CN116196112B - Mechanical arm motion control method and surgical robot - Google Patents
Mechanical arm motion control method and surgical robot Download PDFInfo
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- CN116196112B CN116196112B CN202310150565.7A CN202310150565A CN116196112B CN 116196112 B CN116196112 B CN 116196112B CN 202310150565 A CN202310150565 A CN 202310150565A CN 116196112 B CN116196112 B CN 116196112B
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- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000011217 control strategy Methods 0.000 claims abstract description 34
- 238000013459 approach Methods 0.000 claims abstract description 25
- 239000007943 implant Substances 0.000 claims description 63
- 230000009466 transformation Effects 0.000 claims description 60
- 239000011159 matrix material Substances 0.000 claims description 51
- 210000000214 mouth Anatomy 0.000 claims description 33
- 230000008569 process Effects 0.000 claims description 24
- 238000004364 calculation method Methods 0.000 claims description 21
- 239000002184 metal Substances 0.000 claims description 21
- 239000004053 dental implant Substances 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 7
- 238000001356 surgical procedure Methods 0.000 claims description 7
- 230000001131 transforming effect Effects 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000002513 implantation Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 241000350052 Daniellia ogea Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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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
- A61B34/32—Surgical robots operating autonomously
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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
- A61B34/77—Manipulators with motion or force scaling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- 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 relates to the technical field of surgical robots, and discloses a mechanical arm motion control method and a mechanical arm motion control system, wherein a dead target point is defined at a certain distance from a target position, and the method comprises the following steps: acquiring the current distance between the mechanical arm end tool and the dead target point in real time; when the current distance is larger than a first distance threshold value, controlling the end tool to approach to a dead target point based on a low-speed motion control strategy; and when the end tool reaches the dead target point, controlling the end tool to continuously approach to the target position based on a high-speed motion control strategy. The invention realizes the control of the high-low speed switching speed of the mechanical arm carrying the end tool based on the real-time distance between the end tool and the target point.
Description
Technical Field
The invention belongs to the technical field of surgical robots, and particularly relates to a mechanical arm motion control method and system.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The current mechanical arm control mainly focuses on path planning and target tracking, and is less involved in speed switching control. In robot assisted surgery, for the safety of the operator and the operation object in the cooperative surgery, the robot arm needs to move slowly to give the time for the operator to react when moving away from the working position, and after the robot arm reaches the vicinity of the target point, but the patient is usually not kept stationary, so that the movement speed of the robot arm consistent with the patient needs to be kept as much as possible, and if the robot arm cannot carry the end tool to move along with the target point, the patient may be injured.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a method and a system for controlling the movement of a mechanical arm, which realize the control of the switching speed of the mechanical arm carrying the end tool at high and low speeds based on the real-time distance between the end tool and a target point.
To achieve the above object, one or more embodiments of the present invention provide the following technical solutions:
a method of controlling movement of a robotic arm defining a target point at a distance from a target location, the method comprising the steps of:
acquiring the current distance between the mechanical arm end tool and the dead target point in real time;
when the current distance is larger than a first distance threshold value, controlling the end tool to approach to a dead target point based on a low-speed motion control strategy; and when the end tool reaches the dead target point, controlling the end tool to continuously approach to the target position based on a high-speed motion control strategy.
Further, positioning points are respectively arranged at the tail end of the mechanical arm and near the target position, and position information is acquired in real time based on positioning information acquisition equipment; initializing the space position transformation relations between the positioning point of the target position and the opposite target point and between the positioning point of the tail end of the mechanical arm and the tail end tool, respectively marked as T dsttool_dst And T robottool_tool ；
The step of obtaining the current distance between the mechanical arm end tool and the dead target point in real time comprises the following steps:
acquiring the space position transformation relations between the positioning information acquisition equipment and the target position positioning point and between the positioning information acquisition equipment and the positioning point at the tail end of the mechanical arm in real time, and respectively marking the space position transformation relations as T device_dsttool And T device_robottool ；
Based on T dsttool_dst 、T robottool_tool 、T device_robottool And T device_dsttool Calculating the current distance T between the end tool and the target point tool_dst 。
Further, the control speed of the low-speed motion control strategy is calculated based on a set acceleration or according to a current distance between the end tool and the opposite target point, and a calculation formula is as follows:
V low =K 1 *matrix2RPY（T tool_dst ）
wherein K is 1 For transform coefficients, T tool_dst For the current spatial position transformation relationship between the end tool and the facing target point, matrix2RPY () is a function that converts the matrix into RPY angles.
Further, the control speed calculation method of the high-speed motion control strategy is as follows:
when the end tool reaches the dead target point, setting a virtual point bound with the end tool at the current dead target point;
the current space position transformation relation between the end tool and the opposite target point is endowed with the space position transformation relation between the end tool and the virtual point in real time and is marked as T tool_virtualdst ；
The calculation formula of the control speed is as follows:
V high =K 2 *matrix2RPY（T tool_dsttool ）/t
wherein,
K 2 for transform coefficients, T tool_dst For the current spatial position transformation relationship between the end tool and the facing target point, matrix2RPY () is a function that converts the matrix into RPY angles.
