CN116115344A - Motion control method and device of surgical robot and surgical robot - Google Patents
Motion control method and device of surgical robot and surgical robot Download PDFInfo
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- CN116115344A CN116115344A CN202211681088.9A CN202211681088A CN116115344A CN 116115344 A CN116115344 A CN 116115344A CN 202211681088 A CN202211681088 A CN 202211681088A CN 116115344 A CN116115344 A CN 116115344A
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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Abstract
The disclosure relates to a motion control method and device of a surgical robot and the surgical robot, and belongs to the technical field of surgical robots, wherein the method comprises the following steps: acquiring a first deflection angle of a desired position of the second end relative to a preset initial position of the second end; obtaining a second deflection angle corresponding to each movable joint according to the expected position, the first deflection angle and the length of each rod part in the plurality of rod parts; according to the second deflection angles respectively corresponding to each movable joint, determining the target positions respectively corresponding to each movable joint; generating a first driving instruction corresponding to each movable joint according to the target position corresponding to each movable joint; and outputting a corresponding first driving instruction to a motor corresponding to the movable joint.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of surgical robots, and more particularly relates to a motion control method and device of a surgical robot and the surgical robot.
Background
With the intelligent development of surgical robots, doctors can contact patients by operating the surgical robots, so that infection caused by direct contact of the doctors with the patients is reduced. Currently, a physician can adjust the position of the surgical robot by means of manual adjustment, so that the accuracy of the position of the mechanical arm of the surgical robot is low.
Disclosure of Invention
It is an object of embodiments of the present disclosure to provide a method and an apparatus for controlling motion of a surgical robot, and a new technical solution of the surgical robot.
According to a first aspect of the present disclosure, there is provided a motion control method of a surgical robot including a base, a cross beam, and a robot arm, a first end of the cross beam being connected to the base, a second end of the cross beam being connected to the robot arm, the cross beam including a plurality of rod portions connected in series between the first end and the second end, adjacent rod portions being connected by a movable joint; the method comprises the following steps: acquiring a first deflection angle of the expected position of the second end relative to a preset initial position of the second end; obtaining a second deflection angle corresponding to each movable joint according to the expected position, the first deflection angle and the length of each rod part in the plurality of rod parts; determining a target position corresponding to each movable joint according to a second deflection angle corresponding to each movable joint; generating a first driving instruction corresponding to each movable joint according to the target position corresponding to each movable joint; the first driving instruction is used for driving the corresponding movable joint to move to the target position; outputting the corresponding first driving instruction to the motor corresponding to the movable joint.
Optionally, the first end is movably articulated with the adjacent rod portion, and the second end is movably articulated with the adjacent rod portion
Optionally, the first driving instruction is an instruction for driving the corresponding movable end to move from the current position to the corresponding target position based on the set speed.
Alternatively, the preset initial position is a position of the second end in a case where the movable joint of the surgical robot is located on the same straight line in the set direction.
Optionally, the obtaining, according to the desired position, the first deflection angle, and a preset length of a rod portion corresponding to each movable end of the beam, a second deflection angle corresponding to each movable end respectively includes: and inputting the first deflection angle, the expected position and the length of the rod part corresponding to each movable end into a preset angle generation model to obtain second deflection angles corresponding to each movable end of the cross beam.
Optionally, after obtaining the second deflection angles corresponding to the movable ends respectively according to the expected position, the first deflection angle and the preset rod length corresponding to the movable ends of the cross beam, the method further includes: according to the set angle of the second end of the cross beam, a third deflection angle is obtained, wherein the second end of the cross beam maintains the set angle when each movable end rotates to the corresponding second deflection angle; generating a second drive command for the second end according to the third deflection angle; and outputting a second driving instruction to the second end.
According to a second aspect of the present disclosure, there is also provided a motion control device of a surgical robot, the device comprising: the expected position acquisition module is used for acquiring an expected position of the second end and a first deflection angle of the expected position relative to a preset initial position of the second end; the second deflection angle obtaining module is used for obtaining a second deflection angle corresponding to each movable joint according to the expected position, the first deflection angle and the length of each rod part in the plurality of rod parts; the target position determining module is used for determining the target position corresponding to each movable joint according to the second deflection angle corresponding to each movable joint; the first driving instruction generation module is used for generating a first driving instruction corresponding to each movable joint according to the corresponding target position of each movable joint; the first driving instruction is used for driving the corresponding movable joint to move to the target position; and the first driving instruction output module is used for outputting the corresponding first driving instruction to the motor corresponding to the movable joint.
