CN113876434A - Master-slave motion control method, robot system, device, and storage medium - Google Patents

Master-slave motion control method, robot system, device, and storage medium Download PDF

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Publication number
CN113876434A
CN113876434A CN202110741679.XA CN202110741679A CN113876434A CN 113876434 A CN113876434 A CN 113876434A CN 202110741679 A CN202110741679 A CN 202110741679A CN 113876434 A CN113876434 A CN 113876434A
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China
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master
pose
joint
operator
handle
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Chinese (zh)
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徐凯
吴百波
杨皓哲
王翔
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Beijing Surgerii Technology Co Ltd
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Beijing Surgerii Technology Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations

Abstract

The disclosure relates to the field of robots, and discloses a master-slave motion control method, a robot system, a device and a storage medium, wherein the master-slave motion control method comprises the following steps: determining a current pose of the driven tool; determining a target pose of a handle of a master operator based on a current pose of a slave tool; a control signal of the main operator is generated based on a target posture of a grip of the main operator. The posture matching between the handle of the driven tool and the handle of the main operator can be realized, and the precision of the master-slave motion control is improved.

Description

Master-slave motion control method, robot system, device, and storage medium
Technical Field
The present disclosure relates to the field of robots, and in particular, to a method, a robot system, a device, and a storage medium for controlling master-slave motion.
Background
With the development of science and technology, the medical robot assists medical staff in performing operations and is rapidly developed, the medical robot can help the medical staff to perform a series of medical diagnosis and auxiliary treatment, and the shortage of medical resources can be effectively relieved.
Generally, a medical robot includes a slave tool for performing an operation and a master manipulator for controlling the motion of the slave tool. In a practical scenario, the driven tool is arranged to enter an operation area, and a medical worker controls the motion of the driven tool in the operation area by teleoperation of the main operator so as to realize medical operation.
However, the number of slave tools that are teleoperated is generally greater than the number of master manipulators, and thus there may be cases where the slave tools controlled by the master manipulators are changed during an operation. Moreover, at the beginning of or during the operation, the master operator needs to establish a mapping with the slave tool and then perform master-slave control. Since the master operator is not previously attitude-matched to the correspondingly controlled slave tool, there may be an attitude (e.g., orientation or angle) mismatch between the master operator and the slave tool. If the two are directly matched correspondingly to carry out master-slave mapping, the control precision of the slave tool is reduced, and the human-computer interaction experience of medical staff (such as an operator) is degraded. Therefore, after the master manipulator is connected with the slave tool in a matching manner and before teleoperation, the posture of the master manipulator needs to be correspondingly matched with the posture of the slave tool so as to improve the posture control accuracy of the master manipulator on the slave tool.
Disclosure of Invention
In some embodiments, the present disclosure provides a method of controlling master-slave motion, comprising: determining a current pose of the driven tool; determining a target pose of a handle of a master operator based on a current pose of a slave tool; and generating a control signal of the main operator based on the target posture of the handle of the main operator.
In some embodiments, the present disclosure provides a robotic system comprising: the main manipulator comprises a mechanical arm, a handle arranged on the mechanical arm, at least one motor and at least one main manipulator sensor, wherein the motor and the main manipulator sensor are arranged at least one joint on the mechanical arm; the driven tool comprises a flexible arm body and a tail end instrument arranged at the tail end of the flexible arm body; a drive means for driving the flexible arm of the driven tool, the drive means comprising at least one drive means sensor for obtaining drive information; and a control device communicatively connected to the master operator and the drive device, the control device being configured to perform the control method of master-slave motion provided in any of the above embodiments.
In some embodiments, the present disclosure provides a computer device comprising: a memory to store at least one instruction; and a processor coupled to the memory and configured to execute at least one instruction to perform the method of controlling master-slave motion provided in any of the above embodiments.
In some embodiments, the present disclosure provides a computer-readable storage medium for storing at least one instruction that, when executed by a computer, causes a robotic system to implement a method of controlling master-slave motion provided in any of the above embodiments.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the description of the embodiments of the present disclosure will be briefly described below. The drawings in the following description illustrate only some embodiments of the disclosure, and other embodiments will become apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein.
FIG. 1 illustrates a flow chart of a method of controlling master-slave motion according to some embodiments of the present disclosure;
FIG. 2 illustrates a schematic structural diagram of a robotic system according to some embodiments of the present disclosure;
FIG. 3 illustrates a schematic diagram of a master operator according to some embodiments of the present disclosure;
fig. 4 illustrates a schematic diagram of a robotic system according to some embodiments of the present disclosure.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only exemplary embodiments of the present disclosure, and not all embodiments.
In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing and simplifying the present disclosure, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and may include, for example, fixed and removable connections; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; there may be communication between the interiors of the two elements. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate. In the present disclosure, the end close to the operator (e.g. doctor) is defined as proximal, proximal or posterior, and the end close to the surgical patient is defined as distal, distal or anterior, anterior. One skilled in the art will appreciate that embodiments of the present disclosure may be used with medical instruments or surgical robots, as well as other non-medical devices.