Further, in the process of controlling the end tool to continuously approach the target position based on the high-speed motion control strategy, the distance variation in unit time is calculated in real time, and if the distance variation in unit time is larger than a set variation threshold and the current distance exceeds a second distance threshold, the low-speed motion control strategy is adopted to control the end tool to approach the target point again.
One or more embodiments provide a surgical robot that performs motion control based on a robot arm motion control method during control of the robot arm to approach a target position.
One or more embodiments provide a dental implant surgical robot comprising a trolley, a robotic arm secured to the trolley, the robotic arm end for mounting a needle, defining a facing target point at a distance from an implant target location, and a console configured to:
acquiring the current distance between the vehicle needle and the dead target point in real time;
when the current distance is larger than a first distance threshold, controlling the vehicle needle to approach to a dead target point based on a low-speed motion control strategy; and when the vehicle needle reaches a dead target point, controlling the vehicle needle to continuously approach to the implant target position based on a high-speed motion control strategy.
Further, the surgical operation device comprises a camera, wherein an oral cavity positioner is arranged in an oral cavity during the surgical operation, and the oral cavity positioner comprises a plurality of metal positioning points and a plurality of infrared positioning points;
calculating a spatial position transformation relation T between the plurality of metal positioning points and the plurality of infrared positioning points based on images acquired by the camera oraltool_metal ；
Acquiring an implant target position, and calculating a spatial position transformation relation T between the implant target position and a plurality of metal positioning points metal_implant ；
Obtaining a spatial position transformation relation T between the infrared positioning points and the implant target position oraltool_implant 。
Further, a mobile phone positioner is arranged on the tail end joint of the mechanical arm, and the mobile phone positioner comprises a plurality of infrared positioning points; initializing the space position conversion relations between a plurality of infrared positioning points on the oral cavity positioner and the implant target position, the implant target position and the dead target point and between the mobile phone positioner and the vehicle needle, and respectively marking as T oraltool_implant 、T implant_dst And T robottool_tip ；
The step of obtaining the current distance between the vehicle needle and the dead target point in real time comprises the following steps:
acquiring the spatial position transformation relations between the camera and a plurality of infrared positioning points on the oral cavity positioner and between the camera and the needle positioner in real time, and respectively marking the spatial position transformation relations as T camera_oraltool And T camera_robottool ；
Based on T robottool_tip 、T oraltool_implant 、T implant_dst 、T camera_oraltool And T camera_robottool Calculating the current distance T between the needle and the opposite target point tip_dst 。
Further, the control speed of the low-speed motion control strategy is calculated based on the set acceleration or according to the current distance between the vehicle needle and the opposite target point, and the calculation formula is as follows:
V low =K 1 *matrix2RPY（T tip_dst ）
wherein K is 1 For transform coefficients, T tip_dst For the current spatial position transformation relationship between the vehicle needle and the facing target point, matrix2RPY () is a function of converting the matrix into RPY angle.
Further, the control speed calculation method of the high-speed motion control strategy is as follows:
when the needle reaches a dead target point, setting a virtual point bound with the end tool at the current dead target point;
the current space position conversion relation between the vehicle needle and the opposite target point is endowed with the space position conversion relation between the vehicle needle and the virtual point in real time and is marked as T tip_virtualdst ；
The calculation formula of the control speed is as follows:
V high =K 2 *matrix2RPY（T tip_dst ）/t
wherein,
K 2 for transform coefficients, T tip_dst For the current spatial position transformation relationship between the needle and the facing target point, matrix2RPY () is a function of converting the matrix into RPY angle, and t is the time from the needle to the facing target point to the current time.
Further, in the process of controlling the vehicle needle to continuously approach the implant target position based on the high-speed motion control strategy, the distance variation in unit time is calculated in real time, and if the distance variation in unit time is larger than a set variation threshold and the current distance exceeds a second distance threshold, the vehicle needle is controlled to approach the target point again by adopting the low-speed motion control strategy.