Optionally, the apparatus further comprises: the third deflection angle obtaining module is used for obtaining a third deflection angle for maintaining the set angle of the second end of the cross beam when each movable end rotates to the corresponding second deflection angle according to the set angle of the second end of the cross beam; a second driving instruction generating module, configured to generate a second driving instruction for the second end according to the third deflection angle; and the second driving instruction output module is used for outputting a second driving instruction to the second end.
According to a third aspect of the present disclosure, there is also provided a motion control device of a surgical robot, comprising a memory for storing a computer program and a processor; the processor is configured to execute the computer program to implement the method according to the first aspect of the present disclosure.
According to a fourth aspect of the present disclosure, there is also provided a surgical robot comprising a motion control device according to the second or third aspect of the present disclosure.
One benefit of embodiments of the present disclosure is that by obtaining the desired position of the second end and the first angle of deflection, the second angle of deflection of each movable joint may be obtained. The target position corresponding to each movable joint can be obtained through the second deflection angle, so that each movable joint on the cross beam is controlled to move, the mechanical arm on the second end can reach the expected position, and the accuracy of adjusting the position of the mechanical arm is improved.
Other features of the disclosed embodiments and their advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the embodiments of the disclosure.
Fig. 1 is a schematic view of a composition structure of a motion control system of a surgical robot to which a motion control method of the surgical robot according to one embodiment can be applied;
FIG. 2 is a flow diagram of a method of motion control of a surgical robot according to another embodiment;
FIG. 3 is a schematic view of a second end of a beam in an initial position according to another embodiment;
FIG. 4 is a schematic view of a second end of a cross beam in a desired position according to another embodiment;
FIG. 5 is a block schematic diagram of a motion control apparatus according to another embodiment;
fig. 6 is a schematic diagram of a hardware configuration of a motion control apparatus according to another embodiment.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
< System example >
Fig. 1 is a schematic view of a composition structure of a motion control system of a surgical robot to which a motion control method of the surgical robot according to one embodiment can be applied. As shown in fig. 1, the system includes a base 100, a cross beam 200, a robot arm 300, and a motion control device, and can be applied to a surgical robot scene.
The base 100 can be in communication connection with the control device, so that the base 100 can realize the function of up-down expansion through the control of the control device, and the overall height of the arm of the manipulator 300 can be adjusted.
The cross beam 200 may include a plurality of rods 210 connected in series, with adjacent rods 210 connected by a movable joint 220. In this embodiment, two rods 210 are provided, and two rods 210 are connected by a movable joint 220. A first end of the cross beam 200 may be coupled to the base 100, and a second end of the cross beam 200 may be coupled to the robotic arm 300, the robotic arm 300 being used for surgical procedures. The first end may be connected to an adjacent stem by a movable joint 220, and the second end may also be connected to an adjacent stem by a movable joint 220. Each movable joint 220 corresponds to a motor respectively, so as to control the movable joint 220 to drive the rod portion 210 to horizontally rotate. The motion control device may be communicatively connected to each of the movable joints 220, so as to control the movable joints 220 to rotate by the motion control device, thereby enabling the robot 300 to move to a corresponding position.
The motion control device may be an electronic device with a communication function, and is used to control the base 100, the cross beam 200, and the robot 300.
The memory of the motion control device, as applied in the embodiments of the present disclosure, is used to store a computer program for controlling the motion control device processor to operate to implement the motion control method of the surgical robot according to any of the embodiments. The skilled person may design a computer program according to the solution of the embodiments of the present disclosure. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.
< method example >
Fig. 2 is a flow diagram of a method of motion control of a surgical robot according to one embodiment. The implementation body is, for example, the motion control apparatus described above.
As shown in fig. 2, the motion control method of the surgical robot of the present embodiment may include the following steps S210 to S250:
in one embodiment, the first end is movably articulated with the adjacent stem and the second end is movably articulated with the adjacent stem.
Specifically, the first end of the cross beam is connected with the adjacent rod part through a movable joint, and the second end of the cross beam is also connected with the adjacent rod part through a movable joint. In other words, the cross beam can rotate with the base as the center, so that the mechanical unit can move to any position in a circle with the limit length of extension of the two rod parts as the radius, the moving range of the mechanical unit is enlarged, and the flexibility of the surgical robot is further improved.
In one embodiment, the preset initial position is a position of the second end in case that the movable joints of the surgical robot are located on the same straight line in the set direction.
Specifically, the motion control device may set the initial position in advance. As shown in FIG. 3, the first end is connected with the adjacent rod part by a movable joint, and the second end is connected with the adjacent rod part by a movable joint, Z is exemplified 1 Z is the movable joint corresponding to the first end 3 Z is the movable joint corresponding to the second end 2 A movable joint Z being an intermediate end between the first end and the second end 1 And Z 1 The length of the rod part between the two is l 1 ，Z 2 And Z 3 The length of the rod part between the two is l 2 Then, the set direction is the X direction, the X direction is the abscissa, the Y direction is the ordinate, the corresponding preset initial position can be (l) in the coordinate system 1 +l 2 ,0). In other words, the deflection angle of the rod part connected with the cross beam can be determined through the set initial position, so that the follow-up control of the rotation of different movable joints is realized.
Step S210, acquiring a desired position of the second end and a first deflection angle of the desired position relative to a preset initial position of the second end.
In particular, the physician may output a desired position for the robotic arm, i.e., for the second end of the beam, via a console communicatively coupled to the motion control device. Accordingly, the motion control device may obtain the desired position of the second end, where the desired position may be a certain coordinate position in the coordinate system. And the first deflection angle is obtained by the desired position of the second end relative to the initial position of the second end.
Step S220, according to the expected position, the first deflection angle and the length of each of the plurality of rod parts, the second deflection angle corresponding to each movable joint is obtained.
Specifically, the motion control device may obtain the second deflection angle corresponding to each movable joint according to the desired position, the first deflection angle, and the length of each of the plurality of rod portions.
In one embodiment, step S220 may include the following: and inputting the first deflection angle, the expected position and the length of the rod part corresponding to each movable end into a preset angle generation model to obtain the second deflection angle corresponding to each movable end of the cross beam.
As shown in fig. 4, taking the above coordinate system as an example, the control motion device is preset with an angle generation model, and a specific expression of the angle generation model may be as follows:
in the formula (1) and the formula (2), θ relative1-3 For a first deflection angle, x Target Is the abscissa of the second end, y Target Is the ordinate of the second end, correspondingly, θ 1Target Is the rotation angle theta of the movable joint at the first end of the beam 2Target The rotation deflection angle of the movable joint at the middle end is the second deflection angle corresponding to the first end and the middle end of the cross beam respectively.
In other words, the corresponding second deflection angle can be obtained through the formula, so that the control of each movable joint is realized.
In one embodiment, following step S220, the following is further included: according to the set angle of the second end of the cross beam, a third deflection angle is obtained, wherein the second end of the cross beam maintains the set angle when each movable end rotates to the corresponding second deflection angle; generating a second drive command for the second end according to the third deflection angle; and outputting a second driving instruction to the second end.
The specific expression of the angle generation model may further include:
θ 3Target ＝-(θ 1Target +θ 2Target ) Formula (3)
In the formula (3), θ 3Target The rotation angle of the movable joint at the second end is the third deflection angle corresponding to the second end of the cross beam.
Specifically, the physician may set a corresponding angle to the second end of the beam to adjust the angle of the robotic arm. When the movable joint of the cross beam rotates, the motion control device can obtain a third deflection angle in which the second end of the cross beam maintains the set angle when each movable end rotates to the corresponding second deflection angle through the above formula (5) and the set angle. The motion control device generates a second driving instruction for the second end of the cross beam according to the third deflection angle, and outputs the second driving instruction to the second end of the cross beam, so that the movable joint at the second end also rotates under the condition that other movable joints rotate, and the angle of the mechanical arm is unchanged. In other words, through the mode, the workload of a doctor for positioning the angle of the mechanical arm again can be reduced, and the working efficiency of the doctor is improved.
Step S230, determining the target position corresponding to each movable joint according to the second deflection angle corresponding to each movable joint.
