CN115922733A - Human-computer sharing control method for hard bone tissue operation robot - Google Patents
Human-computer sharing control method for hard bone tissue operation robot Download PDFInfo
- Publication number
- CN115922733A CN115922733A CN202310046538.5A CN202310046538A CN115922733A CN 115922733 A CN115922733 A CN 115922733A CN 202310046538 A CN202310046538 A CN 202310046538A CN 115922733 A CN115922733 A CN 115922733A
- Authority
- CN
- China
- Prior art keywords
- robot
- path
- force
- human
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a human-computer sharing control method for a hard bone tissue operation robot, which comprises the following steps: defining a path, obtaining a nearest proxy point of the current robot from the path by an fs frame method, establishing a three-dimensional coordinate system with an origin at a certain position on the path, which is called a proxy coordinate system, and guiding the robot to establish a dragging axis in the tangential direction on the path, a following axis in the normal direction of the path, a bone surface perpendicular to the planned path or a manually-specified contact axis; generating a controller to track the path drift; the generating controller controls the interaction force on the contact axis. The invention can track the movement of the vertebral body caused by physiological movement and the like, and realizes the maintenance of the path on the tracking axis. And force control is executed on the path, so that the method can adapt to an uncertain environment and improve the human-computer cooperation intuition.
Description
Technical Field
The invention belongs to the technical field of medical robots, and particularly relates to a human-computer sharing control method for a hard bone tissue operation robot.
Background
The robot operation is a key step in complex orthopaedics and maxillofacial surgery robot-assisted surgery and is one of the highest clinical risks, because the difficulty of the operation is extremely high. For human doctors, the operation of the bare-handed operation is very difficult, the requirements on experience and training degree are extremely high, for example, the laminectomy type and the LeFort I osteotomy type are developed and concentrated on large medical institutions, and common operators are not trained in a large amount, so that the effectiveness and the safety of the operation are difficult to ensure.
The existing surgical robot usually adopts a navigation positioning type and a teleoperation type as basic control methods, but the two methods are still limited by uncertainties of doctors, patients and environments, and cannot be further expanded to more general surgery. For example, laminectomy requires real-time tracking of the patient's vertebral body by using a navigator, and LeFort I osteotomy requires real-time tracking of the patient's head, and as a result, the robot must satisfy the following function: that is, the robot can adjust the position thereof according to the position provided by the navigator, thereby ensuring the tracking of the affected area.
On the other hand, the robot may have problems with positional misalignment during operation due to physiological or accidental movements of the patient, during which the robot control needs to deal with certain uncertainties. The contact control is a better control strategy, and means that the robot is stably contacted with an operated object through force control in a position environment.
For both requirements, conventional robots need to achieve welding-like tasks through man-machine shared control based on force-position hybrid control, but such methods are not suitable for surgical operations.
CN 114454157A provides a local trajectory adjustment and man-machine sharing control method and system suitable for robots, so as to improve the autonomy of surgical robots, and change the relationship between the robot and the robot from master-slave to cooperative. When the difference between the instruction of the person and the reference track of the robot is large, the robot can locally and actively adjust the reference track of the robot by combining the virtual interaction force of the person; when the difference between the human and the robot is small, instructions of both the human and the robot are comprehensively considered, a human-computer mixed cost function is dynamically adjusted based on the system safety evaluation index, the optimal control quantity is calculated, and human-computer sharing control is realized. The invention also provides a corresponding computer program storage medium and a robot. This method has the following disadvantages:
1. the method is complex, the real-time performance is low, so that the robot has slow response, and tracks need to be generated in real time and the optimal track set needs to be selected;
2. the method is based on teleoperation, master-slave mapping is needed, and the operation mode is not suitable for orthopaedic surgery and maxillofacial surgery robots with a large operation range;
3. the method does not define the follow-up characteristic of the robot, namely the robot designed based on the method does not have the environmental adaptability brought by follow-up and contact.
