CN113017941A

CN113017941A - Mechanical arm acting force interaction control method and device, electronic equipment and storage medium

Info

Publication number: CN113017941A
Application number: CN202110270122.2A
Authority: CN
Inventors: 黄志俊; 陈鹏; 刘金勇
Original assignee: Lancet Robotics Co Ltd
Current assignee: Lancet Robotics Co Ltd
Priority date: 2021-03-12
Filing date: 2021-03-12
Publication date: 2021-06-25

Abstract

The disclosure relates to a mechanical arm acting force interaction control method and device, electronic equipment and a storage medium, wherein the method comprises the following steps: under the condition that the tail end reaches the boundary of the conical area, acquiring a first stress parameter detected by a stress sensor; determining the tangential force and the normal force of the tail end according to the first stress parameter and the size parameter of the conical area; the normal force is set to zero so that the motion trajectory of the tip is the boundary around the conical region. According to the mechanical arm acting force interactive control method, the cone area of the mechanical arm can be set, when the tail end of the mechanical arm reaches the boundary of the cone area, the motion track of the tail end of the mechanical arm is limited to the boundary surrounding the cone area, the tail end of the mechanical arm can be prevented from exceeding the boundary of the cone area to cause excessive grinding and contusion, structures such as an acetabulum socket, ligaments and soft tissue nerves can be protected, the grinding and contusion can be prevented from failing to be in place, the true acetabulum base can be fully exposed, and the implantation accuracy of the prosthesis can be improved.

Description

Mechanical arm acting force interaction control method and device, electronic equipment and storage medium

Technical Field

The disclosure relates to the technical field of medical instruments, and in particular to a mechanical arm acting force interaction control method and device, electronic equipment and a storage medium.

Background

Artificial joint replacement is currently the most effective means of treating late stage osteoarthritis. The operation requires the removal of the diseased femoral head from the patient and the installation of a corresponding acetabular spacer prosthesis. Before the prosthesis is installed, the acetabular fossa of the human body must be ground until the acetabular fossa conforms to the external dimension of the acetabular prosthesis, and then the acetabular cup is placed into the acetabular fossa.

In the related art, in the hip replacement surgery, a surgeon holds a grinding device to grind the acetabulum, the surgery is manual, and the grinding effect is greatly uncertain, such as the force, direction and angle of the surgeon or the professional knowledge and experience of the surgeon. In the grinding process, excessive grinding force, insufficient grinding depth, normal anatomical position missing caused by eccentric grinding, uneven grinding caused by slippage of a grinding and rubbing head and the like are easy to occur. Therefore, the probability of the mismatch between the grinding result and the implanted prosthesis is high, and if the mismatch occurs, the patient may suffer from pain and poor motor function recovery, i.e., poor surgical effect.

Compare in artifical grinding, accomplish more accurate grinding through joint replacement surgery robot's arm to improve the precision that the prosthesis was implanted. The current core difficulty of carrying out the grinding through the robot lies in the feedback and the control of power in the operation, and the arm end is difficult to control at the acetabular bone in-process of filing, leads to excessive filing, punctures the acetabular bone nest, damages ligament, soft tissue nerve isotructure beyond the target anatomy structure, or the filing can not be in place, can not fully reveal true acetabular bone end.

Disclosure of Invention

Based on the factors, the semi-sphere grinding machine can assist a doctor to grind a semi-sphere with a constant position and a single curvature, improves the machining precision of grinding and rubbing processing, improves the matching degree of an acetabulum and a prosthesis, enables the mechanical arm to be controllable in the working process, and improves the safety of the doctor and a patient.

The disclosure provides a mechanical arm acting force interaction control method and device, electronic equipment and a storage medium.

According to an aspect of the present disclosure, a method for controlling interaction of acting force of a robot arm is provided, where the robot arm includes a terminal end and an operation end, and a force sensor is disposed at a position close to the operation end of the robot arm, the method including: under the condition that the tail end reaches the boundary of a preset conical area, acquiring a first stress parameter detected by the stress sensor; determining a tangential force of the tail end along the tangential direction of the boundary of the conical area and a normal force along the normal direction of the boundary of the conical area according to the first stress parameter and the size parameter of the conical area; setting the normal force to zero such that the motion profile of the tip is a boundary around the conical region.

