate of the target position, wherein the calibration parameter is used for calibrating the movement of the slave manipulator; calibrating the movement of the slave ma- nipulator using the calibration parameter.
Further, if the first vector is different from the second vector, the method also includes: acquiring a gap between the first vector and the second vector, wherein the gap includes an angle of directional deviation of the first vector and the second vector and a distance value of deviation; compensating the angle of rotation and the displacement of each joint of the slave manip- ulator according to the angle of deviation and the distance value of deviation.
According to another aspect of the present application, there is also provided an apparatus for controlling master and slave ma- nipulators of minimally invasive surgery robots for digestive en- doscopy, including: a first acquisition module, configured to ac- quire a coordinate of a first position and a coordinate of a sec- ond position, wherein a master manipulator of a surgical robot moves from the first position to the second position, and master and slave manipulators of the surgical robot have corresponding
Joint structures; a second acquisition module, configured to ac- quire an angle of rotation and a displacement of each joint during the movement of the master manipulator from the first position to the second position according to the coordinate of the first posi- tion and the coordinate of the second position; a first determina- tion module, configured to take the angle of rotation and the dis- placement of each joint of the master manipulator as control pa- rameters for controlling the movement of the slave manipulator, wherein the control parameters include an angle of rotation and a displacement of each joint of the slave manipulator; a control module, configured to control the slave manipulator to move from a third position to a fourth position according to the control pa- rameters; a judgment module, configured to judge whether a first vector is the same as a second vector after the slave manipulator moves to the fourth position, wherein a vector connecting the first position with the second position is the first vector, a vector connecting the third position with the fourth position is the second vector, the first vector being the same as the second vector means that the first vector and the second vector are in the same direction and have proportional magnitudes; a second de- termination module, configured to determine that the slave manipu- lator moves successfully if the first vector is the same as the second vector.
Further, the apparatus also includes: a calibration module, configured to calibrate the slave manipulator in the case where the first vector is different from the second vector.
Further, the calibration module is configured to: send a cal- ibration command to the slave manipulator, wherein the calibration command carries a coordinate of a target position; acquire a coor- dinate of a current position to which the slave manipulator moves after the slave manipulator moves according to the calibration command; generate a calibration parameter according to a differ- ence value between the coordinate of the current position and the coordinate of the target position, wherein the calibration parame- ter is used for calibrating the movement of the slave manipulator; calibrate the movement of the slave manipulator using the calibra- tion parameter.
Further, the apparatus also includes: a supplement module, configured to acquire a gap between the first vector and the sec- ond vector in the case where the first vector is different from the second vector, wherein the gap includes an angle of direction- al deviation of the first vector and the second vector and a dis- tance value of deviation; compensate the angle of rotation and the displacement of each joint of the slave manipulator according to the angle of deviation and the distance value of deviation.
According to another aspect of the present application, there is also provided a memory configured to store a program for per- forming the above-mentioned method.
According to another aspect of the present application, there is also provided a processor configured to execute a program for performing the above-mentioned method.
In embodiments of the present application, a coordinate of a first position and a coordinate of a second position are acquired, wherein a master manipulator of a surgical robot moves from the 5 first position to the second position, and master and slave manip- ulators of the surgical robot have corresponding joint structures; an angle of rotation and a displacement of each joint during the movement of the master manipulator from the first position to the second position are acquired according to the coordinate of the first position and the coordinate of the second position; the an- gle of rotation and the displacement of each joint of the master manipulator are taken as control parameters for controlling the movement of the slave manipulator, wherein the control parameters include an angle of rotation and a displacement of each joint of the slave manipulator; the slave manipulator is controlled to move from a third position to a fourth position according to the con- trol parameters; it is judged whether a first vector is the same as a second vector after the slave manipulator moves to the fourth position, wherein a vector connecting the first position with the second position is the first vector, a vector connecting the third position with the fourth position is the second vector, the first vector being the same as the second vector means that the first vector and the second vector are in the same direction and have proportional magnitudes; it is determined that the slave manipula- tor moves successfully if the first vector is the same as the sec- ond vector. By means of the present application, the problem of control delay probably caused by complex calculation for slave ma- nipulator control in the prior art is solved, thereby improving the timeliness of slave manipulator control and improving the op- eration safety of surgical robots.