In the present disclosure, the term "position" refers to the positioning of an object or a portion of an object in three-dimensional space (e.g., three translational degrees of freedom may be described using cartesian X, Y and changes in Z coordinates, such as along cartesian X, Y, and Z axes, respectively). In this disclosure, the term "pose" refers to a rotational setting of an object or a portion of an object (e.g., three rotational degrees of freedom that can be described using roll, pitch, and yaw). In the present disclosure, the term "pose" refers to a combination of position and pose of an object or a portion of an object, such as may be described using six parameters in the six degrees of freedom mentioned above. In the present disclosure, the pose of the handle of the master manipulator may be represented by a set of joint information of the master manipulator joints (e.g., a one-dimensional matrix composed of these joint information). The posture of the driven tool can be determined from drive information of the driven tool (for example, drive information of a flexible arm body of the driven tool). In the present disclosure, the joint information of the joints may include an angle by which the corresponding joint rotates with respect to the corresponding joint axis or a distance moved with respect to an initial position.
Fig. 1 illustrates a flow chart 100 of a control method of master-slave motion according to some embodiments of the present disclosure, and fig. 2 illustrates a schematic structural diagram 200 of a robotic system according to some embodiments of the present disclosure. The method 100 may be implemented or performed by hardware, software, or firmware. In some embodiments, the method 100 may be performed by a robotic system (e.g., the robotic system 200 shown in fig. 2). In some embodiments, the method 100 may be implemented as computer-readable instructions. Which may be read and executed by a general-purpose processor or a special-purpose processor, such as control device 220 shown in fig. 2. For example, a control device for the robotic system 200 may include a processor configured to perform the method 100. In some embodiments, these instructions may be stored on a computer-readable medium.
In some embodiments, as shown in fig. 2, robotic system 200 may include master cart 210, surgical cart 230, and control device 220. The control device 220 may be communicatively coupled to the master trolley 210 and the surgical trolley 230, such as by a cable connection or by a wireless connection, to enable communication between the master trolley 210 and the surgical trolley 230. The master trolley 210 includes a master manipulator for teleoperation by an operator, and the surgical trolley 230 includes a slave tool for performing a surgery. The master-slave mapping between the master manipulator in the master control trolley and the slave tool in the operation trolley is realized through the control device 220, so that the motion control of the master manipulator to the slave tool is realized. In some embodiments, the surgical trolley includes at least one slave tool (e.g., a surgical tool or a vision tool) disposed on the surgical trolley. And the driven tool is arranged to be able to access an operating area through the sheath, wherein the sheath may be secured at an operating opening (e.g. an incision or natural opening) of a patient, and the operating area may be the area where the operation is performed. The driven tool may include an arm and a tip instrument. The arm of the driven tool may be a flexible arm and the end-effector may be disposed at a distal end of the flexible arm. The end instruments of the surgical tool may include, but are not limited to, forceps, electrotomes, hooks, and the like. The end instrument of the visualization tool may include, but is not limited to, an imaging device or an illumination device, etc. In some embodiments, the master trolley includes a master operator, a display, and a foot pedal. It will be appreciated by those skilled in the art that the master cart 210 and the surgical cart 230 may take other configurations or forms, such as a base, a support, a building, or the like.
At step 101, a current pose of the driven tool may be determined. In some embodiments, current drive information (e.g., angle) of the driven tool is obtained by the drive sensor, and a current attitude of the driven tool is determined based on the current drive information. For example, the current pose of the driven tool may be calculated by a forward kinematics algorithm.
The driver sensor may be provided on the driver for driving the flexible arm of the driven tool, the driver sensor being for obtaining driving information from which the current attitude of the driven tool is determined. For example, the drive device may include at least one drive motor, with the drive device sensor being coupled to the drive motor to record and output motor data. For example, the motor data may include binary or hexadecimal numbers, which are scaled to obtain the current pose of the slave tool. The drive means sensor may comprise a potentiometer or an encoder. And acquiring information such as angles through a potentiometer or an encoder, and further determining the current posture of the driven tool.
In some embodiments, a pose sensor may be employed to obtain the pose of the driven tool. For example, the attitude sensor may be an optical fiber sensor that is provided through the arm of the driven tool to sense the position and attitude of the driven tool.
In some embodiments, the current pose of the driven tool is the current pose of the driven tool relative to a base coordinate system of the driven tool. The driven tool includes a flexible arm and a tip instrument disposed at a tip of the flexible arm, and a current posture of the driven tool includes a posture of the tip instrument of the driven tool with respect to a base coordinate system of the driven tool. The base coordinate system of the driven tool may be a coordinate system of a base (e.g., a moving arm tip of the surgical robot) to which the driven tool is mounted, a coordinate system of a sheath through which the driven tool passes (e.g., a coordinate system of a sheath exit), a coordinate system of a distal end Center of Motion (RCM) of the driven tool, or the like. For example, the base coordinate system of the driven tool may be provided at the sheath exit location, and the base coordinate system of the driven tool is fixed during teleoperation. The current pose of the tip instrument may be transformed to a coordinate system to obtain a pose relative to other coordinate systems.