In one possible implementation, determining, according to the first force-bearing parameter and the size parameter of the conical region, a tangential force of the tip end tangential to a boundary of the conical region and a normal force normal to the boundary of the conical region includes: determining a second stress parameter of the tail end according to the size parameter of the conical area and the first stress parameter; determining the tangential force and the normal force according to a second force-bearing parameter of the tip.

In a possible implementation manner, the size parameter of the conical region includes a vertex angle of the conical region, and determining the second stress parameter of the tip according to the size parameter of the conical region and the first stress parameter includes: and determining a second stress parameter of the tail end according to the vertex angle of the conical area and the first stress parameter.

In one possible implementation, the method further includes: determining a third force parameter of the tip after the normal force is set to zero; and determining a fourth stress parameter at the stress sensor according to the third stress parameter so as to enable the operation end of the mechanical arm to move along the tangential direction.

In one possible implementation, the operation end is configured to receive an operation action on the robot arm, the size parameter of the conical region includes a first circle diameter of the conical region, and the method further includes: determining a current first position of the tip; determining a second circle diameter of the motion trail of the tail end according to the first position; and performing feedback correction processing on the second circle diameter according to the first circle diameter, so that the motion trail of the tail end is limited to a boundary surrounding the conical area.

In one possible implementation, determining the current first position of the terminal includes: determining the position relation between the operation end and the tail end of the mechanical arm according to the structural information of the mechanical arm; determining a second position of the operation end according to the operation action; and determining the current first position of the tail end according to the position relation between the operating end and the tail end of the mechanical arm and the second position of the operating end.

In one possible implementation manner, performing feedback correction processing on the second circle diameter according to the first circle diameter so that a motion trajectory of the tip is limited to a boundary surrounding the conical area includes: determining a trajectory deviation according to the second circle diameter and the first circle diameter; performing feedback correction according to the track deviation to obtain an adjustment parameter; and adjusting the motion trail of the tail end according to the adjustment parameters, so that the motion trail of the tail end is limited to move around the boundary of the conical area.

According to an aspect of the present disclosure, there is provided a robot arm force interaction control apparatus, including: the first stress parameter module is used for acquiring a first stress parameter detected by the stress sensor under the condition that the tail end reaches the boundary of a preset conical area; the normal force module is used for determining the tangential force of the tail end along the tangential direction of the boundary of the conical area and the normal force along the normal direction of the boundary of the conical area according to the first force-bearing parameter and the size parameter of the conical area; and the limiting module is used for setting the normal force to be zero so that the motion trail of the tail end is a boundary surrounding the conical area.

In one possible implementation, the normal force module is further configured to: determining a second stress parameter of the tail end according to the size parameter of the conical area and the first stress parameter; determining the tangential force and the normal force according to a second force-bearing parameter of the tip.

In one possible implementation, the dimensional parameter of the conical region includes a vertex angle of the conical region, and the normal force module is further configured to: and determining a second stress parameter of the tail end according to the vertex angle of the conical area and the first stress parameter.

In one possible implementation, the apparatus further includes: a third force parameter module for determining a third force parameter of the tip after the normal force is set to zero; a fourth stress parameter module for determining a fourth stress parameter at the stress sensor according to the third stress parameter so as to enable the operation end of the mechanical arm to move along the tangential direction

In a possible implementation manner, the operation end is configured to receive an operation action on the mechanical arm, the size parameter of the conical region includes a first circle diameter of the conical region, and the apparatus further includes: a correction module to: determining a current first position of the tip; determining a second circle diameter of the motion trail of the tail end according to the first position; and performing feedback correction processing on the second circle diameter according to the first circle diameter, so that the motion trail of the tail end is limited to a boundary surrounding the conical area.

In one possible implementation, the correction module is further configured to: determining the position relation between the operation end and the tail end of the mechanical arm according to the structural information of the mechanical arm; determining a second position of the operation end according to the operation action; and determining the current first position of the tail end according to the position relation between the operating end and the tail end of the mechanical arm and the second position of the operating end.

In one possible implementation, the correction module is further configured to: determining a trajectory deviation according to the second circle diameter and the first circle diameter; performing feedback correction according to the track deviation to obtain an adjustment parameter; and adjusting the motion trail of the tail end according to the adjustment parameters, so that the motion trail of the tail end is limited to move around the boundary of the conical area.

