CN106965175B - 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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- CN106965175B CN106965175B CN201710182375.8A CN201710182375A CN106965175B CN 106965175 B CN106965175 B CN 106965175B CN 201710182375 A CN201710182375 A CN 201710182375A CN 106965175 B CN106965175 B CN 106965175B
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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
-
- 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 the cooperation interaction control system of craniotome device people a kind of, system includes movement limitation module, doctor-robot interactive module, robot-patient's interactive module and solver；Movement limitation module is used for the position of real-time tracing robot, and compares with the region limited, so that robot limitation be moved within a certain area；Doctor-robot interactive module is used to complete doctor and controls the real-time speed of robot；For robot-patient's interactive module in skull milling process, the end and skull bottom surface of milling cutter keep certain contact force, and certain drilling power is kept during sphenotresia；The inverse kinematics that solver is used to complete robot resolves, and respectively robot motion and joint motions speed is output and input, 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 routines, and in particular to a kind of cooperation interaction control system of craniotome device people.
Background technique
Neurosurgery related disease treatment method is mainly based on operation.Currently, the institute of operation of opening cranium in neurosurgery accounting
Example highest, only the annual operation of opening cranium of PLA General Hospital is up to 3,000 or more.And neurosurgery be surgical operation in most
One of time-consuming and laborious operation, especially operation of opening cranium.Traditional craniotomy operation is people to complete, doctor institute in operation of opening cranium
Cranium brill/the cranium used is milled with two classes: one kind is electropneumatic, and another kind of is hand.Existing cranium brill/cranium milling is hand-held
Into drilling equipment, weight needs to guarantee to bore the high-precision of milling in 1kg or so, doctor's weight bearing operation for a long time, ensures operation peace
Entirely, this traditional physical strength and energy opening cranium method and consume doctor significantly, and it also requires experienced doctor can implement.
It generally opens cranium and needs 1 hour, remove tumour and need 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, there are many consumption doctor's energy, still more after opening cranium it is still necessary to complete it is more complicated, fine and
Time-consuming further surgical procedure.Therefore it assists holding by robot cranium this having both complexity and high risk of the task is opened
Row, improves safety and timeliness by man-machine coordination control algolithm, has a very important significance.
Cooperation interaction control is mainly reflected in the reverse driving of mechanical arm, i.e., the power that mechanical arm can apply the external world is made
Corresponding movement.It is following several to realize that the mode that inversely drives of mechanical arm has at present: (1) by detect the current break of motor come
It realizes, but which needs the Friction Compensation of more accurate kinetic model and joint, for light-duty mechanical arm (inertia
Small, joint-friction power is small) this method is generally used, as Barret full wire gearing arm can reach preferable interactive controlling effect
(influence of silk gearing friction power is negligible), but it is poor for the mechanical arm effect of traditional structure；(2) by each pass
Section increases torque sensor, directly avoids the modeling to retarder, rotor, can accurately detect joint moment, and
And effect is preferable, such as the seven freedom mechanical arm of kuka iiwa, but higher cost.(3) motor encoder is used only, passes through
The variation of the joint angles returned is encoded, to predict to apply power on the robotic arm, drives manipulator motion；(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 it is not influenced by end load.
However 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 variation, the power applied to mechanical arm and people are loaded to mechanical arm
The power of application is directly coupled together, and can not be differentiated, and the 4th kind of mode is also served only for robot flexibility assembly 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 realizes the safety of algorithm and function
Requirement it is harsher, be the insoluble problem of existing technology.
Summary of the invention
The purpose of the present invention is being directed to the deficiency of existing interactive controlling algorithm, the collaboration for providing a kind of craniotome device people is handed over
Mutual control system, system realize operation of opening cranium robot, doctor and sufferer three by way of power/position/impedance mixing control
Secure interactive between person controls, and doctor to realize the traction to robot and carries out skull by manipulating hand handle in surgical procedure
Cutting burr milling, comprehensive surgeon flexibility degree height and the high advantage of robot precision, improve operation effect while improving operation safety
Rate and quality utmostly reduce doctor's operation of opening cranium degree of fatigue.
