CN114098960B - Medical instrument automatic positioning device, mechanical arm and readable storage medium - Google Patents
Medical instrument automatic positioning device, mechanical arm and readable storage medium Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
Abstract
The application discloses an automatic positioning device, a mechanical arm and a readable storage medium of a medical instrument, wherein the method comprises the steps of obtaining a preset planning plane; when a user holds the handheld end of the medical instrument to work, real-time distance deviation between the working end plane of the medical instrument and the preset planning plane is determined in real time, and the medical instrument is arranged at the tail end of the mechanical arm; and controlling the mechanical arm to adjust a real-time planning plane in real time according to the real-time distance deviation, so that the working end plane is maintained at the preset planning plane when the user holds the handheld end to work. The working position of the medical instrument can be always maintained on the preset planning plane, the problem that the working end plane of the medical instrument deviates from the preset planning plane due to the influence of the gravity of the working end plane and/or the dynamic change of the hand-held force of a user is effectively solved, the error rate is reduced, and the working efficiency is improved.
Description
Technical Field
The invention relates to the field of medical instrument control, in particular to an automatic medical instrument positioning device, a mechanical arm and a readable storage medium.
Background
With the rapid development of mechanical arm technology, at present, most medical instruments are commonly controlled by a mechanical arm and a user in a cooperative manner when in use, i.e. the medical instruments are installed on the tail end of the mechanical arm, and the user holds the hand-held end of the medical instrument to control the medical instrument to execute corresponding tasks.
However, as the tail end of the mechanical arm is often loaded with various medical instruments with different models and sizes during actual use, the weights of different medical instruments are different, and the operating habits of different users are also greatly different when the user holds the handheld end to control the medical instrument to execute corresponding tasks. For example: some people are used to holding the cutting mode of the swing saw upwards in the process of cutting bones by the swing saw, and some people are used to holding the cutting mode of the swing saw downwards in the process of cutting bones by the swing saw. Thus, in the impedance mode, there is uncertainty in the gravity term of the mechanical arm model parameters, which will cause the working position of the medical instrument to be not always maintained at the predetermined position, and in severe cases, the task performed by the medical instrument will be affected, resulting in task failure.
Disclosure of Invention
In view of the above, the present application provides an automatic positioning device for medical devices, a mechanical arm and a readable storage medium, so as to improve the automatic positioning accuracy of the medical devices and reduce the failure rate.
In a first aspect, an embodiment of the present application provides a method for automatically positioning a medical device, where the method includes:
Acquiring a preset planning plane;
when a user holds the handheld end of the medical instrument to work, real-time distance deviation between the working end plane of the medical instrument and the preset planning plane is determined in real time, and the medical instrument is arranged at the tail end of the mechanical arm;
And controlling the mechanical arm to adjust a real-time planning plane in real time according to the real-time distance deviation, so that the working end plane is maintained at the preset planning plane when the user holds the handheld end to work.
The automatic positioning method for the medical instrument provided by the embodiment of the application further comprises the following steps before the user holds the handheld end of the medical instrument to work:
controlling the mechanical arm to move the working end plane of the medical instrument to the preset planning plane;
and recording the initial pose of the working end plane under a preset coordinate system.
The automatic positioning method for the medical instrument of the embodiment of the application determines the real-time distance deviation between the working end plane of the medical instrument and the preset planning plane in real time, and comprises the following steps:
acquiring the real-time pose of the working end plane under the preset coordinate system in real time;
And determining the real-time distance deviation between the working end plane and the preset planning plane according to the real-time pose and the initial pose.
The automatic positioning method for the medical instrument, which is provided by the embodiment of the application, controls the mechanical arm to adjust the real-time planning plane in real time according to the real-time distance deviation, and comprises the following steps:
determining a real-time moving distance of the real-time planning plane by utilizing the real-time distance deviation;
and controlling the mechanical arm to move the real-time planning plane to a target direction by the real-time moving distance, wherein the target direction is the direction from the working end plane to the preset planning plane.
The automatic positioning method for the medical instrument, which is provided by the embodiment of the application, controls the mechanical arm to adjust the real-time planning plane in real time according to the real-time distance deviation, and comprises the following steps:
Determining a real-time control signal of the mechanical arm by utilizing the real-time distance deviation;
and adjusting the pose of the mechanical arm according to the real-time control signal so as to enable the real-time planning plane to move towards a target direction, wherein the target direction is the direction from the working end plane to the preset planning plane.
