CN114211493B - Remote control system and method for mechanical arm - Google Patents
Remote control system and method for mechanical arm Download PDFInfo
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- CN114211493B CN114211493B CN202111592152.1A CN202111592152A CN114211493B CN 114211493 B CN114211493 B CN 114211493B CN 202111592152 A CN202111592152 A CN 202111592152A CN 114211493 B CN114211493 B CN 114211493B
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000006243 chemical reaction Methods 0.000 claims abstract description 192
- 230000033001 locomotion Effects 0.000 claims abstract description 68
- 238000013507 mapping Methods 0.000 claims abstract description 30
- 230000001960 triggered effect Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 9
- 230000000694 effects Effects 0.000 abstract description 11
- 238000004590 computer program Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 10
- 230000000007 visual effect Effects 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Classifications
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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
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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- 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]
Abstract
The application relates to a remote control system and a remote control method for a mechanical arm. The remote control system of the mechanical arm comprises: the system comprises a main control subsystem and a slave control subsystem, wherein the main control subsystem and the slave control subsystem are in remote communication connection through a network, a first control terminal in the main control subsystem is used for constructing a conversion relation between a main hand end coordinate system and a main hand base coordinate system when a main hand in the main control subsystem is triggered to move, and a second control terminal in the slave control subsystem is used for constructing a conversion relation between a mechanical arm end coordinate system in the slave control subsystem and a mechanical arm base coordinate system according to the conversion relation and a predefined mapping rule, and controlling the mechanical arm to move according to the conversion relation. The remote control system can achieve an intuitive control effect, and the movement of the mechanical arm is controlled remotely and accurately.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a remote control system and method of a mechanical arm.
Background
Along with the development of 5G communication technology, the application of master-slave teleoperation is more and more, especially in the medical surgery field, the method of performing surgery by using master-slave teleoperation robots is more and more widely applied.
In the process of master-slave teleoperation, the master teleoperation controls the slave to move, and a mapping relation between the master input equipment and the end effector needs to be established. In the existing master-slave mapping control scheme, the mainstream application scenarios can be divided into two categories. The master end and the slave end are in the same space, and the master end coordinate system and the slave end coordinate system are converted based on a certain world coordinate system fixed in space, so that the mapping relation between the master end and the slave end is determined. In the minimally invasive surgery process, a visual field picture is provided by an endoscope system, surgery guidance operation is provided for doctors, end motions are generally converted into an endoscope lens coordinate system, main hand motions are generally converted into a display screen coordinate system, and the endoscope lens coordinate system and the display screen coordinate system are unified through human perception awareness, so that an intuitive control effect is achieved.
However, when the master-slave end of the robot system is remote in different places or the robot system is not similar to an endoscope system and does not directly guide the operation by means of the operation field picture, both the master-slave mapping methods are not applicable, so that the accurate control of the master-slave operation cannot be normally realized.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a remote control system and method for a robot arm that can achieve intuitive control effects and improve control accuracy.
In a first aspect, a remote control system for a robotic arm, the system comprising:
the system comprises a main control subsystem and a slave control subsystem, wherein the main control subsystem and the slave control subsystem can be in remote communication connection through a network; the master control subsystem comprises a master hand and a first control terminal, and the slave control subsystem comprises a mechanical arm and a second control terminal;
the first control terminal is used for constructing a conversion relation between a main hand tail end coordinate system and a main hand base coordinate system in the main control subsystem when the main hand is triggered to move;
the second control terminal is used for constructing a conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system in the slave terminal control subsystem according to the conversion relation between the master hand terminal coordinate system and the master hand base coordinate system and a predefined mapping rule, and controlling the mechanical arm to move according to the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system.
In one embodiment, the predefined mapping rule is a rule defining the orientation of the master hand base coordinate system in the master control subsystem to be consistent with the orientation of the object coordinate system in the slave control subsystem.
In one embodiment, the second control terminal specifically performs, when performing the operation of constructing the conversion relationship between the robot arm end coordinate system and the robot arm base coordinate system in the slave control subsystem:
according to the predefined mapping rule, the conversion relation between the master hand end coordinate system and the master hand base coordinate system is equal to the conversion relation between the mechanical arm end coordinate system and the object coordinate system in the slave end control subsystem;
and constructing the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the mechanical arm terminal coordinate system and the object coordinate system.
