CN113907889A - Control method and system for robot mechanical arm - Google Patents
Control method and system for robot mechanical arm Download PDFInfo
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- CN113907889A CN113907889A CN202111032639.4A CN202111032639A CN113907889A CN 113907889 A CN113907889 A CN 113907889A CN 202111032639 A CN202111032639 A CN 202111032639A CN 113907889 A CN113907889 A CN 113907889A
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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
- A61B34/32—Surgical robots operating autonomously
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- 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
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- 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
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- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The invention discloses a control method and a system of a mechanical arm of a robot, wherein the method comprises the steps of determining the offset of an actuator relative to a current target area according to the current spatial position of the actuator and the spatial position of the current target area of a skeleton in the operation process of the actuator at the tail end of the mechanical arm; and controlling the mechanical arm according to the offset so as to limit the movement of the actuator in the target area. Through controlling the mechanical arm, the limitation of the motion range of the actuator is realized, the safety and the accuracy of the osteotomy action in the operation process can be improved, and the technical problem that the safety of the osteotomy action cannot be ensured is solved.
Description
Technical Field
The disclosure relates to the technical field of automatic control, in particular to a control method and a control system for a robot arm.
Background
In the traditional joint replacement operation, no matter in a robot operation mode or a manual mode, the direction of the saw blade is controlled manually, the protection of peripheral soft tissues is mainly realized through some traditional retractor instruments, the safety cannot be fully guaranteed, and the iatrogenic injuries of the peripheral soft tissues such as muscle ligaments and the like are easily caused during the operation, so that the postoperative rehabilitation and the final operation effect of a patient are influenced.
In the related art, the method of joint replacement by a robot cannot intelligently and accurately control a saw blade (a saw blade), and cannot ensure the safety of osteotomy.
Disclosure of Invention
The main purpose of the present disclosure is to provide a method and a system for controlling a robot arm.
In order to achieve the above object, according to a first aspect of the present disclosure, there is provided a control method of a robot arm, including: in the operation process of an actuator at the tail end of a mechanical arm, determining the offset of the actuator relative to a current target area according to the current spatial position of the actuator and the spatial position of the current target area of a skeleton; and controlling the mechanical arm according to the offset so as to limit the movement of the actuator in the current target area.
According to a second aspect of the present disclosure, there is provided a control system of a robot arm, comprising: the determining unit is used for determining the offset of the actuator relative to the current target area according to the current spatial position of the actuator and the spatial position of the current target area of the skeleton in the operation process of the actuator at the tail end of the mechanical arm; and the control unit controls the mechanical arm according to the offset so as to limit the motion of the actuator in the current target area.
According to a third aspect of the present disclosure, there is provided a computer-readable storage medium storing computer instructions for causing a computer to execute the method for controlling a robot arm according to any one of the first aspect.
According to a fourth aspect of the present disclosure, there is provided an electronic device comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the method of controlling a robotic arm of any one of the alternatives of the first aspect.
In the control method and the system of the robot mechanical arm in the embodiment of the disclosure, the method comprises the steps of determining the offset of an actuator relative to a current target area according to the current spatial position of the actuator and the spatial position of the current target area of a skeleton in the operation process of the actuator at the tail end of the mechanical arm; and controlling the mechanical arm according to the offset so as to limit the movement of the actuator in the current target area. Through controlling the mechanical arm, the limitation of the motion range of the actuator is realized, the safety and the accuracy of the osteotomy action in the operation process can be improved, and the technical problem that the safety of the osteotomy action cannot be ensured is solved.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a control method of a robotic arm according to an embodiment of the present disclosure;
fig. 2 is an application scenario diagram of a control method of a robot manipulator according to an embodiment of the present disclosure;
FIG. 3A is a schematic illustration of an osteotomy anterior-posterior comparison in accordance with an embodiment of the present application;
FIG. 3B is a schematic view of a first orientation of a femur according to an embodiment of the present application;
FIG. 3C is a schematic view of a second orientation of a femur according to an embodiment of the present application;
FIG. 3D is a schematic view of a third orientation of a femur according to an embodiment of the present application;
FIG. 3E is a fourth directional schematic view of a femur according to an embodiment of the present application;
FIG. 3F is a schematic view of a fifth orientation of a femur according to an embodiment of the present application;
fig. 3G is a schematic view of a tibia according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a control device of a robot arm according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
In order to make the technical solutions of the present disclosure better understood by those skilled in the art, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure may be described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present disclosure, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present disclosure and its embodiments, and are not used to limit the indicated systems, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this disclosure can be understood by one of ordinary skill in the art as a matter of context.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate.
