CN114999296B - Force feedback device, method of providing feedback force, and storage medium - Google Patents
Force feedback device, method of providing feedback force, and storage medium Download PDFInfo
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- CN114999296B CN114999296B CN202210935732.4A CN202210935732A CN114999296B CN 114999296 B CN114999296 B CN 114999296B CN 202210935732 A CN202210935732 A CN 202210935732A CN 114999296 B CN114999296 B CN 114999296B
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
Abstract
The invention provides a force feedback device, a method for providing feedback force and a storage medium. The feedback device comprises a static platform, a movable platform, a plurality of parallel transmission arms and a processor. The connection part of the static platform and each transmission arm is provided with a plurality of motors, and the motors are respectively connected with each transmission arm through a plurality of first rotating mechanisms. The movable platform is connected with an operating piece of a user, is respectively connected with the transmission arms through a plurality of second rotating mechanisms, and generates pose adjustment along with the operation of the user. And each transmission arm is twisted along with the pose adjustment of the movable platform so as to adjust the rotation angle of each corresponding motor. The processor determines the pose of the operating piece according to the rotation angle of each motor, calculates feedback force by combining the operating piece and a virtual model of an operating object, and controls each motor to provide reverse torque according to the feedback force so as to provide the feedback force for the operating piece through each transmission arm.
Description
Technical Field
The present invention relates to virtual surgery training technology, and more particularly, to a force feedback device, a method of providing feedback force, and a computer-readable storage medium.
Background
Virtual surgical training equipment is currently an emerging proven effective surgical training modality. The virtual operation training equipment generally provides a virtual operation scene and operation instruments for a user based on a virtual reality technology, and the user can operate a special handle to perform operation training on the virtual operation scene, so that the purposes of being familiar with an operation environment and improving self operation skills are achieved. At present, virtual operation training equipment on the market mainly comprises an endoscopic operation simulator, a blood vessel intervention operation simulator, an ophthalmic operation simulator and the like, and covers surgical operation training subjects of a plurality of departments.
In virtual surgery training, whether the sense of touch exists or not is an important index for measuring the reality of the virtual surgery training. The tactile feedback in the operation training operation can enable the virtual operation training to be closer to the real situation, the immersion sense of a user is improved, the real operation manipulation and the material characteristics of biological tissues are deeply understood, and the user can conveniently train the hand feeling of the operation in the training process. Currently, there is an ATHRO Mentor arthroscopic surgery simulator developed by Surgical Science, sweden, in the field by using a modified 3D Systems Touch six-degree-of-freedom series force feedback device as a force sense output device of the system. In addition, the ophthalmic surgery simulator developed by the tissue of HelpMeSee uses a series force feedback device developed by Moog to feed back the force feeling generated during surgery.
However, although these series force feedback devices have a preliminary force interaction function, the following problems are common in the force feedback method of the single-arm open-chain transmission: (1) Error accumulation is easily caused in the rapid repeated motion, so that the accuracy of the force feedback mechanism on pose calculation is lost; (2) All load forces are borne by one force arm, so that the overall rigidity of the series structure is low; (3) The active driving device with a series structure is generally arranged at the tail end of the rod piece, so that the inertia of the movement of the equipment is larger, the difficulty of controlling the moment in the movement process is increased, and the instantaneity of force feedback can be lost; (4) Only the situation that the biological tissue is elastically deformed due to stress can be simulated, and correct force feedback can not be carried out according to the actual situation that the biological tissue is stressed and cracked.
In order to overcome the above-mentioned defects in the prior art, there is a need in the art for a force feedback technology for avoiding error accumulation in rapid repetitive motion, improving the overall stiffness of the force feedback structure, improving the accuracy and real-time performance of torque control, and performing accurate force feedback for the actual situation of the stressed rupture of biological tissues.
Disclosure of Invention
The following presents a simplified summary of one or more aspects in order to provide a basic understanding of such aspects. This summary is not an extensive overview of all contemplated aspects, and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that is presented later.
In order to overcome the above-mentioned defects of the prior art, the present invention provides a force feedback device, a method for providing feedback force, and a computer readable storage medium, which can avoid error accumulation in rapid repetitive motion, improve the overall stiffness of the force feedback structure, improve the accuracy and real-time of torque control, and perform correct force feedback for the actual situation of the stressed rupture of biological tissues.
Specifically, the force feedback device provided by the first aspect of the present invention includes a static platform, a dynamic platform, a plurality of parallel transmission arms, and a processor. The connection part of the static platform and each transmission arm is provided with a plurality of motors, and the motors are respectively connected with each transmission arm through a plurality of first rotating mechanisms. The movable platform is connected with an operating piece of a user, is respectively connected with the transmission arms through a plurality of second rotating mechanisms, and generates pose adjustment along with the operation of the user. And each transmission arm is twisted along with the pose adjustment of the movable platform so as to adjust the rotation angle of each corresponding motor. The processor is configured to: determining the pose of the operating piece according to the rotation angle of each motor; determining at least one deformation particle on the virtual model of the operation object according to the pose of the operation element, the virtual model of the operation element and the virtual model of the operation object; judging whether the elasticity of the at least one deformation mass point is larger than the fracture limit threshold value; responding to the result that the elastic force received by each deformation mass point is smaller than or equal to the fracture limit threshold value, calculating a feedback force according to the elastic force received by each deformation mass point, and controlling each motor to provide a reverse torque according to the feedback force so as to provide the feedback force for the operating part through each transmission arm; and in response to the result that the elastic force applied to any deformation mass point is larger than the fracture limit threshold value, canceling the reverse moment of each motor to provide force feedback for fracture of the operating object.
