CN110893118A - Surgical robot system and method for controlling movement of robot arm - Google Patents
Surgical robot system and method for controlling movement of robot arm Download PDFInfo
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- CN110893118A CN110893118A CN201811063750.8A CN201811063750A CN110893118A CN 110893118 A CN110893118 A CN 110893118A CN 201811063750 A CN201811063750 A CN 201811063750A CN 110893118 A CN110893118 A CN 110893118A
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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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
Abstract
The invention provides a surgical robot system and a motion control method of a robot arm. The surgical robot system comprises a control module, a mechanical arm with at least five degrees of freedom and a surgical instrument arranged at the tail end of the mechanical arm, wherein the mechanical arm at least comprises five joints, three joints are used for controlling the position of the tail end of the surgical instrument, and the other two joints are used for controlling the surgical instrument to pass through an active fixed point; the control module is used for obtaining an expected posture of the surgical instrument according to a preset expected position and the position of the active motionless point, calculating an expected absolute state parameter of each joint of the mechanical arm according to the inverse kinematics model of the mechanical arm, controlling the mechanical arm to drive the surgical instrument to pass through the active motionless point according to the expected absolute state parameter of each joint of the mechanical arm, and moving the tail end of the surgical instrument to the expected position. Therefore, the constraint of the fixed point at the tail end of the mechanical arm is realized in an algorithm, the structure of the mechanical arm is simplified, and the matching capability of each joint of the mechanical arm is improved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical robot system and a motion control method of a mechanical arm.
Background
The surgical robot is more and more concerned by the advantages of excellent performance, high-precision control, intuitive surgical images, good postoperative recovery and the like, the application range of the surgical robot is wider and wider, and the joint surgical robot is one of the surgical robots. In joint surgery (including repair or replacement surgery of knee joints and hip joints), operations such as grinding and drilling of joint bones are required, surgical instruments are required to be precisely controlled, and the accuracy of joint bone repair is ensured, so that the requirement on a surgical operator is high. The joint operation robot represented by the MAKOplasty has the functions of accurate control, positioning precision, boundary protection and the like, and greatly improves the operation precision, the operation efficiency and the postoperative recovery effect of the joint operation.
However, the inventor finds that the current joint robot is mainly in an auxiliary operation mode, the position and the posture of the terminal instrument are mainly controlled by a doctor in the operation process, and the robot assistance ensures the precision and the safety, namely, in the mode, the operator directly controls the surgical instrument by hands, and meanwhile, the robot provides auxiliary coordination control, so that the accurate positioning of the terminal instrument is realized, and the corresponding tissues are trimmed.
Therefore, there is a need to develop a surgical robot system capable of realizing fully automatic operation, which can automatically and accurately determine the desired position and posture of the distal end instrument in a limited operation space.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a surgical robot system and a motion control method for a robot arm, which are used to determine a desired posture of a distal end instrument through a control module, so as to reduce the cost of hardware configuration and mechanical components, improve the flexibility of a surgical operation, and conveniently adjust the position of an active fixed point, so that the surgical robot can adapt to different surgical needs, and expand the working capacity of the robot arm.
Therefore, according to one aspect of the present invention, there is provided a surgical robotic system comprising a control module, a robotic arm having at least five degrees of freedom, and a surgical instrument mounted on an end of the robotic arm, the robotic arm comprising at least five joints; wherein:
the mechanical arm is used for driving the surgical instrument to move around an active motionless point, three joints of the mechanical arm are used for controlling the position of the tail end of the surgical instrument, and the other two joints of the mechanical arm are used for controlling the surgical instrument to pass through the active motionless point;
the control module is used for obtaining an expected posture of the surgical instrument according to a preset expected position and the position of the active motionless point and calculating an expected absolute state parameter of each joint of the mechanical arm according to an inverse kinematics model of the mechanical arm; and the control module is used for controlling the mechanical arm to drive the surgical instrument to pass through the active fixed point and move the tail end of the surgical instrument to a desired position according to the expected absolute state parameters of all joints of the mechanical arm.
Further, according to another aspect of the present invention, there is provided a motion control method of a robot arm having at least five degrees of freedom and including at least five joints, three joints of the robot arm being used to control a position of a distal end of a surgical instrument, and the other two joints of the robot arm being used to control the surgical instrument to pass through the active motionless point, the motion control method including:
mounting a surgical instrument to a distal end of the robotic arm;
a control module obtains the expected posture of the surgical instrument according to a preset expected position and the position of an active motionless point, and calculates the expected absolute state parameters of each joint of the mechanical arm according to the inverse kinematics model of the mechanical arm;
and the control module controls the mechanical arm to drive the surgical instrument to pass through the active fixed point and move the tail end of the surgical instrument to a desired position according to the desired absolute state parameters of all joints of the mechanical arm.
Further, the desired pose of the surgical instrument comprises a desired pose of a Z-axis of a desired coordinate system of the surgical instrument; the desired pose for the Z-axis of the desired coordinate system of the surgical instrument is calculated as follows:
wherein: n isteFor desired seating of surgical instrumentsRepresentation of the expected attitude of the Z axis of the standard system under a base coordinate system of the mechanical arm; ptoIs a representation of the desired position of the surgical instrument tip under a robot arm base coordinate system; pfoThe position of the active fixed point is represented under a base coordinate system of the mechanical arm.
Further, the desired pose of the surgical instrument further comprises a desired pose of the Y-axis of the desired coordinate system of the surgical instrument, and a desired pose of the X-axis of the desired coordinate system of the surgical instrument, the desired pose of the X-axis of the desired coordinate system of the surgical instrument being obtained according to the right hand rule, the desired pose of the Y-axis, and the desired pose of the Z-axis; alternatively, the first and second electrodes may be,
the desired pose of the surgical instrument further includes a desired pose of a Y-axis of a desired coordinate system of the surgical instrument and a desired pose of an X-axis of a desired coordinate system of the surgical instrument, if any, obtained from a right hand rule, a desired pose of an X-axis, and a desired pose of a Z-axis.
