CN114452004B - Control method for tail end position and posture of surgical robot - Google Patents
Control method for tail end position and posture of surgical robot Download PDFInfo
- Publication number
- CN114452004B CN114452004B CN202011249218.2A CN202011249218A CN114452004B CN 114452004 B CN114452004 B CN 114452004B CN 202011249218 A CN202011249218 A CN 202011249218A CN 114452004 B CN114452004 B CN 114452004B
- Authority
- CN
- China
- Prior art keywords
- point
- surgical
- mechanical arm
- surgical instrument
- instrument
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims abstract description 67
- 238000013507 mapping Methods 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 239000011159 matrix material Substances 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002980 postoperative effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010067268 Post procedural infection Diseases 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Landscapes
- 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)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control method for the tail end position and the tail end gesture of a surgical robot, which comprises the following steps: step S1: establishing a telecentric point, and dragging the surgical robot to enable the tail end of the surgical robot to move to the position above the telecentric point; the telecentric point is a virtual fixed point around which the tail end of the surgical instrument passes through the target position to rotate; step S2: connecting the surgical instrument to an instrument holder of the surgical robot; step S3: controlling the surgical instrument to pass through a telecentric point; step S4: a desired cartesian speed of the tip of the surgical instrument is obtained, a target speed for each axis of the robot is calculated, and each axis movement of the robot is controlled in accordance with the target speed. The control method can accurately control the terminal pose of the surgical robot, and improve the accuracy and safety of the surgery.
Description
Technical Field
The invention relates to the field of surgical robots, in particular to a control method for the tail end position and the tail end posture of a surgical robot.
Background
The minimally invasive surgery robot can reduce the manual labor of doctors in the surgery process, and simultaneously achieves the aim of accurate surgery, so that the patient is minimally invasive, has little blood loss, less postoperative infection and quick postoperative recovery. Minimally invasive surgical robotic systems typically use a master-slave control mode: when an operator operates the master hand, the hand movement can drive the master hand to move along with the master hand, the sensor at the joint of the master hand can measure movement information, the movement of the master hand is mapped to the slave hand through a master-slave control algorithm, and each joint of the slave hand is driven to move so as to drive the surgical instrument to realize corresponding movement. The distal end of the surgical robot is used to carry surgical instruments, the position and pose of which determine the accuracy of the surgical procedure.
Therefore, how to control the position and posture of the surgical robot tip, and improving the surgical accuracy and safety are technical problems that those skilled in the art need to solve.
Disclosure of Invention
The invention aims to provide a control method for the tail end position and the tail end gesture of a surgical robot, which can accurately control the tail end gesture of the surgical robot and improve the accuracy and the safety of surgery.
In order to achieve the above object, the present invention provides a method for controlling a position and an attitude of an end of a surgical robot, comprising:
step S1: establishing a telecentric point, and dragging the surgical robot to enable the tail end of the surgical robot to move to the position above the telecentric point; the telecentric point is a virtual fixed point which is surrounded by the tail end of the surgical instrument when the tail end passes through the target position to rotate;
step S2: connecting the surgical instrument to an instrument holder of the surgical robot;
step S3: controlling the surgical instrument to pass through a telecentric point;
step S4: a desired cartesian velocity of the tip of the surgical instrument is obtained, a target velocity of each axis of the surgical robot is calculated, and each axis motion of the surgical robot is controlled according to the target velocity.
Optionally, the surgical robot includes a first mechanical arm with at least five motion axes, a linear guiding portion connected to the first mechanical arm, and the linear guiding portion is configured to drive the instrument seat to perform linear motion, and further includes a second mechanical arm connected to the linear guiding portion and configured to drive the surgical instrument to move.
Optionally, the step S1 specifically includes:
opening at the target position, and inserting a stamping card into the opening;
dragging all the motion shafts to enable the linear guide part to be parallel to the stamping card and enable the instrument seat to be arranged right above the stamping card;
and connecting the stamping card seat with the stamping card to obtain the position of the telecentric point.
