CN114521960A - Full-automatic real-time calibration method, device and system of abdominal cavity surgery robot - Google Patents

Full-automatic real-time calibration method, device and system of abdominal cavity surgery robot Download PDF

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CN114521960A
CN114521960A CN202210177629.8A CN202210177629A CN114521960A CN 114521960 A CN114521960 A CN 114521960A CN 202210177629 A CN202210177629 A CN 202210177629A CN 114521960 A CN114521960 A CN 114521960A
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CN114521960B (en
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赵佳伟
王伟
文洋
张瑞康
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Suzhou Kangduo Robot Co ltd
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Abstract

The invention provides a full-automatic real-time calibration method, a full-automatic real-time calibration device and a full-automatic real-time calibration system for an abdominal cavity surgical robot, and relates to the technical field of abdominal cavity surgical robots. The invention relates to a full-automatic real-time calibration method of an abdominal cavity surgical robot, which comprises the following steps: establishing a momentum kinematics model of the mechanical arm; acquiring the terminal pose of the mechanical arm, and determining a nominal joint motion variable of the mechanical arm according to the terminal pose; controlling the mechanical arm to move according to the kinematic parameters to obtain an actual joint motion variable of the mechanical arm; and judging whether the precision of the joint motion variable meets a preset condition or not according to the nominal joint motion variable and the actual joint motion variable, and identifying the kinematic parameters by adopting a genetic algorithm to update the kinematic parameters when the precision of the joint motion variable does not meet the preset condition. According to the technical scheme, the kinematic parameters can be effectively identified, and the motion precision of the mechanical arm is further improved.

Description

Full-automatic real-time calibration method, device and system of abdominal cavity surgery robot
Technical Field
The invention relates to the technical field of abdominal cavity surgical robots, in particular to a full-automatic real-time calibration method, device and system of an abdominal cavity surgical robot.
Background
With the development of the medical robot industry, the position of the endoscopic surgical robot is increased to the top row of the surgical robot. The operation mechanical arm is used as an important component of the endoscopic operation robot and has higher motion precision. However, due to the existence of assembly errors caused by manufacturing and assembling of the mechanical arm, flexible errors caused by flexible deformation of the arm rod and the joint, thermal deformation errors caused by temperature change of a mechanical arm working environment and the like, a certain deviation can be generated between an actual value and a nominal value of kinematic parameters of the mechanical arm, and if the nominal kinematic parameters are still adopted to control the mechanical arm in practical application, the motion precision of the mechanical arm can be reduced.
Disclosure of Invention
The invention solves the problem of how to improve the motion precision of the mechanical arm through calibration.
In order to solve the above problems, the present invention provides a full-automatic real-time calibration method for an abdominal cavity surgical robot, comprising: establishing a rotation amount kinematics model of the mechanical arm; acquiring the terminal pose of the mechanical arm, and determining a nominal joint motion variable of the mechanical arm according to the terminal pose; controlling the mechanical arm to move according to the kinematic parameters to obtain an actual joint motion variable of the mechanical arm; and judging whether the precision of the joint motion variable meets a preset condition or not according to the nominal joint motion variable and the actual joint motion variable, and identifying the kinematic parameters by adopting a genetic algorithm to update the kinematic parameters when the precision of the joint motion variable does not meet the preset condition.
According to the full-automatic real-time calibration method of the abdominal cavity operation robot, the actual values of the kinematic parameters of the mechanical arm are obtained by utilizing the kinematic parameter calibration, the kinematic parameters can be effectively identified, the pose errors are greatly reduced, and the automatic real-time accurate control of the mechanical arm is realized; the genetic algorithm is adopted to complete the searchable global optimal solution of the kinematics calibration, the kinematics parameters can be accurately identified, the calibration precision is improved, and the motion precision of the mechanical arm is further improved.