According to the automatic positioning method for the medical instrument, the real-time control signal is calculated by using the following formula:
u(t) = Kp × e(t) + Ki × ∫e(t)dt + Kd × de(t) / dt
where u (t) is a real-time control signal at the time of t, kp is a proportional parameter, ki is an integral parameter, kd is a derivative parameter, and e (t) is a real-time distance deviation at the time of t.
In a second aspect, an embodiment of the present application further proposes an automatic positioning device for a medical apparatus, the device including:
the acquisition module is used for acquiring a preset planning plane;
the determining module is used for determining the real-time distance deviation between the working end plane of the medical instrument and the preset planning plane in real time when the user holds the handheld end of the medical instrument to work, and the medical instrument is arranged at the tail end of the mechanical arm;
And the control module is used for controlling the mechanical arm to adjust the real-time planning plane in real time according to the real-time distance deviation so that the working end plane is maintained at the preset planning plane when the user holds the handheld end to work.
The automatic positioning device for the medical instrument, disclosed by the embodiment of the application, before determining the module, further comprises: the recording module is used for controlling the mechanical arm to move the working end plane of the medical instrument to the preset planning plane and recording the initial pose of the working end plane under a preset coordinate system.
In a third aspect, an embodiment of the present application further provides a mechanical arm, including a memory and a processor, where the memory stores a computer program, and the computer program executes the automatic positioning method for a medical apparatus according to the embodiment of the present application when running on the processor.
In a fourth aspect, the embodiment of the present application further proposes a readable storage medium storing a computer program, where the computer program executes the automatic positioning method for a medical instrument according to the embodiment of the present application when the computer program runs on a processor.
The method comprises the steps of obtaining a preset planning plane; when a user holds the handheld end of the medical instrument to work, real-time distance deviation between the working end plane of the medical instrument and the preset planning plane is determined in real time, and the medical instrument is arranged at the tail end of the mechanical arm; and controlling the mechanical arm to adjust a real-time planning plane in real time according to the real-time distance deviation, so that the working end plane is maintained at the preset planning plane when the user holds the handheld end to work. The working position of the medical instrument can be always maintained on the preset planning plane, the problem that the working end plane of the medical instrument deviates from the preset planning plane due to the influence of the gravity of the working end plane and/or the dynamic change of the hand-held force of a user is effectively solved, the error rate is reduced, and the working efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are required for the embodiments will be briefly described, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope of the present invention. Like elements are numbered alike in the various figures.
Fig. 1 shows a schematic flow chart of a method for automatically positioning a medical device according to an embodiment of the present application;
FIG. 2 shows an embodiment of the present application that proposes a positional relationship among a predetermined planning plane, a real-time planning plane, and a working end plane;
FIG. 3 illustrates a position relationship between a predetermined plan plane, a real-time plan plane, and a working end plane according to an embodiment of the present application;
Fig. 4 shows a schematic structural diagram of an automatic positioning device for medical equipment according to an embodiment of the present application;
fig. 5 shows a schematic structural view of another automatic positioning device for medical equipment according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
The terms "comprises," "comprising," "including," or any other variation thereof, are intended to cover a specific feature, number, step, operation, element, component, or combination of the foregoing, which may be used in various embodiments of the present invention, and are not intended to first exclude the presence of or increase the likelihood of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the invention belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having a meaning that is the same as the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in connection with the various embodiments of the invention.
Example 1
Referring to fig. 1, in one embodiment of the present application, a method for automatically positioning a medical device is provided, which includes the following steps:
Step S100, a predetermined planning plane is acquired.
It will be appreciated that some medical devices typically require the medical device to remain in a fixed plane during operation to perform a corresponding task at that fixed plane, e.g., the medical device for osteotomy typically maintains the blade of the medical device in a fixed plane during operation, after completion of the osteotomy task at that fixed plane, and then controls the blade of the medical device to move to another fixed plane and remain in that fixed plane to continue performing the osteotomy task.
In this embodiment, the mechanical arm needs to acquire a predetermined planning plane, so that the mechanical arm can regulate and control the medical instrument according to the predetermined planning plane, so that the working end plane of the medical instrument can be maintained at the predetermined planning plane, and the working end plane of the medical instrument is prevented from deviating from the predetermined planning plane due to the influence of gravity of the working end plane and/or dynamic change of the hand-held force of a user.