Optionally, the step of connecting the stamping card holder with the stamping card and obtaining the position of the telecentric point specifically includes:
and acquiring actual angles or displacements of all the motion axes according to the encoders arranged at all the motion axes, and calculating the positions of the telecentric points according to all the actual angles or displacements.
Optionally, the step of connecting the stamping card holder with the stamping card and obtaining the position of the telecentric point specifically includes:
and acquiring the position of the stamping card according to the position of the stamping card, and obtaining the position of the telecentric point by the position of the stamping card and the offset of the telecentric point relative to the fixed position of the stamping card seat.
Optionally, the step S3 specifically includes:
the linear guide part is used for controlling the surgical instrument to linearly move through the poking card, and the displacement detected by the displacement sensor arranged on the linear guide part is used for controlling the linear movement distance of the surgical instrument.
Optionally, the step S4 further includes:
keeping a coincident point of the surgical robot and the telecentric point motionless, and driving the surgical instrument to rotate by taking the coincident point as a sphere center to acquire a first constraint angle range of a driving motor of all the motion axes;
calculating a second constraint angle range of the driving motors of all the motion axes from the target speed;
and comparing to obtain corresponding overlapping ranges of the first constraint angle range and the second constraint angle range, and controlling all driving motors to move according to the corresponding overlapping ranges.
Optionally, the step S4 specifically includes:
according toCalculating first output joint speeds of six mapping axes of the surgical instrument coordinate system;
according toCalculating second input joint speeds of all the motion axes in a base coordinate system, wherein N is equal to the number of the motion axes and is more than or equal to 5;
wherein: j (j) -1 For the inverse matrix of the first Jacobian matrix corresponding to the configuration of the six mapping axes, v is the input Cartesian velocity obtained for the six mapping axes,a six-dimensional vector representing the first output joint velocity;
J -1 a second elegance corresponding to the configuration of all the motion axesThe inverse of the gram matrix, a six-dimensional vector representing the second input joint velocity;
the six mapping shafts comprise two virtual shafts at the coincident points, a linear shaft corresponding to the linear guide part and three movement shafts at the tail end of the second mechanical arm;
v x representing the x-direction velocity, v, of the coincident point y Representing the y-direction velocity, v, of the coincident point z Representing the z-direction velocity, ω, of the coincident point x Indicating the rotational speed of the coincident point in the x-direction, ω y Indicating the rotational speed of the coincident point in the y-direction, ω z Indicating the rotational speed of the coincident point about the z-direction,and->The first joint output speeds of the two virtual axes are represented, respectively.
Optionally, the step S4 further includes:
and when the operation is finished or stopped, the linear guide part is controlled to pull out the surgical instrument, the connection between the stamping card seat and the stamping card is released, and the limitation of all the movement shafts is released.
Compared with the background art, the control method for the tail end position and the tail end gesture of the surgical robot provided by the invention enables the surgical instrument to surround a virtual fixed point when the surgical instrument acts in a patient by establishing the telecentric point, can control the tail end position of the surgical instrument by controlling the speed of the surgical instrument stretching and rotating around the telecentric point, and can control the tail end gesture of the surgical instrument by controlling the movement axis close to the tail end of the surgical instrument. After the telecentric point is established, the surgical instrument is connected with an instrument seat of the surgical robot, the surgical instrument is controlled to penetrate through the telecentric point and extend into a patient, the expected Cartesian speed of the tail end of the surgical instrument is obtained through the surgical action to be completed, the target speed of each motion axis of the surgical robot is solved through inverse kinematics of the expected Cartesian speed, and then each axis of the surgical robot is controlled to move according to the target speed, so that the precise control of the pose of the tail end of the surgical robot, namely the tail end of the surgical instrument, is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a surgical robot provided by an embodiment of the invention;
FIG. 2 is a schematic view of six mapping axes of the instrument coordinate system of FIG. 1;
FIG. 3 is a schematic view of the axes of motion in the base coordinate system of FIG. 1;
fig. 4 is a flowchart of a method for controlling a position and an attitude of a distal end of a surgical robot according to an embodiment of the present invention.