According to an aspect of the present disclosure, there is provided an electronic device including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.

According to an aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.

According to the virtual boundary interaction method disclosed by the embodiment of the disclosure, a cone area of the mechanical arm can be set, when the tail end of the mechanical arm reaches the boundary of the cone area, the motion track of the tail end of the mechanical arm is limited to the boundary surrounding the cone area, so that the tail end of the mechanical arm can be prevented from exceeding the boundary of the cone area, excessive grinding and contusion can be prevented, structures such as an acetabulum fossa, ligaments and soft tissue nerves can be protected, the grinding and contusion can be prevented from failing to reach the position, the true acetabulum base can be fully exposed, and the implantation accuracy of the prosthesis can be improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure.

FIG. 1 illustrates a flow chart of a robotic arm force interaction control method according to an embodiment of the present disclosure;

FIG. 2 shows a schematic diagram of a cone region according to an embodiment of the present disclosure;

FIG. 3 illustrates an application diagram of a robot arm force interaction control method according to an embodiment of the present disclosure;

FIG. 4 illustrates a block diagram of a robotic arm force interaction control device, in accordance with an embodiment of the present disclosure;

fig. 5 illustrates a block diagram of an electronic device according to an embodiment of the disclosure.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.

Fig. 1 shows a flowchart of a robot arm force interaction control method according to an embodiment of the present disclosure, as shown in fig. 1, the method includes:

in step S11, in a case where the end reaches a boundary of a preset conical region, acquiring a first stress parameter detected by the stress sensor;

in step S12, determining a tangential force of the tip end along the tangent direction of the boundary of the conical region and a normal force along the normal direction of the boundary of the conical region according to the first force-bearing parameter and the size parameter of the conical region;

in step S13, the normal force is set to zero so that the trajectory of the tip is a boundary around the conical region.

In one possible implementation, the virtual boundary interaction method may be executed by a terminal device, for example, a processor of a robot arm, a processor of a joint replacement surgical robot, or the like. The present disclosure is not limited as to the type of apparatus performing the method.

In one possible implementation, the range of motion of the robotic arm may be limited in order to enable precise machining, i.e., without excessive or out of position, when the acetabular socket is machined by the robotic arm of the joint replacement surgery robot. In an example, the range of motion of the robotic arm may be generally limited to a conical region. The robotic arm includes a distal end and an operative end. The tail end can be provided with components such as a rasping rod used for rasping and processing, and the operation end can be provided with a handle and can be used for receiving the operation of an operator. The operating end can be positioned at the bottom of the conical area, the tail end can be positioned at the top of the conical area, and the movable range of the bottom of the conical area is larger than that of the top of the conical area. The manipulator can be operated by an operator at the operation end to perform a large range of motion, which causes the tail end of the manipulator to perform a small range of motion, i.e. the motion range of the operation end of the manipulator is larger than that of the tail end, which can help to finely operate the tail end through the operation end, thereby improving the machining accuracy of the acetabulum.

In one possible implementation, the range of the conical region may be determined by setting a size parameter of the conical region, for example, the size parameter of the conical region may be set by an upper computer of the robot arm (for example, a processor of the joint replacement robot), and after setting the size parameter, the controller of the robot arm may limit the moving range of the robot arm within the conical region, that is, if the robot arm reaches the range of the conical region, the robot arm may be controlled not to move outside the conical region, that is, the moving range of the robot arm is limited within the conical region. In an example, the end of the robotic arm may be restricted from moving outward when it reaches the boundary of the conical region, but rather the end of the robotic arm may be caused to move around the boundary of the conical region, i.e., the end may be caused to trace around the boundary of the conical region. The above-described process of restraining the end of the mechanical arm may enable the end of the mechanical arm to precisely machine the acetabular socket, i.e., without excessive or undue bruising.

Fig. 2 is a schematic diagram of a conical region according to an embodiment of the present disclosure, and as shown in fig. 2, a dashed-line region in fig. 2 is the conical region, and a solid-line rod-shaped object is the robot arm, and the robot arm is movable within the range of the conical region, and the movable range of the tip end of the robot arm is smaller than the movable range of the operation end of the robot arm. The tail end is provided with a grinding rod for grinding and processing, and the operating end is provided with a handle for receiving operation, so that the tail end can be finely ground and processed.