It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
According to an embodiment of the present disclosure, there is provided a control method for a robot arm, as shown in fig. 1, the method including steps 101 to 103 as follows:
step 101: in the operation process of an actuator at the tail end of the mechanical arm, the offset of the actuator relative to the current target area is determined according to the current spatial position of the actuator and the spatial position of the current target area of the skeleton.
In the present embodiment, the robot may be a joint replacement robot (including, but not limited to, a total knee replacement robot, a hip replacement robot, and the like, which require osteotomy), and the robot may mainly include a robot arm, and an actuator (in a detachable manner) provided at an end of the robot arm, and the actuator may be a saw blade.
The tail end of the mechanical arm and the actual bone cutting region (such as a femur region and a tibia region of a knee joint) can be pre-provided with tracers, each tracer comprises a light sensing ball capable of emitting infrared rays, the position of the light sensing ball arranged at the tail end of the mechanical arm is tracked in real time through a binocular infrared camera, the position of the light sensing ball in the femur region and the position of the light sensing ball in the tibia region can determine the current spatial position of an actuator at the tail end of the mechanical arm and the current spatial position of a target region, so that the spatial position of the actuator and the spatial position of the current target region can be determined in real time, and further the offset of the actuator relative to the current target region can be determined based on the spatial position of the actuator and the spatial position of the current target region.
If the target area is applied to knee replacement surgery, the target area may be a target plane, the target plane may include a femoral resection plane and a tibial resection plane, the tibial resection plane is a tibial plateau, and the femoral resection plane includes a femoral anterior resection plane, a femoral anterior oblique resection plane, a femoral posterior condylar resection plane, a femoral posterior oblique resection plane and a femoral distal resection plane.
The three-dimensional model displays a preplanned sequence of operations for a plurality of target areas, the current target area being a target area selected from the plurality of target areas in response to an operator.
As an optional implementation manner of this embodiment, before the actuator is operated, when the manipulator is operated to the bone, a position difference between the spatial position of the current target region and the current spatial position of the actuator is determined according to the planned spatial position of the current target region of the bone in the three-dimensional model coordinate system and the current spatial position of the actuator; determining the operated displacement of the mechanical arm according to the position difference; and displaying indication adjustment information corresponding to the displacement in the three-dimensional model so that an operator operates the mechanical arm according to the indication adjustment information, and thus, the actuator is adjusted to enable the plane of the actuator to be coplanar with the current target area. It is understood that the plane of the actuator is coplanar with the target area, meaning that the actuator is at the outer edge of the current target area, and the plane of the actuator is substantially coplanar with the current target area.
The indicated adjustment information corresponding to the amount of displacement may include an enlarged display of the adjustment path corresponding to the amount of displacement to guide the surgeon in holding the robotic arm to adjust the plane of the actuator to align with the current target area (the actuator is at the outer edge of the current target area, and the actuator is substantially coplanar with the current target area).
Step 102: and controlling the mechanical arm according to the offset so as to limit the movement of the actuator in the target area.
As an alternative implementation manner of this embodiment, the step of controlling the mechanical arm according to the offset to limit the motion of the actuator within the current target area includes: when the actuator operates, a Cartesian damping control mode taking the virtual springs and the dampers as models is started, and the mechanical arm outputs a feedback force F opposite to the operated direction based on preset stiffness values C of the virtual springs in the multiple-degree-of-freedom directions and offset amounts delta x in the multiple-degree-of-freedom directions, wherein the F is delta x C, so that the motion of the actuator is limited in the current target area.