In one embodiment, the second control terminal specifically performs, when performing the operation of constructing the conversion relationship between the arm end coordinate system and the arm base coordinate system:
according to the hand-eye calibration method of the tracking equipment in the slave control subsystem, a conversion relation between a tracking equipment coordinate system and a mechanical arm base coordinate system and a conversion relation between the tracking equipment coordinate system and an object coordinate system are constructed;
and constructing a conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the tracking equipment coordinate system and the mechanical arm base coordinate system, the conversion relation between the tracking equipment coordinate system and the object coordinate system, and the conversion relation between the mechanical arm terminal coordinate system and the object coordinate system.
In one embodiment, the second control terminal specifically performs, when performing the operation of constructing the conversion relationship between the arm end coordinate system and the arm base coordinate system according to the conversion relationship between the tracking device coordinate system and the arm base coordinate system, the conversion relationship between the tracking device coordinate system and the patient coordinate system, and the conversion relationship between the arm end coordinate system and the object coordinate system:
constructing a conversion relation between the mechanical arm base coordinate system and the object coordinate system according to the conversion relation between the tracking equipment coordinate system and the mechanical arm base coordinate system and the conversion relation between the tracking equipment coordinate system and the object coordinate system;
and determining the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the mechanical arm base coordinate system and the object coordinate system and the conversion relation between the mechanical arm terminal coordinate system and the object coordinate system.
In one embodiment, the controlling the movement of the mechanical arm according to the conversion relation between the mechanical arm end coordinate system and the mechanical arm base coordinate system includes:
Determining each joint angle for controlling the movement of the mechanical arm according to the conversion relation between the mechanical arm tail end coordinate system and the mechanical arm base coordinate system;
and controlling the mechanical arm to move according to each joint point.
In one embodiment, the first control terminal is further configured to obtain a motion parameter when the master hand is triggered to perform a preset motion;
the second control terminal specifically performs when performing the operation of determining each joint angle for controlling the motion of the mechanical arm according to the conversion relationship between the mechanical arm end coordinate system and the mechanical arm base coordinate system:
and substituting the motion parameters into a conversion relation between the tail end coordinate system of the mechanical arm and the base coordinate system of the mechanical arm in a kinematic inverse solution mode, and solving to obtain the angles of all joints controlling the motion of the mechanical arm.
In one embodiment, the system further comprises: and the display screen of the navigation device displays the movement information of the tail end of the mechanical arm in the slave end control subsystem.
In one embodiment, the slave control subsystem includes a robotic arm base, the robotic arm, a tracking device, and a subject surgical table.
In a second aspect, a method for remotely controlling a mechanical arm, the method comprising:
When the main hand is triggered to perform preset motion, the first control terminal constructs a conversion relation between a main hand tail end coordinate system and a main hand base coordinate system;
and the second control terminal constructs the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the main hand terminal coordinate system and the main hand base coordinate system and the predefined mapping rule, and controls the mechanical arm to move according to the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system.
According to the remote control system and the remote control method for the mechanical arm, remote control between the master arm in the master control subsystem and the mechanical arm in the slave control subsystem is realized through the master-slave mapping control method, and an intuitive control effect is achieved. In addition, the system can be applied to an application scene without visual feedback, and the master hand can accurately control the mechanical arm to execute corresponding operation under the application scene without visual feedback, so that the application scene of master-slave operation of the surgical robot is greatly expanded.
Drawings
FIG. 1 is a schematic diagram of a remote control system for a robotic arm according to one embodiment;
FIG. 2 is a schematic illustration of a heterogeneous structure of a master hand and a robotic arm in one embodiment;
FIG. 3 is a schematic illustration of a master hand and robotic arm isomorphic configuration in one embodiment;
FIG. 4 is a schematic diagram of a coordinate system of a master control subsystem in one embodiment;
FIG. 5 is a schematic diagram of a coordinate system of a slave control subsystem in one embodiment;
FIG. 6 is a flowchart illustrating steps performed by the second control terminal in one embodiment;
FIG. 7 is a flow chart of one implementation of S102 in the embodiment of FIG. 6;
FIG. 8 is a flow chart of one implementation of S202 in the embodiment of FIG. 7;
FIG. 9 is a schematic diagram of a remote control system of a robotic arm according to one embodiment;
FIG. 10 is a flow chart of a method for remotely controlling a robotic arm according to one embodiment;
FIG. 11 is a flow chart of a method for remotely controlling a robotic arm according to one embodiment;
FIG. 12 is an internal block diagram of a computer device in one embodiment;
fig. 13 is an internal structural view of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The terms "first," "second," "third," and "fourth" and the like in the description and in the claims and drawings are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
Referring to fig. 1, the present application provides a remote control system of a robot arm, the remote control system of the robot arm comprising: the system comprises a master control subsystem 10 and a slave control subsystem 20, wherein the master control subsystem 10 and the slave control subsystem 20 can be in remote communication connection through a network; the main control subsystem 10 comprises a main hand 101 and a first control terminal 102, and the auxiliary control subsystem 20 comprises a mechanical arm 201 and a second control terminal 202; the first control terminal 102 is configured to construct a conversion relationship between a master hand end coordinate system and a master hand base coordinate system in the master control subsystem 10 when the master hand 101 is triggered to perform a motion; the second control terminal 202 is configured to construct a conversion relationship between the robot arm end coordinate system and the robot arm base coordinate system in the slave control subsystem 20 according to the conversion relationship between the master arm end coordinate system and the master arm base coordinate system and a predefined mapping rule, and control the movement of the robot arm 201 according to the conversion relationship between the robot arm end coordinate system and the robot arm base coordinate system.
