CN110464473A - Operating robot and its control method, control device - Google Patents
Operating robot and its control method, control device Download PDFInfo
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- CN110464473A CN110464473A CN201910854921.7A CN201910854921A CN110464473A CN 110464473 A CN110464473 A CN 110464473A CN 201910854921 A CN201910854921 A CN 201910854921A CN 110464473 A CN110464473 A CN 110464473A
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- 238000000034 method Methods 0.000 title claims abstract description 61
- 230000007246 mechanism Effects 0.000 claims abstract description 226
- 238000004590 computer program Methods 0.000 claims description 9
- 238000001356 surgical procedure Methods 0.000 claims description 5
- 238000004088 simulation Methods 0.000 claims description 2
- 238000013507 mapping Methods 0.000 description 22
- 238000010586 diagram Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 8
- 238000002627 tracheal intubation Methods 0.000 description 8
- 238000006243 chemical reaction Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 210000000245 forearm Anatomy 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 235000008429 bread Nutrition 0.000 description 1
- 238000009933 burial Methods 0.000 description 1
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- 238000005265 energy consumption Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
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- 210000000707 wrist Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of operating robot and its control methods, control device.The control method includes the following steps: the description information for obtaining description arm body mechanism structure feature；The user interface components of the control containing freedom degree of the arm body mechanism for configuration are generated according to the description information.By above embodiment, the present invention can be improved the flexibility and ease for use of arm body mechanism control.
Description
Technical field
The present invention relates to medical instruments fields, more particularly to a kind of operating robot and its control method, control device.
Background technique
Minimally Invasive Surgery refers to be applied inside body cavity using the modern medical equipments such as laparoscope, thoracoscope and relevant device
A kind of modus operandi of row operation.There are the advantages such as wound is small, pain is light, recovery is fast compared to traditional operation mode Minimally Invasive Surgery.
With the development of science and technology micro-wound operation robot technology graduallys mature, and it is widely used.Micro-wound operation robot
It generally includes master operating station and from operation equipment, master operating station includes handle, doctor is sent out by operation handle to from operation equipment
Control command is sent, includes mechanical arm and the multiple motion arms for being installed on mechanical arm distal end from operation equipment, motion arm has end
Instrument, in working condition, end instrument follows handle mobile, to realize that remote operation operates.
The operating robot of the prior art usually only provides two kinds of control models for doctor's free switching, wherein one
Kind allows mechanical arm distal end to move freely in cartesian space, and another kind allows mechanical arm distally in cartesian space around not
Dynamic point movement, when there are other task scenes, this just becomes no longer to be applicable in, and there is a problem of that flexibility and ease for use are lower.
Summary of the invention
Based on this, it is necessary to a kind of flexibly configurable is provided and the higher operating robot of ease for use and its control method,
Control device.
On the one hand, a kind of control method of operating robot is provided, includes the following steps: to obtain description arm body mechanism structure
The description information of feature；The use of the control containing freedom degree of the arm body mechanism for configuration is generated according to the description information
Family interface assembly.
Wherein, the description information includes the information of the effective freedom degree of the arm body mechanism；Believe according to the description
Breath generated in the step of user interface components of the control containing freedom degree of the arm body mechanism for configuration, comprising: according to
The information of the effective freedom degree of the arm body mechanism generates the control containing the arm body mechanism for the task freedom degree of configuration
User interface components.
Wherein, it generates containing the arm body mechanism in the information of the effective freedom degree according to the arm body mechanism for configuration
Task freedom degree control user interface components the step of after, comprising: obtain for the control operation generate behaviour
The information for the task freedom degree for instructing, and being generated according to the operational order；According to the letter of the task freedom degree of generation
Breath is called containing the arm body mechanism for configuration, the common task mould of information that includes and be associated with the task freedom degree
The user interface components of the control of formula.
Wherein, the common mission mode is the preset combination including more than two task freedom degrees.
Wherein, the common mission mode includes all for the task freedom degree of configuration and/or all for configuration
In task freedom degree task freedom degree relevant to posture freedom degree and/or all in the task freedom degree of configuration with position
Set the relevant task freedom degree of freedom degree.
Wherein, the common mission mode be generated from high to low according to the history frequency of use of record include two with
On task freedom degree combination.
Wherein, the common mission mode is generated according to control configuration including more than two task freedom degrees
Combination.
Wherein, it generates containing the arm body mechanism in the information of the effective freedom degree according to the arm body mechanism for configuration
Task freedom degree control user interface components the step of after, comprising: obtain for the control operation generate behaviour
It instructs, and generates according to the operational order configuration information of the task freedom degree of the arm body mechanism.
Wherein, the operational order generated for control operation is being obtained, and according to operational order generation
After the step of configuration information of the task freedom degree of arm body mechanism, comprising: detect whether to get accurate adjustment control instruction；It obtains
When to the accurate adjustment control instruction, generated according to the configuration information of the task freedom degree of presently described arm body mechanism for configuration
And the control only containing the corresponding task freedom degree user interface components.
Wherein, the description information further includes the range of motion information of each effective freedom degree in the arm body mechanism；In root
The control containing the arm body mechanism for the task freedom degree of configuration is generated according to the information of the effective freedom degree of the arm body mechanism
After the step of user interface components of part, further includes: according to the range of motion information of each effective freedom degree of arm body mechanism
Generate the user interface components containing the arm body mechanism for the control of each corresponding motion range of task freedom degree of configuration.
Wherein, it generates containing the arm body mechanism in the information of the effective freedom degree according to the arm body mechanism for configuration
Task freedom degree control user interface components the step of after, comprising: detect whether to get and enable the mechanical arm remote
Hold the trigger signal moved around fixed point；When getting the trigger signal, generate containing the arm body mechanism for configuration
And only user interface components of the control of task freedom degree relevant to posture freedom degree.
Wherein, the description information includes the joint assembly information and link assembly information of the arm body mechanism；In basis
The description information generated in the step of user interface components of the control containing freedom degree of the arm body mechanism for configuration,
It include: to be generated containing the arm body mechanism according to the joint assembly information and link assembly information of the arm body mechanism for configuration
Joint freedom degrees control user interface components.
Wherein, the arm body machine is being contained according to the generation of the joint assembly information and link assembly information of the arm body mechanism
Structure for the control of the joint freedom degrees of configuration user interface components the step of in, comprising: according to the pass of the arm body mechanism
It saves module information and link assembly information is generated containing the model image for simulating the arm body mechanism structure and in the illustraton of model
There are at each joint assembly the user interface components of the control of the joint freedom degrees for configuration as in.
Wherein, the arm body machine is being contained according to the generation of the joint assembly information and link assembly information of the arm body mechanism
Structure for the control of the joint freedom degrees of configuration user interface components the step of after, comprising: obtain for the joint from
The operational order generated is operated by the control spent, and enables and/or disable the corresponding joint freedom according to the operational order
Degree.
Wherein, the description information further includes the range of motion information of each joint assembly in the arm body mechanism；In basis
The joint assembly information and link assembly information of the arm body mechanism generate containing the arm body mechanism for configuration joint from
By the control spent user interface components the step of after, further includes: according to the movement model of each joint assembly of arm body mechanism
It encloses information and generates and contain the arm body mechanism for user circle of the control of the corresponding motion range of each joint freedom degrees of configuration
Face component.On the other hand, a kind of computer readable storage medium is provided, the computer-readable recording medium storage has computer
Program, the computer program are configured as processor loads and executes the control realized as described in any of the above-described embodiment
The step of method.
In another aspect, providing a kind of control device of operating robot characterized by comprising processor, for loading
And execute computer program；And computer readable storage medium, for storing computer program；Wherein, the computer program
It is configured as being loaded as more than one processor and being executed the step for realizing the control method as described in any of the above-described embodiment
Suddenly.
