CN106725856B - Control method and control device of surgical robot - Google Patents
Control method and control device of surgical robot Download PDFInfo
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- CN106725856B CN106725856B CN201611049293.8A CN201611049293A CN106725856B CN 106725856 B CN106725856 B CN 106725856B CN 201611049293 A CN201611049293 A CN 201611049293A CN 106725856 B CN106725856 B CN 106725856B
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Abstract
The invention discloses a control method of a surgical robot, and relates to the technical field of surgical robots. According to the control method of the surgical robot, the motion instruction and the target motion parameter for controlling the surgical robot to perform surgery are received, the actual motion parameter of the surgical robot in a three-dimensional space coordinate system is obtained according to the motion instruction, when the actual motion parameter is different from the target motion parameter, force feedback information is generated according to the actual motion parameter, the target motion parameter and a preset rigidity coefficient, and the robot is adjusted according to the force feedback information until the actual motion parameter is the same as the target motion parameter. The movement posture and the operation strength of the surgical robot can be continuously adjusted according to the force feedback information in the operation executing process, and the control precision of the surgical robot is improved.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a control method and a control device of a surgical robot.
Background
Nowadays, more and more diseases can be cured by surgery performed by surgical robots. For example, some minimally invasive surgeries, which are performed by a surgical robot, have the characteristics of smaller wound surface, quick recovery and the like, and are widely applied to the medical field. Because the existing surgical robots are driven by motors, the movement of each joint of the surgical robot is completed, and the operation in the surgical process is realized. However, as the surgical robot is applied more and more widely, the existing surgical robot cannot replace the fingers of the surgeon, and the surgeon cannot sense the operation force of the surgical robot and the tissue attribute of the surgical object during the surgery, thereby increasing the risk during the surgery performed by the surgical robot.
In summary, the existing surgical robot has the problem of low control precision.
Disclosure of Invention
The invention aims to provide a control method and a control device of a surgical robot, which aim to solve the problem of low control precision of the conventional surgical robot.
The invention is realized in such a way, a control method of a surgical robot is used for controlling the movement of the surgical robot in a three-dimensional space coordinate system and the operation force of the surgical robot in the operation process, wherein the three-dimensional space coordinate system comprises an X axis, a Y axis and a Z axis, and the control method comprises the following steps:
receiving a motion instruction and a target motion parameter for controlling the surgical robot to perform surgery, and acquiring an actual motion parameter of the surgical robot in the three-dimensional space coordinate system according to the motion instruction and the target motion parameter;
and when the actual motion parameter is different from the target motion parameter, generating force feedback information according to the actual motion parameter, the target motion parameter and a preset rigidity coefficient, and adjusting the robot according to the force feedback information until the actual motion parameter is the same as the target motion parameter.
The present invention also provides a control device for a surgical robot, which is used for controlling the movement of the surgical robot in a three-dimensional space coordinate system and the operation force of the surgical robot during a surgical procedure, wherein the three-dimensional space coordinate system includes an X axis, a Y axis and a Z axis, and the control device includes:
the acquisition module is used for receiving a motion instruction and a target motion parameter for controlling the surgical robot to perform surgery and acquiring an actual motion parameter of the surgical robot in the three-dimensional space coordinate system according to the motion instruction and the target motion parameter;
and the adjusting module is used for generating force feedback information according to the actual motion parameter, the target motion parameter and a preset rigidity coefficient when the actual motion parameter is different from the target motion parameter, and adjusting the robot according to the force feedback information until the actual motion parameter is the same as the target motion parameter.
The control method of the surgical robot comprises the steps of receiving a motion instruction and a target motion parameter for controlling the surgical robot to perform surgery, obtaining an actual motion parameter of the surgical robot in a three-dimensional space coordinate system according to the motion instruction, generating force feedback information according to the actual motion parameter, the target motion parameter and a preset rigidity coefficient when the actual motion parameter is different from the target motion parameter, and adjusting the surgical robot according to the force feedback information until the actual motion parameter is the same as the target motion parameter. The movement posture and the operation strength of the surgical robot can be continuously adjusted according to the force feedback information in the operation executing process, and the control precision of the surgical robot is improved.
Drawings
Fig. 1 is a flowchart of a control method of a surgical robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a control device of a surgical robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention aims to provide a control method and a control device of a surgical robot, which aim to solve the problem of low control precision of the conventional surgical robot.
