CN117731404A - Incremental master-slave mapping method of master-slave heterogeneous teleoperation system - Google Patents
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Abstract
An incremental master-slave mapping method of a master-slave heterogeneous teleoperation system comprises the steps of obtaining a master-end operation hand gesture parameter and converting the hand gesture parameter into a gesture description matrix; processing the position vector in the pose description matrix to obtain a target position vector of the end effector of the operating arm; processing the gesture matrix in the gesture description matrix to obtain a target matrix of the end effector of the slave operating arm; according to the obtained target position vector and target posture matrix of the slave operating arm end effector, converting the target posture matrix into Euler angles, and enabling the slave operating arm to move according to the target position and the target posture so as to realize teleoperation. The invention performs incremental processing on the position and the gesture, and realizes the continuity of the motion track and the gesture of the operation robot from the operation arm when the master-slave gesture mapping is repeatedly disconnected and connected.
Description
Technical Field
The invention relates to a master-slave pose mapping method, in particular to an incremental master-slave mapping method of a master-slave heterogeneous teleoperation system based on an intuitional mapping strategy.
Background
With the continuous development and progress of modern industrial technology, robots have been widely used in various fields in production and living. In the medical field, the robotic surgical system realizes the rapid iteration of the laparoscopic technique in a plurality of surgical systems such as urology surgery, gynaecology and obstetrics by virtue of the absolute advantages of the robotic surgical system in aspects such as intuitional mapping, stereoscopic imaging, precise and flexible operation and the like, and becomes a mainstream minimally invasive surgical mode. The surgical robot system can be divided into three parts, namely a main control end operation platform, a driven end surgical robot and a medical instrument auxiliary trolley. In the process of performing minimally invasive surgery by using the surgical robot, a doctor located at the main control end operating platform views a 3D picture of the surgical area displayed in the screen under the view angle of the endoscope by using binocular, so that the movement of the end instrument arm of the driven end surgical robot is controlled by controlling the main hand based on the master-slave teleoperation technology, and various surgical operations are realized.
Surgical robots are teleoperated systems of a master-slave type, requiring the position and pose of the master hand end to be mapped to the slave end in some way so that the slave hand movement is controlled by the master hand. In the master-slave teleoperation process of the surgical robot, on one hand, the coordination of hands and eyes of doctors is ensured, and the operation presence of the doctors is enhanced. On the other hand, due to the limitation of the operation space of the master hand, a doctor needs to repeatedly disconnect and connect the master and slave pose mapping frequently so as to adjust the position of the master hand, so that the master hand is in a comfortable operation position, and in the master and slave teleoperation system at present, when the master and slave pose mapping is disconnected and reconnected, the slave pose cannot continuously move on the basis of the pose maintained when the mapping is disconnected, so that the motion track of the slave operation arm of the operation robot cannot be continuous, and the operation is influenced.
Disclosure of Invention
The invention provides an incremental master-slave mapping method of a master-slave heterogeneous teleoperation system for overcoming the prior art. The method is based on an intuitionistic mapping strategy to ensure the presence of a doctor during operation, and the position and the gesture are respectively processed in an increment mode through gesture separation on the basis. The continuity of the motion trail and the gesture of the surgical robot from the operation arm is realized when the master-slave gesture mapping is repeatedly disconnected and connected.
The incremental master-slave mapping method of the master-slave heterogeneous teleoperation system comprises the following steps:
s1, acquiring pose parameters of a main end operation hand based on Cartesian space and converting the parameters into a pose description matrix;
s2, processing the position vector in the pose description matrix to obtain a target position vector of the end effector of the operating arm; the position vector is a position vector of the tail end coordinate system of the main manipulator under the base coordinate system of the operating platform;
processing the gesture matrix in the gesture description matrix to obtain a target matrix of the end effector of the slave operating arm; the gesture matrix is a gesture matrix of the tail end coordinate system of the main manipulator under the base coordinate system of the operating platform;
s3, according to the obtained target position vector and target posture matrix of the end effector of the slave operating arm, converting the target posture matrix into Euler angles, and enabling the slave operating arm to move according to the target position and the target posture so as to realize teleoperation.
