CN106965175A - A kind of cooperation interaction control system of craniotome device people - Google Patents
A kind of cooperation interaction control system of craniotome device people Download PDFInfo
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- CN106965175A CN106965175A CN201710182375.8A CN201710182375A CN106965175A CN 106965175 A CN106965175 A CN 106965175A CN 201710182375 A CN201710182375 A CN 201710182375A CN 106965175 A CN106965175 A CN 106965175A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
Abstract
The invention discloses a kind of cooperation interaction control system of craniotome device people, system includes motion limitation module, doctor's robot interactive module, machine people patient interactive module and solver；Motion limitation module is used for the position of real-time tracing robot, and is contrasted with the region limited, is moved so that robot is limited in certain area；Doctor's robot interactive module is used to complete real-time speed control of the doctor to robot；Machine people patient interactive module is in skull milling process, and the end of milling cutter and skull bottom surface keep certain contact force, and keeps during sphenotresia certain drilling power；The inverse kinematics that solver is used to complete robot is resolved, and input and output are respectively robot motion and joint motions speed, so as to drive robot motion.The comprehensive surgeon flexibility degree height of the present invention and the high advantage of robot precision, improve procedure efficiency and quality while improving operation safety, reduce doctor's operation of opening cranium degree of fatigue.
Description
Technical field
The present invention relates to a kind of intersection control routine, and in particular to a kind of cooperation interaction control system of craniotome device people.
Background technology
Neurosurgery related disease treatment method is main based on operation.At present, operation of opening cranium institute accounting in neurosurgery
Example highest, only the annual operation of opening cranium of PLA General Hospital is up to more than 3,000.And neurosurgery be surgical operation in most
One of operation wasted time and energy, especially operation of opening cranium.Traditional craniotomy operation is completed for people, doctor institute in operation of opening cranium
Cranium brill/the cranium used is milled with two classes：One class is electropneumatic, and another kind of is hand.Existing cranium brill/cranium milling is hand-held
Enter rig, weight is in 1kg or so, and doctor bears a heavy burden for a long time to be operated, and needs to ensure the high accuracy of brill milling, ensures that operation is pacified
Entirely, it is this it is traditional open muscle power and energy that cranium method consumes doctor significantly, and it also requires experienced doctor can implement.
General cranium of opening needs 1 hour, and removing tumour needs 2 hours, it can be seen that opening cranium, either the time goes back in neurosurgery
That larger specific gravity is all occupied in quantity, consumption doctor energy is a lot, completion of still more being still needed after cranium is opened it is more complicated, fine and
Time-consuming further operation technique.Therefore aided in holding by robot cranium this having complexity and high risk concurrently of the task is opened
OK, security is improved by man-machine coordination control algolithm and ageing, tool is of great significance.
Cooperation interaction control is mainly reflected in the reverse driving of mechanical arm, i.e., the power that mechanical arm can apply to external world is made
Corresponding motion.Realize that the mode that mechanical arm inversely drives has following several at present：(1) by detect the current break of motor come
Realize, but the Friction Compensation in the more accurate kinetic model of which needs and joint, for light-duty mechanical arm (inertia
Small, joint-friction power is small) this method is typically used, the full silk gearing arm of such as Barret can reach preferable interactive controlling effect
(influence of silk gearing friction power can be neglected), but it is poor for the mechanical arm effect of traditional structure；(2) by being closed each
Section increase torque sensor, directly avoids the modeling to decelerator, rotor, can accurately detect joint moment, and
And effect is preferably, such as kuka iiwa seven freedom mechanical arm, but cost is higher.(3) motor encoder is used only, passes through
The change of the joint angles returned is encoded, so as to predict the power applied on the robotic arm, manipulator motion is driven；(4) by
End reinforces sensor, and which can be directly realized by its reverse driving in the case where requiring no knowledge about Manipulator Dynamics, and
And do not influenceed by end load.
But in existing technology, one-side interactive controlling is laid particular emphasis on, first three realizes that the mode of interactive operation is more
For dragging teaching or collision detection, but when end load changes, the power applied to mechanical arm and people are loaded to mechanical arm
The power of application is directly coupled together, it is impossible to differentiated, and the 4th kind of mode is also served only for robot flexibility assembling or dragging teaching
On, usage scenario is relatively restricted.For operation of opening cranium machine everybody, necessary not only for the friendship solved between doctor and robot
Mutually, and need to solve the interaction of robot and patient and patient and doctor, this security and function to algorithm is realized
Requirement it is harsher, be the insoluble problem of existing technology.
The content of the invention
The purpose of the present invention is to be handed over for the not enough of existing interactive controlling algorithm there is provided the collaboration of craniotome device people a kind of
Mutual control system, system realizes operation of opening cranium robot, doctor and sufferer three by way of power/position/impedance mixing control
Secure interactive control between person, doctor is by manipulating hand realizing the traction to robot and carry out skull in surgical procedure
Cutting burr milling, comprehensive surgeon flexibility degree is high with the high advantage of robot precision, raising operation effect while improving operation safety
Rate and quality, at utmost reduce doctor's operation of opening cranium degree of fatigue.
A kind of cooperation interaction control system of craniotome device people, the system includes motion limitation module, doctor-robot and handed over
Mutual module, robot-patient's interactive module and solver；Wherein, the motion limitation module is used for real-time tracing robot
Position, and contrasted with the region limited, moved so that robot is limited in certain area；Doctor-the robot
Interactive module is used to complete real-time speed control of the doctor to robot, i.e. doctor's dragging robot is moved；The machine
People-patient's interactive module is in skull milling process, and the end of milling cutter and skull bottom surface keep certain contact force, and in cranium
Certain drilling power is kept during bone drilling；The inverse kinematics that the solver is used to complete robot is resolved, and is inputted and is
The speed of robot motion, is output as the joint motions speed of robot, so as to drive robot motion.
Further, the safety zone scope y inputted to be planned in real time in preoperative or art of the motion limitation modulerWith
And security posture angle θr, θrThe axis direction and the angle of contact surface normal direction bored for cranium milling or cranium, by summation operation device and in real time
The position and attitude of robot contrasted so that by controller CrGeneration control speedIt is multiplied with weight matrix I-W phases again
The motion of robot is limited to output speed, the real time position posture of robot is completed by positive kinematics calculating C (q)；
The input f of doctor-robot interactive modulehRobot manipulator is applied to upper operating physical force for doctor, is passed through
With stiffness matrix KhIt is multiplied, so as to obtain as the speed produced by the operating physical force of doctorI.e. the desired speed of doctor, passes through power
The interaction of doctor and robot are completed with the one-to-one mode of robot end's speed, passes through projection operator PpSpeed is entered
Row is tangential or normal direction on decomposition, then its output speed of regulation that is multiplied with weight matrix W size；
The input of robot-patient's interactive module is contact force fc_d, it is complete with Real-time Feedback power f by summation operation devicecIt is right
Than so that the deviation controlled, proportional controller K is input to by control deviationpCyIn, wherein CyFor system compliance, it is used for
Set up the relation of speed and contact force, KpFor proportional control factor matrix, the speed of output is then passed through into projection operator PfEnter
Decomposition in row normal direction, the speed finally exported is summed with other speed, and control deviation passes through differentiation operator d/ in addition
Dt obtains the derivative of deviation, and derivative is input into K in derivative controllerdCy, KdFor derivative control coefficient matrix, then it will export
Speed pass through projection operator PfCarry out the decomposition in normal direction, the speed finally exported and motion limitation module and doctor-machine
The output speed of people's interactive module sum obtaining speedThe solution of joint velocity is completed by inverse kinematics device again,
Drive the motion of robot.
Further, when weight matrix W=1, robot is controlled by the power of the application of doctor, and it control rigidity for Kh,
I.e. robot follows the motion of human hand；As W=0, the artificial pure position control of machine, its rigidity is believed that infinity；Work as machine
When people end deviation safety zone is more remote, W value is smaller, now speedShared proportion increase,Proportion reduces,
The feedback force that the distance and robot of the feedback force increase produced to doctor, i.e. deviation safety zone are produced to doctor is directly proportional,
So as to reach the effect of impedance control, robot is limited in safety zone.
Further, three control tasks are had carry out simultaneously in the process of skull milling, one is according to preoperative medical science
IMAQ to skull three-dimensional data calculate the normal vector of current skull surface in real time, so as to control milling cutter and skull table
Face is vertical, security posture angle θrFor 0 °；Two be to realize the Torque Control to robot in the normal direction, keep milling cutter end and
The certain contact force of skull, the dura mater being separately bonded together；Three be that doctor realizes milling cutter in skull surface by holding end
Motion control on tangential；Each control task can generate a real time kinematics track, be finally based on the constraint of safety zone
With being superimposed for this three tracks of completion；
The normal vector that skull surface can be obtained from medical image is n, therefore can obtain the projection operator of power control
For Pp=nnT, the projection operator that position is controlled is Pf=I-nnT, position control and power control task can be by decoupling：
WhereinWithBy the speed that position is controlled and power control task is generated, in interaction, security is not only
In the control for being only embodied in robot and contact force, while being also embodied in robot position itself, in the constraint of posture；By just
Kinematics calculates the current pose of mechanical arm in real time, and by with safety zone yr(area, it is ensured that the track of milling
Within annulus) contrast determine the value of weight matrix W so that in speed limit robot motion, raising security；
Therefore the speed trajectory ultimately generated is：
Further, three control tasks carry out simultaneously during sphenotresia, one is to ensure the position in hole
Put not inclined, it is necessary to control the axis of drill bit vertical with skull surface, setting security posture angle θrFor 0 °；Two be by setting contact
Power fc_d, the size into drilling force is controlled by robot；Three be the speed that produces of the control by doctor in real time to robot along cranium
Decomposed on the direction of bone surface normal；Now Pp=Pf=nnT, position control and power control are overlapped by decoupling；In order to
Prevent from drilling through dura mater, the input speed of solver is made after skull is drilled throughSo that robot motion stops.
Beneficial effect：
1. the control system of the present invention can realize that doctor interacts with the good of robot, control mould of the doctor in ring is formed
Formula, solves doctor in robotic assisted surgery the problem of residing the driver's seat.
2. the control system synthesis surgeon flexibility degree of the present invention is high with robot precision high advantage, operation safety is improved
Property while improve procedure efficiency and quality, the complexity of reduction medical robot in itself makes full use of interactive mode,
Doctor's operation of opening cranium degree of fatigue is at utmost reduced, dependence of the doctor to experience is reduced.
3. the rare auxiliary of previous procedure robot completes the function of operation of opening cranium, technical solution of the present invention realizes surgical engine
The complicated dangerous high operation of opening cranium task of device people, mitigates the burden of surgical, improves operation precision and efficiency, realize doctor
Treat the innovation of robot.
Brief description of the drawings
Fig. 1 is control logic block diagram of the invention.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the invention provides a kind of cooperation interaction control system of craniotome device people, the system includes void
Four modules in line, be respectively：Motion limitation module I, doctor-robot interactive module II, robot-patient's interactive module
III and solver IV；
Wherein, motion limitation module I is used for the position of real-time tracing robot, and is contrasted with the region limited, from
And robot is limited in certain area and moved；Doctor-robot interactive module II is used to complete reality of the doctor to robot
When speed control, i.e., doctor dragging robot moved；Robot-patient's interactive module III is in skull milling process, milling
The end of knife and skull bottom surface keep certain contact force, and keep during sphenotresia certain drilling power；Ask
The inverse kinematics that solution device IV is used to complete robot is resolved, and is inputted the speed for robot motion, is output as the joint of robot
Movement velocity, so as to drive robot motion.
The safety zone scope y that Part I motion limits the control input of module I to plan in real time in preoperative or artrWith
And security posture angle θr(being axis direction that cranium milling or cranium are bored and the angle of contact surface normal direction), by summation operation device come with
The position and attitude of real-time robot is contrasted, so that by controller CrGeneration control speedAgain with weight matrix I-W phases
Multiplied to limit the motion of robot to output speed, the real time position posture of robot calculates C (q) Lai complete by positive kinematics
Into；
The control input f of center section doctor-robot interactive module IIhRobot manipulator is applied to upper for doctor
Operating physical force, by with stiffness matrix KhIt is multiplied, so as to obtain as the speed produced by the operating physical force of doctorThat is phase of doctor
Speed is hoped, the interaction of doctor and robot are completed by power and the one-to-one mode of robot end's speed, pass through projection
Operator PpDecomposition in tangential or normal direction is carried out to speed, then its output speed of regulation that is multiplied with weight matrix W size；
The control of Part III robot-patient's interactive module III is used for the control for completing robot and the contact forces of patient
System, control input is contact force fc_d, it is complete with Real-time Feedback power f by summation operation devicecContrast, so that the deviation controlled,
Control deviation is input to proportional controller KpCyIn (wherein CyFor system compliance, the pass for setting up speed and contact force
System, KpFor proportional control factor matrix), the speed of output is then passed through into projection operator PfThe decomposition in normal direction is carried out, it is last defeated
The speed gone out is summed with other speed, and control deviation obtains the derivative of deviation by differentiation operator d/dt in addition, will be led
Number is input to K in derivative controllerdCy(wherein KdFor derivative control coefficient matrix), then the speed of output is calculated by projection
Sub- PfThe decomposition in normal direction is carried out, the speed finally exported is summed with other speed.Finally I, II, III part are exported
Speed sum and obtain speedThe solution of joint velocity, driving are completed by Part IV inverse kinematics device IV again
The motion of robot.