Further, in some embodiments of the invention, the force feedback device comprises at least six actuator arms distributed in different directions. Each motor rotates along the distribution direction of the corresponding transmission arm respectively to support the moving platform to carry out pose adjustment of six degrees of freedom and provide feedback force of six degrees of freedom for the moving platform.
Further, in some embodiments of the present invention, the driving arm includes a driving arm and a driven arm. The active arm is connected with the static platform through the first rotating mechanism. The driven arm is connected with the movable platform through the second rotating mechanism. The driving arm and the driven arm are connected through a third rotating mechanism.
Further, in some embodiments of the present invention, the first rotating mechanism is a first rotating pair with the motor. The first revolute pair supports rotation in the direction of distribution of the main arm. In addition, the second rotating mechanism is composed of a second revolute pair and a hook joint. In addition, the third rotation mechanism is composed of a third revolute pair and a fourth revolute pair. The third revolute pair supports rotation in the distribution direction of the active arm. The fourth revolute pair supports rotation about the direction of distribution of the driven arms.
Further, in some embodiments of the present invention, the processor is further configured to: geometrically modeling the force feedback device based on a fixed pose of the stationary platform to determine a coordinate representation of each of the rotating mechanisms; establishing a constraint equation between the rotating mechanisms according to the fixed length of each transmission arm; and respectively acquiring the rotation angle of each motor, and respectively substituting the rotation angle into a corresponding constraint equation to perform positive kinematic solution of each transmission arm so as to determine the pose of the operation piece.
Further, in some embodiments of the invention, the processor is further configured to: establishing a stationary platform coordinate system O-XYZ by taking the central point O of the stationary platform as a coordinate origin, and determining the coordinate representation of each first rotating mechanism
And coordinate representation of each of the third rotating mechanisms
Wherein, the first and the second end of the pipe are connected with each other,Ris the radius of the circumscribed circle of the static platform,
in order to be the length of the active arm,
is the rotation angle of the motor; establishing a movable platform coordinate system O ' -X ' Y ' Z ' by taking the central point O ' of the movable platform as a coordinate origin, and determining the coordinate representation of each second rotating mechanism
Wherein, the first and the second end of the pipe are connected with each other,
the radius of a circumscribed circle of the movable platform; determining an Euler rotation transformation matrix according to the pose of the static platform central point O and the pose of the dynamic platform central point O
Wherein the content of the first and second substances,
、
、
respectively representing the rotation angles of the rigid body around an X axis, a Y axis and a Z axis; and transforming the matrix according to the Euler rotation
Determining coordinate representation of each second rotating mechanism in the stationary platform coordinate system O-XYZ
Wherein the content of the first and second substances,
is represented by the coordinate of the moving platform coordinate origin O' in the static platform coordinate system O-XYZ.
Further, in some embodiments of the present invention, the processor is further configured to: according to the fixed length of the driven arm
Establishing a constraint equation between each second rotary mechanism and the corresponding third rotary mechanism
。
Further, in some embodiments of the present invention, the processor is further configured to: and respectively substituting the rotating angles of the motors into corresponding constraint equations, and calculating a numerical solution of positive kinematics by using a Newton-Raphson method to determine the pose of the operation piece.
Further, in some embodiments of the invention, the processor is further configured to: acquiring a pose of the movable platform and a plurality of groups of sample data of corresponding rotation angles of the motors; calculating a partial derivative of the corresponding rotation angle according to the pose to obtain a Jacobian matrix between the pose adjustment of the movable platform and the offset of the rotation angle
(ii) a Determining the feedback force in response to a calculationFAccording to the Jacobian matrix
Calculating the torque of each of the motors
Wherein, the first and the second end of the pipe are connected with each other,
a transposed matrix that is the Jacobian matrix; and controlling the motors to respectively provide corresponding torque
To provide said feedback force to said operating member via each of said actuator armsF。
Further, in some embodiments of the present invention, the operating member is selected from at least one of an operating crossbar, a scalpel handle, a forceps handle, a nucleus cleaving hook handle, and a phacoemulsification handle. The operation object is at least one selected from the group consisting of an eyeball, a heart, a stomach pouch, a liver and an intestinal tract. The virtual model relates to spatial dimensions, stiffness coefficients, damping coefficients and/or rupture limit parameters of the actuator and/or the actuator object, respectively.
Further, in some embodiments of the present invention, the operating member is the forceps handle. The operation object is an eyeball with a capsule. The processor is further configured to: and in response to a judgment result that the elastic force applied to any one of the deformed particles on the capsule membrane is greater than a rupture limit threshold value of the deformed particle, controlling each motor to provide reverse torque according to the displacement direction of the forceps handle so as to provide reverse constant force for tearing the capsule membrane to the forceps handle through each transmission arm.
Further, in some embodiments of the present invention, the handle comprises a split-core hook handle and a phacoemulsification handle. The operation object is an eyeball with a lens nucleus. The processor is further configured to: according to the positions and postures of the nucleus splitting hook handle and the ultrasonic emulsification handle, a plurality of deformation particles of the lens nucleus relative to the nucleus splitting hook handle and the ultrasonic emulsification handle along two sides of a vertical section are respectively determined; respectively calculating the elasticity of each deformation mass point; determining a first feedback force of the split core hook handle according to a resultant force of elastic forces suffered by a plurality of deformation particles of the split core hook handle; determining a second feedback force of the ultrasonic emulsification handle according to a resultant force of elastic forces received by a plurality of deformation particles of the ultrasonic emulsification handle; controlling each motor connected with the split core hook handle to provide reverse torque according to the first feedback force so as to provide the first feedback force for the split core hook handle through each corresponding transmission arm; and controlling each motor connected with the ultrasonic emulsification handle to provide reverse torque according to the second feedback force so as to provide the second feedback force to the ultrasonic emulsification handle through each corresponding transmission arm.