Further, in the process of controlling the vehicle needle to continuously approach the implant target position based on the high-speed motion control strategy, calculating the distance variation in unit time in real time, and if the distance variation in unit time is larger than a set variation threshold and the current distance is smaller than a second distance threshold, adjusting the high-speed motion control strategy:
the relative pose T of the opposite target point relative to the mechanical arm trolley base before and after the state that the trolley needle reaches the opposite target point is shifted to the current moment is obtained base_dstold And T base_dst Calculating the spatial position transformation relation T of the position before and after the offset dstold_dst The method comprises the steps of carrying out a first treatment on the surface of the The motion speed of the dead target point is V dst_high =K 2 *matrix2RPY（T dstold_dst ）/t；
Giving the motion speed of the dead target point to a virtual point: v (V) virtualdst_high =V dst_high ；
Transforming the velocity of the virtual point to the needle: v (V) dst_high =VT dst_tip ×V virtualdst_high Wherein VT is dst_tip According to the space position transformation relation T between the vehicle needle and the virtual point tip_virtualdst Calculated to obtain
The one or more of the above technical solutions have the following beneficial effects:
by setting a right target point, monitoring the distance between the tail end tool of the mechanical arm and the right target point in real time, taking the moment when the tail end tool of the mechanical arm reaches the right target point as high-low speed switching, the mechanical arm is slowly close to a patient, and the mechanical arm is quickly close to the target point after reaching the vicinity of the target point, so that the surgical robot is more in line with the operation habit of a person, and the usability and usability of the surgical robot are enhanced;
the high speed and the low speed are calculated based on the real-time relative spatial position relation between the mechanical arm end tool and the dead target point, and the speed can be adaptively adjusted, so that the end tool moves synchronously along with the target point, and the damage possibly caused by slight movement of a patient is avoided particularly in the high-speed control process;
in addition, for the case of sudden movement of the patient, a coping strategy is also given, according to the magnitude of the offset, if the offset is small, the control is still performed at high speed, but the speed is solved based on the movement speed of the target point; if the offset is large, the control is switched to the low-speed control, and alignment is performed again.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic view of a portion of a dental implant surgical robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a camera according to a first embodiment of the present invention;
FIG. 3 is a schematic view of an oral positioner according to a first embodiment of the present invention;
fig. 4 is a schematic diagram of a mobile phone locator according to a first embodiment of the invention.
In the figure, 1-trolley, 2-mechanical arm, 3-planting mobile phone, 4-needle, 5-mobile phone locator, 6-camera, 7-camera support, 8-oral cavity locator, 9-infrared locating point, 10-oral cavity locator support, 11-metal locating point, 12-clamp, 13-mobile phone locator support, 14-mechanical arm base.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
One or more embodiments of the present invention disclose a mechanical arm motion control method, which is applied to a surgical robot system, where the surgical robot may be an orthopedic spinal surgical robot or an oral implant surgical robot, so long as it is required to operate a target position by using a mechanical arm end tool, for example, in the spinal surgical robot, a mechanical arm is required to carry pedicle screws to locate a target position on a spinal column, and in the oral implant surgical robot, a mechanical arm is required to carry a vehicle needle to make an implant cavity at an implant target position, and a carrier implant is placed in the implant cavity, which is not limited herein.
The method needs to position the end tool of the mechanical arm and the target position respectively. Specifically, positioning points are arranged at least at the target position and at the tail end of the mechanical arm, and the space positions of the positioning points are obtained in real time based on electromagnetic tracking positioning, ultrasonic positioning and other technologies. The positioning technology may be any existing method, and is not limited herein.
Defining a dead target point at a position close to and dead against the target position, wherein the target position is obtained by medical image planning such as CT before operation, and the dead target point is used as a reference position for high-speed and low-speed transformation, and the method comprises the following steps:
step 1: acquiring the spatial position relationship between the mechanical arm end tool and the dead target point in real time;
step 2: calculating the current distance between the mechanical arm end tool and the opposite target position based on the spatial position relation;
step 3: and determining the moving speed of the tail end of the mechanical arm according to the current distance, and controlling the tail end of the mechanical arm to approach to the target position.
The purpose of the step 1 is to collect the relative spatial position relationship, or the relative pose, between the tail end of the mechanical arm and the target position to be operated on the body of the patient in real time.
Since the positioning mark is directly arranged at the tool end of the mechanical arm end and the operation target position, the operation of the operation is possibly influenced, and therefore, the relative spatial position relationship between the tool end and the target position is obtained through conversion by adopting a mode of arranging the positioning mark nearby and a spatial position conversion matrix of the positioning mark and the tool end or the target position. And setting a target position locating point near the target position, and setting a mechanical arm tail end locating point near the mechanical arm tail end.
The target position is obtained by medical image planning such as CT before operation, is fixed in the operation process, and is fixed once the dead target point is determined; furthermore, given a robot end tool, the relative positions of the robot end and the tool end are fixed. Therefore, firstly, initializing a space position transformation matrix between a target position locating point and a dead target point and between a mechanical arm tail end locating point and a tool tail end to respectively obtain T dsttool_dst T is as follows robottool_tool 。
On the basis of realizing the positioning of the end tool of the mechanical arm and the target position, the positioning point is tracked in real time through positioning information acquisition equipment. For example, if an electromagnetic tracking positioning mode is adopted, the positioning information acquisition equipment is an electromagnetic induction receiver, and if an infrared technology is adopted to mark the positioning point, the positioning information acquisition equipment is an infrared camera.
The step 1 specifically includes:
step 1.1: acquiring the space position transformation relation between the positioning information acquisition equipment and the target position positioning point and between the positioning information acquisition equipment and the positioning point at the tail end of the mechanical arm in real time, namely calculating a transformation matrix T device_robottool And T device_dsttool ；
Step 1.2: locating points and dead target points according to the target positionsSpatial position transformation relation T between mechanical arm tail end positioning point and tail end tool dsttool_dst And T robottool_tool And the spatial position transformation relation T between the positioning information acquisition equipment and the target position positioning point and between the positioning information acquisition equipment and the mechanical arm tail end positioning point device_robottool And T device_dsttool Calculating a transformation matrix T between the end tool and the target point tool_dst . The specific calculation formula is as follows:
the specific calculation formula of the step 2 is as follows:
the step 3 specifically includes: when the current distance is larger than a first distance threshold value, controlling the end tool to approach to a dead target point based on a low-speed motion control strategy; and when the end tool reaches the dead target point, controlling the end tool to continuously approach to the target position based on a high-speed motion control strategy. It should be noted here that the terms "high speed" and "low speed" are used in this application relatively speaking, and there is no explicit threshold division.
Specifically, the low-speed motion control strategy may be: moving to a dead target point based on a set acceleration and deceleration curve; the following speed calculation method may also be employed:
V low =K 1 *matrix2RPY（T tool_dst ）
wherein K is 1 For the coefficient of the distance from the current point to the target point to the speed, a smaller coefficient, for example 0.01, can be taken since the requirement is low speed; matrix2RPY () is a function of transforming the transformation matrix into RPY angles.
When the distance is too far, the distance is equal to V low The highest speed limit is performed, for example, the linear speed is less than 100mm/s.
When the tail end of the mechanical arm moves to the position close to the dead target point at a low speed, the distance between the tail end tool and the dead target point fluctuates around 0, and the high-speed movement control strategy is as follows:
acquiring a current transformation matrix T between an end tool and a dead target point tool_dst Setting a virtual point bound with the end tool at the current dead target point, and if the end tool can follow the dead target point in real time in the motion process, keeping the relative spatial position relationship between the end tool and the virtual point consistent with the relative spatial position between the end tool and the dead target point, so that the current transformation matrix and the current distance between the end tool and the dead target point are endowed between the end tool and the virtual point in real time.
Specifically, let T tool_virtualdst =T tool_dst ，virtualdis=distance；
In the motion process of the mechanical arm, the current T is obtained in real time tool_dst And calculating a current distance value, and judging whether the current distance is smaller than the current virtual:
if yes, update T tool_virtualdst =T tool_dst ，virtualdis=distance；
If not, keep the current T tool_virtualdst And virtualdis is unchanged.
While the two values are kept unchanged, the current transformation matrix and the current distance between the end tool and the virtual point are applied, and the speed required by the high-speed movement strategy is calculated by the following calculation method:
according to the above, calculate
V high =K 2 *matrix2RPY（T tool_dsttool ）/t
K 2 For the coefficient of the conversion of the distance of the current point to the target point to the velocity, since the requirement is high velocity, a larger coefficient, for example 0.9, t is the time taken from the aligned state to the detection of the offset distance, can be taken.
And in the process of approaching the target position at high speed, calculating the distance variation in unit time in real time, and if the distance variation in unit time is larger than a set variation threshold and the current distance exceeds a second distance threshold, controlling the end tool to approach the target point again by adopting a low-speed motion control strategy. I.e. if the abrupt action of the patient makes the distance between the end tool and the target point too large, a realignment is required.
Those skilled in the art will understand that the method of the mechanical arm interaction with the operator may be further combined with the techniques of mechanical arm end force sensor, joint current collection, etc. during the operation of the mechanical arm, which will not be described in detail in this application.
One or more embodiments of the present invention also provide a surgical robot that performs motion control during the approach of the manipulator arm to the target position based on the control method as described above.
Example 1
In the robot-assisted implantation operation robot, a vehicle needle for placing an implant or manufacturing an implantation cavity is arranged on an implantation mobile phone clamped at the tail end of a mechanical arm, and the robot aims to control the mechanical arm to carry the vehicle needle to move to a target position so as to manufacture the implantation cavity, so that the implant can be placed subsequently. Because the distance between the needle and the target point is different in the operation, for example, the damage to the target point is smaller when the needle is far away from the target point and the damage to the operator is larger, low-speed movement is needed, and when the needle is close to the target point, for example, the needle reaches the vicinity of the implantation target point, the patient can be injured if the needle cannot move along with the target point uniformly because the needle is not kept still in most cases.
Based on this, the present embodiment provides a mechanical arm motion control method applied to dental implant surgery. The motion control method is based on a dental implant surgical robotic system. The dental implant surgery robot system comprises a trolley 1, a mechanical arm 2, a camera 6 and a control console, wherein the mechanical arm 2, the camera 6 and the control console are fixed on the trolley 1, the tail end of the mechanical arm is used for clamping a mobile implant 3, and the tail end of the mobile implant 3 is used for installing a needle 4 for manufacturing a planting hole for an implant. The camera is arranged on a camera bracket 7 at one side of the trolley 1 and is used for shooting the movement of the mechanical arm and the tail end operation process in real time in the dental implant operation process and transmitting a real-time image to the control console; the control console analyzes the position relation between the planting vehicle needle and the planting target point based on the real-time image, and accordingly motion control is performed on the tail end of the mechanical arm.
Before entering an operation, the target position and posture of the implant in the oral cavity of the patient are planned through the patient CT on an upper computer user interface UI, and a position right opposite to the target point, namely a point right above the target position of the implant is defined. In the operation process, the mechanical arm 2 is controlled to carry the implantation needle 4 at a lower speed to approach the implant target position, and when the implantation needle 4 moves to be opposite to the target point, the mechanical arm 2 is controlled to reach the target position at a higher speed. Because there is no rigid connection between the patient and the needle 4, when the patient and the target position of the patient implant move unpredictably, the needle and the target position shift, and according to the shift, the embodiment estimates the movement change of the patient, so that the mechanical arm quickly generates similar movement to the patient, and the relative position relationship between the two is ensured to be unchanged.
To achieve the above-described movement process, the present embodiment further provides a handpiece positioner 5 at the extreme end joint of the mechanical arm (i.e., the position where it is connected to the implant handpiece), and installs an oral positioner 8 in the patient's oral cavity before the operation starts. The mobile phone locator comprises a mobile phone locator support 13 and a plurality of infrared locating points 9 arranged on the support, and the tail end of the mobile phone locator support 13 is connected with the joint of the tail end of the mechanical arm 2. The oral cavity positioner 8 comprises an oral cavity positioner bracket 10, a clamp 12 arranged on the bracket, a plurality of metal positioning points 11 and a plurality of infrared positioning points 9. Wherein, the clamp 12 is used for clamping teeth, so that the oral cavity positioner 8 is fixed at the oral cavity, and in a use state, the metal positioning point 11 is positioned in the oral cavity, and the infrared positioning point 9 is positioned outside the oral cavity. On the oral positioner 8, the plurality of infrared positioning points 9 are referred to as target position positioning points. After planning the implant target site, the oral positioner 8 is installed in the patient's oral cavity.
The camera adopts an NDI infrared binocular navigation camera. As a specific implementation, the oral cavity positioner may have a structure described in patent document CN 113786263B.
Based on the dental implant surgery robot system, the following coordinate system is established:
a camera coordinate system { camera }, namely a coordinate system attached to a camera for shooting and assisting navigation of a surgical procedure;
an implant coordinate system { implant }, namely, an origin is an implant bottom center coordinate system, and a Z axis is along the axis of the implant and is far away from the direction of the entity;
facing the coordinate system { dst } of the target point, and taking the coordinate system facing the target point as an origin;
the vehicle needle coordinate system { tip }, namely the origin is the vehicle needle terminal center coordinate system, and the definition of the Z axis is similar to that of the implant;
the mobile phone locator coordinate system { robottool }, one of the infrared locating points is taken as the origin of the coordinate system, and the Z-axis direction is perpendicular to the plane of the mobile phone locator bracket;
an oral cavity locator coordinate system { oralcol }, wherein one infrared locating point is taken as an origin of the coordinate system, and the coordinate axis direction is perpendicular to the plane of the oral cavity locator bracket;
a metal sphere coordinate system { metal }, a coordinate system on the oral cavity positioner with one arbitrary metal sphere as an origin of the coordinate system, for establishing a correlation between actual coordinates in space and DICOM images;
that is, when applied to an oral implant, the above-mentioned target anchor point coordinate system { disttool } is replaced for position conversion between an oral positioner infrared anchor point { orartool } and a metal anchor point { metal } on an oral positioner.
The coordinate origin of the coordinate system { base }, which is arranged at the joint of the mechanical arm base and the trolley or the joint farthest from the planting mobile phone, is fixed in position and the coordinate axis direction is vertically upward; when the trolley position is unchanged, the coordinate system is also unchanged;
arm end coordinate system { tcp }: and the center point of the flange plate at the tail end of the mechanical arm takes the axis as a Z axis.
In the movement process of the mechanical arm, the relative position relationship between the camera and the oral cavity, the relative position relationship between the planting needle and the right opposite target point and the like are analyzed through the transformation matrix between the coordinate systems, so that the movement control is realized. For convenience of description, T is used hereinafter xx_yy Representing a transformation from the xx coordinate system to the yy coordinate system. For example, a transformation matrix T of a manipulator base coordinate system { base } to a needle coordinate system { tip }, a matrix T of a manipulator base coordinate system { base }, a manipulator base coordinate system { base base_tip The form is as follows:
wherein,、/>、/>three components of the rotation matrix are respectively cosine function combinations of the X, Y, Z axes of the needle coordinate system in the deflection angles of the axes of the mechanical arm coordinate system; />Is a Cartesian coordinate value of the origin of the car needle coordinate system under the mechanical arm base coordinate system.
In the subsequent calculation process, the transformation matrix may be converted with euler angles or cartesian coordinates, so as to describe the same relative spatial position relationship differently, and the specific conversion algorithm may be a known algorithm, which is not limited herein.
