CN114176790B - Clutch control method of master-slave robot - Google Patents

Clutch control method of master-slave robot Download PDF

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CN114176790B
CN114176790B CN202111520814.4A CN202111520814A CN114176790B CN 114176790 B CN114176790 B CN 114176790B CN 202111520814 A CN202111520814 A CN 202111520814A CN 114176790 B CN114176790 B CN 114176790B
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main manipulator
gesture
clutch
area
manipulator
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CN114176790A (en
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程敏
杨辉
陈云川
袁文
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Tuodao Medical 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
    • A61B34/37—Master-slave robots
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
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Abstract

The invention discloses a clutch control method of a master-slave robot, which comprises the following steps: (1) The working area and the clutch area of the main manipulator are divided according to the gesture reachable space of the main manipulator and the slave arm instrument; (2) And acquiring the gesture of the main manipulator in real time, disconnecting the master-slave connection when the main manipulator leaves the working area, and matching the master-slave connection when the main manipulator enters the working area. According to the invention, a clutch pedal or a clutch switch is not required to be added, the gesture reachable space of the main manipulator is divided into a working area and a clutch area, and when the main manipulator reaches a pathological position, the main manipulator is dragged to the clutch area, and the main manipulator returns to the working area after freely adjusting the gesture. The complexity of mechanical and electrical installation is reduced, the risk of false touch in the operation process is reduced, and meanwhile, the continuity of the operation process and the operation comfort of doctors are improved.

