WO2021147265A1 - 手术机械臂的控制方法、计算机设备及一种手术机械臂 - Google Patents

手术机械臂的控制方法、计算机设备及一种手术机械臂 Download PDF

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Publication number
WO2021147265A1
WO2021147265A1 PCT/CN2020/101996 CN2020101996W WO2021147265A1 WO 2021147265 A1 WO2021147265 A1 WO 2021147265A1 CN 2020101996 W CN2020101996 W CN 2020101996W WO 2021147265 A1 WO2021147265 A1 WO 2021147265A1
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WIPO (PCT)
Prior art keywords
telecentric
platform
coordinates
point
static
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PCT/CN2020/101996
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English (en)
French (fr)
Inventor
黄善灯
柏龙
陈晓红
柳建飞
Original Assignee
诺创智能医疗科技(杭州)有限公司
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Priority to EP20915770.0A priority Critical patent/EP4094712A4/en
Priority to US17/794,949 priority patent/US20230270514A1/en
Publication of WO2021147265A1 publication Critical patent/WO2021147265A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
    • B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0075—Truss
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • This application relates to the technical field of medical devices, and in particular to a control method of a surgical robotic arm, computer equipment, and a surgical robotic arm.
  • a surgical robot arm control method, computer equipment, and a surgical robot arm are provided.
  • a control method of a surgical robotic arm includes a preoperative swing assembly and an active arm.
  • the active arm includes an actuator rod and a telecentric control assembly. Connected with the telecentric control assembly, the telecentric control assembly is connected with the preoperative positioning assembly, and the method includes:
  • the telecentric fixed point on the execution rod is calculated according to the target point, and the preoperative positioning assembly is controlled to advance the first moving platform of the telecentric control assembly along the first coordinate axis of the moving coordinate system, so The advancing distance is equal to the obtained distance between the telecentric fixed point and the end point on the actuator;
  • the first origin coordinates of the origin of the first moving platform in the static coordinate system are calculated;
  • the first moving platform is controlled to move to a designated pose; wherein the designated pose is determined according to the first origin coordinates and the length of the first telescopic element.
  • the method includes:
  • the moving the telecentric immobile point includes at least one of the following:
  • controlling the preoperative positioning assembly to move the telecentric control assembly along the first coordinate axis
  • the movement of the first moving platform is controlled, and the movement is used to move the telecentric immobile point.
  • the first origin coordinate mark of the origin of the first movable platform in the static coordinate system calculated according to the coordinates of the telecentric fixed point and the trajectory coordinates of the end point includes:
  • the first origin coordinate is determined according to the first calculation model, the second calculation model, and the third calculation model.
  • the calculation to obtain the length of the first telescopic element of the telecentric control assembly according to the coordinates of the hinge point of the telecentric control assembly in the static coordinate system includes:
  • the first conversion matrix is determined; wherein, the first rotation angle is the angle at which the actuator rod rotates around the second coordinate axis, and the second rotation angle is the actuator rod The angle of rotation around the third coordinate axis;
  • the first coordinate is determined according to the first transformation matrix, and the length of the first telescopic element of the telecentric control assembly is calculated according to the first coordinate and the second coordinate; wherein, the first coordinate is the movable hinge point
  • the second coordinates are the coordinates of the static hinge point in the static coordinate system
  • the movable hinge point is located on the first moving platform
  • the static hinge point is located on the On the static platform of the telecentric control component.
  • the determining the first coordinate according to the first conversion matrix, and calculating the length of the first telescopic element of the telecentric control assembly according to the first coordinate and the second coordinate includes:
  • the third rotation angle is the angle at which the movable hinge point rotates around the origin of the first movable platform
  • the fourth angle of rotation is the angle at which the static hinge point rotates around the origin of the stationary platform
  • the length of the first telescopic element of the telecentric control assembly is calculated.
  • the method includes:
  • the telecentric control assembly further includes a second moving platform and a plurality of second telescopic elements arranged between the first moving platform and the second moving platform, and the second moving platform is connected to the execution
  • the second origin coordinates of the origin of the second movable platform in the static coordinate system are calculated and acquired, and the length of the second telescopic element is acquired;
  • the pose of the second movable platform is determined according to the coordinates of the second origin and the length of the second telescopic element.
  • the method before the calculating and acquiring the second origin coordinates of the origin of the second moving platform in the static coordinate system, and acquiring the length of the second telescopic element, the method includes:
  • the second movable platform is unlocked to move.