Specifically, the motion control device determines the target position corresponding to each movable joint according to the second deflection angle corresponding to each movable joint. The determining the position of each movable joint according to the second deflection angle may be determined by using robot kinematics, which is not specifically described in the prior art.
Step S240, generating a first driving instruction corresponding to each movable joint according to the target position corresponding to each movable joint; the first driving instruction is used for driving the corresponding movable joint to move to the target position.
Specifically, the motion control device generates a first driving instruction corresponding to each movable joint according to the target position corresponding to each movable joint.
The motion control device can determine the angle of the movable joint at the first end of the cross beam and the angle of the movable joint at the middle end. Continuing with the above-described coordinate system as an example, the control motion device is preset with a position generation model, and a specific expression of the position generation model may be as follows:
x Current ＝l 1 ×cosθ 1 +l 1 ×cos(θ 1 +θ 2 ) Formula (4)
y Current ＝l 1 ×sinθ 1 +l 1 ×sin(θ 1 +θ 2 ) Formula (5)
In the formula (4) and the formula (5), θ 1 Angle θ before or during rotation of the articulation of the first end of the beam 2 Before or during rotation of the articulation of the intermediate end, respectively, (x) Current ，y Current ) Is the position before or during rotation of the second end of the beam.
Accordingly, the desired position, i.e. the end of the movement, can be reached by the second end of the cross beam if the difference between the position before or during rotation of the second end of the cross beam and the desired position is 0.
In one embodiment, the first driving instruction is an instruction to drive the corresponding movable end to move from the current position to the corresponding target position based on the set speed.
In other words, different movable joints are controlled to move through the set speed, so that the situation that the movement amplitude of the movable joints is too large and damaged due to too high movement speed is reduced, and the service life of the surgical robot is prolonged.
Step S250, outputting a corresponding first driving instruction to a motor corresponding to the movable joint.
Specifically, the motion control device outputs a corresponding first driving instruction to a motor corresponding to the movable joint, so that an output shaft of the motor rotates to drive the movable joint to rotate, and the position of the mechanical unit is adjusted.
< device example one >
Fig. 5 is a functional block diagram of a motion control device according to one embodiment. As shown in fig. 5, the motion control apparatus 500 may include: a desired position obtaining module 510, configured to obtain a desired position of the second end and a first deflection angle of the desired position relative to a preset initial position of the second end; the second deflection angle obtaining module 520 is configured to obtain a second deflection angle corresponding to each movable joint according to the desired position, the first deflection angle, and the length of each of the plurality of rods; the target position determining module 530 is configured to determine a target position corresponding to each movable joint according to the second deflection angle corresponding to each movable joint; the first driving instruction generating module 540 is configured to generate a first driving instruction corresponding to each movable joint according to a target position corresponding to each movable joint; the first driving instruction is used for driving the corresponding movable joint to move to a target position; the first driving instruction output module 550 is configured to output a corresponding first driving instruction to a motor corresponding to the movable joint.
Optionally, the second deflection angle obtaining module is further configured to input the first deflection angle, the expected position, and the length of the rod portion corresponding to each movable end into a preset angle generating model, so as to obtain the second deflection angle corresponding to each movable end of the beam.
Optionally, the apparatus further comprises: the third deflection angle obtaining module is used for obtaining a third deflection angle for maintaining the set angle of the second end of the cross beam when each movable end rotates to the corresponding second deflection angle according to the set angle of the second end of the cross beam; the second driving instruction generating module is used for generating a second driving instruction for the second end according to the third deflection angle; and the second driving instruction output module is used for outputting a second driving instruction to the second end.
The motion control apparatus 500 may be the motion control apparatus described above.
< device example two >
Fig. 6 is a schematic diagram of a hardware configuration of a motion control apparatus according to another embodiment.
As shown in fig. 6, the motion control apparatus 600 includes a processor 610 and a memory 620, the memory 620 storing an executable computer program, the processor 610 being configured to perform a method as any of the above method embodiments according to control of the computer program.
The above modules of the motion control apparatus 500 may be implemented by the processor 610 executing the computer program stored in the memory 620 in the present embodiment, or may be implemented by other structures, which are not limited herein.
The disclosed embodiments also provide a surgical robot including the above motion control apparatus 500 or 600.