In all embodiments of the present invention, the surgical robot may be controlled by a host computer or a remote control terminal having a control function. The operation robot is controlled to move in a three-dimensional space coordinate system and the operation force of the operation robot in the operation process through an upper computer or a terminal, wherein the three-dimensional space coordinate system comprises an X axis, a Y axis and a Z axis.
The following detailed description of implementations of the invention refers to the accompanying drawings in which:
fig. 1 shows a flow of implementing a control method of a surgical robot according to an embodiment of the present invention, and for convenience of description, only the parts related to the embodiment are shown, which are detailed as follows:
a control method of a surgical robot, the control method comprising:
s101: and receiving a motion instruction and a target motion parameter for controlling the surgical robot to perform surgery, and acquiring an actual motion parameter of the surgical robot in the three-dimensional space coordinate system according to the motion instruction and the target motion parameter.
When an operation is performed on a body to be operated, the upper computer receives a motion instruction and a target motion parameter for controlling the operation robot to perform the operation, and obtains an actual motion parameter of the operation robot in the three-dimensional space coordinate system according to the motion instruction and the target motion parameter.
In step S101, the motion command includes a timing signal for controlling the operation sequence of each of the kinematic joints or the driving motors of the surgical robot. The target motion parameters include: controlling the target position, the rotating posture and the target operating force of the surgical robot in the three-dimensional space coordinate system to make the target motion parameter DdI.e. DdThe method comprises the following steps: x is the number ofdTarget position, y, for movement of the surgical robot along the X-axisdTarget position for movement of the surgical robot along the Y-axis, zdA target position, theta, for movement of the surgical robot along the Z axisxdIs a target angle, theta, of rotation of the surgical robot about the X-axisydA target angle, theta, for rotation of the surgical robot about the Y-axiszdA target angle, phi, for the surgical robot to rotate about the Z axisdIs a target operating force of the surgical robot.
The operation force is a force applied to the body to be operated when the surgical robot performs the operation, and includes, for example, a clamping force, a cutting force, a puncturing force, and the like.
The actual motion parameters include: the surgical robot makes the actual motion parameter D according to the actual position, the rotation attitude and the actual operation force of the motion instruction and the target motion parameter in the three-dimensional space coordinate systemrI.e. DrThe method comprises the following steps: x is the number ofrFor the actual position of the surgical robot moving along the X-axis, yrFor the actual position of the surgical robot along the Y-axis, zrFor the actual position of the surgical robot moving along the Z-axis, θxrIs the actual angle of rotation of the surgical robot about the X-axis, θyrIs the actual angle of rotation of the surgical robot about the Y-axis, θzrIs the actual angle, phi, of rotation of the surgical robot about the Z axisrIs the actual operating force of the surgical robot.
It is understood that the target operation force is a force input by the surgeon for controlling the surgical robot to perform the operation while controlling the surgical robot to perform the operation on the body to be operated. The actual operation force is the force actually applied to the body to be operated by the surgical robot in the operation process after the doctor inputs the target motion parameter when the surgical robot is controlled to perform the operation.
In this embodiment, the step of acquiring the actual motion parameter of the surgical robot in the three-dimensional space coordinate system according to the motion instruction may specifically be: and carrying out inverse solution processing on the target motion parameter according to the motion instruction to obtain an inverse solution value corresponding to the motion instruction, and obtaining an actual motion parameter according to the inverse solution value.
In kinematics, the positive solution: the pose of the end effector relative to a reference coordinate system is obtained according to the known motion parameters of each joint. Inverse solution: the motion parameters of each joint are obtained according to the position and the posture of the given end effector which meets the working requirement relative to a reference coordinate system. Wherein the positive solution is different from the inverse solution in that the solving direction is opposite.
It can be understood that, the inverse solution processing is performed on the target motion parameter according to the motion instruction to obtain an inverse solution value corresponding to the motion instruction, and the actual motion parameter is obtained according to the inverse solution value, so that the actual motion parameter of each joint is obtained according to the position and the posture of the surgical robot which is given in the instruction and meets the work requirement relative to the reference coordinate system.
S120: and when the actual motion parameter is different from the target motion parameter, generating force feedback information according to the actual motion parameter, the target motion parameter and a preset rigidity coefficient, and adjusting the robot according to the force feedback information until the actual motion parameter is the same as the target motion parameter.