In one possible implementation, to achieve the above objective, the end of the robotic arm may be made to no longer move outside the conical region by limiting the force of the end of the robotic arm towards the outside of the conical region when the end of the robotic arm reaches the boundary of the conical region, i.e. without the power of the end of the robotic arm moving towards the outside of the conical region.

In one possible implementation, the position of the end of the robotic arm may be determined first, and it may be determined whether the position of the end of the robotic arm reaches the boundary of the conical region. In an example, the position of the tip of the robot arm may be determined by operation of an operating end of the robot arm, the tip of the robot arm and the operating end being rigidly connected by the robot arm, so the relative positions of the tip and the operating end are fixed and so movement of the operating end may change the position of the tip. The position of the tip may be determined by parameters of the movement of the manipulation end, for example, the parameters may include a distance, an angle, and the like of the movement, and the parameters of the movement are not limited by the present disclosure.

In one possible implementation, after determining the position of the end of the mechanical arm, whether the position of the end of the mechanical arm reaches the boundary of the conical region may be determined, for example, by a distance between the position of the end and the boundary of the conical region, or may be determined by whether the coordinates of the position of the end coincide with the coordinates of the boundary of the conical region, and the present disclosure does not limit the manner of determining whether the position of the end reaches the boundary of the conical region.

In one possible implementation, if the robotic arm tip location is determined to reach the boundary of the conical region, the tip may be made to no longer move outward by limiting the normal force of the tip toward the outside of the conical region. Thus, first the force parameters of the tip can be determined, then the normal force of the tip can be determined, and further, the normal force can be limited.

In a possible implementation manner, a stress sensor is arranged at a position close to the operation end of the mechanical arm, and the stress parameter of the tail end can be solved through the stress parameter of the stress sensor because the position of the stress sensor is different from the position of the tail end. In step S11, a first force parameter detected by the force sensor may be obtained, and in step S12, a second force parameter of the tip may be solved according to the first force parameter, so that the power of the tip moving toward the outside of the conical region, i.e., the normal force, may be determined according to the second force parameter.

In one possible implementation, step S12 may include: determining a second stress parameter of the tail end according to the size parameter of the conical area and the first stress parameter; determining the tangential force and the normal force according to a second force-bearing parameter of the tip.

In a possible implementation manner, the first stress parameter includes stress in the x-axis direction of the operation endF_xForce F applied to the y-axis of the operating end_yZ-axis direction force F of the operating end_zAnd the rotational force F of the x-axis_rxRotational force F of the y-axis_ryZ-axis of rotation force F_rz。

In a possible implementation manner, when the second stress parameter of the tail end is solved through the first stress parameter, stress decomposition processing can be performed according to the parameter of the mechanical arm, and in the decomposition process, decomposition can be performed according to the deflection angle of the mechanical arm relative to the perpendicular line of the conical area. When the mechanical arm reaches the boundary of the conical area, the deflection angle is equal to the vertex angle of the conical area. The size parameter of the conical region comprises a vertex angle of the conical region, and the second stress parameter of the tail end is determined according to the size parameter of the conical region and the first stress parameter, and the method comprises the following steps: and determining a second stress parameter of the tail end according to the vertex angle of the conical area and the first stress parameter.

In an example, a second force parameter of the robotic arm tip may be determined according to the following equation (1):

wherein, F_{tcp_x}The force in the x-axis direction of the tail end of the mechanical arm is F_{tcp_y}The force in the y-axis direction of the tail end of the mechanical arm is F_{tcp_z}The stress in the direction of the z axis at the tail end of the mechanical arm is obtained. Alpha is the deflection angle of the tail end of the mechanical arm relative to the vertical line of the conical area, and when the tail end of the mechanical arm reaches the boundary of the conical area, the alpha is equal to the vertex angle of the conical area.

In one possible implementation, the tangential force and the normal force of the robot arm tip can be solved according to the second force-bearing parameter, and in an example, the tangential force and the normal force can be determined by the following formula (2):

wherein, F_qAs a tangential force, F_fIs the normal force.