The invention has the following beneficial effects:
By according to description have arm body mechanism structure feature description information generate containing corresponding to the arm body mechanism can
For the user interface components of the control of the freedom degree of configuration, doctor or assistant can freely make according to the operational requirements of surgical procedure
Surely the freedom degree for allowing to be conditioned can be improved the flexibility and ease for use of the control of arm body mechanism.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of operating robot of the present invention；
Fig. 2 is the partial schematic diagram of operating robot shown in Fig. 1；
Fig. 3 is the partial schematic diagram of operating robot shown in Fig. 1；
Fig. 4 is the structural schematic diagram of mechanical arm in surgical robot arm body mechanism shown in Fig. 1；
Fig. 5 is the flow chart of one embodiment of control method of operating robot of the present invention；
Fig. 6 is the flow chart of one embodiment of control method of operating robot of the present invention；
Fig. 7 is the parsing schematic diagram in the control method of operating robot of the present invention to spatial movement angle；
Fig. 8 is the control method of operating robot of the present invention in the flow chart under one-to-one operation mode；
Fig. 9 is operation chart of the control method of operating robot of the present invention under one-to-one operation mode；
Figure 10 is flow chart of the control method in an embodiment under two pair of one operation mode of operating robot of the present invention；
An embodiment under two pair of one operation mode for one embodiment of control method of Figure 11 operating robot of the present invention
Operation chart；
Figure 12 is process of the control method in embodiment another under two pair of one operation mode of operating robot of the present invention
Figure；
Figure 13 is process of the control method in embodiment another under two pair of one operation mode of operating robot of the present invention
Figure；
Figure 14 is another reality under two pair of one operation mode of another embodiment of control method of operating robot of the present invention
Apply the operation chart of example；
Figure 15 is the flow chart of another embodiment of control method of operating robot of the present invention；
Figure 16~Figure 20 is the schematic diagram for the user interface components that control method shown in Figure 15 provides；
Figure 21 is the flow chart of one embodiment of control method of operating robot of the present invention；
Figure 22~Figure 24 is the schematic diagram for the user interface components that control method shown in Figure 21 provides；
Figure 25 is the flow chart of one embodiment of control method of operating robot of the present invention；
Figure 26 is the schematic diagram for the user interface components that control method shown in Figure 25 provides；
Figure 27~Figure 29 is the schematic diagram for another user interface components that control method shown in Figure 15 provides；
Figure 30 is the schematic diagram for another user interface components that control method shown in Figure 15 provides；
Figure 31 is the flow chart of one embodiment of control method of operating robot of the present invention；
Figure 32 is the schematic diagram for another user interface components that control method shown in Figure 15 provides；
Figure 33 is the structural schematic diagram of another embodiment of operating robot of the present invention；.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being set to " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.When an element is considered as " coupling " another element, it can
To be to be directly coupled to another element or may be simultaneously present centering elements.Term as used herein " vertically ", " water
It is flat ", "left", "right" and similar statement for illustrative purposes only, be not meant to be the only embodiment.Herein
Used term " distal end ", " proximal end " are used as the noun of locality, which is interventional medical device field common terminology, wherein
" distal end " indicates that one end in surgical procedure far from operator, " proximal end " indicate one end that proximal operator is depended in surgical procedure.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.In the present invention, " each " includes one or more.
It as shown in Figure 1 to Figure 3, is respectively the structural schematic diagram of one embodiment of operating robot of the present invention, and its part
Schematic diagram.
Operating robot include master operating station 1 and from operation equipment 2.Master operating station 1 has motion input device 11 and shows
Show device 12, doctor sends control command to from operation equipment 2 by operational movement input equipment 11, to enable from operation equipment 2
Corresponding operating is executed according to the control command of doctor's operational movement input equipment 11, and operative region is observed by display 12.Its
In, there is arm body mechanism from operation equipment 2, arm body mechanism has mechanical arm 21 and is detachably mounted on 21 distal end of mechanical arm
Motion arm 31, specifically, motion arm 31 is installed on the power mechanism 22 of 21 distal end of mechanical arm and is driven by power mechanism 22
It is dynamic.Mechanical arm 21 includes sequentially connected pedestal and connection component, and connection component has multiple joint assemblies.Motion arm 31 includes
Sequentially connected connecting rod 32, connection component 33 and end instrument 34, wherein connection component 33 has multiple joint assemblies, operation
Arm 31 adjusts the posture of end instrument 34 by adjusting joint assembly；End instrument 34 has image end instrument 34A and operation
End instrument 34B.Wherein, mechanical arm 21 and/or motion arm 31 can follow motion input device 11 to move.
For example, motion input device 11 can be connect by line with master operating station 1, or connecting rod and main behaviour by rotation
Make platform 1 to be connected.Motion input device 11 can be configured as hand-held or it is wearable (be often worn on wrist distal end such as finger or
At palm), with multiple effective freedom degrees.Illustratively, which is configured as handle shape shown in Fig. 3
Formula.In a kind of situation, the quantity of the effective freedom degree of motion input device 11 is configured as lower than being defined in arm body mechanism distal end
The quantity of task freedom degree；In another case, the quantity of the effective freedom degree of motion input device 11 is configured as being not less than
The quantity of the task freedom degree of arm body mechanism distal end.The quantity of the effective freedom degree of motion input device 11 is at most 6, in order to
Doctor's hand can be unfetteredly followed to move freely and rotate, motion input device 11 is illustratively configured to have 6
A effective freedom degree, wherein the effective freedom degree of motion input device 11 refers to the effective freedom degree that can follow hand exercise, enables doctor
It is raw that there is biggish operating space, and more significant data can be generated by the parsing to each effective freedom degree, meet
Control to the mechanical arm 21 of nearly all configuration.
The motion input device 11 follows doctor's hand exercise, acquires motion input device caused by hand exercise in real time certainly
The motion information of body movement.It can be parsed out location information, posture information, velocity information and acceleration using these motion informations
Information etc..Motion input device 11 includes but is not limited to magnetic navigation alignment sensor, optical positioning sensors or link-type master
Manipulator etc..
In one embodiment, a kind of control method of operating robot is provided, further relates to the arm body mechanism of operating robot
The flexible configuration method of freedom degree, the freedom degree can be task freedom degree and/or the joint of joint space of cartesian space
Freedom degree.As shown in figure 15, which includes the following steps:
Step S41 obtains the description information of description arm body mechanism structure feature.
Step S42 is generated containing arm body mechanism according to description information for the user of the control of the freedom degree of doctor deploying
Interface assembly.
Wherein, the use can be shown by the secondary monitor that the display 12 or control device of master operating station 1 connect
Family interface assembly, and then for doctor or assistant useful reference information is provided to help to configure the freedom degree of arm body mechanism.
In one embodiment, description information described in step S41 includes the information of the effective freedom degree of arm body mechanism.
And then step S42 this can be implemented so that and be generated containing arm body mechanism according to the information of the effective freedom degree of arm body mechanism for doctor
The user interface components of the control of the task freedom degree of raw configuration.Wherein, task freedom degree is corresponding to cartesian space to retouch
It states, definition specifically sees and is hereinafter described.
For the structure of the arm body mechanism shown in Fig. 4, which can illustratively be expressed as Figure 16.Example
Such as, Figure 17 indicates to choose x, y, z, the user interface components of the process of this five task freedom degrees of α, β, user circle after choosing
Face component is as shown in figure 18, and can choose after control such as " cancellation " option terminates under this task freedom degree to arm body
The control of mechanism, wherein Figure 18 indicates that free control can be carried out to arm body mechanism.In another example Figure 19 indicate choose α, β this two
The user interface components of the process of a task freedom degree, the user interface components after choosing are as shown in figure 20, equally can be
Choosing after control such as " cancellation " option terminates the control under this task freedom degree to arm body mechanism, wherein Tu20Biao
RCM constraint control can be carried out to arm body mechanism by showing.
In one embodiment, doctor can be allowed to be freely disposed several common according to actual needs after step S42
Business mode simultaneously generates the user interface components of the control of related common mission mode by control device to facilitate subsequent quick use.
The configuration information that the task freedom degree that guidance information guidance doctor custom-configures several arm body mechanisms can be generated generates in turn
The user interface components of the control of several common mission modes for configuration.Guidance information citing generated may include this
The content of sample: " option of more than one task freedom degree is please chosen from screen, and is confirmed whether to generate common pattern 1 ",
" option of more than one task freedom degree is please chosen from screen, and is confirmed whether to generate common pattern 2 " ... " PLSCONFM
Whether setting completed " etc. texts or voice prompting, when then generating the control containing several common mission modes after setting completed
User interface components, the control are supplied to doctor and choose.