In practical application, the master hand 101 and the first control terminal 102 are placed in the main control room, and the master hand 101 and the first control terminal 102 are connected in a wired or wireless manner; while the robot arm 201 and the second control terminal 202 are placed in an operating room, the robot arm 201 and the second control terminal 202 are connected by wire or wirelessly, and the main control room and the operating room may be in different areas and geographical locations. The master arm 101 and the robotic arm 201 may be of a contoured configuration (e.g., the master arm and robotic arm configuration of fig. 2); the master arm 101 and the robot arm 201 may be of the same structure (e.g., the master arm and the robot arm in fig. 3).
The master hand end coordinate system is the coordinate system in which the end of the master hand 101 is located (see S in fig. 4 MasterEndFrame ) The master hand base coordinate system is the coordinate system in which the base of the master hand 101 is located (see S in fig. 4 MasterBaseFrame ). The robot arm end coordinate system is the coordinate system in which the end of the robot arm 201 is located (see S in fig. 5 CupFrame ) The robot base coordinate system is the coordinate system in which the base of the robot 201 is located (see S in fig. 5 RobotBaseFrame ). The slave control subsystem 20 further includes a robot arm base 203 (refer to the robot arm base 203 in fig. 5), and the robot arm base 203 is connected to the robot arm 201 for supporting the robot arm 201, and the robot arm 201 can move in horizontal and vertical directions with respect to the robot arm base 203.
The mapping rule is also an intuitive mapping relationship, which indicates that when the master hand 101 in the master control subsystem 10 is triggered to move, for example, when the master hand 101 is operated by a doctor to move, the master hand 101 can execute exactly the same movement as the mechanical arm 201 in the slave control subsystem, that is, the mapping rule includes defining the orientation of the base coordinate system of the master hand 101 in the master control subsystem 10 to be consistent with the orientation of the object coordinate system in the slave control subsystem, for example, defining the orientation of X, Y, Z in the base coordinate system of the master hand to be consistent with the orientation of X, Y, Z in the object coordinate system, that is, unifying the relationship between the orientation of the master hand (for example, front-back, left-right, up-down directions) and the orientation of the object, so as to achieve the intuitive control effect. The object coordinate system refers to a coordinate system in which an object is located, where the object refers to an object operated by the robot arm 201, and for example, when the robot arm 201 performs a corresponding operation in an operating room, the object may be a patient. If the object is a patient, the object coordinate system is determined by the intersection line of the coronal plane, the sagittal plane and the transverse plane of the object, and is closely connected with the body orientation of the patient. Accordingly, the slave control subsystem 20 further includes a subject operating table 204 (refer to the subject operating table 204 in fig. 5), and the subject operating table 204 is used to carry an operation subject of the robot arm 201, for example, a patient may lie on the subject operating table 204, and the robot arm 201 performs an operation on the patient.
It should be noted that, based on the predefined mapping rule, that is, the orientation of the base coordinate system of the master hand 101 in the master control subsystem 10 and the orientation of the object coordinate system in the slave control subsystem are defined to be identical, the conversion relationship between the master hand end coordinate system in the master control subsystem and the master hand base coordinate system corresponds to the conversion relationship between the robot arm end coordinate system in the slave control subsystem and the object coordinate system. For example, the conversion relationship between the master hand end coordinate system and the master hand base coordinate system in FIG. 4 corresponds to S MasterEndFrame And S is equal to MasterBaseFrame Conversion relation between the robot arm end coordinate system and the object coordinate system in FIG. 5 corresponds to S CupFrame And S is equal to ObjectFrame Conversion relation between, i.e. S MasterEndFrame And S is equal to MasterBaseFrame The conversion relation between them is equivalent to S CupFrame And S is equal to ObjectFrame Conversion relation between the two.