Wherein:
1-motion axis, 2-linear guide part, 3-instrument seat, 4-surgical instrument and 5-telecentricity.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Minimally invasive surgery refers to the operation of implanting an elongated endoscope and tiny surgical instruments 4 into a patient through a small incision. The surgeon can observe the position of the surgical instrument 4 and the surgical procedure at the same time as the surgery by means of the visual detection device. Compared with the traditional open surgery, the method has the advantages of small wound, pain relief for patients, quick postoperative recovery and the like.
The surgical robot system is a robot system capable of performing minimally invasive surgery and mainly comprises a master manipulator, namely a master mobile phone robot, a slave manipulator, namely a slave mobile phone robot and a control system. The master hand robot is controlled by a doctor to generate a pose signal, and the pose signal is acquired and processed to obtain a pose signal for controlling the slave hand robot, so that the slave hand robot realizes operation. The invention aims to disclose a method for controlling the position and the posture of the tail end of a surgical robot (from a mobile phone robot), thereby improving the surgical accuracy and the safety.
The surgical robot control method provided by the invention is not only suitable for the simulated surgery in the teaching mode when the target object is a dummy, but also suitable for the real surgery when the target object is a real person. When the real operation is performed, the target object is a human body, and the target position corresponds to the wound of the patient.
The present invention will be further described in detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to better understand the aspects of the present invention.
Referring to fig. 1 to 4, fig. 1 is a schematic diagram of a surgical robot according to an embodiment of the present invention, fig. 2 is a schematic diagram of six mapping axes under the instrument coordinate system in fig. 1, fig. 3 is a schematic diagram of a motion axis under the base coordinate system in fig. 1, and fig. 4 is a flowchart of a method for controlling a position and an attitude of an end of a surgical robot according to an embodiment of the present invention.
The provided control method of the end position and posture of the surgical robot of the present invention can be applied to the surgical robot as shown in fig. 1 to 3; the surgical robot comprises a first mechanical arm and a second mechanical arm, wherein the first mechanical arm adopts a robot with at least 5 moving shafts 1, the invention is illustrated by taking a six-shaft robot as an example, the robot is called a general-purpose robot, and a coordinate system established at the first moving shaft 1 of the general-purpose robot is called a base coordinate system; the tail end of the first mechanical arm is connected with the linear guide part 2, the second mechanical arm can move along the linear guide part 2 in a linear manner and is used for controlling the operation of the surgical instrument 4, for example, the second mechanical arm comprises two motors (equivalent to one degree of freedom) for controlling the opening and closing of the surgical instrument 4.
The two virtual axes of rotation of the surgical instrument 4 at the telecentric point 5 generated by the motion of the first mechanical arm, the linear axis of the linear guide 2 and the three motion axes 1 of the second mechanical arm for controlling the motion of the surgical instrument 4 are regarded as an instrument robot having six degrees of freedom, and the coordinate system of the surgical instrument 4 is a coordinate system established by taking the telecentric point 5 as a base point. The invention is based on the desired Cartesian velocity in the coordinate system of the surgical instrument 4 and the second joint output velocity of each motion axis 1, i.e. the target velocity transformation, to achieve control of the position and attitude of the surgical robot tip.
The control method for the tail end position and the tail end posture of the surgical robot provided by the invention comprises the following four steps:
step S1: establishing a telecentric point 5, and dragging the surgical robot to enable the tail end of the surgical robot to move to the position above the telecentric point; the telecentric point 5 is a virtual motionless point which is surrounded by the tail end of the surgical instrument 4 when the tail end passes through the target position to rotate;
step S2: connecting the surgical instrument 4 to an instrument holder 3 of the surgical robot;
step S3: controlling the surgical instrument 4 to pass through a telecentric point 5;
step S4: a desired cartesian velocity of the tip of the surgical instrument 4 is obtained, a target velocity of each axis of the surgical robot is calculated, and each axis movement of the surgical robot is controlled according to the target velocity.