Preferably, the control of different common mission modes is repeated to configure by doctor in order to prevent, control device is configured in
When generating the user interface components of the control of several common mission modes for configuration, real-time detection is currently being arranged normal
Task associated by the common the mission mode whether information of task freedom degree associated by mission mode has been arranged with front
Whether the information of freedom degree exactly matches, if exact matching, forbids the common mission mode being currently arranged generation can
For the user interface components of the control of configuration, and it can remind doctor that setting is repeated.
In one embodiment, specifically after step S42, including step S43, obtain for arm body mechanism for configuration from
The operational order generated is operated by degree control, and according to the operational order generate the task freedom degree of the arm body mechanism with confidence
Breath.Doctor can often carry out choosing by input unit realization configuration, the input unit can be touch screen, mouse,
Keypad, motion input device above-mentioned 11 etc..
Further, roughly the same with the aforementioned customized common mission mode of setting, it can be by control device according to doctor
The user interface components of several controls containing common mission mode of raw historical custom Automatic generation of information, specifically, as schemed
Shown in 21, while executing step S43, execute:
Step S4311, record work as the configuration information of the task freedom degree of forearm body mechanism and update its history frequency of usage；
Step S4312, the arm body mechanism according to the sequence of history frequency of usage from high to low by sequence before several rankings
Task freedom degree configuration information generate several common mission modes for configuration control user interface components.
Certainly, which can also directly generate according to the definition of system file corresponding containing common
The user interface components of the control of business mode.
Above-mentioned common mission mode can be set to more than one.According to actual history frequency of use, citing can be with
It is arranged to three, respectively free control model, RCM constrain control model and determine posture restraint control model.Specifically, from
By information complete of the effective freedom degree of the configuration information and arm body mechanism of the task freedom degree of control model index arm body mechanism
With the case where；RCM constrains the configuration information of the task freedom degree of control model index arm body mechanism and effective freedom of arm body mechanism
The INFORMATION OF INCOMPLETE of degree matches but is contained in the feelings in arm body mechanism in the information of effective freedom degree relevant to posture freedom degree
Condition；Determine the configuration information of the task freedom degree of posture restraint control model index arm body mechanism and the effective freedom degree of arm body mechanism
INFORMATION OF INCOMPLETE matches but is contained in the situation in arm body mechanism in the information of effective freedom degree relevant to position freedom.
After step S42, specifically when in use, comprising: obtain the control for being directed to the above-mentioned task freedom degree for configuration
The operational order that part operation generates, and the information of the task freedom degree generated according to the operational order；In turn, being somebody's turn to do according to generation
The information of task freedom degree is called containing arm body mechanism for configuration, the information that includes and be associated with the task freedom degree normal
With the user interface components of the control of mission mode.Further to help operator's fast selecting.For example, in common task mould
Formula includes common mission mode 1 (i.e. [x, y, z, α, β]), commonly uses mission mode 2 (i.e. [x, y, z]), commonly uses mission mode 3 (i.e.
[α, β]), when by task freedom degree control selection [x] in the user interface components that are generated in step S42, can generate including
New alternative control is specially the user interface components of common mission mode 1 and common mission mode 2；For another example step
When the control of task freedom degree in the user interface components generated in S42 selects [α], it can generate including new alternative
Control is specially the user interface components of common mission mode 1 and common mission mode 3；Such association's input mode can mention
Supply the more convenient selection of operator.It certainly, still may include being produced in step S42 in the new user interface components
The control of raw task freedom degree, so that operator configures the configuration except common mission mode.
Still for the structure of the arm body mechanism shown in Fig. 4, which can illustratively be expressed as Figure 22.In
In Figure 22, user interface components contain the control of the control and the common mission mode for configuration of the task freedom degree for configuration
Part.Such as Figure 23, can the title to common mission mode carry out making free burial ground for the destitute setting by oneself, for example the mission mode 1 in Figure 22 is ordered
Mission mode 2 is named as RCM constraint control model by entitled free control model.Figure 24 is indicated by selecting common task mould
Formula carrys out the process of control arm body mechanism movement, due to being associated in the arm body mechanism of the configuration corresponding to free control model
[x, y, z, α, β] this five task freedom degrees, therefore the user interface components after selection again can be as shown in figure 18.
Wherein, when defining common mission mode, common task mould is defined automatically especially in accordance with history frequency of usage
When formula, it can often be carried out after the operating system that doctor logs in the operating robot, and the operating system can provide multiple accounts
Number to allow multiple doctors to log in and use in different moments, and then control device can be every according to the use habit of each doctor
A doctor provides the control of different common mission modes and realizes more personalized configuration.For example, control device passes through
Configuration can generate login interface on startup, obtain the log-on message of doctor and verify, be verified in log-on message
User interface components described in previous embodiment are provided afterwards for doctor.The configuration information of these common mission modes is finally controlled
The log-on message of device and doctor are stored for subsequent use in association, can mainly be directed to convenient for individual cultivation or generation
In the control of the common mission mode of different doctors.
In one embodiment, in the mistake that the configuration information of the task freedom degree of combination arm body mechanism is adjusted arm body mechanism
Cheng Zhong can further configure it based on the configuration information of the task freedom degree when forearm body mechanism, with realization pair
The accurate adjustment of arm body mechanism.Specifically, as shown in figure 25, after executing step S42, executing:
Whether step S4321, real-time detection get accurate adjustment control instruction.
The accurate adjustment control instruction indicates the intention for needing accurately to adjust arm body mechanism that doctor actively triggers, and can lead to
Cross an input unit input connecting with control device.
Step S4322, after detection gets the accurate adjustment control instruction, according to the task freedom degree when forearm body mechanism
Configuration information generates for configuration and the control only containing corresponding task freedom degree user interface components.
The user interface components include the control of the freedom degree for doctor deploying updated, and the control updated only includes
When the configuration information of the task freedom degree of forearm body mechanism.By enabling some task freedom degrees and/or some tasks of disabling certainly
By spending, so that it may only it is adjusted in the freedom degree being enabled, without being adjusted in forbidden task freedom degree,
It can be realized the purpose accurately adjusted.
When task freedom degree as presently configured is as shown in figure 18, then after getting accurate adjustment control instruction, jump
To user interface components shown in Figure 16.When for another example presently configured task freedom degree is as shown in figure 20, then getting
After switching command, user interface components as shown in figure 26 are jumped to, it can to [α, β], the two task freedom degrees are further
Configured, in this case, be typically chosen one of task freedom degree with to arm body mechanism under the task freedom degree into
Row is individually adjusted.
For example, it needs that [x, y, z, α, beta, gamma] is adjusted, if doctor has found x, y the two freedom degrees are
Reach expectation, then can trigger above-mentioned accurate adjustment control command, and appointing according to the new arm body mechanism for configuration of generation
Business freedom degree information is [z, α, beta, gamma] come the task freedom degree for reconfiguring arm body mechanism distal end, aforementioned to arm body machine to utilize
The control method of structure continues to adjust to z, α, beta, gamma, further, if presence is adjusted to [z, α, beta, gamma] together
Difficulty can be reconfigured the task freedom degree of arm body mechanism distal end and then utilize the aforementioned control method to arm body mechanism seriatim
[z, α, beta, gamma] is adjusted, until final arm body mechanism distal end moves to object pose completely.
In one embodiment, description information described in step S41 further includes the movement model of each effective freedom degree in arm body mechanism
Enclose information.In turn, it after executing step S41, can also be performed:
It is generated containing arm body mechanism according to the range of motion information of each effective freedom degree of arm body mechanism for doctor deploying
The user interface components of the control of the motion range of each task freedom degree.
Wherein it is possible to which the control of the motion range based on each task freedom degree of arm body mechanism is configured, in subsequent control
Motion range when arm body mechanism processed moves under limitation corresponding task freedom degree realizes what arm body mechanism moved in smaller space
Accurate control.When configuring the motion range of each task freedom degree, need to carry out in the motion range of the task freedom degree,
It cannot be configured beyond motion range, alternatively, if being defaulted as the maximum of the motion range when exceeding the motion range
Value.It can realize configuration by inputting and/or choosing motion range section.For example, in the effective freedom degree of arm body mechanism
It is 180 ° corresponding to the yaw angle of task freedom degree and the motion range of pitch angle, can is within 180 ° of ranges in configuration
Yaw angle, pitch angle in task freedom degree carry out such as 150 ° of assignment, to allow arm body mechanism to move in cartesian space
When its yaw angle, pitch angle can only be moved in the range of 150 °.