Optionally, the establishing a rotational kinematic model of the mechanical arm includes: establishing a positive kinematics model of the mechanical arm according to a momentum model, the positive kinematics model comprising:
Figure 639244DEST_PATH_IMAGE002
wherein, g (theta) represents the motion parameter of the mechanical arm joint as thetaiThe pose of the tail end of the time, g (0) represents the pose of the tail end corresponding to the zero position of the joint,
Figure 924732DEST_PATH_IMAGE004
is expressed in relation to thetaiCorresponding rotational amount of movement, i =1, 2.
According to the full-automatic real-time calibration method of the abdominal cavity operation robot, the positive kinematics model of the mechanical arm is established according to the rotation model, so that the kinematics parameters can be effectively identified, the pose error is greatly reduced, and the automatic real-time accurate control of the mechanical arm is realized.
Optionally, the determining nominal articulation variables for the robotic arm from the end pose comprises: determining the nominal articulation variable according to a first formula, wherein the first formula comprises:
Figure 68269DEST_PATH_IMAGE006
wherein, thetaNRepresenting the nominal joint motion variable, f representing the inverse kinematics equation, and x representing the momentum kinematics parameter.
The full-automatic real-time calibration method of the abdominal cavity operation robot determines the nominal joint motion variable according to the first formula, so that the kinematic parameters can be effectively identified, the pose error is greatly reduced, and the automatic real-time accurate control of the mechanical arm is realized.
Optionally, the acquiring the end pose of the mechanical arm comprises: the pose of a polyhedral target is tracked in real time through a dynamic tracker, and when the mechanical arm moves and keeps a designated pose and the pose of the polyhedral target is not changed within preset time, the current pose is acquired, wherein the polyhedral target is installed at the tail end of the mechanical arm.
According to the full-automatic real-time calibration method of the abdominal cavity operation robot, the real-time tracking of the pose of the tail end of the mechanical arm is realized through the dynamic tracker, and further the automatic real-time accurate control of the mechanical arm can be realized.
Optionally, the determining, according to the nominal joint motion variable and the actual joint motion variable, whether the precision of the joint motion variable meets a preset condition includes: and substituting the nominal joint motion variable and the actual joint motion variable into the rotation kinematic model to obtain two groups of poses, and judging that the precision of the joint motion variable meets a preset condition when the position error of the two groups of poses is not more than 0.5mm and the posture error of the poses is not more than 1 degree.
According to the full-automatic real-time calibration method of the abdominal cavity operation robot, whether the precision of the joint motion variable meets the preset condition or not is judged according to the pose errors corresponding to the nominal joint motion variable and the actual joint motion variable, the precision verification is carried out again until the precision meets the requirement after the kinematic parameters are identified, the calibration progress of the mechanical arm is improved, and then the automatic real-time accurate control of the mechanical arm can be realized.
Optionally, the identifying the kinematic parameters using a genetic algorithm to update the kinematic parameters comprises: constructing an objective function according to the nominal joint motion variable and the actual joint motion variable, wherein the objective function is as follows:
Figure 122812DEST_PATH_IMAGE008
wherein F (theta, x) represents an objective function, x represents a momentum kinematics parameter, and thetai RRepresents the realityVariable of joint movement, thetai NRepresenting the nominal articulation variable.
The full-automatic real-time calibration method of the abdominal cavity operation robot takes the momentum kinematics parameters as the identification parameters, can describe the influence of all error sources and avoid singularity, improves the calibration progress of the mechanical arm, and further can realize automatic real-time accurate control of the mechanical arm.
Optionally, the identifying the kinematic parameters using a genetic algorithm to update the kinematic parameters further comprises: setting the rotation amount kinematic parameters as chromosomes, setting the target function as a fitness function, and setting the nominal kinematic parameters as initial values of the chromosomes.
The full-automatic real-time calibration method of the abdominal cavity operation robot, disclosed by the invention, adopts a genetic algorithm to complete kinematics calibration, can accurately identify kinematics parameters by a searchable global optimal solution, improves the calibration precision, and further can realize automatic real-time accurate control of a mechanical arm.