In this alternative implementation, the stiffness-damping model of the virtual spring, also referred to as Cartesian damping Control Mode (CICM). In the damping control mode the robot is compliance sensitive and can react to external influences, such as obstacles or process forces. Application of an external force may cause the robot to move away from the planned orbital path.
Illustratively, in any one target area, a relatively large rigidity value is set in the direction perpendicular to the current target plane, and the rigidity value is larger than a predetermined threshold value so as to limit the actuator to move in the direction perpendicular to the current target area, thereby effectively avoiding the actuator from deviating from the current target area.
In specific implementation, after the actuator is aligned with the current target area, the actuator is operated, and at the moment, the control robot enters a state of a virtual spring damping model, in the state, the whole mechanical arm can be regarded as an approximate virtual spring, and after force is applied in any direction, the virtual spring follows hooke's law. In the direction perpendicular to the current target area, if the rigidity of the direction is large, the deviation of the actuator in the direction is small, so that the actuator can be stably limited on the current target area, the actuator is prevented from moving in the direction perpendicular to the current target area, the actuator exceeds the target area to the maximum extent, and the mistaken injury to a patient is reduced.
As an optional implementation manner of this embodiment, as shown in fig. 2, a direction in which the actuator cuts into the current target area is denoted as a depth direction X, a direction perpendicular to the cutting direction in the current target area is denoted as a lateral direction Y, and a direction perpendicular to the current target area is denoted as a vertical direction Z; the offset comprises an offset value in a depth direction, a transverse offset value and an offset value in a vertical direction; the preset stiffness value of the virtual spring in the depth direction is equal to or smaller than the preset stiffness value of the virtual spring in the transverse direction, and the stiffness value of the virtual spring in the transverse direction is smaller than the stiffness value of the virtual spring in the vertical direction; and the stiffness value of the virtual spring in the depth direction and the stiffness value of the virtual spring in the transverse direction are both smaller than or equal to a first preset translational stiffness threshold, and the stiffness value of the virtual spring in the vertical direction is larger than or equal to a second preset translational stiffness threshold, so that the actuator can freely translate along at least one direction of the depth direction and the transverse direction, and the translation of the actuator along the vertical direction is limited in the preset translational displacement.
As an optional implementation manner of this embodiment, the offset further includes an offset value rotated around the depth direction, an offset value rotated around the lateral direction, and an offset value rotated around the vertical direction; the stiffness value of the virtual spring in the rotation direction with the vertical direction as the axis is smaller than the stiffness value of the virtual spring in the rotation direction with the depth direction as the axis and smaller than the stiffness value of the virtual spring in the rotation direction with the lateral direction as the axis; and the stiffness value of the virtual spring in the rotating direction taking the vertical direction as the axis is less than or equal to a first preset stiffness threshold value of rotation, the stiffness value of the virtual spring in the rotating direction taking the depth direction as the axis and the stiffness value of the virtual spring in the rotating direction taking the transverse direction as the axis are greater than or equal to a second preset stiffness threshold value of rotation, so that the actuator freely rotates in the target area taking the vertical direction as the axis, and the rotation of the actuator taking the depth direction as the axis and the transverse direction as the axis is limited in a preset rotation displacement.
In the above alternative implementation, the stiffness value of each of the virtual springs in the directions of the plurality of degrees of freedom is set to limit the movement of the actuator to the target area. Specifically, when the spring rates in the different degrees of freedom are set, the setting can be performed using a function setstifness (…) (type: double).
The first translational preset stiffness threshold may be 0N/m to 500N/m, so that a range of stiffness values of the virtual spring in the depth direction X and a range of stiffness values of the virtual spring in the lateral direction Y may be limited to be within a range of 0N/m to 500N/m. Of course, other ranges of values may be set as appropriate. The principle is that the stiffness is set to be relatively small, because the smaller the stiffness, the larger the amount of spring deflection when the force is constant, according to hooke's law. Therefore, the rigidity in the depth direction is set as small as possible, and displacement of the actuator in this direction can be facilitated. In the transverse direction Y, the stiffness provided is also relatively small, also to facilitate movement of the actuator in that direction to make the cut.
The second translational preset stiffness threshold value can be 4000N/m-5000N/m, the stiffness of the target area in the vertical direction Z is the largest, and the set range is 4000N/m-5000N/m. Of course, the setting can be flexibly performed according to actual conditions. The principle is to be as large as possible. Because the greater the stiffness, the smaller the amount of spring deflection when the force is constant, according to hooke's law. Therefore, the stiffness in the Z direction is set to be as large as possible, which can help to avoid the actuator from being displaced in the Z direction, because if the actuator is directly caused to be out of the current target area after the displacement in the Z direction, it is not allowed to easily cause injury to the patient.
The first rotation preset rigidity threshold value can be 0 Nm/rad-20 Nm/rad, so that the actuator can rotate in the current target area by taking the vertical direction Z as an axis, and the second rotation preset rigidity threshold value can be 200 Nm/rad-300 Nm/rad, so that the displacement of the actuator in the rotation by taking the depth direction X as the axis and the transverse direction Y as the axis is limited, the actuator is further prevented from being separated from the current target area, and the safety of osteotomy is guaranteed.
In an alternative embodiment, the preset stiffness value of the virtual spring in the depth direction and the preset stiffness value of the virtual spring in the transverse direction may both be 0N/m, the preset stiffness value of the virtual spring in the vertical direction may be 5000N/m, the stiffness value of the virtual spring in the rotation direction with the vertical direction as the axis may be 10Nm/rad, and the stiffness value of the virtual spring in the rotation direction with the depth direction as the axis and the stiffness value of the virtual spring in the rotation direction with the transverse direction as the axis may both be 300 Nm/rad.
In one embodiment, the control method further comprises: damping values of the virtual spring in a plurality of degrees of freedom are set. The spring damping determines the oscillation degree of the virtual spring after the virtual spring deviates from the central position, and the damping value can range from 0.1 to 1.0, for example, 0.7.
When the robot is applied to knee joint replacement surgery, the actuator at the end of the mechanical arm is used for osteotomy of the knee joint. See FIG. 3A for a schematic representation of a pre-and post-osteotomy comparison. Specifically, referring to fig. 3B, the dark gray covering area is the area of the non-anterior femur to be resected, and the resected area is the plane of the anterior femur. Referring to fig. 3C, the dark gray coverage area is the area of the anterior oblique osteotomy of the femur, which is the plane of the anterior oblique osteotomy of the femur after the resection. Referring to fig. 3D, the dark gray area is the area of the posterior femoral condyle to be resected, which is the resected plane of the posterior femoral condyle. Referring to fig. 3E, the dark gray area is the resected femoral posterior oblique resection plane. Referring to fig. 3F, the dark gray area is the area of the distal femur to be resected, which is the resected distal femur resection plane, and the light gray area is a schematic diagram of the saw blade. Referring to fig. 3G, the dark gray area is the tibial plateau area, which is truncated to form the tibial osteotomy plane.
In the process that the mechanical arm is operated, the outer edge boundary of the current bone cutting area to be cut can be displayed in the three-dimensional model in real time, and reference is provided for a doctor.
As an optional implementation manner of this embodiment, before tracking the actuator and the bone, the world coordinate system where the patient is located may be registered with the three-dimensional model coordinate system planned before the operation, so as to register the world coordinate system to the three-dimensional model coordinate system.