A kind of cooperation interaction control system of craniotome device people, the system include movement limitation module, doctor-robot friendship
Mutual module, robot-patient's interactive module and solver；Wherein, the movement limitation module is for real-time tracing robot
Position, and compared with the region limited, so that robot limitation be moved within a certain area；Doctor-the robot
Interactive module is used to complete doctor and controls the real-time speed of robot, i.e., doctor drags robot and moves；The machine
People-patient's interactive module is in skull milling process, and the end and skull bottom surface of milling cutter 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 resolves, and inputs and is
The speed of robot motion exports the joint motions speed for robot, to drive robot motion.
Further, the input of the movement limitation module is the safety zone range y planned in real time in preoperative or artrWith
And security posture angle θr, θrFor cranium milling or cranium bore axis direction and contact surface normal direction angle, by summation operation device and in real time
The position and attitude of robot compare, thus by controller CrGenerate control speedIt is multiplied with weight matrix I-W phase again
The movement of robot is limited to output speed, the real time position posture of robot calculates C (q) by positive kinematics to complete；
Doctor-robot interactive module input fhIt is applied to the operating force in robot manipulation's hand handle for doctor, is passed through
With stiffness matrix KhIt is multiplied, to obtain the speed as caused by the operating force of doctorThat is the desired speed of doctor, passes through power
The interaction that doctor and robot are completed with the one-to-one mode of robot end's speed, passes through projection operator PpTo speed into
The decomposition gone in tangential or normal direction, then be multiplied with weight matrix W and adjust the size of its output speed；
The input of robot-patient's interactive module is contact force fc_d, complete with Real-time Feedback power f by summation operation devicecIt is right
Than so that the deviation controlled, is input to proportional controller K for control deviationpCyIn, wherein CyFor system compliance, it is used for
Set up the relationship of speed and contact force, KpFor proportional control factor matrix, the speed of output is then passed through into projection operator PfInto
Decomposition in row normal direction, the speed finally exported are summed with other speed, and in addition control deviation passes through differentiation operator d/
Dt obtains the derivative of deviation, and derivative is input to K in derivative controllerdCy, KdIt, then will output for derivative control coefficient matrix
Speed pass through projection operator PfCarry out the decomposition in normal direction, the speed finally exported and movement limitation module and doctor-machine
The output speed of people's interactive module is summed to obtain speedAsking for joint velocity is completed by inverse kinematics device again
Solution, drives the movement of robot.
Further, when weight matrix W=1, robot is controlled by the power of the application of doctor, and control rigidity is Kh,
That is the robot movement that follows manpower；As W=0, artificially pure position control, rigidity are believed that infinity to machine；Work as machine
When people end deviation safety zone is remoter, the value of W is smaller, at this time speedShared specific gravity increases,Proportion reduces,
The feedback force that feedback force increase to doctor's generation, the i.e. distance of deviation safety zone and robot generate doctor is directly proportional,
To achieve the effect that impedance control, robot is limited in safety zone.