When weight matrix W=1, robot is controlled by the power of the application of doctor, and it control rigidity for Kh, i.e., robot with
With the motion of human hand.As W=0, the artificial pure position control of machine, its rigidity is believed that infinity.When robot end deviates
When safety zone is more remote, W value is smaller, now speedShared proportion increase,Proportion reduces, and doctor is produced
Feedback force increase, that is, the distance and the feedback force that is produced to doctor of robot for deviateing safety zone are directly proportional, so as to reach resistance
The effect of anti-control, robot is limited in safety zone.
Three control tasks are had in the process of skull milling to carry out simultaneously.One is arrived according to preoperative medical image acquisition
Skull three-dimensional data calculate the normal vector of current skull surface in real time, so as to control the vertical (peace of milling cutter and skull surface
All-attitude angle θrFor 0 °)；Two be to realize the Torque Control to robot in the normal direction, keeps milling cutter end and skull certain
Contact force, the dura mater being separately bonded together；Three are, doctor realizes milling cutter on skull surface is tangential by holding end
Motion control.Each control task can generate a real time kinematics track, and the restraint strap for being finally based on safety zone completes this
Three tracks are superimposed.
The normal vector that skull surface can be obtained from medical image is n, therefore can obtain the projection operator of power control
For Pp=nnT, the projection operator that position is controlled is Pf=I-nnT, position control and power control task can be by decoupling：
WhereinWithBy the speed that position is controlled and power control task is generated.In interaction, security is not only
In the control for being only embodied in robot and contact force, while being also embodied in robot position itself, in the constraint of posture.By just
Kinematics can calculate the current pose of mechanical arm in real time, and by with safety zone yr(area, it is ensured that milling
Track is within annulus) contrast determine the value of weight matrix W, so as in speed limit robot motion, improve and pacify
Quan Xing.Therefore the speed trajectory ultimately generated is：
There are three control tasks to carry out simultaneously during sphenotresia.One is the need in order to ensure that the position in hole is not inclined
Control axis (the setting security posture angle θ vertical with skull surface of drill bitrFor 0 °)；Two be by setting contact force fc_d, by
Robot controls the size into drilling force；Three be the speed that produces of the control by doctor in real time to robot along skull surface method
Decomposed on the direction of line.Now Pp=Pf=nnT, position is controlled and power control is overlapped by decoupling, the milling with skull
Control process is similar.After skull is drilled through, feedback force fcMoment reduces, the input speed of this seasonal solver IVSo as to
Stop robot motion, prevent from drilling through dura mater.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in the present invention's
Within protection domain.
Claims (5)
1. a kind of cooperation interaction control system of craniotome device people, it is characterised in that the system includes motion limitation module, doctor
Life-robot interactive module, robot-patient's interactive module and solver；Wherein, the motion limitation module is used to chase after in real time
The position of track robot, and contrasted with the region limited, moved so that robot is limited in certain area；The doctor
Life-robot interactive module is used to complete real-time speed control of the doctor to robot, i.e. doctor's dragging robot is moved；
The robot-patient's interactive module is in skull milling process, and the end of milling cutter and skull bottom surface keep certain contact force,
And certain drilling power is kept during sphenotresia；The solver is used for the inverse kinetics solution for completing robot
Calculate, input the speed for robot motion, the joint motions speed of robot is output as, so as to drive robot motion.
2. the cooperation interaction control system of craniotome device people as claimed in claim 1, it is characterised in that the motion limits mould
The safety zone scope y inputted to be planned in real time in preoperative or art of blockrAnd security posture angle θr, θrBored for cranium milling or cranium
The angle of axis direction and contact surface normal direction, is contrasted by the position and attitude of summation operation device and real-time robot, from
And by controller CrGeneration control speedIt is multiplied again with weight matrix I-W and obtains output speed to limit the motion of robot,
The real time position posture of robot is completed by positive kinematics calculating C (q)；
The input f of doctor-robot interactive modulehBe applied to robot manipulator upper operating physical force for doctor, by with rigidity
Matrix KhIt is multiplied, so as to obtain as the speed produced by the operating physical force of doctorI.e. the desired speed of doctor, passes through power and machine
People's tip speed one-to-one mode completes the interaction of doctor and robot, passes through projection operator PpSpeed is carried out tangential
Or the decomposition in normal direction, then be multiplied with weight matrix W and to adjust the size of its output speed；
The input of robot-patient's interactive module is contact force fc_d, it is complete with Real-time Feedback power f by summation operation devicecContrast, from
And the deviation controlled, control deviation is input to proportional controller KpCyIn, wherein CyFor system compliance, for setting up
Play the relation of speed and contact force, KpFor proportional control factor matrix, the speed of output is then passed through into projection operator PfCarry out method
Upward decomposition, the speed finally exported is summed with other speed, and control deviation is obtained by differentiation operator d/dt in addition
To the derivative of deviation, derivative is input to K in derivative controllerdCy, KdFor derivative control coefficient matrix, then by the speed of output
Degree passes through projection operator PfThe decomposition in normal direction is carried out, the speed finally exported is handed over motion limitation module and doctor-robot
The output speed of mutual module sum obtaining speedThe solution of joint velocity is completed by inverse kinematics device again, is driven
The motion of mobile robot.