CN 101745765B provides a method for remote control welding of man-machine cooperation shared control, which relates to a method for remote control welding. The invention aims to solve the problems that direct control operation cannot be continuously carried out or even work cannot be carried out under the condition of time delay in the existing remote control welding, and the automatic tracking welding of the welding line cannot be realized when the welding environment is complex and the outline size of a welding line groove is irregular. The method comprises the following steps: a macro zoom camera collects two-dimensional video images, and an operator adjusts the visual field in a central monitoring man-machine interface; step two: the robot guides the welding gun to move to reach the position near the upper part of the welding seam; step three: an operator tracks the weld; step four: the workpiece is fixed on the working platform to form a far-end welding environment; step five: the robot moves to the starting point of the welding line; step six: keeping the arc length distance parameter between the welding gun and the workpiece to be set through a central monitoring man-machine interface; step seven: and the operator sets a sharing control algorithm through the central monitoring man-machine interface. The invention is used for remote control welding. This patent relates to path tracking and shared control, but has the disadvantages that:
1. the process belongs to remote control type welding seam butt joint, and the mechanical arm does not need to be in contact with a workpiece, so that the process is not complex enough, and the method is not enough for realizing operation.
2. In the process, the patient and the positioning robot cannot be accurately tracked based on the zoom camera, and the working state cannot be accurately described by the two-dimensional image, so that the position change of the robot and the patient is recorded by adopting the space displacement generated by the medical navigation equipment in the patent.
3. And no force control and dragging link exists, so that the method cannot be applied to orthopedic scenes.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a robot sharing control method for a hard bone tissue operation robot, aiming at solving the following problems:
(1) Aiming at the problem that the positioning of an operated object has certain uncertainty in the hard tissue operation process, different control tasks are realized in all directions by combining force and position hybrid control: in the depth direction, the robot realizes contact control by using impedance control or force control, thereby realizing accurate operation under the condition that the operated tissue is not accurately positioned.
(2) Aiming at the problem that an operated object may move in a large amplitude due to physiological motion and the like in the hard tissue operation process, the robot can track a path in the transverse direction of the defined path by using a controller generated by a control method such as robust control, model predictive control and the like in combination with navigation positioning, so that the robot is always locked on the path.
(3) Aiming at the situation that the pose change requirement of an instrument possibly exists in the hard tissue operation process, the tool can rotate around a working point through RCM (rotating center) by combining robot admittance control.
The technical scheme of the invention is as follows:
a human-machine sharing control method for a hard bone tissue surgery operation robot comprises the following steps:
s1, according to the operation of the robot on the path required by the operation process, the path is defined firstly, and in a scene, the path definition can adopt a path predefined by a straight line and a circular arc based on spline curve interpolation. Wherein the path is defined over an affected area that can jiggle with physiological motion.
S2, after the path is defined, the nearest proxy point of the current robot from the path is obtained through an fs frame method, a three-dimensional coordinate system with the origin at a certain position on the path is established and called as a proxy coordinate system, and the process can be achieved through a sampling traversal and gradient descent method.
And S3, the obtained result guides the robot to establish a dragging axis in the tangential direction on the path, a following axis in the normal direction of the path, a bone surface perpendicular to the planned path or a manually specified contact axis. The three axes are used as a reference coordinate system to control the position of the robot, but the flexible center of the current robot admittance control, namely the flexible point, is arranged at the tail end of the robot, namely when the human-machine dragging force only has torque, the robot rotates around a tool point of the robot. By this method control criteria are established.
S4, on the dragging shaft, the robot shows a compliance dragging motion mode in human-computer interaction dragging, the motion of the robot obeys an admittance control model without position factors, and the formula is expressed as follows:
wherein f is h Is a human-machine interaction force that is acquired by a six-dimensional force sensor fixed to the end of the tool, which force, after being acquired, is optionally subjected to a filtering operation. M is a programmed expected quality value set to 0; b is a damping value set by a program, which is manually set or automatically set according to the program; x is the number of d Representing the desired position in the robot controller, is derived to the desired velocity. For the above formula, the left side force is the system input, the right side velocity is the system output, when the doctor drags the handle, the drag force is generated, and the robot forms the corresponding velocity according to the drag force, which is called as the 'compliance drag motion'.