Further, in some embodiments of the invention, the processor is further configured to: calculating the resultant force applied to the lens nucleus according to the first feedback force and the second feedback force; and responding to a judgment result that the resultant force borne by the lens nucleus is larger than the rupture limit threshold value of the lens nucleus, and simultaneously canceling the reverse torque of each motor connected with the nucleus splitting hook handle and the ultrasonic emulsification handle so as to simultaneously provide force feedback that the lens is split to the nucleus splitting hook handle and the ultrasonic emulsification handle.
Further, the above method for providing feedback provided according to the second aspect of the present invention comprises the steps of: determining the pose of an operating piece according to the rotation angles of a plurality of motors, wherein the motors are respectively arranged at the joints of a static platform and a plurality of transmission arms and are respectively connected with the transmission arms through a plurality of first rotating mechanisms, the operating piece is connected with a movable platform, and the movable platform is respectively connected with the transmission arms through a plurality of second rotating mechanisms and generates pose adjustment along with the operation of a user; determining at least one deformation particle on the virtual model of the operation object according to the pose of the operation element, the virtual model of the operation element and the virtual model of the operation object; judging whether the elasticity of the at least one deformation particle is larger than the fracture limit threshold value; in response to the result that the elastic force received by each deformation mass point is smaller than or equal to the fracture limit threshold value, calculating a feedback force according to the elastic force received by each deformation mass point, and controlling each motor to provide a reverse torque according to the feedback force so as to provide the feedback force for the operating part through each transmission arm; and in response to the result that the elastic force applied to any deformation mass point is larger than the fracture limit threshold value, canceling the reverse moment of each motor to provide force feedback for fracture of the operating object.
Further, the above computer-readable storage medium provided according to the third aspect of the present invention has computer instructions stored thereon. The computer instructions, when executed by a processor, implement the above-described method of providing feedback provided by the second aspect of the invention.
Drawings
The above features and advantages of the present disclosure will be better understood upon reading the detailed description of embodiments of the disclosure in conjunction with the following drawings. In the drawings, components are not necessarily drawn to scale, and components having similar relative characteristics or features may have the same or similar reference numerals.
Fig. 1 illustrates a schematic structural diagram of a force feedback device provided in accordance with some embodiments of the present invention.
Fig. 2 illustrates a flow diagram of a method of providing feedback provided in accordance with some embodiments of the present invention.
FIG. 3 illustrates a schematic diagram of a Newton-Raphson iteration method provided in accordance with some embodiments of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in connection with the preferred embodiments, there is no intent to limit its features to those embodiments. On the contrary, the invention has been described in connection with the embodiments for the purpose of covering alternatives or modifications as may be extended based on the claims of the invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been omitted from the description in order not to obscure or obscure the focus of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Additionally, the terms "upper," "lower," "left," "right," "top," "bottom," "horizontal," "vertical" and the like as used in the following description are to be understood as referring to the segment and the associated drawings in the illustrated orientation. The relative terms are used for convenience of description only and do not imply that the described apparatus should be constructed or operated in a particular orientation and therefore should not be construed as limiting the invention.
It will be understood that, although the terms "first", "second", "third", etc. may be used herein to describe various elements, regions, layers and/or sections, these elements, regions, layers and/or sections should not be limited by these terms, but rather should be used to distinguish one element, region, layer and/or section from another. Thus, a first component, region, layer or section discussed below could be termed a second component, region, layer or section without departing from some embodiments of the present invention.
As described above, although the existing force feedback device in series connection in the art has a preliminary force interaction function, the following problems are common in the force feedback method of single-arm open-chain transmission: (1) Error accumulation is easily caused in the rapid repeated movement, so that the accuracy of the force feedback mechanism on pose calculation is lost; (2) All load forces are borne by one force arm, so that the overall rigidity of the series structure is low; (3) The active driving device with a series structure is generally arranged at the tail end of the rod piece, so that the inertia of the movement of the equipment is large, the difficulty of controlling the moment in the movement process is increased, and the instantaneity of force feedback can be lost.
In order to overcome the above-mentioned drawbacks of the prior art, the present invention provides a force feedback device, a method of providing feedback force, and a computer readable storage medium, which can prevent error accumulation in rapid repetitive motions, improve the overall stiffness of the force feedback structure, and improve the accuracy and real-time of torque control.
In some non-limiting embodiments, the above-mentioned method of providing feedback provided by the second aspect of the present invention may be implemented via the above-mentioned force feedback device provided by the first aspect of the present invention. Referring to fig. 1, fig. 1 illustrates a schematic structural diagram of a force feedback device according to some embodiments of the present invention.
In the embodiment shown in fig. 1, the force feedback device provided in the present invention includes a static platform 11, a dynamic platform 12, a plurality of driving arms 13 with parallel transmission, and a processor (not shown).
