CN116616905A - Master-slave bilateral control method based on zero-force control - Google Patents

Master-slave bilateral control method based on zero-force control Download PDF

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Publication number
CN116616905A
CN116616905A CN202310594102.XA CN202310594102A CN116616905A CN 116616905 A CN116616905 A CN 116616905A CN 202310594102 A CN202310594102 A CN 202310594102A CN 116616905 A CN116616905 A CN 116616905A
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China
Prior art keywords
hand
master
slave
force
friction
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CN202310594102.XA
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Inventor
马维敏
刘建军
张春
郭英爱
杨斯钦
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Beijing Lianwei Medical Technology Co ltd
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Beijing Lianwei Medical Technology Co ltd
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Priority to CN202310594102.XA priority Critical patent/CN116616905A/en
Publication of CN116616905A publication Critical patent/CN116616905A/en
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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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
    • A61F9/007—Methods or devices for eye surgery
    • 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 application relates to the field of medical equipment, in particular to a master-slave bilateral control method based on zero-force control. The master-slave bilateral control method based on zero force control is used for controlling an ophthalmic surgical robot system, and compensates the gravity and friction of a master hand through zero force control; the hand operation force and the mapped eye tissue contact force are used as input of a master hand controller to control the master hand to move so as to realize accurate perception of the eye tissue contact force by doctors; and taking the position of the master hand and the position of the slave hand as input of a slave hand controller, and precisely controlling the movement of the slave hand, so as to realize bilateral mapping of the forces and the positions of the master hand and the slave hand. Therefore, the master-slave bilateral control method based on the zero force control combines the zero force control with the bilateral control, so that the gravity and the friction force of the master hand contained in the perception force of an operator are eliminated, and the perception of the contact force of the eye tissue by the operator is more visual and accurate.

Description

Master-slave bilateral control method based on zero-force control
Technical Field
The application relates to the field of medical equipment, in particular to a master-slave bilateral control method based on zero-force control.
Background
Eye diseases caused by intraocular tissue lesions such as the vitreous retina generally require surgical treatment; because the intraocular operation space is narrow, the operation scale is fine, the operation force is small, the requirements on the force sensing capability and the operation precision of doctors are extremely strict, and the physiological limit of human beings is nearly reached.
To solve the problem of difficulty in operation of intraocular surgery due to tremble of hands and limited perception of minute operating forces, researchers have focused their eyes on robotic systems. The robot system has the characteristics of high operation precision, stable movement and the like, and can overcome the problems to a certain extent, thereby having the potential of reducing the operation difficulty and improving the operation effect. The master-slave operation robot can filter the hand shake of a doctor, amplify force feedback and provide visual working environment for the doctor, so that the positioning accuracy during operation is improved, and the operation is safer and more effective. However, the direct mapping of the master hand position and the eye tissue contact force has the problems that a doctor cannot intuitively feel the eye tissue contact force, the master-slave mapping time delay and the like.
Disclosure of Invention
The application provides a master-slave bilateral control method based on zero force control so as to solve the problems.
The application is specifically as follows:
a master-slave bilateral control method based on zero force control for controlling an ophthalmic surgical robotic system, comprising:
compensating the gravity and friction of the main hand through zero force control;
the hand operation force and the mapped eye tissue contact force are used as the input of a master hand controller to control the motion of the master hand, so that accurate perception of the eye tissue contact force by doctors is realized;
the position of the master hand and the position of the slave hand are used as input of a slave hand controller, and the motion of the slave hand is precisely controlled, so that bilateral mapping of the forces and the positions of the master hand and the slave hand is realized.
In one embodiment of the application, the step of compensating for gravity and friction of the master hand by zero force control comprises;
constructing a main manual mechanical model and linearizing the main manual mechanical model;
eliminating the gravity and friction of the main hand;
and (5) identifying the dynamic parameters of the robot.
In one embodiment of the present application, before the step of eliminating the gravity and friction of the master hand, the master-slave bilateral control method based on the zero force control further includes:
and identifying the gravity and friction force of each position of the master hand, so as to obtain an accurate model to be applied to the compensation of the control algorithm.
In one embodiment of the present application, the step of constructing a master manual mechanical model and linearizing the master manual mechanical model comprises:
in the case that the master hand is composed of a plurality of links, the joint moment expression without external force terms is:
wherein ,q、 and />Represents the joint position, joint velocity and joint acceleration of the robot, respectively, M (q) represents the inertial tensor matrix in joint space,/o->Represented by centrifugal force and coriolis force matrices, G (q) represented by gravity term matrices, +.>Representative is a libraryA matrix of friction and viscous friction;
irrespective of the friction force, as a kinetic parameter term, < ->Is a friction force item; the equation (1) is converted by a suitable linear transformation into:
wherein ,is about q, & gt> and />Is independent of the robot dynamics parameters, while P represents the basic parameter set of dynamics, i.e. the parameters that theoretically need to be identified;
the friction force in the actual physical model cannot be ignored, so that the friction force component of the robot can be calculated, and a coulomb viscous friction model can be adopted:
wherein ,represents the coulomb friction coefficient, F v Representing the coefficient of viscous friction and sign (·) representing the sign function.
In one embodiment of the present application, before the step of taking the master hand position and the slave hand position as input to the slave hand controller, the master-slave bilateral control method based on the zero force control further includes:
the master hand position and the slave hand position are derived using a position sensor and a filtering algorithm, the master hand position being fed forward as the position of the slave hand controller and the slave hand position being fed back as the position of the slave hand controller.
In one embodiment of the present application, the step of controlling the movement of the master hand using the human hand manipulation force and the mapped eye tissue contact force as input to the master hand controller comprises:
the manual operation force after filteringContact force with mapped eye tissue +.>As a master admittance controller input to control the motion of the master hand, the master admittance controller is implemented by formula (4):
wherein ,Md 、D d and Kd Respectively represent the inertia characteristic, damping characteristic and rigidity characteristic of the main hand, x, and />Representing the position, velocity and acceleration of the master hand, respectively.
The beneficial effects of the application are as follows:
the master-slave bilateral control method based on zero force control is used for controlling an ophthalmic surgical robot system, and compensates the gravity and friction of a master hand through zero force control; the hand operation force and the mapped eye tissue contact force are used as the input of a master hand controller to control the motion of the master hand, so that accurate perception of the eye tissue contact force by doctors is realized; the position of the master hand and the position of the slave hand are used as input of a slave hand controller, and the motion of the slave hand is precisely controlled, so that bilateral mapping of the forces and the positions of the master hand and the slave hand is realized.
Therefore, the master-slave bilateral control method based on the zero force control combines the zero force control with the bilateral control, so that the gravity and the friction force of the master hand contained in the perception force of an operator are eliminated, the perception of the contact force of the operator to eye tissues is more visual and accurate, the positioning precision during operation is improved, and the operation is safer and more effective.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a master-slave bilateral control method based on zero force control provided by the application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
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 definition or explanation thereof is necessary in the following figures.
In the description of the embodiments of the present application, it should be noted that, the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship conventionally put in use of the product of the application as understood by those skilled in the art, which is merely for convenience of describing the present application and simplifying the description, and is not indicative or implying that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
The subretinal injection operation has the advantages of narrow operation space and fine operation scale, and the master-slave robot system is adopted to assist the operation, so that the operation precision of doctors can be effectively improved, and the influence of hand shake on the operation effect is reduced. Based on this, the prior art often employs a master-slave mapping scale factor that maps the contact force of the slave hand with the position of the master hand. From the hand, the micro force sensor is arranged at the tail end of the slave robot to detect the micro contact force between the surgical instrument and the eye tissue, and the micro contact force is amplified by mapping the scale factor, so that the perception capability of doctors on the eye tissue contact force is improved. However, the force perceived by the doctor not only has the contact force between the surgical instrument and the eye tissue, but also contains amplified force noise, gravity of the master hand, joint friction force and the like, so that the doctor cannot intuitively feel the contact force of the eye tissue, and the surgical risk is increased. The main hand end is usually provided with a position sensor at the tail end of the main hand or directly uses the encoder data of each joint of the main hand, and reduces the displacement of the main hand by mapping the scale factors, reduces the motion amplitude of the auxiliary hand and improves the safety. However, due to the influences of factors such as communication time, kinematic calculation time, response time of the slave electric motors and the like, the position mapping delay error of the master and slave is larger and larger along with the time, and the operation risk is increased.
For the above reasons, referring to fig. 1, the present embodiment provides a master-slave bilateral control method based on zero force control, for controlling an ophthalmic surgical robot system, including:
compensating the gravity and friction of the main hand through zero force control;
the hand operation force and the mapped eye tissue contact force are used as the input of a master hand controller to control the motion of the master hand, so that accurate perception of the eye tissue contact force by doctors is realized;
the position of the master hand and the position of the slave hand are used as input of a slave hand controller, and the motion of the slave hand is precisely controlled, so that bilateral mapping of the forces and the positions of the master hand and the slave hand is realized.
Therefore, the master-slave bilateral control method based on the zero force control combines the zero force control with the bilateral control, so that the gravity and the friction force of the master hand contained in the perception force of an operator are eliminated, the perception of the contact force of the operator to eye tissues is more visual and accurate, the positioning precision during operation is improved, and the operation is safer and more effective.
Further, referring to fig. 1, in the present embodiment, the step of compensating for the gravity and the friction of the main hand by zero force control includes;
constructing a main manual mechanical model and linearizing the main manual mechanical model;
eliminating the gravity and friction of the main hand;
and (5) identifying the dynamic parameters of the robot.
And before the step of eliminating the gravity and friction force of the master hand, the master-slave bilateral control method based on zero-force control further comprises the following steps:
and identifying the gravity and friction force of each position of the master hand, so as to obtain an accurate model to be applied to the compensation of the control algorithm.
Specifically, the step of constructing a master manual mechanical model and linearizing the master manual mechanical model includes:
in the case that the master hand is composed of a plurality of links, the joint moment expression without external force terms is:
wherein ,q、 and />Represents the joint position, joint velocity and joint acceleration of the robot, respectively, M (q) represents the inertial tensor matrix in joint space,/o->Represented by centrifugal force and coriolis force matrices, G (q) represented by gravity term matrices, +.>Represented are coulomb and viscous friction matrices;
independent of friction, τ is a kinetic parameter term f ＝F f (q) is a friction term; the equation (1) is converted by a suitable linear transformation into:
wherein ,is about q, & gt> and />Is independent of the robot dynamics parameters, while P represents the basic parameter set of dynamics, i.e. the parameters that theoretically need to be identified;
the friction force in the actual physical model cannot be ignored, so that the friction force component of the robot can be calculated, and a coulomb viscous friction model can be adopted:
wherein ,represents the coulomb friction coefficient, F v Representing the coefficient of viscous friction and sign (·) representing the sign function.
In addition, before the step of taking the master hand position and the slave hand position as input of the slave hand controller, the master-slave bilateral control method based on zero-force control further comprises:
the master hand position and the slave hand position are derived using a position sensor and a filtering algorithm, the master hand position being fed forward as the position of the slave hand controller and the slave hand position being fed back as the position of the slave hand controller.
Further, the step of controlling the movement of the master hand using the human hand manipulation force and the mapped eye tissue contact force as an input to the master hand controller includes:
the manual operation force after filteringContact force with mapped eye tissue +.>As a master admittance controller input to control the motion of the master hand, the master admittance controller is implemented by formula (4):
wherein ,Md 、D d and Kd Respectively represent the inertia characteristic, damping characteristic and rigidity characteristic of the main hand, x, and />Representing the position, velocity and acceleration of the master hand, respectively.
In summary, referring to fig. 1, in the master-slave bilateral control method based on zero force control, the influence of gravity and joint friction force of a master hand is effectively counteracted by the moment generated by a master hand joint motor, then the resultant force of the manual operation force and the feedback force of a slave hand end is used as the input of a master hand controller to control the movement of the master hand, at this moment, the resistance perceived by a doctor is the contact force of eye tissues after master-slave mapping, the slave hand position is collected, and the following error of the slave hand is adjusted in real time by combining the master hand position as the input of the slave hand controller, so that the position accuracy of the master-slave mapping is improved, and the method specifically comprises the following steps:
firstly, in order to compensate the gravity and friction of the main hand, the gravity and friction of each position of the main hand are required to be identified, so that an accurate model is obtained and applied to the compensation of a control algorithm;
the construction of a reasonable dynamics model is a primary condition for the parameter identification of a gravity model and a friction model, and for a serial master hand, the model can be regarded as being composed of a series of connecting rods, and then the joint moment expression without external force terms is as follows:
in the formula ,q、 and />Respectively representing the joint position, joint speed and joint acceleration of the robot, M (q) represents the inertial tensor matrix under the joint space, +.>Represented by centrifugal force and coriolis force matrices, G (q) represented by gravity term matrices, +.>Represented are coulomb and viscous friction matrices;
due toIrrespective of the friction force, as a kinetic parameter term, < ->As a friction term, parameters of robot dynamics are hidden in a nonlinear manner in the formula (1), and the parameters of the dynamics are difficult to identify due to the nonlinear composition manner; mathematically, equation (1) is converted by an appropriate linear transformation into:
wherein ,is about q, & gt> and />Is independent of the robot dynamics parameters, while P represents the basic parameter set of dynamics, i.e. the parameters that theoretically need to be identified; by means of the linear transformation in mathematics, P can be conveniently identified by using a common parameter estimation method (such as a weighted least square method, a maximum likelihood estimation method and the like); the friction force in the actual physical model cannot be ignored, so that the friction force component of the robot can be calculated, and a coulomb viscous friction model can be adopted:
wherein ,represents the coulomb friction coefficient, F v Representing the coefficient of viscous friction and sign (·) representing the sign function. Friction at the robot joint is mainly related to the joint angular velocity +.>And (5) correlation.
After the gravity and the friction force of the main hand are compensated, the main hand is in a force balance state at any point on the premise of no external force interference.
The manual operation force after filteringContact force with mapped eye tissue +.>As a master admittance controller input to control master hand movement, the master admittance controller is implemented by (4):
in the formula ,Md 、D d 、K d Respectively represent the inertia characteristic, damping characteristic and rigidity characteristic of the main hand, x, Representing the position, velocity and acceleration of the master hand, respectively.
At the same time, the position sensor and the filtering algorithm are used for obtaining the position of the main handAnd from hand position->Main hand position->As a position feed-forward from the hand control, from the hand position +.>As position feedback from the hand controller; and finally, realizing the bilateral control of the master-slave force and the position based on zero force control.
The master-slave bilateral control method based on zero force control has the following advantages:
zero force control and bilateral control are combined, so that the gravity and friction force of a main hand contained in the perception force of an operator are eliminated, and the perception of the contact force of the operator on eye tissues is more visual and accurate;
the master-slave control adopts bilateral control, the master hand control end uses the operating force and the slave hand feedback force, and the slave hand control end uses the positions of the master hand and the slave hand as feedforward and feedback respectively. Further improving the perception of contact force of the eye tissue by the operator and the accuracy of the position of the slave hand.
The above is only a preferred embodiment of the present application, and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (6)