In other embodiments, the current pose of the driven tool is a current pose of an image of the driven tool in the display relative to a world coordinate system. The world coordinate system may be the coordinate system of the space in which the operator or the main operator is located. Thus, the pose of the image of the driven tool in the display relative to the world coordinate system is the pose perceived by the operator. The driven tools include surgical tools and vision tools. During surgery, a surgical tool performs a surgery in a patient, and a vision tool captures an image of the patient using a camera and transmits the captured image to a surgical cart. The images are processed by a video processing module in the operation trolley and then displayed on a display of the main control trolley. The operator obtains the current pose of the driven tool through the image in the display.
In some embodiments, the current pose of the image of the driven tool in the display relative to the world coordinate system may be obtained by a sensor. For example, the attitude of the tip instrument of the driven tool with respect to the base coordinate system of the driven tool can be obtained by a driver sensor or an attitude sensor of the driven tool. In other embodiments, the current pose of the image of the driven tool in the display relative to the world coordinate system may be derived by a coordinate transformation. For example, based on the base coordinate system of the driven tool, the coordinate system of the camera of the vision tool, the base coordinate system of the vision tool, the coordinate system of the display, and the world coordinate system, the current pose of the image of the driven tool in the display with respect to the world coordinate system may be obtained.
At step 103, a target pose of the handle of the master operator may be determined based on the current pose of the slave tool. In some embodiments, the current pose of the driven tool is a current pose with respect to a base coordinate system of the driven tool, or the current pose of the driven tool is a current pose of an image of the driven tool in the display with respect to a world coordinate system. The target posture of the grip of the main operator is a posture with respect to the base coordinate system of the main operator. The base coordinate system of the master operator may be the coordinate system of the base (e.g., master trolley 210) to which the master operator is connected. In some embodiments, the base coordinate system of the master operator has a fixed shifting relationship with the base coordinate system of the slave tool.
In some embodiments, the current pose of the driven tool is consistent with the target pose of the handle, e.g., the same or a fixed difference. For example, before the teleoperation, the current posture of the driven tool is kept unchanged, the current posture of the driven tool is used as the target posture of the handle, the current posture of the handle is adjusted to the target posture, and the posture matching of the handle and the driven tool is realized.
At step 105, a control signal for the handle of the main operator may be generated based on the target pose. In some embodiments, a current pose of a handle of a master operator is determined; and generating a control signal of the main operator based on the target posture and the current posture of the handle of the main operator. The current posture of the grip of the main operator is a posture of the grip of the main operator with respect to a base coordinate system of the main operator. In some embodiments, a control signal corresponding to the handle reaching the target pose from the current pose is determined based on the current pose of the handle and the target pose.
In some embodiments, the master manipulator comprises at least one pose joint for controlling the pose of the handle, and determining the current pose of the handle of the master manipulator comprises: obtaining joint information of at least one posture joint; and determining a current pose of the master operator based on the joint information of the at least one pose joint. The main manipulator comprises a mechanical arm, the mechanical arm comprises a position joint and a posture joint, the posture joint is used as an orientation module of the main manipulator, and the main manipulator is controlled to reach a target posture through one or more posture joints. The position joints are used as a positioning module of the main manipulator, and the main manipulator is controlled to reach the target position through one or more position joints. The main operator sensor is arranged at the attitude joint of the mechanical arm and used for acquiring joint information (such as angle) corresponding to the attitude joint and determining the current attitude of the handle of the main operator relative to a base coordinate system of the main operator according to the acquired joint information. For example, the main operator includes 7 joints, wherein the joint 1, the joint 2, the joint 5, the joint 6, and the joint 7 are attitude joints for controlling the attitude of the handle of the main operator, joint information is acquired by a main operator sensor of the attitude joints, and the current attitude of the main operator is calculated based on a forward kinematics algorithm. In some embodiments, the master manipulator comprises at least one pose joint for controlling the pose of the handle of the master manipulator, and the control signals comprise control signals for controlling one or more of the at least one pose joint. The posture of the handle of the main operator is adjusted by adjusting one or more posture joints, and the posture matching of the handle of the main operator and the driven tool is realized.