  • the unlocking of the second moving platform for movement includes:
  • the first plane and the second plane are in the same plane, wherein the first plane is the plane formed by the normal line of the deflection angle of the second movable platform and the telecentric fixed point, and the second plane is the plane formed by the normal line of the deflection angle of the second movable platform and the telecentric fixed point.
  • the method includes:
  • the rotation driving part is controlled to drive the execution assembly to rotate along the axial direction of the execution rod, and the rotation driving part is installed in the first movable platform.
  • the method includes:
  • Controlling the first deflection driving part and the second deflection driving part to drive the transmission cable built in the executive assembly to drive the surgical instruments of the executive assembly to deflect in two different directions that are staggered;
  • the opening and closing driving member is controlled to drive the operating instrument to open and close through the transmission cable; wherein, the first deflection driving member, the second deflection driving member and the opening and closing driving member are installed on the Inside the executive rod.
  • the method includes:
  • control the first moving platform In the case of receiving an instruction to replace the execution rod, control the first moving platform to pull the execution rod to move to be perpendicular to the plane where the minimally invasive opening is located, and save the third coordinate of the end point;
  • control the telecentric control assembly In the case of receiving the replacement completion instruction, control the telecentric control assembly to reset according to the third coordinate.
  • a surgical robotic arm including a preoperative positioning component, a telecentric control component, an executive component, and a control system, where the preoperative positioning component is connected to the telecentric control component, The telecentric control component is connected to the execution component;
  • the control system calculates the telecentric fixed point on the actuator rod of the actuator according to the target point, and controls the preoperative positioning component to advance the telecentric control component along the first coordinate axis of the moving coordinate system
  • the first moving platform, the advancing distance is equal to the acquired distance between the telecentric immobile point and the end point on the actuator;
  • the control system calculates the first origin coordinates of the origin of the first movable platform in the static coordinate system according to the coordinates of the telecentric fixed point and the trajectory coordinates of the end point;
  • the control system calculates the length of the first telescopic element of the telecentric control assembly according to the coordinates of the hinge point of the telecentric control assembly in the static coordinate system;
  • the control system controls the first moving platform to move to a designated pose; wherein, the designated pose is determined according to the first origin coordinates and the length of the first telescopic element.
  • the surgical robot arm further includes a rotating drive member
  • the control system controls the rotating drive member to drive the actuator to rotate along the axial direction of the actuator rod, and the rotating drive member is installed in the first movable platform.
  • the telecentric control assembly includes a multi-stage interconnected parallel platform, and each stage of the parallel platform includes two opposite platforms and a telescopic element located between the two platforms:
  • the parallel platform relatively close to the preoperative positioning assembly among the multi-level parallel platforms is a first-level parallel platform
  • the first-level parallel platform includes a static platform, the first moving stack, and the A plurality of first telescopic elements between the static platform and the first movable platform.
  • the number of stages of the parallel platform is two
  • the telecentric control assembly further includes a second-stage parallel platform connected to the first-stage parallel platform
  • the second-stage parallel platform includes A second moving platform and a plurality of second telescopic elements arranged between the first moving platform and the second moving platform; the second moving platform is relatively far away from the side of the static platform of the telecentric control assembly Fixedly connected to the executive assembly; both ends of each second telescopic element are respectively rotatably connected to the first movable platform and the second movable platform;
  • the control system calculates and acquires the second origin coordinates of the origin of the second moving platform in the static coordinate system, and acquires the length of the second telescopic element; according to the second origin coordinates and the length of the second telescopic element , To determine the pose of the second moving platform.
  • a computer device including a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
  • the processor implements any of the foregoing when the computer program is executed. The steps of the method.
  • a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the foregoing methods are implemented.
  • a method for controlling a surgical manipulator is adopted, the telecentric immobile point on the execution rod is calculated according to the target point, and the preoperative positioning assembly is controlled to advance the telecentric control along the first coordinate axis of the moving coordinate system
  • the first moving platform of the component according to the coordinates of the telecentric fixed point and the trajectory coordinates of the end point, the first origin coordinates of the origin of the first moving platform in the static coordinate system are calculated; according to the telecentric control
  • the coordinates of the hinge point of the component in the static coordinate system are calculated to obtain the length of the first telescopic element of the telecentric control component; the first movable platform is controlled to move to a specified pose, wherein, according to the coordinates of the first origin and the The length of the first telescopic element determines the specified posture, thereby realizing a telecentric immobility point, and solving the problem of large structural size of the surgical manipulator and interference between the surgical manipulator.
  • Fig. 1 is a schematic diagram of a model of a surgical robotic arm according to an embodiment of the present application
  • Fig. 2 is a flowchart of a method for controlling a surgical robotic arm according to an embodiment of the present application
  • Fig. 3A is an axial view of a telecentric control assembly according to an embodiment of the present application.