The mechanical arm can acquire a preset planning plane in a form of acquiring a planning pose of the mechanical arm, namely, the mechanical arm can take the working end plane of the current medical instrument as the preset planning plane when the mechanical arm is in the planning pose after acquiring the planning pose.
It will be appreciated that the planned pose may be related to the degrees of freedom of the robotic arm, the basic properties of the robotic arm such as the individual links of the robotic arm.
Step 200, when a user holds the handheld end of the medical instrument to work, determining the real-time distance deviation between the working end plane of the medical instrument and the preset planning plane in real time, wherein the medical instrument is arranged at the tail end of the mechanical arm.
It will be appreciated that the medical device is mounted at the end of the mechanical arm, and that when the user is holding the hand-held end of the medical device in operation, the force applied by the user to the medical device is considered to be constantly and dynamically changed, so that in the actual operation process of the medical device, a real-time distance deviation exists between the plane of the working end of the medical device and the predetermined planning plane.
In this embodiment, the mechanical arm needs to determine a real-time distance deviation between the working end plane of the medical apparatus and the predetermined planning plane in real time, so as to adjust the real-time planning plane in real time based on the real-time distance deviation.
In this embodiment, a real-time distance deviation determination manner is provided, that is, before a user holds a handheld end of a medical instrument to work, the mechanical arm is controlled to move a working end plane of the medical instrument to the predetermined planning plane; and recording the initial pose of the working end plane under a preset coordinate system. And further, the real-time distance deviation between the working end plane of the medical instrument and the preset planning plane can be determined according to the initial pose of the working end plane and the real-time pose of the working end plane under the preset coordinate system.
It can be understood that the predetermined coordinate system may be an end coordinate system, and the pose relationship between the end and the medical instrument may be determined after the medical instrument is mounted at the end of the mechanical arm, based on the homogeneous transformation matrix between the joints of the connecting rods of the mechanical arm, the mechanical arm may be configured to be capable of performing an initial pose and a real-time pose of the working end plane of the medical instrument under the end coordinate system.
Of course, in some other determination modes of the real-time distance deviation, the initial pose and the real-time pose of the working end plane of the medical instrument can be obtained under other coordinate systems, so long as the initial pose and the real-time pose are ensured to be under the same coordinate system.
Of course, in some other determination manners of the real-time distance deviation, the visual sensor may also be used to obtain the initial pose and the real-time pose of the working end plane of the medical apparatus, that is, some reflective marks or some positioning marks that can be identified by the visual sensor need to be installed on the working end plane of the medical apparatus, so that the visual sensor may obtain the initial pose and the real-time pose of the working end plane based on the reflective marks or some positioning marks that can be identified by the visual sensor.
The real-time pose of the working end plane of the medical instrument is very fast in acquisition frequency, so that the real-time distance deviation is very small, and the deviation generated by the real-time distance deviation is negligible when the medical instrument actually performs a task.
And step S300, controlling the mechanical arm to adjust a real-time planning plane in real time according to the real-time distance deviation, so that the working end plane is maintained at the preset planning plane when the user holds the handheld end to work.
It will be appreciated that the real-time planning plane is a virtual plane, and is not a real plane to be actually reached by the working end plane of the medical instrument, in this embodiment, the influence of the handheld acting force of the user and/or the gravity of the medical instrument on the medical instrument is offset by the distance difference between the real-time planning plane and the predetermined planning plane, that is, in this embodiment, in order to ensure that the working end plane of the medical instrument can be maintained at the predetermined planning plane, the mechanical arm controls the working end plane of the medical instrument to move in a direction opposite to the direction of the handheld acting force and/or the gravity of the medical instrument, so as to achieve the purpose of offset the handheld acting force and/or the gravity of the medical instrument.
For example, referring to fig. 2, if the working end plane 1 of the medical device moves below the predetermined planning plane 0, the real-time planning plane 2 will be located above the predetermined planning plane 0, and the distance between O 0 and O 2 is equal to the distance between O 0 and O 1. Referring to fig. 3, if the working end plane 1 of the medical device moves above the predetermined planning plane 0, the real-time planning plane 2 will be located below the predetermined planning plane 0, and the distance between O 0 and O 2 is equal to the distance between O 0 and O 1.