In some embodiments, the control signals comprise control signals for controlling one or more of the at least one pose joints, wherein the one or more of the at least one pose joints comprise uncoupled pose joints. The coupling joint may refer to a joint for adjusting the position and posture of the main operator. The uncoupled joint may refer to a joint (in the present disclosure, referred to as an uncoupled posture joint) that can be used only to adjust the position (in the present disclosure, referred to as an uncoupled position joint) or posture of the main manipulator. In some embodiments, the primary manipulator may include at least one coupling joint. For example, the main manipulator may include 7 joints, as shown in fig. 3, wherein the joint 1, the joint 2, and the joint 3 are position joints, the joint 1, the joint 2, the joint 5, the joint 6, and the joint 7 are attitude joints, the joint 1 and the joint 2 are coupled joints that can adjust both the position and the attitude of the main manipulator, and the joint 5, the joint 6, and the joint 7 are uncoupled attitude joints that can only adjust the attitude of the main manipulator. In some embodiments, the posture adjustment of the handle of the master manipulator can be realized by calculating the control signals of the uncoupled posture joints (for example, the joint 5, the joint 6 and the joint 7), the posture matching of the handle of the master manipulator and the driven tool is realized, and the condition is provided for the subsequent teleoperation.
As shown in fig. 3, fig. 3 illustrates a schematic 300 of a master operator according to some embodiments of the present disclosure. In fig. 3, the main operator includes 7 joints (i is 1 … 7), the base coordinate of the main operator is b, and the coordinate of the handle is d. In fig. 3, a base coordinate system b is a coordinate system established with the base as a virtual point, and its direction can be determined based on its physical configuration. Similarly, the coordinate system d of the handle is a coordinate system established with the handle as a virtual point, the orientation of which can be determined based on its physical configuration. The origin of the coordinate system d of the hand grip may coincide with the origin of the coordinate systems of the joints 5, 6, 7, and the position and attitude of the coordinate system d of the hand grip with respect to the base coordinate system of the main operator may be determined by the joint information of the joints 1-7.
In some embodiments, the master operator sensor acquires joint information q of the master operatori(i is the number of the joint). In some embodiments, each joint information qiMay include an angle value θ of the jointi. For example, the joint information q of the joint 1 is acquired1And joint information q of the joint 22Of the joint 3Joint information q3And joint information q of the joint 44And joint information q of the joint 55And joint information q of the joint 66And joint information q of the joint 77. The joint 4 is a slave joint of the joint 3, and the joint angle of the joint 4 is the same as the absolute value of the joint angle of the joint 3 and is opposite in direction. Thus, the angles of the six joints of the master manipulator are represented as a matrix q of 6 x 1, and the joint angles of the joints 4 may not be represented in the matrix q. Each joint information qiMay be expressed as thetaiThe structure of the main manipulator has six degrees of freedom, as shown in formula (1):
q＝(q1 q2 q3 q5 q6 q7)T (1)
the joints 1, 2 and 3 are positional joints, q1、q2、q3Determines the position of the handle of the main operator. Joints 1, 2, 5, 6 and 7 are posture joints, q is1、q2、q5、q6、q7Determines the attitude of the handle. In some embodiments, the pose of the handle of the main operator is determined, and the positions controlled by joint 1, joint 2, and joint 3 may be disregarded, while the poses (e.g., directions) determined by joint 1, joint 2, joint 5, joint 6, and joint 7 may be disregarded. In some embodiments, q corresponding to joints 5, 6 and 7 is determined by keeping joints 1, 2 and 3 stationary while the motor is driving5、q6、q7According to q5、q6、q7And calculating a control signal to realize the posture adjustment of the handle.
Those skilled in the art will appreciate that there are many solutions to achieving a target pose for a multi-joint master manipulator. In some embodiments, one or more of the at least one pose joints may be adjusted to adjust the pose of the master operator grip. For example, in one embodiment, the posture of the main operator grip can be adjusted by adjusting the uncoupled posture joints 5, 6, 7 while keeping the coupled posture joint 1, the coupled posture joint 2, and the uncoupled position joint 3 unchanged.
In some embodiments, joint information is obtained for other than one or more of the at least one pose joints. Based on the joint information of the other pose joints, transformation matrices for the other pose joints may be determined. For example, joint information of other attitude joints is acquired based on the master operator sensor, and a conversion matrix of the other attitude joints is determined based on the joint information of the other attitude joints. As shown in fig. 3, joint information of the coupled pose joints 1 and 2 can be obtained, and a transformation matrix can be calculated.
In some embodiments, uncoupled ones of the one or more pose joints (e.g., joint 5, joint 6, and joint 7) may be adjusted without adjusting other pose joints, such as coupled joints (e.g., joint 1 and joint 2). Q corresponding to joints based on other postures (e.g., joint 1 and joint 2)1And q is2Determining transformation matrices for other pose joints (e.g., transformation matrices for other pose joints relative to joint start point 00R4). Conversion matrix based on target posture of handle of main operator and other posture joints0R4And generating control signals of the main operator, such as formula (2) to formula (4).
As will be appreciated by those skilled in the art, joints 3, 4 are uncoupled position joints, based on q1、q2、q3Determined transformation matrices for other pose joints0R4And is based on q1、q2Determined transformation matrices for other pose joints0R4And (5) the consistency is achieved.