The static platform 11 can be fixedly installed on stable places such as the ground, a wall body and a training equipment cabinet body through bolts, rivets and/or other fastening mechanisms, and is respectively connected with the transmission arms 13 which are in parallel transmission through a plurality of first rotating mechanisms B1-B6. Further, a plurality of motors are installed at the joints of the static platform 11 and the transmission arms 13, and are used for driving the transmission arms 13 to rotate so as to provide feedback force for the operating member 20. Compared with the scheme that the motor and other active driving devices are arranged at the tail end of the transmission rod piece in the prior art, the light weight design that the motor is arranged on the static platform 11 can effectively reduce the structural inertia of each transmission arm 13, thereby reducing the difficulty of controlling the moment in the motion process and improving the real-time performance of force feedback.
The upper end of the movable platform 12The operating member 20 held by a user is connected, and the lower part of the operating member is connected with the transmission arms 13 which are respectively connected with the parallel transmission through a plurality of second rotating mechanisms P1-P6. Here, the operating element 20 may be selected from at least one of an operating cross bar, a scalpel handle, a forceps handle, and a forceps handle, for a specific application scenario of virtual surgery training. In response to the translational and/or rotational operation of the operating element 20 by the user, the movable platform 12 will be subjected to synchronous translational and/or rotational pose adjustment under the driving of the operating element 20. Each transmission arm 13 also adjusts the pose of the follow-up platform 12 to be twisted so as to adjust the rotation angle of each corresponding motor
. Accordingly, in response to the reverse torque provided by each motor to the corresponding transmission arm 13, the movable platform 12 will provide a corresponding feedback force to the operation member 20 under the driving of each transmission arm 13.
Further, in the embodiment shown in fig. 1, the force feedback device may preferably comprise six actuator arms 13 distributed in different directions. The plane distribution included angle of 60 degrees can be uniformly maintained between the transmission arms. The motors mounted on the first rotating mechanisms B1 to B6 can rotate in the distribution directions of the corresponding transmission arms, respectively, to support the moving platform 12 to perform six-degree-of-freedom pose adjustment in translation along the X-axis, the Y-axis, and the Z-axis and/or rotation around the X-axis, the Y-axis, and the Z-axis, and to provide the feedback force of the six degrees of freedom to the moving platform 12.
Further, for the above six driving arms 13 design, each driving arm 13 may preferably include a driving arm and a driven arm. The active arm is connected to the stationary platen 11 through the first rotating mechanisms B1 to B6. The driven arm is connected to the movable table 12 through the second rotating mechanisms P1 to P6. The master arm and the slave arm are connected via third rotating mechanisms C1-C6.
Specifically, the first rotating mechanisms B1 to B6 connected to the driving arm may be first rotating pairs with motors. The first revolute pairs B1-B6 support rotation along the distribution direction of the driving arm under the driving action of the driving arm and/or the driving force of the corresponding motor. The second rotating mechanisms P1-P6 are composed of second revolute pairs and Hooke's joints, and are supported to rotate in multiple degrees of freedom under the driving action of the movable platform 12 and/or the driven arm. The third rotating mechanisms C1-C6 are composed of a third rotating pair and a fourth rotating pair. The third revolute pair supports rotation along the distribution direction of the driving arm under the driving action of the driven arm and/or the driving arm. The fourth revolute pair supports rotation around the distribution direction of the driven arm under the driving action of the driven arm and/or the driving arm.
Compared with the series open chain transmission mode in the prior art that one force arm bears all load forces, the invention adopts a plurality of parallel transmission arms 13 to improve the integral rigidity of the feedback structure, and avoids error accumulation in rapid repeated movement through mutual constraint among the parallel transmission arms 13, thereby improving the accuracy of torque control.
It will be understood by those skilled in the art that the parallel transmission mechanism composed of six transmission arms 13 shown in fig. 1 is only a preferred embodiment of the present invention, and is intended to clearly demonstrate the main concept of the present invention and provide a preferred solution with high structural rigidity, high motion control accuracy and small structural inertia, and is not intended to limit the scope of the present invention.
Alternatively, in other embodiments, based on the above technical concept provided by the present invention, a person skilled in the art may also use three, four, or five transmission arms 13 to form a parallel transmission mechanism, and use a corresponding rotation mechanism to sacrifice part of structural rigidity and accuracy of motion control, so as to achieve the basic technical effect of parallel transmission.
Optionally, in other embodiments, based on the above technical concept provided by the present invention, a person skilled in the art may select more than six transmission arms 13 to form a parallel transmission mechanism, and add a corresponding form of rotation mechanism to increase the structural complexity and the structural inertia, so as to obtain higher structural rigidity and accuracy of motion control of the parallel transmission.
Furthermore, the processor configured to the force feedback device may be further connected to the above-mentioned computer readable storage medium provided by the third aspect of the present invention, and implement the above-mentioned method of providing feedback force provided by the second aspect of the present invention by executing computer instructions stored thereon, to provide feedback force to the operating member 20 with high accuracy and high real-time.
The working principle of the above described force feedback device will be described below in connection with some embodiments of a method of providing feedback force. It will be appreciated by those skilled in the art that these methods of providing feedback are merely non-limiting embodiments of the present invention, which are intended to clearly illustrate the broad concepts of the present invention and to provide specific details which are convenient to carry out by the public, and are not intended to limit the overall function or the overall operation of the force feedback device. Likewise, the force feedback device is only a non-limiting embodiment provided by the present invention, and does not limit the execution subject of each step in the method for providing feedback force.
Referring to fig. 2, fig. 2 is a flow chart illustrating a method for providing feedback according to some embodiments of the present invention.