In this embodiment, when the main hand 101 in the main control subsystem is triggered to move, the end of the main hand 101 moves relatively to the base of the main hand, so as to obtain the conversion relationship between the main hand end coordinate system and the main hand base coordinate system, or the pose relationship between the main hand end and the base of the main hand, for example, in the main hand schematic diagram shown in fig. 4, the end a of the main hand moves a certain distance back and forth, left and right, up and down with respect to the base B of the main hand. Since the master hand 101 is connected to the first control terminal 102, when the master hand 101 is triggered to move, the first control terminal 102 can construct a conversion relationship between the master hand end coordinate system and the master hand base coordinate system according to the position coordinates of the master hand end a and the master hand base B, and synchronously send the conversion relationship to the second control terminal 202 in the slave control subsystem 20. When the second control terminal 202 obtains the conversion relationship between the master arm end coordinate system and the master arm base coordinate system, the conversion relationship between the master arm end coordinate system and the master arm base coordinate system can be determined as the conversion relationship between the robot arm end coordinate system and the object coordinate system in the slave control subsystem based on the predefined mapping rule. The second control terminal 202 may then determine the conversion relationship between the robot end coordinate system and the robot base coordinate system based on the conversion relationship between the robot end coordinate system and the object coordinate system, and the device coordinate system of each device in the slave control subsystem 20, such as the robot base coordinate system, the object coordinate system, and the tracking device coordinate system. In practical application, the arm base coordinate system may be generally predetermined and is a known quantity, and then the second control terminal 202 may be substituted into the arm base coordinate system, calculate the end pose of the arm according to the conversion relationship between the arm end coordinate system and the arm base coordinate system, and calculate the joint angles of the arm 201 according to the end pose of the arm by using the inverse kinematics equation of the arm, and further control the arm 201 to perform corresponding movement according to the joint angles of the arm 201.
According to the remote control system for the mechanical arm, provided by the embodiment, remote control between the master hand in the master control subsystem and the mechanical arm in the slave control subsystem is realized through the master-slave mapping control method, and an intuitive control effect is achieved. In addition, the system can be applied to an application scene without visual feedback, and the master hand can accurately control the mechanical arm to execute corresponding operation under the application scene without visual feedback, so that the application scene of master-slave operation of the surgical robot is greatly expanded.
In one embodiment, a method for constructing a conversion relationship between a robot arm end coordinate system and a robot arm base coordinate system in a control subsystem by using a second control terminal is provided, namely, when the second control terminal constructs the conversion relationship between the robot arm end coordinate system and the robot arm base coordinate system, as shown in fig. 6, the following steps are specifically performed:
s101, according to a predefined mapping rule, the conversion relation between the main hand end coordinate system and the main hand base coordinate system is equal to the conversion relation between the mechanical arm end coordinate system and the object coordinate system in the slave control subsystem.
Since the mapping rule includes defining the orientation of the base coordinate system of the master hand 101 in the master control subsystem 10 and the orientation of the object coordinate system in the slave control subsystem 20 to be identical, the conversion relationship between the master hand end coordinate system and the master hand base coordinate system in the master control subsystem 10 is equal to the conversion relationship between the manipulator end coordinate system and the object coordinate system in the slave control subsystem 20, so that the intuitive control effect can be achieved when the master hand 101 controls the manipulator 201. Based on this, when the second control terminal 202 acquires the conversion relationship between the master arm end coordinate system and the master arm base coordinate system, it is equivalent to acquiring the conversion relationship between the robot arm end coordinate system and the object coordinate system in the slave control subsystem based on the predefined mapping rule.
S102, determining the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the mechanical arm terminal coordinate system and the object coordinate system.
When the second control terminal 202 obtains the conversion relationship between the robot arm end coordinate system and the object coordinate system, the conversion relationship between the robot arm end coordinate system and the robot arm base coordinate system may be determined based on the conversion relationship and from each device coordinate system in the control subsystem 20, for example, the robot arm base coordinate system, the tracking device coordinate system, the object coordinate system, and the like.
Further, when the second control terminal 202 specifically constructs the conversion relationship between the robot arm end coordinate system and the robot arm base coordinate system, the method may be specifically implemented as shown in fig. 7, and the method includes:
s201, according to a hand-eye calibration method of the tracking device in the control subsystem, a conversion relation between a tracking device coordinate system and a mechanical arm base coordinate system and a conversion relation between the tracking device coordinate system and an object coordinate system are constructed.