In this embodiment, an embodiment of adjusting a real-time planning plane in real time is provided, that is, determining a real-time moving distance of the real-time planning plane by using the real-time distance deviation; and controlling the mechanical arm to move the real-time planning plane to a target direction by the real-time moving distance, wherein the target direction is the direction from the working end plane to the preset planning plane.
In the above embodiment, the real-time distance deviation is used as the real-time moving distance of the real-time planning plane, and the position of the mechanical arm is directly changed according to the real-time moving distance, so as to update the real-time planning plane corresponding to the mechanical arm.
Furthermore, considering that the speed of proportional-integral-derivative adjustment is faster and the adjustment effect is better, the embodiment also provides an implementation mode for adjusting the real-time planning plane, namely, determining the real-time control signal of the mechanical arm by utilizing the real-time distance deviation; and adjusting the pose of the mechanical arm according to the real-time control signal so as to enable the real-time planning plane to move towards a target direction, wherein the target direction is the direction from the working end plane to the preset planning plane.
The real-time control signal of the mechanical arm is determined by utilizing the real-time distance deviation, the real-time control signal can be determined by utilizing a proportion adjustment mode, the real-time control signal can be determined by utilizing a proportion-integral adjustment mode, and the real-time control signal can be determined by utilizing a proportion-integral-differential adjustment mode.
By way of example, the real-time control signal may be determined using the following equation:
u(t) = Kp × e(t) + Ki × ∫e(t)dt + Kd × de(t) / dt
where u (t) is a real-time control signal at the time of t, kp is a proportional parameter, ki is an integral parameter, kd is a derivative parameter, and e (t) is a real-time distance deviation at the time of t.
The embodiment obtains a preset planning plane; when a user holds the handheld end of the medical instrument to work, real-time distance deviation between the working end plane of the medical instrument and the preset planning plane is determined in real time, and the medical instrument is arranged at the tail end of the mechanical arm; and controlling the mechanical arm to adjust a real-time planning plane in real time according to the real-time distance deviation, so that the working end plane is maintained at the preset planning plane when the user holds the handheld end to work. The working position of the medical instrument can be always maintained on the preset planning plane, the problem that the working end plane of the medical instrument deviates from the preset planning plane due to the influence of the gravity of the working end plane and/or the dynamic change of the hand-held force of a user is effectively solved, the error rate is reduced, and the working efficiency is improved.
Furthermore, when the real-time planning plane is adjusted, so that the whole adjusting process is faster, the adjusting effect is better, and the working efficiency is greatly improved.
Example 2
Referring to fig. 4, another embodiment of the present application provides an automatic positioning device 10 for medical devices, which includes: an acquisition module 11, a determination module 12 and a control module 13.
An acquisition module 11 for acquiring a predetermined planning plane; a determining module 12, configured to determine, in real time, a real-time distance deviation between a working end plane of a medical instrument and the predetermined planning plane when a user holds a hand-held end of the medical instrument, where the medical instrument is mounted at a distal end of a mechanical arm; and the control module 13 is used for controlling the mechanical arm to adjust a real-time planning plane in real time according to the real-time distance deviation so that the working end plane is maintained at the preset planning plane when the user holds the handheld end to work.
Further, referring to fig. 5, in the automatic positioning device 10 for a medical device, before the determining module 12, a recording module 14 is further included for controlling the mechanical arm to move the working end plane of the medical device to the predetermined planning plane, and recording an initial pose of the working end plane under a predetermined coordinate system.
Further, the determining, in real time, a real-time distance deviation between the working end plane of the medical instrument and the predetermined planning plane includes: acquiring the real-time pose of the working end plane under the preset coordinate system in real time; and determining the real-time distance deviation between the working end plane and the preset planning plane according to the real-time pose and the initial pose.
Further, the controlling the mechanical arm to adjust the real-time planning plane in real time according to the real-time distance deviation includes: determining a real-time moving distance of the real-time planning plane by utilizing the real-time distance deviation; and controlling the mechanical arm to move the real-time planning plane to a target direction by the real-time moving distance, wherein the target direction is the direction from the working end plane to the preset planning plane.