Specifically, the registration process is as follows: acquiring the space position of a planning point on a skeleton in a three-dimensional model of the skeleton under a three-dimensional model coordinate system and the space position of an intraoperative marker point on an entity skeleton under a world coordinate system; carrying out coarse registration on the space position of the planning point in the three-dimensional coordinate system and the space position of the intraoperative marker point in the world coordinate system to obtain a coarse registration matrix; acquiring the space position of a scribing point set on the skeleton of an entity under a world coordinate system; and carrying out fine registration on the space position of the scribing point set and the three-dimensional model according to the coarse registration matrix so as to register a world coordinate system to a three-dimensional model coordinate system.
The planning point can be obtained by selecting a bony landmark point in the three-dimensional skeleton model, the intraoperative landmark point is obtained by a doctor by collecting the bony landmark point on the skeleton of the patient through a surgical probe, a tracer is installed on the surgical probe, and the spatial position of the intraoperative landmark point under a world coordinate system is obtained by tracking the position of the surgical probe through a binocular infrared camera.
Illustratively, coarsely registering the spatial positions of the preoperative planning points in the three-dimensional coordinate system with the spatial positions of the intraoperative marker points in the world coordinate system includes: respectively triangulating the spatial position of the preoperative planning point in a three-dimensional coordinate system and the spatial position of the intraoperative marking point in a world coordinate system by a preset three-dimensional space point cloud searching mode to obtain an actual operation triangular sequence corresponding to the intraoperative marking point and a planning triangular sequence corresponding to the preoperative planning point; correcting preoperative planning points according to the planning triangular sequence in a preset three-dimensional space point cloud searching mode to obtain corrected preoperative planning points; and carrying out coarse registration on the intraoperative marker points corresponding to the actual operation triangular sequence and the corrected preoperative planning points.
During fine registration, the space position of the scribing point set under the world coordinate system can be reflected back to the three-dimensional model coordinate system according to the coarse registration matrix, and the position of the scribing point set under the three-dimensional model coordinate system is obtained; then, performing neighborhood space search on the three-dimensional model according to the position of the scribing point set under the coordinate system of the three-dimensional model to obtain a first neighborhood space point set; finally, correcting the space position of the scribing point set under the world coordinate system according to the first neighborhood space point set to obtain a line segment point set; and carrying out fine registration on the line segment point set and the three-dimensional model.
Illustratively, the correcting the spatial position of the set of scribe points in the world coordinate system according to the first neighborhood space set of points includes: carrying out triangular pairing on the points in the scribing point set to obtain a paired triangular sequence; and correcting the points in the scribing point set according to the first neighborhood space point set and the pairing triangular sequence.
Illustratively, modifying the points in the set of scribe-lane points according to the first set of neighborhood space points and the sequence of paired triangles comprises: screening out a first target point from the first neighborhood space point set; and correcting the positions of the points in the scribing point set to the positions corresponding to the first target points according to the pairing triangular sequence.
Exemplarily, the triangularizing the spatial position of the preoperative planning point in the three-dimensional coordinate system and the spatial position of the intraoperative marking point in the world coordinate system respectively by a preset three-dimensional spatial point cloud searching method to obtain an actual operation triangle sequence corresponding to the intraoperative marking point and a planning triangle sequence corresponding to the preoperative planning point includes: forming a triangle by the first three points of the preoperative planning points according to the spatial position of the preoperative planning points under a three-dimensional coordinate system and forming a triangle by the first three points of the intraoperative marking points according to the spatial position of the intraoperative marking points under a world coordinate system in a preset three-dimensional space point cloud searching mode; respectively selecting two points from the previous points from the fourth point, and forming a triangle with the current point to obtain a real operation triangle sequence corresponding to the intraoperative marker point and a planning triangle sequence corresponding to the preoperative planning point; the triangle composition sequence of the real operation triangle sequence and the planning triangle sequence is the same.
Illustratively, modifying the preoperative planning point according to the planning triangle sequence by a preset three-dimensional space point cloud searching mode to obtain a modified preoperative planning point comprises: determining a second neighborhood space point set of the preoperative planning points on the three-dimensional model by a preset three-dimensional space point cloud searching mode; screening out a second target point from the second neighborhood space point set; and correcting the spatial position of the preoperative planning point under the three-dimensional model coordinate to the position corresponding to the second target point according to the planning triangular sequence.