As shown in FIG. 2, in some embodiments of the present invention, in response to a user's translational and/or rotational manipulation of the manipulating member 20, the processor may first determine the rotational angle of each motor
The posture of the operating member 20 is determined. Specifically, in the process of determining the pose of the operating element 20, the processor may first perform geometric modeling on the force feedback device based on the fixed pose of the stationary platform 11 to determine the coordinate representation of each of the rotating mechanisms B1 to B6, P1 to P6, and C1 to C6.
For example, the processor may establish a cartesian coordinate system O-XYZ of the stationary platform with the center point O of the stationary platform 11 as the origin of coordinates, and determine the coordinate representation of each of the first rotating mechanisms B1 to B6
And coordinate representation of each of the third rotating mechanisms C1 to C6
：
Wherein the content of the first and second substances,Ris the radius of the circumscribed circle of the static platform 11,
which is the length of the active arm, is,
is the rotation angle of the motor.
In addition, the processor can also use the central point O ' of the movable platform 12 as a coordinate origin to establish a cartesian coordinate system O ' -X ' Y ' Z ' of the movable platform 12, and determine the coordinate representation of each of the second rotating mechanisms P1 to P6:
wherein the content of the first and second substances,
is the radius of the circumscribed circle of the movable platform 12.
Then, the processor can determine an Euler rotation transformation matrix according to the pose of the static platform central point O and the pose of the moving platform central point O':
wherein the content of the first and second substances,
、
、
respectively representing the rotation angles of the rigid body around the X-axis, the Y-axis and the Z-axis, and transforming the matrix according to the Euler rotation
Determining the coordinate representation of each second rotating mechanism P1-P6 in the stationary platform coordinate system O-XYZ
Wherein, the first and the second end of the pipe are connected with each other,
is the coordinate representation of the movable platform coordinate origin O' in the stationary platform coordinate system O-XYZ.
Then, based on the actual constraint that the lengths of the transmission arms 13 between the rotating mechanisms B1-B6, P1-P6 and C1-C6 are not changed, the processor can establish a constraint equation between the rotating mechanisms according to the fixed length of each transmission arm 13. E.g. based on moving platform hinge points
With corresponding articulation points on the driving arm 13
Is always constant, the processor can be based on the fixed length of the driven arm
Establishing constraint equations between the second rotating mechanisms P1-P6 and the corresponding third rotating mechanisms C1-C6
Thus, the processor can pass through the hinge points（
) Is
Value sum
The values are respectively substituted into the above formula to obtain six hexahydric nonlinear equations, and coordinate representation of the movable platform central point O' in the static platform coordinate system O-XYZ is obtained through the equations
And Euler angle
、
、
To determine a euler rotation transformation matrixT。
Thereafter, in response to a user's translational and/or rotational manipulation of the manipulating member 20, the processor may acquire motor deflection data via the encoders of the respective motors, converting it into a rotational angle
And substituting the motion vectors into each constraint equation to carry out positive kinematics calculation of the parallel mechanism. Further, in some embodiments, since the calculation of the positive kinematic analytic solution of the parallel mechanism is difficult, the processor may use the newton-raphson method to find the numerical solution of the equation by iterative approximation, and use the numerical solution as the pose of the operating element 20.
Referring specifically to fig. 3, fig. 3 illustrates a diagram of a newton-raphson iterative method according to some embodiments of the present invention. As shown in FIG. 3, a positive kinematics solution is performed using the Newton-Raphson methodIn (3), the processor may first solve the function using a newton-raphson method
Is set as a starting point
. The processor can then calculate
Is set as the intersection point of the tangent of (a) and the X axis of the coordinate
. Thereafter, the processor may calculate
Is set as the intersection point of the tangent line of (A) and the X axis
. By analogy, pass throughnA second iteration until
The difference from 0 is smaller than a prescribed value. Thus, the processor may be ready for use
As a numerical solution to the equation, i.e., the pose of the operating element 20. The mathematical expression of the newton-raphson iteration is as follows:
as shown in FIG. 2, after determining the pose of the manipulator 20, the processor may calculate the feedback force in conjunction with the pose of the manipulator 20 and the virtual model, as well as the virtual model of the manipulation objectF. As mentioned above, the operating member 20 can be selected from a group consisting of joysticks, and the like for the specific application scenario of virtual surgery trainingAt least one of the cross bar, the scalpel handle, the forceps handle and the forceps handle is made. Correspondingly, the virtual model of the operating element 20 may be selected from virtual models of surgical instruments such as a manipulating crossbar, a surgical knife handle, a surgical forceps handle, a forceps handle, and the like, and parameters such as a spatial dimension, a rigidity coefficient, and the like of the surgical instruments may be related. Correspondingly, the operation object may be selected from at least one of human organs and/or biological tissues such as an eyeball, a heart, a stomach bag, a liver, an intestinal tract and the like, and the virtual model thereof may relate to parameters such as a spatial size, a stiffness coefficient, a damping coefficient and/or a rupture limit of the human organs and/or biological tissues. The specific modeling methods of these virtual models do not relate to the technical improvement of the present invention, and are not described herein.
In calculating the feedback forceFThe processor may first make a collision determination based on the pose of the operating element 20, the spatial size of the virtual model thereof, and the spatial size of the virtual model of the operation object (e.g., eyeball). If the judgment result indicates that the virtual surgical instrument and the model of the virtual eyeball tissue are not overlapped in space, the processor can judge that the two are not collided and determine the feedback forceF = 0. Otherwise, if the judgment result indicates that the virtual surgical instrument and the model of the virtual eyeball tissue are spatially overlapped, the processor can judge that the virtual surgical instrument and the model of the virtual eyeball tissue are collided, and calculate the feedback force corresponding to the spatial overlapping position and the spatial overlapping degree according to the parameters of the virtual model, such as spatial size, stiffness coefficient, damping coefficient and/or rupture limit and the likeF. Calculating the force of feedbackFThe specific steps of the method do not relate to the technical improvement of the invention, and are not described herein again.