4R7＝0R4 T·bR0 T·bRd·7Rd T (2)
In equation (2), the matrix is transformed0R4From an input q1、q2Or q1、q2、q3Determining that b is the base coordinate system of the main operator, d is the coordinate system of the handle of the main operator,bRdis a main operator handle opposite toThe attitude of the base coordinate system of the main operator,bR0is the existing angle relation between the base and the joint starting point and is a structural constant,7Rdthe joint 7 is in the existing angle relation with the handle and is a structural constant.
4R7＝4R5·5R6·6R7 (3)
R(q5,q6,q7)＝0R4 T·bR0 T·Rt·7Rd T (4)
In the formula (4), RtIs the current attitude of the driven tool andbRdin the same way, the first and second,4R5、5R6and6R7respectively corresponding to the quantity q to be solved5、q6、q7. Based on the obtained q5、q6、q7And determining a control signal, and adjusting the posture of the main operator based on the control signal to realize the matching of the master posture and the slave posture. As will be appreciated by those skilled in the art, RtMay be the current pose of the tip instrument of the driven tool relative to the base coordinate system of the driven tool or the current pose of the image of the tip instrument of the driven tool in the display relative to the world coordinate system. RtCan be combined withbRdIdentical, for example identical or with a certain ratio or difference. In some embodiments, joint target values of one or more attitude joints in the grip are determined according to the control signals, and the joint target values are converted into driving amounts to be sent to the driving device. The driving device drives the motor of the one or more attitude joints of the main operator to move so that the one or more attitude joints of the main operator move, and the attitude of the handle of the main operator is matched with the attitude of the end instrument of the driven tool.
In some embodiments, the mathematical structure model of the main operator may be constructed based on a DH parametric method or an exponential product representation. For example, a DH matrix corresponding to the joint of the master manipulator is determined, and a mathematical structure model of the master manipulator is determined based on the DH matrix of the joint. The DH matrix of each joint of the master manipulator is expressed as equation (5).
Figure BDA0003141590300000111
The correspondence between DH matrices and q is shown in table 1.
TABLE 1 correspondence of DH matrices to q
0T1 1T2 2T3 3T4 4T5 5T6 6T7
q1 q2 q3 q4(q4＝-q3) q5 q6 q7
Joint 1 Joint 2 Joint 3 Joint 4 (driven joint of joint 3) Joint 5 Joint 6 Joint 7
In the formula (5), j is a joint number, Rot (x, α)j) For rotating alpha about the x-axisjAngle, Rot (z, θ)j) For rotation by an angle theta about the z-axis, Trans (x, alpha)j) Moving in the x direction by aj，Trans(z,dj) Moving d in the z directionj，Rot(x,αj)、Trans(x,αj) Etc. are all 4 by 4 matrices. In the multi-joint master manipulator structure shown in fig. 3, the z-axis is the rotation axis of the joint, the x-axis points to the next joint, and the y-axis direction can be determined according to the left/right hand law of the cartesian coordinate system. Rot (x, alpha)j)、Trans(x,αj) The fourth order matrix represents a rotation by a certain angle around one direction or a translation by a certain distance along one direction.
The mathematical structure model of the master operator is described by the DH matrix multiplication of all joints, as in equation (6):
0T7＝0T1·1T2·2T3·3T4·4T5·5T6·6T7 (6)
in formula (6), T can be understood as a matrix with q as a main variable, which represents a mathematical model of different parts according to the identification of the superscript and subscript, and the upper left 3 × 3 part in the matrix T is a rotation matrix R.
The main manipulator comprises an arm body and a handle, wherein the arm body comprises a joint and a connecting rod. The operator controls the position and the posture of the driven tool through the handle of the teleoperation main operator. It can be understood that, when the teleoperation is started, if the posture (such as the orientation or the angle) of the handle is not consistent with the posture (such as the orientation or the angle) of the corresponding controlled driven tool, the human-computer interaction experience of an operator (such as an operator) in the operation process is poor, and the operation precision of the driven tool is affected. Therefore, after the master operator is connected with the slave tool in a matching manner and before the master operator conducts teleoperation on the slave tool (for example, when an operator holds the handle of the master operator to obtain the control right corresponding to the slave tool but does not start the master-slave teleoperation), the posture of the handle is matched and adjusted with the posture of the slave tool. When the postures of the main manipulator and the slave manipulator are consistent, the master manipulator can perform teleoperation on the slave tool, and the precision and experience of subsequent teleoperation can be improved.
In some embodiments, a degree of pose match between the master operator and the slave tool may be determined in response to a predetermined condition being satisfied. The predetermined condition includes triggering of a teleoperation control right. In some embodiments, the triggering of the teleoperational control may be achieved by a triggering device. The trigger means may be a switch located above the main operator or display for the operator to touch, push or dial. Triggering manners include, but are not limited to, holding close, touching, transferring, clicking or long-pressing, etc. The trigger device can be triggered by toggling a switch on the main operator, touching an induction position on the main operator, long-pressing or clicking a key on the main operator, stepping on a pedal of the main console, operating a display screen of the main console, and the like.