BRIEF DESCRIPTION OF THE DRAWINGS
The accompanying drawings, constituting a part of the present application, serve to provide a further understanding of the pre- sent application. Exemplary embodiments of the present application and the description thereof serve to explain the present applica- tion and are not to be construed as unduly limiting the present application. In the drawings:
FIG. 1 is a flowchart of a method for controlling master and slave manipulators of minimally invasive surgery robots for diges- tive endoscopy according to an embodiment of the present applica- tion.
DETAILED DESCRIPTION OF THE EMBODIMENTS
It should be noted that embodiments in the present applica- tion and features in the embodiments may be combined with each other without conflict. The present application will now be de- scribed in detail in connection with the embodiments with refer- ence to the accompanying drawings.
It should be noted that the steps shown in the flowcharts of the drawings may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is shown in the flowcharts, the steps shown or described may be performed in an order other than that described herein in some cases.
The following embodiments may be applied to a flexible endo- scope, such as a gastroscope. The gastroscope enters the stomach through the natural cavity, mouth and esophagus of a human body without a wound. Then two operation channels are left on the gas- troscope, two slave flexible manipulator arms penetrate into the stomach through the two operation channels, the surgeon operates on two master manipulators, the actions of the two master manipu- lators are mapped one by one to two slave flexible manipulator arms, and the two slave manipulators cooperate with each other to complete corresponding technologies. The following solution may also definitely be applied to other surgical robots.
In the present embodiment, a method for controlling master and slave manipulators of minimally invasive surgery robots for digestive endoscopy is provided. FIG. 1 is a flowchart of a method for controlling master and slave manipulators of minimally inva- sive surgery robots for digestive endoscopy according to an embod- iment of the present application. As shown in FIG. 1, the steps included in FIG. 1 are described below.
In step S102, a coordinate of a first position and a coordi-
nate of a second position are acquired. A master manipulator of a surgical robot moves from the first position to the second posi- tion, and master and slave manipulators of the surgical robot have corresponding joint structures.
In step S104, an angle of rotation and a displacement of each
Joint during the movement of the master manipulator from the first position to the second position are acquired according to the co- ordinate of the first position and the coordinate of the second position.
In step S106, the angle of rotation and the displacement of each joint of the master manipulator are taken as control parame- ters for controlling the movement of the slave manipulator. The control parameters include an angle of rotation and a displacement of each joint of the slave manipulator.
In step S108, the slave manipulator is controlled to move from a third position to a fourth position according to the con- trol parameters.
In step S110, it is judged whether a first vector is the same as a second vector after the slave manipulator moves to the fourth position. A vector connecting the first position with the second position is the first vector, a vector connecting the third posi- tion with the fourth position is the second vector, the first vec- tor being the same as the second vector means that the first vec- tor and the second vector are in the same direction and have pro- portional magnitudes.
In step S112, it is determined that the slave manipulator moves successfully if the first vector is the same as the second vector.
By means of the above-mentioned steps, the problem of control delay probably caused by complex calculation for slave manipulator control in the prior art is solved, thereby improving the timeli- ness of slave manipulator control and improving the operation safety of surgical robots.
As an optional embodiment, it may be judged whether the slave manipulator is performing a surgery by means of an image transmit- ted back from an endoscope on the slave manipulator. It is deter- mined that the slave manipulator is performing the surgery if hu-
man tissues are identified from the image. In the case where the surgery is being performed, if the first vector is different from the second vector, a gap between the first vector and the second vector is acquired. The gap includes an angle of directional devi- ation of the first vector and the second vector and a distance value of deviation. The angle of rotation and the displacement of each joint of the slave manipulator are compensated according to the angle of deviation and the distance value of deviation.
In the case where the surgery is not performed, if the first vector is different from the second vector, the method also in- cludes: calibrating the slave manipulator. The first vector being different from the second vector means that the vectors are in different directions or the vectors are in the same direction but have disproportional magnitudes.