The slave control subsystem 20 further includes a tracking device 205 (refer to the tracking device 205 in fig. 5), where the tracking device 205 is fixed on the robot base 203 by a connection rod 206, and the tracking device 205 is used for tracking the object in real time, and may be an imaging device, such as OTS, which is used for tracking the object in real time by an array of reflective balls on the object, so that the tracking device 205 is disposed above the object operating table 204 and the robot 201 by the connection rod 206, so as to track the object, and the movement of the robot 201. Moreover, the tracking device 205 and the robot 201 are fixedly connected to the robot base 203 at the same time, so that the conversion relationship between the tracking device coordinate system and the robot base coordinate system and the conversion relationship between the tracking device coordinate system and the object coordinate system can be obtained by the hand-eye calibration method of the tracking device 205, for example, S in fig. 5 OTSFrame And S is RobotBaseFrame Conversion relation between S OTSFrame And S is ObjectFrame Conversion relation between the two.
S202, constructing a conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the tracking device coordinate system and the mechanical arm base coordinate system, the conversion relation between the tracking device coordinate system and the object coordinate system, and the conversion relation between the mechanical arm terminal coordinate system and the object coordinate system.
For example, in FIG. 5, according to S OTSFrame And S is RobotBaseFrame Conversion relation between S OTSFrame And S is ObjectFrame Conversion relation between, S CupFrame And S is ObjectFrame Determining the conversion relation between S CupFrame And S is RobotBaseFrame Conversion relation between the two.
In some embodiments, the manipulator tip is typically equipped with a rasp tool for surgical procedures, and therefore the manipulator tip coordinate system is equivalent to the rasp tool coordinate system.
Further, when the second control terminal 202 performs the step S202, as shown in fig. 8, specific steps are performed:
s301, constructing a conversion relation between the mechanical arm base coordinate system and the object coordinate system according to the conversion relation between the tracking device coordinate system and the mechanical arm base coordinate system and the conversion relation between the tracking device coordinate system and the object coordinate system.
For example, in FIG. 5, due to S OTSFrame And S is RobotBaseFrame Conversion relation between S OTSFrame And S is ObjectFrame The conversion relation between all includes S OTSFrame Then according to S OTSFrame And S is RobotBaseFrame Conversion relation between S OTSFrame And S is ObjectFrame The conversion relation between the two can determine S RobotBaseFrame And S is ObjectFrame Conversion relation between the two.
S302, determining the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the mechanical arm base coordinate system and the object coordinate system and the conversion relation between the mechanical arm terminal coordinate system and the object coordinate system.
The conversion relation between the mechanical arm base coordinate system and the object coordinate system and the conversion relation between the mechanical arm terminal coordinate system and the object coordinate system both comprise the object coordinate system, so that the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system can be determined through a corresponding conversion method.
For example, in FIG. 5, due to S RobotBaseFrame And S is ObjectFrame Conversion relation between S CupFrame And S is ObjectFrame The conversion relation between the two components is that,all comprise S ObjectFrame Then according to S RobotBaseFrame And S is ObjectFrame Conversion relation between S CupFrame And S is ObjectFrame The conversion relation between the two can determine S CupFrame And S is RobotBaseFrame Conversion relation between the two.
In practical application, when the second control terminal 202 controls the movement of the mechanical arm 201 according to the conversion relationship between the mechanical arm end coordinate system and the mechanical arm base coordinate system, each joint angle for controlling the movement of the mechanical arm may be determined according to the conversion relationship between the mechanical arm end coordinate system and the mechanical arm base coordinate system; and further controlling the mechanical arm to move according to each joint point.
Accordingly, when the second control terminal 202 performs the operation of determining the angles of the joints for controlling the movement of the manipulator according to the conversion relationship between the manipulator end coordinate system and the manipulator base coordinate system, the second control terminal 202 may specifically perform the following steps: and substituting the motion parameters into a conversion relation between the tail end coordinate system of the mechanical arm and the base coordinate system of the mechanical arm in a kinematic inverse solution mode, and solving to obtain the angles of all joints controlling the motion of the mechanical arm.
In this embodiment, when the main hand 101 is triggered to move, the first control terminal 102 connected to the main hand 101 may obtain the movement parameters of the main hand 101 during movement, that is, the movement direction and the movement position of the end of the main hand 101 relative to the base of the main hand 101 during movement of the main hand 101, for example, when the main hand is operated by the doctor to perform the horizontal movement, the first control terminal 102 may obtain the direction and the displacement of the main hand 101 during the horizontal movement, and meanwhile, the first control terminal 102 sends the movement parameters to the second control terminal 202. When the second control terminal 202 obtains the motion parameters of the master arm 101 and the conversion relation between the arm end coordinate system and the arm base coordinate system, since the arm base coordinate system is a known coordinate system, the second control terminal 202 may obtain the arm end coordinate system based on the conversion relation between the arm end coordinate system and the arm base coordinate system, then substitutes the motion parameters obtained from the first control terminal 102 into the arm end coordinate system to obtain the end pose of the arm, that is, the end pose reached by the control arm, and then obtains the joint angles for controlling the motion of the arm according to the end pose of the arm by the way of the inverse kinematics solution of the arm, and then may control the motion of the arm according to the joint angles, so that the arm may execute the same motion according to the motion of the doctor operating the master arm.
In practical applications, the main control subsystem further includes a navigation device 103, as shown in fig. 9, where the navigation device 103 communicates with the second control terminal 202 remotely, and the navigation device 103 may also be connected to the first control terminal 102. The navigation device 103 and the first control terminal 102 are placed in the main control room for the doctor to see. The navigation device 103 displays movement information from the end of the robotic arm in the control subsystem 20 on a display screen.
When the second control terminal 202 controls the mechanical arm 201 to move, the movement information of the end of the mechanical arm when the mechanical arm 201 moves, such as a movement direction, a movement displacement, and the like, can be sent to the navigation device 103, so as to instruct the navigation device 103 to display the movement condition of the mechanical arm 201 on the display interface in real time, so that a doctor can check and control the process of the mechanical arm 201 to perform the operation. Note that, the display coordinate system may be an object coordinate system, that is, the motion information of the robot 201 in the object coordinate system is displayed. In addition, the navigation device 103 in the present embodiment may be a device dedicated to displaying movement information of the mechanical arm, and the navigation function thereof may also be integrated into the first control terminal 102 in the above embodiment, that is, the movement information of the mechanical arm 201 is displayed on the first control terminal 102, and the display method is substantially identical to that of the navigation device 103.
Based on the remote control system of the mechanical arm described in any of the above embodiments, the present application further provides a remote control method of the mechanical arm applied to the remote control system, as shown in fig. 10, the method includes:
s401, when the master hand is triggered to perform preset motion, the first control terminal builds a conversion relation between a master hand tail end coordinate system and a master hand base coordinate system in the master control subsystem.
S402, the second control terminal constructs a conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system in the slave terminal control subsystem according to the conversion relation between the master hand terminal coordinate system and the master hand base coordinate system and a predefined mapping rule, and controls the mechanical arm to move according to the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system.
The descriptions of the above steps are substantially identical to those of the embodiment of fig. 1, and the detailed descriptions are omitted herein.
In summary, in all the embodiments described above, a remote control method for a mechanical arm is provided, as shown in fig. 11, where an execution body of the method is a second control terminal, and the method includes:
s501, obtaining a conversion relation between a main hand end coordinate system and a main hand base coordinate system in a main control subsystem, and obtaining motion parameters of a user operation main hand.
S502, according to a hand-eye calibration method of the tracking device in the control subsystem, a conversion relation between a tracking device coordinate system and a mechanical arm base coordinate system and a conversion relation between the tracking device coordinate system and an object coordinate system are obtained.
S503, determining the conversion relation between the mechanical arm base coordinate system and the object coordinate system according to the conversion relation between the tracking device coordinate system and the mechanical arm base coordinate system and the conversion relation between the tracking device coordinate system and the object coordinate system.
S504, according to a predefined mapping rule, the conversion relation between the main hand end coordinate system and the main hand base coordinate system is equal to the conversion relation between the mechanical arm end coordinate system and the object coordinate system in the slave control subsystem, so as to obtain the conversion relation between the mechanical arm end coordinate system and the object coordinate system.
S505, determining the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the mechanical arm base coordinate system and the object coordinate system and the conversion relation between the mechanical arm terminal coordinate system and the object coordinate system.
S506, substituting the motion parameters into the conversion relation between the tail end coordinate system of the mechanical arm and the base coordinate system of the mechanical arm in a kinematic inverse solution mode, calculating to obtain each joint angle for controlling the motion of the mechanical arm, and controlling the motion of the mechanical arm according to each joint angle.
The descriptions of the above steps are all described in the foregoing, and are not repeated here.
It should be understood that, although the steps in the flowcharts of fig. 10-11 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in FIGS. 10-11 may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the steps or stages in other steps or other steps.