And when the actual motion parameter is different from the target motion parameter, the upper computer generates force feedback information according to the actual motion parameter, the target motion parameter and a preset rigidity coefficient, and adjusts the robot according to the force feedback information until the actual motion parameter is the same as the target motion parameter, so that force feedback during surgery by using the surgical robot is realized.
In step S120, the preset stiffness coefficient is a stiffness coefficient of the body to be operated when the surgical robot executes the motion command. The force feedback information is information used for adjusting the motion instruction when the surgical robot executes the motion instruction, and the motion parameter or the motion attitude of the robot is adjusted according to the force feedback information through the productivity feedback information in the process of executing the motion instruction by the surgical robot, so that the actual motion parameter is continuously close to the target motion parameter.
In order to improve the control precision of the robot, when the robot executes a motion command, force feedback information is generated in real time according to an actual motion parameter, a target motion parameter and a preset stiffness coefficient, specifically, the force feedback information is generated after the robot executes one action and before the next action, and the robot is adjusted according to the force feedback information before the next action is executed.
Further, step S120 specifically includes: generating a target difference value according to the actual motion parameter and the target motion parameter; and generating the force feedback information according to the target difference value and the rigidity coefficient.
Wherein the target difference is the difference between the target motion parameter and the actual motion parameter, i.e. the target difference is Δ D, and the target motion parameter is DdThe actual motion parameter is DrI.e. Δ D ═ Dd-Dr. The force feedback information is the product of the target difference and the stiffness coefficient, namely the force feedback information is FfbThe stiffness coefficient is KsiThe target difference is Δ D, i.e. Ffb＝Ksi·ΔD。
More specifically, a target difference value is generated according to the actual motion parameter and the target motion parameter according to the following formula:
ΔD＝Dd-Dr
where Δ D is the target difference, DdAs said object motion parameter, DrFor the actual motion parameter, Δ X is the target difference moving along the X-axis, Δ Y is the target difference moving along the Y-axis, Δ Z is the target difference moving along the Z-axis, Δ θxFor a target difference of rotation angle about said X-axis, Δ θyFor a target difference of rotation angle about said Y axis, Δ θzAnd delta phi is a target difference value of the robot operating force, wherein delta phi is a target difference value of the rotation angle around the Z axis.
xdFor target position moving along said X-axis, ydTarget position of movement along the Y axis, zdTarget position, theta, moving along said Z axisxdFor a target angle of rotation about said X axis, θydFor a target angle of rotation about the Y axis, θzdFor a target angle of rotation about said Z axis, phidIs a target operating force of the robot.
xrFor actual position of movement along said X axis, yrFor actual position of movement along said Y axis, zrFor actual position of movement along said Z axis, thetaxrFor actual angle of rotation about said X axis, θyrFor rotation about said Y axisActual angle of (theta)zrFor actual angle of rotation about said Z axis, phirIs the actual operating force of the robot.
Generating the force feedback information according to the target difference value and the stiffness coefficient according to the following formula:
Ffb＝Ksi·ΔD
wherein, FfbFor the force feedback information, KsiΔ D is the target difference for the stiffness coefficient.
Ks1Is the rigidity coefficient, K, of the surgical robot in the linear motion along the X-axis directions2Is the rigidity coefficient, K, of the surgical robot in linear motion along the Y-axis directions3Is the rigidity coefficient, K, of the surgical robot in linear motion along the Z-axis directions4Is the stiffness coefficient, K, of the surgical robot when it rotates about the X-axiss5Is the stiffness coefficient, K, of the surgical robot when rotating about the Y-axiss6Is the stiffness coefficient, K, of the surgical robot when it rotates about the Z-axiss7A stiffness coefficient when applying an operating force to the surgical robot;
Δ X is the target difference moving along the X-axis, Δ Y is the target difference moving along the Y-axis, Δ Z is the target difference moving along the Z-axis, Δ θxFor a target difference of rotation angle about said X-axis, Δ θyFor a target difference of rotation angle about said Y axis, Δ θzAnd delta phi is a target difference value of the robot operating force, wherein delta phi is a target difference value of the rotation angle around the Z axis.
Ks1Δ X is first force feedback information for adjusting the surgical robot to make linear motion along the X-axis direction, Ks2Δ Y is second force feedback information for adjusting the surgical robot to make linear motion along the Y-axis direction, Ks3Δ Z is third force feedback information for adjusting the surgical robot to make linear motion along the Z-axis direction, Ks4ΔθXFor adjusting the surgical machineFourth force feedback information, K, of the robot rotation about the X-axiss5ΔθYFor fifth force feedback information for adjusting the rotation of the surgical robot about the Y-axis, Ks6ΔθzFor sixth force feedback information for adjusting the rotation of the surgical robot about the Z-axis, Ks7And delta phi is seventh force feedback information used for adjusting the implementation operation force of the surgical robot.
In the present embodiment, the preset stiffness coefficient is related to the tissue configuration of the body to be operated, i.e., related to the physiological configuration of the body to be operated. Different bodies to be operated correspond to different preset rigidity coefficients, and when the actual motion parameters are the same as the target motion parameters, the generated force feedback information is different due to the fact that the preset rigidity coefficients are different.
When a surgical robot is used to perform a surgical operation on a body to be operated, the robot needs to contact the body to be operated, and even needs to perform operations such as clamping, cutting, or puncturing. Due to the difference of tissue structures or physiological forms of all parts of the body to be operated, when the robot applies operating force to the body to be operated from a plurality of angles or directions, due to the difference of the directions, the preset rigidity coefficients are different, and the effects achieved by the same operating force are inconsistent.
For example, when the surgical robot is used to perform two cutting forces with mutually perpendicular motion directions on the triceps surae of the patient, and the corresponding target motion parameters of the two cutting forces performed by the surgical robot are the same, the two cutting forces have different cutting effects on the triceps surae of the patient due to different stress directions and different effects between the muscle trend of the triceps surae of the patient and the motion directions of the two cutting forces.
The control method of the surgical robot comprises the steps of receiving a motion instruction and a target motion parameter for controlling the surgical robot to perform surgery, obtaining an actual motion parameter of the surgical robot in a three-dimensional space coordinate system according to the motion instruction, generating force feedback information according to the actual motion parameter, the target motion parameter and a preset rigidity coefficient when the actual motion parameter is different from the target motion parameter, and adjusting the surgical robot according to the force feedback information until the actual motion parameter is the same as the target motion parameter. The movement posture and the operation strength of the surgical robot can be continuously adjusted according to the force feedback information in the operation executing process, and the control precision of the surgical robot is improved.
The success rate of the operation can be ensured while the control precision is further improved by acquiring multi-aspect force feedback information.
The present embodiment also aims to provide a control device for a robot, which corresponds to the control method shown in fig. 1.
Fig. 2 is a schematic structural diagram of a control device of a robot according to an embodiment of the present invention, and as shown in fig. 2, a control device 100 of a surgical robot includes: an acquisition module 10 and an adjustment module 20. Specifically, the method comprises the following steps:
the obtaining module 10 is configured to receive a motion instruction and a target motion parameter for controlling the surgical robot to perform a surgical operation, and obtain an actual motion parameter of the surgical robot in the three-dimensional space coordinate system according to the motion instruction and the target motion parameter.
The motion commands include timing signals for controlling the operation sequence of the various kinematic joints or drive motors of the surgical robot. The target motion parameters include: controlling the target position, the rotating posture and the target operating force of the surgical robot in the three-dimensional space coordinate system to make the target motion parameter DdI.e. DdThe method comprises the following steps: x is the number ofdTarget position, y, for movement of the surgical robot along the X-axisdTarget position for movement of the surgical robot along the Y-axis, zdA target position, theta, for movement of the surgical robot along the Z axisxdIs a target angle, theta, of rotation of the surgical robot about the X-axisydA target angle, theta, for rotation of the surgical robot about the Y-axiszdA target angle, phi, for the surgical robot to rotate about the Z axisdIs a target operating force of the surgical robot.
And the inverse solution unit is used for carrying out inverse solution processing on the target motion parameter according to the motion instruction to obtain an inverse solution value corresponding to the motion instruction, and obtaining an actual motion parameter according to the inverse solution value.
The operation force is a force applied to the body to be operated when the surgical robot performs the operation, and includes, for example, a clamping force, a cutting force, a puncturing force, and the like.
The actual motion parameters include: the surgical robot makes the actual motion parameter D according to the actual position, the rotation attitude and the actual operation force of the motion instruction and the target motion parameter in the three-dimensional space coordinate systemrI.e. DrThe method comprises the following steps: x is the number ofrFor the actual position of the surgical robot moving along the X-axis, yrFor the actual position of the surgical robot along the Y-axis, zrFor the actual position of the surgical robot moving along the Z-axis, θxrIs the actual angle of rotation of the surgical robot about the X-axis, θyrIs the actual angle of rotation of the surgical robot about the Y-axis, θzrIs the actual angle, phi, of rotation of the surgical robot about the Z axisrIs the actual operating force of the surgical robot.
It is understood that the target operation force is a force input by the surgeon for controlling the surgical robot to perform the operation while controlling the surgical robot to perform the operation on the body to be operated. The actual operation force is the force which is actually applied to the body to be operated by the surgical robot in the operation process after the doctor inputs the target motion parameters when the surgical robot is controlled to operate.
In this embodiment, the step of acquiring the actual motion parameter of the surgical robot in the three-dimensional space coordinate system according to the motion instruction may specifically be: and carrying out inverse solution processing on the target motion parameter according to the motion instruction to obtain an inverse solution value corresponding to the motion instruction, and obtaining an actual motion parameter according to the inverse solution value.
In kinematics, the positive solution: the pose of the end effector relative to a reference coordinate system is obtained according to the known motion parameters of each joint. Inverse solution: the motion parameters of each joint are obtained according to the position and the posture of the given end effector which meets the working requirement relative to a reference coordinate system. Wherein the positive solution is different from the inverse solution in that the solving direction is opposite.
It can be understood that, the inverse solution processing is performed on the target motion parameter according to the motion instruction to obtain an inverse solution value corresponding to the motion instruction, and the actual motion parameter is obtained according to the inverse solution value, so that the motion parameter of each joint is obtained according to the position and the posture of the surgical robot which is given in the instruction and meets the work requirement relative to the reference coordinate system.
And the adjusting module 20 is configured to generate force feedback information according to the actual motion parameter, the target motion parameter and a preset stiffness coefficient when the actual motion parameter is different from the target motion parameter, and adjust the robot according to the force feedback information until the actual motion parameter is the same as the target motion parameter.
Further, the adjusting module 20 includes:
and the target difference value unit is used for generating a target difference value according to the actual motion parameter and the target motion parameter.
And the force feedback information unit is used for generating the force feedback information according to the target difference value and the rigidity coefficient.
Wherein the target difference is the difference between the target motion parameter and the actual motion parameter, i.e. the target difference is Δ D, and the target motion parameter is DdThe actual motion parameter is DrI.e. Δ D ═ Dd-Dr. The force feedback information is the product of the target difference and the stiffness coefficient, namely the force feedback information is FfbThe stiffness coefficient is KsiThe target difference is Δ D, i.e. Ffb＝Ksi·ΔD。
More specifically, a target difference value is generated according to the actual motion parameter and the target motion parameter according to the following formula:
ΔD＝Dd-Dr
where Δ D is the target difference, DdAs said object motion parameter, DrFor the actual motion parameter, Δ X is the target difference moving along the X-axis, Δ Y is the target difference moving along the Y-axis, Δ Z is the target difference moving along the Z-axis, Δ θxFor a target difference of rotation angle about said X-axis, Δ θyFor a target difference of rotation angle about said Y axis, Δ θzAnd delta phi is a target difference value of the robot operating force, wherein delta phi is a target difference value of the rotation angle around the Z axis.
xdFor target position moving along said X-axis, ydTarget position of movement along the Y axis, zdTarget position, theta, moving along said Z axisxdFor a target angle of rotation about said X axis, θydFor a target angle of rotation about the Y axis, θzdFor a target angle of rotation about said Z axis, phidIs a target operating force of the robot.
xrFor actual position of movement along said X axis, yrFor actual position of movement along said Y axis, zrFor actual position of movement along said Z axis, thetaxrFor actual angle of rotation about said X axis, θyrFor actual angle of rotation about the Y axis, θzrFor actual angle of rotation about said Z axis, phirIs the actual operating force of the robot.
Generating the force feedback information according to the target difference value and the stiffness coefficient according to the following formula:
Ffb＝Ksi·ΔD
wherein, FfbFor the force feedback information, KsiΔ D is the target difference for the stiffness coefficient.
Ks1Is the rigidity coefficient, K, of the surgical robot in the linear motion along the X-axis directions2Is the rigidity coefficient, K, of the surgical robot in linear motion along the Y-axis directions3Is the rigidity coefficient, K, of the surgical robot in linear motion along the Z-axis directions4Is the stiffness coefficient, K, of the surgical robot when it rotates about the X-axiss5Is the stiffness coefficient, K, of the surgical robot when rotating about the Y-axiss6Is the stiffness coefficient, K, of the surgical robot when it rotates about the Z-axiss7A stiffness coefficient when applying an operating force to the surgical robot;
Δ X is the target difference moving along the X-axis, Δ Y is the target difference moving along the Y-axis, Δ Z is the target difference moving along the Z-axis, Δ θxFor a target difference of rotation angle about said X-axis, Δ θyFor a target difference of rotation angle about said Y axis, Δ θzAnd delta phi is a target difference value of the robot operating force, wherein delta phi is a target difference value of the rotation angle around the Z axis.
Ks1Δ X is first force feedback information for adjusting the surgical robot to make linear motion along the X-axis direction, Ks2Δ Y is second force feedback information for adjusting the surgical robot to make linear motion along the Y-axis direction, Ks3Δ Z is third force feedback information for adjusting the surgical robot to make linear motion along the Z-axis direction, Ks4ΔθXFor fourth force feedback information for adjusting the rotation of the surgical robot about the X-axis, Ks5ΔθYFor fifth force feedback information for adjusting the rotation of the surgical robot about the Y-axis, Ks6ΔθzFor sixth force feedback information for adjusting the rotation of the surgical robot about the Z-axis, Ks7And delta phi is seventh force feedback information used for adjusting the implementation operation force of the surgical robot.
The control method of the surgical robot comprises the steps of receiving a motion instruction and a target motion parameter for controlling the surgical robot to perform surgery, obtaining an actual motion parameter of the surgical robot in a three-dimensional space coordinate system according to the motion instruction, generating force feedback information according to the actual motion parameter, the target motion parameter and a preset rigidity coefficient when the actual motion parameter is different from the target motion parameter, and adjusting the surgical robot according to the force feedback information until the actual motion parameter is the same as the target motion parameter. The movement posture and the operation strength of the surgical robot can be continuously adjusted according to the force feedback information in the operation executing process, and the control precision of the surgical robot is improved.
Those of ordinary skill in the art will understand that: the steps or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, the program may be stored in a computer-readable storage medium, and when executed, the program performs the steps including the above method embodiments, and the storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
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 invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (4)
1. A control device of a surgical robot, which is used for controlling the movement of the surgical robot in a three-dimensional space coordinate system and the operation force of the surgical robot in a surgical process, wherein the three-dimensional space coordinate system comprises an X axis, a Y axis and a Z axis, and is characterized in that the control device comprises:
the acquisition module is used for receiving a motion instruction and a target motion parameter for controlling the surgical robot to perform surgery and acquiring an actual motion parameter of the surgical robot in the three-dimensional space coordinate system according to the motion instruction and the target motion parameter; the target motion parameters include: controlling the target position, the rotating posture and the target operating force of the surgical robot moving in a three-dimensional space coordinate system; the actual motion parameters include: the surgical robot moves in a three-dimensional space coordinate system according to the motion instruction and the target motion parameter, and moves in the actual position, the rotation posture and the actual operation force;
the adjusting module is used for generating force feedback information according to the actual motion parameter, the target motion parameter and a preset rigidity coefficient when the actual motion parameter is different from the target motion parameter, and adjusting the robot according to the force feedback information until the actual motion parameter is the same as the target motion parameter;
the adjustment module includes:
the target difference value unit is used for generating a target difference value according to the actual motion parameter and the target motion parameter;
the force feedback information unit is used for generating the force feedback information according to the target difference value and the preset rigidity coefficient, the preset rigidity coefficient is set according to the body to be operated, and different bodies to be operated correspond to different preset rigidity coefficients; the preset stiffness coefficient is the stiffness coefficient of the body to be operated when the operation robot executes the motion command.
2. The control device of a surgical robot according to claim 1, wherein the acquisition module comprises:
and the inverse solution unit is used for carrying out inverse solution processing on the target motion parameter according to the motion instruction to obtain an inverse solution value corresponding to the motion instruction, and obtaining an actual motion parameter according to the inverse solution value.