As another optional embodiment, prompt information is sent after compensating the angle of rotation and the displacement of each joint. The prompt information is used for indicating that the position of the master manipulator is to be adjusted according to the compensation for the slave manipulator. The master manipulator is adjusted based on the compensation for the slave manipulator after receiving confirmation from the operator.
In the present embodiment, optionally, the calibrating the slave manipulator includes: sending a calibration command to the slave manipulator, wherein the calibration command carries a coor- dinate of a target position; acquiring a coordinate of a current position to which the slave manipulator moves after the slave ma- nipulator moves according to the calibration command; generating a calibration parameter according to a difference value between the coordinate of the current position and the coordinate of the tar- get position, wherein the calibration parameter is used for cali- brating the movement of the slave manipulator; calibrating the movement of the slave manipulator using the calibration parameter.
As an optional embodiment, in the case where the surgical ro- bot includes two master manipulators and two slave manipulators, a configuration of an operator is acquired. Based on the configura- tion, a set of master and slave manipulators is configured into a first mode. In the first mode, master-slave control is performed using the steps shown in FIG. 1. The other set of master and slave manipulators is configured into a second mode. In the second mode, a first vector of the master manipulator from a first position to a second position is sent to a control portion of the slave manip- ulator in the case where the master manipulator moves from the first position to the second position, and the control portion of the slave manipulator calculates an angle of rotation and a dis- placement of each joint of the slave manipulator according to the first vector, and controls the slave manipulator to move according to the calculated angle and displacement.
In the case where the two sets of master and slave manipula- tors are controlled in different modes, the operator may control the first set of master and slave manipulators with either the right hand or the left hand and control the other set of master and slave manipulators with the other hand, whereby the operator may select a customary mode.
The master and slave manipulators among manipulators in the present embodiment have a total of seven joint degrees of freedom: the first three rotational degrees of freedom are arranged in par- allel to constitute a DELTA mechanism, which determines a spatial position of an end-effecter; the fourth, fifth and sixth rotation- al degrees of freedom are arranged in series and mutually orthogo- nal to a point in space to constitute a wrist structure, which de- termines an end attitude; the last degree of freedom is used for controlling the opening and closing of the end-effecter of the ro- bot.
The robot may also be controlled in seven degrees of freedom: three translational degrees of freedom, three rotational degrees of freedom and one clamping degree of freedom. The translational degrees of freedom, the rotational degrees of freedom and the clamping degrees of freedom are decoupled and mutually unrelated.
Therefore, the three translational degrees of freedom may be used to control the end position of a surgical instrument, and finally the position and attitude of each rod of a telecentric mechanism are inversely solved, so as to realize the motion control of the telecentric mechanism at the end of each slave manipulator arm of the surgical robot.
A control system collects position feedback from the master manipulator, calculates a relative position offset of the surgeon operating the master manipulator, and applies the relative posi- tion offset to the position control of the end of a distal surgi- cal instrument to implement an incremental position control mode.
As one of the control functions of the robot, a force may be generated on the master manipulator, and a force sensor may be provided at the end of the slave manipulator. When a clamping force exceeds a set value, a clamping part corresponding to the master manipulator will generate a reaction force, and the opera- tor will feel that the tissue cannot be clamped with force any longer, so as to avoid the injury to the tissue caused by clamp- ing.
The actions of the slave manipulator may also be controlled by the master manipulator in the present embodiment. In the pre- sent embodiment, the position of the end of the master manipulator is mapped to the end of the slave manipulator, and then relative positions of coordinate axes of the master manipulator respective- ly correspond to the position of the end of the master manipula- tor. By solving the inverse kinematics of the slave manipulator, an angle value of each joint of the slave manipulator may be con- verted, and the slave manipulator is controlled to move to a spec- ified position by a drive-control integrated machine, so as to achieve the purpose of operating the slave manipulator following the action of the master manipulator as if the human hand operates a clamping jaw at the end, thereby greatly improving the success rate of surgery.