The invention also provides a full-automatic real-time calibration device of the abdominal cavity operation robot, which comprises: the modeling module is used for establishing a rotation amount kinematics model of the mechanical arm; the first motion variable module is used for acquiring the tail end pose of the mechanical arm and determining a nominal joint motion variable of the mechanical arm according to the tail end pose; the second motion variable module is used for controlling the mechanical arm to move according to the kinematic parameters and acquiring the actual joint motion variable of the mechanical arm; and the calibration module is used for judging whether the precision of the joint motion variable meets a preset condition or not according to the nominal joint motion variable and the actual joint motion variable, and when the precision of the joint motion variable does not meet the preset condition, identifying the kinematic parameters by adopting a genetic algorithm so as to update the kinematic parameters. Compared with the prior art, the full-automatic real-time calibration device of the abdominal cavity surgical robot and the full-automatic real-time calibration method of the abdominal cavity surgical robot have the same advantages, and are not repeated herein.
The invention also provides a full-automatic real-time calibration system of the abdominal cavity surgical robot, which comprises a computer readable storage medium and a processor, wherein the computer readable storage medium is used for storing a computer program, and the computer program is read by the processor and runs to realize the full-automatic real-time calibration method of the abdominal cavity surgical robot. Compared with the prior art, the full-automatic real-time calibration system of the abdominal cavity surgical robot and the full-automatic real-time calibration method of the abdominal cavity surgical robot have the same advantages, and are not repeated herein.
The invention also provides a computer readable storage medium, which stores a computer program, and when the computer program is read and executed by a processor, the computer program realizes the full-automatic real-time calibration method of the robot for the upper abdominal cavity surgery. Compared with the prior art, the computer-readable storage medium and the full-automatic real-time calibration method of the abdominal cavity surgical robot have the same advantages, and are not repeated herein.
Drawings
Fig. 1 is a schematic diagram of a full-automatic real-time calibration method of an abdominal cavity surgical robot according to an embodiment of the present invention;
fig. 2 is an exemplary diagram of a full-automatic real-time calibration system of the laparoscopic surgery robot according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1, an embodiment of the present invention provides a full-automatic real-time calibration method for an abdominal cavity surgical robot, including: establishing a rotation amount kinematics model of the mechanical arm; acquiring the terminal pose of the mechanical arm, and determining a nominal joint motion variable of the mechanical arm according to the terminal pose; controlling the mechanical arm to move according to the kinematic parameters to obtain an actual joint motion variable of the mechanical arm; and judging whether the precision of the joint motion variable meets a preset condition or not according to the nominal joint motion variable and the actual joint motion variable, and identifying the kinematic parameters by adopting a genetic algorithm to update the kinematic parameters when the precision of the joint motion variable does not meet the preset condition.
Specifically, in this embodiment, the full-automatic real-time calibration method for the laparoscopic surgery robot includes:
s1: establishing a rotation amount kinematics model of the mechanical arm;
s2: measuring the terminal pose matrix of the mechanical arm through a dynamic tracker, and then reversely solving a nominal joint motion variable thetaN；
S3: controlling the mechanical arm joint to move to a specified position according to the kinematic parameters, and outputting an actual joint motion variable thetaR；
S4: synthesis of N groups of thetaNAnd thetaRAnd verifying whether the precision of the joint motion variable meets the design requirement, if so, finishing the calibration, otherwise, performing the kinematics parameter calibration by adopting a genetic algorithm, feeding back the obtained compensation result to the kinematics parameter in S3, and controlling the motion of the mechanical arm again.
In this embodiment, the calibration process of S1-S4 can be completed without human intervention, and as shown in fig. 2, the dynamic tracker, the arm controller, and the calibration software can communicate in real time, the dynamic tracker can transmit the target pose to the calibration software, the arm controller can transmit the actual joint motion variable to the calibration software, and the dynamic tracker and the arm controller can jointly determine the timing of pose acquisition and start and stop of the arm motion. And the calibration software judges whether the pose precision of the abdominal cavity operation robot meets the design requirement according to the target pose and the actual joint motion variable, if not, the kinematics parameter identification is completed by using a genetic algorithm, the identified kinematics parameter is transmitted to the manipulator controller, and the kinematics parameter in the manipulator controller is updated. The kinematic error model has the advantages of completeness, continuity, no redundancy and the like, and all model variables have definite physical meanings.
In the embodiment, the actual values of the kinematic parameters of the mechanical arm are obtained by using the kinematic parameter calibration, so that the kinematic parameters can be effectively identified, the pose errors are greatly reduced, and the automatic real-time accurate control of the mechanical arm is realized; the genetic algorithm is adopted to complete the searchable global optimal solution of the kinematics calibration, the kinematics parameters can be accurately identified, the calibration precision is improved, and the motion precision of the mechanical arm is further improved.
Optionally, the establishing a rotational kinematic model of the mechanical arm includes: establishing a positive kinematics model of the mechanical arm according to a momentum model, the positive kinematics model comprising:
Figure DEST_PATH_IMAGE010
wherein, g (theta) represents the motion parameter of the mechanical arm joint as thetaiThe pose of the tail end of the time, g (0) represents the pose of the tail end corresponding to the zero position of the joint,
Figure 739607DEST_PATH_IMAGE004
is expressed in relation to thetaiThe corresponding amount of motion rotation.
Specifically, in the present embodiment, in step S1, based on the spin amount model, a positive kinematic model of the robot arm is constructed:
Figure DEST_PATH_IMAGE011
g (theta) represents the motion parameter of the mechanical arm joint as thetaiThe pose of the tail end of the time, g (0) represents the pose of the tail end corresponding to the zero position of the joint,
Figure 184495DEST_PATH_IMAGE004
is expressed in relation to thetaiCorresponding rotational amount of movement, i =1, 2.
Obtained according to lie group lie algebraic formula
Figure 194039DEST_PATH_IMAGE013
As follows (I is an identity matrix,
Figure 758882DEST_PATH_IMAGE015
antisymmetric matrix of ω):
Figure 94048DEST_PATH_IMAGE017
wherein:
Figure DEST_PATH_IMAGE018
Figure 354128DEST_PATH_IMAGE019
Figure DEST_PATH_IMAGE020
where v denotes a linear velocity in the ω direction, and ω and r denote a unit vector in the rotation axis direction of each joint and an arbitrary point coordinate thereon, respectively.
In the embodiment, the positive kinematics model of the mechanical arm is established according to the momentum model, so that the kinematics parameters can be effectively identified, the pose error is greatly reduced, and the automatic real-time accurate control of the mechanical arm is realized.
Optionally, the determining nominal joint motion variables of the robotic arm from the end pose comprises: determining the nominal articulation variable according to a first formula, wherein the first formula comprises:
Figure DEST_PATH_IMAGE022
wherein, thetaNRepresenting the nominal joint motion variable, f representing the inverse kinematics equation, and x representing the momentum kinematics parameter.
Specifically, in the present embodiment, to facilitate kinematic calibration, the nominal articulation variables:
Figure 573888DEST_PATH_IMAGE023
wherein f represents an inverse solution equation of kinematics, and x represents a momentum kinematics parameter.
In the embodiment, the nominal joint motion variable is determined according to the first formula, so that kinematic parameters can be effectively identified, pose errors are greatly reduced, and automatic real-time accurate control of the mechanical arm is realized.
Optionally, the acquiring the end pose of the mechanical arm comprises: the pose of a polyhedral target is tracked in real time through a dynamic tracker, and when the mechanical arm moves and keeps a designated pose and the pose of the polyhedral target is not changed within preset time, the current pose is acquired, wherein the polyhedral target is installed at the tail end of the mechanical arm.