In one possible implementation, after determining the tangential and normal forces, the tangential force F may be applied in order to prevent the end of the robot arm from moving in the normal direction, i.e. outside the conical region_qLimited to 0, only tangential forces, i.e. forces such that the end of the robot arm has no movement normal (i.e. outside) to the conical region, are retained, only tangential movements, i.e. movements around the boundary of the conical region.

In this way, when the tail end of the mechanical arm reaches the boundary of the conical area, the normal force applied to the tail end of the mechanical arm is limited to 0, only the tangential force is reserved, so that the tail end of the mechanical arm has no power moving towards the outside of the conical area, and can move along the tangential direction, namely, around the boundary of the conical area, and the tail end of the mechanical arm can be prevented from excessively abrading and contusing the acetabular fossa.

In one possible implementation, after limiting the normal force to 0, the force parameter of the force sensor at this time, that is, the force parameter of the operation end at this time, may be solved, so that the operator may operate the robot arm in the tangential direction after the normal force is limited.

In one possible implementation, after the normal force is set to 0, a third force parameter of the end of the robot arm after the normal force is set to zero may be solved according to equations (1) and (2), and in an example, the third force parameter may be determined according to equation (7) below:

wherein, F'_{tcp_x}After the normal force is set to be 0, the x-axis direction of the tail end of the mechanical armForce of (2), F'_{tcp_y}After the normal force is set to be 0, the tail end of the mechanical arm is stressed in the y-axis direction.

Further, the force-receiving parameter of the force-receiving sensor at this time, i.e., a fourth force-receiving parameter, may be solved according to the third force-receiving parameter, and in an example, the fourth force-receiving parameter may be determined according to the following formula (4):

wherein, F'_xAfter the normal force is set to 0, the force F 'in the x-axis direction of the operation end'_yForce F 'in the y-axis direction of the operating end after the normal force is set to 0'_zAnd after the normal force is set to be 0, the operating end is stressed in the z-axis direction.

In this way, the force parameter at the force sensor after the normal force is limited to 0 may be determined so that the operator may operate the robotic arm in a tangential direction after the normal force is limited.

In one possible implementation, after the end of the robotic arm reaches the boundary of the conical region, the motion trajectory of the end of the robotic arm may be limited to encompass the boundary of the conical region, i.e., not beyond the boundary of the conical region, nor move away from the boundary to the middle region of the conical region. The motion trail of the tail end of the mechanical arm is limited in the mode, so that the tail end of the mechanical arm cannot excessively abrade and contort the acetabulum fossa, and cannot abrade and contort in place.

In a possible implementation manner, when the tail end of the mechanical arm moves around the boundary of the conical area, if the tail end deviates from the boundary of the conical area, the track of the tail end can be corrected through a feedback correction method, so that the movement track is kept on the boundary of the conical area. The operation end is used for receiving operation actions of the mechanical arm, the size parameter of the conical area comprises a first circle diameter of the conical area, and the method further comprises the following steps: determining a current first position of the tip; determining a second circle diameter of the motion trail of the tail end according to the first position; and performing feedback correction processing on the second circle diameter according to the first circle diameter, so that the motion trail of the tail end is limited to a boundary surrounding the conical area.

In a possible implementation, the tip can move around the boundary after reaching the boundary of the conical region, and the diameter of the second circle of the circular motion can be determined according to the first position of the conical tip, namely, when the first position is close to the top end of the conical region, the diameter of the second circle is smaller, and when the first position is close to the top end of the conical region, the diameter of the second circle is larger.

In one possible implementation, the first position of the tip may be determined first by the following way. In addition, when determining whether the end reaches the boundary of the conical region, the position of the end may be determined in the following manner. Determining a current first position of the tip, comprising: determining the position relation between the operation end and the tail end of the mechanical arm according to the structural information of the mechanical arm; determining a second position of the operation end according to the operation action; and determining the current first position of the tail end according to the position relation between the operating end and the tail end of the mechanical arm and the second position of the operating end.

In one possible implementation, the positional relationship between the end of the robotic arm and the handling end of the robotic arm may be determined. The positional relationship may be represented by a coordinate transformation matrix. In an example, a joint replacement surgical robot may be connected to a robotic arm via a flange, a coordinate system T may be established at the end of the robotic arm, a coordinate system E may be established at the flange, and a base coordinate system R of the robot may be established. Further, a transformation matrix between the robot arm end coordinate system T and the flange coordinate system E may be determined by dimensions (e.g., parameters of length, angle, etc.) of the robot arm

And a transformation matrix between the flange coordinate system E and the base coordinate system R can be determined by the structure of the robot (e.g., distance, angle, etc. between the flange and the origin of the robot coordinate system)

Further onA transformation matrix between the end coordinate system T and the base coordinate system R of the robot arm may be determined

In an example, a transformation matrix between the robot arm end coordinate system T and the base coordinate system R

Can be determined by the following equation (5):

in one possible implementation, the second position of the manipulator end of the robotic arm in the base coordinate system may be determined by an operational parameter (e.g., distance moved, angle, etc.) of the manipulator end of the robotic arm, and by transforming the matrix

The position of the manipulation end in the base coordinate system is transformed to determine the position of the robot arm tip in the base coordinate system (i.e., the first position).

Further, a second circle diameter of the motion trajectory of the tip may be determined from the first position, in an example where the trajectory of the robot arm tip is circular because the robot arm tip surrounds the boundary of the cone, and a diameter of the trajectory the robot arm tip is surrounding (i.e., the second circle diameter) may be determined from the first position of the robot arm tip. In an example, the second circle diameter may be determined by the following equation (6):

the above equation (9) can determine the radius of motion of the end of the mechanical arm, and the diameter of the second circle can be determined by the radius of motion.

Further, the size parameter of the conical region includes a first circle diameter of the conical region, for example, a diameter at a section of the conical region where the robot arm tip is located, that is, the first circle diameter, may be determined by a height of the first position in a direction of a perpendicular of the conical region and a vertex angle of the conical region.

In a possible implementation, since the motion trajectory of the end of the mechanical arm is limited to surround the boundary of the conical region, the second circle diameter of the motion trajectory and the first circle diameter of the conical region should be equal, but in actual conditions, there may be a deviation. The deviation of the first circle diameter and the second circle diameter may be used to represent an error of the movement locus, and if the error is 0, the movement locus of the robot arm tip may remain on the boundary of the conical region. Therefore, the error can be made as small as possible by a method of feedback correction. In an example, the error may be made as small as possible by a PID correction (proportional-integral-derivative correction) method, that is, so that the movement locus of the tip of the robot arm can be maintained on the boundary of the conical region

In one possible implementation, the trajectory deviation can be obtained by the difference between the second circle diameter and the first circle diameter, i.e., the trajectory deviation error ═ L_s-L_tWherein L is_tIs the first circle diameter.

In one possible implementation, the proportional coefficient Kp, the integral coefficient KI, the differential coefficient KD, and the discrete sampling period T may be set during PID correction. Further, the tuning parameter may be determined by the following equation (7):

output＝output_1+a₀*error-a1*error_1+a2*error_2 (7)

wherein, output is an adjustment parameter of the current sampling period, output _1 is an adjustment parameter of the previous sampling period, error _1 is a trajectory deviation of the previous sampling period, and error _2 is a trajectory deviation of the previous two sampling periods. That is, by the above equation (7), the trajectory deviation is gradually reduced with the sampling period by the action of the adjustment parameter.

Wherein the parameter a₀,a₁,a₂Can be determined by the following equation (8):

in one possible implementation, through the above feedback correction process, a correction parameter may be obtained such that the trajectory deviation is reduced, and after correcting the trajectory, the force parameter at the force sensor may be determined by the following equation (9):

that is, the force-receiving parameters at the force-receiving sensor (operation end) are adjusted by feedback adjustment of the movement locus, so that the operator can operate the mechanical arm around the boundary of the conical region.

According to the virtual boundary interaction method disclosed by the embodiment of the disclosure, when the tail end of the mechanical arm reaches the boundary of the conical area, the normal force can be limited to zero, so that the tail end of the mechanical arm moves along the tangential direction, namely, the motion track of the tail end of the mechanical arm is limited to the boundary surrounding the conical area. Further, an error between the actual movement trajectory of the robot arm tip and the boundary of the conical region may be made as small as possible by a feedback correction method so that the robot arm tip remains on the boundary of the conical region. The end of the mechanical arm can be prevented from exceeding the boundary of the conical area, excessive abrasion can be prevented, structures such as an acetabulum fossa, ligaments and soft tissue nerves can be protected, the abrasion can be prevented from failing to reach the position, the true acetabulum bottom can be fully exposed, and the implantation accuracy of the prosthesis can be improved.