The function of step S1 is to establish a telecentric point 5, and determine a coincident point of the surgical instrument 4 coincident with the telecentric point 5 in the rotation process, that is, coincident with the wound of the patient, so that the tail end of the surgical instrument 4 performs telescopic rotation action around the coincident point, thereby improving control precision. The surgical operation device is specifically characterized in that a minimally invasive opening is carried out on a surgical part of a patient, a laparoscope is inserted into the minimally invasive opening after the minimally invasive opening is carried out, each motion shaft 1 of the surgical robot is dragged, the linear guide part 2 at the tail end of the universal robot is parallel to a poking card, and the instrument seat 3 for installing surgical instruments 4 is positioned right above the poking card.
And then the stamping card is connected with the stamping card seat, when the sensor detects that the stamping card is connected with the stamping card device, the sensor sends the stamping card and the stamping card seat connection position information to a control system of the surgical robot, and the movement range of the driving motor set by all movement shafts 1 is restrained by the controller.
Then, the surgical instrument 4 is mounted on the instrument seat 3 of the surgical robot, the instrument seat 3 is fixedly connected with the linear slide block of the linear guide part 2, and when the linear slide block moves, the instrument seat 3 and the surgical instrument 4 are driven to do linear motion, and a motor for controlling the pitching, rolling, yawing and opening and closing motions of the instrument can move along with the linear slide block together with the instrument seat 3.
The specific operation of connecting the stamping card and the stamping card seat can be as follows: when dragging each motion axis 1 to move, the actual angles or displacements of all the motion axes 1 measured by the encoders arranged at each motion axis 1 drag the instrument to calculate the position of the instrument seat 3 according to the configuration parameters of the surgical robot.
When the stamping card seat is connected with the stamping card, the position of the telecentric point 5 is calculated through the position of the stamping card seat and the fixed offset distance of the stamping card relative to the stamping card seat, generally, the telecentric point 5 is arranged at the center of the stamping card, and the position of the telecentric point 5 can be obtained after sinking by a preset depth through the distance of the offset radius of the stamping card from the position of the stamping card seat.
Step S3: after the position of the telecentric point 5 is obtained, the linear sliding block of the linear guide part 2 drives the instrument seat 3 and the surgical instrument 4 to be lowered, so that the surgical instrument 4 passes through the telecentric point 5. The run-down length may be determined by the position of the instrument holder 3, the spacing between the instrument holder 3 and the punch or telecentric point 5, and the length of the surgical instrument 4 extending into the patient beyond the telecentric point 5. The length of the surgical instrument 4 extending into the patient body beyond the telecentric point 5 is used as the rotation radius of the tail end of the surgical instrument 4, the point where the surgical instrument 4 coincides with the telecentric point 5 is used as the coincidence point of the surgical instrument 4, the coincidence point is kept motionless during the tail end rotation process of the surgical instrument 4, the length of the surgical instrument 4 extending into the patient body is different according to the surgical position of the patient, and the telecentric point 5 is a virtual motionless point.
Step S4: in a surgical operation, it is necessary to keep the coincidence point stationary, by rotating the six movement axes 1 of the six-axis robot as described above, while the distal end of the surgical instrument 4 moves. At this time, a certain constraint condition needs to be input to all the movement axes 1 to constrain the movement of the movement axes 1.