Before the dental implant operation robot system equipment leaves the factory, calibrating a mechanical arm tail end coordinate system { tcp } to a mobile phone positioner coordinate system { robottool } to obtain T tcp_robottool Is a fixed value. After selecting the vehicle needle before planting assistance based on the surgical robot system, a mobile phone locator coordinate system { robotto }Calibrating the mol } to a needle coordinate system { tip }, and obtaining T robottool_tip In the current implantation operation process, the fixed value is also set. Thus, it can be indirectly found that:
T tcp_tip =T tcp_robottool ×T robottool_tip
generally, the motion control of the mechanical arm is to control the motion of the end flange of the mechanical arm in space, in this embodiment, only the position of the tip in space is calculated, then the tip is converted back to tcp by using the above known transformation matrix, and then the mechanical arm is controlled, so that only the coordinates of the tip are considered in the following process, and the motion of the mechanical arm can be directly controlled after the transformation is performed by using the matrix.
When the oral cavity localizer is determined, the calibration from the infrared sphere { ortool } to the metal sphere { metal } on the oral cavity localizer can be completed, and the calibration can use three-coordinate measuring equipment such as FARO and the like to measure the point positions to generate T oraltool_metal ；
After the implant target position is obtained through the upper computer planning, the transformation relation between the metal ball on the oral cavity positioner and the implant target position, namely T, can be calculated through image processing metal_implant ；
Thereby indirectly finding T oraltool_implant =T oraltool_metal ×T metal_implant 。
The above coordinate system is a fixed value throughout the procedure.
The method comprises the steps of obtaining a transformation matrix between an oral cavity positioner and an implant, between the implant and a dead target point and between a mobile phone positioner and the tail end of a vehicle needle in advance, namely obtaining T oraltool_implant 、T implant_dst And T robottool_tip The method comprises the steps of carrying out a first treatment on the surface of the The motion control method specifically comprises the following steps:
step 1: acquiring images shot by the camera and comprising the mobile phone locator and the oral cavity locator in real time, respectively calculating the current transformation matrix between the camera and the mobile phone locator and between the camera and the oral cavity locator, namely calculating T camera_robottool And T camera_oraltool ；
Step 2: according to the infrared positioning point of the oral cavity positioner and the implant targetThe position, the implant target position, the dead target point, the mobile phone positioner and the transformation matrix T between the needle tail ends oraltool_implant 、T implant_dst And T robottool_tip And a camera to cell phone locator and a current transformation matrix T between camera to oral cavity locator camera_robottool And T camera_oraltool Calculating a current transformation matrix T between the tail end of the vehicle needle and the dead target point tip_dst ；
Step 3: according to the current transformation matrix T between the tail end of the needle and the dead target point tip_dst Calculating the current distance between the tail end of the vehicle needle and the dead target point;
step 4: according to the current distance, determining the moving speed of the tail end of the mechanical arm:
when the current distance is larger than a first distance threshold, controlling the tail end of the vehicle needle to be close to a dead target point based on a low-speed motion control strategy;
when the coordinate system of the needle coincides with the origin of the coordinate system of the right-facing target point and the Z axis coincides with the origin of the coordinate system of the right-facing target point, the tail end of the needle is controlled to continuously approach the implant target point based on a high-speed motion control strategy.
The calculation formula in the step 2 is as follows:
the calculation formula in the step 3 is as follows:
wherein T is tip_dst_px 、T tip_dst_py And T tip_dst_pz For matrix T tip_dst (px, py, pz) are Cartesian coordinate values of the target point in the needle locator coordinate system.
Specifically, the manipulator approaches the target point at a low speed, at which time T tip_dst The matrix may change in real time, and the low-speed motion control strategy may be: base groupMoving to a dead target point in a set acceleration and deceleration curve; the following speed calculation method may also be employed:
V tip_low =K 1 *matrix2RPY（T tip_dst ）
wherein K is 1 For the coefficient of the distance from the current point to the target point to the speed, a smaller coefficient, for example 0.01, can be taken since the requirement is low speed; matrix2RPY () is a function of transforming the 4 th order transformation matrix into RPY angles, i.e., transforming the 4x4 matrix into a vector of 1*6; the calculation method of matrix2RPY () function is as follows:
rx=atan2（matrix 21 ，matrix 22 ）；
ry=-asin（matrix 20 ）；
rz=atan2（matrix 10 ，matrix 00 ）
wherein matrix is ij Representing matrix elements corresponding to the rows and columns of the uppermost angle i of the matrix.
When the distance is too far, the distance is equal to V tip_low The highest speed limit in the low speed state is performed, for example, the linear speed is less than 100mm/s.
When the tail end of the mechanical arm moves to the position close to the dead target point at a low speed, the distance between the car needle and the dead target point fluctuates around 0, and the high-speed movement control strategy is as follows:
obtaining a current transformation matrix T between the tail end of the vehicle needle and the dead target point tip_dst If the tail end of the car needle can follow the dead target point in real time in the moving process, the relative spatial position relation between the tail end of the car needle and the virtual point is consistent with the relative spatial position between the tail end of the car needle and the dead target point, so that the current transformation matrix and the current distance between the tail end of the car needle and the dead target point are endowed between the tail end of the car needle and the virtual point in real time.
Specifically, let T tip_virtualdst =T tip_dst ，virtualdis=distance；
In the motion process of the mechanical arm, the current T is obtained in real time tip_dst And calculates the current distance value,judging whether the current distance is smaller than the current virtual:
if yes, update T tip_virtualdst =T tip_dst ，virtualdis=distance；
If not, keep the current T tip_virtualdst And virtualdis is unchanged.
While the two values are kept unchanged, the current transformation matrix and the current distance between the tail end of the needle and the virtual point are applied, and the speed required by the high-speed movement strategy is calculated by the following calculation method:
according to the above, calculate
V tip_high =K 2 *matrix2RPY（T tip_dst ）/t
For the coefficient of the transformation of the distance of the current point to the target point to the speed, a larger coefficient, for example 0.9, can be taken since the requirement is high speed; t is the time from the needle reaching the target point to the current moment, i.e. the time it takes each time from the aligned state to the detection of the offset distance.
By setting the virtual point bound with the vehicle needle, the relative spatial position relationship between the vehicle needle and the target point is converted into the relative spatial position relationship between the vehicle needle and the virtual point, namely, the motion parameter solution of the target point is transferred to the vehicle needle, and the speed value is updated according to the real-time position change of the target point, so that the following of the vehicle to the target is realized, the consistency of the motion speed of the vehicle needle and the motion speed of a patient is ensured, and the relative position between the vehicle needle and the virtual point is not changed.
And in the process of approaching the planting target point at high speed, calculating the distance variation in unit time in real time, namely judging whether the speed of the target point is suddenly changed, and if the distance variation in unit time is larger than a set variation threshold value and the current distance is smaller than a second distance threshold value, adjusting the high-speed motion control strategy. Due to the objectThe point moves too fast, the speed of the target point cannot be analyzed based on the image data, only the deviation between the object and the current position is known, and the relative pose T of the opposite target point relative to the mechanical arm trolley base is recorded before and after the opposite target point is deviated by means of the trolley base which does not move in the operation process, namely from the state that the trolley needle reaches the opposite target point to the state that the opposite target point is deviated at the current moment before and after the opposite target point base_dstold And T base_dst Calculating the spatial position transformation relation T of the position before and after the offset dstold_dst The method comprises the steps of carrying out a first treatment on the surface of the And estimating the speed of the fast start and the fast stop to the target point according to the speed, and assigning the motion of the mechanical arm by taking the maximum speed as a target, wherein the speed is as follows:
V dst_high =K 2 *matrix2RPY（T dstold_dst ）/t
because the mechanical arm is not moved out of the position of the alignment target point too far at the moment, the calculation can be obtained
V virtualdst_high =V dst_high
Transforming the velocity of the virtual target point to the tip via transformation of the velocity transformation matrix, the formula is as follows
V dst_high =VT dst_tip ×V virtualdst_high
In VT (VT) dst_tip Is a 6 x 6 matrix, which is of the form:
wherein R is tip_virtualdst Is T tip_virtualdst The 3 x 3 part of the upper left corner of the 4x4 matrix, 9 numbers in total, represent the rotational relationship between the two coordinate systems; p (P) tip_virtualdst Is T tip_virtualdst The 3 x 1 part of the upper right hand corner of the 4x4 matrix, together with 3 numbers, represents the translational relationship between the two coordinate systems,a 3 x 3 matrix with all elements being 0; calculated V in the formula dst_high I.e. the speed value at high speed.
If the distance change amount in unit time is larger than the set change threshold value and the current distance exceeds the second distance threshold value, the tail end of the vehicle needle is controlled to be close to the dead target point again by adopting a low-speed motion control strategy.
The second distance is greater than the first distance threshold, and in this embodiment, the second set distance is set to be the evaluation size of the oral cavity of the human body.