Further, the position vector is processed to obtain a target position vector from the manipulator end-effector OPE P ACT(t+1) The method comprises the following steps:
OPE P ACT(t+1) ＝ OPE P ACT(t) +k·ΔP
OPE P ACT(t) and OPE P ACT(t+1) position vectors of the slave arm end effector corresponding to times t and t+1, respectively;
MAS P HAN(t) and MAS P HAN(t+1) pose description matrix corresponding to t and t+1 moments respectively MAS T HAN Is a position vector of (1);
wherein the method comprises the steps of， OPE P ACT(t) Representing the position vector of ACT under OPE at time t, OPE P ACT(t+1) representing the position vector of { ACT } at { OPE } at time t +1,is the inverse of the pose matrix for OPE under ROB, ROB R ESP is a pose matrix of { ESP } at { ROB }, ESP R LEN is a posture matrix of { LEN } under { ESP }, ∈>Is the inverse of the pose matrix for { MON } at { MAS }, and k is the position mapping scaling factor.
Processing the gesture matrix to obtain a target gesture matrix of the end effector of the slave operating arm OPE R ACT(t+1) The method comprises the following steps:
wherein, OPE R ACT(t) and OPE R ACT(t+1) corresponding to the gesture matrix of the end effector of the operating arm at the time t and the time t+1 respectively, MAS R HAN(t) and MAS R HAN(t+1) pose description matrix corresponding to t and t+1 moments respectively MAS T HAN In the above-mentioned figure, the gesture matrix, MAS R MON is a pose matrix of { MON } under { MAS },is the inverse of the pose matrix of { LEN } under { ESP }, the +.>Is the inverse of the pose matrix for ESP at ROB, ROB R OPE is a pose matrix of { OPE } under { ROB }.
Compared with the prior art, the invention has the beneficial effects that:
1. the master-slave pose mapping method based on the intuitionistic mapping strategy enables the hand movement to be consistent with the observed movement of the slave operation arm of the surgical robot when a doctor performs master-slave teleoperation, and enhances the operation presence.
2. Compared with the traditional absolute pose control mode, the invention uses an incremental pose control mode, so that continuity of motion track and pose of the surgical robot from the operation arm is realized when the master-slave pose mapping is repeatedly disconnected and connected.
3. The master-slave pose mapping method is based on Cartesian space, has better applicability to master-slave heterogeneous teleoperation robots, does not need robot kinematics calculation, and has higher calculation efficiency.
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples:
drawings
FIG. 1 is a flow chart of a master-slave incremental mapping method of the present invention;
FIG. 2 is a schematic view of a coordinate system in a surgical robot host system of the present invention;
FIG. 3 is a schematic view of a coordinate system in a slave system of the surgical robot of the present invention;
FIG. 4 is a schematic diagram of a surgical robot simulation in an embodiment;
FIG. 5 is a diagram of the position of the end of the main manipulator in an embodiment;
FIG. 6 is a schematic diagram of the gesture track of the end of the main end manipulator in an embodiment;
FIG. 7 is a diagram of a locus of positions from the end of an operating arm in an embodiment;
fig. 8 is a drawing of a gesture trace from the distal end of the operation arm in the embodiment.
Detailed Description
Embodiments of the technical scheme of the present invention will be described in detail below with reference to the accompanying drawings. Unless otherwise defined, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
Fig. 1 shows a design flow of an incremental master-slave mapping method of a master-slave heterogeneous teleoperation system, which specifically includes the following steps:
step 1, defining a master end system coordinate system and a slave end system coordinate system in a teleoperation system based on a Cartesian space, as shown in fig. 2-3, wherein in the master end system, the following steps are defined: { MAS } is the console base coordinate system, { MON } is the monitor coordinate system, { HAN } is the main manipulator end coordinate system; in the slave system, define: { ROB } is a slave robot base coordinate system, { ACT } is a slave arm end effector coordinate system, { OPE } is a slave arm base coordinate system, { LEN } is an endoscope LENs coordinate system, { ESP } is an endoscope base coordinate system;
step 2, acquiring the pose parameters of the main end operation hand and converting the parameters into a pose description matrix MAS T HAN ；
The pose parameters can be obtained through a communication interface and are based on three position coordinates and three Euler angles representing the pose under a base coordinate system of the operation table.
Step 3, processing the position vector to obtain a target position vector of the end effector of the operating arm OPE P ACT(t+1) ；
OPE P ACT(t+1) ＝ OPE P ACT(t) +k·ΔP
OPE P ACT(t) And OPE P ACT(t+1) position vectors of the slave arm end effector corresponding to times t and t+1, respectively;
MAS P HAN(t) and MAS P HAN(t+1) pose description matrix corresponding to t and t+1 moments respectively MAS T HAN Is a position vector of (1);
wherein, OPE P ACT(t) representing the position vector of ACT under OPE at time t, OPE P ACT(t+1) representing the position vector of { ACT } at { OPE } at time t +1,is the inverse of the pose matrix for OPE under ROB, ROB R ESP is a pose matrix of { ESP } at { ROB }, ESP R LEN is a posture matrix of { LEN } under { ESP }, ∈>Is the inverse of the attitude matrix of { MON } under { MAS }, k is the position mapping scaling factor;
processing the gesture matrix to obtain a target gesture matrix of the end effector of the slave operating arm OPE R ACT(t+1) ；
Wherein, OPE R ACT(t) and OPE R ACT(t+1) corresponding to the gesture matrix of the end effector of the operating arm at the time t and the time t+1 respectively, MAS R HAN(t) and MAS R HAN(t+1) pose description matrix corresponding to t and t+1 moments respectively MAS T HAN In the above-mentioned figure, the gesture matrix, MAS R MON is a pose matrix of { MON } under { MAS },is { LEN } at { ESP }Inverse of the pose matrix under }, +.>Is the inverse of the pose matrix for ESP at ROB, ROB R OPE is a pose matrix of { OPE } under { ROB }.
Wherein, OPE P ACT(t+1) ＝(x t+1 ,y t+1 ,z t+1 )，x t+1 ，y t+1 ，z t+1 three coordinate values in the position vector at time t+1 are respectively represented.
Step 4, according to the obtained target position vector of the end effector of the slave operating arm OPE P ACT(t+1) And a target pose matrix OPE R ACT(t+1) And converting the target gesture matrix into Euler angles, and enabling the slave operating arm to move under the target position and the target gesture so as to realize teleoperation. According to the scheme from the step 2 to the step 3, the intuitional mapping strategy is based on to ensure the presence of a doctor during operation, and the position and the gesture are respectively processed in an increment mode through gesture separation on the basis. The continuity of the motion trail and the gesture of the surgical robot from the operation arm is realized when the master-slave gesture mapping is repeatedly disconnected and connected.
Further explanation follows in the form of examples:
examples
Fig. 4 is a schematic diagram of a simulation of a slave-end surgical robot under kinetic simulation software (copdelisim software), with a master-end device being a six-degree-of-freedom force feedback master hand. Trace diagram of the end of the main end manipulator: the position track is shown in fig. 5, the gesture track is shown in fig. 6, and the position and gesture change of the tail end of the main end manipulator in the three-dimensional space during simulation is recorded. From the arm end trajectory diagram: the position trajectory is shown in fig. 7, and the posture trajectory is shown in fig. 8. As can be seen from fig. 5-8, the movement of the master hand undergoes four phases of starting movement, disconnecting mapping, connecting mapping, and ending movement. In the two sections of the dashed line position track and the gesture track of the master hand, the slave hand moves along with the master hand, and after the master hand is disconnected from the mapping, the slave hand keeps the current position and gesture and does not move along with the master hand at the moment although the master hand still moves. As the master hand reconnects the map, the slave hand continues to follow the master hand movement based on the maintained position and posture. And in the following movement process, the consistency of the master pose and the slave pose is ensured. From the result, the method not only ensures intuitional mapping, enhances the operation presence, but also ensures continuity of motion track and gesture of the operation robot from the operation arm when the master-slave pose mapping is repeatedly disconnected and connected, and has ideal result.
The present invention has been described in terms of preferred embodiments, but is not limited to the invention, and any equivalent embodiments can be made by those skilled in the art without departing from the scope of the invention, as long as the equivalent embodiments are possible using the above-described structures and technical matters.
Claims (6)
1. An incremental master-slave mapping method of a master-slave heterogeneous teleoperation system is characterized in that: comprises the following contents:
s1, acquiring pose parameters of a main end operation hand based on Cartesian space and converting the parameters into a pose description matrix;
s2, processing the position vector in the pose description matrix to obtain a target position vector of the end effector of the operating arm; the position vector is a position vector of the tail end coordinate system of the main manipulator under the base coordinate system of the operating platform;
processing the gesture matrix in the gesture description matrix to obtain a target matrix of the end effector of the slave operating arm; the gesture matrix is a gesture matrix of the tail end coordinate system of the main manipulator under the base coordinate system of the operating platform;
s3, according to the obtained target position vector and target posture matrix of the end effector of the slave operating arm, converting the target posture matrix into Euler angles, and enabling the slave operating arm to move according to the target position and the target posture so as to realize teleoperation.
