CN105824248B - A kind of impedance and the haptic feedback control method based on event - Google Patents
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Abstract
本发明公开了一种变阻抗和基于事件的触觉反馈控制方法。所述方法包括：建立力反馈设备的动力学模型，并基于所述动力学模型计算得到所述力反馈设备的补偿力/力矩Fc；根据仿真实验中作用双方的实时交互状态，实时调整从作用方的生物力学特性，由此计算主作用方与虚拟环境的交互力FVE；基于仿真实验中的事件信号确定力反馈设备的振动反馈力Fv；基于所述动力学模型，采用变阻抗和基于事件的控制方法对力反馈设备的触觉力输出进行实时控制。本发明实现了力反馈设备在仿真实验中的触感再现，有效地提高了仿真实验中力反馈设备触感的逼真度、透明度，增强了仿真实验的沉浸感。
The invention discloses a variable impedance and event-based tactile feedback control method. The method includes: establishing a dynamic model of the force feedback device, and calculating the compensation force/torque F c of the force feedback device based on the dynamic model; Based on the biomechanical characteristics of the acting party, the interaction force F VE between the main acting party and the virtual environment is calculated; the vibration feedback force F v of the force feedback device is determined based on the event signal in the simulation experiment; based on the dynamic model, the variable impedance is used and event-based control methods for real-time control of the haptic force output of force feedback devices. The invention realizes the reproduction of the tactile sensation of the force feedback device in the simulation experiment, effectively improves the fidelity and transparency of the tactile sensation of the force feedback device in the simulation experiment, and enhances the sense of immersion in the simulation experiment.
Description
技术领域technical field
本发明涉及触力觉交互技术、虚拟现实技术、机器人控制技术等领域，尤其是一种手术仿真中变阻抗和基于事件的触觉反馈控制方法。The invention relates to the fields of tactile force interaction technology, virtual reality technology, robot control technology and the like, in particular to a variable impedance and event-based tactile feedback control method in surgical simulation.
背景技术Background technique
利用虚拟现实技术对从业人员的专业技能进行培训已经取得了良好的效果，一个非常成功的例子就是使用飞行模拟器对飞行员进行培训。随着计算机和虚拟现实技术的发展，手术仿真逐渐成为医生术前演练以及技能训练的新方式。传统的手术仿真技术主要提供给用户视觉反馈，用户只能看到手术器械和生理组织的交互，却不能触摸和感觉。因此，传统虚拟交互操作与真实的手术操作相差很大，特别是医生无法根据自己的手感经验来做出判断和决策，仿真的效果不能令人满意。虽然目前国外已经有商业化的力反馈设备投入市场，但是由于手术难度大、手术器械复杂多样等原因，虚拟手术触力觉交互技术仍然面临挑战。The use of virtual reality technology to train practitioners in professional skills has achieved good results. A very successful example is the use of flight simulators to train pilots. With the development of computer and virtual reality technology, surgical simulation has gradually become a new way for doctors to perform preoperative exercises and skill training. Traditional surgical simulation technology mainly provides visual feedback to users. Users can only see the interaction between surgical instruments and physiological tissues, but cannot touch and feel them. Therefore, there is a big difference between traditional virtual interactive operation and real surgical operation, especially doctors cannot make judgments and decisions based on their own hand experience, and the effect of simulation is not satisfactory. Although commercial force feedback devices have been put into the market abroad, due to the difficulty of surgery and the complexity and variety of surgical instruments, virtual surgery haptic interaction technology still faces challenges.