In another embodiment, description information described in step S41 include arm body mechanism joint assembly information and
Link assembly information.And then step S42 can also be achieved: being believed according to the joint assembly information and link assembly of arm body mechanism
Breath is generated containing arm body mechanism for the user interface components of the control of the joint freedom degrees of doctor deploying.
Preferably, can be generated according to the joint assembly information and link assembly information of arm body mechanism containing simulation arm body machine
The user interface components of the model image in 2D or 3D of structure structure.Wherein, generate that have can in model image at each joint assembly
For the control of the joint freedom degrees of doctor deploying.Correspond to the model image of arm body mechanism structure by generating, it can be more straight
Ground is seen to configure the joint freedom degrees of arm body mechanism convenient for doctor.
Still for the structure of the arm body mechanism shown in Fig. 4, which can illustratively be expressed as Figure 27.Example
Such as, configuration forbids the adjustable process of the joint freedom degrees in third joint as shown in figure 28, the user interface components after configuring
As shown in figure 29, can choose after this control such as " cancellation " option terminates under this joint freedom degrees to arm body machine
The control of structure.
More preferably, description information described in step S41 includes the range of motion information of each joint assembly in arm body mechanism.In
According to the joint assembly information of arm body mechanism and link assembly information generate containing arm body mechanism for doctor deploying joint from
By the control spent user interface components the step of after, can also include: the fortune according to each joint assembly of arm body mechanism
Dynamic range information generates the use containing the arm body mechanism for the control of the corresponding motion range of each joint freedom degrees of configuration
Family interface assembly.Wherein, the motion range for configuring joint freedom degrees can limit the movement in joint.
In this embodiment, by the control of the joint freedom degrees generated containing arm body mechanism for doctor deploying
And/or each joint freedom degrees, for the user interface components of the control of the motion range of configuration, doctor passes through to joint freedom degrees
Configuration (enabled or disabled associated joint freedom degree) and/or combine configuration to the motion range of corresponding joint freedom degree, energy
It is enough to avoid the collision between arm body mechanism and human body or foreign object in some specific occasions；Alternatively, through the above configuration can be from side
Change the configuration of arm body mechanism in method to be suitable for specific usage scenario, for example snakelike arm body mechanism is allowed to become straight line arm body
Mechanism；Alternatively, the energy consumption when work of arm body mechanism can also be reduced.
In one embodiment, description information described in step S41 optionally includes the letter of the effective freedom degree of arm body mechanism
The movement of breath, the range of motion information of each effective freedom degree, joint assembly information and link assembly information and/or each joint assembly
Range information, and then can be generated containing control according to foregoing description information than more comprehensive user interface group in step S42
Part.For example the user interface components contain arm body mechanism for the control of the task freedom degree of doctor deploying and contain arm body mechanism
Even more control such as the control for the joint freedom degrees of doctor deploying.
Wherein it is possible to provide user interface components as shown in figure 30 so that doctor's selection is matched to task freedom degree
It sets or joint freedom degrees is configured.In Figure 30, if the option of selection task freedom degree setting, rear extended meeting enter figure
User interface components shown in 16 or Figure 22 for doctor deploying, and if selection joint freedom degrees setting option, rear extended meeting
Into user interface components shown in Figure 27 for doctor deploying.
The description above information can be the command information that doctor directly gradually inputs via input unit.More preferably, on
The description information stated can store in description file, and this describes file and is stored in the arm for being provided with memory or electronic tag
In body mechanism, and then obtained automatically by having the function of the input unit of data-interface or induction identification function etc..
Preferably, as shown in figure 31, according to particular condition in use, control device is configured and then can believe according to description
Breath generate containing arm body mechanism for the control of the freedom degree of doctor deploying user interface components when, execute:
Step S4331 detects whether to get the trigger signal for enabling the mechanical arm distal end around fixed point movement.
Step S4332, when getting trigger signal, generate containing the arm body mechanism for configuration and only with appearance
The user interface components of the control of the relevant task freedom degree of state freedom degree.
In one embodiment, arm body mechanism includes at least mechanical arm, and mechanical arm distal end passes through power mechanism and is detachably connected tool
There is a motion arm of end instrument, i.e., arm body mechanism does not obviously centainly include motion arm during certain adjustment, can be
Specific needs use then to be installed again.
In the embodiment, mechanical arm distal end is detachably connected puncture outfit (being commonly called as " stamp card "), and puncture outfit includes matching
Intubation and contact pin, contact pin mainly play a part of to puncture tissue, and establish cavity lane after being intubated main puncture
Such as abdominal cavity channel for have the function of the motion arm of end instrument insertion body cavity in.Mechanical arm distal end more specifically with
Intubation is attached.
On the one hand, in safety operation process, generally first with intubation establish the cavity lane, then again by mechanical arm distal end with
Intubation is attached, and is mounted across the motion arm of intubation in mechanical arm distal end again later.Preferably, mechanical arm distal end and puncture outfit
Junction is provided with the detection unit connecting with control device, and detecting element is held when puncture outfit is reliably connected in mechanical arm distal end
It is continuous to generate trigger signal.
On the other hand, under certain particular cases, intubation first can also be connected to mechanical arm distal end, then again inserts intubation
Enter in cavity or insertion is connected to the interconnecting piece of cavity.Therefore in this case, can also puncture outfit distal end be provided with
The detection unit of control device connection, detecting element are reliable inserted into the patient or insertion is pre-attached to patient's body in puncture outfit
Trigger signal is persistently generated when interior interconnecting piece.In this case, detecting element is actually set in intubation.
Wherein, which can be selected from one of contact, microswitch or proximity sensor.
This means that being connect since the puncture outfit for being connected to mechanical arm is established with human body, from safety perspective
Consideration set out in order to avoid arbitrarily adjustment brings wound to human body for mechanical arm distal end, the control device volitional check mechanical arm is remote
The function of task freedom degree relevant to position freedom adjustable (i.e. not for configuration) is held, and is only allowed and posture freedom degree phase
The adjustable function of task freedom degree of pass, i.e., realize the locking under precarious position to inter-related task freedom degree automatically.
Still for the structure of the arm body mechanism shown in Fig. 4, when task freedom degree as presently configured is as shown in figure 18,
When detecting the trigger signal, another user interface components are jumped to, the user interface components are as shown in figure 26, i.e., at most permit
Perhaps the two task freedom degrees can be configured with posture freedom degree α and β.
In one embodiment, when being connected with motion arm on mechanical arm in arm body mechanism, among step S41, packet
It includes:
Description information respectively according to the description information of description mechanical arm structure feature and description motion arm structure feature is raw
At containing mechanical arm for the control of the freedom degree of doctor deploying and containing motion arm for the control of the freedom degree of doctor deploying
User interface components.
Wherein, (information including being installed on where, is such as installed on the information of which mechanical arm to the mount message of motion arm
And/or the information of the mechanical arm which driving portion) and the description information of motion arm structure feature can be manual by operator
Input, can also be obtained, it is no longer repeated herein using a series of automatic obtaining methods above-mentioned.
When specifically used, optionally to mechanical arm distal end (i.e. power mechanism) task freedom degree be separately configured so that
Mechanical arm is independently controlled；Or the task freedom degree of motion arm distal end (i.e. end instrument) is separately configured so that motion arm
It is independently controlled；Or mechanical arm and motion arm can be considered as to a concatenated structure, pass through the task to motion arm distal end
Freedom degree, which carries out configuration, allows the two to link.
It is corresponding to enable its when various controls described in above-described embodiment can be generated as choosing with controlled device
Information, or disable its corresponding information.Various controls described in above-described embodiment may include in same interface, can also be with
Different interfaces are separately contained in, for example, " generating containing mechanical arm for the control of the freedom degree of doctor deploying and containing operation
Arm for the control of the freedom degree of doctor deploying user interface components " in, be not meant to mechanical arm for doctor deploying
The control and motion arm of freedom degree are necessarily shown in same interface for the control of the freedom degree of doctor deploying, they can also show
It is shown on two different, three even more interfaces.