  • Fig. 3B is a front view of a telecentric control assembly according to an embodiment of the present application.
  • Fig. 3C is a top view of a telecentric control assembly according to an embodiment of the present application.
  • Fig. 4 is a flowchart of a method for controlling a surgical robot arm according to another embodiment of the present application.
  • Fig. 5 is a flowchart of a method for controlling a surgical manipulator according to another embodiment of the present application.
  • Fig. 6 is a flowchart of a method for controlling a surgical manipulator according to another embodiment of the present application.
  • Fig. 7A is a perspective view of a telecentric control assembly according to an embodiment of the present application.
  • Fig. 7B is a top view of a telecentric control assembly according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a length range of a first telescopic element in an embodiment of the application.
  • FIG. 9 is a schematic diagram of a static hinge swing angle range in an embodiment of the application.
  • FIG. 10 is a schematic diagram of a swing angle range of a movable hinge in an embodiment of the application.
  • Fig. 11 is a structural block diagram of a surgical robotic arm according to an embodiment of the present application.
  • Fig. 12 is a structural block diagram of a surgical robotic arm according to another embodiment of the present application.
  • Fig. 13 is a structural diagram inside a computer device according to an embodiment of the present application.
  • FIG. 1 is a schematic diagram of a model of a surgical robotic arm according to an embodiment of the present application, as shown in FIG. 1.
  • the surgical robotic arm includes a preoperative positioning assembly 12 and an active arm 14.
  • the preoperative positioning assembly 12 includes a telescopic mechanism 122 and a rotating mechanism 124; the telescopic mechanism 122 is used for telescopic movement to control the telescopic position, and is mainly used for preoperative positioning; the rotating mechanism 124 is used for preoperative positioning and is used for Adjust the position of the mechanism.
  • the active arm 14 includes an executive component 142 and a telecentric control component 144; the executive component 142 includes a driver 1422, an executive rod 1424, and a surgical instrument 1426.
  • the executive rod 1424 and the surgical instrument 1426 are connected by a rotary joint, and the executive rod 1424 is connected to the surgical instrument 1426.
  • the edges of the revolving joints are all smooth transitions, no edges and corners, to avoid harm to the human body or organs; a steel wire rope is placed inside the executive rod 1424 to control the action of the surgical instrument 1426, and the driving member 1422 is used to drive the wire rope to move, thereby driving and controlling the The three-degree-of-freedom rotation of the rod 1424 is performed, and the tissue grasping action of the surgical instrument 1426 is controlled.
  • the telecentric control assembly 144 is a spatial parallel mechanism formed by a multi-directional end effector connected to the other fixed end of the mechanical system through a hinge and a retractable mechanism.
  • the telecentric control assembly 144 can be a Stewart Parallel platform, the Stewart parallel platform includes a static platform 1442, 6 first telescopic elements 1444 and a first moving platform 1446; the static platform 1442 and the 6 first telescopic elements 1444 are hinged with a U pair, and the static platform 1442 can be Rotation in the x-axis and y-axis directions, but restricts the degree of freedom in the z-axis direction; the first telescopic element 1444 can be a driving rod, which is composed of an electrode and a lead screw, and the electric cylinder can be freed by driving the lead screw through the electrode Telescopic, thereby changing the motion state of the first movable platform 1446, the six first telescopic elements 1444 are arranged according to a certain rule, so that the Stewart parallel platform has a smaller
  • the first telescopic element 1444 and the z-axis deflection The angle range is between ⁇ 20°; the diameter of the first movable platform 1446 is smaller than the static platform 1442, and the movement state of the first movable platform 1446 is controlled by the change in the length of the first telescopic element 1446.
  • the first movable platform 1446 and the first telescopic element 1444 adopt the method of spherical articulation, which can realize rotation in the three directions of x-axis, y-axis and z-axis; among them, the first coordinate in the dynamic coordinate system and the static coordinate system in the embodiment of the present application
  • the axis is the z axis
  • the second coordinate axis is the x axis
  • the third coordinate axis is the y axis.
  • FIG. 2 is a flowchart of a method for controlling a surgical robot arm according to an embodiment of the present application. As shown in FIG. 2, the method includes the following steps :
  • Step S202 calculate the telecentric immobile point on the actuator rod 1424 according to the target target point.
  • the target target point is given by the operator, and the position of the target target point is given by the position of the doctor's main operating hand .
  • the position of the telecentric immobile point on the actuator rod 1424 is calculated by calculating the distance between the target point position and the minimally invasive opening.