Specifically, in this embodiment, in steps S2 and S3, a polyhedral target is mounted at the end of a robot arm, and the target pose is tracked in real time using a dynamic tracker. Planning N groups of actual joint motion variables theta in each joint motion range of the mechanical armRWhen the mechanical arm moves and keeps a certain designated pose, the dynamic tracker detects that the pose of the target is not changed within 2 seconds, the target pose is collected, after the target pose is collected, the mechanical arm continues to move to the next pose point, and the collection of the N groups of terminal poses is completed in a circulating manner. The N groups of terminal poses and the N groups of actual joint motion variables theta are comparedRInputting the data into calibration software, and reversely solving N sets of nominal joint motion variables theta according to N sets of end posesN。
In this embodiment, the real-time tracking of the pose of the tail end of the mechanical arm is realized through the dynamic tracker, so that the automatic real-time accurate control of the mechanical arm can be realized.
Optionally, the determining, according to the nominal joint motion variable and the actual joint motion variable, whether the precision of the joint motion variable meets a preset condition includes: and substituting the nominal joint motion variable and the actual joint motion variable into the rotation kinematic model to obtain two groups of poses, and judging that the precision of the joint motion variable meets a preset condition when the position error of the two groups of poses is not more than 0.5mm and the posture error of the two groups of poses is not more than 1 degree.
Specifically, in this embodiment, the determining whether the precision of the joint motion variable satisfies the preset condition according to the nominal joint motion variable and the actual joint motion variable includes: according to N groups thetaNAnd thetaRVerifying whether the precision of the joint motion variable meets the design requirement, and if the precision requirement is met, calibrating is not neededSpecifically: will thetaNAnd thetaRAnd simultaneously, substituting the two sets of poses into a theoretical kinematic model to obtain two sets of poses, and considering that the precision requirement is met when the position errors of the two sets of poses are not more than 0.5mm and the attitude errors are not more than 1 degree. If the precision requirement is not met, N groups of theta are utilizedNAnd thetaRKinematic parameter identification is performed, and the identified kinematic parameters are brought back to step S3. The kinematic parameters are used for controlling the mechanical arm to move to a random pose point, and theta of the mechanical arm at the moment is acquired and verifiedN′And thetaR′Whether the accuracy requirement is met.
If the precision requirement is met, the calibration is finished, and if the precision requirement is not met, the group of theta is calibratedN′、θR′And N groups thetaN、θRMerging (i.e. data theta)N′、θR′And data thetaN、θRCombined in superposition as a new set of data, e.g. thetaN、θRForming a matrix of 2M rows and N columns (M represents the number of mechanical arm joints, namely the number of theta, and N represents the number of planned test pose groups), and dividing theta into thetaN′、θR′And N groups thetaN、θRAfter merging, the matrix of 2 x M columns and N rows will become a matrix of 2 x M columns and N +1 rows). Using N +1 groups thetaNAnd thetaRAnd performing kinematic parameter identification, and bringing the identified kinematic parameters back to the step S3 to perform precision verification again. Repeating the steps until the precision meets the requirement.
In the embodiment, whether the precision of the joint motion variable meets the preset condition is judged according to the pose errors corresponding to the nominal joint motion variable and the actual joint motion variable, and after kinematic parameter identification, precision verification is carried out again until the precision meets the requirement, so that the calibration progress of the mechanical arm is improved, and automatic real-time precise control of the mechanical arm can be realized.
Optionally, the identifying the kinematic parameters using a genetic algorithm to update the kinematic parameters comprises: constructing an objective function according to the nominal joint motion variable and the actual joint motion variable, wherein the objective function is as follows:
Figure 71865DEST_PATH_IMAGE024
wherein F (theta, x) represents an objective function, x represents a momentum kinematics parameter, and thetai RRepresenting said actual articulation variable, thetai NRepresenting the nominal articulation variable.
Specifically, in the present embodiment, in step S4, the objective function is constructed using the sum of squared residuals:
Figure DEST_PATH_IMAGE025
wherein F (theta, x) represents an objective function, x represents a momentum kinematics parameter, and thetai RRepresenting the actual joint movement variable, thetai NRepresenting a nominal articulation variable. The method has the advantages that the influence of all error sources can be described by taking the momentum kinematics parameters as the identification parameters, and meanwhile, singularity can be avoided.