The matching means that the posture of the handle and the posture of the driven tool satisfy a preset relationship (e.g., are consistent), and the posture matching degree means the degree of matching between the current posture of the handle and the current posture of the driven tool. In some embodiments, joint information of the master operator and the slave tool is acquired through a sensor in response to a predetermined condition being satisfied, a current posture of the handle and the slave tool is determined through a forward kinematics algorithm, and a posture matching degree between the master operator and the slave tool is determined based on the current posture of the handle of the master operator and the current posture of the slave tool. When the posture matching degree is lower than a preset threshold, in response to the posture matching degree being lower than the preset threshold, a control signal for adjusting the current posture of the handle of the main operator is generated so that the posture matching degree is higher than or equal to the preset threshold. Therefore, when the postures of the two are not matched, the posture adjustment can be automatically carried out so as to realize the consistency of the postures of the two. When the current postures of the master manipulator and the slave manipulator are consistent or basically consistent (the posture matching degree is higher than or equal to a preset threshold), the master-slave mapping between the master manipulator and the slave tool is established in response to the posture matching degree being higher than or equal to the preset threshold, so that the next teleoperation process can be executed.
In some embodiments, adjusting the pose of the handle of the master operator to be consistent with the pose of the slave tool comprises: keeping the current posture of the driven tool unchanged, and adjusting the posture of the handle of the main operator to enable the posture of the handle of the main operator to be consistent with the posture of the driven tool.
The target posture of the handle of the master-slave master operator is consistent with the current posture of the slave tool, master-slave mapping is established between the master operator and the slave tool, teleoperation of the master operator on the slave tool can be executed, and the operation precision and experience of teleoperation are improved. As will be understood by those skilled in the art, consistent attitude means substantially consistent attitude, and there may be some error between the target attitude of the handle of the master operator and the current attitude of the slave tool, but the error is within an acceptable range.
In the above embodiment, the posture of the handle is matched with the posture of the driven tool before the teleoperation, and when the operator starts the operation (for example, presses the clamp button of the handle of the main operator), the teleoperation can be quickly established. In addition, only the current posture of the driven tool is kept, and the operator can still move the position of the handle of the main operator in a non-operation state, so that the handle of the main operator can be moved to a proper position and then remotely operated and matched, and the motion space of the handle of the main operator is greatly increased. In addition, the control method of the master-slave motion can be suitable for slave ends of various different principles and forms, the pertinence of the calculation process is strong, the calculation amount is small, and the driving amount of the master operator when the handle is adjusted to the target posture is reduced.
In the above embodiment, by establishing connection between the master operator and the slave tool and realizing transfer of control right, the degree of posture matching between the handle of the master operator and the slave tool is determined in the state of connection and transfer of control right. And if the attitude matching degree meets the preset threshold condition, establishing master-slave mapping between the master operator and the slave tool, and executing the teleoperation step. If the posture matching degree does not meet the preset threshold condition, the posture of the handle of the master operator needs to be adjusted to be consistent with the current posture of the driven tool, then master-slave mapping between the master operator and the driven tool is established, and remote operation of the handle of the master operator is executed. The method has the advantages that before the teleoperation relationship is established between the master operator and the driven tool, the gesture of the handle of the master operator is adjusted to be consistent with the gesture of the driven tool in time, the accuracy of master-slave mapping between the handle of the master operator and the driven tool is achieved, the operation experience of an operator in teleoperation is improved, the high-precision matching of operation actions and actual actions is achieved, and meanwhile, operation limitation caused by the fact that the motion control boundaries of the master operator and the driven tool are inconsistent is avoided.
Fig. 4 illustrates a schematic diagram 400 of a robotic system according to some embodiments of the present disclosure. As shown in fig. 4, a robotic system 400 includes: a master operator 410, a control device, a drive device and a slave tool. The master manipulator 410 includes a robotic arm, a handle disposed on the robotic arm, and at least one master manipulator sensor disposed at least one joint on the robotic arm. At least one master operator sensor is used to obtain joint information for at least one joint. The driven tool 420 includes a flexible arm and a tip instrument. The drive 430 is used to drive the flexible arm of the driven tool and includes at least one drive sensor for obtaining drive information. The control device 440 is communicatively connected to the main operator 410 and the driving device 430. The control device 440 is configured to perform a control method of master-slave motion according to some embodiments of the present disclosure.
In some embodiments, the master manipulator 410 includes a six-degree-of-freedom robot arm, one master manipulator sensor is disposed at each joint on the six-degree-of-freedom robot arm, and joint information (e.g., joint angle data) is generated by the master manipulator sensor of each joint. In some embodiments, the master operator sensor employs a potentiometer and/or encoder.
In some embodiments, the driven tool 420 includes a multi-joint six degree-of-freedom flexible arm.
In some embodiments, the driving device 430 is used to drive the flexible arm of the driven tool 420, and obtains corresponding driving information of the driven tool through the driving device sensor.