The surgical robot in the present embodiment may adopt a wrist structure including an arm connector, a first wrist joint assembly, a second wrist joint assembly, a third wrist joint as- sembly, a fourth wrist joint assembly, and a clamping mechanism connector. The first wrist joint assembly includes a first driver, a first motor, a first coupling, a first shaft, a first absolute angle encoder, a first housing, and two first bevel gears. The arm connector is a strip-shaped frame body. The first housing is a rectangular hollow housing, one end of the first housing is fixed- ly connected to a bottom end of the arm connector, and a center line of the first housing along a length direction is perpendicu- lar to a center line of the arm connector along the length direc- tion. The first driver is fixedly mounted on a side wall of the first housing. The first shaft is vertically disposed on the other end of the first housing. An output end of a rotating shaft of the first motor is fixedly connected to one end of the first coupling, one first bevel gear is sheathed on the other end of the first coupling, and the other first bevel gear is sheathed on the first shaft. The first absolute angle encoder is fixedly mounted on the first housing, and a rotating shaft of the first absolute angle encoder is fixedly connected to a bottom end of the first shaft. A top end of the first shaft passes through the first housing and is fixedly mounted on the second wrist joint assembly. The two first bevel gears are meshed. The first motor, the first coupling and the two first bevel gears are fixedly mounted in the first hous- ing. The first driver is connected to the first motor via a wire.
The third wrist joint assembly is fixedly mounted on the second wrist joint assembly. The fourth wrist joint assembly is fixedly mounted on the third wrist joint assembly. The clamping mechanism connector is fixedly mounted on the fourth wrist joint assembly.
Preferably, the second wrist joint assembly includes a second driver, a second motor, a second coupling, a second shaft, a sec- ond absolute angle encoder, a second housing, and two second bevel gears. The second housing is an L-shaped housing. The second driv- er is mounted on a horizontal plate of the second housing. A top end of the first shaft is fixedly mounted on the horizontal plate of the second housing. An output end of a rotating shaft of the second motor is fixedly connected to a bottom end of the second coupling. One second bevel gear is fixedly sheathed on a top end of the second coupling, and the other second bevel gear is fixedly sheathed on the second shaft. The second absolute angle encoder is fixedly mounted on a vertical plate of the second housing, and a rotating shaft of the second absolute angle encoder is fixedly connected to one end of the second shaft. The other end of the second shaft is fixedly mounted on the third wrist joint assembly.
The second shaft is horizontally mounted on a top end of the ver- tical plate of the second housing. The second motor and the second coupling are vertically mounted in the vertical plate of the sec- ond housing, and the two second bevel gears are meshed. The second driver is connected to the second motor via a wire.
Preferably, the third wrist joint assembly includes a third driver, a third motor, a third coupling, a third shaft, a third absolute angle encoder, a third housing, and two third bevel gears. The third housing is an L-shaped housing. The second shaft is fixedly mounted on a vertical plate of the third housing. The third driver is fixedly mounted on the vertical plate of the third housing. An output end of a rotating shaft of the third motor is fixed with one end of the third coupling. One third bevel gear is fixedly sheathed on the other end of the third coupling. The third absolute angle encoder is fixedly mounted on a horizontal plate of the third housing, a rotating shaft of the third absolute angle encoder is fixedly connected to the third coupling, and the third absolute angle encoder is coaxial with the third coupling. The third motor and the third coupling are fixedly mounted in the third housing. The third driver is connected to the third motor via a wire. An upper end of the horizontal plate of the third housing is machined with a protrusion. The third shaft is verti- cally mounted on the protrusion of the horizontal plate of the third housing. A bottom end of the third shaft is fixedly sheathed with one third bevel gear, and the two third bevel gears are meshed. A top end of the third shaft is fixedly mounted on the fourth wrist joint assembly.