1. A master-slave bilateral control method based on zero force control for controlling an ophthalmic surgical robot system, comprising:
compensating the gravity and friction of the main hand through zero force control;
the hand operation force and the mapped eye tissue contact force are used as input of a master hand controller to control the master hand to move so as to realize accurate perception of the eye tissue contact force by doctors;
and taking the position of the master hand and the position of the slave hand as input of a slave hand controller, and precisely controlling the movement of the slave hand, so as to realize bilateral mapping of the forces and the positions of the master hand and the slave hand.
2. The master-slave bilateral control method based on zero force control of claim 1, wherein:
the step of compensating the gravity and the friction of the main hand through zero force control comprises the following steps of;
constructing a main manual mechanical model and linearizing the main manual mechanical model;
eliminating the gravity and friction of the main hand;
and (5) identifying the dynamic parameters of the robot.
3. The master-slave bilateral control method based on zero force control of claim 2, wherein:
before the step of eliminating the gravity and friction of the master hand, the master-slave bilateral control method based on zero force control further comprises the following steps:
and identifying the gravity and friction force of each position of the master hand, so as to obtain an accurate model to be applied to the compensation of a control algorithm.
4. The master-slave bilateral control method based on zero force control of claim 2, wherein:
the step of constructing a master manual mechanical model and linearizing the master manual mechanical model comprises the following steps:
in the case that the master hand is composed of a plurality of connecting rods, the joint moment expression without external force terms is as follows:
wherein ,q、 and />Represents the joint position, joint velocity and joint acceleration of the robot, respectively, M (q) represents the inertial tensor matrix in joint space,/o->Represented by centrifugal force and coriolis force matrices, G (q) represented by gravity term matrices, +.>Represented are coulomb and viscous friction matrices;
irrespective of the friction force, as a kinetic parameter term, < ->Is a friction force item; the equation (1) is converted by a suitable linear transformation into:
wherein ,is about q, & gt> and />Is independent of the robot dynamics parameters, while P represents the basic parameter set of dynamics, i.e. the parameters that theoretically need to be identified;
the friction force in the actual physical model cannot be ignored, so that the friction force component of the robot can be calculated, and a coulomb viscous friction model can be adopted:
wherein ,represents the coulomb friction coefficient, F v Representing the coefficient of viscous friction and sign (·) representing the sign function.
5. The master-slave bilateral control method based on zero force control of claim 2, wherein:
before the step of taking the master hand position and the slave hand position as input of the slave hand controller, the master-slave bilateral control method based on zero force control further comprises:
a master hand position and a slave hand position are obtained using a position sensor and a filtering algorithm, the master hand position being fed forward as a position of the slave hand controller and the slave hand position being fed back as a position of the slave hand controller.
6. The master-slave bilateral control method based on zero force control according to any one of claims 1-5, wherein:
the step of controlling the movement of the master hand by taking the hand operating force and the mapped eye tissue contact force as the input of the master hand controller comprises the following steps of:
the manual operation force after filteringContact force with mapped eye tissue +.>Controlling movement of the master hand as the master hand admittance controller input, the master hand admittance controller being implemented by formula (4):
wherein ,Md 、D d and Kd Respectively represent the inertia characteristic, damping characteristic and rigidity characteristic of the main hand, x, and />Representing the position, velocity and acceleration of the master hand, respectively.
CN202310594102.XA 2023-05-25 2023-05-25 Master-slave bilateral control method based on zero-force control Pending CN116616905A (en)

Priority Applications (1)

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Publications (1)

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CN116616905A true CN116616905A (en) 2023-08-22

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