Fig. 3 is a schematic application diagram of a mechanical arm acting force interaction control method according to an embodiment of the present disclosure, and as shown in fig. 3, a frustration rod for frustration processing is provided at a tail end of a mechanical arm, and a handle is provided at an operation end of the mechanical arm, so that an operation of an operator can be received at the operation end, and the tail end can be finely subjected to the frustration processing.

In one possible implementation, the mechanical arm can move in the range of the conical area, so that the tail end of the mechanical arm can move around the boundary of the conical area, and the tail end of the mechanical arm is subjected to grinding processing in the process of moving around the boundary of the conical area, so that the ground acetabular socket can conform to the external dimension of the acetabular prosthesis.

In one possible implementation, the size parameter of the conical region, i.e., the size of the conical region, may be set by a host computer of the robotic arm (e.g., a processor of a joint replacement surgical robot). When the tip of the robotic arm reaches the boundary of the conical region, its normal force towards the outside of the conical region may be limited to 0, leaving only the tangential force, such that the robotic arm tip moves tangentially along the boundary of the conical region, i.e. around the boundary of the conical region.

In a possible implementation manner, during the movement, a deviation may occur, the diameter (second circle diameter) of the actual movement track of the mechanical arm tip may be determined by the current first position of the tip, the first circle diameter of the conical region may be determined, and further, the deviation of the first circle diameter and the second circle diameter may be PID-corrected to reduce the deviation so that the movement track of the mechanical arm tip may be maintained on the boundary of the conical region.

In one possible implementation manner, the virtual boundary interaction method can be used for performing grinding and filing processing on the acetabulum socket in the joint replacement surgery, so that the ground acetabulum socket conforms to the external dimension of the acetabulum prosthesis, the implantation accuracy of the prosthesis is improved, and excessive grinding and filing can be prevented from being insufficient. The application field of the virtual boundary interaction method is not limited by the disclosure.

Fig. 4 shows a block diagram of a robot arm force interaction control apparatus according to an embodiment of the present disclosure, as shown in fig. 4, the apparatus including: the first stress parameter module 11 is configured to acquire a first stress parameter detected by the stress sensor when the end reaches a boundary of a preset conical region; a normal force module 12, configured to determine, according to the first force-bearing parameter and the size parameter of the conical region, a tangential force of the tip along a boundary tangential direction of the conical region and a normal force along a boundary normal direction of the conical region; and a limiting module 13, configured to set the normal force to zero, so that the motion trajectory of the tip is a boundary around the conical region.

It is understood that the above-mentioned method embodiments of the present disclosure can be combined with each other to form a combined embodiment without departing from the logic of the principle, which is limited by the space, and the detailed description of the present disclosure is omitted. Those skilled in the art will appreciate that in the above methods of the specific embodiments, the specific order of execution of the steps should be determined by their function and possibly their inherent logic.

In addition, the present disclosure also provides a robot arm acting force interaction control device, an electronic device, a computer-readable storage medium, and a program, which can be used to implement any one of the robot arm acting force interaction control methods provided by the present disclosure, and the corresponding technical solutions and descriptions and corresponding descriptions in the method section are omitted for brevity.

In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, will not be described again here.

Embodiments of the present disclosure also provide a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the above-mentioned method. The computer readable storage medium may be a non-volatile computer readable storage medium.

An embodiment of the present disclosure further provides an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to invoke the memory-stored instructions to perform the above-described method.

The disclosed embodiments also provide a computer program product comprising computer readable code, which when run on a device, a processor in the device executes instructions for implementing the robot arm force interaction control method provided in any of the above embodiments.

The disclosed embodiments also provide another computer program product for storing computer readable instructions, which when executed, cause a computer to perform the operations of the mechanical arm acting force interaction control method provided in any one of the above embodiments.

The electronic device may be provided as a terminal, server, or other form of device.

Fig. 5 illustrates a block diagram of an electronic device 800 in accordance with an embodiment of the disclosure. For example, the electronic device 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like terminal.