According to an embodiment of the present disclosure, there is also provided a control system of a robot arm, as shown in fig. 4, including: a determining unit 301, configured to determine, according to a current spatial position of the actuator and a spatial position of a current target region of a bone, an offset of the actuator with respect to the current target region, in an actuator operation process at an end of the robot arm; and the control unit 302 controls the mechanical arm according to the offset so as to limit the motion of the actuator in the current target area.
The control system may further include: a registration unit configured to implement the registration process described above.
The robot comprises the binocular infrared camera and the like, and also comprises an upper computer main control system and a mechanical arm system, wherein the determining unit and the registering unit are both located in the upper computer main control system, and the control unit is located in the mechanical arm system.
Under the cooperation of binocular infrared camera, tracer and arm, the motion range restriction of executor is in current target area, both can prevent the damage to tissues such as ligament, blood vessel, nerve, also can effectively avoid cutting bone volume too much, improves the precision and the security of operation.
The embodiment of the present disclosure provides an electronic device, as shown in fig. 5, the electronic device includes one or more processors 41 and a memory 42, where one processor 41 is taken as an example in fig. 5.
The controller may further include: an input device 43 and an output device 44.
The processor 41, the memory 42, the input device 43 and the output device 44 may be connected by a bus or other means, and fig. 4 illustrates the connection by a bus as an example.
The processor 41 may be a Central Processing Unit (CPU). The processor 41 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 42, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the control methods in the embodiments of the present disclosure. The processor 41 executes various functional applications of the server and data processing by running the non-transitory software programs, instructions, and modules stored in the memory 42, that is, implements the control method for the knee replacement robot of the above-described method embodiment.
The memory 42 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of a processing device operated by the server, and the like. Further, the memory 42 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 42 may optionally include memory located remotely from processor 41, which may be connected to a network connection device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 43 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the processing device of the server. The output device 44 may include a display device such as a display screen.
One or more modules are stored in the memory 42, which when executed by the one or more processors 41, perform the method as shown in fig. 1.
It will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by hardware that is related to instructions of a computer program, and the computer program may be stored in a computer-readable storage medium, and when executed, may include the processes of the embodiments of the control method for a surgical robot as described above. The storage medium may be a magnetic disk, an optical disk, a Read-only memory (ROM), a Random Access Memory (RAM), a flash memory (FlashMemory), a hard disk (hard disk drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. A method for controlling a robot arm, comprising:
in the operation process of an actuator at the tail end of a mechanical arm, determining the offset of the actuator relative to a current target area according to the current spatial position of the actuator and the spatial position of the current target area of a skeleton;
and controlling the mechanical arm according to the offset so as to limit the movement of the actuator in the current target area.
2. The control method of claim 1, wherein the step of controlling the robotic arm to limit the movement of the actuator within the pre-planned current target area based on the offset comprises:
when the actuator operates, a Cartesian damping control mode taking the virtual springs and the dampers as models is started, and the mechanical arm outputs a feedback force F opposite to the operated direction based on preset stiffness values C of the virtual springs in the multiple-degree-of-freedom directions and offset amounts delta x in the multiple-degree-of-freedom directions, wherein the F is delta x C, so that the motion of the actuator is limited in the current target area.
3. The control method according to claim 2, wherein the direction in which the actuator cuts into the current target region is denoted as a depth direction, the direction within the current target region and perpendicular to the cutting direction is denoted as a lateral direction, and the direction perpendicular to the current target region is denoted as a vertical direction;
the offset comprises an offset value in the depth direction, a transverse offset value and an offset value in the vertical direction;
the preset stiffness value of the virtual spring in the depth direction is equal to or smaller than the preset stiffness value of the virtual spring in the transverse direction, and the stiffness value of the virtual spring in the transverse direction is smaller than the stiffness value of the virtual spring in the vertical direction;
and the stiffness value of the virtual spring in the depth direction and the stiffness value of the virtual spring in the transverse direction are both smaller than or equal to a first translational preset stiffness threshold value, and the stiffness value of the virtual spring in the vertical direction is larger than or equal to a second translational preset stiffness threshold value, so that the actuator can freely translate along at least one direction of the depth direction and the transverse direction, and the translation of the actuator along the vertical direction is limited within the preset translational displacement threshold value.
4. The control method according to claim 3, wherein the offset amount further includes an offset value rotated about a depth direction, an offset value rotated about a lateral direction, an offset value rotated about a vertical direction;
the stiffness value of the virtual spring in the rotation direction with the vertical direction as the axis is smaller than the stiffness value of the virtual spring in the rotation direction with the depth direction as the axis and smaller than the stiffness value of the virtual spring in the rotation direction with the lateral direction as the axis;
and the stiffness value of the virtual spring in the rotation direction taking the vertical direction as the axis is less than or equal to a first rotation preset stiffness threshold value;
and the stiffness value of the virtual spring in the rotating direction taking the depth direction as the axis and the stiffness value of the virtual spring in the rotating direction taking the transverse direction as the axis are greater than or equal to a second rotation preset stiffness threshold value, so that the actuator freely rotates in the target area by taking the vertical direction as the axis, and the displacement of the actuator in the rotating direction taking the depth direction as the axis and the transverse direction as the axis is respectively limited in the preset rotation displacement threshold values.
5. The control method according to claim 1, wherein before the control of the robot arm, the control method further comprises:
acquiring the space position of a planning point on a skeleton in a three-dimensional model of the skeleton under a three-dimensional model coordinate system and the space position of an intraoperative marker point on an entity skeleton under a world coordinate system;
carrying out coarse registration on the space position of the planning point in the three-dimensional coordinate system and the space position of the intraoperative marker point in the world coordinate system to obtain a coarse registration matrix;
acquiring the space position of a scribing point set on the skeleton of an entity under a world coordinate system;
and carrying out fine registration on the space position of the scribing point set under the world coordinate system and the three-dimensional model according to the coarse registration matrix so as to register the world coordinate system to the three-dimensional model coordinate system.
6. The control method according to claim 5, characterized by further comprising:
before the actuator operates, when the mechanical arm is operated to the skeleton, determining the position difference between the space position of the current target region and the current space position of the actuator according to the space position of the current target region of the skeleton planned in the three-dimensional model coordinate system and the current space position of the actuator;
determining the operated displacement of the mechanical arm according to the position difference;
and displaying indication adjustment information corresponding to the displacement in the three-dimensional model so that an operator operates the mechanical arm according to the indication adjustment information, and thus, the actuator is adjusted to enable the plane of the actuator to be coplanar with the current target area.
7. A control system for a robotic arm, comprising:
the determining unit is used for determining the offset of the actuator relative to the current target area according to the current spatial position of the actuator and the spatial position of the current target area of the skeleton in the operation process of the actuator at the tail end of the mechanical arm;
and the control unit controls the mechanical arm according to the offset so as to limit the motion of the actuator in the current target area.
8. The control system of claim 7, wherein the control unit is further configured to:
when the actuator operates, a Cartesian damping control mode taking the virtual springs and the dampers as models is started, and the mechanical arm outputs a feedback force F opposite to the operated direction based on preset stiffness values C of the virtual springs in the multiple-degree-of-freedom directions and offset amounts delta x in the multiple-degree-of-freedom directions, wherein the F is delta x C, so that the motion of the actuator is limited in the current target area.
9. A computer-readable storage medium characterized in that it stores computer instructions for causing the computer to execute the method of controlling a robot arm according to any one of claims 1 to 6.
10. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to cause the at least one processor to perform the method of controlling a robotic arm of any of claims 1 to 6.
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