Further, the desired pose of the Y-axis of the desired coordinate system of the surgical instrument is:
pte＝nte×rtc
the desired pose of the X-axis of the desired coordinate system of the surgical instrument is:
rte＝pte×nte
wherein: p is a radical ofteA representation of a desired pose of a Y-axis of a desired coordinate system of the surgical instrument in a robot base coordinate system; r istcIs a representation of the current pose of the X-axis of the coordinate system of the surgical instrument under the robot arm base coordinate system; r isteIs a representation of the desired pose of the X-axis of the desired coordinate system of the surgical instrument in the base coordinate system of the robotic arm.
Further, the mechanical arm further comprises a position sensor for measuring absolute state parameters of the joint, and the position sensor is in communication connection with the control module;
the tail end of the mechanical arm and/or the surgical instrument is/are provided with at least one fixed point mark position;
when the fixed point mark position coincides with the active fixed point, the control module acquires absolute state parameters of each joint of the mechanical arm through the position sensor, and then the position of the active fixed point is calculated according to a positive kinematics model of the mechanical arm.
Further, the position of the active fixed point is expressed in the base coordinate system of the mechanical arm as follows:
Pf＝bT1×1T2×2T3×…×n-1Tn×nPf
wherein P isfThe method is a representation of the position of an active fixed point under a mechanical arm base coordinate system;n-1Tna transformation matrix from a joint n-1 coordinate system to a joint n coordinate system; n is the number of joints;nPfthe method is a representation of the position of an active motionless point under a joint n coordinate system;bT1is a transformation matrix from a joint 1 coordinate system to a mechanical arm base coordinate system.
Further, the surgical robot system further comprises a planning module in communication with the control module; the planning module is used for providing a surgical path composed of a plurality of position points, and the control module is used for controlling the surgical instrument tail end to move to a desired position along the surgical path.
Further, the control module firstly judges whether the distance between the current position point and the expected position point of the tail end of the surgical instrument exceeds a preset distance limit value;
if the current position point of the tail end of the surgical instrument is beyond the preset distance limit value, the control module sets a plurality of middle track points between the current position point and the expected position point of the tail end of the surgical instrument, and then the control module controls the tail end of the surgical instrument to sequentially pass through the plurality of middle track points and reach the expected position point;
if not, the control module directly controls the surgical instrument end to move to a desired position point.
Further, the control module obtains the position of the middle track point through interpolation according to the current position point and the expected position point of the tail end of the surgical instrument.
Further, the position of the middle trace point is calculated as follows:
Ptk＝Ptc+k(Pte-Ptc)/m
wherein: ptkThe position of the middle track point; ptcIs the current position of the surgical instrument tip; pteA desired position of the surgical instrument tip; m is the number of the middle track points, and k is 1,2, … and m-1.
Further, the control module obtains expected speeds of all joints of the mechanical arm through an inverse matrix of a Jacobian matrix according to expected Cartesian speeds of the tail end of the surgical instrument; and the control module controls the mechanical arm to drive the surgical instrument to pass through the active fixed point and move the tail end of the surgical instrument to a desired position according to the desired absolute state parameters and the desired speed of each joint of the mechanical arm.
Further, the expected absolute state parameter is an absolute rotation angle of the rotary joint or an absolute displacement of the movable joint.
Further, the surgical robotic system further comprises a mode selection module for selectively placing the surgical robotic system in one of a plurality of operating modes, wherein the plurality of operating modes at least includes an automatic control mode in which the robotic arm drives the surgical instrument subject to active motionless point constraints or other pose constraints.
The surgical robot system and the motion control method of the mechanical arm provided by the invention have the following beneficial effects:
the surgical robot system comprises a control module, wherein the control module can obtain an expected posture of a surgical instrument according to a preset expected position and a position of an active motionless point, and calculate an expected absolute state parameter of each joint of a mechanical arm according to an inverse kinematics model of the mechanical arm, so that the control module controls the mechanical arm to drive the surgical instrument to pass through the active motionless point and move the tail end of the surgical instrument to the expected position according to the expected absolute state parameter of each joint of the mechanical arm; therefore, the constraint of the fixed point at the tail end of the mechanical arm is realized in an algorithm, so that a fixed point mechanism does not need to be configured on the mechanical arm, the structure of the mechanical arm is simplified, the volume of the mechanical arm is reduced, the installation and the use of the mechanical arm are facilitated, the disappearance of the fixed point mechanism is also beneficial to improving the matching capacity of each joint of the mechanical arm, and the flexibility of the adjustment of the mechanical arm is improved;
secondly, at least one immobile point mark position is arranged at the tail end of the mechanical arm and/or the surgical instrument, when the immobile point mark position is superposed with the active immobile point, the control module can acquire absolute state parameters of each joint of the mechanical arm through a position sensor, and further obtain the position of the active immobile point according to a positive kinematics model of the mechanical arm, so that the position of the active immobile point can be quickly and conveniently determined according to the position of the immobile point mark position; moreover, the number of the fixed point mark positions can be multiple, and the adjustment of the fixed points can be realized only by moving different fixed point mark positions to an expected active fixed point, so that various application requirements are met, and the working capacity of the mechanical arm is expanded;
thirdly, the surgical robot system of the present invention further includes a planning module, which can provide a surgical path composed of a plurality of position points, and further, each position point on the surgical path is taken as a desired position, and the control module continuously controls the movement of the distal end of the surgical instrument along the position points on the surgical path, thereby controlling the movement of the surgical instrument along the surgical path. Further, the control module also determines that a distance between a current position point of the surgical instrument tip and the desired position point exceeds a preset distance limit to ensure that the surgical instrument moves around the active motionless point. Furthermore, the control module also controls the speed of the joint to realize that the tail end of the surgical instrument moves at a desired speed so as to ensure that the tail end runs stably and reduce the occurrence of jitter.