In some embodiments, the control device 440 is communicatively coupled to the main operator 410 and the drive device 430. For example, the main operator 410, the driving device 430 and the control device 440 may be connected via a data transmission bus, including but not limited to wireless data transmission, wired data connection, or a mixture of multiple data communication methods. The data transmission bus CAN be a Controller Area Network (CAN) bus.
The control device 440 is configured to perform a master-slave motion control method in some embodiments of the present disclosure. For example, the control device is configured to receive network data packets (e.g., joint information) sent by the main operator sensor and the drive device sensor. The control device calculates a joint target value at which the grip of the master operator reaches a target posture that matches the current posture of the slave tool, based on the joint information of the slave tool and the joint information of the master operator, converts the joint target value into a drive signal, and transmits the drive signal to the driving device 430. The driving device 430 receives a driving signal through a network data packet, for example, the driving signal is sent to each Epos control tool through a CAN bus, and each motor of the master operator is driven to move so that the master operator moves in place, thereby realizing the posture matching of the handle of the master operator and the slave tool.
In some embodiments, a controller may be provided in the main operator, and the controller may calculate attitude data of the main operator from the joint information obtained by the respective main operator sensors and transmit the calculated attitude data to the control device. In other embodiments, the control device may calculate the attitude data of the main operator from the joint data transmitted from the main operator sensor.
In the above-described embodiment, when the control object (e.g., the slave tool) of the master operator is changed, it is highly likely that the leading end orientation of the slave tool entering the abdomen is different from the current orientation of the handle of the master operator. The method provided by the disclosure can adjust the posture of the handle of the master operator to be consistent with the current posture of the driven tool before the master operator and the driven tool establish the master-slave mapping relation and before the operator actually operates, so that good operation experience of the operator and high-precision matching of action expectation and reality are realized, and meanwhile, operation limitation caused by inconsistent motion control boundaries of the master operator and the driven tool is avoided.
The present disclosure also discloses the following:
1. a method of controlling master-slave motion, comprising:
determining a current pose of the driven tool;
determining a target pose of a handle of a master operator based on a current pose of the slave tool; and
generating a control signal of the main operator based on the target pose of the handle of the main operator.
2. The control method according to item 1, further comprising:
determining a current pose of a handle of the master operator; and
generating a control signal of the main operator based on a target posture and a current posture of a grip of the main operator.
3. The control method of claim 2, the master manipulator including at least one pose joint for controlling a pose of the handle, the determining a current pose of the handle of the master manipulator including:
obtaining joint information of the at least one pose joint; and
determining the current pose of the master manipulator based on joint information of the at least one pose joint.
4. The control method according to any one of items 1 to 3, the driven tool including a flexible arm body and a tip instrument provided at a tip end of the flexible arm body, the determining of the current posture of the driven tool including:
determining a current pose of a tip instrument of the driven tool relative to a base coordinate system of the driven tool; or
Determining a current pose of an image of a tip instrument of the driven tool in a display relative to a world coordinate system.
5. The control method according to any one of claims 1 to 4, wherein the target posture of the grip of the main operator is a posture with respect to a base coordinate system of the main operator.
6. The control method according to any one of claims 1 to 5, the main operator including at least one attitude joint for controlling an attitude of a grip of the main operator, and the control signal including a control signal for controlling one or more attitude joints of the at least one attitude joint.
7. The control method of item 6, wherein the one or more of the at least one pose joint comprises a non-coupled pose joint.
8. The control method according to any one of claims 6 to 7, further comprising:
obtaining joint information of other pose joints except the one or more pose joints in the at least one pose joint; and
determining a transformation matrix of the other pose joints based on the joint information of the other pose joints.
9. The control method according to item 8, further comprising:
generating the control signal of the main operator based on the target posture of the grip of the main operator and a transformation matrix of the other posture joints.
10. The control method according to any one of claims 1 to 9, further comprising:
determining a degree of pose matching between the handle of the master operator and the slave tool in response to a predetermined condition being met, the predetermined condition comprising triggering of a teleoperation control right.
11. The control method according to item 10, further comprising:
determining a pose matching degree between the handle of the master operator and the slave tool based on the current pose of the handle of the master operator and the current pose of the slave tool.
12. The control method according to any one of claims 10 to 11, further comprising:
in response to the gesture matching degree being lower than a preset threshold, generating the control signal of the handle of the main operator such that the gesture matching degree is higher than or equal to a preset threshold.
13. The control method according to any one of claims 10 to 12, further comprising:
establishing a master-slave mapping between the master operator and the slave tool in response to the pose matching degree being higher than or equal to a preset threshold.
14. The control method according to any one of claims 1 to 13, wherein the target posture of the grip of the master operator coincides with the current posture of the slave tool.