Such as can be generated here one it is as shown in figure 32 for the interface of user configuration, the interface include three kinds of control moulds
The control of formula, i.e. mechanical arm independent control mode, motion arm independent control mode and mechanical arm and motion arm linkage control mode
Control can correspond to and jump on its corresponding another interface to appointing under the mode by choosing a kind of specific control
Business freedom degree is freely configured.In some cases, although being likely to occur the boundary shown corresponding to three kinds of control models
The identical situation of the control for the task freedom degree that bread contains, but what control device necessarily knew that doctor configured is any feelings
Condition, and subsequent proper use of to being carried out in the control of respective arms body mechanism to the configuration information of these task freedom degrees.
The control of above-described embodiment can be in button control, Input, drop down list control, check box control etc.
A combination of one or more.
In one embodiment, control device is configured configuration information and the doctor of the task freedom degree of combination arm body mechanism distal end
The operation information of control arm body mechanism distal end carries out linkage control to each joint assembly of arm body mechanism.
Specifically, if when the arm body mechanism controlled is mechanical arm and/or motion arm, operation information can be via
The motion input device being connect with control device itself motion information collected.It is mainly utilized in motion information herein
Posture information.
And if operation information not only can be doctor and be directly applied to machine when the arm body mechanism controlled is only mechanical arm
The outer force information of tool arm distal end, is also possible to the motion information via motion input device above-mentioned doctor collected.
In one embodiment, a kind of control method of operating robot is provided, is only applicable to be mechanical arm to arm body mechanism
Situation is controlled, which carries out it by the external force for following doctor to drag arm body mechanism distal end (and power mechanism)
Control comprising following steps:
Obtain six-dimensional force/moment vector of external force.
Six-dimensional force/the moment vector for parsing external force is the increment posture information of arm body mechanism distal end.
According to each joint assembly linkage of the increment posture information control arm body mechanism of arm body mechanism distal end so that arm body mechanism
Distal end carries out incremental motion.
Wherein, when the six-dimensional force/moment vector for parsing external force is the increment posture information of arm body mechanism distal end, Ke Yijie
The configuration information parsing motion information for closing the task freedom degree of arm body mechanism distal end is the increment posture information of arm body mechanism.More into
One step, the increment that motion information is arm body mechanism can be parsed according to the configuration information of the task freedom degree of arm body mechanism distal end
Posture information, the arm body mechanism that mapping is obtained in combination with the configuration information of the motion range of each task freedom degree of arm body mechanism
Increment posture information limited.
In one embodiment, as shown in figure 5, providing the control method of another operating robot, it is suitable for arm body machine
Structure, that is, mechanical arm 21 or motion arm 31 are controlled, which includes the following steps:
Step S1 obtains the motion information of motion input device input.
Step S2, parsing motion information are the increment posture information of arm body mechanism distal end.
Step S3 is linked according to each joint assembly of increment posture information control arm body mechanism so that arm body mechanism distal end carries out
Incremental motion.
Wherein, in step s 2, mainly the motion information at front and back moment is parsed, before which can be
At the time of adjacent afterwards or front and back separately certain time length at the time of.In a kind of mode, the movement by calculating later moment in time is believed
Manner of breathing changes pose of the motion information under fixed coordinate system of previous moment, i.e. increment posture information.Then it will fix
Increment posture information under coordinate system is mapped as the increment posture information of arm body mechanism.Illustratively, which illustrates
It can be defined at display, certainly, which can also be defined on other positions in operating robot, and the position is extremely
It is few immovable at work.Wherein, " mapping " indicates a kind of relationship of corresponding conversion.
In one embodiment, as shown in fig. 6, each arm body mechanism (mechanical arm 21 or behaviour can be controlled by position control method
Make arm 31) distal movement is to object pose.Specifically, among step S203, comprising:
Step S31 obtains the location information of each joint assembly of arm body mechanism.
Specifically corresponding location information can be obtained by being installed in such as encoder of the position sensor at joint assembly.With
In the embodiment of Fig. 1 and Fig. 4 signal, which has 5 freedom degrees, can collect in this way by each position sensor
One group of location information (d1, θ2, θ3, θ4, θ5)。
Step S32 goes out the current posture information of arm body mechanism according to the positional information calculation of each joint assembly.
Wherein, it can usually be calculated in conjunction with positive kinematics.The fixed point for establishing mechanical arm 21 is (i.e. mechanical at C point
The origin of the tool coordinates system of arm 21 is on fixed point) to mechanical arm 21 pedestal kinematics model, export C point and pedestal
Model conversion matrixCalculation method is
Step S33 calculates its object pose information according to the current posture information of arm body mechanism and increment posture information.
Wherein, according to the model conversion matrix of C point and pedestalC point is obtained in the posture information of fixed coordinate system.Assuming that
In the case where not changing the point position C, the coordinate system of C point is rotated, posture described in model conversion matrix is reached, can obtain
To rotation shaft angle [θx0,θy0,θz0], as shown in Figure 7.θx0For roll angle, θy0For yaw angle, θz0For pitch angle, and in Figure 14
Shown in mechanical arm 21, lack the freedom degree and then actually θ of roll anglex0It is non-adjustable.
Step S34 calculates the target position information of each joint assembly of arm body mechanism according to object pose information.
The step can usually be calculated in conjunction with inverse kinematics.
Step S35, according to each joint assembly linkage of the target position information control arm body mechanism of each joint assembly so that arm
Body mechanism distal movement is to object pose.
Wherein, the practical difference reflected to arm body mechanism distal end of the different information of the task freedom degree of arm body mechanism distal end
Demand for control.That is, being understood that parse motion information according to different demands for control and being mapped as the increment of arm body mechanism
Posture information.
Permit specifically, the task freedom degree of arm body mechanism distal end is understood to be arm body mechanism distal end in cartesian space
Perhaps the freedom degree moved is at most 6.Arm body mechanism distal end has effective freedom degree in cartesian space, and arm body mechanism is remote
The effective freedom degree at end is related to its configuration (i.e. structure feature), and the effective freedom degree of arm body mechanism distal end is understood to be arm body
Mechanism distal end achievable freedom degree in cartesian space is equally at most 6.The task freedom degree of arm body mechanism distal end
Configuration information be configure arm body mechanism distal end be allowed to be moved in which freedom degree.
Motion information can be parsed according to the information in step s 2, then again believe the movement after parsing
Breath is mapped as the increment posture information of arm body mechanism distal end.For example, the information is to allow in posture information [x, y, z, α, beta, gamma]
[x, y, z] these three freedom degrees movement, then when parsing to motion information, only parse [x, y, z] these three freedom
Corresponding motion information is spent, it is remote then will to be mapped as arm body mechanism corresponding to the motion information of [x, y, z] these three freedom degrees again
The increment posture information at end.
It is of course also possible to first comprehensive analysis be carried out to motion information, then according to the information to the movement after parsing
Information MAP is the increment posture information of arm body mechanism distal end.For example, the information be similarly allow posture information [x, y, z, α, β,
γ] in [x, y, z] these three freedom degrees movement, then when being parsed to motion information, parse whole [x, y, z, α, β,
γ] the corresponding motion information of this six-freedom degree, it then will correspond to the motion information mapping of [x, y, z] these three freedom degrees again
For the increment posture information of arm body mechanism distal end.
In the mechanical arm 21 for illustrating as shown in Figure 4, the information of the effective freedom degree of mechanical arm 21 includes [x, y, z, α, β],
It does not have freedom degree on roll angle γ according to joint assembly 210~214:
If the task of configuration power mechanism 22 (it is installed in 21 distal end of mechanical arm for installing and driving motion arm 31) is certainly
It is [x, y, z, α, β], the then configuration information of task freedom degree of power mechanism 22 and having for mechanical arm 21 by the configuration information spent
The information exact matching of freedom degree is imitated, what is carried out at this time to power mechanism 22 is free control, and it is big can to control power mechanism 22
Range is mobile to adapt to operating room arrangement；
S if the configuration information for configuring the task freedom degree of power mechanism 22 is [x, y, z, α] or [x, y, z] etc., then power
The configuration information of the task freedom degree of mechanism 22 is contained in the information of the effective freedom degree of mechanical arm 21 and Incomplete matching,
When controlling power mechanism, these corresponding freedom degrees may only be adjusted at [x, y, z, α] or [x, y, z], it is right at this time
What power mechanism 22 carried out is constraint control, can be controlled in the range of restriction power mechanism 22.