S5, generating a controller by using a comprehensive method including MPC, hinf and Mu to track path drift. Utilizing current robotic compliance points
Follower axis E in proxy coordinate system fo The projection value of (2) is fed back. In this process, the projection value is calculated as a closed-loop feedback quantity using an observer:
in the process, the robot automatically determines the direction and the amplitude of the feedback quantity and stabilizes the robot on a path.
S6, generating a controller by using methods including MPC, hinf, mu synthesis, fuzzy control and the like to control the interaction force on the contact shaft; a force controller is constructed according to two flexible units, and the stress of the robot in the process under the quasi-static condition is as follows:
f ext +f imp ＝f env
f env for the environmental force measured by the environmental force sensor, f ext Human-computer interaction force measured by human-computer interaction sensor, f imp Is the output force of the robot. F is realized by analyzing the control system and designing a feedback controller K ext The tracking of (2). f. of ext Given by the interactive force handle. In actual control, the human-computer interaction force and the environmental interaction force can be summed and controlled by a method such as a PID controller, and the human-computer interaction force and the environmental interaction force are respectively measured by a human-computer interaction force sensor and an environmental interaction force sensor at the end. The controller is embodied as:
u＝g(f ext -f env )
wherein g is a controller.
The technical scheme of the invention has the technical effects that:
(1) Adaptability to non-fixed procedures: the tracking device can track vertebral body movement caused by physiological movement and the like, and realizes the path maintenance on a tracking axis.
(2) Performing force control on the path can accommodate an uncertainty environment: when the depth of the robot is not positioned accurately, the robot control can bring environmental adaptability to the robot, so that the robot is close to the bone surface.
(3) The surgical plan is converted from trajectory to path: the robot performs operation on the path, doctors do not need to perform operation according to time requirements, and on the contrary, the robot can drag forwards, backwards and repeatedly on the path, so that the human-computer cooperation intuition is improved.
Drawings
FIG. 1 is an overall view of an embodiment;
fig. 2 is a flow chart of the present invention.
Detailed Description
The specific technical scheme of the invention is explained by combining the attached drawings.
The overall scene diagram of the embodiment is shown in fig. 1, and the overall flow is shown in fig. 2, and a human-machine sharing control method for a hard bone tissue surgery operation robot includes the following steps:
s1, the robot is required to perform grinding, cutting and other operations on a path due to a surgical process. Firstly, a path needs to be defined, and in this scenario, the definition of the path may be based on spline curve interpolation, or may also adopt predefined paths such as straight lines, circular arcs, and the like. Wherein the path is defined over an affected area that can jiggle with physiological motion.
S2, after the path is defined, the nearest proxy point of the current robot from the path can be obtained through an fs frame method, a three-dimensional coordinate system with the origin at a certain position on the path can be established in the process and is called as a proxy coordinate system, and the process can be achieved through methods such as sampling traversal and gradient descent.
And S3, the obtained result can guide the robot to establish a dragging axis in the tangential direction on the path, a following axis in the normal direction of the path and a contact axis perpendicular to the bone surface (or manually designated) where the planned path is located. The three axes are used as a reference coordinate system to control the position of the robot, but the current robot admittance control flexible core (flexible point) is positioned at the tail end of the robot, namely when the man-machine dragging force only has torque, the robot rotates around a robot tool point. By this method control criteria can be established.
S4, on the dragging shaft, the robot shows a compliance dragging motion mode in human-computer interaction dragging, the motion of the robot obeys an admittance control model without position factors, and the formula is expressed as follows:
wherein f is h Is a human-computer interaction force that is acquired by a six-dimensional force sensor fixed to the end of the tool, which force, after being acquired, may optionally be subjected to a filtering operation. M is a programmed expected quality value, which may be set to 0; b is a damping value set by a program, and can be set manually or automatically according to the program; x is a radical of a fluorine atom d Representing the desired position in the robot controller, and is derived to the desired velocity. For the above formula, the left force is the system input, the right velocity is the system output, when the doctor drags the handle, the drag force is generated, and the robot forms the corresponding velocity according to the drag force, which is called as the 'compliance drag motion'.