15. A robotic system, comprising:
a main operator including a robot arm, a handle provided on the robot arm, and at least one motor and at least one main operator sensor provided at least one joint on the robot arm, the at least one main operator sensor being for obtaining joint information of the at least one joint;
the driven tool comprises a flexible arm body and a tail end instrument arranged at the tail end of the flexible arm body;
a drive means for driving the flexible arm of the driven tool, the drive means comprising at least one drive means sensor for obtaining drive information; and
a control device communicatively connected to the master operator and the drive device, the control device being configured to perform a method of controlling master-slave motion as claimed in any one of claims 1 to 14.
16. A computer device, the computer device comprising:
a memory to store at least one instruction; and
a processor coupled to the memory and configured to execute the at least one instruction to perform the method of controlling master-slave motion of any of claims 1-14.
17. A computer-readable storage medium storing at least one instruction that, when executed by a computer, causes a robotic system to implement a method of controlling master-slave motion as recited in any one of claims 1-14.
It is noted that the foregoing is only illustrative of the embodiments of the present disclosure and the technical principles employed. Those skilled in the art will appreciate that the present disclosure is not limited to the specific embodiments illustrated herein and that various obvious changes, adaptations, and substitutions are possible, without departing from the scope of the present disclosure. Therefore, although the present disclosure has been described in greater detail with reference to the above embodiments, the present disclosure is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.

Claims (17)

1. A method of controlling master-slave motion, comprising:
determining a current pose of the driven tool;
determining a target pose of a handle of a master operator based on a current pose of the slave tool; and
generating a control signal of the main operator based on the target pose of the handle of the main operator.
2. The control method according to claim 1, characterized by further comprising:
determining a current pose of a handle of the master operator; and
generating a control signal of the main operator based on a target posture and a current posture of a grip of the main operator.
3. The control method of claim 2, wherein the master manipulator includes at least one pose joint for controlling the pose of the handle, and determining the current pose of the handle of the master manipulator includes:
obtaining joint information of the at least one pose joint; and
determining the current pose of the master manipulator based on joint information of the at least one pose joint.
4. The control method of claim 1, wherein the driven tool includes a flexible arm and a tip instrument disposed at a tip of the flexible arm, and determining the current pose of the driven tool includes:
determining a current pose of a tip instrument of the driven tool relative to a base coordinate system of the driven tool; or
Determining a current pose of an image of a tip instrument of the driven tool in a display relative to a world coordinate system.
5. The control method according to claim 1, characterized in that the target posture of the grip of the main operator is a posture with respect to a base coordinate system of the main operator.
6. The control method according to claim 1, characterized in that the main operator includes at least one attitude joint for controlling an attitude of a grip of the main operator, and the control signal includes a control signal for controlling one or more of the at least one attitude joints.
7. The control method of claim 6, wherein the one or more of the at least one pose joint comprises an uncoupled pose joint.
8. The control method according to claim 6, characterized by further comprising:
obtaining joint information of other pose joints except the one or more pose joints in the at least one pose joint; and
determining a transformation matrix of the other pose joints based on the joint information of the other pose joints.
9. The control method according to claim 8, characterized by further comprising:
generating the control signal of the main operator based on the target posture of the grip of the main operator and a transformation matrix of the other posture joints.
10. The control method according to claim 1, characterized by further comprising:
determining a degree of pose matching between the handle of the master operator and the slave tool in response to a predetermined condition being met, the predetermined condition comprising triggering of a teleoperation control right.
11. The control method according to claim 10, characterized by further comprising:
determining a pose matching degree between the handle of the master operator and the slave tool based on the current pose of the handle of the master operator and the current pose of the slave tool.
12. The control method according to claim 10, characterized by further comprising:
in response to the gesture matching degree being lower than a preset threshold, generating the control signal of the handle of the main operator such that the gesture matching degree is higher than or equal to a preset threshold.
13. The control method according to claim 10, characterized by further comprising:
establishing a master-slave mapping between the master operator and the slave tool in response to the pose matching degree being higher than or equal to a preset threshold.
14. The control method according to claim 1, wherein the target posture of the grip of the master operator coincides with the current posture of the driven tool.
15. A robotic system, comprising:
a main operator including a robot arm, a handle provided on the robot arm, and at least one motor and at least one main operator sensor provided at least one joint on the robot arm, the at least one main operator sensor being for obtaining joint information of the at least one joint;
the driven tool comprises a flexible arm body and a tail end instrument arranged at the tail end of the flexible arm body;
a drive means for driving the flexible arm of the driven tool, the drive means comprising at least one drive means sensor for obtaining drive information; and
a control device communicatively connected to the master operator and the drive device, the control device being configured to perform a method of controlling master-slave motion as claimed in any one of claims 1 to 14.
16. A computer device, the computer device comprising:
a memory to store at least one instruction; and
a processor coupled with the memory and configured to execute the at least one instruction to perform a method of controlling master-slave motion as claimed in any one of claims 1-14.
17. A computer-readable storage medium storing at least one instruction that, when executed by a computer, causes a robotic system to implement a method of controlling master-slave motion as claimed in any one of claims 1 to 14.
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