目前的手术仿真技术，主要应用于术前的规划和演练以及切割和缝合技能的训练。相对来说，依赖手感经验的技能训练还较少。比如神经外科手术中常见的磨削钻，医生需要使用磨削钻磨掉手术入路的骨质结构，才能对病变结构做处理。特别是医生需要根据自己积累的手感经验对骨层的厚度做出判断，以调整自己的作用力大小。然而，由于磨削钻速度高，非常容易对病人造成伤害，年轻医生掌握该技能需要较长时间地学习与积累。The current surgical simulation technology is mainly used in preoperative planning and rehearsal as well as training of cutting and suturing skills. Relatively speaking, there are few skill trainings that rely on hand experience. For example, the common grinding drill in neurosurgery, the doctor needs to use the grinding drill to grind away the bone structure of the surgical approach in order to treat the lesion structure. In particular, doctors need to make judgments on the thickness of the bone layer based on their accumulated hand feeling experience, so as to adjust their own force. However, due to the high speed of grinding and drilling, it is very easy to cause harm to patients, and it takes a long time for young doctors to learn and accumulate this skill.
对于已有商业化的力反馈设备，往往是多用途的，设备操作手柄与手术器械相差甚远。除了设备结构需要做修改以适应手术需求外，通用型力反馈设备只能反馈相互间的作用力，并不能再现磨削钻真正的“手感”。特别是骨质结构磨削后交互力的变化无法真实的反馈到操作端，医生自然也无法根据相应的反馈力做出判断和决策。For existing commercialized force feedback devices, they are often multi-purpose, and the operating handle of the device is far from that of surgical instruments. In addition to the need to modify the structure of the device to meet the needs of the operation, the general-purpose force feedback device can only feedback the mutual force, and cannot reproduce the real "feel" of the grinding drill. In particular, the changes in the interaction force after bone structure grinding cannot be truly fed back to the operator, and doctors naturally cannot make judgments and decisions based on the corresponding feedback force.
针对传统力反馈控制方法的不足，本发明基于模型补偿的开环阻抗控制方法，对手术仿真中的电钻采用变阻抗和基于事件的触觉反馈控制方法，实现力反馈设备在手术仿真中的触感再现。Aiming at the deficiencies of the traditional force feedback control method, the present invention is based on the model compensation open-loop impedance control method, adopts the variable impedance and event-based tactile feedback control method for the electric drill in the surgical simulation, and realizes the tactile reproduction of the force feedback device in the surgical simulation .
发明内容Contents of the invention
本发明结合基于模型补偿的开环阻抗控制算法，针对手术仿真中的虚拟电钻，提出变阻抗和基于事件的触觉反馈控制方法，实现了力反馈设备在手术仿真中的触感再现。Combining with the open-loop impedance control algorithm based on model compensation, the invention proposes a variable impedance and event-based tactile feedback control method for virtual electric drills in surgical simulation, and realizes the tactile reproduction of force feedback equipment in surgical simulation.
所述变阻抗和基于事件的触觉反馈控制方法包括以下步骤：The variable impedance and event-based tactile feedback control method includes the following steps:
步骤S1：建立力反馈设备的动力学模型，并基于所述动力学模型计算得到所述力反馈设备的补偿力/力矩Fc；Step S1: Establish a dynamic model of the force feedback device, and calculate the compensation force/torque F c of the force feedback device based on the dynamic model;
步骤S2：根据仿真实验中作用双方的实时交互状态，实时调整从作用方的生物力学特性，由此计算主作用方与虚拟环境的交互力FVE；Step S2: According to the real-time interaction state of both parties in the simulation experiment, adjust the biomechanical characteristics of the slave party in real time, thereby calculating the interaction force F VE between the main party and the virtual environment;
步骤S3：基于仿真实验中的事件信号确定力反馈设备的振动反馈力Fv；Step S3: Determine the vibration feedback force F v of the force feedback device based on the event signal in the simulation experiment;
步骤S4：基于所述动力学模型，采用变阻抗和基于事件的控制方法对力反馈设备的触觉力输出进行实时控制。Step S4: Based on the dynamic model, the tactile force output of the force feedback device is controlled in real time by using variable impedance and event-based control methods.