In one embodiment, a computer device is provided, where the computer device may be the first control terminal described above, and an internal structure diagram thereof may be as shown in fig. 12. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program, when executed by a processor, implements a method for remote control of a robotic arm. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 12 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
when the master hand is triggered to perform preset motion, a conversion relation between a master hand tail end coordinate system and a master hand base coordinate system in the master control subsystem is constructed;
and transmitting the conversion relation between the main hand end coordinate system and the main hand base coordinate system to the second control terminal.
The computer device provided in the foregoing embodiments has similar implementation principles and technical effects to those of the foregoing method embodiments, and will not be described herein in detail.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
When the master hand is triggered to perform preset motion, a conversion relation between a master hand tail end coordinate system and a master hand base coordinate system in the master control subsystem is constructed;
and transmitting the conversion relation between the main hand end coordinate system and the main hand base coordinate system to the second control terminal.
The foregoing embodiment provides a computer readable storage medium, which has similar principles and technical effects to those of the foregoing method embodiment, and will not be described herein.
In one embodiment, a computer device is provided, and the computer device may be the second control terminal, and an internal structure diagram of the computer device may be as shown in fig. 13. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of computer devices is used to store coordinate system data from each device in the control subsystem. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by a processor, implements a method for remote control of a robotic arm.
It will be appreciated by those skilled in the art that the structure shown in FIG. 13 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
and acquiring a conversion relation between a main hand tail end coordinate system and a main hand base coordinate system in the main control subsystem, and acquiring motion parameters of a user operation main hand.
According to the hand-eye calibration method of the tracking equipment in the control subsystem, the conversion relation between the coordinate system of the tracking equipment and the coordinate system of the mechanical arm base and the conversion relation between the coordinate system of the tracking equipment and the coordinate system of the object are obtained.
And determining the conversion relation between the mechanical arm base coordinate system and the object coordinate system according to the conversion relation between the tracking device coordinate system and the mechanical arm base coordinate system and the conversion relation between the tracking device coordinate system and the object coordinate system.
And according to a predefined mapping rule, the conversion relation between the main hand end coordinate system and the main hand base coordinate system is equal to the conversion relation between the mechanical arm end coordinate system and the object coordinate system in the slave control subsystem, so as to acquire the conversion relation between the mechanical arm end coordinate system and the object coordinate system.
And determining the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the mechanical arm base coordinate system and the object coordinate system and the conversion relation between the mechanical arm terminal coordinate system and the object coordinate system.
And substituting the motion parameters into a conversion relation between the tail end coordinate system of the mechanical arm and the base coordinate system of the mechanical arm in a kinematic inverse solution mode, solving to obtain each joint angle for controlling the motion of the mechanical arm, and controlling the motion of the mechanical arm according to each joint angle.
The computer device provided in the foregoing embodiments has similar implementation principles and technical effects to those of the foregoing method embodiments, and will not be described herein in detail.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
And acquiring a conversion relation between a main hand tail end coordinate system and a main hand base coordinate system in the main control subsystem, and acquiring motion parameters of a user operation main hand.
According to the hand-eye calibration method of the tracking equipment in the control subsystem, the conversion relation between the coordinate system of the tracking equipment and the coordinate system of the mechanical arm base and the conversion relation between the coordinate system of the tracking equipment and the coordinate system of the object are obtained.
And determining the conversion relation between the mechanical arm base coordinate system and the object coordinate system according to the conversion relation between the tracking device coordinate system and the mechanical arm base coordinate system and the conversion relation between the tracking device coordinate system and the object coordinate system.
And according to a predefined mapping rule, the conversion relation between the main hand end coordinate system and the main hand base coordinate system is equal to the conversion relation between the mechanical arm end coordinate system and the object coordinate system in the slave control subsystem, so as to acquire the conversion relation between the mechanical arm end coordinate system and the object coordinate system.
And determining the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the mechanical arm base coordinate system and the object coordinate system and the conversion relation between the mechanical arm terminal coordinate system and the object coordinate system.
And substituting the motion parameters into a conversion relation between the tail end coordinate system of the mechanical arm and the base coordinate system of the mechanical arm in a kinematic inverse solution mode, solving to obtain each joint angle for controlling the motion of the mechanical arm, and controlling the motion of the mechanical arm according to each joint angle.