The calibration objective function provided by the joint motion variable is utilized, the traditional method that only the position can be used for calibration is broken through, the position and the attitude achieve a high calibration effect at the same time, the problems of matrix ill-condition and attitude singularity identification are effectively solved, the error source identification precision and the stability of the identification result are improved, and the compensation precision is further improved.
In this embodiment, the momentum kinematics parameters are used as identification parameters, so that the influence of all error sources can be described, the singularity can be avoided, the calibration progress of the mechanical arm is improved, and the automatic real-time accurate control of the mechanical arm can be realized.
Optionally, the identifying the kinematic parameters using a genetic algorithm to update the kinematic parameters further comprises: setting the rotation amount kinematic parameters as chromosomes, setting the target function as a fitness function, and setting the nominal kinematic parameters as initial values of the chromosomes.
Specifically, in the present embodiment, the parameter identification of kinematics is completed based on a genetic algorithm, where x is set as a chromosome, and F (θ, x) is set as a fitness function, where a chromosome initial value is a nominal kinematics parameter. Parameters such as initial population scale, mating probability, variation probability, optimal individual coefficient, maximum evolution algebra and the like are set according to actual conditions.
In the embodiment, the kinematics calibration is completed by adopting a genetic algorithm, a searchable global optimal solution can accurately identify kinematics parameters, the calibration precision is improved, and then the automatic real-time accurate control of the mechanical arm can be realized.
Another embodiment of the present invention provides a full-automatic real-time calibration apparatus for an abdominal cavity surgical robot, including: the modeling module is used for establishing a rotation amount kinematics model of the mechanical arm; the first motion variable module is used for acquiring the tail end pose of the mechanical arm and determining the nominal joint motion variable of the mechanical arm according to the tail end pose; the second motion variable module is used for controlling the mechanical arm to move according to the kinematic parameters and acquiring the actual joint motion variable of the mechanical arm; and the calibration module is used for judging whether the precision of the joint motion variable meets a preset condition or not according to the nominal joint motion variable and the actual joint motion variable, and when the precision of the joint motion variable does not meet the preset condition, identifying the kinematic parameters by adopting a genetic algorithm so as to update the kinematic parameters.
Another embodiment of the present invention provides a full-automatic real-time calibration system for an abdominal cavity surgical robot, which includes a computer readable storage medium storing a computer program and a processor, wherein the computer program is read by the processor and executed to implement the full-automatic real-time calibration method for the abdominal cavity surgical robot.
Another embodiment of the present invention provides a computer-readable storage medium, which stores a computer program, and when the computer program is read and executed by a processor, the computer program implements a full-automatic real-time calibration method for a robot for abdominal cavity surgery.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.

Claims (9)

1. A full-automatic real-time calibration method of an abdominal cavity surgical robot is characterized by comprising the following steps:
establishing a rotation amount kinematics model of the mechanical arm, which specifically comprises the following steps: establishing a positive kinematics model of the mechanical arm according to a momentum model, the positive kinematics model comprising:
Figure 551026DEST_PATH_IMAGE001
wherein, g (theta) represents the motion parameter of the mechanical arm joint as thetaiThe pose of the tail end of the time, g (0) represents the pose of the tail end corresponding to the zero position of the joint,
Figure 560571DEST_PATH_IMAGE002
is expressed in relation to thetaiCorresponding motion vector, i =1, 2.., 11;
acquiring the terminal pose of the mechanical arm, and determining a nominal joint motion variable of the mechanical arm according to the terminal pose;
controlling the mechanical arm to move according to the kinematic parameters to obtain an actual joint motion variable of the mechanical arm;
and judging whether the precision of the joint motion variable meets a preset condition or not according to the nominal joint motion variable and the actual joint motion variable, and identifying the kinematic parameters by adopting a genetic algorithm to update the kinematic parameters when the precision of the joint motion variable does not meet the preset condition.