As shown in FIG. 2, the feedback force is determined during calculationFThe processor may then rely on the feedback forceFControlling each motor to provide reverse torque
To provide the feedback force to the operating member 20 via the respective actuator arm 13F。
In some embodiments, the counter torque provided by each motor
Can be based on a pre-calibrated Jacobian matrix
To calculate. Here, the Jacobian matrix
The relationship between the moving speed (including translation and rotation) of the movable platform 12 in the rectangular space coordinate system and the moving speed of each motor can be written as
. In calibrating Jacobian matrix
In the process of (3), the processor can acquire the pose of the movable platform 12 in advancexAnd corresponding rotation angle of each motor
Multiple sets of sample data of (a), (b)
) And according to the position and posturexCorresponding to the rotation anglexCalculating a partial derivative to obtain the pose adjustment of the movable platform 12
Offset from the angle of rotation
Jacobian matrix in between
. Thereafter, a feedback force is determined in response to the calculationFThe processor can calculate the torque of each motor according to the following formula
Wherein the content of the first and second substances,
is a Jacobi matrix
The transposed matrix of (2). Thereafter, the processor may apply the respective motor torques
Respectively converted into corresponding current control signals, and respectively sent to the motors to control the motors to respectively stop rotation to provide corresponding torque
And provides a corresponding feedback force to the operating member 20 via the respective transmission arms 13 in cooperation with each otherF。
Further, in some embodiments, in order to perform correct force feedback for an actual situation that the biological tissue is subjected to force rupture, the force feedback apparatus provided by the present invention may further determine at least one deformation particle on the virtual model of the operation object according to the pose of the operation element, the virtual model of the operation element, and the virtual model of the operation object after determining the pose of the operation element according to the rotation angle of each motor. Then, the processor can read the rupture limit threshold parameter of each deformed particle from the virtual model of the operation object, and judge whether the elastic force applied to the at least one deformed particle is larger than the rupture limit threshold according to the rupture limit threshold parameter.
At this time, if the determination result indicates that the elastic force received by each of the deformation particles is less than or equal to the fracture limit threshold, the force feedback device may calculate the feedback force according to the elastic force received by each of the deformation particles, and control each of the motors to provide the reverse torque according to the feedback force, so as to provide the corresponding feedback force to the operating element 20 through each of the transmission arms 13. On the contrary, if the judgment result indicates that the elastic force applied to any one deformation mass point is greater than the fracture limit threshold value, the force feedback equipment can judge that the corresponding position of the biological tissue is fractured, so that the reverse moment of each motor is cancelled, the force feedback of the fracture of the operation object is provided, and the actual situation of the stress fracture of the biological tissue is truly and accurately simulated.
For example, in some surgical simulations of capsulorhexis for cataract surgery, the manipulator 20 may be a forceps handle, and the object may be a capsule-carrying eyeball. Here, the force feedback device may calculate the feedback force according to the elastic force received by each deformed particle when the elastic force received by each deformed particle is less than or equal to the rupture limit threshold, so as to simulate and provide the force feedback for clamping the capsular sac. Then, in response to the result of the judgment that the elastic force applied to any deformed mass point on the capsular diaphragm is greater than the rupture limit threshold value, the processor can judge that the capsular diaphragm is ruptured, so that the elastic force is eliminated, the motors are controlled to provide reverse torque according to the displacement direction of the forceps handles, and a small reverse constant force is provided for the forceps handles through the transmission arms 13. At this time, because the feedback force of the annular capsulorhexis is weak, the processor can provide a tiny reverse constant force as the feedback force according to the displacement direction of the virtual forceps without considering the deformation amount of each mass point, so that the data processing load of the feedback force calculation is reduced, and the real-time performance and the directionality of the force feedback are preferentially ensured.
For another example, in the operation simulation process of nucleus splitting operation of some cataract operations, two force feedback devices can be configured and respectively connected with the nucleus splitting hook handle and the ultrasonic emulsification handle. Correspondingly, the operating object may be embodied as an eyeball with a lens nucleus. The processor of each force feedback device can respectively determine a plurality of deformation particles of the lens nucleus relative to the nucleus splitting hook handle and the ultrasonic emulsification handle along two sides of the vertical section according to the poses of the nucleus splitting hook handle and the ultrasonic emulsification handle, and respectively calculate the elastic force applied to each deformation particle. Then, the first force feedback device can determine a first feedback force of the split core hook handle according to the resultant force of the elastic forces received by the plurality of deformation particles of the split core hook handle, and control each motor connected with the split core hook handle to provide a reverse torque according to the first feedback force so as to provide the first feedback force to the split core hook handle through each corresponding transmission arm. Similarly, the second force feedback device may determine a second feedback force of the phacoemulsification handpiece according to a resultant force of elastic forces received by the plurality of deformation particles with respect to the phacoemulsification handpiece, and control each motor connected to the phacoemulsification handpiece to provide a reverse torque according to the second feedback force, so as to provide the second feedback force to the phacoemulsification handpiece via each corresponding transmission arm. Further, the processor of each force feedback device can also calculate the resultant force applied to the lens nucleus according to the first feedback force and the second feedback force. In response to the judgment result that the resultant force applied to the lens nucleus is larger than the rupture limit threshold value of the lens nucleus, the two force feedback devices can simultaneously cancel the reverse torque of each motor connected with the nucleus splitting hook handle and the ultrasonic emulsification handle so as to simultaneously provide force feedback for splitting the lens for the nucleus splitting hook handle and the ultrasonic emulsification handle.