Especially, if the configuration information of the task freedom degree of configuration power mechanism 22 is when only including [α, β], this belongs to about
RCM in beam control system constrains control, i.e., moves around remote centre of motion (i.e. fixed point), may only to yaw angle and pitch angle into
Row is adjusted, and can satisfy the fine tuning in surgical procedure.
Certainly, if the information of the effective freedom degree of mechanical arm 21 includes [x, y, z, α, beta, gamma], by power mechanism 22
Task freedom degree configuration, RCM constraint control can in total include only to yaw angle, only to pitch angle, only to roll angle, to inclined
Navigate angle and pitch angle, to yaw angle and roll angle, carry out to pitch angle and roll angle and to yaw angle, pitch angle and roll angle
This multiple types adjusted.
In one configuration, if the configuration information of the task freedom degree of power mechanism 22 is only partially contained in mechanical arm 21
In the information of effective freedom degree, a kind of preferable selection is to prompt the information of configuration error, alternatively can be only to allow
The some freedom for being contained in the information of the effective freedom degree of mechanical arm 21 is adjustable.Still by taking mechanical arm 21 shown in Fig. 4 as an example, if
The configuration information of the task freedom degree of power mechanism 22 is [y, z, α, beta, gamma] or [x, y, z, α, beta, gamma], on the one hand can be prompted
On the other hand the information of configuration error can permit the tune that corresponding freedom degree is carried out in [y, z, α, β] or [x, y, z, α, β]
Section.This can be configured according to actual needs.
It, can matching according to the task freedom degree of arm body mechanism distal end specifically among above-mentioned steps S2 in one embodiment
Confidence breath parsing motion information and the increment posture information for being mapped as arm body mechanism, in combination with each task freedom degree of arm body mechanism
The configuration information increment posture information of arm body mechanism that mapping is obtained of motion range limit.Wherein, the arm body machine
The configuration information of the task freedom degree of structure distal end and its configuration information of motion range can be by doctors according to above-described embodiment
The user interface components of display 12 such as that are shown in of middle record are freely configured.
Operating robot can provide one or more motion input devices 11.In one embodiment, operating robot is provided
Two motion input devices 11.For convenient for operation, two motion input devices 11 are supplied to two hands to operate, can be one
People operates, and is also possible to two people to operate.Controlled end instrument 34 optionally follow a motion input device or
Two motion input device movements namely controlled end instrument 34 can follow any of two motion input devices 11
Or two movements, defining one-to-one operation mode is to control a controlled end instrument 34 with a motion input device 11 to transport
Dynamic, defining two pair of one operation mode is to control a controlled end instrument 34 together with two motion input devices 11 to move.
When controlling controlled end instrument 34 movement, can choose using one-to-one operation mode or two pair of one operation mode.It is right
Which for one-to-one operation mode, can further select to be controlled using motion input device.For example,
Same operator is in double-handed exercise, according to configuration, can be two couple of one behaviour carried out to a controlled end instrument 34
The control of operation mode is also possible to the control of the one-to-one operation mode carried out respectively to two controlled end instruments 34.
In one embodiment, for one-to-one operation mode, citing can pass through formula Pn=KPnIt obtains and is accordingly grasped by selection
Posture information P of the motion input device 11 made at the n-th moment, wherein K is proportionality coefficient, in general, K > 0, more preferably, 1
>=K > 0, to realize the scaling to pose, convenient for control.
In one embodiment, for two pair of one operation mode, citing can pass through formula Pn=K1PnL+K2PnRObtain accordingly quilt
Posture information P of two motion input devices 11 of selection operation at the n-th moment, wherein K1And K2It is defeated to respectively indicate different motion
Enter the proportionality coefficient of equipment 11, in general, K1> 0, K2>0；More preferably, 1 >=K1> 0,1 >=K2>0。
Calculate the increasing of certain front and back moment one-to-one operation mode or the corresponding motion input device 11 of two pair of one operation mode
Measure posture information Δ pn_n-1When, it calculates according to the following formula:
Δpn_n-1=Pn-Pn-1
Certainly, usually the increment pose of fixed coordinate system can be realized in conjunction with the task freedom degree of controlled end instrument 34
Information to controlled end instrument 34 the increment posture information of the first coordinate system mapping.
In one embodiment, in conjunction with Fig. 8 and Fig. 9 refering to, for one-to-one operation mode, obtain motion input device
Motion information is parsed and is mapped as controlled end instrument in the increment posture information of the first coordinate system by the motion information of input
Step includes:
Step S211 obtains the first posture information of previous moment motion input device.
Step S212 obtains the second posture information of later moment in time motion input device.Wherein, later moment in time usually can be with
Be understood to current time, and with the variation of time, later moment in time here again it is opposite as more later moment in time it is previous when
It carves.Step S211 and step S212, acquisition is to be selected for the motion input device of one-to-one operation mode to input
Posture information.
Step S213 is calculated according to the first posture information of motion input device, the second posture information and is obtained movement input
Increment posture information of the equipment in fixed coordinate system.
Motion input device is mapped as controlled end instrument in the increment posture information of fixed coordinate system and existed by step S214
The increment posture information of first coordinate system.
In one embodiment, in conjunction with Figure 10 and Figure 11 refering to for two for an operation mode, acquisition movement input is set
The step of motion information of standby input, parsing motion information is the increment posture information of arm body mechanism distal end includes:
Step S221 obtains respective first posture information of two motion input devices of previous moment respectively.
Step S222 obtains respective second posture information of two motion input devices of later moment in time respectively.
Step S223, in conjunction with proportionality coefficient and respective first posture information of two motion input devices, the second pose letter
Breath, which calculates, obtains two motion input devices in the increment posture information of fixed coordinate system.
Wherein, it for step S223, can specifically be achieved by the steps of:
Calculate a motion input device the first posture information and the second posture information fixed coordinate system increment pose
Information, and calculate another motion input device the first posture information and the second posture information fixed coordinate system increment pose
Information；
It is defeated in the increment posture information of fixed coordinate system and another movement that a motion input device is calculated in conjunction with proportionality coefficient
Enter equipment and respectively obtains two motion input devices in the increment of fixed coordinate system in the increment posture information of fixed coordinate system
Posture information.
Two motion input devices are mapped as controlled end in the increment posture information of fixed coordinate system by step S224
Increment posture information of the instrument in the first coordinate system.
Wherein, in two pair of one operation mode kind, illustratively, the Proportional coefficient K1And K2Equal value is 0.5, then obtains
What increment posture information indicated is the increment posture information of the central point of line between two motion input devices.According to reality
Situation, can be to K1And K2Carry out other assignment.
Further, if need to be accounted in conjunction with the configuration information of the task freedom degree of controlled end instrument 34.On the one hand,
The task freedom degree of motion input device 11 Yu controlled end instrument 34 can be only obtained in step S213 (or step S223)
Then the posture information of associated freedom degree carries out step S214 (or step S224).It on the other hand, can also be in step
Obtain the posture information of motion input device whole effective freedom degree in S213 (or step S223), but in step S214 (or step
Rapid S224) in by freedom associated with the task freedom degree of controlled end instrument 34 in the increment posture information of fixed coordinate system
The posture information of degree is mapped as controlled end instrument 34 in the increment posture information of the first coordinate system, and keeps and controlled end device
The posture information of the unrelated freedom degree of the task freedom degree of tool 34.
In one embodiment, it can realize among step S2, carry out following steps:
It is right according to the difference of the type (related with task freedom degree) of parameter included in the increment posture information got
The amendment of different parameters progress different modes.Such as different types of parameter is repaired by the way that different correction factors is arranged
Just, the parameter for correcting front and back is represented by the relationship of multiplication and division；Or settable different offset come to different types of parameter into
Row amendment, the parameter for correcting front and back are represented by the relationship of plus-minus；Alternatively, can be in conjunction with the side of setting correction factor and offset
Formula is jointly modified different types of parameter, and the parameter for correcting front and back is represented by the relationship including multiplication and division and plus-minus.
To different parameters carry out different modes amendment the step of can step S211~S214 (step S221~
S224 it is carried out in the arbitrary steps between).Such as it can suggest carrying out in step S214 (or step S224).The step can be more
Accurately reflect that the operation of doctor is intended to reduce the influence of maloperation, and can be as caused by dexterity factor
Divide the inaccessible problem of rotational angle to compensate, realizes that any angle is adjustable.
Significantly, since one-to-one operation mode and two pair of one operation mode in habit or flexibility not
It together, can be both even if being modified using identical correcting mode to different types of parameter in increment posture information
Different correction factor and/or offset is arranged in operation mode.
One-to-one operation mode and two pair of one operation mode are suitable for the feelings of controlled end instrument different task freedom degree
Condition.And from the point of view of convenience and accuracy, it is free that one-to-one operation mode is relatively more suitable for controlled end instrument task
The case where spending more (such as more than 4 task freedom degrees), it is free that two pair of one operation mode is relatively more suitable for controlled end instrument task
The case where spending less (such as within 3 task freedom degrees).
By being modified to related increment information, it can more accurately reflect that the operation of doctor is intended to reduce maloperation
It influences, and the inaccessible problem of partial turn angle as caused by dexterity factor can be compensated, realized
Any angle is adjustable.
In one embodiment, object pose process is moved in doctor's control arm body mechanism distal end (such as controlled end instrument)
In, if doctor's discovery still cannot make arm body mechanism distal movement to object pose, Ke Yitong when hand exercise is to limit pose
It crosses in master operating station and/or configures an input unit from operation equipment, the input unit is for exporting the control of holding pose
System order and output release the control command for keeping pose.If necessary to restore hand to maneuverable pose, need to trigger
Output device output keeps the control command of pose, and then after getting the control command, retaining arm body mechanism distal end
Pose is constant namely control arm body mechanism distal end does not follow hand exercise, hand can be restored to maneuverable pose；It
Afterwards, continue that arm body mechanism is adjusted if necessary, need to trigger output device output and release the control life for keeping pose
It enables, and then after getting the control command, arm body mechanism distal end follows hand exercise again.It ensures that and intervenes at any time
Two control commands and liberation both hands, which can be configured as speech recognition module or foot-operated input unit
Deng.
For example, RCM constraint control easily and accurately can be carried out to controlled end instrument when using two pairs of operation modes,
It only needs to parse the location information that motion information is included and the posture information for being mapped as controlled end instrument at this time, is easy to
It is controlled using two motion input devices.
For example, the translational motion information of two motion input devices 11 in the horizontal direction can be parsed and is mapped
For controlled end instrument the first coordinate system yaw angle increment information, by two motion input devices 11 in the vertical direction
Translational motion information parses and is mapped as controlled end instrument in the pitch angle increment information of the first coordinate system, and two movements are defeated
Enter rotational motion information of the equipment 11 on arbitrary plane such as perpendicular to parse and be mapped as controlled end instrument in the first seat
The roll angle increment information of system is marked, illustratively, as shown in figure 12, water of this two movement 11 equipment of input in fixed coordinate system
Translating dynamic increment information, vertical shift increment information and rotation increments information can carry out as follows:
Step S231 obtains two respective first location informations of motion input device of previous moment respectively.
Step S232 obtains two respective second location informations of motion input device of later moment in time respectively.
Step S233, in conjunction with proportionality coefficient and the respective first location information of two motion input devices, second confidence
Breath calculate obtain two motion input devices fixed coordinate system move horizontally increment information, vertical shift increment information and turn
Dynamic increment information.
Wherein, in step S233, move horizontally increment information and the vertical shift increment information of fixed coordinate system can be with
It calculates and obtains referring to method above, and the citing of the rotation increments information of fixed coordinate system can calculate acquisition in the following way,
It is specific as shown in FIG. 13 and 14:
Step S2331 establishes the first position vector between two motion input devices of previous moment.
Step S2332 establishes the second position vector between two motion input devices of later moment in time.
Step S2333 calculates the angle between first position vector and second position vector in conjunction with proportionality coefficient and then obtains
Take two sports equipments in the rotation increments information of fixed coordinate system.
Two sports equipments are moved horizontally increment information, vertical shift increment in fixed coordinate system by step S2334
Information and rotation increments information one-to-one mapping are yaw angle increment information, pitch angle increment information and the rolling of controlled end instrument
Dynamic angle increment information.
Wherein it is possible to configure an input unit in master operating station and/or from operation equipment, the input unit is for exporting
Switch the control command of mapping relations.For example, mapping relations include natural mapping relationship and non-natural mapping relations.
Wherein it is possible to which defining natural mapping relationship is the increment position in fixed coordinate system that will be obtained by motion information parsing
Appearance information according to its parameter type it is one-to-one map to controlled end instrument in the increment posture information of the first coordinate system, tool
Body is to be mapped as controlled end instrument and move horizontally increasing in the first coordinate system the increment information that moves horizontally of fixed coordinate system
The vertical shift increment information of fixed coordinate system is mapped as controlled end instrument in the vertical shift of the first coordinate system by amount information
The back-and-forth motion increment information of fixed coordinate system is mapped as controlled end instrument before and after the first coordinate system and moves by increment information
The yaw angle increment information of fixed coordinate system is mapped as controlled end instrument in the yaw angle of the first coordinate system by dynamic increment information
The pitch angle increment information of fixed coordinate system is mapped as controlled end instrument in the pitch angle increasing of the first coordinate system by increment information
It measures information and the roll angle increment information of fixed coordinate system is mapped as controlled end instrument and increase in the roll angle of the first coordinate system
Measure information.These can be selected according to the configuration information of the task freedom degree of controlled end instrument.
Non-natural mapping relations are the mapping relations except natural mapping relationship, in an example, the non-natural mapping relations
Including but not limited to conversion map relationship comprising but be not limited to it is above-mentioned by fixed coordinate system move horizontally increment information,
Vertical shift increment information and rotation increments information one-to-one mapping are yaw angle increment information, the pitch angle of controlled end instrument
Increment information and roll angle increment information.Being configured to non-natural mapping relations can be in certain situation such as such as two pair of one operation mode
Under relatively easily controlled end instrument is controlled.
By the configuration information and/or operation mode that combine the task freedom degree of the controlled end instrument distal end obtained
The type information of type information and/or mapping relations parses motion information and is mapped as controlled end instrument distal end and sits first
Mark the increment posture information of system.In turn, doctor can should be readily appreciated that and facilitate the mode of operation according to itself habit setting.
Wherein, mechanical arm and motion arm can be configured to natural mapping relationship or non-natural mapping relations, alternatively, mechanical
One of them in arm and motion arm is configured as using natural mapping relationship and another is configured as using non-natural mapping
Relationship.This can according to operation purpose by be set to master operating station and/or from operation equipment an input unit carry out configuration or
It is selected by predetermined configuration.
Above-described embodiment is suitable for controlling the operating robot of type as shown in Figure 1.The surgical machine of the type
People includes a mechanical arm 21 and the more than one motion arm 31 with end instrument 34 for being installed in 21 distal end of mechanical arm,
The mechanical arm 21 and motion arm 31 all have several freedom degrees.
Above-described embodiment is equally applicable to control the operating robot of type as shown in figure 33.The operation of the type
Robot includes a principal arm 32 ', is installed in the more than one adjustment arm 30 ' of 32 ' distal end of principal arm and is installed in adjustment arm 30 '
The more than one motion arm 31 ' with end instrument of distal end, the principal arm 32 ', adjustment arm 30 ' and motion arm 31 ' all have
Several freedom degrees.As shown in figure 33, in the operating robot, adjustment arm 30 ' can be set to four, and each adjustment arm 30 ' can
A motion arm 31 ' is only arranged.It, can be by three sections of the operating robot of type as shown in figure 33 according to actual use scene
Formula arm body structure is configured to the two-part arm body structure of the operating robot of type as shown in Figure 1 to realize control.One implements
It,, can for example, according to configuration in the case where the concept of the motion arm in the two kinds of operating robot is unanimous circumstances in example
Each adjustment arm 30 ' in the operating robot of type as shown in figure 33 to be considered as in the operating robot of type as shown in Figure 1
Mechanical arm 21 controlled；In another example according to configuration, it can also be by any in the operating robot of type as shown in figure 33
Mechanical arm 21 in the collectively regarded as operating robot of type as shown in Figure 1 of adjustment arm 30 ' and principal arm 32 ' is controlled.One
In embodiment, the principal arm 32 ' in the operating robot of type as shown in figure 33 can be considered as to the surgical engine of type as shown in Figure 1
Mechanical arm 21 in device people and by the adjustment arm 30 ' and its corresponding motion arm in the operating robot of type as shown in figure 33
Motion arm 31 in 31 ' the collectively regarded as operating robot of type as shown in Figure 1 is controlled.