Description

Clutch control method of master-slave robot
Technical Field
The invention relates to the technical field of robots, in particular to a clutch control method of a master-slave robot.
Background
At present, minimally invasive surgery has become a main development direction in the field of surgical medicine basically instead of open surgery, and compared with the traditional open surgery, the minimally invasive surgery has the advantages of being small in wound, light in pain, quick in recovery and the like. With the development of robotics, minimally invasive surgery based on a robot-assisted system, represented by a da vinci surgical robot, is becoming mature and widely used.
The surgical robot is of a master-slave teleoperation type structure, and a doctor controls the instrument at the tail end of the hand side to move under the view of the endoscope through operating the master hand, so that a series of complicated surgical operations are completed. In the process of master-slave operation, because of the set proportional relationship of master-slave position mapping and the subjectivity of master doctor operation, the following situations inevitably exist: (1) The main manipulator moves to the boundary position of the working space and is easy to interfere with the console; (2) collision is easy to occur between main operation hands due to too close distance; (3) The main operator is still in the reachable working space, but the pose is very twisted and cannot move flexibly, etc.
The scenario described above is defined as a "pathological pose", for which the existing solutions are: the clutch pedal is arranged on the console, or the clutch switch is arranged on the main operation hand, in the operation process, when a doctor of a main knife subjectively thinks that the main operation hand is in a pathological pose, the clutch pedal is stepped down or the clutch switch is pressed down, the master-slave connection can be interrupted, at the moment, the doctor can drag the main operation hand to move the main operation hand to a comfortable position, then the clutch pedal or the clutch switch is released, and the main operation hand can actively move so that the pose of the main operation hand is consistent with the pose of the current controlled instrument. At this point the master and slave are again matched and the procedure can continue to reciprocate.
In the existing scheme, the installation of the clutch pedal or the clutch switch clearly increases the complexity of mechanical and electrical installation, and the risk of false touch is also high in the operation process, so that the operation safety is reduced. Moreover, when the master manipulator and the slave manipulator are matched again, the master manipulator needs to actively move, at the moment, the hands of the master manipulator and the doctors are often forced to be dragged to the target postures by the master manipulator, the continuity of the operation process and the operation comfort of the doctors are greatly reduced, the operation time is prolonged, and the operation risk is increased.
Disclosure of Invention
The invention aims to: aiming at the defects, the invention provides a clutch control method of a master-slave robot, which reduces the complexity of mechanical and electrical installation, reduces the risk of false touch in the operation process, and improves the continuity of the operation process and the operation comfort of doctors.
The technical scheme is as follows:
a clutch control method of a master-slave robot comprises the following steps:
(1) The working area and the clutch area of the main manipulator are divided according to the gesture reachable space of the main manipulator and the slave arm instrument;
(2) And acquiring the gesture of the main manipulator in real time, disconnecting the master-slave connection when the main manipulator leaves the working area, and matching the master-slave connection when the main manipulator enters the working area.
When the operator recognizes that the pose of the main manipulator is in the pathological pose, the operator drags the main manipulator to move from the working area to the clutch area, and adjusts the pose of the main manipulator after the main manipulator enters the clutch area.
A transition area is further arranged in the step (1), and a space accessible from the posture of the arm instrument is set as a working area; the partial area, which is close to the working area, of the areas except the space where the gesture of the slave arm instrument is accessible in the space where the gesture of the master manipulator is accessible is set as a transition area, and the partial area, which is far away from the working area, is set as a clutch area.
Disconnecting the master-slave connection when the master manipulator enters the transition zone from the working zone, and planning a shortest path and a target gesture of the master manipulator reaching the clutch zone through a first impedance controller and forming a moment channel along the shortest path;
when the main manipulator enters the transition zone from the clutch zone, a shortest path of the main manipulator moving to the original posture leaving the working zone is planned by the second impedance controller, and a moment channel is formed along the shortest path.
The first impedance controller plans the shortest path and target gesture of the main manipulator reaching a clutch area to be specifically:
when the main manipulator is positioned at the boundary of the working area and the transition area, recording the current positions of all joints of the main manipulator; according to the method, the gesture matrix R of the current main manipulator is obtained through forward kinematics calculation 0 ；
According to the current main manipulator gesture matrix R 0 The axial angle form of the clutch region is calculated to obtain a main manipulator posture matrix R with the current distance in the clutch region 0 Nearest target pose matrix R 1 The corresponding shaft angle form is used for obtaining a target attitude matrix R through inverse calculation 1 ；
The current main manipulator gesture matrix R 0 And a target posture matrix R 1 Respectively expressed as quaternion forms, and the shortest path is obtained by carrying out linear interpolation on a spherical surface formed by the quaternion moving between the current gesture and the target gesture by the tail end of the main manipulator.
The shortest path for the second impedance controller to plan the primary gesture of the main manipulator moving to leave the working area is specifically:
recording the current joints of the main manipulator when the main manipulator is positioned at the boundary of the clutch area and the transition areaIs a position of (2); accordingly, the current gesture matrix R of the main manipulator is obtained through forward kinematics calculation 2 ；