Further, it is carried out simultaneously there are three control task altogether in the process of skull milling, first is that according to preoperative medicine
Image Acquisition to skull three-dimensional data calculate the normal vector of current skull surface in real time, to control milling cutter and skull table
Face is vertical, security posture angle θrIt is 0 °；Second is that 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；Third is 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, finally based on the constraint of safety zone
With being superimposed for this three tracks of completion；
The normal vector of available skull surface is n, therefore the projection operator of available power control from medical image
For Pp=nnT, the projection operator of position control is Pf=I-nnT, position control and power control task can be decoupled are as follows:
WhereinWithFor position control and power control task speed generated, in interactive process, safety is not
Only be embodied in the control of robot and contact force, while being also embodied in robot itself position, posture constraint on；Pass through
Positive kinematics calculate the current pose of mechanical arm in real time, and pass through and safety zone yr(area guarantees the rail of milling
Mark is within annulus) comparison determine the value of weight matrix W, to improve safety in speed limit robot motion
Property；Therefore the speed trajectory ultimately generated are as follows:
Further, it is carried out simultaneously during sphenotresia there are three control task, first is that the position in order to guarantee hole
Set not partially, the axis for needing to control drill bit is vertical with skull surface, setting security posture angle θrIt is 0 °；Second is that passing through setting contact
Power fc_d, the size into drilling force is controlled by robot；Third is that by doctor in real time to the speed of the control generation of robot along cranium
It is decomposed on the direction of bone surface normal；P at this timep=Pf=nnT, position control and power control are overlapped by decoupling；In order to
It prevents from drilling through dura mater, the input speed of solver is enabled after skull drills throughTo make robot motion stop.
The utility model has the advantages that
1. control system of the invention is able to achieve the good interaction of doctor and robot, doctor is formed in the control mould of ring
Formula solves the problems, such as doctor's locating the driver's seat in robotic assisted surgery.
2. control system synthesis of the invention surgeon flexibility degree height and robot precision high advantage improve operation safety
Property while improve procedure efficiency and quality, reduce the complexity of medical robot itself, make full use of interactive mode,
Doctor's operation of opening cranium degree of fatigue is utmostly 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 high operation of opening cranium task of device people's complexity risk mitigates the burden of surgical, improves operation precision and efficiency, realizes doctor
Treat the innovation of robot.
Detailed description of the invention
Fig. 1 is control logic block diagram of the invention.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
As shown in Fig. 1, the present invention provides the cooperation interaction control system of craniotome device people a kind of, which includes void
Four modules in line are respectively: movement limitation module I, doctor-robot interactive module II, robot-patient's interactive module
III and solver IV；
Wherein, movement limitation module I is used for the position of real-time tracing robot, and compares with the region limited, from
And robot limitation is moved within a certain area；Doctor-robot interactive module II is for completing doctor to the reality of robot
When speed control, i.e., doctor drag robot move；Robot-patient's interactive module III is in skull milling process, milling
The end and skull bottom surface of knife keep certain contact force, and certain drilling power is kept during sphenotresia；It asks
The inverse kinematics that solution device IV is used to complete robot resolves, and inputs the speed for robot motion, exports the joint for robot
Movement velocity, to drive robot motion.
The control input of first part's movement limitation module I is the safety zone range y planned in real time in preoperative or artrWith
And security posture angle θr(as cranium milling or cranium bore axis direction and contact surface normal direction angle), by summation operation device come with
The position and attitude of real-time robot compares, thus by controller CrGenerate control speedAgain with weight matrix I-W phase
The real time position posture of the multiplied movement that robot is limited to output speed, robot calculates C (q) by positive kinematics Lai complete
At；
The control of middle section doctor-robot interactive module II inputs fhIt is applied in robot manipulation's hand handle for doctor
Operating force, by with stiffness matrix KhIt is multiplied, to obtain the speed as caused by the operating force of doctorThat is the phase of doctor
It hopes speed, the interaction of doctor and robot is completed by power and the one-to-one mode of robot end's speed, passes through projection
Operator PpDecomposition in tangential or normal direction is carried out to speed, then is multiplied with weight matrix W and adjusts the size of its output speed；
The control of contact forces of Part III robot-patient's interactive module III control for completing robot and patient
System, control input are contact force fc_d, complete with Real-time Feedback power f by summation operation devicecComparison, thus the deviation controlled,
Control deviation is input to proportional controller KpCyIn (wherein CyFor system compliance, for setting up the pass of 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
Speed out is summed with other speed, and in addition control deviation obtains the derivative of deviation by differentiation operator d/dt, 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 the part I, II, III is exported
Speed summed to obtain speedThe solution for completing joint velocity by Part IV inverse kinematics device IV again, drives
The movement of mobile robot.