Drawings
The features, nature, and advantages of embodiments of the invention will be described with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a robotic arm according to one embodiment of the present invention;
FIG. 2 is a schematic view of a surgical instrument at the end of a robotic arm moving about an active stationary point according to one embodiment of the present invention;
FIG. 3 is a schematic view of a surgical instrument at the end of a robotic arm according to one embodiment of the present invention entering a body for performing a surgical procedure;
FIG. 4 is a flow chart illustrating the control of the movement of the robotic arm according to one embodiment of the present invention;
FIG. 5 is a flow chart illustrating the control of the movement of the robotic arm according to the preferred embodiment of the present invention;
fig. 6 is a flowchart of the operation of a surgical robotic system according to an embodiment of the present invention.
In the figure:
200-a mechanical arm: 1-a first revolute joint; 2-a first swing joint; 3-a second swing joint; 4-a second revolute joint; 5-a third swing joint; 6-surgical instruments; 7-patient; 8-tissue organ; RC-fixed point zone bit; FP-active immobility point.
Detailed Description
As described in the background, the inventors have found that existing joint surgery robots are not fully automated during the surgical procedure. The inventors have further investigated that the most important issue to achieve fully automated operation of an articulated surgical robot is to determine the desired position and desired pose of the instrument tip. However, the desired position of the instrument tip is typically provided directly by the navigation system at the input (e.g., by the operator setting the surgical path based on the patient tissue location, the type of procedure, and the body tissue distribution requirements), and thus the desired position of the tip instrument (i.e., the position on the robotic arm joint where the modification is desired) can be set directly by the navigation system. However, the desired pose of the distal end instrument is difficult to determine, and when determining the pose of the distal end instrument, it is necessary to ensure that the joint surgical robot does not interfere with the tissue during the movement, which causes safety problems. The inventors have also found that these problems are also addressed for surgical robots that work in other scenarios, in addition to robots for joint surgery.
Therefore, the embodiment of the invention provides a surgical robot system and a motion control method of a mechanical arm, which are used for realizing full-automatic operation of the mechanical arm through an internal control module, strictly restricting a terminal instrument near an active motionless point in an operation and adjusting the position of the active motionless point at any time according to the application requirement of the operation.
The surgical robot system comprises a control module, a mechanical arm with at least five degrees of freedom and a surgical instrument mounted at the tail end of the mechanical arm, wherein the mechanical arm at least comprises five joints; wherein:
the mechanical arm is used for driving the surgical instrument to move around an active motionless point, three joints of the mechanical arm are used for controlling the position of the tail end of the surgical instrument, and the other two joints of the mechanical arm are used for controlling the surgical instrument to pass through the active motionless point; the control module is used for obtaining an expected posture of the surgical instrument according to a preset expected position and the position of the active motionless point and calculating an expected absolute state parameter of each joint of the mechanical arm according to an inverse kinematics model of the mechanical arm; the control module is further used for controlling the mechanical arm to drive the surgical instrument to pass through the active motionless point and move the tail end of the surgical instrument to a desired position according to the expected absolute state parameters of all joints of the mechanical arm. Here, the "absolute state parameter" of the joint refers to the amount of change in the current position of the joint from the position of the joint at the time of initialization. For a rotating joint, an "absolute state parameter" is an absolute rotation angle, and for a moving joint, an "absolute state parameter" is an absolute displacement.
It should be noted that the present invention does not require any particular type of surgical instrument, and may be a laparoscope or other surgical instruments such as forceps, a shutter, scissors, a punch, etc.
The present invention will now be described in more detail with reference to the accompanying schematic drawings, in which preferred embodiments of the invention are shown, it being understood that one skilled in the art may modify the invention herein described while still achieving the advantageous effects of the invention. Accordingly, the following description should be construed as broadly as possible to those skilled in the art and not as limiting the invention.
In the interest of clarity, not all features of an actual implementation are described. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It will of course be appreciated that in the development of any such actual embodiment, numerous implementation-specific details must be set forth in order to achieve the developer's specific goals, such as compliance with system-related and business-related constraints, which will vary from one implementation to another. Moreover, it will be appreciated that such a development effort might be complex and time-consuming, but would nevertheless be a routine undertaking for those of ordinary skill in the art.
The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The following preferred embodiments are given for clarity of illustration of the present invention, and it should be understood that the present invention is not limited to the following embodiments, and other modifications by conventional means of the skilled in the art are within the scope of the idea of the present invention.
The structure of the robot arm will now be described in further detail with reference to figures 1 to 3.
As shown in fig. 1, the surgical robot system according to the embodiment of the present invention includes a robot arm 200, the robot arm 200 having five degrees of freedom, and the robot arm 200 includes a first swing joint 1, a first swing joint 2, a second swing joint 3, a second swing joint 4, and a third swing joint 5, which are connected in sequence. The axis of the first rotary joint 1 is vertically intersected with the axis of the first swinging joint 2; the axis of the first swing joint 2 is parallel to the axis of the second swing joint 3; the axis of the second swing joint 3 is vertically intersected with the axis of the second rotating joint 4; the axis of the third swing joint 5 is parallel to the axis of the second swing joint 3; the axis of the third revolute joint intersects with the axis of the second revolute joint 4. In this embodiment, all joints are revolute joints, and in some alternative embodiments, the robotic arm 200 may also include prismatic joints.