And S5, generating a controller by using methods including MPC, hinf, mu synthesis and the like to track the path drift. Utilizing current robotic compliance points
Follow-up axis in proxy coordinate system belongs to fo The projection value of (2) is fed back. In this process, the projection value is calculated as a closed-loop feedback quantity using an observer:
in the process, the robot automatically determines the direction and the amplitude of the feedback quantity and stabilizes the robot on a path.
S6, generating a controller by using methods including MPC, hinf, mu synthesis, fuzzy control and the like to control the interaction force on the contact shaft, wherein the robot has certain flexibility in the bottom layer control and certain flexibility in link contact if considered due to the adoption of an impedance mode in the robot control process. The force controller is constructed according to two flexible units, and the stress of the robot under the quasi-static condition in the process is as follows:
f ext +f imp ＝f env
f env for the environmental force measured by the environmental force sensor, f ext Human-computer interaction force measured by human-computer interaction sensor, f imp Is the output force of the robot. F is realized by analyzing the control system and designing a feedback controller K ext The tracking of (2). f. of ext Given by the interactive force handle. In actual control, the human-computer interaction force and the environmental interaction force can be summed and controlled by a method such as a PID controller, and the human-computer interaction force and the environmental interaction force are respectively measured by a human-computer interaction force sensor and an environmental interaction force sensor at the end. The controller may be embodied as:
u＝g(f ext -f env )
wherein g is a controller.
Claims (6)
1. A human-machine sharing control method for a hard bone tissue surgery operation robot is characterized by comprising the following steps:
s1, according to operation required by a surgical procedure on a path, firstly defining the path, wherein the path is defined on an affected area, and the affected area can slightly move along with physiological motion;
s2, after the path is defined, obtaining the nearest proxy point of the current robot from the path by an fs frame method, and establishing a three-dimensional coordinate system with an origin at a certain position on the path, which is called a proxy coordinate system;
s3, the obtained result guides the robot to establish a dragging axis in the tangential direction on the path, a following axis in the path normal direction and a contact axis which is vertical to the bone surface where the planned path is located or is manually appointed; the three axes are used as a reference coordinate system to control the position of the robot, but the flexible center of the current robot admittance control, namely a flexible point is arranged at the tail end of the robot, namely when the man-machine dragging force only has torque, the robot rotates around a tool point of the robot; establishing control criteria by this method;
s4, on the dragging shaft, the robot shows a compliance dragging motion mode in human-computer interaction dragging, the motion of the robot obeys an admittance control model without position factors, and the formula is expressed as follows:
wherein f is h Is a human-computer interaction force; m is a programmed desired quality value, set to 0; b is a damping value set by a program, and the damping value is set manually or automatically according to the program; x is the number of d Representing a desired position in the robot controller, derived to a desired velocity; for the above formula, the left side force is the system input, the right side speed is the system output, when the doctor drags the handle, the drag force is generated, and the robot forms the corresponding speed according to the drag force, which is called as the 'compliance drag motion';
s5, generating a controller to track the path drift; utilizing current robotic compliance points
Follower axis E in proxy coordinate system fo Feeding back the projection value of (2); in this process, an observer is used to calculate the projection value as a closed-loop feedback quantity:
in the process, the robot automatically determines the direction and the amplitude of the feedback quantity and stabilizes the robot on a path;
s6, generating a controller to control the interaction force on the contact shaft; a force controller is constructed according to two flexible units, and the stress of the robot in the process under the quasi-static condition is as follows:
f ext +f imp ＝f env
f env rings measured for ambient force sensorsEnvironmental force, f ext Human-computer interaction force measured by human-computer interaction sensor, f imp Is the output force of the robot. F is realized by analyzing the control system and designing a feedback controller ext Tracking of (2); f. of ext Given by the interactive force handle; in the actual control, the human-computer interaction force and the environment interaction force can be summed and controlled by methods such as a PID controller, and the human-computer interaction force and the environment interaction force are respectively measured by a human-computer interaction force sensor and an environment interaction force sensor at the tail end; the controller is embodied as:
u＝g(f ext -f env ) Where g is a controller whose purpose is to make the environmental interaction force equal to the human interaction force.