Therefore, on the basis of simulating the elastic deformation of the biological tissue under stress, the invention can further provide correct force feedback aiming at the actual situation of the stress rupture of the biological tissue, thereby deepening the understanding of the user to the operation by highlighting the hand feeling in the operation process and helping the user to quickly improve the skill of the operation practice.
In summary, the mutual constraint is performed by using a plurality of parallel-driven driving arms 13, and the Jacobian matrix is used
The invention can give consideration to the control precision and the operation efficiency of the force feedback, and is particularly suitable for the real-time force feedback scenes with small range and high precision, such as virtual operation simulation and the like. Furthermore, the six motors and the six transmission arms are adopted to carry out parallel force feedback, the six-degree-of-freedom force feedback is generated at high precision, the defects that most products on the market only have three-degree-of-freedom force feedback and can not accurately simulate force sense are overcome, the authenticity and the immersion sense of operation simulation can be effectively improved, and the operation practical operation level of a user is quickly improved.
While, for purposes of simplicity of explanation, the methodologies are shown and described as a series of acts, it is to be understood and appreciated that the methodologies are not limited by the order of acts, as some acts may, in accordance with one or more embodiments, occur in different orders and/or concurrently with other acts from that shown and described herein or not shown and described herein, as would be understood by one skilled in the art.
Those of skill in the art would understand that information, signals, and data may be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits (bits), symbols, and chips that may be referenced throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
Although the processors described in the above embodiments may be implemented by a combination of software and hardware. It will be appreciated that the processor may also be implemented solely in software or hardware. For a hardware implementation, the processor may be implemented within one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, other electronic devices designed to perform the functions described herein, or a selected combination thereof. For a software implementation, the processor may be implemented by separate software modules running on a common chip, such as program modules (processes) and function modules (functions), each of which performs one or more of the functions and operations described herein.
The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (11)
1. A force feedback device is characterized by comprising a static platform, a movable platform, a plurality of transmission arms connected in parallel and a processor, wherein,
a plurality of motors are arranged at the joints of the static platform and the transmission arms and are respectively connected with the transmission arms through a plurality of first rotating mechanisms,
the movable platform is connected with a first operating piece of a user, is respectively connected with each transmission arm through a plurality of second rotating mechanisms, and is adjusted in posture along with the operation of the user, wherein the first operating piece is selected from one of a nucleus splitting hook handle and a phacoemulsification handle and is used for being matched with a second operating piece of the other force feedback device for use, and the second operating piece is selected from the other of the nucleus splitting hook handle and the phacoemulsification handle,
each transmission arm is twisted along with the pose adjustment of the movable platform so as to adjust the rotation angle of each corresponding motor,
the processor is configured to: determining the pose of the first operation piece according to the rotation angle of each motor; determining a virtual model of an operation object, wherein the operation object is an eyeball with a lens nucleus; according to the poses of the first operating piece and the second operating piece, the virtual models of the first operating piece and the second operating piece and the virtual model of the operating object, a plurality of deformation particles of the lens nucleus relative to the first operating piece and the second operating piece along two sides of a vertical tangent plane are respectively determined; respectively calculating the elasticity of each deformation mass point; determining a first feedback force according to the resultant force of the elastic forces received by the deformation particles of the first operating element; determining a second feedback force according to the resultant force of the elastic forces received by the deformation particles of the second operating element; calculating the resultant force applied to the lens nucleus according to the first feedback force and the second feedback force; judging whether the resultant force exerted on the lens nucleus is greater than the fracture limit threshold value; in response to the result that the total force experienced by the lens nucleus is less than or equal to the rupture limit threshold thereof, providing a counter torque to each of the motors coupled to the first operating member in accordance with the first feedback force control to provide the first feedback force to the first operating member via each corresponding actuator arm and providing a counter torque to each of the motors coupled to the second operating member in accordance with the second feedback force control to provide the second feedback force to the second operating member via each corresponding actuator arm; and in response to the result that the resultant force applied to the lens nucleus is greater than the fracture limit threshold value of the lens nucleus, simultaneously removing the reverse moment of each motor connecting the first operating member and the second operating member so as to simultaneously provide force feedback that the lens nucleus is split to the first operating member and the second operating member.
2. The force feedback device of claim 1, comprising at least six actuator arms distributed along different directions, wherein each of the motors is rotated along the direction of the corresponding actuator arm to support the movable platform for six-degree-of-freedom pose adjustment and to provide six-degree-of-freedom feedback force to the movable platform.
3. The force feedback device of claim 2, wherein the actuator arm comprises a master arm and a slave arm, wherein the master arm is coupled to the stationary platform via the first rotational mechanism, wherein the slave arm is coupled to the movable platform via the second rotational mechanism, and wherein the master arm and the slave arm are coupled via a third rotational mechanism.