  • the preoperative positioning assembly 12 is controlled to advance the first moving platform 1446 of the telecentric control assembly 144 along the first coordinate axis of the moving coordinate system, wherein the distance of the advancement is obtained by the ranging sensor, and the distance of the advancement is equal to that according to The distance between the telecentric control assembly 144 and the end point obtained by the coordinates, the ranging sensor is arranged at the connection of the actuator rod 1424 and the telecentric control assembly 144; in addition, during the pushing process, the preoperative positioning can be performed
  • the component 12 drives the active arm 14 to move so that the telecentric immobilization point coincides with the minimally invasive opening; or the preoperative positioning component 12 can drive the active arm 14 to a specified position, and then the telecentric control component 144 moves along The movement of the first coordinate axis makes the telecentric fixed point coincide with the minimally invasive opening, thereby improving the accuracy of the coincidence process; the telecentric control component 144 can be a Stewart parallel platform;
  • FIG. 3A is an axial view of a telecentric control assembly according to an embodiment of the present application
  • FIG. 3B is a front view of a telecentric control assembly according to an embodiment of the present application
  • FIG. 3C is a remote control assembly according to an embodiment of the present application
  • the assembly 144 is connected with the execution rod 1424.
  • the movable hinge point on the platform is the connection point on the first movable platform 1446
  • the static hinge point is the connection point on the static platform 1442.
  • the six static hinge points S 1 , S 2 , S 3 , S 4 , S 5 and S 6 are circumferentially distributed on the static platform 1442, and the six movable hinge points M 1 , M 2 , M 3 , M 4 , M 5 and M 6 are circumferentially distributed on the first movable platform 1446; adjacent The center angle corresponding to the nearest moving hinge point is ⁇ , and the center angle corresponding to the nearest static hinge point is ⁇ ; the radius of the first moving platform 1446 is r S , and the radius of the static platform 1442 is r M.
  • FIG 3 shows a S 4 -X S4 Y S4 Z S4 ); a movable fulcrum coordinates M i -X the hinge point at the center of the movable mi Y mi Z mi secured 1446, the origin located at positions corresponding numerals to the first movable platform, X mi axis circle by the stationary hinge point distribution center O M point M i, Z mi axis of the stationary vertical platform 1442 upward , Y Mi conforms to the right-hand rule.
  • the size parameters of the telecentric control assembly 144 are shown in Table 1, which can be obtained from the telecentric fixed point to the first coordinate (f x , f y , f z in the static coordinate system O S -X S Y S Z S ).
  • the actuator component 142 always moves around the telecentric immobile point that coincides with the patient's minimally invasive opening and performs surgical operations; in order to realize the swing of the surgical instrument 1426 in the surgical manipulator arm in different areas, the actuator rod 1424
  • the telecentric immobile point can move within a preset range.
  • the preset range is the range between the F 1 point and the F 2 point on the actuator 1424. In the embodiment of the present application, the The range length is 100mm.
  • Step S204 under the condition that the first coordinate axis is unchanged, according to the coordinates of the telecentric fixed point and the trajectory coordinates of the end point on the actuator rod 1424, it is calculated that the origin of the first movable platform 1446 is in the static coordinate system The coordinates of the first origin;
  • the end trajectory point of the surgical robot is given by the control system, so the trajectory point T at any time is known as (t x , t y , t z ), and the entire platform is pushed forward to the corresponding position by the preoperative positioning assembly 12 at the back end (At this time the end of the executive rod 1424 has been extended into the body), the telecentric immobile point F (0, 0, h+ll h ) coincides with F 1 on the executive rod 1424, and the end point is in the absolute coordinate system at this time.
  • the coordinates are (0, 0, h+1).
  • the first moving platform 1446 moves according to the predetermined requirements in the static coordinate system, and can be converted to take the dynamic coordinate system as the reference, and the fixed telecentric immobile point F in the static coordinate system is F 1 and F on the actuator 1424.
  • F 2 between the range of movement, the first range of movement of the movable platform 1446 in the direction of Z S l j, corresponding to the moving range of the surgical instrument 1426 in the direction Z S is also l j, the corresponding direction of the end coordinate range Is t z ⁇ [h+l, h+l+lj].