Referring to fig. 5, electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input/output (I/O) interface 812, sensor component 814, and communication component 816.

The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 802 may include one or more processors 820 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.

The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.

The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and a user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense an edge of a touch or slide action, but also detect a duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the electronic device 800 is in an operation mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 814 includes one or more sensors for providing various aspects of state assessment for the electronic device 800. For example, the sensor assembly 814 may detect an open/closed state of the electronic device 800, the relative positioning of components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in the position of the electronic device 800 or a component of the electronic device 800, the presence or absence of user contact with the electronic device 800, orientation or acceleration/deceleration of the electronic device 800, and a change in the temperature of the electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer-readable storage medium, such as the memory 804, is also provided that includes computer program instructions executable by the processor 820 of the electronic device 800 to perform the above-described methods.

The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. The method for controlling the interaction of the acting force of the mechanical arm is characterized in that the mechanical arm comprises a tail end and an operating end, and a stress sensor is arranged at a position close to the operating end of the mechanical arm, and the method comprises the following steps:

under the condition that the tail end reaches the boundary of a preset conical area, acquiring a first stress parameter detected by the stress sensor;

determining a tangential force of the tail end along the tangential direction of the boundary of the conical area and a normal force along the normal direction of the boundary of the conical area according to the first stress parameter and the size parameter of the conical area;

setting the normal force to zero such that the motion profile of the tip is a boundary around the conical region.

2. The method of claim 1, wherein determining a tangential force of the tip tangential to a boundary of a conical region and a normal force normal to the boundary of a conical region from the first force-bearing parameter and a size parameter of the conical region comprises:

determining a second stress parameter of the tail end according to the size parameter of the conical area and the first stress parameter;

determining the tangential force and the normal force according to a second force-bearing parameter of the tip.

3. The method of claim 2, wherein the dimensional parameter of the conical region comprises a vertex angle of the conical region,

determining a second force parameter of the tip according to the size parameter of the conical region and the first force parameter, including:

and determining a second stress parameter of the tail end according to the vertex angle of the conical area and the first stress parameter.

4. The method of claim 1, further comprising:

determining a third force parameter of the tip after the normal force is set to zero;

and determining a fourth stress parameter at the stress sensor according to the third stress parameter so as to enable the operation end of the mechanical arm to move along the tangential direction.

5. The method of claim 1, wherein the handling end is configured to receive a handling motion of the robotic arm, the dimensional parameter of the conical region comprises a first circular diameter of the conical region,

the method further comprises the following steps:

determining a current first position of the tip;

determining a second circle diameter of the motion trail of the tail end according to the first position;

and performing feedback correction processing on the second circle diameter according to the first circle diameter, so that the motion trail of the tail end is limited to a boundary surrounding the conical area.

6. The method of claim 5, wherein determining the current first position of the tip comprises:

determining the position relation between the operation end and the tail end of the mechanical arm according to the structural information of the mechanical arm;

determining a second position of the operation end according to the operation action;

and determining the current first position of the tail end according to the position relation between the operating end and the tail end of the mechanical arm and the second position of the operating end.

7. The method of claim 5, wherein performing feedback correction processing on the second circle diameter according to the first circle diameter such that a trajectory of a tip is limited to a boundary around the conical region comprises:

determining a trajectory deviation according to the second circle diameter and the first circle diameter;

performing feedback correction according to the track deviation to obtain an adjustment parameter;

and adjusting the motion trail of the tail end according to the adjustment parameters, so that the motion trail of the tail end is limited to move around the boundary of the conical area.

8. The utility model provides a mutual controlling means of arm effort which characterized in that, the arm includes end and operation end, and is being close to the position of arm operation end is provided with force sensor, the device includes:

the first stress parameter module is used for acquiring a first stress parameter detected by the stress sensor under the condition that the tail end reaches the boundary of a preset conical area;

the normal force module is used for determining the tangential force of the tail end along the tangential direction of the boundary of the conical area and the normal force along the normal direction of the boundary of the conical area according to the first force-bearing parameter and the size parameter of the conical area;

and the limiting module is used for setting the normal force to be zero so that the motion trail of the tail end is a boundary surrounding the conical area.

9. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to invoke the memory-stored instructions to perform the method of any of claims 1 to 7.

10. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor implement the method of any one of claims 1 to 7.