The foregoing embodiment provides a computer readable storage medium, which has similar principles and technical effects to those of the foregoing method embodiment, and will not be described herein.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A remote control system for a robotic arm, the system comprising:
the system comprises a main control subsystem and a slave control subsystem, wherein the main control subsystem and the slave control subsystem can be in remote communication connection through a network; the master control subsystem comprises a master hand and a first control terminal, and the slave control subsystem comprises a mechanical arm and a second control terminal;
The first control terminal is used for constructing a conversion relation between a main hand tail end coordinate system and a main hand base coordinate system in the main control subsystem when the main hand is triggered to move;
the second control terminal is used for constructing a conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system in the slave control subsystem according to the conversion relation between the master hand terminal coordinate system and the master hand base coordinate system and a predefined mapping rule, and controlling the mechanical arm to move according to the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system; the mapping rule refers to unifying the relation between the master hand azimuth and the object azimuth, and the object refers to the object operated by the mechanical arm.
2. The system of claim 1, wherein the predefined mapping rules are rules defining agreement between the orientation of a master hand base coordinate system in the master control subsystem and the orientation of an object coordinate system in the slave control subsystem.
3. The system according to claim 1 or 2, wherein the second control terminal, when performing the operation of constructing the conversion relation between the robot arm end coordinate system and the robot arm base coordinate system in the slave control subsystem, specifically performs:
According to the predefined mapping rule, the conversion relation between the master hand end coordinate system and the master hand base coordinate system is equal to the conversion relation between the mechanical arm end coordinate system and the object coordinate system in the slave control subsystem;
and constructing the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the mechanical arm terminal coordinate system and the object coordinate system.
4. A system according to claim 3, wherein the second control terminal, when performing the operation of constructing the conversion relation between the robot arm end coordinate system and the robot arm base coordinate system, specifically performs:
according to the hand-eye calibration method of the tracking equipment in the slave control subsystem, a conversion relation between a tracking equipment coordinate system and a mechanical arm base coordinate system and a conversion relation between the tracking equipment coordinate system and an object coordinate system are constructed;
and constructing a conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the tracking equipment coordinate system and the mechanical arm base coordinate system, the conversion relation between the tracking equipment coordinate system and the object coordinate system, and the conversion relation between the mechanical arm terminal coordinate system and the object coordinate system.
5. The system according to claim 4, wherein the second control terminal, when performing the operation of constructing the conversion relationship between the robot arm end coordinate system and the robot arm base coordinate system from the conversion relationship between the tracking device coordinate system and the robot arm base coordinate system, the conversion relationship between the tracking device coordinate system and the object coordinate system, and the conversion relationship between the robot arm end coordinate system and the object coordinate system, specifically performs:
constructing a conversion relation between the mechanical arm base coordinate system and the object coordinate system according to the conversion relation between the tracking equipment coordinate system and the mechanical arm base coordinate system and the conversion relation between the tracking equipment coordinate system and the object coordinate system;
and determining the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the mechanical arm base coordinate system and the object coordinate system and the conversion relation between the mechanical arm terminal coordinate system and the object coordinate system.
6. The system of claim 1, wherein controlling the movement of the robot arm based on the translation relationship between the robot arm tip coordinate system and the robot arm base coordinate system comprises:
Determining the angles of all joints controlling the motion of the mechanical arm according to the conversion relation between the mechanical arm tail end coordinate system and the mechanical arm base coordinate system;
and controlling the mechanical arm to move according to the joint angles.
7. The system of claim 6, wherein the first control terminal is further configured to obtain a motion parameter when the master hand is triggered to perform a motion;
the second control terminal specifically performs when performing the operation of determining each joint angle for controlling the motion of the mechanical arm according to the conversion relationship between the mechanical arm end coordinate system and the mechanical arm base coordinate system:
and substituting the motion parameters into a conversion relation between the tail end coordinate system of the mechanical arm and the base coordinate system of the mechanical arm in a kinematic inverse solution mode, and solving to obtain the angles of all joints controlling the motion of the mechanical arm.
8. The system of claim 1, wherein the system further comprises: and the display screen of the navigation device displays the movement information of the tail end of the mechanical arm in the slave control subsystem.
9. The system of claim 1, wherein the slave control subsystem includes a robotic arm base, the robotic arm, a tracking device, and a subject surgical table.
10. A method of remote control of a robotic arm, applied to a system as claimed in any one of claims 1-9, the method comprising:
when the main hand is triggered to perform preset motion, the first control terminal constructs a conversion relation between a main hand tail end coordinate system and a main hand base coordinate system;
the second control terminal constructs a conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system according to the conversion relation between the main hand terminal coordinate system and the main hand base coordinate system and a predefined mapping rule, and controls the mechanical arm to move according to the conversion relation between the mechanical arm terminal coordinate system and the mechanical arm base coordinate system;
the mapping rule refers to unifying the relation between the master hand azimuth and the object azimuth, and the object refers to the object operated by the mechanical arm.
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