It is mentioned above to be configured at master operating station (including motion input device) and/or all kinds of purposes from operation equipment
Input unit include but is not limited to touch screen, key, knob, foot-operated and speech recognition module.They can be applied in combination,
It can be used alone；They can also be used multiple using same.For example, input unit is configured at master mostly
At station, facilitate doctor without leaving current location to operate.For example, input unit can use speech recognition mostly
Module, generates according to the voice of identification doctor and output phase answers control command and then selects corresponding mode, such surgical engine
The structure of device people is relatively simple, and has liberated both hands and both feet, can be realized more continuitys and (does not interrupt current behaviour
Make) operation.
In one embodiment, the control method of above-mentioned operating robot is typically configured as the control device in operating robot
In realize, which has more than one processor.
In one embodiment, a kind of computer readable storage medium is provided, computer-readable recording medium storage has computer
Program, which, which is configured as being executed as more than one processor, realizes control described in any of the above-described embodiment
The step of method.
Operating robot and its control method of the invention, computer readable storage medium, have the following beneficial effects:
Arm body mechanism distal end can follow the hand exercise of doctor, and doctor can be remote by arm body mechanism without departing from seat
End motion is easy and convenient to handle, flexibility is excellent to desired pose.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of control method of operating robot, which comprises the steps of:
Obtain the description information of description arm body mechanism structure feature；
The user interface components of the control containing freedom degree of the arm body mechanism for configuration are generated according to the description information.
2. control method according to claim 1, it is characterised in that:
The description information includes the information of the effective freedom degree of the arm body mechanism；
In the user interface group for generating the control containing freedom degree of the arm body mechanism for configuration according to the description information
In the step of part, comprising:
It is generated according to the information of the effective freedom degree of the arm body mechanism free for the task of configuration containing the arm body mechanism
The user interface components of the control of degree.
3. control method according to claim 2, it is characterised in that:
The information according to the effective freedom degree of the arm body mechanism generate containing the arm body mechanism for configuration task from
By the control spent user interface components the step of after, comprising:
Obtain the operational order generated for control operation, and the letter of the task freedom degree generated according to the operational order
Breath；
According to the information of the task freedom degree of generation call containing the arm body mechanism for configuration including and be associated with
The user interface components of the control of the common mission mode of the information of the task freedom degree.
4. control method according to claim 3, it is characterised in that:
The common mission mode is the preset combination including more than two task freedom degrees；
The common mission mode includes all for the task freedom degree of configuration and/or all free for the task of configuration
In degree task freedom degree relevant to posture freedom degree and/or all in the task freedom degree of configuration with position freedom
Relevant task freedom degree；
The common mission mode is generated from high to low according to the history frequency of use of record including more than two tasks
The combination of freedom degree, alternatively, the common mission mode is generated according to control configuration including more than two tasks
The combination of freedom degree.
5. control method according to claim 2, it is characterised in that:
The information according to the effective freedom degree of the arm body mechanism generate containing the arm body mechanism for configuration task from
By the control spent user interface components the step of after, comprising:
The operational order generated for control operation is obtained, and appointing for the arm body mechanism is generated according to the operational order
The configuration information for freedom degree of being engaged in.
6. control method according to claim 5, it is characterised in that:
The operational order generated for control operation is being obtained, and the arm body mechanism is generated according to the operational order
After the step of configuration information of task freedom degree, comprising:
It detects whether to get accurate adjustment control instruction；
It, can according to the generation of the configuration information of the task freedom degree of presently described arm body mechanism when getting the accurate adjustment control instruction
For user interface components configuration and only containing the accordingly control of the task freedom degree.
7. control method according to claim 1, it is characterised in that:
The description information includes the joint assembly information and link assembly information of the arm body mechanism；
In the user interface group for generating the control containing freedom degree of the arm body mechanism for configuration according to the description information
In the step of part, comprising:
It is generated containing the arm body mechanism according to the joint assembly information of the arm body mechanism and link assembly information for configuration
Joint freedom degrees control user interface components.
8. control method according to claim 7, it is characterised in that:
Match according to the generation of the joint assembly information and link assembly information of the arm body mechanism containing the arm body mechanism
In the step of user interface components of the control for the joint freedom degrees set, comprising:
It is generated according to the joint assembly information of the arm body mechanism and link assembly information containing the simulation arm body mechanism structure
Model image and in the model image at each joint assembly have for configuration joint freedom degrees control user
Interface assembly；
Match according to the generation of the joint assembly information and link assembly information of the arm body mechanism containing the arm body mechanism
After the step of user interface components of the control for the joint freedom degrees set, comprising:
Obtain the operational order generated for the control operation of the joint freedom degrees, and according to the operational order it is enabled and/
Or disable the corresponding joint freedom degrees.
9. a kind of control device of operating robot characterized by comprising
Memory, for storing computer program；
And processor, for loading and executing the computer program；
Wherein, the computer program is configured as being loaded by the processor and being executed any one of such as claim 1~8 of realization
The step of described control method.
10. a kind of operating robot characterized by comprising
For executing the arm body mechanism of surgical procedure；
For showing the display of user interface components；
And the control device being connect with the arm body mechanism and the display, it realizes for executing as claim 1~8 is any
The step of control method described in item.
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| CN202010901516.9A CN112057170B (en) | 2019-09-10 | 2019-09-10 | Surgical robot and control method and control device thereof |
| CN201910854921.7A CN110464473B (en) | 2019-09-10 | 2019-09-10 | Surgical robot and control method and control device thereof |
| CN202010901495.0A CN111956333B (en) | 2019-09-10 | 2019-09-10 | Surgical robot and control method and control device thereof |
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| WO2022126997A1 (en) * | 2020-12-15 | 2022-06-23 | 深圳市精锋医疗科技有限公司 | Surgical robot, and control method and control apparatus therefor |
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| CN112472297B (en) * | 2020-11-26 | 2022-03-29 | 上海微创医疗机器人（集团）股份有限公司 | Pose monitoring system, pose monitoring method, surgical robot system and storage medium |
| CN112472298B (en) * | 2020-12-15 | 2022-06-24 | 深圳市精锋医疗科技股份有限公司 | Surgical robot, and control device and control method thereof |
| CN112828885B (en) * | 2020-12-30 | 2022-09-20 | 诺创智能医疗科技(杭州)有限公司 | Hybrid master-slave mapping method, mechanical arm system and computer equipment |
| CN116459007A (en) * | 2021-08-03 | 2023-07-21 | 武汉联影智融医疗科技有限公司 | Method, device and equipment for determining mechanical arm configuration of surgical robot system |
| CN116000911B (en) * | 2021-10-22 | 2024-09-20 | 瑞龙诺赋(上海)医疗科技有限公司 | Mechanical arm control method and device and mechanical arm |
| ES2963243A1 (en) * | 2022-08-26 | 2024-03-25 | Cella Medical Solutions S L | DEVICE FOR 3D NAVIGATION INTEGRATED IN A SURGICAL ROBOT (Machine-translation by Google Translate, not legally binding) |
| CN115883157A (en) * | 2022-11-25 | 2023-03-31 | 广州里工实业有限公司 | Information interaction method, system, electronic equipment and storage medium |
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| CN112057170A (en) | 2020-12-11 |
| CN111956333B (en) | 2021-09-24 |
| CN110464473B (en) | 2020-09-22 |
| CN112057170B (en) | 2022-02-15 |
| CN111956333A (en) | 2020-11-20 |
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