2. The method as claimed in claim 1, wherein in S1, the path is defined based on spline interpolation and may be predefined path of straight line and circular arc.
3. The method as claimed in claim 1, wherein in S2, a three-dimensional coordinate system with an origin at a position along the path is established, and the three-dimensional coordinate system is implemented by a sampling traversal and gradient descent method.
4. The human-computer sharing control method for hard bone tissue operation robot according to claim 1, wherein in S4, the human-computer interaction force f h Collected by a six-dimensional force sensor fixed to the end of the tool, which, after being collected, is subjected to a filtering operation.
5. The method as claimed in claim 1, wherein the controller is generated by using MPC, hinf and Mu comprehensive method in S5 to track the path drift.
6. The method as claimed in claim 1, wherein the interaction force on the contact axis is controlled by using MPC, hinf, mu comprehensive and fuzzy control method generation controller in S6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310046538.5A CN115922733A (en) | 2023-01-31 | 2023-01-31 | Human-computer sharing control method for hard bone tissue operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310046538.5A CN115922733A (en) | 2023-01-31 | 2023-01-31 | Human-computer sharing control method for hard bone tissue operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115922733A true CN115922733A (en) | 2023-04-07 |
Family
ID=86700941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310046538.5A Pending CN115922733A (en) | 2023-01-31 | 2023-01-31 | Human-computer sharing control method for hard bone tissue operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115922733A (en) |
-
2023
- 2023-01-31 CN CN202310046538.5A patent/CN115922733A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11653987B2 (en) | Systems and methods for controlling a robotic manipulator or associated tool | |
| US11284952B2 (en) | Estimation of a position and orientation of a frame used in controlling movement of a tool | |
| US11679499B2 (en) | Systems and methods for controlling a robotic manipulator or associated tool | |
| US11712798B2 (en) | Systems and methods for controlling a robotic manipulator or associated tool | |
| EP3636393B1 (en) | Medical robot and control method thereof | |
| US8768516B2 (en) | Control of medical robotic system manipulator about kinematic singularities | |
| WO2022095946A1 (en) | Surgical robot, control method, system, and readable storage medium | |
| Xia et al. | A constrained optimization approach to virtual fixtures for multi-robot collaborative teleoperation | |
| CN113742992A (en) | Master-slave control method based on deep learning and application | |
| CN115922733A (en) | Human-computer sharing control method for hard bone tissue operation robot | |
| KR20230022429A (en) | Inverse Kinematics of Surgical Robot for Telemanipulation with Hardware Constraints | |
| CN114176790B (en) | Clutch control method of master-slave robot | |
| Grammatikopoulou et al. | Motor channelling for safe and effective dynamic constraints in Minimally Invasive Surgery | |
| Wang et al. | Path planning of robot-assisted osteotomy in orthognathic surgery | |
| CN116077089B (en) | Multimode safety interaction method and device for ultrasonic scanning robot | |
| Yadav et al. | Analysis of Kinematics of Robotic Arm used for Robotic Assisted Surgery | |
| Staub et al. | Micro camera augmented endoscopic instruments: Towards superhuman performance in remote surgical cutting | |
| Ginhoux et al. | A 500 hz predictive visual servoing scheme to mechanically filter complex repetitive organ motions in robotized surgery | |
| Casals et al. | Robotic aids for laparoscopic surgery problems | |
| Yan et al. | Multi-Modal Interaction Control of Ultrasound Scanning Robots with Safe Human Guidance and Contact Recovery | |
| EP4313508A1 (en) | Systems and methods for controlling a robotic manipulator or associated tool | |
| Ranftl et al. | Enhancing hybrid force/velocity control with visual servoing in robot-assisted total knee arthroplasty | |
| WO2019222211A1 (en) | Method and apparatus for manipulating tissue |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |