KR20140136828A - Tele-operation system and control method thereof - Google Patents

Abstract

Provided is a method of controlling a remote control system including a master device to operate by a controller and a slave device to operate in a constant motion scale by the operation, in which the method includes: obtaining detection information of a first position, which is a position of an end effector of any one of the master device and the slave device; calculating a variation amount of the first position based on the detection information of the obtained first position; obtaining the detection information of a second position of the end effector of the other one of the master device and the slave device; and inferring the second position based on the calculated variation amount of the first position and the detection information of the obtained second position (however, a resolution of a position detection unit for detecting the second position is lower than a value, in which a predetermined operation rate is applied to a resolution of a position detection unit for detecting the first position), so that the position detection information of the position detection unit having a relatively lower position resolution can be filtered without a time delay, and a high-frequency noise that can occur when a speed is calculated due to a quantization of the position detection unit having a relatively lower position resolution can be reduced.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a remote control system,

To a remote control system for controlling or controlling a machine or a device at a remote place, and a control method thereof.

Teleoperation system means a mechatronics device capable of extending a person's sensing and working ability to a space far from the space where the person is present. Such a remote control system is composed of a master device and a slave device, and the operator remotely controls a slave device located at a remote place using the master device. At this time, the master device remotely controls the operation of the slave device based on various physical information such as force, position, touch, temperature, humidity and illuminance detected in the slave device.

Examples of remote control systems include surgical robot systems, aerospace telemetry systems, hazardous material handling robots, patrol robots, and military robots (military robots).

Among these, a surgical robot system receives signals from a master robot and a master robot that generate and transmit necessary signals by the operation of an operator (mainly a doctor) The slave robot is installed in the operating room, the master robot is installed in the operation room, and the master robot and the slave robot are connected with each other in a wired or wireless manner to perform the operation remotely.

In a remote control system such as a surgical robot system, a master device and a slave device must follow a position and a velocity for remote control of a slave device located at a remote place. More specifically, a master manipulator for inputting an operator's command, that is, a master device side end effector having a function of directly acting on an object to be operated at the time of performing an operation, that is, a slave device side end effector And the slave device side end effector performs the remote control operation on the slave device in such a manner that the end effector tracks the position and speed of the master device side end effector.

At this time, either one of a position sensor (for example, an encoder as a digital device) for detecting the position of the master device side end effector and a position sensor for detecting the position of the slave device side end effector The performance of the entire position sensor can be influenced by the position sensor with a lower position resolution. For example, when the resolution of the position sensor mounted on the slave device side is 2 to 10 times lower than the resolution of the position sensor mounted on the master device side, the position error data between the master- The precision above the resolution of the side position sensor becomes meaningless because the quantization error becomes larger. Particularly, when calculating the speed by using (differentiating) the position information detected by the position sensor having a relatively low position resolution, the noise becomes larger in the differentiation process. Also, even when the resolution of the position sensor mounted on the master device side is the same as the resolution of the position sensor mounted on the slave device side, in the remote control system such as the surgical robot system, Since the motion scale is applied (that is, the motion scaling is performed) to standardize the size of the motion of the effector, the actual resolution of the two position sensors after the scaling (position resolution after application of the motion ratio) The actual resolution of one of the position sensors is lower). The above-described problem (noise generation) may occur equally.

In order to reduce the noise at the time of speed calculation that can occur due to the quantization of the position sensor having a low resolution, a method of primarily filtering the position information detected by the position sensor with low position resolution has been adopted . As a general method of filtering the position information, a low pass filter (LPF) can be used. When the input signal changes abruptly like a staircase, the output signal smoothly increases and saturates toward the input signal, so that the low pass filter can be implemented simply through the RC circuit. However, when the position information of a position sensor having a low position resolution is filtered using a low pass filter, the output signal (filtered signal) may have a time delay with respect to the input signal (detected position information signal) There is a problem that there is only one.

In a remote control system in which a master device and a slave device are required to follow a position and a speed with respect to each other, a master device and a slave device are connected to a remote device (master / slave, mutual device) (Master / slave) equipped with a position detection unit having a relatively low position resolution based on the positional change amount of the effector, estimates the position of the end effector of the device (master / slave) (Limiting) the position detection information of the position detection unit with a relatively low position resolution, thereby to filter the position detection information of the position detection unit with no time delay, and a control method thereof.

In a remote control system in which a master device and a slave device are required to follow the position and speed of each other, a remote device (master / slave, mutual device) equipped with a position detection part having a relatively high position resolution among the master device and the slave device (Master / slave) equipped with a position detector having a relatively low position resolution based on the positional change amount of the end effector, and estimates the position of the end effector (Limit) of a range of values of a position detection unit, thereby reducing a high frequency noise at the time of speed calculation that can be caused by quantization of a position detection unit having a relatively low position resolution, and a control method thereof.

A control method of a remote control system includes a master device for an operator's operation and a slave device operating at a certain motion scale according to an operation, the method comprising the steps of: Acquiring detection information for a first position that is a position of an end effector of the first sensor; Calculating a change amount of the first position based on the obtained detection information for the first position; Obtaining detection information on a second position, which is a position of an end effector of the other one of the master device and the slave device; And estimating a second position based on the calculated amount of change of the first position and detection information on the obtained second position, wherein the resolution of the position detecting unit for detecting the second position is It is lower than the value obtained by applying a certain operating ratio to the resolution.

And generates a control signal for controlling the operation of the end effector of the master device or the operation of the end effector of the slave device based on the estimated second position information; And controlling the operation of the end effector of the master device or the operation of the end effector of the slave device based on the generated control signal.

Estimating the second position includes: calculating a second estimated value candidate by summing the estimated second position information in the immediately preceding control period with a value obtained by applying a predetermined operating ratio to the amount of change of the first position; And limits the range of the estimated value candidate of the second position calculated based on the detected information on the obtained second position.

The estimation of the second position may include: estimating the second position information in the immediately preceding control period by applying a predetermined operation ratio to the amount of change of the first position and a change amount of detection information with respect to the second position information that has passed through the low- Calculating a second estimated value candidate by summing the weighted sum of the second estimated position value; And limits the range of the estimated value candidate of the second position calculated based on the detected information on the obtained second position.

The range of the estimated value candidates of the second position is also limited as follows: the estimated value candidate of the calculated second position is the upper limit of the resolution of the position detecting unit for detecting the second position based on the detection information for the second position, The second position estimation value candidate is estimated as the second position.

The range of the estimated value candidates of the second position is also limited as follows: the estimated value candidate of the calculated second position is the upper limit of the resolution of the position detecting unit for detecting the second position based on the detection information for the second position, A value on a closer boundary line between the upper boundary line and the lower boundary line is estimated as the second position based on the second position estimation value candidate.

Also, the remote control system is any one of a surgical robot system, an aerospace remote system, a hazardous material handling robot, a patrol robot, and a military robot.

The remote control system comprising: a master device including an end effector for inputting an instruction operation of an operator and a position detection section for detecting a position of an end effector for inputting a command operation; A slave device including an end effector for directly performing a work operation according to a command operation of an operator according to a certain operation rate and a position detector for detecting a position of an end effector for performing a task; And acquiring detection information for a first position that is a position of an end effector of either the master device or the slave device, calculating a variation amount of the first position based on detection information for the obtained first position, A control unit for obtaining detection information on a second position which is the position of the other end effector of the slave device and estimating a second position based on the calculated amount of change in the first position and detection information on the obtained second position Wherein the resolution of the position detection unit for detecting the second position is lower than a value obtained by applying a predetermined operation ratio to the resolution of the position detection unit for detecting the first position.

Further, the control unit generates a control signal for controlling the operation of the end effector of the master device or the end effector of the slave device based on the estimated second position information, and based on the generated control signal, Or the operation of the end effector of the slave device.

Also, the control unit may calculate the estimated value candidate at the second position by summing the estimated second position information in the immediately preceding control period and the value obtained by applying a predetermined operation ratio to the change amount of the first position, And estimates the second position by limiting the range of the estimated value candidate of the second position calculated based on the second position.

The control unit may further include a weighted sum of a value obtained by applying a predetermined operation ratio to the amount of change of the first position in the estimated second position information in the previous control cycle and a variation amount of the detected information with respect to the second position information that has passed through the low- ) To calculate the estimated value candidate of the second position, and estimates the second position by limiting the range of the estimated value candidate of the second position calculated based on the obtained detection information for the second position.

The control unit may further include a second position estimation value candidate when the calculated estimated position value of the second position is within a range between the upper limit boundary and the lower limit boundary of the resolution of the position detection unit that detects the second position based on the detection information about the second position To the second position.

In addition, when the calculated estimated position value of the second position is outside the range between the upper limit boundary and the lower limit boundary of the resolution of the position detection unit that detects the second position with reference to the detection information for the second position, A value on a boundary line that is closer to the upper limit boundary line and the lower limit boundary is estimated as the second position.

Also, the remote control system is any one of a surgical robot system, an aerospace remote system, a hazardous material handling robot, a patrol robot, and a military robot.

The position detecting unit for detecting the first position and the position detecting unit for detecting the second position are any one of an encoder and a potentiometer.

According to the proposed remote control system and its control method, in a remote control system in which a master device and a slave device are required to follow a position and a speed with each other, a master device and a slave device, Estimates the position of the end effector of the corresponding device (master / slave) equipped with the position detection unit having a relatively low position resolution based on the positional change amount of the end effector of the device (master / slave and mutual device) (Limited) the range of the predicted position value based on the position detection information of the effector, it is possible to filter the position detection information of the position detection unit with a relatively low position resolution without a time delay.

According to the proposed remote control system and its control method, in the remote control system in which the master device and the slave device are required to follow the position and the speed of each other, a position detector having a relatively high position resolution among the master device and the slave device is mounted (Master / slave) equipped with the position detection unit having a relatively low position resolution based on the positional change amount of the end effector of the remote device (master / slave, mutual device) (Limit) the range of the estimated position value based on the position detection information of the end effector, it is possible to reduce the high frequency noise at the time of velocity calculation that can be caused by the quantization of the position detection unit having a relatively low position resolution.

1 is a plan view showing the entire structure of a surgical robot system.
2 is a conceptual diagram showing a master interface of a surgical robot system.
3 is a control block diagram of a surgical robot system.
4 is a control block diagram of a surgical robot system.
5 is a conceptual diagram for explaining the overall control algorithm of the surgical robot system.
6A to 6C are views for explaining a method of estimating the position of the end effector (surgical tool) of the slave robot based on the amount of positional change of the end effector (master manipulator) of the master robot.
7 is a flowchart showing a control method of the surgical robot system.
8A is a graph showing the position of an estimated surgical tool when the position of an end effector (surgical tool) of a slave robot is estimated based on a positional change amount of an end effector (master manipulator) of the master robot, The results are shown in Fig.
9 is a control block diagram of a surgical robot system.
10 is a conceptual diagram for explaining the overall control algorithm of the surgical robot system.
11 is a flowchart showing a control method of the surgical robot system.
12A is a graph showing the relationship between the positional change amount of the end effector (master manipulator) of the master robot and the change amount of the position detection information of the end effector (surgical tool) of the slave robot that has passed through the LPF (low pass filter) FIG. 12B is a graph showing the speed calculated using the estimated position of the surgical tool. FIG. 12B is a graph showing the speed calculated using the estimated position of the surgical tool.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings.

In the present embodiments, a surgical robot system will be described as an example of a remote control system.

FIG. 1 is a plan view showing the entire structure of a surgical robot system, and FIG. 2 is a conceptual view showing a master interface of a surgical robot system.

Referring to FIGS. 1 and 2, a surgical robot system includes a slave robot 200 for performing surgery on a patient lying on a surgical table, and a master robot 100 for manipulating the slave robot 200 remotely by an operator . The master robot 100 and the slave robot 200 are not necessarily separated into separate devices that are physically independent and may be integrated into one unit. In this case, the master interface 110 may include, for example, It can correspond to the interface part.

The master interface 110 of the master robot 100 may include a master manipulator 112 and a display unit 114. The slave robot 200 may include a robot arm 202, a surgical instrument 204, a surgical tool 206 ), An endoscope 208, and an ultrasonic probe 210.

The master interface 110 is provided with a master manipulator 112 so that the operator can grip and manipulate the hands, respectively. The operator manipulates the position and function of the robot arm 202 and the like of the slave robot 200 via the master manipulator 112. [ The master manipulator 112 is an end-effector on the side of the master robot 100. The master manipulator 112 may be implemented with two handles as illustrated in FIGS. 1 and 2. A control signal, And the operation of the slave robot 200 including the robot arm 202 and the like is transferred to the robot 200. The robot arm 202 and the like can be moved, rotated, cut, and the like by the operation of the handle of the operator.

For example, the master manipulator 112 may comprise a main handle and a sub handle. It is possible to operate the robot arm 202 and the like with only one handle, or to manipulate a plurality of surgical tools simultaneously in real time by adding a sub-handle. The main handle and the sub handle may have various mechanical configurations according to their operation modes. For example, the main handle and the sub handle may have a three-dimensional motion such as a joystick, and may have a robot arm 202 of the slave robot 200, And the surgical tool 206 may be used. A plurality of links and a plurality of joints (connection portions of links and links) are connected to the master manipulator 112. Each of the plurality of joints connected to the master manipulator 112 is equipped with a position detection unit (position sensor) for detecting the position of the master manipulator 112. [

The image input by the endoscope 208 and / or the ultrasonic probe 210 is displayed on the display unit 114 of the master interface 110 as an image image.

The display unit 114 may be constituted by one or more monitors, and information necessary for operation may be individually displayed on each monitor. 1 and 2 illustrate a case where the display unit 114 includes three monitors. However, the number of monitors can be variously determined according to the type and kind of information required to be displayed.

The master robot 100 and the slave robot 200 are coupled to each other through a wired communication network or a wireless communication network to transmit control signals, an endoscopic image input through the endoscope 208, and an ultrasound image input through the ultrasound probe 210, Lt; / RTI > If the control signal for adjusting the position of the surgical instrument 204 coupled to the robot arm 202 and the control signal for adjusting the position of the surgical arm 204 coupled to the robot arm 202 are input to the master interface 110, When control signals for positioning the combined endoscope 208 or the ultrasonic probe 210 need to be transmitted at the same time or at a similar time point, the respective control signals can be transmitted to the slave robot 200 independently of each other.

Here, the fact that each control signal is transmitted "independently" means that the control signals do not interfere with each other, and that any one control signal does not affect the other signal. In order to transmit a plurality of control signals independently of each other, header information for each control signal is added and transmitted in the generation of each control signal, or each control signal is transmitted in accordance with the generation order, A variety of schemes may be used, such as prioritizing the transmission order of each control signal and transmitting the priority order. In this case, the transmission paths through which the respective control signals are transmitted may be provided independently so that interference between the respective control signals may be fundamentally prevented.

The robot arm 202 of the slave robot 200 can be implemented to be driven with multiple degrees of freedom. The robot arm 202 includes a plurality of links 202a and a plurality of joints 202b. At the end of the robot arm 202, surgical instruments 204, an endoscope 208 and an ultrasonic probe 210 are mounted. In addition, the end of the surgical instrument 204 may be provided with a surgical instrument such as a clamp, a grasper, a scissors, a stapler, a blade, a needle, a needle holder, Various surgery tools (206), that is, an end effector, are mounted to perform surgery. The endoscope 208 and the ultrasonic probe 210 mounted on the end of the robot arm 202 can also be regarded as end effectors on the side of the slave robot 200. Hereinafter, as an end effector on the side of the slave robot 200, Only the surgical tool 206 will be described as an example.

As the endoscope 208, a variety of surgical endoscopes such as a thoracoscopic, arthroscope, and non-endoscopes other than the laparoscope, which is mainly used in robot surgery, can be used.

In FIG. 1, a plurality of slave robots 200 (in the form of multi-ports), a plurality of robot arms, a plurality of surgical instruments, and a plurality of slave tools A single-port, a multi-robot arm, a multi-surgical instrument, a plurality of surgical tools, A single-port robot, a single-robot arm, a multi-surgical instrument, a slave robot in the form of a plurality of surgical tools, etc. The present invention can be applied to a surgical robot system including various types of slave robots.

3 is a control block diagram of a surgical robot system.

As shown in Fig. 3, the surgical robot system includes a master robot 100A and a slave robot 200A.

The positional resolution of the position detector 120A for detecting the position of the master manipulator 112 as the end effector on the side of the master robot 100A is different from the position of the surgical tool 206 as the end effector on the side of the slave robot 200A Is higher than the positional resolution of the position detecting unit 220A for detecting the position of the object. At this time, the position of the end effector (in this case, the position of the master operating unit) where the position detecting unit with a relatively high position resolution is mounted is set to the " first position ", and the position of the end effector , The position of the surgical tool) will be defined as " second position ".

The master robot 100A may include a first position detector 120A, a first velocity detector 125A, a storage unit 130A, a master controller 140A, a communication unit 150A, and a display unit 114A.

The first position detection unit 120A is mounted on each of the plurality of joints connected to the master manipulator 112 and detects the position of the master manipulator 112, more specifically, the position (rotation angle) of the joint connected to the master manipulator 112, . Here, the " first position " means the position of the end effector on which the position detection unit having a relatively high position resolution is mounted, as described above. Therefore, in this embodiment, It is assumed that the positional resolution of the second tool 120A is higher than the positional resolution of the second position detector 220A that detects the position of the surgical tool 206. [ An encoder, a potentiometer, or the like may be used as the first position detection unit 120A. In addition, any device may be used as long as it is a digital device capable of detecting information on the position of the master manipulator 112 to be.

The first speed detector 125A is mounted on each of the plurality of joints connected to the master manipulator 112 to detect the speed of the master manipulator 112 and more specifically the speed (rotation speed) of the joint connected to the master manipulator 112, . Here, the " first speed " means the speed of the end effector equipped with the position detector with a relatively high position resolution. As the first speed detector 125A, a tachometer or the like may be used. In the present embodiment, the case where the velocity of the master manipulator 112 is detected by using the first velocity detector 125A has been described as an example. However, instead of using a separate velocity detector (velocity sensor) : Encoder), it is possible to calculate the speed of the master operating unit 112 and use the calculated speed information.

The storage unit 130A stores information necessary for estimating the position (second position) of the end effector equipped with the position detection unit having a relatively low position resolution and the second position estimation result performed by the second position estimation unit 141A In the storage unit 130A, positional resolution information of a position detection unit (second position detection unit) having a relatively low position resolution, second positional information estimated in the second positional estimation process, and the like are stored.

In addition, the storage unit 130A may store various reference images such as an X-ray image, a computed tomography (CT) image, and a magnetic resonance imaging (MRI) image taken before the operation.

The master control unit 140A includes a second position estimation unit 141A, a control signal generation unit 145A, and an image processing unit 146A. do.

The second position estimating section 141A or the non-delay filtering section 141A is a component for filtering the position detection information of the second position detecting section 220A with a relatively low position resolution, without time delay. The position estimating unit 141A further includes a first position change amount calculating unit 142A, a second position estimation value candidate calculating unit 143A, and a second position estimation value candidate restricting unit 144A.

The first position change amount calculation unit 142A receives the first position detection information ... r [k-1], r [k] from the first position detection unit 120A and outputs the received first position detection information The first position change amount r [k] -r [k-1] is calculated using the first position change amount r [k-1], r [ Here, [k] and [k-1] represent a sampling index, where k represents the current control period and k-1 represents the previous control period. R [k] is the first position detection information detected through the first position detector 120A in the current control period k, and r [k-1] is the first position detection information detected in the previous control cycle k- And is the first position detection information detected through the detection unit 120A. Therefore, the first position change amount r [k] -r [k-1] is calculated based on the first position detection information r [k] in the current control cycle from the first position detection information r [ k-1]). The first position change amount calculation unit 142A transmits the calculated first position change amount r [k] -r [k-1] to the second position estimation value candidate calculation unit 143A.

The second position estimation value candidate calculation unit 143A calculates the second position estimation value candidate xc (k-1) based on the first position variation amount r [k] -r [k-1] received from the first position variation amount calculation unit 142A [k]). When calculating the second position estimation value candidate, the second position to be estimated (the position of the end effector on which the position detection unit with a relatively low position resolution is mounted) is a first position (an end on which the position detection unit with a relatively high position resolution is mounted R [k] -r [k-1]) by interlocking with the first position change amount r [k] -r [k-1]. That is, the value (second position estimation value candidate, _xc [k]) that can be estimated to be the second position is the first position estimate value x [k-1] estimated at the previous control period (k- It is predicted that it is a value shifted by the position change amount r [k] -r [k-1]. As a result, the second position estimation value candidate calculating section 143A calculates the second position x [k-1] and the first position variation r [k] -r [k-1] estimated in the previous control cycle as And calculates the second position estimation value candidate (x _c [k]). That is, the second position estimation value candidate calculation unit 143A can calculate the second position estimation value candidate x _c [k] using the following equation (1).

[Equation 1]

The second position estimation value candidate calculation unit 143A transfers the calculated second position estimation value candidate x _c [k] to the second position estimation value candidate restricting unit 144A.

The second position estimation value candidate restricting section 144A limits the range of the second position estimation value candidate x _c [k] based on the second position detection information y [k] detected through the second position detection section 220A. . Claim to be construed as limiting the scope of the second position estimate value candidates (x _c [k]) In other words, when trying to obtain a final estimate the second position, the estimated second position (position resolution is relatively low position detector mounted in the Is assumed to be within y [k] +/- A / 2. Here, y [k] is the second position detection information,? Is the position resolution of the second position detector 220A, and the position resolution is the capability of the position detector (position sensor) to distinguish any position detection value from the surrounding values Quot; means a minimum distance from which two adjacent points can be distinguished from each other. The position resolution is expressed as the distance or angle (in millimeters or radians) between two points, the smaller the value, the greater the resolution.

That is, the second position estimation value candidate restricting section 144A can restrict the range of the second position estimation value candidate x _c [k] using the following equation (2).

&Quot; (2) "

이다.here,

to be.

The second position estimation value candidate restricting unit 144A restricts the range of the second position estimation value candidate x _c [k] based on the second position detection information y [k] If the second position estimation value candidate x _c [k] is in the range of y [k] ± Δ / 2, the second position estimation value candidate x _c [k] is directly used as the second position estimation value , x [k]). On the other hand, the When the second position estimate candidate limiting unit (144A) are present in addition to the second location estimate value candidates (x _c [k]) and a second position detection information (y [k]) range of ± Δ / 2 y [k] + [Delta] / 2 or y [k] - [Delta] / 2 as the second estimated position value (estimated second position, x [k]). That is, the second position estimation value candidate restricting section 144A sets the value y [k] + DELTA / 2 obtained by adding DELTA / 2 to the second position detection information y [k] (xc (k) -Δ / 2) obtained by subtracting Δ / 2 from the second position detection information y [k] with a lower limit value (upper limit) [k]).

The position resolution of the first position detector 120A is relatively higher than the position resolution of the second position detector 220A and a separate motion scale is applied between the master robot 100A and the slave robot 200A The following description is made by way of example.

However, even when the position resolution of the position detection unit mounted on the master robot side is the same as the position resolution of the position detection unit mounted on the slave robot side, the operation amount of the end effector (master manipulator) Since the motion scale is applied (i.e., motion scaling is performed) in order to standardize the size of the motion of the robot side end effector (surgical tool), the actual resolution of the both side position detection units after the scaling (I.e., the actual position resolution of the position detection is lower), and the position information detected by the position detection unit having a relatively low standardization resolution is used (hereinafter referred to as " normalized resolution " The fact that high-frequency noise can be generated when calculating the velocity There was a bar.

Here, the application of the operation ratio means that a value obtained by multiplying the position information of the end effector of the master robot by 1/5 and the position information of the end effector of the slave robot when the constant operation ratio of the master to slave is 5: Means controlling the operation of both end effectors by using the value of the position information of the master robot side end effector and the position information of the slave robot side end effector multiplied by five.

For example, assuming that the position resolution of the position detection unit mounted on the master robot side is the same as the position resolution of the position detection unit mounted on the slave robot and the motion scale of the master to slave is 5: 1 The standardization resolution of the position detector mounted on the slave robot side is lower than the standardization resolution of the position detector mounted on the master robot side. In this case, the position of the slave robot side end effector can be estimated by the following two methods.

First, when estimating the position of the slave robot side end effector (that is, when using the above-described [Expression 1] and [Expression 2]), the position information of the end effector on the master robot side is multiplied by 1/5 Value, all the position information of the master robot and the slave robot are made to have the scale of the slave robot standard (slave robot standardization is performed). That is, by using the values obtained by multiplying r [k-1] and r [k], which are the position detection information of the end effector of the master robot side, by 1/5 when using [Expression 1] and [Expression 2] The position of the side end effector can be estimated.

Secondly, when estimating the position of the slave robot side end effector (that is, when using Equations (1) and (2) described above), the value obtained by multiplying the position information of the slave robot side end effector by 5 So that all the positional information of the master robot and the slave robot side have the scale of the master robot standard (performing standardization of the master robot standard). That is, y [k], which is the position detection information of the slave robot side end effector, x _c [k], which is a position estimation value candidate of the slave robot side end effector when using [Expression 1] and [ It is possible to estimate the position of the slave robot side end effector by multiplying x [k], which is estimated position information of the end effector, by 5, respectively.

)를 획득할 수 있다.The control signal generator 145A calculates the position error information between the master and the slave using the second position information x [k] estimated through the second position estimator 141A. The control signal generating unit 145A also generates the control signal for the slave robot side end effector using the second position information x [k] estimated through the second position estimating unit 141A and the following equation (3) Or by applying a low pass filter (LPF) to the velocity v [k] of the slave robot side end effector (surgical tool) calculated through the equation (3) Of the low-pass filtered surgical tool 206 represented by Equation (4)

Can be obtained.

&Quot; (3) "

&Quot; (4) "

Here, T represents the control period (sampling time) of the surgical robot system.

)를 산출하고, 산출된 정보들에 기초하여 슬레이브 로봇(200) 즉, 수술 도구(206)의 동작을 제어하기 위한 제어신호를 생성한다. That is, the control signal generating section 145A generates position error information between the master and the slave, the velocity v of the slave robot side surgical tool 206 based on the second position information estimated through the second position estimating section 141A, [k]) or the speed of the low pass filtered surgical tool 206

And generates a control signal for controlling the operation of the slave robot 200, that is, the surgical tool 206, based on the calculated information.

The image processing unit 146A is a unit for processing the input image to output the image input from the image information obtaining unit 225A of the slave robot 200A, for example, the endoscope 208 and / or the ultrasonic probe 210, . Here, examples of image processing include enlargement, reduction, rotation, movement, editing, and filtering of the photographed image.

The communication unit 150A is a communication circuit connected to the master control unit 140A and the communication unit 250A of the slave robot 200A via the wired communication network or wireless communication network to transmit and receive data. The control information is transmitted to the slave robot 200A or the detection information for the first position detected through the first position detector 120A and the image information obtained through the image information obtaining unit 225A Or ultrasound image information) from the slave robot 200A.

The display unit 114A displays an image corresponding to the endoscopic image transmitted from the endoscope 208 of the slave robot 200, an image corresponding to the ultrasound image transmitted from the ultrasonic probe 210 of the slave robot 200, Various reference images such as an X-ray image, a computed tomography (CT) image, and a magnetic resonance imaging (MRI) image taken before the operation, which are stored in the memory 130A, Output.

The slave robot 200A operates the robot arm 202 according to the control signal received from the master robot 100A to directly perform operations required for the operation on the patient. 3, the slave robot 200A includes a second position detector 220A, an image information obtaining unit 225A, a storage unit 230A, a slave control unit 240A, a communication unit 250A, 260A).

The second position detecting unit 220A detects the position of the surgical tool 206 attached to each of the plurality of joints 202b constituting the robot arm 202 and connected to the robot arm 202, (Rotation angle) of the joints connected to the joint. Here, the "second position" means the position of the end effector on which the position detection unit with a relatively low position resolution is mounted, as described above. Therefore, in this embodiment, It is assumed that the position resolution of the first actuator 220A is lower than the position resolution of the first position detector 120A that detects the position of the master actuator 112. [ An encoder, a potentiometer, or the like may be used as the second position detector 220A, or any other digital device capable of detecting information about the position of the surgical tool 206 may be used. to be.

The image information acquiring unit 225A acquires image information of a surgical site by photographing the internal organs or body cavity while being inserted into the patient's body. The image information obtaining unit 225A may be embodied by an endoscope 208 and an ultrasonic probe 210 or the like. The image information obtained through the image information obtaining unit 225A is transmitted to the image processing unit 247A in the slave control unit 240A and is subjected to an image processing process or is transmitted to the master robot 100A through the communication unit 250A, Lt; / RTI >

The storage unit 230A stores information and algorithms necessary for controlling the operation of the slave robot 200A. For example, in the storage unit 230A, the position detection information of the surgical tool 206 detected through the second position detection unit 220A and the image information of the surgical site obtained through the image information acquisition unit 225A .

The slave controller 240A is a processor for connecting various components constituting the slave robot 200 and controlling the operation of the slave robot 200. The slave controller 240A is a processor for controlling the slave robot side end effector Or the image information of the surgical site obtained by the image information obtaining unit 225A to the master robot 100A via the communication unit 250A or the control signal generating unit 145A in the master control unit 140A Through the communication unit 250A and transmits the control signal to the driving unit 260A. Also, the slave control unit 240A may include an image processing unit 247A for processing the image of the surgical site obtained through the image information obtaining unit 225A. Here, examples of image processing include enlargement, reduction, rotation, movement, editing, and filtering of the photographed image. The image processing performed in the slave controller 240A may be omitted in some cases.

The communication unit 250A is a communication circuit connected to the slave control unit 240A and the communication unit 150A of the master robot 100A via a wired communication network or a wireless communication network to transmit and receive data. The detection information for the second position detected through the second position detecting unit 220A, the image information obtained through the image information obtaining unit 225A (the endoscopic image information and / or the ultrasound image Information) can be transmitted to the master robot 100A.

The driving unit 260A is an actuator such as a motor for transmitting power by electric or hydraulic pressure to each of a plurality of joints 202b constituting the robot arm 202 and is connected to a control signal transmitted from the master control unit 140A Then, each joint is rotated. At this time, the control signal received from the master control unit 140A is a control signal generated based on the second position information estimated through the delay-less filter unit 141A.

The control configuration of the master robot 100A and the slave robot 200B of the surgical robot system according to the embodiment has been described above with reference to FIG. 3 shows a case where the master control unit 140A of the master robot 100A receives the second position estimation value candidate restricting unit 144A composed of the first position change amount calculating unit 142A, the second position estimation value candidate calculating unit 143A and the second position estimation value candidate restricting unit 144A 4, the first position change amount calculation unit 242B, the second position estimation value candidate calculation unit 243B, and the second position estimation value candidate restriction unit 242B, as shown in FIG. 4, The second position estimating unit 241B including the first position estimating unit 244B may be included in the slave controlling unit 240B of the slave robot 200B. 4, since the slave controller 240B performs the estimation process for the second position, the information necessary for estimating the second position in the storage unit 230B of the slave robot 200B (the second position The position resolution information of the detection unit) and the second position estimation result (estimated second position information) performed by the second position estimation unit 241B. The second position information estimated by the second position estimator 241B in the slave controller 240B is transmitted to the control signal generator 145B in the master controller 140B through the communication units 250B and 150B, The signal generator 145B generates a control signal for controlling the operation of the slave robot 200 based on the received second position information.

The configuration of the surgical robot system shown in FIG. 4 is different from that of the surgical robot system shown in FIG. 3 in that the second position estimator 241B is provided in the slave controller 240B instead of the master controller 140B And other components are the same as those of the surgical robot system shown in FIG. 3, and therefore, a detailed description thereof will be omitted here.

FIG. 5 is a conceptual diagram for explaining the overall control algorithm of the surgical robot system. FIGS. 6A to 6C show positions of end effectors (surgical tools) of the slave robot based on the positional change amounts of the end effectors And Fig.

The area " A " shown in Fig. 5 (the area indicated by chain double-dashed lines in Fig. 5) is located at the first position (the position of the end effector on which the position detection unit with a relatively high position resolution is mounted, (The position of the end effector on which the position detection unit with a relatively low position resolution is mounted, the position of the surgical tool in the above embodiment) based on the amount of change of the position of the end effector.

5, when the operation is first started and an operator (doctor using the surgical robot system) of the master manipulator 112 operates the master manipulator 112 for the surgical operation, the position of the master manipulator 112 The first position detection information (..., r [k-1], r [k]) is obtained. The first position change amount r [k] -r [k-1] is calculated using the obtained first position detection information (..., r [k-1], r [k]). Here, k denotes the current control period and k-1 denotes the previous control period.

Next, the first position change amount r [k] -r [k-1] is added to the second position x [k-1] estimated in the immediately preceding control period k-1, (X _c [k]) of the second position estimation value candidates.

Then, based on the detection information related to the position of the surgical tool 206 transmitted from the slave robot 200, that is, the position of the second position estimation value candidates x _c [k] based on the second position detection information y [k] And finally obtains the second position estimate (estimated second position, x [k]) by limiting the range.

The process of estimating the second position (obtaining the second position estimate x [k]) based on the first position change amount r [k] -r [k-1] Will be described in more detail with reference to FIG.

The process of estimating the second position includes the steps of (1) calculating a candidate (second position estimation value candidate, x _c [k]) that can be a second position estimation value (first step), And a step of limiting the range of the second position estimation value candidates x _c [k] (second step).

First, the second candidate position estimate (x _c [k]) a second position at which the first position change amount in association with the first position, to be estimated calculating the (r [k] -r [k -1] ).

That is, as shown in Figs. 6A to 6C, the first position variation r [k] -r [k-1] at the second position x [k-1] estimated in the previous control period k- ]) To calculate the second position estimate value candidate x _c [k].

Second, in the step of limiting the range of the calculated second position estimation value candidate x _c [k], it is assumed that the estimated second position x [k] exists within y [k] ± Δ / do. Here, y [k] denotes the second position detection information, and [Delta] denotes the position resolution of the second position detector 220A having a relatively low position resolution.

That is, if the calculated second position estimation value candidate xc [k] is the upper limit boundary y [k] + y of the position resolution of the second position detection section 220A with reference to the second position detection information y [ Δ / 2) and lower boundary (y [k] -Δ / 2 ) relative to the second candidate position estimate (x _c [k]) and a second position estimate candidates (xc [k] is not) when mounted outside the range of between (Upper limit or lower limit) as the final estimated second position x [k].

6A to 6C, the second position detection information in the current control period k is 99 (y [k] = 99), and the position resolution of the second position detection section 220A Is 1 (DELTA = 1) will be described as an example. In this case, the estimated second position (second position estimate value, x [k]) is the upper limit of the positional resolution of the second position detector 220A based on the second position detection information y [k] (99-1 / 2? x [k]? 99 + 1/2) within the range of [k] +? / 2 and the lower limit line y [ 2). At this time, the second position detection information y [k-1] in the immediately preceding control period k-1 and the second position detection information y [k] in the current control period k are the same value y (k-1) = y [k] = 99) shows that the position resolution of the second position detector 220A is relatively lower than the position resolution of the first position detector 120A, The second position detector 220A detects the two pieces of the detection information y [k-1], y [k] even if the actual second position in the current control period k is different from the actual second position in the current control period k. ) Can not be distinguished by different values.

6A, when the magnitude of the second position estimation value candidate x _c [k] is within the second y [k] +/-? / 2 (y [k] for present in the upper boundary of the range and a lower limit _{boundary) (98.5≤x c [k] ≤99.5} ) , the second position estimate value candidates (x _c [k]) is the estimated as the second position (x [k] ) (X _c [k] = x [k]).

6B, when the magnitude of the second position estimation value candidate x _c [k] is smaller than the value obtained by subtracting? / 2 from the second position detection information y [k] (x _c [k ] is y if [k] is placed the lower boundary of the position resolution of the second position detector by out, x _c [k] <98.5) is the estimated other than the second position estimate value candidates (x _c [k]) K] = y [k] - [Delta] / 2 = 98.5), which is the lower limit boundary value that can be the second position.

6C, when the magnitude of the second position estimation value candidate x _c [k] is larger than the value obtained by adding Δ / 2 in the second position detection information y [k] (x _c [k] ] is y if [k] is placed a second position the upper limit boundary of the position resolution of the detection are based only, x _c [k]> 99.5) is the estimated non-second position estimate candidates (x _c [k]) The upper limit boundary value 99.5, which can be the 2 position, becomes the estimated second position x [k] (x [k] = y [k] +? / 2 = 99.5).

Returning to the description of FIG. 5, the estimated second position x [k] is updated to the new second estimated position x [k] through the above-described process.

Generates a control signal for controlling the operation of the surgical tool 206 desired to be operated by the operator based on the estimated second position x [k], and outputs the control signal to the slave robot 200 via the generated control signal Respectively.

7 is a flowchart showing a control method of the surgical robot system.

The positional resolution of the position detection section 120A for detecting the position of the master manipulator 112 which is the end effector on the side of the master robot 100A is the end effector on the side of the slave robot 200A Is higher than the positional resolution of the position detector 220A that detects the position of the surgical tool 206. [ At this time, the position of the master manipulator 112 on which the position detector with a relatively high position resolution is mounted is set to the &quot; first position &quot;, and the position of the surgical tool 206 on which the position detector with the relatively low position resolution is mounted is set to &quot; Location ". Also, as the advance information for performing the position estimation of the surgical tool 206 equipped with the position detector (second position detector) having a relatively low position resolution, the storage unit 130A may include a second position detector The positional resolution information of the previous control cycle 220A and the second positional information x [k-1] estimated in the process of estimating the position of the previous control cycle k-1.

When the operation is first started and an operator of the master manipulator 112 (physician using the surgical robot system) performs a certain operation through the master manipulator 112 for the surgical operation, the first position detector 120A of the master robot 100A ..., r [k-1], r [k] of the master manipulator 112 as the master robot side end effector and detects the position information of the detected master manipulator 112 k-1] and r [k] to the master control unit 140A (310).

Next, the first position change amount calculating section 142A in the second position estimating section 141A of the master control section 140A calculates the position detection information of the master manipulating device 112, ... obtained from the first position detecting section 120A, (r [k] -r [k-1]) of the master manipulator 112 is calculated (320) using the values r [k-1] and r [k].

The second position detector 220A of the slave robot 200A detects the position information y [k] of the surgical tool 206 which is the slave robot side end effector and detects the position of the surgical tool 206 And transmits the information y [k] to the slave control unit 240A (330). The slave control unit 240A transmits the position detection information y [k] of the received surgical tool 206 to the master control unit 140A through the communication units 250A and 150A.

Next, the second position estimation value candidate calculation unit 143A in the second position estimation unit 141A calculates the position x [k-1] of the surgical tool 206 estimated in the immediately preceding control period (k-1) calculates the amount of change in position of the master actuator (112) (r [k] -r [k-1]) where the estimated value candidates (x _c [k]) of surgical tool 206, by summing the calculated in operation 320 (340 ). The second position estimation value candidate calculation unit 143A calculates the position estimation value candidate x _c [k] of the calculated surgical tool 206 to the second position estimation value candidate restricting unit 144A in the second position estimating unit 141A .

The second position estimation value candidate restricting section 144A then determines the second position estimation value candidate limiting section 144A based on the position detection information y [k] of the surgical tool 206 detected through the second position detecting section 220A, ( _Xc [k]) of the position estimate value candidate (x, y) At this time, the second position estimation value candidate restricting unit 144A restricts the position estimation value candidate x _c [k] of the surgical tool 206 to y [k] ± Δ / 2 of the surgical tool 206 (X _c [k]) of the surgical tool 206 to the position of the surgical tool 206 as it is within the range of the second position detection information If the position estimation value candidate x _c [k] of the surgical tool 206 is outside the range of y [k] ± Δ / 2, it is calculated as the estimated value (the estimated position of the surgical tool, x [ (Y [k] +? / 2, upper limit) obtained by adding? / 2 to the position detection information y [k] of the surgical tool 206, (The estimated position of the surgical tool, x [k]) of the surgical tool 206 by calculating a value y [k] -Δ / 2,

Next, the position (x [k]) of the surgical tool 206 estimated through the above-described process is stored in the storage unit 140A and updated with the position estimation value x [k] of the new surgical tool 206 (360).

The control signal generating unit 145A in the master control unit 140A then generates the control signal S in the slave robot 200 based on the position information x [k] of the surgical tool 206 estimated through the second position estimating unit 141A. That is, a control signal for controlling the operation of the surgical tool 206, the endoscope 208, and the ultrasonic probe 210 is generated (370).

Next, the master control unit 140A controls the operation of the slave robot 200 based on the control signal generated in operation 370 (380).

8A is a graph showing the position of an estimated surgical tool when the position of an end effector (surgical tool) of a slave robot is estimated based on a positional change amount of an end effector (master manipulator) of the master robot, The results are shown in Fig.

8A and 8B show the positional resolution of the first position detecting portion 120A mounted on the master manipulator 112 of the master robot 100A is 0.009 mm and the positional resolution of the second position detecting portion 120A mounted on the slave robot 200A The position resolution of the position detection section 220A is 0.050 mm and the position resolution of the second position detection section 220A mounted on the surgical tool 206 is smaller than the position resolution of the first position detection section 120A mounted on the master operation device 112 The results are shown in FIG.

’로 도시된 선)는 계단 또는 지그재그(zigzag) 패턴으로 나타나지만 마스터 조작기(112)의 위치 변화량을 기반으로 추정된 수술 도구(206)의 위치 정보 신호(x[k], 도 8a에서 ‘

’로 도시된 선)는 위치 분해능이 상대적으로 높은 제 1 위치 검출부(120A)를 통해 검출된 마스터 로봇(100A)의 마스터 조작기(112)의 위치 검출 정보 신호(r[k], 도 8a에서 ‘

’로 도시된 선)와 유사하게 거의 곧게 펴진 직선 패턴으로 나타나는 것을 확인할 수 있다. 도 8a에 도시된 그래프에서, 마스터 조작기(112)의 위치 변화량을 기반으로 추정된 수술 도구(206)의 위치 정보 신호(x[k], 도 8a에서 ‘

’로 도시된 선)가 제 2 위치 검출부(220A)를 통해 검출된 수술 도구(206)의 위치 검출 정보 신호(y[k], 도 8a에서 ‘

’로 도시된 선)를 관통하는 형태로 나타나는데, 이는 추정된 수술 도구(206)의 위치 정보 신호(x[k], 도 8a에서 ‘

’로 도시된 선)가 수술 도구(206)의 위치 검출 정보 신호(y[k], 도 8a에서 ‘

’로 도시된 선)에 대해 시간 지연을 갖지 않거나 매우 작은 시간 지연을 갖는다는 것을 의미한다.8A, the horizontal axis represents time (unit: second [s]) and the vertical axis represents position information (unit: meter [m]) of the master manipulator 112 and the surgical tool 206 in the z direction. 8A, the position detection information signal y [k] of the surgical tool 206 of the slave robot 200A detected through the second position detector 220A,

The position information signal x [k] of the surgical tool 206 estimated based on the positional change amount of the master manipulator 112, which is represented by a step or a zigzag pattern,

The position detection information signal r [k] of the master manipulator 112 of the master robot 100A detected through the first position detector 120A having a relatively high position resolution,

(A line shown by &quot; a &quot;). In the graph shown in FIG. 8A, the position information signal x [k] of the surgical tool 206 estimated based on the positional change amount of the master manipulator 112,

The position detection information signal y [k] of the surgical tool 206 detected through the second position detection unit 220A,

Quot ;, as shown in FIG. 8A, the position information signal x [k] of the estimated surgical tool 206,

Is a position detection information signal y [k] of the surgical tool 206,

&Quot; or &lt; / RTI &gt; has a very small time delay.

On the other hand, in the graph shown in FIG. 8B, the abscissa indicates time (unit: second [s]) and the ordinate indicates speed information (unit: meter per second [m / s]) of the surgical tool 206. 8B, the velocity information signal (FIG. 8B) of the surgical tool 206 calculated by using (differentiating) the position detection information signal y [k] of the surgical tool 206 of the slave robot 200A (X [k]) of the surgical tool 206 estimated based on the amount of change in the position of the master manipulator 112 although sawtooth noise is generated in the line The speed information signal of the tool 206 (line shown by a thick solid line in FIG. 8B) can be confirmed that the noise is significantly reduced.

9 is a control block diagram of a surgical robot system.

As shown in FIG. 9, in comparison with the surgical robot system shown in FIG. 3, the surgical robot system includes a slave control unit 240C of the slave robot 200C, a low pass filter unit 245C, 3 is different from the surgical robot system shown in Fig. 3 in that a portion 246C is added.

In the following description, the components having the same names and the same reference numerals are not described (the reference numerals A, B, and C after the numerals in the reference numerals are used to distinguish each embodiment) Pass filter section 245C and the filtered signal variation amount calculating section 246C and the second position estimating section 141C in the master control section 140C whose function is changed by the constituent elements 245C and 246C ) Will be described below.

9, the second position estimating unit 141C or the second position estimating unit 141C in the master control unit 140C calculates the position of the second position detecting unit 220C with a relatively low resolution, that is, The second position estimating unit 141C is further provided with a first position variation amount calculating unit 142C, a second position estimation value candidate calculating unit 143C, a second position estimation value candidate limiting unit 142C, (144C).

The first position change amount calculation section 142C receives the first position detection information (..., r [k-1], r [k]) from the first position detection section 120C and outputs the received first position detection information To calculate the first position change amount r [k] -r [k-1]. The first position change amount calculation unit 142C delivers the calculated first position change amount r [k] -r [k-1] to the second position estimation value candidate calculation unit 143C.

,

)의 변화량(

)에 기초하여 제 2 위치 추정값 후보(x_c[k])를 산출한다. 제 2 위치 추정값 후보를 산출할 때, 추정하고자 하는 제 2 위치(위치 분해능이 상대적으로 낮은 위치 검출부가 장착된 엔드 이펙터의 위치)는 제 1 위치 변화량(r[k]-r[k-1])과 저역 통과 필터부(245C)를 통과한 제 2 위치 검출 정보의 변화량(

)의 비중합만큼 이동했다고 전제한다. 즉, 제 2 위치로 추정될 수 있는 값(제 2 위치 추정값 후보, xc[k])은 직전 제어 주기(k-1)에서 추정된 제 2 위치(x[k-1])에서 제 1 위치 변화량(r[k]-r[k-1])과 저역 통과 필터부(245C)를 통과한 제 2 위치 검출 정보의 변화량(

)의 비중합만큼 이동한 값이라고 예측한다. 결과적으로, 제 2 위치 추정값 후보 산출부(143C)는 직전 제어 주기에서 추정된 제 2 위치(x[k-1])에 제 1 위치 변화량(r[k]-r[k-1])과 저역 통과 필터부(245C)를 통과한 제 2 위치 검출 정보의 변화량(

)의 비중합(

)을 합산하여 제 2 위치 추정값 후보(x_c[k])를 산출한다. The second position estimation value candidate calculation unit 143C calculates the second position estimation value candidate value r [k] -r [k-1] received from the first position variation amount calculation unit 142C and the filtered signal variation amount calculation unit 246C, Pass filter section 245C received from the second position detection information

,

)

(X _c [k]) based on the second position estimation value candidate. When calculating the second position estimation value candidate, the first position variation amount r [k] -r [k-1], which is the second position to be estimated (the position of the end effector on which the position detection section with relatively low position resolution is mounted) And the amount of change of the second position detection information passed through the low-pass filter 245C

), Respectively. That is, the value (second position estimation value candidate, xc [k]) that can be estimated to be the second position is the second position x [k-1] estimated in the previous control cycle (k- The amount of change r [k] -r [k-1] of the second position detection information that has passed through the low pass filter portion 245C

), Which is a value obtained by subtracting the weighted sum from the weighted sum. As a result, the second position estimation value candidate calculator 143C calculates the second position variation value r [k] -r [k-1] at the second estimated position x [k-1] The amount of change of the second position detection information passed through the low-pass filter 245C

) Of the weighted sum of

) To calculate the second position estimation value candidate (x _c [k]).

That is, the second position estimation value candidate calculation unit 143C can calculate the second position estimation value candidate x _c [k] using the following equation (5).

&Quot; (5) &quot;

)의 비중을 설정할 수 있다. 제 2 위치에 대한 추정 시 제 2 위치 추정값 후보(x_c[k])를 나타내는 위의 [수학식 5]에서 항

는 추정된 제 2 위치 정보 신호(x[k])가 검출된 제 2 위치 정보 신호(y[k])에 대해 가지는 시간 지연을 제거하는 역할을 수행하는 반면, 항

에 의해서는 시간 지연이 발생할 수도 있다. 즉, α가 0에 가까울수록 시간 지연이 크게 발생하므로, 시간 지연은 줄이면서도 원래의 신호 크기(제 2 위치 검출 정보)가 거의 그대로 보존될 수 있도록 α를 조정하는 것이 바람직하다.Here, α is a weighting factor having a value between 0 and 1, and is a weighting factor having a first positional change amount r [k] -r [k-1] and a low- The amount of change in detected information (

) Can be set. In Equation (5), which represents the second position estimation value candidate (x _c [k]) upon estimation for the second position,

K] for the detected second position information signal x [k] while the second position information signal y [k]

Time delay may occur. That is, as α approaches 0, a large time delay occurs. Therefore, it is desirable to adjust α so that the original signal size (second position detection information) can be almost preserved while reducing the time delay.

The second position estimation value candidate calculation unit 143C transmits the calculated second position estimation value candidate x _c [k] to the second position estimation value candidate restricting unit 144C. The second position estimation value candidate restricting section 144C limits the range of the second position estimation value candidate x _c [k] based on the second position detection information y [k] detected through the second position detection section 220C. . Claim to be construed as limiting the scope of the second position estimate value candidates (x _c [k]) In other words, when trying to obtain a final estimate the second position, the estimated second position (position resolution is relatively low position detector mounted in the Is assumed to be within y [k] +/- A / 2. Here, y [k] is the second position detection information, and [Delta] is the position resolution of the second position detection section 220C.

The second position estimation value candidate restricting section 144C may limit the range of the second position estimation value candidates x _c [k] using the following expression (6).

&Quot; (6) &quot;

이다.here,

to be.

The second position estimation value candidate limiting unit 144C limits the range of the second position estimation value candidates x _c [k] based on the second position detection information y [k] If the second position estimation value candidate x _c [k] is in the range of y [k] ± Δ / 2, the second position estimation value candidate x _c [k] is directly used as the second position estimation value , x [k]). On the other hand, if the second position estimation value candidate x _c [k] is out of the range of y [k] ± Δ / 2, the second position estimation value candidate restricting unit 144C limits the second position detection information y [k] (Y [k] -Δ / 2) obtained by subtracting Δ / 2 from the value (y [k] + Δ / 2) obtained by adding Δ / 2 to the second position detection information (Estimated second position, x [k]). That is, the second position estimation value candidate restricting section 144C sets the value y [k] + DELTA / 2 obtained by adding DELTA / 2 to the second position detection information y [k] (x [k] - [Delta] / 2) obtained by subtracting [Delta] / 2 from the second position detection information y [k] as a lower limit _c [k]).

)를 산출하고, 산출된 정보들에 기초하여 슬레이브 로봇(200) 즉, 수술 도구(206)의 동작을 제어하기 위한 제어신호를 생성한다. The control signal generating unit 145C generates position error information between the master and slave based on the second position information x [k] estimated through the second position estimating unit 141C, position error information between the slave robot- (V [k]) or the velocity of the low-pass filtered surgical tool 206

And generates a control signal for controlling the operation of the slave robot 200, that is, the surgical tool 206, based on the calculated information.

9, the slave control unit 240C in the slave robot 200C includes a low-pass filter unit 245C and a filtered signal variation amount calculation unit 246C.

The low pass filter section 245C receives the second position detection information (..., y [k-1], y [k]) from the second position detecting section 220C having a relatively low position resolution, Pass the low frequency portion of the frequency of the position detection information (..., y [k-1], y [k]). In the surgical robot system operating at the control cycle (sampling time) T, the low-pass filter 245C passes through the low-frequency portion of the frequency of the second position detection information y [k] using the following equation (7) .

&Quot; (7) &quot;

는 현재 제어 주기(k)에서 검출된 제 2 위치 검출 정보(y[k])를 저역 통과시킨 정보이고,

는 직전 제어 주기(k-1)에서 검출된 제 2 위치 검출 정보(y[k-1])를 저역 통과시킨 정보이고, f는 저역 통과 필터링 시의 차단 주파수(cut-off frequency, 필터에서 통과 대역과 차단 대역의 경계가 되는 주파수)이다. 저역 통과 필터부(245C)는 저역 통과 필터링된 제 2 위치 검출 정보(

,

)를 필터링된 신호 변화량 산출부(246C)로 전달한다.here,

Is information obtained by passing the second position detection information y [k] detected in the current control period (k)

Is information obtained by low-pass- ing the second position detection information y [k-1] detected in the immediately preceding control period (k-1), f is a cut-off frequency at the low- Frequency that is the boundary between the band and the cutoff band). The low-pass filter section 245C receives the low-pass filtered second position detection information (

,

To the filtered signal variation calculation unit 246C.

,

)를 수신하고, 저역 통과 필터링된 제 2 위치 검출 정보를 이용하여 저역 통과 필터링된 신호의 변화량(

)을 산출한다. 슬레이브 제어부(240C)는 산출된 저역 통과 필터링된 신호의 변화량(

)을 통신부(250C, 150C)를 통해 마스터 제어부(140C)로 전송한다.The filtered signal variation amount calculation section 246C compares the second position detection information (low-pass filtered second position detection information) from the low-pass filter section 245C

,

) Of the low-pass filtered signal using the low-pass filtered second position detection information

). The slave control unit 240C calculates the change amount (i.e.,

To the master control unit 140C through the communication units 250C and 150C.

The control configuration of the master robot 100C and the slave robot 200B of the surgical robot system according to another embodiment has been described above with reference to Fig. 9 shows a case where the master control unit 140C of the master robot 100C receives the non-delayed pulses from the first position change amount calculating unit 142C, the second position estimation value candidate calculating unit 143C and the second position estimation value candidate restricting unit 144C The second position estimating unit including the first position change amount calculating unit, the second position estimation value candidate calculating unit and the second position estimation value candidate restricting unit includes the filter unit 141A, (240C).

10 is a conceptual diagram for explaining the overall control algorithm of the surgical robot system.

10 shows the position of the end effector on which the position detection unit with a relatively high position resolution is mounted, the position of the master manipulator in the above embodiment (the position (The position of the end effector on which the position detection unit with a relatively low position resolution is mounted, the position of the surgical tool in the above embodiment) based on the change amount of the first position detection information and the change amount of the low- .

10, when the operation is first started and the operator of the master manipulator 112 (doctor using the surgical robot system) operates the master manipulator 112 for the surgical operation, the position of the master manipulator 112 The first position detection information (..., r [k-1], r [k]) is obtained. The first position change amount r [k] -r [k-1] is calculated using the obtained first position detection information (..., r [k-1], r [k]). Here, k denotes the current control period and k-1 denotes the previous control period.

)의 비중합(

)을 합산하여 현재 제어 주기에서의 제 2 위치 추정값 후보(x_c[k])를 산출한다.Next, a first position change amount r [k] -r [k-1] at a second position x [k-1] estimated in the immediately preceding control period k- The amount of change in position detection information

) Of the weighted sum of

) To calculate a second position estimation value candidate (x _c [k]) in the current control cycle.

Then, based on the detection information related to the position of the surgical tool 206 transmitted from the slave robot 200, that is, the position of the second position estimation value candidates x _c [k] based on the second position detection information y [k] And finally obtains the second position estimate (estimated second position, x [k]) by limiting the range. It is assumed that the estimated second position x [k] exists within y [k] ± Δ / 2 in the step of limiting the range of the second position estimation value candidates x _c [k]. Here, y [k] denotes the second position detection information, and [Delta] denotes the position resolution of the second position detector 220C having a relatively low position resolution.

That is, the second position estimate value candidates (x _c [k]) and a second position detection information (y [k]) to a second position location resolution upper border of the detector (220A) on the basis (y [k] calculated (X _c [k]) that is not the second position estimation value candidate x _c [k] when it lies outside the range between the lower limit boundary line (y [k] -Δ / (Upper limit or lower limit) as the final estimated second position (x [k]) based on the boundary line (upper limit or lower limit).

Returning to the description of FIG. 10, the second position (x [k]) estimated through the above process is updated with the new second position estimate x [k].

Generates a control signal for controlling the operation of the surgical tool 206 desired to be operated by the operator based on the estimated second position x [k], and outputs the control signal to the slave robot 200 via the generated control signal Respectively.

11 is a flowchart showing a control method of the surgical robot system.

The positional resolution of the position detection section 120C for detecting the position of the master manipulator 112 as the end effector on the side of the master robot 100C is the end effector of the slave robot 200C Is higher than the positional resolution of the position detecting portion 220C for detecting the position of the surgical tool 206. [ At this time, the position of the master manipulator 112 on which the position detector with a relatively high position resolution is mounted is set to the &quot; first position &quot;, and the position of the surgical tool 206 on which the position detector with the relatively low position resolution is mounted is set to &quot; Location ". Also, as the advance information for performing the position estimation of the surgical tool 206 equipped with the position detector (second position detector) having a relatively low position resolution, the storage unit 130A may include a second position detector The positional resolution information of the previous control cycle 220A and the second positional information x [k-1] estimated in the process of estimating the position of the previous control cycle k-1.

First, when the operation is started and an operator (physician using the surgical robot system) of the master manipulator 112 performs a certain operation through the master manipulator 112 for the surgical operation, the first position detector 120C of the master robot 100C ..., r [k-1], r [k] of the master manipulator 112 as the master robot side end effector and detects the position information of the detected master manipulator 112 k-1] and r [k] to the master control unit 140C (410).

Next, the first position change amount calculation section 142C in the second position estimation section 141C of the master control section 140C calculates the position detection information of the master manipulation device 112 ..., ... obtained from the first position detection section 120C, (r [k] -r [k-1]) of the master manipulator 112 is calculated (420) using the values r [k-1] and r [k].

,

)를 필터링된 신호 변화량 산출부(246C)로 전달한다. 필터링된 신호 변화량 산출부(246C)는 저역 통과 필터링된 제 2 위치 검출 정보를 이용하여 저역 통과 필터링된 신호의 변화량(

)을 산출한다. 슬레이브 제어부(240C)는 수신한 수술 도구(206)의 위치 검출 정보(y[k])및 산출된 저역 통과 필터링된 신호의 변화량(

)을 통신부(250C, 150C)를 통해 마스터 제어부(140C)로 전송한다.The second position detector 220A of the slave robot 200A detects the position information y [k] of the surgical tool 206 which is the slave robot side end effector and detects the position of the surgical tool 206 And transmits the information y [k] to the slave control unit 240C. The low pass filter section 245C in the slave control section 240C passes the low frequency section of the frequency of the position detection information y [k] of the received surgical tool 206. [ The low-pass filter section 245C receives the filtered signal (

,

To the filtered signal variation calculation unit 246C. The filtered signal variation amount calculation section 246C calculates the variation amount of the low-pass filtered signal using the low-pass filtered second position detection information

). The slave control unit 240C receives the position detection information y [k] of the received surgical tool 206 and the calculated amount of change of the low-pass filtered signal

To the master control unit 140C through the communication units 250C and 150C.

)의 비중합을 합산하여 수술 도구(206)의 위치 추정값 후보(x_c[k])를 산출한다(440). 제 2 위치 추정값 후보 산출부(143C)는 산출된 수술 도구(206)의 위치 추정값 후보(x_c[k])를 제 2 위치 추정부(141C) 내의 제 2 위치 추정값 후보 제한부(144C)로 전달한다.Next, the second position estimation value candidate calculation section 143C in the second position estimation section 141C calculates the second position estimation value candidate calculation section 143C based on the position (x [k-1]) of the surgical tool 206 estimated in the previous control cycle A change amount r [k] of the position detection information of the low-pass filtered surgical tool 206 obtained in the operation 430

) To calculate the position estimate value candidate x _c [k] of the surgical tool 206 (440). The second position estimation value candidate calculation unit 143C calculates the position estimation value candidate x _c [k] of the calculated surgical tool 206 to the second position estimation value candidate restricting unit 144C in the second position estimation unit 141C .

The second position estimation value candidate limiting unit 144C then determines the second position estimation value candidate limiting unit 144C based on the position detection information y [k] of the surgical tool 206 detected through the second position detecting unit 220C, (X _c [k]) of the position estimation value candidates 206 (206). At this time, the second position estimation value candidate restricting unit 144C determines that the position estimation value candidate x _c [k] of the surgical tool 206 is y [k] ± Δ / 2 (where y [k] (X _c [k]) of the surgical tool 206 as it is within the range of the position detection value of the surgical tool 206 And if the position estimation value candidate x _c [k] of the surgical tool 206 is outside the range of y [k] ± Δ / 2, the position of the surgical tool 206 is detected A value obtained by subtracting? / 2 from the value (y [k] +? / 2, upper limit) obtained by adding? / 2 to the information y [k] y [k] -Δ / 2, lower limit) is calculated as the estimated position value of the surgical tool 206 (the estimated position of the surgical tool, x [k]).

Next, the position x [k] of the surgical tool 206 estimated through the above process is stored in the storage unit 140C and updated with the position estimate x [k] of the new surgical tool 206 (460).

The control signal generating unit 145C in the master control unit 140C then generates the control signal S in the slave robot 200 based on the position information x [k] of the surgical tool 206 estimated through the second position estimating unit 141C. That is, a control signal for controlling the operation of the surgical tool 206 is generated (470).

Next, the master control unit 140C controls the operation of the slave robot 200 based on the control signal generated in operation 470 (480).

12A is a graph showing the relationship between the positional change amount of the end effector (master manipulator) of the master robot and the change amount of the position detection information of the end effector (surgical tool) of the slave robot that has passed through the LPF (low pass filter) FIG. 12B is a graph showing the speed calculated using the estimated position of the surgical tool. FIG. 12B is a graph showing the speed calculated using the estimated position of the surgical tool.

12A and 12B are views showing the positional resolution of the first position detecting portion 120C mounted on the master manipulator 112 of the master robot 100C and the positional resolution of the second position detecting portion 120C mounted on the surgical tool 206 of the slave robot 200A, The position resolution of the position detecting section 220C is 0.050 mm and the position resolution of the second position detecting section 220C mounted on the surgical tool 206 is smaller than the position resolution of the first position detecting section 120C mounted on the master operating device 112 Under the condition that the weight α for setting the weight of the position change amount of the master manipulator 112 and the change amount of the position detection information of the surgical tool 206 passing through the low pass filter portion 245C is 0.6 And the results of the experiment are shown.

’로 도시된 선)는 계단 또는 지그재그(zigzag) 패턴으로 나타나지만 마스터 조작기(112)의 위치 변화량 및 LPF를 통과한 수술 도구(206)의 위치 검출 정보의 변화량을 기반으로 추정된 수술 도구(206)의 위치 정보 신호(x[k], 도 12a에서 ‘

’로 도시된 선)는 위치 분해능이 상대적으로 높은 제 1 위치 검출부(120C)를 통해 검출된 마스터 로봇(100A)의 마스터 조작기(112)의 위치 검출 정보 신호(r[k], 도 12a에서 ‘

’로 도시된 선)와 유사하게 거의 곧게 펴진 직선 패턴으로 나타나는 것을 확인할 수 있다. 도 12a에 도시된 그래프에서, 마스터 조작기(112)의 위치 변화량을 기반으로 추정된 수술 도구(206)의 위치 정보 신호(x[k], 도 12a에서 ‘

’로 도시된 선)가 제 2 위치 검출부(220C)를 통해 검출된 수술 도구(206)의 위치 검출 정보 신호(y[k], 도 12a에서 ‘

’로 도시된 선)의 상측에서 접하는 형태로 나타나는데, 이는 추정된 수술 도구(206)의 위치 정보 신호(x[k], 도 12a에서 ‘

’로 도시된 선)가 수술 도구(206)의 위치 검출 정보 신호(y[k], 도 12a에서 ‘

’로 도시된 선)에 대해 어느 정도의 시간 지연을 갖는다는 것을 의미한다.12A, the horizontal axis represents time (unit: second [s]) and the vertical axis represents position information (unit: meter [m]) of the master manipulator 112 and the surgical tool 206 in the z direction. 12A, the position detection information signal y [k] of the surgical tool 206 of the slave robot 200C detected through the second position detector 220C,

'Is shown as a step or zigzag pattern, but the surgical tool 206, which is estimated based on the amount of change in the position of the master manipulator 112 and the amount of position detection information of the surgical tool 206 that has passed through the LPF, The position information signal x [k] of Fig. 12A,

The position detection information signal r [k] of the master manipulator 112 of the master robot 100A detected through the first position detector 120C having a relatively high position resolution,

(A line shown by &quot; a &quot;). 12A, the position information signal x [k] of the surgical tool 206 estimated based on the position change amount of the master manipulator 112,

The position detection information signal y [k] of the surgical tool 206 detected through the second position detection unit 220C,

12 ', the position information signal x [k] of the estimated surgical tool 206,

12), the position detection information signal y [k] of the surgical tool 206,

&Lt; / RTI &gt; as shown in FIG. 4A).

On the other hand, in the graph shown in FIG. 12B, the horizontal axis represents time (unit: second [s]), and the vertical axis represents speed information (unit: meter per second [m / s]) of the surgical tool 206. 12B, the speed information signal (FIG. 12B) of the surgical tool 206 calculated by using (differentiating) the position detection information signal y [k] of the surgical tool 206 of the slave robot 200C Shaped noise is generated in the surgical tool 206 based on the positional change amount of the master manipulator 112 and the change amount of the position detection information of the surgical tool 206 passing through the LPF, The speed information signal (line shown by a thick solid line in FIG. 12B) of the surgical tool 206 calculated using the position information signal x [k] of the position information signal x [k]

Although the surgical robot system has been described as an example of the remote control system in the above embodiments, the invention disclosed in various types of remote control systems such as an aerospace remote system, a dangerous goods processing robot, a patrol robot, a military robot (defense robot) Can be applied.

100: Master robot 112: Master manipulator
120A, 120B, and 120C:
140A, 140B, 140C:
141A, 141B, 141C: second position estimating unit (non-delaying filter unit)
100: Master robot 112: Master manipulator
200: Slave robot 206: Surgical tool
220A, 220B, and 220C:
240A, 240B, 240C: a slave control unit

Claims (15)

A control method of a remote control system including a master device for an operator's operation and a slave device operating at a certain motion scale according to the operation,
Obtain detection information for a first position that is a position of an end effector of either the master device or the slave device;
Calculating a change amount of the first position based on the obtained detection information for the first position;
Obtaining detection information for a second position that is a position of the end effector of the other one of the master device and the slave device;
Estimating the second position based on the calculated amount of change in the first position and detection information on the obtained second position,
Wherein the resolution of the position detection unit for detecting the second position is lower than the value obtained by applying the predetermined operation ratio to the resolution of the position detection unit for detecting the first position. The method according to claim 1,
Generating a control signal for controlling the operation of the end effector of the master device or the operation of the end effector of the slave device based on the estimated second position information;
And controlling the operation of the end effector of the master device or the operation of the end effector of the slave device based on the generated control signal. 2. The method of claim 1, wherein estimating the second position comprises:
Calculating an estimated value candidate of the second position by summing the estimated second position information in the previous control cycle with a value obtained by applying the predetermined operation ratio to the change amount of the first position;
And limits the range of the estimated value candidate of the calculated second position based on the obtained detection information for the second position. 2. The method of claim 1, wherein estimating the second position comprises:
A weighted sum of a value obtained by applying the predetermined operation ratio to the amount of change of the first position in the estimated second position information in the immediately preceding control cycle and a variation amount of the detected information with respect to the second position information passed through the low- sum) to calculate the estimated value candidate of the second position;
And limits the range of the estimated value candidate of the calculated second position based on the obtained detection information for the second position. 5. The method of claim 3 or 4, wherein limiting the range of the estimated value candidate of the second position comprises:
When the estimated value candidate of the calculated second position is within a range between an upper limit boundary and a lower limit boundary of the resolution of the position detection unit that detects the second position with reference to detection information for the second position, And estimating the candidate as the second position. 5. The method of claim 3 or 4, wherein limiting the range of the estimated value candidate of the second position comprises:
When the estimated value candidate of the calculated second position lies outside the range between the upper limit boundary and the lower limit boundary of the resolution of the position detecting section that detects the second position with reference to the detection information for the second position, And estimates a value on a boundary line that is closer to the upper limit boundary line and the lower limit boundary line as the second position based on the candidate. The method according to claim 1,
Wherein the remote control system is any one of a surgical robot system, an aerospace remote system, a dangerous goods processing robot, a patrol robot, and a military robot. A master device including an end effector for inputting an instruction operation of an operator and a position detection section for detecting a position of the end effector for command operation input;
A slave device including an end effector for directly performing a work operation according to a command operation of the operator according to a certain operation ratio and a position detector for detecting a position of the end effector for performing a task; And
Acquiring detection information for a first position, which is a position of an end effector of either the master device or the slave device, calculating a change amount of the first position based on detection information for the obtained first position, Acquiring detection information for a second position, which is a position of an end effector of the other one of the master device and the slave device, based on the calculated amount of change of the first position and detection information for the obtained second position, And a controller for estimating a second position,
Wherein the resolution of the position detection unit for detecting the second position is lower than a value obtained by applying the predetermined operation ratio to the resolution of the position detection unit for detecting the first position. 9. The method of claim 8,
The control unit generates a control signal for controlling the operation of the end effector of the master device or the operation of the end effector of the slave device based on the estimated second position information, A remote control system for controlling the operation of an end effector of an apparatus or the operation of an end effector of the slave apparatus. 9. The method of claim 8,
Wherein the control unit calculates the estimated value candidate of the second position by summing the estimated second position information in the previous control cycle with a value obtained by applying the predetermined operation ratio to the change amount of the first position, And estimating the second position by limiting the calculated range of the estimated value candidate of the second position. 9. The method of claim 8,
Wherein the control unit calculates a weighted sum of a value obtained by applying the predetermined operation ratio to the amount of change of the first position in the estimated second position information in the previous control cycle and a variation amount of the detected information with respect to the second position information passed through the low- Calculating an estimated value candidate of the second position by summing a weighted sum of the estimated positions of the first position and the second position, and limiting the range of the estimated value candidate of the calculated second position based on the detected information on the obtained second position, The remote control system. The method according to claim 10 or 11,
When the estimated value candidate of the calculated second position is within a range between the upper limit and lower limit of the resolution of the position detecting unit for detecting the second position with reference to the detection information for the second position, And estimates the two-position estimation value candidate as the second position. The method according to claim 10 or 11,
When the estimated value candidate of the calculated second position is located outside the range between the upper limit and lower limit of the resolution of the position detecting unit for detecting the second position with reference to the detection information for the second position, Estimates a value on a boundary line that is closer to the upper limit boundary line and the lower limit boundary line as the second position based on the 2-position estimation value candidate. 9. The method of claim 8,
Wherein the remote control system is any one of a surgical robot system, an aerospace remote system, a hazardous material handling robot, a patrol robot, and a military robot. 9. The method of claim 8,
Wherein the position detecting unit for detecting the first position and the position detecting unit for detecting the second position are any one of an encoder and a potentiometer.

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