When weight matrix W=1, robot is controlled by the power of the application of doctor, and control rigidity is Kh, i.e., robot with
With the movement of manpower.As W=0, artificially pure position control, rigidity are believed that infinity to machine.When robot end deviates
When safety zone is remoter, the value of W is smaller, at this time speedShared specific gravity increases,Proportion reduces, and produces to doctor
The feedback force that raw feedback force increase, the i.e. distance of deviation safety zone and robot generate doctor is directly proportional, to reach
The effect of impedance control, robot is limited in safety zone.
It is carried out simultaneously there are three control task altogether in the process of skull milling.First is that being arrived according to preoperative medical image acquisition
Skull three-dimensional data calculate the normal vector of current skull surface in real time, to control the vertical (peace of milling cutter and skull surface
All-attitude angle θrIt is 0 °)；Second is that realizing the Torque Control to robot in the normal direction, keep milling cutter end and skull certain
Contact force, the dura mater being separately bonded together；Third is that 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 finally the restraint strap based on safety zone completes this
Three tracks are superimposed.
The normal vector of available skull surface is n, therefore the projection operator of available power control from medical image
For Pp=nnT, the projection operator of position control is Pf=I-nnT, position control and power control task can be decoupled are as follows:
WhereinWithFor position control and power control task speed generated.In interactive process, safety is not
Only be embodied in the control of robot and contact force, while being also embodied in robot itself position, posture constraint on.Pass through
Positive kinematics can calculate the current pose of mechanical arm in real time, and pass through and safety zone yr(area guarantees milling
Track be within annulus) comparison determine the value of weight matrix W, to be improved in speed limit robot motion
Safety.Therefore the speed trajectory ultimately generated are as follows:
It is carried out simultaneously during sphenotresia there are three control task.First is that being needed to guarantee that the position in hole is not inclined
Control axis (the setting security posture angle θ vertical with skull surface of drill bitrIt is 0 °)；Second is that passing through setting contact force fc_d, by
Robot controls the size into drilling force；Third is that by doctor in real time to the speed of the control generation of robot along skull surface method
It is decomposed on the direction of line.P at this timep=Pf=nnT, position control and power control be overlapped by decoupling, the milling with skull
Control process is similar.After skull drills through, feedback force fcMoment reduces, the input speed of this seasonal solver IVTo
Stop robot motion, prevents from drilling through dura mater.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (4)
1. a kind of cooperation interaction control system of craniotome device people, which is characterized in that the system includes movement limitation module, doctor
Life-robot interactive module, robot-patient's interactive module and solver；Wherein, the movement limitation module for chasing after in real time
The position of track robot, and compared with the region limited, so that robot limitation be moved within a certain area；The doctor
Life-robot interactive module is used to complete doctor and controls the real-time speed of robot, i.e., doctor drags robot and moves；
For the robot-patient's interactive module in skull milling process, the end and skull bottom surface of milling cutter keep certain contact force,
And certain drilling power is kept during sphenotresia；The solver is used to complete the inverse kinetics solution of robot
It calculates, inputs the speed for robot motion, the joint motions speed for robot is exported, to drive robot motion；
The input of the movement limitation module is the safety zone range yr planned in real time in preoperative or art and security posture angle
θr, θrFor cranium milling or the angle of the cranium axis direction bored and contact surface normal direction, pass through the position of summation operation device and real-time robot
It sets posture to compare, to generate control speed by controller CrIt is multiplied to obtain output speed with weight matrix I-W again
The movement of robot is limited, the real time position posture of robot calculates C (q) by positive kinematics to complete；
Doctor-robot interactive module input fhBe applied to the operating force in robot manipulation's hand handle for doctor, by with rigidity
Matrix KhIt is multiplied, to obtain the speed as caused by the operating force of doctorThat is the desired speed of doctor, passes through power and machine
The one-to-one mode of people's tip speed 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 adjust the size of its output speed；
The input of robot-patient's interactive module is contact force fc_d, complete with Real-time Feedback power f by summation operation devicecComparison, from
And the deviation controlled, control deviation is input to proportional controller KpCyIn, wherein CyFor system compliance, for establishing
Play the relationship 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 are summed with other speed, and in addition control deviation is obtained by differentiation operator d/dt
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 PfIt carries out the decomposition in normal direction, the speed finally exported and movement limitation module and doctor-robot is handed over
The output speed of mutual module is summed to obtain speedThe solution for completing joint velocity by inverse kinematics device again, drives
The movement of mobile robot.