In addition, in the process of approaching the implant target position at high speed, the distance between the needle at the tail end of the mechanical arm and the implant target position is also judged in real time, and when the needle reaches the target position, the motion control is stopped. Specifically, the distance calculation method between the needle and the implant target position comprises the following steps:
the above one or more embodiments provide a concept of a high-speed follow-up safety zone and an updating and judging method of a high-speed follow-up target point, effectively distinguish an offset of high-speed movement from an offset of low-speed approach, and provide a mechanical arm tail end speed calculating method capable of realizing rapid tracking of the target point, solve the problem that the relative position between the movement speed of the tail end of a robot and a patient cannot be completely fixed, realize mechanical arm movement control which accords with the operation habit of people better, and enhance the usability and usability of the mechanical arm in operation.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (4)
1. A dental implant surgical robot comprising a trolley, a manipulator fixed to the trolley, and a console, the end of the manipulator being adapted to mount a needle, characterized in that a target point is defined at a distance from a implant target location, the console being configured to:
acquiring the current distance between the vehicle needle and the dead target point in real time;
when the current distance is larger than a first distance threshold, controlling the vehicle needle to approach to a dead target point based on a low-speed motion control strategy; when the vehicle needle reaches a dead target point, the vehicle needle is controlled to continuously approach to the implant target position based on a high-speed motion control strategy, and the control speed calculation method of the high-speed motion control strategy comprises the following steps: when the needle reaches a dead target point, setting a virtual point bound with the end tool at the current dead target point;
in the process of controlling the vehicle needle to continuously approach the implant target position based on the high-speed motion control strategy, calculating the distance variation in unit time in real time, and controlling the vehicle needle to approach the target point again by adopting the low-speed motion control strategy if the distance variation in unit time is larger than a set variation threshold and the current distance exceeds a second distance threshold;
if the distance change amount in unit time is larger than the set change threshold value and the current distance is smaller than the second distance threshold value, the high-speed motion control strategy is adjusted, and because the target point moves too fast, the speed of the target point cannot be analyzed based on the image data, and the trolley base which does not move in the operation process is used for recording the trolley base which does not move in the operation process before and after the offset of the dead target point, namely the relative pose T of the dead target point relative to the trolley base of the mechanical arm from the state that the trolley needle reaches the dead target point to the current moment base_dstold And T base_dst Calculating the transformation relation T of the offset facing target point under the coordinate system of the facing target point before offset dstold_dst ；
The motion speed of the dead target point is V dst_high =K2*matrix2RPY（T dstold_dst ）/t；
Wherein K2 is a transformation coefficient, matrix2RPY () is a function of converting the matrix into RPY angle, t is a time from the needle reaching the dead target point to the current time
Giving the motion speed of the dead target point to a virtual point: v (V) virtualdst_high =V dst_high ；
Transforming the velocity of the virtual point to the needle: v (V) Vdst_high =VT dst_tip ×V virtualdst_high ；
Wherein VT is dst_tip According to the space position transformation relation T between the vehicle needle and the virtual point tip_virtualdst The calculation is specifically as follows: in VT (VT) dst_tip Is a 6 x 6 matrix, which is of the form:
wherein R is tip_virtualdst Is T tip_virtualdst The 3 x 3 part of the upper left corner of the 4x4 matrix, 9 numbers in total, represent the rotational relationship between the two coordinate systems; p (P) tip_virtualdst Is T tip_virtualdst The 3 x 1 part of the upper right hand corner of the 4x4 matrix, together with 3 numbers, represents the translational relationship between the two coordinate systems,a 3 x 3 matrix with all elements being 0; v calculated in the formula Vdst_high The speed value is the speed value when the needle moves at high speed.
2. The dental implant surgical robot of claim 1, comprising a camera, wherein an intraoperative oral cavity is provided with an oral cavity positioner, wherein the oral cavity positioner comprises a plurality of metal positioning points and a plurality of infrared positioning points;
calculating a spatial position transformation relation T between the plurality of metal positioning points and the plurality of infrared positioning points based on images acquired by the camera oraltool_metal ；
Acquiring an implant target position, and calculating the implant target position and a plurality of metal positioning pointsSpatial position transformation relation T between metal_implant ；
Obtaining a spatial position transformation relation T between the infrared positioning points and the implant target position oraltool_implant 。
3. The dental implant surgery robot according to claim 2, wherein a mobile phone positioner is arranged on the end joint of the mechanical arm, and the mobile phone positioner comprises a plurality of infrared positioning points; initializing the space position conversion relations between a plurality of infrared positioning points on the oral cavity positioner and the implant target position, the implant target position and the dead target point and between the mobile phone positioner and the vehicle needle, and respectively marking as T oraltool_implant 、T implant_dst And T robottool_tip ；
The step of obtaining the current distance between the vehicle needle and the dead target point in real time comprises the following steps:
acquiring the spatial position transformation relations between the camera and a plurality of infrared positioning points on the oral cavity positioner and between the camera and the needle positioner in real time, and respectively marking the spatial position transformation relations as T camera_oraltool And T camera_robottool ；
Based on T oraltool_implant 、T implant_dst 、T camera_oraltool 、T camera_robottool And T robottool_tip Calculating the current space position transformation relation T between the vehicle needle and the opposite target point tip_dst And taking the position component of the transformation relation, and calculating to obtain the current distance value between the vehicle needle and the opposite target point so as to guide the selection of the maximum speed value.
4. A dental implant surgical robot according to any one of claims 1 to 3, wherein the control speed of the low-speed motion control strategy is calculated based on a set acceleration or on a current distance between the needle and the target point, and the calculation formula is:
V low =K1*matrix2RPY（T tip_dst ）
wherein K1 is a transformation coefficient, T tip_dst Is a needle and is opposite to the target pointThe current spatial position transformation relation between them, matrix2RPY () is a function of converting the matrix into RPY angle.
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