2. The incremental master-slave mapping method of a master-slave heterogeneous teleoperation system according to claim 1, wherein the incremental master-slave mapping method is characterized in that: before step S1 is performed, a master end system coordinate system and a slave end system coordinate system in a teleoperation system need to be defined, and in the master end system, definition is performed: { MAS } is the console base coordinate system, { MON } is the monitor coordinate system, { HAN } is the main manipulator end coordinate system; in the slave system, define: { ROB } is a slave robot base coordinate system, { ACT } is a slave arm end effector coordinate system, { OPE } is a slave arm base coordinate system, { LEN } is an endoscope LENs coordinate system, and { ESP } is an endoscope base coordinate system.
3. The incremental master-slave mapping method of the master-slave heterogeneous teleoperation system according to claim 2, wherein the incremental master-slave mapping method is characterized in that: in step S1, for pose description matrix MAS T HAN And (5) expression.
4. The incremental master-slave mapping method of the master-slave heterogeneous teleoperation system according to claim 3, wherein the incremental master-slave mapping method comprises the following steps: in step S2, the position vector is processed to obtain a target position vector from the arm end effector OPE P ACT(t+1) The method comprises the following steps:
OPE P ACT(t+1) ＝ OPE P ACT(t) +k·ΔP
OPE P ACT(t) and OPE P ACT(t+1) position vectors of the slave arm end effector corresponding to times t and t+1, respectively;
MAS P HAN(t) and MAS P HAN(t+1) pose description matrix corresponding to t and t+1 moments respectively MAS T HAN Is a position vector of (1);
wherein, OPE P ACT(t) representing the position vector of ACT under OPE at time t, OPE P ACT(t+1) representing the position vector of { ACT } at { OPE } at time t +1,is the inverse of the pose matrix for OPE under ROB, ROB R ESP is a pose matrix of { ESP } at { ROB }, ESP R LEN is a posture matrix of { LEN } under { ESP }, ∈>Is the inverse of the pose matrix for { MON } at { MAS }, and k is the position mapping scaling factor.
5. The incremental master-slave mapping method of the master-slave heterogeneous teleoperation system according to claim 4, wherein the incremental master-slave mapping method is characterized in that: in step S2, the gesture matrix is processed to obtain a target gesture matrix of the end effector of the slave operating arm OPE R ACT(t+1) The method comprises the following steps:
wherein, OPE R ACT(t) and OPE R ACT(t+1) corresponding to the gesture matrix of the end effector of the operating arm at the time t and the time t+1 respectively, MAS R HAN(t) and MAS R HAN(t+1) pose description matrix corresponding to t and t+1 moments respectively MAS T HAN In the above-mentioned figure, the gesture matrix, MAS R MON is a pose matrix of { MON } under { MAS },is the inverse of the pose matrix of { LEN } at { ESP }，/>Is the inverse of the pose matrix for ESP at ROB, ROB R OPE is a pose matrix of { OPE } under { ROB }.
6. The incremental master-slave mapping method of the master-slave heterogeneous teleoperation system according to claim 4, wherein the incremental master-slave mapping method is characterized in that: OPE P ACT(t+1) ＝(x t+1 ,y t+1 ,z t+1 )。
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107374727A (en) * | 2017-07-28 | 2017-11-24 | 重庆金山医疗器械有限公司 | A kind of minimally invasive surgical operation robot simplifies the modeling method of kinematics model |
| WO2021047522A1 (en) * | 2019-09-10 | 2021-03-18 | 深圳市精锋医疗科技有限公司 | Surgical robot, and control method and control device for distal instrument thereof |
| CN116100558A (en) * | 2023-03-29 | 2023-05-12 | 哈尔滨工业大学 | Solving method for reconfigurable inverse kinematics of reconfigurable spatial mechanical arm |
| CN117207158A (en) * | 2023-07-25 | 2023-12-12 | 浙江大学 | Mixed working space mapping method for master-slave heterogeneous teleoperation robot |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107374727A (en) * | 2017-07-28 | 2017-11-24 | 重庆金山医疗器械有限公司 | A kind of minimally invasive surgical operation robot simplifies the modeling method of kinematics model |
| WO2021047522A1 (en) * | 2019-09-10 | 2021-03-18 | 深圳市精锋医疗科技有限公司 | Surgical robot, and control method and control device for distal instrument thereof |
| CN116100558A (en) * | 2023-03-29 | 2023-05-12 | 哈尔滨工业大学 | Solving method for reconfigurable inverse kinematics of reconfigurable spatial mechanical arm |
| CN117207158A (en) * | 2023-07-25 | 2023-12-12 | 浙江大学 | Mixed working space mapping method for master-slave heterogeneous teleoperation robot |
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