3. The control device for a surgical robot according to claim 1, wherein the target difference unit is specifically configured to generate a target difference from the actual motion parameter and the target motion parameter according to the following formula:
ΔD＝Dd-Dr
where Δ D is the target difference, DdAs said object motion parameter, DrFor the actual motion parameter, Δ X is the target difference moving along the X-axis, Δ Y is the target difference moving along the Y-axis, Δ Z is the target difference moving along the Z-axis, Δ θxFor a target difference of angle of rotation about said X axis, ΔθyFor a target difference of rotation angle about said Y axis, Δ θzThe target difference value of the rotation angle around the Z axis is delta phi, and the delta phi is the target difference value of the operation force of the robot;
xdfor target position moving along said X-axis, ydTarget position of movement along the Y axis, zdTarget position, theta, moving along said Z axisxdFor a target angle of rotation about said X axis, θydFor a target angle of rotation about the Y axis, θzdFor a target angle of rotation about said Z axis, phidIs a target operating force of the robot;
xrfor actual position of movement along said X axis, yrFor actual position of movement along said Y axis, zrFor actual position of movement along said Z axis, thetaxrFor actual angle of rotation about said X axis, θyrFor actual angle of rotation about the Y axis, θzrFor actual angle of rotation about said Z axis, phirIs the actual operating force of the robot.
4. The control device for a surgical robot according to claim 1, wherein the force feedback information unit is specifically configured to generate the force feedback information from the target difference and the stiffness coefficient according to the following formula:
Ffb＝Ksi·ΔD
wherein, FfbFor the force feedback information, KsiFor the stiffness coefficient, Δ D is the target difference;
Ks1is the rigidity coefficient, K, of the surgical robot in the linear motion along the X-axis directions2Is the rigidity coefficient, K, of the surgical robot in linear motion along the Y-axis directions3Is the rigidity coefficient, K, of the surgical robot in linear motion along the Z-axis directions4Is a rigidity coefficient when the surgical robot rotates around an X axis,Ks5is the stiffness coefficient, K, of the surgical robot when rotating about the Y-axiss6Is the stiffness coefficient, K, of the surgical robot when it rotates about the Z-axiss7A stiffness coefficient when applying an operating force to the surgical robot;
Δ X is the target difference moving along the X-axis, Δ Y is the target difference moving along the Y-axis, Δ Z is the target difference moving along the Z-axis, Δ θxFor a target difference of rotation angle about said X-axis, Δ θyFor a target difference of rotation angle about said Y axis, Δ θzThe target difference value of the rotation angle around the Z axis is delta phi, and the delta phi is the target difference value of the operation force of the robot;
Ks1Δ X is first force feedback information for adjusting the surgical robot to make linear motion along the X-axis direction, Ks2Δ Y is second force feedback information for adjusting the surgical robot to make linear motion along the Y-axis direction, Ks3Δ Z is third force feedback information for adjusting the surgical robot to make linear motion along the Z-axis direction, Ks4ΔθXFor fourth force feedback information for adjusting the rotation of the surgical robot about the X-axis, Ks5ΔθYFor fifth force feedback information for adjusting the rotation of the surgical robot about the Y-axis, Ks6ΔθzFor sixth force feedback information for adjusting the rotation of the surgical robot about the Z-axis, Ks7And delta phi is seventh force feedback information used for adjusting the implementation operation force of the surgical robot.
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| WO2020155178A1 (en) * | 2019-02-03 | 2020-08-06 | 西门子（中国）有限公司 | Robot teaching programming method and device, robot controller and computer-readable medium |
| CN110584790B (en) * | 2019-08-13 | 2022-05-06 | 广东工业大学 | Arm stiffness-based teleoperation proportion control method for surgical robot |
| CN113576667B (en) * | 2021-07-20 | 2023-12-22 | 北京理工大学 | Force feedback method for percutaneous puncture operation, electronic device and robot |
| CN114098988B (en) * | 2022-01-25 | 2022-12-09 | 亿盛欣科技(北京)有限公司 | Surgical robot system, control method thereof, medium, and computer device |
| CN114886571B (en) * | 2022-05-05 | 2022-12-16 | 北京唯迈医疗设备有限公司 | Control method and system of interventional operation robot |
| CN116922383B (en) * | 2023-07-21 | 2024-06-07 | 北京纳通医用机器人科技有限公司 | Mechanical arm control method, device, equipment and storage medium |
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| KR101598773B1 (en) * | 2010-10-21 | 2016-03-15 | (주)미래컴퍼니 | Method and device for controlling/compensating movement of surgical robot |
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