In addition, the surgical robot system further comprises a surgical instrument 6, wherein the surgical instrument 6 is mounted at the tail end of the mechanical arm 200, and the mechanical arm 200 is connected with the surgical instrument 6 through a third swing joint 5. Thus, the surgical instrument 6 can be driven by the robot arm 200 to move around the active motionless point FP, and during the movement, the spatial position of the surgical instrument 6 is controlled by the first revolute joint 1, the first revolute joint 2, and the second revolute joint 3, and the surgical instrument 6 is controlled by the second revolute joint 4 and the third revolute joint 5 through the active motionless point FP. It should be clear that the active motionless point FP is actually a virtual motionless point in space and does not exist on the mechanical arm or the surgical instrument, and during actual surgical operation, the active motionless point FP needs to coincide with a wound on the patient, thereby avoiding secondary damage to the patient.
Referring to fig. 2 and 3, in an actual operation, the surgical instrument 6 is first inserted into the body through a wound made on the patient 7, the active motionless point FP is set as a wound position, and then the robotic arm 200 adjusts the surgical instrument 6 to a desired position and posture through the cooperation of five joints thereof, for example, the surgical instrument 6 is adjusted from the posture 1 to the posture 2 or the posture 3, and during the adjustment, the robotic arm 200 drives the surgical instrument 6 to move around the active motionless point FP all the time, so as to perform a relevant operation on the tissue organ 8.
In addition, the surgical robotic system further includes a control module (not shown) for controlling the movement of the robotic arm 200.
The motion control process of the robot arm 200 is described in further detail below with reference to fig. 4 and 5.
Referring first to fig. 4, in one embodiment, the motion control process of the robot arm 200 includes:
the control module obtains the position 401 of the active motionless point and obtains the expected posture 403 of the surgical instrument by combining with a preset expected position 402;
then, the control module calculates the expected angle 404 of each rotary joint of the mechanical arm by using an inverse kinematics model of the mechanical arm according to the expected posture 403 of the surgical instrument;
the control module then controls the robotic arm to move 405 in accordance with the desired angle 404 of the robotic arm revolute joint so that the robotic arm 200 drives the surgical instrument 6 through the active motionless point FP and the surgical instrument tip moves 406 to a desired position.
In this embodiment, the position 401 of the active fixed point can be obtained by the position of the fixed point flag RC. The fixed point flag RC may be disposed at the end of the arm, may be disposed on the surgical instrument 6, or may be disposed at both the end of the arm and the surgical instrument. The specific use mode is that when the fixed point mark position RC coincides with the active fixed point FP, the control module obtains the absolute rotation angle of each rotating joint of the current mechanical arm, and then calculates the position 401 of the active fixed point according to a positive kinematics model of the mechanical arm. Preferably, the robot arm 200 further comprises a position sensor for measuring the rotation angle of the rotation joint, and the position sensor is in communication connection with the control module, so that the absolute rotation angle of each rotation joint of the robot arm can be obtained through the position sensor.
In this embodiment of the present invention, the number of the fixed point flag bits RC may be multiple, and one of the fixed point flag bits RC is selected to enter the automatic control mode (if any), and is configured to coincide with the active fixed point FP, so that the position of the selected fixed point flag bit RC is determined as the position of the active fixed point FP. For example, when the robot arm is in the passive adjustment mode, one of the fixed point flag bits RC can be moved to a desired active fixed point FP by manually adjusting the robot arm, and the position of the fixed point flag bit RC at this time is recorded as the position of the active fixed point FP. Therefore, when there are a plurality of fixed point mark positions RC, different fixed point mark positions are moved to the desired active fixed point, so that the position of the active fixed point can be conveniently changed to meet various application requirements.
In the embodiment of the present invention, the position of the active fixed point is represented as follows in a mechanical arm base coordinate system:
Pf(xf,yf,zf) (1-1)
wherein: pfThe active fixed point is the Cartesian position of the mechanical arm under a base coordinate system; x is the number offIs the coordinate position of the active stationary point on the x-axis of the robot base coordinate system; y isfIs the coordinate position of the active stationary point on the y-axis of the robot base coordinate system; z is a radical offIs the coordinate position of the active stationary point on the z-axis of the robot base coordinate system.
Further, the position of the active fixed point is expressed in the base coordinate system of the mechanical arm as follows:
Pf＝bT1×1T2×2T3×…×n-1Tn×nPf(1-2)
wherein P isfThe method is a representation of the position of an active fixed point under a mechanical arm base coordinate system;n-1Tna transformation matrix from a joint n-1 coordinate system to a joint n coordinate system; n is the number of joints;nPfthe method is a representation of the position of an active motionless point under a joint n coordinate system;bT1is a transformation matrix from a joint 1 coordinate system to a mechanical arm base coordinate system.
The predetermined desired position, i.e. the desired position of the distal end of the surgical instrument, is set by the operator himself, for example, by the planning module of the input, so that the desired position of the surgical instrument 6 is obtained.
Further, the desired pose of the surgical instrument 6 specifically includes a desired pose of the Z-axis of the desired coordinate system of the surgical instrument (i.e., along the axial direction of the surgical instrument 6). The desired pose for the Z-axis of the desired coordinate system of the surgical instrument is calculated as follows:
wherein: n isteA representation of a desired pose in a Z-axis of a desired coordinate system of the surgical instrument under a robot arm base coordinate system; ptoIs a representation of the desired position of the surgical instrument tip under a robot arm base coordinate system; pfThe position of the active fixed point is represented under a base coordinate system of the mechanical arm.
However, the present invention is not particularly limited to the orientation of the X-axis and Y-axis of the desired coordinate system of the surgical instrument 6. The desired pose of the surgical instrument further includes a desired pose of the Y-axis of the desired coordinate system of the surgical instrument, if any, and a desired pose of the X-axis of the desired coordinate system of the surgical instrument, if any, obtained from the right hand rule, the desired pose of the Y-axis, and the desired pose of the Z-axis. Alternatively, the desired pose of the surgical instrument further comprises a desired pose of a Y-axis of a desired coordinate system of the surgical instrument and optionally a desired pose of an X-axis of a desired coordinate system of the surgical instrument, the desired pose of the Y-axis of the desired coordinate system of the surgical instrument being obtained according to a right-hand rule, the desired pose of the X-axis and the desired pose of the Z-axis.