实验证明，本发明所述的控制方法具有很强的实用价值，能够有效的对力反馈设备的输出力进行控制。与通用的阻抗控制方法相比，所述的控制方法通过调节手术仿真等仿真实验环境下的阻抗使得触感更加真实，同时，能够响应外部事件信号并产生相应的触觉反馈。另外，所述的控制方法计算量非常小，不会对复杂虚拟环境下的力渲染算法造成影响，控制的实时性可以得到保证。Experiments prove that the control method of the present invention has strong practical value and can effectively control the output force of the force feedback device. Compared with the general impedance control method, the control method makes the tactile feeling more realistic by adjusting the impedance in the simulation experiment environment such as surgery simulation, and at the same time, can respond to external event signals and generate corresponding tactile feedback. In addition, the calculation amount of the control method is very small, and will not affect the force rendering algorithm in a complex virtual environment, and the real-time performance of the control can be guaranteed.
附图说明Description of drawings
图1是根据本发明一实施例的变阻抗和基于事件的触觉反馈控制方法的原理框图；1 is a functional block diagram of a variable impedance and event-based tactile feedback control method according to an embodiment of the present invention;
图2是根据本发明一实施例的触发振动反馈的事件流程图。Fig. 2 is a flowchart of events triggering vibration feedback according to an embodiment of the present invention.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚明白，以下结合具体实施例，并参照附图，对本发明进一步详细说明。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.
本发明提出了一种变阻抗和基于事件的触觉反馈控制方法。该方法首先建立力反馈设备的动力学模型，由此计算力反馈设备的补偿力/力矩；之后根据手术仿真中磨削钻与骨质结构的实时交互状态，调整该骨质结构的生物力学特性，即阻抗函数的刚度和阻尼，由此计算虚拟环境中的交互力；最后根据手术仿真中相应的事件信号，确定振动幅值和频率，根据振动方程计算振动反馈力，在上述控制方法的基础上，对力反馈设备的输出力进行实时控制。The invention proposes a variable impedance and event-based tactile feedback control method. In this method, the dynamic model of the force feedback device is first established, and the compensation force/torque of the force feedback device is calculated; then, the biomechanical properties of the bone structure are adjusted according to the real-time interaction state between the grinding drill and the bone structure in the surgical simulation , that is, the stiffness and damping of the impedance function, from which the interaction force in the virtual environment is calculated; finally, the vibration amplitude and frequency are determined according to the corresponding event signals in the surgical simulation, and the vibration feedback force is calculated according to the vibration equation. On the basis of the above control method On the real-time control of the output force of the force feedback device.
图1是根据本发明一实施例的变阻抗和基于事件的触觉反馈控制方法的原理框图，如图1所示，所述触觉反馈控制方法包括以下步骤：FIG. 1 is a functional block diagram of a variable impedance and event-based tactile feedback control method according to an embodiment of the present invention. As shown in FIG. 1 , the tactile feedback control method includes the following steps:
步骤S1：建立力反馈设备的动力学模型，并基于所述动力学模型计算得到所述力反馈设备的补偿力/力矩Fc；Step S1: Establish a dynamic model of the force feedback device, and calculate the compensation force/torque F c of the force feedback device based on the dynamic model;
所述步骤S1进一步包含以下步骤：Said step S1 further comprises the following steps:
步骤S11：采用拉格朗日力学或者系统辨识的方法，建立力反馈设备的动力学方程，如下所示：Step S11: Using Lagrangian mechanics or system identification methods, establish the dynamic equation of the force feedback device, as follows:
其中，τ表示广义的力/力矩，θ表示广义的关节变量，M(θ)表示机构的惯性矩阵，表示关节变量的加速度，表示机构阻尼，表示关节变量的速度，G(θ)表示重力项。Among them, τ represents the generalized force/torque, θ represents the generalized joint variable, M(θ) represents the inertia matrix of the mechanism, represents the acceleration of the joint variable, Indicates the mechanism damping, represents the velocity of the joint variable, and G(θ) represents the gravity term.