2. The fully-automatic real-time calibration method for the laparoscopic surgical robot of claim 1, wherein said determining nominal joint motion variables of the robotic arm according to the end pose comprises: determining the nominal articulation variable according to a first formula, wherein the first formula comprises:
Figure 407304DEST_PATH_IMAGE003
wherein, thetaNRepresenting the nominal joint motion variable, f representing the inverse kinematics equation, and x representing the momentum kinematics parameter.
3. The fully-automatic real-time calibration method of the laparoscopic surgery robot of claim 1, wherein the acquiring the end pose of the mechanical arm comprises: the pose of a polyhedral target is tracked in real time through a dynamic tracker, and when the mechanical arm moves and keeps a designated pose and the pose of the polyhedral target is not changed within preset time, the current pose is acquired, wherein the polyhedral target is installed at the tail end of the mechanical arm.
4. The fully-automatic real-time calibration method of the laparoscopic surgery robot of claim 1, wherein the determining whether the precision of the joint motion variables meets the preset conditions according to the nominal joint motion variables and the actual joint motion variables comprises: and substituting the nominal joint motion variable and the actual joint motion variable into the rotation kinematic model to obtain two groups of poses, and judging that the precision of the joint motion variable meets a preset condition when the position error of the two groups of poses is not more than 0.5mm and the posture error of the poses is not more than 1 degree.
5. The fully automatic real-time calibration method of the laparoscopic surgery robot of claim 1, wherein the identifying the kinematic parameters to update the kinematic parameters using a genetic algorithm comprises: constructing an objective function according to the nominal joint motion variables and the actual joint motion variables, wherein the objective function is as follows:
Figure 476891DEST_PATH_IMAGE004
wherein F (theta, x) represents an objective function, x represents a momentum kinematics parameter, and thetai RRepresenting said actual articulation variable, thetai NRepresenting the nominal articulation variable.
6. The fully automatic real-time calibration method for the laparoscopic surgery robot of claim 5, wherein the identifying the kinematic parameters to update the kinematic parameters using the genetic algorithm further comprises: setting the rotation amount kinematic parameters as chromosomes, setting the target function as a fitness function, and setting the nominal kinematic parameters as initial values of the chromosomes.
7. The utility model provides a full-automatic real-time calibration device of abdominal cavity surgical robot which characterized in that includes:
the modeling module is used for establishing a rotation kinematics model of the mechanical arm, and specifically comprises: establishing a positive kinematics model of the mechanical arm according to a momentum model, the positive kinematics model comprising:
Figure 409075DEST_PATH_IMAGE005
wherein, g (theta) represents the motion parameter of the mechanical arm joint as thetaiThe pose of the tail end of the time, g (0) represents the pose of the tail end corresponding to the zero position of the joint,
Figure 956731DEST_PATH_IMAGE002
is expressed in relation to thetaiCorresponding rotational amount of movement, i =1, 2.., 11;
the first motion variable module is used for acquiring the tail end pose of the mechanical arm and determining a nominal joint motion variable of the mechanical arm according to the tail end pose;
the second motion variable module is used for controlling the mechanical arm to move according to the kinematic parameters and acquiring the actual joint motion variable of the mechanical arm;
and the calibration module is used for judging whether the precision of the joint motion variable meets a preset condition or not according to the nominal joint motion variable and the actual joint motion variable, and when the precision of the joint motion variable does not meet the preset condition, identifying the kinematic parameters by adopting a genetic algorithm so as to update the kinematic parameters.
8. A full-automatic real-time calibration system of a laparoscopic surgery robot, comprising a computer readable storage medium storing a computer program and a processor, wherein the computer program is read and executed by the processor to implement the full-automatic real-time calibration method of the laparoscopic surgery robot as claimed in any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that it stores a computer program which, when read and executed by a processor, implements a fully automatic real-time calibration method of a laparoscopic surgical robot according to any one of claims 1 to 6.
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