In one exemplary embodiment, the desired pose of the Y-axis of the desired coordinate system of the surgical instrument is:
pte＝nte×rtc(1-4)
wherein: p is a radical ofteA representation of a desired pose of a Y-axis of a desired coordinate system of the surgical instrument in a robot base coordinate system; r istcIs a representation of the current pose of the X-axis of the coordinate system of the surgical instrument under the robot arm base coordinate system; n isteIs a representation of the desired pose of the Z-axis of the desired coordinate system of the surgical instrument under the base coordinate system of the robotic arm.
The desired pose of the X-axis of the desired coordinate system of the surgical instrument is:
rte＝pte×nte(1-5)
wherein: r isteIs a desire of surgical instrumentsAnd representing the expected attitude of the X axis of the coordinate system under the base coordinate system of the mechanical arm. The deviation between the expected attitude and the current attitude calculated by the method is small, and subsequent calculation is facilitated.
Thus, a desired posture (r) of the surgical instrument 6 can be obtainedte,pte,nte) In this position, the desired position P of the end of the surgical instrument is engagedtoIt can be ensured that the surgical instrument 6 always passes through the active immobilized point FP.
In a preferred embodiment, the surgical robotic system further preferably includes a planning module communicatively coupled to the control module. The planning module is used for providing a surgical path composed of a plurality of position points, and the control module is used for controlling the tail end of the surgical instrument to move to the tail end of the surgical path along all the position points of the surgical path, such as reaching a target tissue organ. In the process, the control module needs to continuously take the next position point of the current position point of the tail end of the surgical instrument as a desired position, and controls the movement of the surgical instrument according to the method.
Further, the inventors found that if the moving distance between the current position point and the desired position point of the distal end of the surgical instrument is excessively large, if the robot arm is controlled to move in the first manner, there is a possibility that the accuracy of the stationary point constraint is reduced.
Therefore, before calculating the expected posture of the surgical instrument, the control module firstly judges whether the distance between the current position point of the tail end of the surgical instrument and the expected position point exceeds a preset distance limit value; if the current position point of the tail end of the surgical instrument is beyond the preset distance limit value, the control module sets a plurality of middle track points between the current position point and the expected position point of the tail end of the surgical instrument, and the distance between any two adjacent middle track points is not greater than the preset distance limit value; and then, the operation is carried out for multiple times according to the mode of figure 4, so that the control module controls the tail end of the surgical instrument to sequentially pass through a plurality of intermediate track points and finally reach a desired position point. On the contrary, if the moving distance does not exceed the preset distance limit, the method shown in fig. 4 is directly executed, so that the control module directly controls the surgical instrument end to move to the desired position point.
In the embodiment of the invention, the number of the middle track points is related to the deviation of the constrained moving distance, that is, the maximum limit value of the moving distance is manually set, and each movement cannot exceed the maximum limit value, so that the movement of the surgical instrument 6 can be effectively constrained near the active motionless point FP within the range of the maximum limit value, and the surgical instrument 6 is ensured to pass through the active motionless point FP, and the tail end of the surgical instrument is located at an expected position. The specific method for setting the middle track point is not particularly limited, and a person skilled in the art can obtain the middle track point according to the existing interpolation method, including but not limited to a spline interpolation method, a lagrange interpolation method, a newton interpolation method, an hermitian interpolation method and the like.
Preferably, the method for realizing the setting of the intermediate track point comprises the following steps: a series of intermediate trajectory points are inserted equidistant between the current position point and the final desired position point of the distal end of the surgical instrument, and these intermediate trajectory points are taken as new desired position points. The position of the intermediate trace point is calculated as follows:
Ptk＝Ptc+k(Pte-Ptc)/m (1-6)
wherein: ptkThe position of the middle track point; ptcIs the current position of the surgical instrument tip; pteA desired position of the surgical instrument tip; and m is the number of the intermediate track points, a specific numerical value is determined according to the distance between the current position point and the final expected position point and a preset distance limit value, and k is 1,2, … and m-1.
Therefore, when the motion of the mechanical arm is controlled, the constraint of the moving distance of the tail end of the surgical instrument is increased, and the surgical instrument is further ensured to be always constrained near the active motionless point in the process of the tail end of the surgical instrument moving along the planned path.
Next, referring to fig. 5, the control process of the mechanical arm moving along the surgical path is described in more detail, which specifically includes:
the control module obtains all position points 501 according to a preset expected track (namely, a surgical path), and obtains expected position points 502 of the tail end of the surgical instrument according to the current position of the tail end of the surgical instrument, namely, target position points to which the tail end of the surgical instrument needs to move;
then, the control module determines whether the movement distance between the current position point and the expected position point of the surgical instrument end exceeds a preset distance limit 503; if not, the control module drives the surgical instrument through the active motionless point according to the expected position of the surgical instrument tip and the position of the active motionless point, and the surgical instrument tip moves to the expected position 505, and the specific process can be referred to the description of fig. 4; then, the control module determines whether the end point 506 of the surgical path has been reached, i.e. the expected location point is the end point of the surgical path; if the endpoint has been reached, the surgical instrument adjustment is ended 508. On the contrary, if the moving distance between the current position point and the expected position point of the surgical instrument tip exceeds the preset distance limit, the control module sets a plurality of intermediate track points 504 between the current position point and the expected position point of the surgical instrument tip, and then the control module drives the surgical instrument through the active stationary point according to the expected position of the surgical instrument tip and the position of the active stationary point, and the surgical instrument tip moves to the expected position 505', and the specific process can refer to the description of fig. 4. The expected position can be the position of the middle track point, and can also be the position of the expected position point. Next, after step 505', the control module determines whether all of the intermediate trajectory points and the desired position point 507 have been traversed, i.e., whether the surgical instrument has passed through all of the intermediate trajectory points and reached the desired position point. Further, whether the tail end of the surgical instrument reaches the end point 506 of the planned path is judged, if not, the steps are continuously executed until the tail end of the surgical instrument sequentially passes through all the position points to reach the end point of the surgical path, and if so, the adjustment 508 of the surgical instrument is finished.
Preferably, the control module further obtains a desired velocity 509 of each revolute joint of the robotic arm through an inverse matrix of a jacobian matrix according to a desired cartesian velocity of the distal end of the surgical instrument, and further controls the robotic arm to drive the surgical instrument through the active motionless point and to move the distal end of the surgical instrument to a desired position at a desired cartesian velocity according to a desired angle and a desired velocity of each revolute joint of the robotic arm, wherein the desired velocity of each revolute joint of the robotic arm is calculated as follows:
wherein:
the expected speed of each joint of the mechanical arm; j is a Jacobian matrix; v is a preset desired cartesian velocity for the surgical instrument tip. Therefore, the speed control of the bottom layer can be increased, the motion stability of the mechanical arm is ensured, and the shaking phenomenon is reduced.
Further, fig. 6 shows the working manner of the surgical robot system according to the embodiment of the present invention, which is as follows:
the surgical robotic system also includes a mode selection module for selecting a mode of operation of the surgical robotic system. In one exemplary embodiment, the operating modes include a slave control mode, an automatic control mode, and an auxiliary adjustment mode.
Starting the surgical robot system 700 (i.e., powering on), and after completing a series of initialization of the mechanical arm in step 701, entering the surgical robot system into a standby state in step 703; in a standby state, each motor on the mechanical arm is in a contracting brake state and cannot move; furthermore, different working modes are selected by the mode selection module, and the standby state can be freely switched to the coordination control mode of step 702, the auxiliary adjustment mode of step 704 or the automatic control mode of step 705; here, the stationary point constraint control of the mechanical arm can be started only when the mechanical arm is in the automatic control mode, otherwise, the motion of the mechanical arm is not limited by the active stationary point in other states; for example, when the mechanical arm is in the auxiliary adjustment mode, the acting force applied to the mechanical arm by an operator can be measured through the force sensors arranged at the joints of the mechanical arm, and then the controller controls the motor to drive the mechanical arm in an auxiliary manner, so that the operator can more freely and conveniently change the position and the posture of the tail end of the mechanical arm, and a selected fixed point mark position RC on the mechanical arm can be moved to a desired active fixed point FP position; in addition, when the mechanical arm is in the slave control mode, the mechanical arm works in a manner similar to that in the auxiliary adjustment mode, but additional functions such as a virtual clamp, a virtual boundary limit, and the like may be added according to different application scenarios of the surgical robot system.
Further, after the surgical robot system is switched to the automatic control mode, it is determined whether the motionless point constraint function of the robot arm is enabled or not in step 706, and if so, the method directly proceeds to the motionless point constraint control in step 707, and if not, the method proceeds to the other attitude control in step 708.
After step 707, the motionless point constraint of the robot arm can be realized according to the motion control flow of the robot arm provided above, so as to constrain the surgical instrument to move around the active motionless point FP. Moreover, under the constraint control of the dead point, the operator can switch back to the standby state 703 at any time to readjust the position of the active dead point, that is, when the constraint of the dead point is performed, the operator can determine whether to adjust the position of the active dead point through step 709, thereby determining whether to reenter the standby state, and further can switch from the standby state to the auxiliary adjustment mode, so as to adjust the position of the active dead point.
Finally, while the preferred embodiments of the present invention have been described above, and not limited to the scope of the embodiments disclosed above, for example, the present invention is not limited to a particular configuration of the robotic arm, and in practice, the robotic arm may have more than 5 degrees of freedom, and the number of joints may be greater than five. In addition, the control module and the planning module of the embodiment of the invention can be integrated in the existing equipment of the surgical robot system, and can also be arranged independently. In the above embodiment, the robot arm includes 5 revolute joints. It will be appreciated by those skilled in the art that the robotic arm may also include a prismatic joint, and that alternative embodiments are equally within the scope of the present invention, achieving similar technical effects.