3. the cooperation interaction control system of craniotome device people as claimed in claim 2, it is characterised in that when weight matrix W=1
When, robot is controlled by the power of the application of doctor, and it controls rigidity to be Kh, i.e. robot follows the motion of human hand；As W=0,
The artificial pure position control of machine, its rigidity is believed that infinity；When robot end's deviation safety zone is more remote, W value is got over
It is small, now speedShared proportion increase,Proportion reduces, the feedback force increase produced to doctor, that is, deviates peace
The feedback force that region-wide distance and robot are produced to doctor is directly proportional, so that the effect of impedance control is reached, by robot
It is limited in safety zone.
4. the cooperation interaction control system of craniotome device people as claimed in claim 2, it is characterised in that in the mistake of skull milling
Tri- control tasks of Cheng Gongyou are carried out simultaneously, one be according to preoperative medical image acquisition to skull three-dimensional data calculate in real time
Go out the normal vector of current skull surface, so that control milling cutter and skull surface vertical, security posture angle θrFor 0 °；Two be in method
The Torque Control to robot is realized on line direction, milling cutter end and the certain contact force of skull is kept, is separately bonded together
Dura mater；Three be that doctor realizes motion control of the milling cutter on skull surface is tangential by holding end；Each control task
A real time kinematics track can be generated, the restraint strap for being finally based on safety zone completes being superimposed for this three tracks；
The normal vector that skull surface can be obtained from medical image is n, therefore it is P that can obtain the projection operator of power controlp=
nnT, the projection operator that position is controlled is Pf=I-nnT, position control and power control task can be by decoupling：
WhereinWithControlled and the speed that generates of power control task by position, in interaction, security not only body
In the control of present robot and contact force, while being also embodied in robot position itself, in the constraint of posture；Pass through positive motion
Learn and calculate the current pose of mechanical arm in real time, and by with safety zone yrContrast determine the value of weight matrix W so that
In speed limit robot motion；Therefore the speed trajectory ultimately generated is：
5. the cooperation interaction control system of craniotome device people as claimed in claim 2, it is characterised in that in the mistake of sphenotresia
There are three control tasks to carry out simultaneously in journey, one be in order to ensure the position in hole not partially, it is necessary to control the axis and skull of drill bit
Surface is vertical, setting security posture angle θrFor 0 °；Two be by setting contact force fc_d, controlled by robot into the big of drilling force
It is small；Three are decomposed on direction of the speed for producing the real-time control to robot of doctor along skull surface normal；This
When Pp=Pf=nnT, position control and power control are overlapped by decoupling；In order to prevent drilling through dura mater, make and asking after skull is drilled through
Solve the input speed of deviceSo that robot motion stops.
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| CN111643191A (en) * | 2018-04-27 | 2020-09-11 | 微创（上海）医疗机器人有限公司 | Surgical robot system |
| CN112998863A (en) * | 2021-03-12 | 2021-06-22 | 杭州柳叶刀机器人有限公司 | Robot safety boundary interaction method and device, electronic equipment and storage medium |
| CN112998855A (en) * | 2020-09-24 | 2021-06-22 | 中国科学院自动化研究所 | Skull surgery robot system and method |
| CN114051441A (en) * | 2019-07-05 | 2022-02-15 | 富兰卡爱米卡股份有限公司 | Haptic feedback of end effectors of robotic manipulators through various orientation regions |
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| CN114848084A (en) * | 2022-06-09 | 2022-08-05 | 上海交通大学 | Skull drilling electrical impedance feedback system and control method |
| CN114869397A (en) * | 2022-06-08 | 2022-08-09 | 中国科学院自动化研究所 | Dura mater detection and protection system for cranial drilling, electronic device and storage medium |
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