Further, the controlling the mechanical arm to adjust the real-time planning plane in real time according to the real-time distance deviation includes: determining a real-time control signal of the mechanical arm by utilizing the real-time distance deviation; and adjusting the pose of the mechanical arm according to the real-time control signal so as to enable the real-time planning plane to move towards a target direction, wherein the target direction is the direction from the working end plane to the preset planning plane.
Further, the real-time control signal is calculated using the following formula:
u(t) = Kp × e(t) + Ki × ∫e(t)dt + Kd × de(t) / dt
where u (t) is a real-time control signal at the time of t, kp is a proportional parameter, ki is an integral parameter, kd is a derivative parameter, and e (t) is a real-time distance deviation at the time of t.
The medical device automatic positioning device 10 disclosed in this embodiment is used in cooperation with the acquisition module 11, the determination module 12, the control module 13 and the recording module 14 to execute the above medical device automatic positioning method, and the implementation and beneficial effects related to the foregoing embodiment are also applicable in this embodiment, and are not repeated herein.
Example 3
A third embodiment of the present application provides a mechanical arm, including a memory and a processor, where the memory stores a computer program, and the computer program executes the automatic positioning method of the medical apparatus according to the foregoing embodiment of the present application when running on the processor.
Example 4
A fourth embodiment of the present application proposes a readable storage medium storing a computer program which, when run on a processor, performs the method for automatic positioning of a medical instrument according to the above-described embodiment of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flow diagrams and block diagrams in the figures, which illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules or units in various embodiments of the invention may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned readable storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention.
Claims (7)
1. An automatic positioning device for a medical instrument, the device comprising:
the acquisition module is used for acquiring a preset planning plane;
the determining module is used for determining the real-time distance deviation between the working end plane of the medical instrument and the preset planning plane in real time when the user holds the handheld end of the medical instrument to work, and the medical instrument is arranged at the tail end of the mechanical arm;
The control module is used for controlling the mechanical arm to adjust a real-time planning plane in real time according to the real-time distance deviation so that the working end plane is maintained at the preset planning plane when the user holds the handheld end to work; wherein, the controlling the mechanical arm to adjust the real-time planning plane in real time according to the real-time distance deviation includes: determining a real-time moving distance of the real-time planning plane by utilizing the real-time distance deviation; controlling the mechanical arm to move the real-time planning plane to a target direction by the real-time moving distance, wherein the target direction is a direction from the working end plane to the preset planning plane; the real-time planning plane, the working end plane and the preset planning plane are parallel to each other, and the real-time planning plane and the working end plane are positioned on two sides of the preset planning plane and the distance is the real-time distance deviation.
2. The automatic medical device positioning apparatus according to claim 1, further comprising, prior to the determining module:
The recording module is used for controlling the mechanical arm to move the working end plane of the medical instrument to the preset planning plane and recording the initial pose of the working end plane under a preset coordinate system.
3. The automatic medical instrument positioning device according to claim 2, wherein the determining module is configured to determine in real time a real-time distance deviation between a working end plane of the medical instrument and the predetermined planning plane, comprising:
acquiring the real-time pose of the working end plane under the preset coordinate system in real time;
And determining the real-time distance deviation between the working end plane and the preset planning plane according to the real-time pose and the initial pose.
4. The automatic positioning device of claim 1, wherein the control module is configured to control the robotic arm to adjust a real-time planning plane in real-time according to the real-time distance deviation, and further comprising:
Determining a real-time control signal of the mechanical arm by utilizing the real-time distance deviation;
and adjusting the pose of the mechanical arm according to the real-time control signal so as to enable the real-time planning plane to move towards a target direction, wherein the target direction is the direction from the working end plane to the preset planning plane.
5. The automatic medical device positioning apparatus according to claim 4, wherein the real-time control signal is calculated using the following formula:
u(t) = Kp × e(t) + Ki × ∫e(t)dt + Kd × de(t) / dt
where u (t) is a real-time control signal at the time of t, kp is a proportional parameter, ki is an integral parameter, kd is a derivative parameter, and e (t) is a real-time distance deviation at the time of t.
6. A robotic arm comprising a memory and a processor, the memory storing a computer program that, when run on the processor, performs the functions of the modules of the automatic medical device positioning apparatus of any one of claims 1-5.
7. A readable storage medium, characterized in that it stores a computer program which, when run on a processor, performs the functions of the individual modules in the automatic positioning device for medical instruments according to any one of claims 1 to 5.
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