Preferably, the fourth wrist joint assembly includes a fourth driver, a fourth motor, a fourth coupling, a fourth shaft, a fourth absolute angle encoder, a fourth housing, and two fourth bevel gears. The fourth housing is an L-shaped housing. A side wall of a vertical plate of the fourth housing near a bottom end is machined with a rectangular parallelepiped. The fourth driver is fixedly mounted on the vertical plate of the third housing. A top end of the third shaft is fixedly mounted on the rectangular parallelepiped of the fourth housing. An cutput end of a rotating shaft of the fourth motor is fixedly connected to a bottom end of the fourth coupling. One fourth bevel gear is fixedly sheathed on a top end of the fourth coupling. The fourth absolute angle encod-
er is fixedly mounted on a top end of a horizontal plate of the fourth housing, a rotating shaft of the fourth absolute angle en- coder is fixedly mounted on the top end of the fourth coupling, and the rotating shaft of the fourth absolute angle encoder is co- axial with the fourth coupling. The other fourth bevel gear is fixedly sheathed on one end of the fourth shaft. The fourth elec- tric motor and the fourth coupling are vertically and fixedly mounted in the vertical plate of the fourth housing. The fourth driver is connected to the fourth motor via a wire. The fourth shaft is mounted in the horizontal plate of the fourth housing, and the two fourth bevel gears are meshed. The clamping mechanism connector passes through the horizontal plate of the fourth hous- ing and is fixedly connected to the other end of the fourth shaft.
The rectangular parallelepiped of the fourth housing is machined with a circular through hole, and a top end of the arm connector is machined with two circular through holes.
In the present embodiment, there is provided an electronic device including a memory and a processor. A computer program is stored in the memory. The processor is configured to execute the computer program to perform the method in the above embodiments.
The program may be executed in the processor or may be stored in the memory (otherwise referred to as a computer-readable medi- um). The computer-readable medium includes non-volatile and vola- tile, removable and non-removable media. Information may be stored in any way or by any technology. Information may be computer- readable instructions, data structures, modules of programs, or other data. Examples of the computer storage medium include, but are not limited to, a phase-change random access memory (PRAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), another type of random access memory (RAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or other memory technologies, a
CD-ROM, a digital versatile disc (DVD) or other optical memories, a cassette tape, a tape and disk memory or other magnetic memories or any other non-transport media. The non-volatile storage medium may be used for storing computing device-accessible information.
As defined herein, the computer-readable medium does not include computer-readable transitory media, such as modulated data signals and carrier waves.
These computer programs may also be loaded to a computer or another programmable data processing device, whereby processing implemented by the computer is generated by performing a series of operation steps on the computer or the other programmable device.
Thus, instructions executed on the computer or the other program- mable device provide a step of implementing functions specified in one or more flows of the flowcharts and/or one or more blocks of the block diagrams, and different steps may be implemented by dif- ferent modules correspondingly.
Such an apparatus or system is provided in the present embod- iment. The apparatus may be referred to as an apparatus for con- trolling master and slave manipulators of minimally invasive sur- gery robots for digestive endoscopy, including: a first acquisi- tion module, configured to acquire a coordinate of a first posi- tion and a coordinate of a second position, wherein a master ma- nipulator of a surgical robot moves from the first position to the second position, and master and slave manipulators of the surgical robot have corresponding joint structures; a second acquisition module, configured to acquire an angle of rotation and a displace- ment of each joint during the movement of the master manipulator from the first position to the second position according to the coordinate of the first position and the coordinate of the second position; a first determination module, configured to take the an- gle of rotation and the displacement of each joint of the master manipulator as control parameters for controlling the movement of the slave manipulator, wherein the control parameters include an angle of rotation and a displacement of each joint of the slave manipulator; a control module, configured to control the slave ma- nipulator to move from a third position to a fourth position ac- cording to the control parameters; a judgment module, configured to judge whether a first vector is the same as a second vector af- ter the slave manipulator moves to the fourth position, wherein a vector connecting the first position with the second position is the first vector, and a vector connecting the third position with the fourth position is the second vector; a second determination module, configured to determine that the slave manipulator moves successfully if the first vector is the same as the second vector.
The system or apparatus is configured to realize the func- tions of the method in the above-mentioned embodiments. Each mod- ule in the system or apparatus corresponds to each step in the method. The content that has already been described in the method will not be described in detail herein.
For example, the apparatus also includes: a calibration mod- ule, configured to calibrate the slave manipulator in the case where the first vector is different from the second vector. Op- tionally, the calibration module is configured to: send a calibra- tion command to the slave manipulator, wherein the calibration command carries a coordinate of a target position; acquire a coor- dinate of a current position to which the slave manipulator moves after the slave manipulator moves according to the calibration command; generate a calibration parameter according to a differ- ence value between the coordinate of the current position and the coordinate of the target position, wherein the calibration parame- ter is used for calibrating the movement of the slave manipulator; calibrate the movement of the slave manipulator using the calibra- tion parameter.