Current gesture matrix R of main manipulator 2 And the original gesture matrix R of the main manipulator leaving the working area 0 Respectively expressed as quaternion forms, and the shortest path is obtained by carrying out linear interpolation on a spherical surface formed by the quaternion moving between the current gesture and the original gesture by the tail end of the main manipulator.
When the operator deviates from the corresponding shortest path in the process of dragging the main manipulator into the clutch area or the working area by the transition area, the correction force F=k×sign (q t -q a )*|q t -q a -moving the main manipulator along the calculated shortest path; wherein k represents a parameter adjustment coefficient, q a Indicating the current position after the t moment deviates from the corresponding shortest path, q t Indicating the target position on the corresponding shortest path at the corresponding time t.
The gesture reachable space of the master manipulator and the slave arm instrument is respectively expressed as M w And I w The working area is W z ＝M w ∩I w The transition zone is T z ＝(M w +I w )/2-W z The clutch area is C z ＝M w -T z 。
The gesture reachable space of the master manipulator and the slave arm instrument is obtained through positive kinematic calculation according to joint limit of each gesture joint of the master manipulator and the slave arm instrument.
The beneficial effects are that: according to the invention, a clutch pedal or a clutch switch is not required to be added, the gesture reachable space of the main manipulator is divided into a working area and a clutch area, and when the main manipulator reaches a pathological position, the main manipulator is dragged to the clutch area, and the main manipulator returns to the working area after freely adjusting the gesture; the complexity of mechanical and electrical installation is reduced, the risk of false touch in the operation process is reduced, and the safety of the operation is improved; and the control mode does not need to be switched, the whole process takes an operator as a master, and the continuity of the operation process and the operation comfort of doctors are improved.
Drawings
FIG. 1 is a schematic view of the end position points of a main manipulator.
Fig. 2 is a schematic view of the instrument tip location points.
FIG. 3 is a functional area map and a path map of the clutch process according to the present invention.
Detailed Description
The invention is further elucidated below in connection with the drawings and the specific embodiments.
FIG. 1 is a schematic view of the position point of the end of the main manipulator, wherein the four axes of the posture joint of the main manipulator intersect at a point P as shown in FIG. 1 m Defining the existence of a characteristic point P on the slave arm instrument s And point P m Correspondingly, i.e. point P on the main manipulator when the position joint of the main manipulator remains stationary m Held stationary from point P on the arm instrument s Also remain motionless;
the invention accordingly provides a clutch control method of a master-slave robot, which comprises the following steps:
(1) The gesture reachable space of the Cartesian space main manipulator can be calculated through positive kinematics according to the joint limit of each gesture joint of the main manipulator and is marked as M w The method comprises the steps of carrying out a first treatment on the surface of the Similarly, the Cartesian space slave arm instrument posture reachable space can be calculated through positive kinematics according to joint limit of each joint of the slave arm instrument and is marked as I w The method comprises the steps of carrying out a first treatment on the surface of the And through setting the joint limit of the main manipulator and the auxiliary arm instrument, M is made w ＞I w ；
(2) The gesture of the main Cartesian space manipulator obtained according to the step (1) can reach the space M w And Cartesian space accessible space I from the pose of the arm instrument w Define the working area W of the main manipulator z Transition zone T z And clutch zone C z As shown in fig. 3;
wherein the working area W z ＝M w ∩I w Transition zone T z ＝(M w +I w )/2-W z Clutch zone C z ＝M w -T z ；
(3) When the operator recognizes that the pose of the main manipulator is in the pathological pose, dragging the main manipulator to move from the working area to the clutch area;
(4) A main controller in the main manipulator acquires the gesture of the main manipulator in real time, and when the main manipulator leaves a working area, the main-slave connection is disconnected; after the main manipulator reaches the clutch area, the operator freely adjusts the position of the main manipulator, and drags the main manipulator into the working area after the position is adjusted;
a. when the main manipulator is positioned in the working area W z When the manipulator is in the internal state, the main controller sends the gesture of the main manipulator to the slave controller of the slave arm instrument in real time, and the slave controller controls the slave arm instrument to follow the gesture of the main manipulator so as to complete corresponding operation;
b. when the main manipulator is in the slave working area W z Into transition zone T z When the current main manipulator gesture matrix R is in the inner state, the main controller records the current main manipulator gesture matrix R 0 The information interaction between the slave controller and the slave arm instrument is interrupted, so that the position information of each joint of the slave arm instrument is not updated any more, and the slave arm is in a static state; at this time, a first impedance controller is arranged on the main controller according to the current main manipulator posture matrix R 0 And its clutch area C z The shortest distance between the two is used for obtaining a target gesture matrix R of a main manipulator 1 And planning the shortest movement path of the main manipulator according to the shortest movement path, and forming a moment channel along the shortest path, so that the main manipulator can pass through the transition zone T with the shortest path under the control of an operator through zero force control z ；
Wherein the first impedance controller is used for controlling the first impedance controller according to the current main manipulator gesture matrix R 0 And its clutch area C z The shortest distance between the two is used for obtaining a target gesture matrix R of a main manipulator 1 The method comprises the following steps:
the main manipulator is in the working area W z And transition zone T z Recording the position [ theta ] of each joint of the current main manipulator 1 ,θ 2 ,…,θ n ]Wherein n represents the number of joints of the main manipulator; according to the method, the gesture matrix R of the current main manipulator is obtained through forward kinematics calculation 0 As shown in FIG. 3, and expressed in terms of an axis angle [ OP ] 0 ,α 0 ]Wherein OP 0 Representing the current main operator gesture reachable space vertex to the current end position P 0 Direction vector, alpha 0 Representing the initial gesture and the current gesture R of the main manipulator 0 The initial pose of the main manipulator is the pose of the main manipulator corresponding to the wrist joint and the opening and closing joint of the instrument in the joint zero position (namely the instrument is in the zero position);
will clutch zone C z Inner distance current main manipulator end position P 0 Nearest point P 1 As its target position, according to the current main manipulator posture matrix R 0 Calculating the form of the axis angle to obtain a target attitude matrix R of the main manipulator 1 Corresponding shaft angle form [ OP 1 ,α 1 ]Then the target attitude matrix R is obtained through reverse pushing calculation 1 ；
The current main manipulator gesture matrix R 0 And a target posture matrix R 1 Respectively expressed as quaternion form q 0 And q 1 The quaternion is carried out at point P 0 Sum point P 1 The current main manipulator end position P can be obtained by linear interpolation on the spherical surface formed by the end movement of the main manipulator 0 To its target position P 1 The shortest path of (2) is q T ＝Slerp(q 0 ,q 1 T), where T represents the motion time sequence of the shortest path, q T Representing the current master manipulator pose matrix R 0 To its target pose matrix R 1 A main manipulator end position set corresponding to the motion time sequence on the shortest path;
c. when the gesture of the main manipulator is in the clutch zone C z When the main controller provides compensation torque, the main operator can control the main operator in the clutch area C z The main controller is controlled to freely drag by zero force, and when an operator moves the main manipulator to a subjective and comfortable position, the main manipulator stops dragging, and the main controller stops providing compensation torque;
d. when the gesture of the main operating hand is from the clutch area C z Into transition zone T z When in use, the main controller records the current main hand tail end gesture matrix R 2 At this time, use the working area W z Original end position P of inner main manipulator 0 As its target position, the second impedance controller on the main controller is based on the current main manipulator posture matrix R 2 The main operation hand is planned to move to the working area W z Inner original gesture matrix R 0 Form a moment channel along the shortest path so that the main operator can pass through the transition zone T with the shortest path through zero force control under the control of an operator z The tail end of the main manipulator reaches the working area W z The real gesture matrix is R 0 'A'; if R is 0 And R is R 0 The error err between' is in the preset range, the posture of the main manipulator is considered to be adjusted in place;
the second impedance controller is used for controlling the gesture matrix R according to the current main manipulator 2 The main operation hand is planned to move to the working area W z Inner original gesture matrix R 0 The shortest motion path of (a) is specifically:
the main manipulator is positioned in the clutch area C z And transition zone T z Recording the position [ theta ] of each joint of the current main manipulator 1 ,θ 2 ,…,θ n ]Wherein n represents the number of joints of the main manipulator; according to the method, the gesture matrix R of the current main manipulator is obtained through forward kinematics calculation 2 ，
Work area W z Inner original gesture matrix R 0 And a current master manipulator posture matrix R 2 Respectively expressed as quaternion form q 0 And q 2 For quaternion at current main manipulator end position P 2 And the original position P 0 The current main manipulator end position P can be obtained by linear interpolation on the spherical surface formed by the end movement of the main manipulator 2 To its original position P 0 The shortest path of (2) is q T '＝Slerp(q 0 ,q 2 ,T)，q T ' means the current main hand end position P 2 To its original position P 0 A main manipulator end position set corresponding to the motion time sequence on the shortest path;
in this step, further, if the operator is in the transition zone T z Dragging the main operator into the clutchZone C z Or work area W z If the process deviates from the calculated shortest path, the controller provides an additional correction force f=k×sign (q t -q a )*|q t -q a I, wherein q a Indicating the current position after the t moment deviates from the corresponding shortest path, q t Representing a target position on a corresponding shortest path at a corresponding time t; enabling the main manipulator to move along the calculated corresponding shortest path, namely forcing an operator to drag the main manipulator along the corresponding shortest path; wherein k represents a parameter adjustment coefficient;
(5) The main manipulator enters the working area W z And then, starting a slave controller of the slave arm instrument, and transmitting the position information and the posture information of the master manipulator to the slave controller of the slave arm instrument in an incremental mapping mode and an absolute mapping mode respectively, so that the slave arm instrument follows the pose change of the master manipulator to finish corresponding operation.
According to the invention, a clutch pedal or a clutch switch is not required to be added, the gesture reachable space of the main manipulator is divided into a working area and a clutch area, and when the main manipulator reaches a pathological position, the main manipulator is dragged to the clutch area, and the main manipulator returns to the working area after freely adjusting the gesture; the complexity of mechanical and electrical installation is reduced, the risk of false touch in the operation process is reduced, and the safety of the operation is improved; and the control mode does not need to be switched, the whole process takes an operator as a master, and the continuity of the operation process and the operation comfort of doctors are improved.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and these equivalent changes all fall within the scope of the present invention.