由此得到力反馈设备的阻抗模型，即动力学模型，如下所示：Thus, the impedance model of the force feedback device, that is, the dynamic model, is obtained as follows:
Zm＝mms2+bms，Z m =m m s 2 +b m s,
其中，Zm表示力反馈设备的阻抗，s表示复数域的拉普拉斯变量，mm、bm分别为力反馈设备阻抗模型的惯性参数和阻尼参数。Among them, Z m represents the impedance of the force feedback device, s represents the Laplace variable in the complex domain, m m and b m are the inertial parameters and damping parameters of the force feedback device impedance model, respectively.
步骤S12：基于力反馈设备的状态输出X和动力学模型计算得到所述力反馈设备的补偿力/力矩Fc。Step S12: Calculate and obtain the compensation force/torque Fc of the force feedback device based on the state output X of the force feedback device and the dynamic model.
其中，补偿力/力矩Fc表示为：Among them, the compensation force/moment Fc is expressed as:
Fc＝ZmX。 Fc = ZmX .
该步骤中，利用实时计算的动态补偿力/力矩Fc来补偿力反馈设备本身的阻抗，从而使虚拟环境渲染的阻抗(期望输出的阻抗)与力反馈设备实际输出的阻抗尽可能的一致，保证了力反馈的真实和透明。In this step, the real-time calculated dynamic compensation force/torque F c is used to compensate the impedance of the force feedback device itself, so that the impedance rendered in the virtual environment (the expected output impedance) is as consistent as possible with the actual output impedance of the force feedback device, The authenticity and transparency of force feedback are guaranteed.
步骤S2：根据仿真实验中作用双方的实时交互状态，实时调整从作用方的生物力学特性，由此计算主作用方与虚拟环境的交互力FVE；Step S2: According to the real-time interaction state of both parties in the simulation experiment, adjust the biomechanical characteristics of the slave party in real time, thereby calculating the interaction force F VE between the main party and the virtual environment;
在本发明一实施例中，使用阻抗参数来描述从作用方的生物力学特性，且该阻抗参数是实时可变的。本实施例以手术仿真中作用双方磨削钻与骨质结构为例对所述步骤S2进行说明，该实施例中，磨削钻为主作用方，骨质结构为从作用方，在步骤S2中，根据手术仿真中磨削钻与骨质结构的实时交互状态(即当前骨密度和骨厚度)，实时调整骨质结构的生物力学特性，即其阻抗函数的刚度和阻尼，由此计算磨削钻与虚拟环境的交互力FVE，其中，所述骨质结构的可变阻抗ZVE表示为：In an embodiment of the present invention, the impedance parameter is used to describe the biomechanical characteristics of the active side, and the impedance parameter is variable in real time. In this embodiment, the step S2 is described by taking the grinding drill and the bone structure as an example of the two acting parties in the surgical simulation. In this embodiment, the grinding drill is the main acting party, and the bone structure is the secondary acting party. In step S2 In this method, according to the real-time interaction state between the grinding drill and the bone structure in the surgical simulation (that is, the current bone density and bone thickness), the biomechanical properties of the bone structure, that is, the stiffness and damping of its impedance function, are adjusted in real time, and the grinding The interaction force F VE between drilling and virtual environment, wherein, the variable impedance Z VE of the bone structure is expressed as:
ZVE＝kVE+bVEs，Z VE =k VE +b VE s,
其中，kVE、bVE分别为骨质结构的刚度系数和阻尼系数。Among them, k VE and b VE are the stiffness coefficient and damping coefficient of the bone structure, respectively.
所述磨削钻与虚拟环境的交互力FVE表示如下：The interaction force F VE between the grinding drill and the virtual environment is expressed as follows:
FVE＝ZVEX，F VE = Z VE X,
其中，X表示基于力反馈设备的状态输出。Among them, X represents the state output based on the force feedback device.
一般而言，骨质结构的刚度系数和阻尼系数随着骨密度，骨厚度的变化而变化，其变化函数可以通过实验测定或者经验估计。已有的通用力反馈控制方法只给虚拟物体固定不变的刚度和阻尼，使得操作者很难辨别骨质结构和判断骨的厚度，因为它们的“手感”是始终不变的。本发明变阻抗的控制方法可以实时调整骨质结构的生物力学特性，能够对不同状态下的骨质结构渲染不同的阻抗特性，从而能够有效地增强操作者的“手感”。Generally speaking, the stiffness coefficient and damping coefficient of bone structure change with changes in bone density and bone thickness, and the change function can be determined through experiments or estimated empirically. Existing general force feedback control methods only give fixed stiffness and damping to virtual objects, making it difficult for operators to identify bone structures and judge bone thickness, because their "feel" is always the same. The variable impedance control method of the present invention can adjust the biomechanical characteristics of the bone structure in real time, and can render different impedance characteristics to the bone structure in different states, thereby effectively enhancing the "hand feeling" of the operator.
步骤S3：基于仿真实验中的事件信号确定力反馈设备的振动反馈力Fv；Step S3: Determine the vibration feedback force F v of the force feedback device based on the event signal in the simulation experiment;
本实施例依然以手术仿真中作用双方磨削钻与骨质结构为例对所述步骤S3进行说明，该实施例中，即为基于手术仿真中的事件信号确定力反馈设备的振动反馈力Fv。In this embodiment, the step S3 is still described by taking the grinding drill and bone structure as an example of both parties in the surgical simulation. In this embodiment, the vibration feedback force F of the force feedback device is determined based on the event signal in the surgical simulation. v .
具体地，本发明采用变幅、变频的正弦信号模拟磨削钻的振动反馈力信号，该振动反馈力信号由钻头转速v和钻头与骨质结构之间的交互力FVE(即与虚拟环境的交互力)决定。所述振动反馈力信号表示如下：Specifically, the present invention adopts a variable-amplitude and variable-frequency sinusoidal signal to simulate the vibration feedback force signal of the grinding drill. The vibration feedback force signal is composed of the drill bit speed v and the interaction force F VE between the drill bit and the bone structure (that is, the interaction with the virtual environment interaction force) determines. The vibration feedback force signal is expressed as follows:
Fv＝A(v，FVE)sin(2πf(v，FVE)t)，F v =A(v, F VE ) sin(2πf(v, F VE )t),
其中，Fv为磨削钻的振动反馈力，A(v，FVE)、f(v，FVE)分别为振动的幅值和频率，且都为钻速v和交互力FVE的函数。Among them, F v is the vibration feedback force of the grinding drill, A(v, F VE ) and f(v, F VE ) are the vibration amplitude and frequency, respectively, and both are functions of the drilling speed v and the interaction force F VE .
钻头钻速v用来指示磨削钻的开关事件，钻速为零，表示电钻没有开启，因此也没有振动反馈；反之表示电钻开启，对应得到相应的振动幅值和频率。交互力FVE用来指示钻头与骨质结构的碰撞事件，交互力为零，表示没有发生碰撞，反之发生碰撞。图2展示了基于事件信号确定振动幅值和频率的流程图，即触发振动反馈的事件流程图，从图2中可以看出，所述力反馈设备在手术仿真中的事件是指磨削钻的启动、关闭事件以及钻头与骨质结构的碰撞接触事件。所述事件共包含三种状态：(1)磨削钻关闭，无振动反馈；(2)磨削钻启动，与骨质结构无碰撞，有振动反馈(振动参数2)；(3)磨削钻启动，与骨质结构有碰撞，有振动反馈(振动参数1)。The drilling speed v of the drill bit is used to indicate the switching event of the grinding drill. The drilling speed is zero, which means that the electric drill is not turned on, so there is no vibration feedback; otherwise, it means that the electric drill is turned on, and the corresponding vibration amplitude and frequency are obtained. The interaction force F VE is used to indicate the collision event between the drill bit and the bone structure. If the interaction force is zero, it means that there is no collision, otherwise there is a collision. Fig. 2 shows the flowchart of determining the vibration amplitude and frequency based on the event signal, that is, the event flowchart of triggering vibration feedback. As can be seen from Fig. 2, the event of the force feedback device in the surgical simulation refers to the grinding drill The start and stop events of the drill bit and the collision contact event of the bone structure. The event contains three states: (1) the grinding drill is closed, without vibration feedback; (2) the grinding drill is started, without collision with the bone structure, and there is vibration feedback (vibration parameter 2); (3) grinding When the drill is started, there is a collision with the bone structure, and there is vibration feedback (vibration parameter 1).
另外，手术中使用的磨削钻一般由脚踏板控制，脚踏板信号的大小决定了磨削钻转速的大小；钻头与骨质结构是否产生碰撞以及相互之间的作用力可由虚拟环境产生的交互力指示。磨削钻的振动幅值和频率随钻速和作用力的变化函数可由实验测定，也可以由经验选取合适的模拟函数。需要注意的是，任一时刻电钻的振动都不是某一频率的振动，而是同时存在某一范围内频率的振动，本控制方法实施例仅选择幅值最高的一个频率作为振动信号方程中的振动频率。In addition, the grinding drill used in the operation is generally controlled by the foot pedal, and the size of the pedal signal determines the speed of the grinding drill; whether the drill bit collides with the bone structure and the mutual force can be generated by the virtual environment interaction force indication. The variation function of the vibration amplitude and frequency of the grinding drill with the drilling speed and force can be determined by experiment, and an appropriate simulation function can also be selected by experience. It should be noted that the vibration of the electric drill at any time is not the vibration of a certain frequency, but the vibration of a certain range of frequencies at the same time. In this embodiment of the control method, only the frequency with the highest amplitude is selected as the frequency in the vibration signal equation. vibration frequency.
步骤S4：基于所述动力学模型，采用变阻抗和基于事件的控制方法对力反馈设备的触觉力输出进行实时控制。Step S4: Based on the dynamic model, the tactile force output of the force feedback device is controlled in real time by using variable impedance and event-based control methods.
所述变阻抗是指根据虚拟环境的交互确定当前周期的阻抗；所述事件是指脚踏板控制的开启、关闭事件和磨削钻与虚拟环境的碰撞事件，由图2所示流程图确定当前周期的振动幅值和频率。The variable impedance refers to the impedance of the current cycle determined according to the interaction of the virtual environment; the event refers to the opening and closing events of the pedal control and the collision event between the grinding drill and the virtual environment, which are determined by the flow chart shown in Figure 2 Vibration amplitude and frequency for the current cycle.
具体地，在该步骤中，在力反馈设备触力觉反馈控制的一个控制周期内，将步骤S1得到的补偿力/力矩Fc、步骤S2得到的主作用方与虚拟环境的交互力FVE和步骤S3得到的振动反馈力Fv这三项控制力/力矩相加作为力反馈设备控制器的输出。Specifically, in this step, within one control cycle of the haptic feedback control of the force feedback device, the compensation force/torque F c obtained in step S1 and the interaction force F VE between the main actor and the virtual environment obtained in step S2 Add the vibration feedback force F v obtained in step S3 to the three control forces/torques as the output of the force feedback device controller.
综上，在本发明一实施例中，首先根据所述动力学模型计算补偿力/力矩Fc；而后根据钻头和骨质结构的交互情况采用变阻抗算法计算交互力FVE，而后根据磨削钻钻头钻速和作用力大小确定振动幅值和频率并以此计算振动反馈力Fv，最后将这三项控制力/力矩相加作为控制器的输出，完成触力觉反馈的一个控制周期。To sum up, in one embodiment of the present invention, the compensation force/torque F c is firstly calculated according to the dynamic model; then the interaction force F VE is calculated by using the variable impedance algorithm according to the interaction between the drill bit and the bone structure, and then according to the grinding The drilling speed and force of the drill bit determine the vibration amplitude and frequency and calculate the vibration feedback force F v , and finally add the three control forces/torques as the output of the controller to complete a control cycle of tactile feedback .
以上所述的具体实施例，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施例而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.
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