The constraint conditions are obtained by specifically adopting the following steps: keeping the coincident point motionless, and calculating a first constraint angle range of the driving motors of all the motion axes 1 according to the constraint condition of the motionless coincident point; and then according to the operation space range of the tail end of the operation instrument 4, a second constraint angle range (without keeping the coincident point motionless) of the driving motor of all the motion shafts 1 is obtained through inverse kinematics operation, and then the corresponding coincidence ranges of the first constraint angle range and the second constraint angle range are obtained through comparison, wherein the corresponding coincidence ranges simultaneously meet the requirement that the coincident point motionless of the operation instrument 4 and the tail end of the operation instrument 4 move according to the target speed. By inputting the corresponding overlapping range into the control system, the driving motors of all the motion shafts 1 are controlled to rotate according to the corresponding overlapping range, so that the accurate control of the position and the gesture of the tail end of the surgical instrument 4 is satisfied.
Specifically, the step of calculating and acquiring the target speed of each driving motor in the corresponding overlapping range is specifically as follows:
the first step, operation is carried out under the coordinate system of the surgical instrument 4;
obtaining a desired Cartesian velocity v of the distal end of the surgical instrument 4, the desired Cartesian velocity including a Cartesian translational velocity and a Cartesian rotational velocity, in other words v being a six-dimensional vector; then the inverse matrix j of the Jacobian matrix corresponding to the instrument robot configuration, namely the configuration of six mapping axes, is obtained -1 ，j -1 Regarding structural parameters of the instrument robot, j is a parameter that is determined in response to the parameters of the instrument robot -1 Is known at the time of operation. The six mapping axes comprise two virtual axes at the coincident points, a linear axis of the linear guide 2 and three movement axes 1 of the second mechanical arm controlling the movement of the surgical instrument 4;
according to the following:calculating first output joint speeds of six mapping axes of the surgical instrument coordinate system> A six-dimensional vector representing a first output joint velocity; since the coordinate system of the surgical instrument 4 is a coordinate system established with the telecentric point 5 as the base point, +.>And->First joint output speed, respectively representing two virtual axes,>a first joint output speed indicating the linear guide 2 or the linear shaft; />And->The first joint output speeds of the three movement axes 1 of the second mechanical arm or the instrument robot for controlling the posture of the surgical instrument 4 in the surgical instrument coordinate system are respectively represented.
Secondly, calculating under a basic coordinate system;
according toAnd calculating the second input joint speeds of all the motion axes 1 in the base coordinate system, wherein N is equal to the number of all the motion axes 1 of the first mechanical arm or the universal robot and is more than or equal to 5.
Wherein,representing a second inputSix-dimensional vector of joint velocity, J -1 To reflect the inverse matrix of the second Jacobian matrix corresponding to the configuration of all the motion axes 1, J is set when the structural parameters of the multiaxial robot are confirmed -1 Is known at the time of operation;
v x x-direction velocity, v, representing the coincident point y Representing the y-direction velocity, v, of the coincident point z Indicating the z-direction velocity, ω, of the coincident point x Indicating the rotational speed of the coincident point in the x-direction, ω y Indicating the rotational speed of the coincident point in the y-direction, ω z Indicating the rotational speed of the coincident point in the z-direction, < >>And->The first joint output speeds, which represent the two virtual axes respectively, are already obtained in the first calculation step and since the coincidence point is stationary, only the rotation of the distal end of the surgical instrument 4 occurs, v x 、v y 、v z Omega, omega x All take zero.
The second joint input speed of each motion axis 1 of the first mechanical arm under the basic coordinate system is obtained through the calculation, and the control system controls the rotating speed of each driving motor in the corresponding superposition range according to the second joint input speed.
When the operation is completed or the operation is stopped due to other reasons, the surgical instrument 4 is pulled out of the poking card through the linear guide part 2, the poking card and the poking card seat are separated, and the control system releases the limit on each movement shaft 1.