4. Force feedback device according to claim 3, wherein the first rotation mechanism is a first rotation pair with the motor, which first rotation pair supports rotation in the distributed direction of the active arm, and/or wherein the first rotation mechanism is a first rotation pair with the motor, and/or wherein the first rotation pair supports rotation in the distributed direction of the active arm
The second rotating mechanism consists of a second revolute pair and a Hooke's joint, and/or
The third rotating mechanism is composed of a third rotating pair and a fourth rotating pair, the third rotating pair supports rotation along the distribution direction of the driving arm, and the fourth rotating pair supports rotation around the distribution direction of the driven arm.
5. The force feedback device of claim 3, wherein the processor is further configured to:
geometrically modeling the force feedback device based on a fixed pose of the stationary platform to determine a coordinate representation of each of the rotating mechanisms;
establishing a constraint equation between the rotating mechanisms according to the fixed length of each transmission arm; and
and respectively acquiring the rotating angle of each motor, and respectively substituting the rotating angles into corresponding constraint equations to perform positive kinematic solution of each transmission arm so as to determine the pose of the operating piece.
6. The force feedback device of claim 5, wherein the processor is further configured to:
establishing a coordinate system O-XYZ of the static platform by taking the central point O of the static platform as a coordinate origin, and determining the coordinate representation of each first rotating mechanism
And coordinate representation of each of the third rotating mechanisms
Wherein, the first and the second end of the pipe are connected with each other,Ris the radius of the circumscribed circle of the static platform,
in order to be the length of the active arm,
is the rotation angle of the motor;
establishing a movable platform coordinate system O ' -X ' Y ' Z ' by taking the central point O ' of the movable platform as a coordinate origin, and determining the coordinate representation of each second rotating mechanism
Wherein the content of the first and second substances,
the radius of a circumscribed circle of the movable platform;
determining an Euler rotation transformation matrix according to the pose of the static platform central point O and the pose of the movable platform central point O
Wherein the content of the first and second substances,
、
、
respectively representing the rotation angles of the rigid body around an X axis, a Y axis and a Z axis; and
transforming the matrix according to the Euler rotation
Determining a coordinate representation of each of the second rotary mechanisms in the stationary stage coordinate system O-XYZ
Wherein the content of the first and second substances,
is the coordinate representation of the movable platform coordinate origin O' in the stationary platform coordinate system O-XYZ.
7. The force feedback device of claim 6, wherein the processor is further configured to:
according to the fixed length of the driven arm
Establishing a constraint equation between each second rotary mechanism and the corresponding third rotary mechanism
。
8. The force feedback device of claim 7, wherein the processor is further configured to:
and respectively substituting the rotating angles of the motors into corresponding constraint equations, and calculating a numerical solution of positive kinematics by using a Newton-Raphson method to determine the pose of the operation piece.
9. The force feedback device of claim 1, wherein the processor is further configured to:
acquiring a plurality of groups of sample data of the pose of the movable platform and the corresponding rotation angle of each motor;
calculating a partial derivative of the corresponding rotation angle according to the pose to obtain a Jacobian matrix between the pose adjustment of the movable platform and the offset of the rotation angle
；
Determining the feedback force in response to a calculationFAccording to the Jacobian matrix
Calculating the torque of each of the motors
Wherein the content of the first and second substances,
a transposed matrix that is the Jacobian matrix; and
controlling the motors to respectively provide corresponding torque
To provide said feedback force to said operating member via each of said actuator armsF。
10. A method of providing feedback force, comprising the steps of:
determining the pose of a first operating piece according to the rotation angles of a plurality of motors, wherein the motors are respectively arranged at the connecting positions of a static platform and a plurality of transmission arms and are respectively connected with the transmission arms through a plurality of first rotating mechanisms, the first operating piece is selected from one of a nucleus splitting hook handle and a phacoemulsification handle and is used for being matched with a second operating piece of another force feedback device for use, the second operating piece is selected from the other of the nucleus splitting hook handle and the phacoemulsification handle, the first operating piece is connected with a movable platform, and the movable platform is respectively connected with the transmission arms through a plurality of second rotating mechanisms and is adjusted with the pose of the operation of a user;
determining a virtual model of an operation object, wherein the operation object is an eyeball with a lens nucleus;
according to the poses of the first operating piece and the second operating piece, the virtual models of the first operating piece and the second operating piece and the virtual model of the operating object, a plurality of deformation particles of the lens nucleus relative to the first operating piece and the second operating piece along two sides of a vertical tangent plane are respectively determined;
respectively calculating the elasticity of each deformation mass point;
determining a first feedback force according to the resultant force of the elastic forces received by the deformation particles of the first operating element;
determining a second feedback force according to the resultant force of the elastic forces received by the deformation particles of the second operating element;
calculating the resultant force applied to the lens nucleus according to the first feedback force and the second feedback force;
judging whether the resultant force exerted on the lens nucleus is greater than the fracture limit threshold value;
in response to the result that the total force experienced by the lens nucleus is less than or equal to the rupture limit threshold thereof, providing a counter torque to each of the motors coupled to the first operating member in accordance with the first feedback force control to provide the first feedback force to the first operating member via each corresponding actuator arm and providing a counter torque to each of the motors coupled to the second operating member in accordance with the second feedback force control to provide the second feedback force to the second operating member via each corresponding actuator arm; and
and in response to the result that the resultant force applied to the lens nucleus is larger than the fracture limit threshold value of the lens nucleus, simultaneously removing the reverse moment of each motor connected with the first operating piece and the second operating piece so as to simultaneously provide force feedback for the first operating piece and the second operating piece that the lens nucleus is split.
11. A computer-readable storage medium having stored thereon computer instructions, which, when executed by a processor, carry out a method of providing feedback according to claim 10.
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