For another example, the apparatus also includes: a supple- ment module, configured to acquire a gap between the first vector and the second vector in the case where the first vector is dif- ferent from the second vector, wherein the gap includes an angle of directional deviation of the first vector and the second vector and a distance value of deviation; compensate for the angle of ro- tation and the displacement of each joint of the slave manipulator according to the angle of deviation and the distance value of de- viation.
By means of the present application, the problem of control delay probably caused by complex calculation for slave manipulator control in the prior art is solved, thereby improving the timeli- ness of slave manipulator control and improving the operation safety of surgical robots.
The above is merely the embodiments of the present applica- tion and is not intended to limit the present application. Various modifications and variations of the present application will occur to those skilled in the art.
Any modifications, equivalent re- placements, improvements, etc. that come within the spirit and principles of the present application are intended to be within the scope of the claims appended hereto.

Claims (10)

CONCLUSIESCONCLUSIONS 1. Werkwijze voor het aansturen van master- en slave-manipulatoren van minimaal invasieve chirurgische robots voor digestieve endo- scopie, omvattende: het verwerven van een coördinaat van een eerste positie en een co- ordinaat van een tweede positie, waarbij een master-manipulator van een chirurgische robot van de eerste positie naar de tweede positie beweegt, en master- en slave-manipulatoren van de chirur- gische robot overeenkomstige gewrichtsstructuren hebben; het verkrijgen van een rotatiehoek en een verplaatsing van elk ge- wricht tijdens de beweging van de master manipulator van de eerste positie naar de tweede positie in overeenstemming met de coördi- naat van de eerste positie en de coördinaat van de tweede positie; het nemen van de rotatiehoek en de verplaatsing van elk gewricht van de master-manipulator als besturingsparameters voor het bestu- ren van de beweging van de slave-manipulator, waarbij de bestu- ringsparameters een rotatiehoek en een verplaatsing van elk ge- wricht van de slave-manipulator omvatten; het besturen van de slave-manipulator om te bewegen van een derde positie naar een vierde positie in overeenstemming met de bestu- ringsparameters; het beoordelen of een eerste vector dezelfde is als een tweede vector nadat de slave-manipulator naar de vierde positie is ver- plaatst, waarbij een vector die de eerste positie verbindt met de tweede positie de eerste vector is, een vector die de derde posi- tie verbindt met de vierde positie de tweede vector is, waarbij geldt dat wanneer de eerste vector gelijk is aan de tweede vector, dit betekent dat de eerste vector en de tweede vector in dezelfde richting zijn en proportionele grootten hebben; het bepalen dat de slave-manipulator succesvol beweegt als de eer- ste vector dezelfde is als de tweede vector.A method of controlling master and slave manipulators of minimally invasive surgical robots for digestive endoscopy, comprising: acquiring a coordinate of a first position and a coordinate of a second position, wherein a master manipulator of a surgical robot moves from the first position to the second position, and master and slave manipulators of the surgical robot have corresponding joint structures; obtaining an angle of rotation and a displacement of each joint during movement of the master manipulator from the first position to the second position in accordance with the coordinate of the first position and the coordinate of the second position; taking the angle of rotation and the displacement of each joint of the master manipulator as control parameters for controlling the movement of the slave manipulator, the control parameters being an angle of rotation and a displacement of each joint of the slave manipulator include; controlling the slave manipulator to move from a third position to a fourth position in accordance with the control parameters; judging whether a first vector is the same as a second vector after the slave manipulator has moved to the fourth position, a vector connecting the first position to the second position being the first vector, a vector connecting the third position tie connecting to the fourth position is the second vector, where if the first vector is equal to the second vector, it means that the first vector and the second vector are in the same direction and have proportional magnitudes; determining that the slave manipulator moves successfully if the first vector is the same as the second vector. 2. Werkwijze volgens conclusie 1, waarbij, indien de eerste vector verschilt van de tweede vector, de werkwijze verder omvat: het kalibreren van de slave-manipulator.The method of claim 1, wherein if the first vector is different from the second vector, the method further comprises: calibrating the slave manipulator. 3. Werkwijze volgens conclusie 2, waarbij het kalibreren van de slave-manipulator omvat: het verzenden van een kalibratiecommando naar de slave- manipulator, waarbij het kalibratiecommando een coördinaat van een doelpositie bevat; het verwerven van een coördinaat van een huidige positie waarnaar de slave-manipulator beweegt nadat de slave-manipulator beweegt in overeenstemming met het kalibratiecommando; het genereren van een kalibratieparameter in overeenstemming met een verschilwaarde tussen de coördinaat van de huidige positie en de coördinaat van de doelpositie, waarbij de kalibratieparameter wordt gebruikt voor het kalibreren van de beweging van de slave- manipulator; het kalibreren van de beweging van de slave-manipulator met behulp van de kalibratieparameter.The method of claim 2, wherein calibrating the slave manipulator comprises: sending a calibration command to the slave manipulator, the calibration command including a coordinate of a target position; acquiring a coordinate of a current position to which the slave manipulator moves after the slave manipulator moves in accordance with the calibration command; generating a calibration parameter in accordance with a difference value between the coordinate of the current position and the coordinate of the target position, the calibration parameter being used to calibrate the movement of the slave manipulator; calibrating the movement of the slave manipulator using the calibration parameter. 4. Werkwijze volgens conclusie 1, waarbij, indien de eerste vector verschilt van de tweede vector, de werkwijze verder omvat: het verwerven van een tussenruimte tussen de eerste vector en de tweede vector, waarbij de tussenruimte een richtingsafwijkingshoek van de eerste vector en de tweede vector en een afstandswaarde van de afwijking omvat; het compenseren van de rotatiehoek en de verplaatsing van elk ge- wricht van de slave-manipulator in overeenstemming met de afwij- kingshoek en de afstandswaarde van de afwijking.The method of claim 1, wherein if the first vector is different from the second vector, the method further comprises: acquiring a gap between the first vector and the second vector, the gap being a direction deviation angle of the first vector and the second vector and a distance value of the deviation; compensating the angle of rotation and displacement of each joint of the slave manipulator in accordance with the deviation angle and the distance value of the deviation. 5. Inrichting voor het besturen van master- en slave-manipulatoren van minimaal invasieve chirurgische robots voor digestieve endo- scopie, omvattende: een eerste verwervingsmodule, ingericht om een coördinaat van een eerste positie en een coördinaat van een tweede positie te verwer- ven, waarbij een master-manipulator van een chirurgische robot zich van de eerste positie naar de tweede positie beweegt, en ma- ster- en slave-manipulatoren van de chirurgische robot overeenkom- stige gewrichtsstructuren hebben; een tweede verwervingsmodule, geconfigureerd om een rotatiehoek en een verplaatsing van elk gewricht te verkrijgen tijdens de bewe- ging van de master-manipulator van de eerste positie naar de twee- de positie volgens de coördinaat van de eerste positie en de coôr- dinaat van de tweede positie; een eerste bepalingsmodule, geconfigureerd om de rotatiehoek en de verplaatsing van elk gewricht van de master-manipulator als bestu- ringsparameters te nemen voor het besturen van de beweging van de slave-manipulator, waarbij de besturingsparameters een rotatiehoek en een verplaatsing van elk gewricht van de slave-manipulator om- vatten; een besturingsmodule, geconfigureerd om de slave-manipulator te besturen om te bewegen van een derde positie naar een vierde posi- tie in overeenstemming met de besturingsparameters; een beoordelingsmodule, geconfigureerd om te beoordelen of een eerste vector hetzelfde is als een tweede vector nadat de slave- manipulator naar de vierde positie is verplaatst, waarbij een vec- tor die de eerste positie verbindt met de tweede positie de eerste vector is, een vector die de derde positie verbindt met de vierde positie de tweede vector is, waarbij geldt dat wanneer de eerste vector hetzelfde is als de tweede vector, dit betekent dat de eer- ste vector en de tweede vector in dezelfde richting zijn en pro- portionele grootten hebben; een tweede bepalingsmodule, geconfigureerd om te bepalen dat de slave-manipulator succesvol beweegt als de eerste vector dezelfde is als de tweede vector.Apparatus for controlling master and slave manipulators of minimally invasive surgical robots for digestive endoscopy, comprising: a first acquisition module configured to acquire a coordinate of a first position and a coordinate of a second position, wherein a master manipulator of a surgical robot moves from the first position to the second position, and master and slave manipulators of the surgical robot have corresponding joint structures; a second acquisition module configured to obtain an angle of rotation and a displacement of each joint during the movement of the master manipulator from the first position to the second position according to the coordinate of the first position and the coordinate of the second position; a first determination module configured to take as control parameters the rotation angle and displacement of each joint of the master manipulator for controlling the movement of the slave manipulator, the control parameters being an angle of rotation and a displacement of each joint of the slave manipulator; a control module configured to control the slave manipulator to move from a third position to a fourth position in accordance with the control parameters; a judgment module configured to judge whether a first vector is the same as a second vector after the slave manipulator has moved to the fourth position, where a vector connecting the first position to the second position is the first vector, a vector connecting the third position to the fourth position is the second vector, where if the first vector is the same as the second vector, it means that the first vector and the second vector are in the same direction and have proportional magnitudes ; a second determination module configured to determine that the slave manipulator moves successfully if the first vector is the same as the second vector. 6. Inrichting volgens conclusie 5, verder omvattende: een kalibratiemodule, geconfigureerd om de slave-manipulator te kalibreren in het geval dat de eerste vector verschilt van de tweede vector.The apparatus of claim 5, further comprising: a calibration module configured to calibrate the slave manipulator in the event that the first vector differs from the second vector. 7. Inrichting volgens conclusie 6, waarbij de kalibratiemodule is geconfigureerd om: een kalibratiecommando naar de slave-manipulator sturen, waarbij het kalibratiecommando een coördinaat van een doelpositie bevat; een coördinaat te verwerven van een huidige positie waarnaar de slaafmanipulator beweegt nadat de slaafmanipulator beweegt in overeenstemming met het kalibratiecommando; een kalibratieparameter genereren in overeenstemming met een ver- schilwaarde tussen de coördinaat van de huidige positie en de co- ordinaat van de doelpositie, waarbij de kalibratieparameter wordt gebruikt voor het kalibreren van de beweging van de slave- manipulator; de beweging van de slave-manipulator te kalibreren met behulp van de kalibratieparameter.The apparatus of claim 6, wherein the calibration module is configured to: send a calibration command to the slave manipulator, the calibration command including a coordinate of a target position; acquire a coordinate of a current position to which the slave manipulator moves after the slave manipulator moves in accordance with the calibration command; generating a calibration parameter in accordance with a difference value between the coordinate of the current position and the coordinate of the target position, the calibration parameter being used to calibrate the movement of the slave manipulator; calibrate the movement of the slave manipulator using the calibration parameter. 8. Inrichting volgens conclusie 5, verder omvattende: een aanvullingsmodule, geconfigureerd om een tussenruimte te ver- werven tussen de eerste vector en de tweede vector in het geval dat de eerste vector verschilt van de tweede vector, waarbij de tussenruimte een richtingsafwijkingshoek van de eerste vector en de tweede vector en een afstandswaarde van de afwijking omvat; het compenseren van de rotatiehoek en de verplaatsing van elk gewricht van de slave-manipulator in overeenstemming met de afwijkingshoek en de afstandswaarde van de afwijking.The apparatus of claim 5, further comprising: an addition module configured to acquire a gap between the first vector and the second vector in the event that the first vector differs from the second vector, the gap being an angle of directional deviation from the first vector and the second vector and a distance value of the deviation; compensating the angle of rotation and the displacement of each joint of the slave manipulator in accordance with the deviation angle and the distance value of the deviation. 9. Geheugen, ingericht om een programma op te slaan voor het uit- voeren van de werkwijze volgens één van de conclusies 1 tot en metA memory arranged to store a program for performing the method according to any one of claims 1 to 4.4. 10. Processor, ingericht om een programma uit te voeren voor het uitvoeren van de werkwijze volgens één van de conclusies 1 tot en met 4.A processor arranged to execute a program for performing the method of any one of claims 1 to 4.
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