2. the cooperation interaction control system of craniotome device people as described in claim 1, which is characterized in that when weight matrix W=1
When, robot is controlled by the power of the application of doctor, and control rigidity is Kh, i.e. the robot movement that follows manpower；As W=0,
Artificially pure position control, rigidity are believed that infinity to machine；When robot end's deviation safety zone is remoter, the value of W is got over
It is small, speed at this timeShared specific gravity increases,Proportion reduces, and increases the feedback force that doctor generates, that is, deviates peace
The feedback force that region-wide distance and robot generate doctor is directly proportional, to achieve the effect that impedance control, by robot
It is limited in safety zone.
3. the cooperation interaction control system of craniotome device people as claimed in claim 2, which is characterized in that in the mistake of skull milling
Journey is carried out simultaneously there are three control task altogether, first is that according to preoperative medical image acquisition to skull three-dimensional data calculate in real time
The normal vector of current skull surface out, to control milling cutter and skull surface is vertical, security posture angle θrIt is 0 °；Second is that in method
It is realized on line direction and keeps milling cutter end and the certain contact force of skull to the Torque Control of robot, be separately bonded together
Dura mater；Third is 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, finally the restraint strap based on safety zone completes being superimposed for this three tracks；
The normal vector of available skull surface is n from medical image, therefore the projection operator of available power control is Pp=
nnT, the projection operator of position control is Pf=I-nnT, position control and power control task can be decoupled are as follows:
WhereinWithFor position control and power control task speed generated, in interactive process, safety is not only
Be embodied in the control of robot and contact force, while being also embodied in robot itself position, posture constraint on；By just transporting
Dynamic learn calculates the current pose of mechanical arm in real time, and passes through and safety zone yrComparison determine the value of weight matrix W, from
And in speed limit robot motion；Therefore the speed trajectory ultimately generated are as follows:
4. the cooperation interaction control system of craniotome device people as claimed in claim 2, which is characterized in that in the mistake of sphenotresia
It is carried out simultaneously in journey there are three control task, first is that needing to control the axis and skull of drill bit to guarantee that the position in hole is not inclined
Surface is vertical, sets security posture angle θrIt is 0 °；Second is that passing through setting contact force fc_d, controlled by robot into the big of drilling force
It is small；Third is that by being decomposed on the doctor in real time direction to the speed of the control generation of robot along skull surface normal；This
When Pp=Pf=nnT, position control and power control are overlapped by decoupling；Dura mater is drilled through in order to prevent, is enabled and being asked after skull drills through
Solve the input speed of deviceTo make robot motion stop.
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| CN112057166A (en) * | 2020-09-24 | 2020-12-11 | 中国科学院自动化研究所 | Experimental system and method for simulating skull surgery |
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| CN114869397B (en) * | 2022-06-08 | 2023-06-02 | 中国科学院自动化研究所 | Dura mater detecting and protecting system for skull drilling, electronic equipment and storage medium |
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| CN103536364A (en) * | 2013-10-18 | 2014-01-29 | 江苏艾迪尔医疗科技股份有限公司 | Intelligent orthopaedic system |
| CN104146772A (en) * | 2014-07-29 | 2014-11-19 | 北京理工大学 | Robot for accurate diagnosis and treatment of maxillofacial diseases |
| WO2016086049A1 (en) * | 2014-11-24 | 2016-06-02 | The Johns Hopkins University | A cutting machine for resizing raw implants during surgery |
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