Claims (7)

1. A clutch control method of a master-slave robot is characterized in that: the method comprises the following steps:
(1) The working area, the transition area and the clutch area of the main manipulator are divided according to the gesture reachable space of the main manipulator and the slave arm instrument; the gesture reachable space of the slave arm instrument is set as a working area, a part area, which is close to the working area, in the region except the gesture reachable space of the slave arm instrument in the gesture reachable space of the master manipulator is set as a transition area, and a part area, which is far away from the working area, is set as a clutch area;
(2) Acquiring the gesture of the main manipulator in real time, disconnecting the master-slave connection when the main manipulator leaves the working area, and matching the master-slave connection when the main manipulator enters the working area;
when the main manipulator enters the transition zone from the working zone, the master-slave connection is disconnected, a shortest path and a target gesture of the main manipulator reaching the clutch zone are planned through a first impedance controller, and a moment channel is formed along the shortest path;
when the main manipulator enters the transition zone from the clutch zone, a shortest path of the main manipulator moving to the original posture leaving the working zone is planned by the second impedance controller, and a moment channel is formed along the shortest path.
2. The clutch control method of the master-slave robot according to claim 1, characterized in that: when the operator recognizes that the pose of the main manipulator is in the pathological pose, the operator drags the main manipulator to move from the working area to the clutch area, and adjusts the pose of the main manipulator after the main manipulator enters the clutch area.
3. The clutch control method of the master-slave robot according to claim 1, characterized in that: the first impedance controller plans the shortest path and target gesture of the main manipulator reaching a clutch area to be specifically:
when the main manipulator is positioned at the boundary of the working area and the transition area, recording the current positions of all joints of the main manipulator; according to the method, the gesture matrix R of the current main manipulator is obtained through forward kinematics calculation 0 ；
According to the current main manipulator gesture matrix R 0 The axial angle form of the clutch region is calculated to obtain a main manipulator posture matrix R with the current distance in the clutch region 0 Nearest target pose matrix R 1 The corresponding shaft angle form is used for obtaining a target attitude matrix R through inverse calculation 1 ；
The current main manipulator gesture matrix R 0 And a target posture matrix R 1 Respectively expressed as quaternion forms, and the shortest path is obtained by carrying out linear interpolation on a spherical surface formed by the quaternion moving between the current gesture and the target gesture by the tail end of the main manipulator.
4. The clutch control method of the master-slave robot according to claim 1, characterized in that: the shortest path for the second impedance controller to plan the primary gesture of the main manipulator moving to leave the working area is specifically:
when the main manipulator is positioned at the boundary of the clutch area and the transition area, recording the current positions of all joints of the main manipulator; accordingly, the current gesture matrix R of the main manipulator is obtained through forward kinematics calculation 2 ；
Current gesture matrix R of main manipulator 2 And the original gesture matrix R of the main manipulator leaving the working area 0 Respectively expressed as quaternion forms, and the shortest path is obtained by carrying out linear interpolation on a spherical surface formed by the quaternion moving between the current gesture and the original gesture by the tail end of the main manipulator.
5. The clutch control method of the master-slave robot according to claim 1, characterized in that: when the operator deviates from the corresponding shortest path in the process of dragging the main manipulator into the clutch area or the working area by the transition area, the correction force F=k×sign (q t -q a )*|q t -q a -moving the main manipulator along the calculated shortest path; wherein k represents a parameter adjustment coefficient, q a Indicating the current position after the t moment deviates from the corresponding shortest path, q t Indicating the shortest path corresponding to the time tA target location on the object.
6. The clutch control method of the master-slave robot according to claim 1, characterized in that: the gesture reachable space of the master manipulator and the slave arm instrument is respectively expressed as M w And I w The working area is W z ＝M w ∩I w The transition zone is T z ＝(M w +I w )/2-W z The clutch area is C z ＝M w -T z 。
7. The clutch control method of the master-slave robot according to claim 1, characterized in that: the gesture reachable space of the master manipulator and the slave arm instrument is obtained through positive kinematic calculation according to joint limit of each gesture joint of the master manipulator and the slave arm instrument.
CN202111520814.4A 2021-12-13 2021-12-13 Clutch control method of master-slave robot Active CN114176790B (en)

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CN110418620A (en) * 2017-03-10 2019-11-05 Cmr外科有限公司 Control surgical instrument
CA3109376A1 (en) * 2018-10-30 2020-05-07 Titan Medical Inc. Hand controller apparatus in a robotic surgery system

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