In summary, the surgical robot system and the motion control method of the mechanical arm provided by the embodiment of the invention have the following beneficial effects:
the surgical robot system comprises a control module, wherein the control module can obtain an expected posture of a surgical instrument according to a preset expected position and a position of an active fixed point, and calculate an expected absolute rotation angle of each rotation joint of a mechanical arm according to an inverse kinematics model of the mechanical arm, so that the control module controls the mechanical arm to drive the surgical instrument to pass through the active fixed point and move the tail end of the surgical instrument to the expected position according to the expected absolute rotation angle of each rotation joint of the mechanical arm; therefore, the constraint of the fixed point at the tail end of the mechanical arm is realized in an algorithm, so that a fixed point mechanism does not need to be configured on the mechanical arm, the structure of the mechanical arm is simplified, the volume of the mechanical arm is reduced, the installation and the use of the mechanical arm are facilitated, the disappearance of the fixed point mechanism is also beneficial to improving the matching capacity of each joint of the mechanical arm, and the flexibility of the adjustment of the mechanical arm is improved;
secondly, at least one immobile point mark position is arranged at the tail end of the mechanical arm and/or on the surgical instrument, when the immobile point mark position is superposed with the active immobile point, the control module can acquire the absolute rotation angle of each rotating joint of the mechanical arm through a position sensor, and further obtain the position of the active immobile point according to a positive kinematics model of the mechanical arm, so that the position of the active immobile point can be quickly and conveniently determined according to the position of the immobile point mark position; moreover, the number of the fixed point mark positions can be multiple, and the adjustment of the fixed points can be realized only by moving different fixed point mark positions to an expected active fixed point, so that various application requirements are met, and the working capacity of the mechanical arm is expanded;
the surgical robot system according to the third embodiment of the present invention further includes a planning module, the planning module may provide a surgical path composed of a plurality of position points, and further, each position point on the surgical path is taken as a desired position, and the control module continuously controls the movement of the distal end of the surgical instrument along the position points on the surgical path, thereby controlling the movement of the surgical instrument along the surgical path. Further, the control module also judges that the distance between the current position point of the tail end of the surgical instrument and the expected position point exceeds a preset distance limit value so as to ensure that the surgical instrument moves around the active motionless point FP. Furthermore, the control module also realizes the movement of the tail end of the surgical instrument at a desired speed by controlling the speed of the joint so as to ensure the smooth operation of the tail end and reduce the occurrence of the shaking phenomenon.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (21)
1. A surgical robot system comprises a control module, a mechanical arm with at least five degrees of freedom and a surgical instrument mounted at the tail end of the mechanical arm, wherein the mechanical arm at least comprises five joints; wherein the content of the first and second substances,
the mechanical arm is used for driving the surgical instrument to move around an active motionless point, three joints of the mechanical arm are used for controlling the position of the tail end of the surgical instrument, and the other two joints of the mechanical arm are used for controlling the surgical instrument to pass through the active motionless point;
the control module is used for obtaining an expected posture of the surgical instrument according to a preset expected position and the position of the active motionless point and calculating an expected absolute state parameter of each joint of the mechanical arm according to an inverse kinematics model of the mechanical arm; and the control module is used for controlling the mechanical arm to drive the surgical instrument to pass through the active fixed point and move the tail end of the surgical instrument to a desired position according to the expected absolute state parameters of all joints of the mechanical arm.
2. The surgical robotic system as claimed in claim 1, wherein the desired pose of the surgical instrument comprises a desired pose of a Z-axis of a desired coordinate system of the surgical instrument; the desired pose for the Z-axis of the desired coordinate system of the surgical instrument is calculated as follows:
wherein: n isteA representation of a desired pose in a Z-axis of a desired coordinate system of the surgical instrument under a robot arm base coordinate system; ptoIs a representation of the desired position of the surgical instrument tip under a robot arm base coordinate system; pfoThe position of the active fixed point is represented under a base coordinate system of the mechanical arm.
3. The surgical robotic system of claim 2, wherein the desired pose of the surgical instrument further comprises a desired pose of a Y-axis of a desired coordinate system of the surgical instrument, and a desired pose of an X-axis of a desired coordinate system of the surgical instrument, the desired pose of the X-axis of the desired coordinate system of the surgical instrument being obtained according to a right hand rule, a desired pose of a Y-axis, and a desired pose of a Z-axis; alternatively, the first and second electrodes may be,
the desired pose of the surgical instrument further includes a desired pose of a Y-axis of a desired coordinate system of the surgical instrument and a desired pose of an X-axis of a desired coordinate system of the surgical instrument, if any, obtained from a right hand rule, a desired pose of an X-axis, and a desired pose of a Z-axis.
4. A surgical robotic system as claimed in claim 3, wherein the desired pose of the Y-axis of the desired coordinate system of the surgical instrument is:
pte＝nte×rtc
the desired pose of the X-axis of the desired coordinate system of the surgical instrument is:
rte＝pte×nte
wherein: p is a radical ofteA representation of a desired pose of a Y-axis of a desired coordinate system of the surgical instrument in a robot base coordinate system; r istcIs a representation of the current pose of the X-axis of the coordinate system of the surgical instrument under the robot arm base coordinate system; r isteIs a representation of the desired pose of the X-axis of the desired coordinate system of the surgical instrument in the base coordinate system of the robotic arm.
5. The surgical robotic system as claimed in claim 1, wherein the robotic arm further comprises a position sensor for measuring absolute state parameters of the joint, the position sensor being communicatively coupled to the control module;
the tail end of the mechanical arm and/or the surgical instrument is/are provided with at least one fixed point mark position;
when the fixed point mark position coincides with the active fixed point, the control module acquires absolute state parameters of each joint of the mechanical arm through the position sensor, and then the position of the active fixed point is calculated according to a positive kinematics model of the mechanical arm.
6. A surgical robotic system as claimed in claim 5, wherein the position of the active motionless point is expressed in a robot arm base coordinate system as follows:
Pf＝bT1×1T2×2T3×…×n-1Tn×nPf
wherein P isfThe method is a representation of the position of an active fixed point under a mechanical arm base coordinate system;n-1Tna transformation matrix from a joint n-1 coordinate system to a joint n coordinate system; n is the number of joints;nPfthe method is a representation of the position of an active motionless point under a joint n coordinate system;bT1is a transformation matrix from a joint 1 coordinate system to a mechanical arm base coordinate system.
7. The surgical robotic system of claim 1, further comprising a planning module communicatively coupled to the control module; the planning module is used for providing a surgical path composed of a plurality of position points, and the control module is used for controlling the surgical instrument tail end to move to a desired position along the surgical path.
8. The surgical robotic system of claim 7, wherein the control module first determines whether a distance between a current position point and a desired position point of the surgical instrument tip exceeds a preset distance limit;
if the current position point of the tail end of the surgical instrument is beyond the preset distance limit value, the control module sets a plurality of middle track points between the current position point and the expected position point of the tail end of the surgical instrument, and then the control module controls the tail end of the surgical instrument to sequentially pass through the plurality of middle track points and reach the expected position point;
if not, the control module directly controls the surgical instrument end to move to a desired position point.
9. A surgical robotic system as claimed in claim 8, wherein the control module interpolates the positions of the intermediate trajectory points based on the current position point and the desired position point of the surgical instrument tip.
10. A surgical robotic system as claimed in claim 9, wherein the position of the intermediate trajectory point is calculated as follows:
Ptk＝Ptc+k(Pte-Ptc)/m
wherein: ptkThe position of the middle track point; ptcIs the current position of the surgical instrument tip; pteA desired position of the surgical instrument tip; m is the number of the middle track points, and k is 1,2, … and m-1.
11. A surgical robotic system as claimed in claim 1, wherein the control module obtains the desired velocity of each joint of the robotic arm through an inverse of a jacobian matrix based on the desired cartesian velocity of the surgical instrument tip; and the control module controls the mechanical arm to drive the surgical instrument to pass through the active fixed point and move the tail end of the surgical instrument to a desired position according to the desired absolute state parameters and the desired speed of each joint of the mechanical arm.
12. A surgical robotic system as claimed in claim 1, wherein the desired absolute state parameter is an absolute rotation angle of a revolute joint or an absolute displacement of a prismatic joint.
13. A surgical robotic system as claimed in claim 1, further comprising a mode selection module for selectively placing the surgical robotic system in one of a plurality of operating modes, including at least an automatic control mode in which the robotic arm drives the surgical instrument subject to active motionless point constraints or other pose conditions.
14. A motion control method of a robot arm having at least five degrees of freedom and including at least five joints, three joints of the robot arm being for controlling a position of a surgical instrument tip, and two other joints of the robot arm being for controlling the surgical instrument through the active motionless point, the motion control method comprising:
mounting a surgical instrument to a distal end of the robotic arm;
a control module obtains the expected posture of the surgical instrument according to a preset expected position and the position of an active motionless point, and calculates the expected absolute state parameters of each joint of the mechanical arm according to the inverse kinematics model of the mechanical arm;
and the control module controls the mechanical arm to drive the surgical instrument to pass through the active fixed point and move the tail end of the surgical instrument to a desired position according to the desired absolute state parameters of all joints of the mechanical arm.
15. The method of motion control of a robotic arm of claim 14, wherein the desired pose of the surgical instrument comprises a desired pose of a Z-axis of a desired coordinate system of the surgical instrument; the desired pose for the Z-axis of the desired coordinate system of the surgical instrument is calculated as follows:
wherein: n isteA representation of a desired pose in a Z-axis of a desired coordinate system of the surgical instrument under a robot arm base coordinate system; ptoIs a representation of the desired position of the surgical instrument tip under a robot arm base coordinate system; pfoThe position of the active fixed point is represented under a base coordinate system of the mechanical arm.
16. The method of controlling the motion of a robotic arm of claim 15, wherein the desired pose of the surgical instrument further comprises a desired pose of a Y-axis of a desired coordinate system of the surgical instrument and a desired pose of an X-axis of a desired coordinate system of the surgical instrument, the desired pose of the X-axis of the desired coordinate system of the surgical instrument being obtained according to a right hand rule, a desired pose of a Y-axis, and a desired pose of a Z-axis; alternatively, the first and second electrodes may be,
the desired pose of the surgical instrument further includes a desired pose of a Y-axis of a desired coordinate system of the surgical instrument and a desired pose of an X-axis of a desired coordinate system of the surgical instrument, if any, obtained from a right hand rule, a desired pose of an X-axis, and a desired pose of a Z-axis.
17. The method of controlling the motion of a robotic arm of claim 16, wherein the desired pose of the Y-axis of the desired coordinate system of the surgical instrument is:
pte＝nte×rtc
the desired pose of the X-axis of the desired coordinate system of the surgical instrument is:
rte＝pte×nte
wherein: p is a radical ofteA representation of a desired pose of a Y-axis of a desired coordinate system of the surgical instrument in a robot base coordinate system; r istcIs a representation of the current pose of the X-axis of the coordinate system of the surgical instrument under the robot arm base coordinate system; r isteThe desired pose for the X-axis of the desired coordinate system of the surgical instrument is in the arm base coordinatesThe following is shown.
18. The method for controlling the motion of a robotic arm as claimed in claim 14, wherein at least one index of the motionless point is provided at the end of the robotic arm and/or the surgical instrument, and the position of the active motionless point is obtained by:
when the fixed point mark position coincides with the active fixed point, a position sensor acquires absolute state parameters of each joint of the mechanical arm and feeds the absolute state parameters back to the control module, and the control module further obtains the position of the active fixed point through calculation according to a positive kinematics model of the mechanical arm.
19. The method of controlling the movement of a robot arm according to claim 14, further comprising:
a planning module provides a surgical path composed of a plurality of position points, and the control module controls the surgical instrument end to move to a desired position along the surgical path.
20. The method of controlling the movement of a robotic arm of claim 19, wherein the control module first determines whether a distance between a current location point and a desired location point of the distal end of the surgical instrument exceeds a preset distance limit;
if the current position point of the tail end of the surgical instrument is beyond the preset distance limit value, the control module sets a plurality of middle track points between the current position point and the expected position point of the tail end of the surgical instrument, and then the control module controls the tail end of the surgical instrument to sequentially pass through the plurality of middle track points and reach the expected position point;
if not, the control module directly controls the surgical instrument end to move to a desired position point.
21. The method of controlling the motion of a robotic arm of claim 14, wherein the control module obtains the desired velocity of each joint of the robotic arm through an inverse of a jacobian matrix based on the desired cartesian velocity of the distal end of the surgical instrument; furthermore, the control module controls the mechanical arm to drive the surgical instrument to pass through the active fixed point and the tail end of the surgical instrument to move to a desired position according to the desired absolute state parameters and the desired speed of each joint of the mechanical arm.
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