The present invention may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
Computer program instructions for carrying out operations of the present invention may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information for computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (10)
1. The motion control method of the surgical robot is characterized in that the surgical robot comprises a base, a cross beam and a mechanical arm, a first end of the cross beam is connected with the base, a second end of the cross beam is connected with the mechanical arm, the cross beam comprises a plurality of rod parts connected in series between the first end and the second end, and adjacent rod parts are connected through movable joints; the method comprises the following steps:
acquiring a first deflection angle of the expected position of the second end relative to a preset initial position of the second end;
obtaining a second deflection angle corresponding to each movable joint according to the expected position, the first deflection angle and the length of each rod part in the plurality of rod parts;
determining a target position corresponding to each movable joint according to a second deflection angle corresponding to each movable joint;
generating a first driving instruction corresponding to each movable joint according to the target position corresponding to each movable joint; the first driving instruction is used for driving the corresponding movable joint to move to the target position;
outputting the corresponding first driving instruction to the motor corresponding to the movable joint.
2. The method of claim 1, wherein the first end is articulated with an adjacent stem and the second end is articulated with an adjacent stem.
3. The method of claim 1, wherein the first drive command is a command to drive the corresponding movable end to move from the current location to the corresponding target location based on a set speed.
4. The method according to claim 1 or 2, wherein the preset initial position is a position of the second end in case that the movable joints of the surgical robot are located on the same straight line in the set direction.
5. The method according to claim 1, wherein the obtaining the second deflection angle corresponding to each movable end of the beam according to the desired position, the first deflection angle, and a preset length of the shaft corresponding to each movable end of the beam includes:
and inputting the first deflection angle, the expected position and the length of the rod part corresponding to each movable end into a preset angle generation model to obtain second deflection angles corresponding to each movable end of the cross beam.
6. The method of claim 4, further comprising, after obtaining the second deflection angles respectively corresponding to the movable ends of the cross beam according to the desired position, the first deflection angle, and a preset length of the shaft portion corresponding to each movable end of the cross beam:
according to the set angle of the second end of the cross beam, a third deflection angle is obtained, wherein the second end of the cross beam maintains the set angle when each movable end rotates to the corresponding second deflection angle;
generating a second drive command for the second end according to the third deflection angle;
and outputting a second driving instruction to the second end.
7. A motion control device for a surgical robot, the device comprising:
the expected position acquisition module is used for acquiring an expected position of the second end and a first deflection angle of the expected position relative to a preset initial position of the second end;
the second deflection angle obtaining module is used for obtaining a second deflection angle corresponding to each movable joint according to the expected position, the first deflection angle and the length of each rod part in the plurality of rod parts;
the target position determining module is used for determining the target position corresponding to each movable joint according to the second deflection angle corresponding to each movable joint;
the first driving instruction generation module is used for generating a first driving instruction corresponding to each movable joint according to the corresponding target position of each movable joint; the first driving instruction is used for driving the corresponding movable joint to move to the target position;
and the first driving instruction output module is used for outputting the corresponding first driving instruction to the motor corresponding to the movable joint.
8. The motion control device of claim 7, wherein the device further comprises:
the third deflection angle obtaining module is used for obtaining a third deflection angle for maintaining the set angle of the second end of the cross beam when each movable end rotates to the corresponding second deflection angle according to the set angle of the second end of the cross beam;
a second driving instruction generating module, configured to generate a second driving instruction for the second end according to the third deflection angle;
and the second driving instruction output module is used for outputting a second driving instruction to the second end.
9. A motion control device for a surgical robot, comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the motion control method for a surgical robot as claimed in any one of claims 1 to 7.
10. A surgical robot, comprising:
a base;
a robotic arm for surgical procedures;
the first end of the cross beam is connected with the base, the second end of the cross beam is connected with the mechanical arm, the cross beam comprises a plurality of rod parts connected in series between the first end and the second end, and the adjacent rod parts are connected through movable joints; and
motion control device according to any one of claims 7 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211681088.9A CN116115344A (en) | 2022-12-27 | 2022-12-27 | Motion control method and device of surgical robot and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211681088.9A CN116115344A (en) | 2022-12-27 | 2022-12-27 | Motion control method and device of surgical robot and surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116115344A true CN116115344A (en) | 2023-05-16 |
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