It should be noted that in this specification relational terms such as first and second are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The control method of the tail end position and the tail end gesture of the surgical robot provided by the invention is described in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (10)
1. The surgical robot is characterized by comprising a first mechanical arm and an instrument robot, wherein the instrument robot comprises a linear guide part and a second mechanical arm, the linear guide part is respectively connected with the first mechanical arm and the second mechanical arm, the instrument robot is provided with a mapping shaft, the mapping shaft comprises a virtual shaft, a moving shaft of the second mechanical arm and a linear shaft of the linear guide part, the linear shaft of the linear guide part and the moving shaft of the first mechanical arm are used for controlling the position of the tail end of a surgical instrument, and the moving shaft of the second mechanical arm is used for controlling the gesture of the tail end of the surgical instrument;
wherein, the surgical robot realizes the steps in the process of controlling the position and the gesture of the tail end of the surgical instrument, and the method comprises the following steps:
step S1: establishing a telecentric point, dragging the surgical robot to enable the tail end of the surgical robot to move to the position above the telecentric point; the telecentric point is a virtual fixed point which is surrounded by the tail end of the surgical instrument when the tail end passes through the target position to rotate; the virtual shaft is a shaft which is generated by the action of the first mechanical arm and is rotated at the telecentric point by the surgical instrument;
step S2: connecting the surgical instrument to an instrument holder of the surgical robot;
step S3: controlling the surgical instrument to pass through the telecentric point;
step S4: the method comprises the steps of obtaining an expected Cartesian speed of the tail end of the surgical instrument, reversely mapping the expected Cartesian speed to obtain first output joint speeds of the virtual shaft, the moving shaft of the second mechanical arm and the linear shaft, reversely mapping the first output joint speed of the virtual shaft to obtain second input joint speed of the moving shaft of the first mechanical arm, controlling the position of the tail end of the surgical instrument according to the second input joint speed of the moving shaft of the first mechanical arm and the first output joint speed of the linear shaft, and controlling the posture of the tail end of the surgical instrument according to the first output joint speed of the moving shaft of the second mechanical arm.
2. The surgical robot of claim 1, wherein the axis of motion of the first mechanical arm is used to control rotational movement of the surgical instrument tip about the telecentric point, the axis of the linear guide of the instrument robot is used to control linear movement of the surgical instrument tip through the telecentric point, the axis of motion of the second mechanical arm is used to control the surgical instrument tip to be in one of pitch, roll, yaw, and open/close, the first mechanical arm comprising at least five axes of motion.
3. The surgical robot of claim 1, wherein the linear guide includes a linear slide movable along the linear axis, the surgical instrument being coupled to the instrument holder, the instrument holder being coupled to the linear slide, the surgical instrument being moved linearly by the instrument holder when the linear slide is moved.
4. The surgical robot according to claim 1, wherein the step S1 specifically includes:
opening at the target position, and inserting a stamping card into the opening;
dragging all the motion shafts of the first mechanical arm to enable the linear guide part to be parallel to the stamping card and enable the instrument seat to be arranged right above the stamping card;
and connecting the stamping card seat with the stamping card to obtain the position of the telecentric point.
5. The surgical robot of claim 4, wherein the step of connecting the stamping card holder to the stamping card to obtain the position of the telecentric point is specifically:
acquiring actual angles or displacements of all the motion axes of the first mechanical arm according to encoders arranged at all the motion axes of the first mechanical arm, and calculating the positions of the telecentrics according to all the actual angles or displacements.
6. The surgical robot of claim 4, wherein the step of connecting the stamping card holder to the stamping card to obtain the position of the telecentric point is specifically:
and calculating the position of the telecentric point according to the fixed offset distance of the stamping card relative to the stamping card seat and the position of the stamping card seat.
7. A surgical robot according to claim 5 or 6, wherein step S3 specifically comprises:
the linear sliding block of the linear guide part is used for controlling the surgical instrument to linearly move through the poking card, and the linear movement distance of the surgical instrument is controlled by means of the displacement detected by the displacement sensor arranged on the linear guide part.
8. The surgical robot of claim 7, wherein step S4 further comprises:
keeping a coincident point of the surgical robot and the telecentric point motionless, and driving the surgical instrument to rotate by taking the coincident point as a sphere center to acquire a first constraint angle range of driving motors of all the motion axes of the first mechanical arm;
obtaining a second constraint angle range of a driving motor of all motion axes of the second mechanical arm through inverse kinematics operation according to the operation space range of the tail end of the operation instrument;
and comparing to obtain corresponding overlapping ranges of the first constraint angle range and the second constraint angle range, and controlling all driving motors to move according to the corresponding overlapping ranges.
9. The surgical robot according to claim 1, wherein the step S4 is specifically:
according toCalculating first output joint speeds of six mapping axes of the surgical instrument coordinate system;
according toCalculating the second input joint speeds of all the motion axes of the first mechanical arm under the basic coordinate system,Nequal to the number of the motion axes andNmore than or equal to 5;
wherein:for the inverse of the first Jacobian matrix corresponding to the configuration of the six mapping axes, < >>Obtaining input Cartesian speeds for six of said mapping axes, < >>A six-dimensional vector representing the first output joint velocity;
to reflect the inverse of the second jacobian matrix corresponding to the configuration of all the axes of motion,， />an N-dimensional vector representing the second input joint velocity;
the six mapping shafts comprise two virtual shafts at coincident points, a linear shaft corresponding to the linear guide part and three movement shafts at the tail end of the second mechanical arm; wherein the coincident point is a point at which the surgical robot coincides with the telecentric point;
x-direction speed representing said coincidence point, < >>Representing the y-direction speed of said coincident point, +.>Representing the z-direction velocity of said coincident point, +.>Indicating the rotational speed of the coincident point in the x-direction, < >>Indicating the rotational speed of the coincident point in the y-direction, < >>Indicating the rotational speed of the coincident point in the z-direction, < >>And->The first joint output speeds of the two virtual axes are represented, respectively.
10. The surgical robot of claim 9, wherein after step S4, further comprising:
and when the operation is finished or stopped, the surgical instrument is pulled out along the linear guide part, the connection between the stamping card seat and the stamping card is released, and the limitation of all the movement shafts is released.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011249218.2A CN114452004B (en) | 2020-11-10 | 2020-11-10 | Control method for tail end position and posture of surgical robot |
| EP21891007.3A EP4245238A1 (en) | 2020-11-10 | 2021-11-02 | Control method for location and orientation of surgical robot end, and control method for surgical robot |
| US18/035,947 US20240016559A1 (en) | 2020-11-10 | 2021-11-02 | Control method for location and orientation of surgical robot end, and control method for surgical robot |
| PCT/CN2021/128053 WO2022100480A1 (en) | 2020-11-10 | 2021-11-02 | Control method for location and orientation of surgical robot end, and control method for surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011249218.2A CN114452004B (en) | 2020-11-10 | 2020-11-10 | Control method for tail end position and posture of surgical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114452004A CN114452004A (en) | 2022-05-10 |
| CN114452004B true CN114452004B (en) | 2023-12-12 |
Family
ID=81404883
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011249218.2A Active CN114452004B (en) | 2020-11-10 | 2020-11-10 | Control method for tail end position and posture of surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114452004B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117503365A (en) * | 2022-07-28 | 2024-02-06 | 深圳市精锋医疗科技股份有限公司 | Surgical robot, control method and control device thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101227870A (en) * | 2005-05-19 | 2008-07-23 | 直观外科手术公司 | Software center and highly configurable robotic systems for surgery and other uses |
| CN106333715A (en) * | 2016-09-27 | 2017-01-18 | 微创（上海）医疗机器人有限公司 | Laparoscopic surgery system |
| CN109069215A (en) * | 2016-07-14 | 2018-12-21 | 直观外科手术操作公司 | System and method for controlling surgical instruments |
| CN109091237A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | Minimally Invasive Surgery instrument auxiliary system |
| CN110893118A (en) * | 2018-09-12 | 2020-03-20 | 微创（上海）医疗机器人有限公司 | Surgical robot system and method for controlling movement of robot arm |
| CN111227938A (en) * | 2018-11-29 | 2020-06-05 | 微创（上海）医疗机器人有限公司 | Mechanical arm and medical robot |
| CN111345894A (en) * | 2018-12-21 | 2020-06-30 | 微创（上海）医疗机器人有限公司 | Mechanical arm and surgical robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11173597B2 (en) * | 2017-11-10 | 2021-11-16 | Intuitive Surgical Operations, Inc. | Systems and methods for controlling a robotic manipulator or associated tool |
-
2020
- 2020-11-10 CN CN202011249218.2A patent/CN114452004B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101227870A (en) * | 2005-05-19 | 2008-07-23 | 直观外科手术公司 | Software center and highly configurable robotic systems for surgery and other uses |
| CN109069215A (en) * | 2016-07-14 | 2018-12-21 | 直观外科手术操作公司 | System and method for controlling surgical instruments |
| CN106333715A (en) * | 2016-09-27 | 2017-01-18 | 微创（上海）医疗机器人有限公司 | Laparoscopic surgery system |
| CN109091237A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | Minimally Invasive Surgery instrument auxiliary system |
| CN110893118A (en) * | 2018-09-12 | 2020-03-20 | 微创（上海）医疗机器人有限公司 | Surgical robot system and method for controlling movement of robot arm |
| CN111227938A (en) * | 2018-11-29 | 2020-06-05 | 微创（上海）医疗机器人有限公司 | Mechanical arm and medical robot |
| CN111345894A (en) * | 2018-12-21 | 2020-06-30 | 微创（上海）医疗机器人有限公司 | Mechanical arm and surgical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114452004A (en) | 2022-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111315309A (en) | System and method for controlling a robotic manipulator or related tool | |
| EP4101412A1 (en) | Surgical robotic system and control of surgical robotic system | |
| KR20200078422A (en) | System and method for master/tool matching and control for intuitive movement | |
| EP3685787A1 (en) | Surgical robot system | |
| Vandini et al. | Vision-based motion control of a flexible robot for surgical applications | |
| Guo et al. | A surgeon’s operating skills-based non-interference operation detection method for novel vascular interventional surgery robot systems | |
| WO2022100480A1 (en) | Control method for location and orientation of surgical robot end, and control method for surgical robot | |
| CN114452004B (en) | Control method for tail end position and posture of surgical robot | |
| WO2023046074A1 (en) | Autonomous learning method for mechanical arm control method | |
| Hwang et al. | Superhuman surgical peg transfer using depth-sensing and deep recurrent neural networks | |
| CN113974835A (en) | Operation robot motion control method based on telecentric motionless point constraint | |
| Chrysilla et al. | A compliance model to improve the accuracy of the da Vinci Research Kit (dVRK) | |
| Kim et al. | Design and evaluation of a continuum robot with discreted link joints for cardiovascular interventions | |
| CN113742992B (en) | Master-slave control method based on deep learning and application | |
| WO2022166024A1 (en) | Method and device for planning initial poses of surgical arms of laparoscopic surgical robot | |
| CN213851026U (en) | Surgical robot | |
| JPH08215205A (en) | Medical manipulator | |
| CN213851025U (en) | Surgical robot system | |
| CN113876433A (en) | Robot system and control method | |
| Azimi et al. | Teleoperative control of intraocular robotic snake: Vision-based angular calibration | |
| CN114452003B (en) | Surgical robot | |
| Yip et al. | A vision-assisted semi-automatic uterus manipulation approach based on a pose estimating trocar | |
| Yun et al. | Design of Master-slave Teleoperation Puncture System Based on Force Feedback | |
| Guo et al. | An improved master-slave interventional surgery robotic system with force feedback | |
| AU2022331922B2 (en) | Diagnostic imaging system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |