CN110559079B - Control method of laparoscopic robot - Google Patents
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- CN110559079B CN110559079B CN201910718968.0A CN201910718968A CN110559079B CN 110559079 B CN110559079 B CN 110559079B CN 201910718968 A CN201910718968 A CN 201910718968A CN 110559079 B CN110559079 B CN 110559079B
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- A61B34/30—Surgical robots
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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
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Abstract
The invention belongs to the technical field of laparoscopic surgery, in particular to a control method of a laparoscopic robot, which comprises the steps of establishing a laparoscopic robot model, judging whether a controller sends a new instruction or not, when the controller does not send the new instruction, the controller does not act, when the controller sends the new instruction, the laparoscopic robot receives the instruction sent by the controller, the controller acquires an actual parameter of the laparoscopic robot, judges whether the actual parameter is the same as a target parameter or not, when the target parameter is the same as the actual parameter, the controller does not act, judges whether the controller sends the new instruction or not, when the target parameter is different from the actual parameter, feedback information is generated according to the target parameter and the actual parameter, the controller adjusts the laparoscopic robot according to the feedback information, judges whether the controller sends the new instruction or not, and adopts a control method of closed-loop adjustment to the laparoscopic robot, the error between the actual parameter and the target parameter is eliminated, and the motion precision of the laparoscopic robot is improved.
Description
Technical Field
The invention belongs to the technical field of laparoscopic surgery, and particularly relates to a control method of a laparoscopic robot.
Background
This section provides background information related to the present disclosure only and is not necessarily prior art.
At present, more and more diseases can be cured through operations performed by a surgical robot, particularly laparoscopic surgeries, the most common laparoscopic surgery mode is minimally invasive surgery, on the basis of minimally invasive surgery, in order to further reduce wounds of the operations, and therefore the surgery is developed into single-hole abdominal surgery, the single-hole abdominal surgery is used for forming an incision on an abdominal wall, the laparoscopic robot is placed at the incision to collect images at different angles in the abdominal cavity, a foundation is provided for smooth operations, the single-hole abdominal surgery is accepted by patients and doctors with the advantages of only forming one incision and fast postoperative recovery, and researches in related fields are gradually developed.
The laparoscopic robot used in the single-port abdominal cavity operation receives an instruction through the driver, so that each joint moves to adjust the position of the camera to acquire images at different angles, but because the inertia of the driver is complex, the problem of low control precision exists, open-loop control is mostly adopted, the control precision is low, the laparoscopic robot is easy to be interfered by the outside world, the precision is continuously reduced and the sensitivity is reduced along with long-time use, the parameters of the driver are required to be adjusted for many times, and long time is required to be consumed.
Disclosure of Invention
The object of the present invention is to solve at least the problems of low precision of the laparoscopic robot and the need to adjust the driver parameters multiple times. The purpose is realized by the following technical scheme:
the invention provides a control method of a laparoscopic robot, comprising the following steps:
establishing a laparoscopic robot model;
judging whether a controller sends a new command or not, wherein the controller does not act when the controller does not send the new command, and the laparoscopic robot receives the command sent by the controller when the controller sends the new command;
the controller acquires actual parameters of the laparoscopic robot;
judging whether the actual parameters are the same as the target parameters;
when the target parameter is the same as the actual parameter, the controller does not act, and whether the controller sends a new instruction is judged;
and when the target parameter is different from the actual parameter, generating feedback information according to the target parameter and the actual parameter, adjusting the laparoscopic robot according to the feedback information by the controller, and judging whether the controller sends a new command.
According to the control method of the laparoscopic robot of the embodiment of the present invention, a model of the laparoscopic robot is established first, it is determined whether a controller issues a new command, when the controller does not issue the new command, the laparoscopic robot does not operate, when the controller issues the new command, the laparoscopic robot receives the command, the controller acquires an actual parameter of the laparoscopic robot, it is determined whether the target parameter and the actual parameter are the same, when the target parameter is the same as the actual parameter, the controller does not operate, i.e., it is not necessary to adjust the laparoscopic robot, when the target parameter is different from the actual parameter, feedback information is generated according to the target parameter and the actual parameter, the feedback information is fed back to the controller, the controller adjusts the pose of the laparoscopic robot until the target parameter is the same as the actual parameter, because of the existence of the feedback information, the control method of the laparoscopic robot is a closed-loop control method, the output of the laparoscopic robot is corrected, the error between the actual parameter and the target parameter is eliminated, and the motion precision of the laparoscopic robot is improved.
In addition, the control method of the laparoscopic robot according to an embodiment of the present invention may further have the following additional technical features:
in some embodiments of the present invention, the controller acquiring the actual parameters of the laparoscopic robot comprises:
the sensor of the laparoscopic robot detects the actual parameter of the laparoscopic robot and sends the actual parameter to the controller;
the controller obtains the actual parameter.
In some embodiments of the present invention, when the target parameter and the actual parameter are different, generating feedback information according to the target parameter and the actual parameter comprises:
the feedback information comprises an error and an error variation;
using the formula e ═ Aref-AcurAnd ec＝e[n]-e[n-1]；
Calculating to obtain the errors and the error variation at different moments;
wherein A isrefAs a target parameter, AcurAs actual parameters, e [ n ]]And e [ n-1 ]]For errors at different times, ecIs the error variance.
In some embodiments of the present invention, the controller adjusting the laparoscopic robot according to the feedback information comprises:
the controller acquires the error and the error variation;
using the formula Δ u [ n ]]＝Kpec+Kie[n]+Kd{e[n]-2e[n-1]+e[n-2]And u [ n ]]＝u[n-1]+Δu；
Selecting different error according to the error and the error variationKp、KiAnd KdCalculating u [ n ]]；
Wherein u [ n ]]And u [ n-1 ]]Is the control quantity at different time, delta u is the change quantity of the control quantity, KpIs a proportionality coefficient, KiIs the integral coefficient, KdIs a differential coefficient;
the controller adjusts the laparoscopic robot according to the control amount.
In some embodiments of the present invention, the controller adjusts the laparoscopic robot according to the feedback information when | e | ≧ 20, Kp＝2，Ki＝0，Kd＝0.5。
In some embodiments of the invention, the controller adjusts the laparoscopic robot such that | e ≦ 10 in adjusting the laparoscopic robot based on the feedback information<20，|ecWhen | ≧ 3, Kp＝1，Ki＝0.005，Kd＝0.2。
In some embodiments of the invention, the controller adjusts the laparoscopic robot such that | e ≦ 10 in adjusting the laparoscopic robot based on the feedback information<20，|ecIf | is less than 3, Kp＝1，Ki＝0，Kd＝0.3。
In some embodiments of the invention, the controller adjusts the laparoscopic robot such that | e ≦ 5 in adjusting the laparoscopic robot based on the feedback information<10，|ecWhen | ≧ 1, Kp＝1.5，Ki＝0.01，Kd＝0.1。
In some embodiments of the invention, the controller adjusts the laparoscopic robot such that | e ≦ 5 in adjusting the laparoscopic robot based on the feedback information<10，|ecIf | is less than 1, Kp＝1.5，Ki＝0.01，Kd＝0.15。
In some embodiments of the present invention, the controller adjusts the laparoscopic robot by using the feedback information to adjust | e | E | Y |<5，Kp＝2，Ki＝0.015，Kd＝0.1。
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is an exploded view of an intra-abdominal anchor assembly of a laparoscopic robot in accordance with an embodiment of the present invention;
FIG. 2 is an exploded view of an extraabdominal anchor assembly of the laparoscopic robot of an embodiment of the present invention;
fig. 3 is a flowchart of a control method of the laparoscopic robot according to an embodiment of the present invention;
FIG. 4 is a flowchart of the controller shown in FIG. 3 acquiring actual parameters of the laparoscopic robot;
fig. 5 is a flowchart of fig. 3 showing that when the target parameter and the actual parameter are different, feedback information is generated according to the target parameter and the actual parameter;
FIG. 6 is a flowchart illustrating the controller shown in FIG. 3 adjusting the laparoscopic robot according to feedback information;
fig. 7 is a closed loop control structure diagram of a control method of the laparoscopic robot shown in fig. 3;
FIG. 8 is a graph illustrating an angle change of 0-10 degrees in a control method of the laparoscopic robot shown in FIG. 3;
FIG. 9 is a graph illustrating an angle change of 10-20 degrees in a control method of the laparoscopic robot shown in FIG. 3;
FIG. 10 is a graph illustrating an angle change of 20-30 degrees in a control method of the laparoscopic robot shown in FIG. 3;
FIG. 11 is a graph illustrating an angle change of 30-40 degrees in a control method of the laparoscopic robot shown in FIG. 3;
FIG. 12 is a graph illustrating an angle change of 40-30 degrees in a control method of the laparoscopic robot shown in FIG. 3;
FIG. 13 is a graph illustrating an angle change of 30-20 degrees in a control method of the laparoscopic robot shown in FIG. 3;
FIG. 14 is a graph illustrating an angle change of 20-10 degrees in a control method of the laparoscopic robot shown in FIG. 3;
fig. 15 is a graph illustrating an angle change of 10-0 degrees in a control method of the laparoscopic robot shown in fig. 3.
The reference symbols in the drawings denote the following:
11. a first housing; 12. a first permanent magnet; 13. a flexible member; 14. a second housing; 15. a second permanent magnet;
21. a third housing; 22. a third permanent magnet; 23. a fourth permanent magnet; 24. a drive member; 25. a transmission member.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1 to 2, the present invention provides a laparoscopic robot of an embodiment, including an intra-abdominal anchor assembly including a first housing 11, a first permanent magnet 12, a flexible member 13, a second housing 14, a second permanent magnet 15, a camera, and a sensor, and an extra-abdominal anchor assembly including a third housing 21, a third permanent magnet 22, a fourth permanent magnet 23, a driving member 24, and a driving member 25, the fourth permanent magnet 23 can be driven to rotate around the axis thereof by the driving piece 24 and the driving piece 25, the second permanent magnet 15 makes deflection motion along the direction from the outside of the abdomen to the inside of the abdomen along with the change of the rotation magnetic field of the fourth permanent magnet 23, the driving piece adopts a driving motor and a speed reducer, i.e., the rotation angle of the driving motor, is used as a command, the desired deflection angle of the second permanent magnet 15 is a target parameter, and the actual deflection angle detected by the sensor is an actual parameter.
As shown in fig. 3 to 15, the present invention provides a control method of a laparoscopic robot of an embodiment, including:
establishing a laparoscopic robot model;
judging whether the controller sends a new command or not, wherein when the controller does not send the new command, the controller does not act, and when the controller sends the new command, the laparoscopic robot receives the command sent by the controller;
the controller acquires actual parameters of the laparoscopic robot;
judging whether the actual parameters are the same as the target parameters;
when the target parameter is the same as the actual parameter, the controller does not act and judges whether the controller sends a new instruction or not;
and when the target parameter is different from the actual parameter, generating feedback information according to the target parameter and the actual parameter, adjusting the laparoscopic robot by the controller according to the feedback information, and judging whether the controller sends a new command.
The term "identical" does not mean that the target parameter and the actual parameter are completely identical, and the target parameter and the actual parameter are considered to be identical when there is a certain error, which is within ± 0.5 degrees.
According to the control method of the laparoscopic robot of the embodiment of the present invention, a model of the laparoscopic robot is established first, it is determined whether a controller issues a new command, when the controller does not issue the new command, the laparoscopic robot does not operate, when the controller issues the new command, the laparoscopic robot receives the command, the controller acquires an actual parameter of the laparoscopic robot, it is determined whether the target parameter and the actual parameter are the same, when the target parameter is the same as the actual parameter, the controller does not operate, i.e., it is not necessary to adjust the laparoscopic robot, when the target parameter is different from the actual parameter, feedback information is generated according to the target parameter and the actual parameter, the feedback information is fed back to the controller, the controller adjusts the pose of the laparoscopic robot until the target parameter is the same as the actual parameter, because of the existence of the feedback information, the control method of the laparoscopic robot is a closed-loop control method, the output of the laparoscopic robot is corrected, the error between the actual parameter and the target parameter is eliminated, and the motion precision of the laparoscopic robot is improved.
In some embodiments of the present invention, the actual parameters of the laparoscopic robot are detected by a sensor disposed on the laparoscopic robot, and after the detection is completed, the sensor sends the actual parameters to the controller, and the controller compares the target parameters with the actual parameters after acquiring the actual parameters, and determines whether adjustment is required.
In some embodiments of the present invention, when the target parameter is the same as the actual parameter, no adjustment is required, when the target parameter is different from the actual parameter, a difference between the target parameter and the actual parameter is an error, a difference between the errors is an error variation, and the error variation form feedback informationref-Acur，ArefAs a target parameter, AcurAs actual parameters, e is error, ec＝e[n]-e[n-1]，e[n]And e [ n-1 ]]For errors at different times, ecAnd after the feedback information is obtained for the error variation, the feedback information is input into the controller, and the laparoscopic robot is adjusted by the controller.
In some embodiments of the invention, the adjustment of the laparoscope by the controller is a closed-loop control process, in particular, the controller is an incremental PID controller, controlled by Δ u [ n ]]＝Kpec+Kie[n]+Kd {e[n]-2e[n-1]+e[n-2]And u [ n ]]＝u[n-1]+ delta u to obtain u [ n ]]Wherein u [ n ]]And u [ n-1 ]]Is the control quantity at different time, delta u is the change quantity of the control quantity, KpThe gain is increased to raise the open-loop gain of the system, and is basically an adjustable gain amplifier to reduce the steady-state error of the system and raise the control precision, but K ispControl does not eliminate steady state errors, and large gains can reduce the relative stability of the system, even cause system instability, KiFor the integral coefficient, steady state errors can be eliminated, but the control action is slow, possibly reducing the system stability, KdThe differential coefficient can be controlled in advance, the action is very quick, the lagging condition can be improved, the PID control can reduce the system error and improve the system responseThe speed and the response effect are achieved, the incremental PID formula does not need to be accumulated, the integral link is prevented from occupying a large amount of calculation performance and storage space, the control quantity change delta u (n) is determined only by being related to the sampling value of the latest 3 times, and a better control effect is easily obtained through weighting processing.
In some embodiments of the present invention, the controller adjusts the laparoscopic robot according to the feedback information without a large overshoot, and needs to move smoothly, and needs to adjust Kp、KiAnd KdSetting parameters, when the error e is large, in order to correct the error quickly, Kp needs to be selected as a large value, Ki and Kd need to be selected as small values, large overshoot is avoided, when the error e and the error variation are moderate, Kp needs to be selected as small values, large overshoot is avoided, Kd needs to be selected as small values due to the fact that Kd has large influence on the control effect, Ki needs to be selected as a moderate value, when the error e is small, in order to enable the system to have good stability, Kp and Ki need to be selected as large values, meanwhile, in order to avoid oscillation occurring at the target parameter, when the error variation ec is large, Kd needs to be selected as large values, specifically, when the error variation is small, i | | is not less than 20, K is not less thanp＝2， Ki＝0，Kd＝0.5，10≤|e|<20，|ecWhen | ≧ 3, Kp＝1，Ki＝0.005，Kd＝0.2，10≤|e|<20， |ecIf | is less than 3, Kp＝1，Ki＝0，Kd＝0.3，5≤|e|<10，|ecWhen | ≧ 1, Kp＝1.5，Ki＝0.01，Kd＝0.1， 5≤|e|<10，|ecIf | is less than 1, Kp＝1.5，Ki＝0.01，Kd＝0.15，|e|<5，Kp＝2，Ki＝0.015，KdThe values selected according to the above rule, 0.1, are verified, as shown in fig. 8-15, whether during the gradual increase or decrease of the angle, the controller is substantially free of overshoot for the adjustment of the intra-abdominal anchoring assembly, and the movement is relatively smooth, with the time required for each increase or decrease of 10 degrees between 10 and 40 degrees being around 1s, and for each increase or decrease of 10 degrees between 0 and 10 degrees being around 1sThe time required for increasing or reducing 10 degrees is about 3s, the error is controlled within 0.5 degree, and the control method effectively improves the motion precision of the laparoscopic robot.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (7)
1. A laparoscopic robot is characterized by comprising an intra-abdominal anchoring assembly and an extra-abdominal anchoring assembly, wherein the intra-abdominal anchoring assembly comprises a first shell, a first permanent magnet, a flexible part, a second shell, a second permanent magnet, a camera and a sensor;
a controller;
establishing a laparoscopic robot model;
judging whether the controller sends a new command or not, wherein when the controller does not send the new command, the controller does not act, and when the controller sends the new command, the laparoscopic robot receives the command sent by the controller;
the sensor of the laparoscopic robot detects the actual parameters of the laparoscopic robot and sends the actual parameters to the controller;
the controller acquires the actual parameters;
judging whether the actual parameters are the same as the target parameters;
when the target parameter is the same as the actual parameter, the controller does not act, and whether the controller sends a new instruction is judged;
when the target parameter is different from the actual parameter, generating feedback information according to the target parameter and the actual parameter, wherein the feedback information comprises an error and an error variation, and a formula e = A is adoptedref-AcurAnd ec=e[n]-e[n-1]And calculating the error and the error variation at different moments, wherein ArefAs a target parameter, AcurAs actual parameters, e [ n ]]And e [ n-1 ]]For errors at different times, ecThe controller adjusts the laparoscopic robot according to the feedback information for error variation, acquires the error and the error variation, and adopts a formula delta u [ n ]]=Kpec+Kie[n]+Kd｛e[n]-2e[n-1]+e[n-2]And u [ n ]]=u[n-1]+ Δ u, selecting different K according to the error and the error variationp、KiAnd KdCalculating u [ n ]]Wherein u [ n ]]And u [ n-1 ]]Is the control quantity at different time, delta u is the change quantity of the control quantity, KpIs a proportionality coefficient, KiIs the integral coefficient, KdIs a differential coefficient;
and the controller adjusts the laparoscopic robot according to the control quantity and judges whether the controller sends a new command or not.
2. The laparoscopic robot of claim 1, wherein said controller adjusts said laparoscopic robot according to said feedback information, when | e | ≧ 20, Kp=2，Ki=0，Kd=0.5。
3. The laparoscopic robot of claim 1, wherein said controller adjusts said laparoscopic robot in accordance with said feedback information, wherein | e ≦ 10 ≦ e ≦ n<20，|ecWhen | ≧ 3, Kp=1，Ki=0.005，Kd=0.2。
4. The laparoscopic robot of claim 1, wherein said controller is responsive to said feedback information toWhen the laparoscopic robot is used for adjusting, the ray of more than or equal to 10 is less than or equal to | e<20，|ecIf | is less than 3, Kp=1，Ki=0，Kd=0.3。
5. The laparoscopic robot of claim 1, wherein said controller adjusts said laparoscopic robot in accordance with said feedback information, wherein | e ≦ c<10，|ecWhen | ≧ 1, Kp=1.5，Ki=0.01，Kd=0.1。
6. The laparoscopic robot of claim 1, wherein said controller adjusts said laparoscopic robot in accordance with said feedback information, wherein | e ≦ c<10，|ecIf | is less than 1, Kp=1.5，Ki=0.01，Kd=0.15。
7. The laparoscopic robot of claim 1, wherein said controller adjusts said laparoscopic robot according to said feedback information, | e | y |<5，Kp=2，Ki=0.015，Kd=0.1。
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