  • Step S206 According to the coordinates of the dynamic hinge point in the static coordinate system and the coordinates of the static hinge point in the static coordinate system, the length of the first telescopic element 1444 of the telecentric control assembly 144 is calculated; wherein, according to the space two The distance formula between points is to calculate the distance between any pair of dynamic and static hinge points, as shown in formula 1:
  • Step S208 controlling the first moving platform 1446 to move to a specified pose; wherein the specified pose is determined according to the coordinates of the origin and the length of the first telescopic element 1444; when it is necessary to adjust to the specified pose, according to the origin Coordinates and the length of the first telescopic element 1444, move the first movable platform 1446, the first movable platform 1446 adjusts the actuator rod 1424 to deflect a certain angle around the telecentric immobile point, wherein, during adjustment, the six first telescopic elements are maintained 1444 is adjusted evenly.
  • the surgical robot usually has a large range of motion during the operation, and the embodiment of the present application calculates the telecentric immobile point on the actuator rod 1424 through the above steps S202 to S208 according to the target point, and calculates the telecentric immobile point on the actuator rod 1424 according to the telecentric
  • the fixed point and the trajectory of the end of the executive rod 1424 can be reversed in real time to obtain the pose of the first moving platform 1446, so that it is easy to calculate the reverse solution online in real time and ensure that the executive rod 1424 has a certain distance when deflected by different angles.
  • the immobile point of the heart keeps the skin wound from being cut by the access rod 1424 during the operation; at the same time, compared with related technologies, the da Vinci surgical robot has a complex structure, high cost, and is caused by load. Its service life is limited. At the same time, Da Vinci adopts a parallelogram structure to cause interference problems.
  • the parallel mechanism formed by the connection of the first moving platform 1446 and the static platform 1442 and its control method have a simpler structure. The size is smaller and the bearing capacity is larger, thereby solving the problem of large structural size of the surgical robot arm and interference between the surgical robot arm, and reducing the cost.
  • FIG. 4 is a flowchart of a method for controlling a surgical robot arm according to another embodiment of the present application. As shown in FIG. 4, the method further includes The following steps:
  • Step S402 in the case of receiving the instruction to replace the execution rod 1424, control the first movable platform 1446 and the first movable platform 1446 to pull the execution rod 1424 to move to be perpendicular to the plane where the minimally invasive opening is located, and save the The third coordinate of the telecentric immobile point; for example, in the case of biopsy sampling or ablation of the lesion for different purposes, different actuator rods 1424 are needed to achieve the corresponding purpose.
  • the control system receives the replacement After the actuator 1424 is commanded, first, according to the coordinates of the telecentric immobile point, calculate the end point coordinates in the moving coordinate system that are the same as the coordinate points in the x-axis and y-axis directions of the telecentric immobile coordinates.
  • the telecentric immobilization point coordinates and the end point coordinates move the first movable platform so that the execution rod 1424 is perpendicular to the plane where the minimally invasive opening is located, and the end point coordinates at this time, that is, the first coordinates, are saved for subsequent execution The operation of removing from the patient's body.
  • Step S404 to ensure the locking in the x-axis and y-axis directions, instruct the preoperative positioning assembly to pull the first movable platform to move along the first coordinate axis, that is, the y-axis, and the first movable platform 1446 to pull the actuator rod along the first coordinate axis.
  • a coordinate axis is moved to the outside of the minimally invasive opening, thereby controlling the actuator rod 1424 to be taken out from the patient's body along the z-axis direction.
  • Step S404 in the case of receiving the replacement completion instruction, control the first moving platform 1446 to drag the execution rod 1424 to move along the first coordinate axis, and according to the third coordinate, reset to the telecentric immobile point and the micro The wound opening coincides; wherein, in the case where the replacement of the execution rod 1424 has been completed, the control system receives the replacement completion instruction, and controls the execution rod 1424 to reset, and then continue the operation.
  • the first movable platform 1446 is controlled to move along the first coordinate axis, and the first movable platform 1446 pulls the execution rod 1424 along the first coordinate axis.
  • the coordinate axis moves to the outside of the minimally invasive opening, so as to ensure that the minimally invasive opening is not enlarged when the actuator rod 1424 is replaced.
  • FIG. 5 is a flowchart of a method for controlling a surgical robot arm according to another embodiment of the present application. As shown in FIG. 5, the method further includes The following steps:
  • Step S502 in the case that the driving member 1422 includes a rotation driving member, a first deflection driving member, a second deflection driving member, and an opening and closing driving member, the rotation driving member is controlled to drive the actuator 142 along the axial direction of the actuator rod 1424 When rotating, the rotating drive member is installed in the first movable platform 1446.
  • a first deflection driving part, a second deflection driving part and an opening and closing driving part are installed at the connection between the actuator 142 and the first moving platform 1446.
  • the first deflection driving part and the second deflection driving part drive the built-in actuator assembly
  • the transmission cables respectively drive the surgical instruments 1426 of the executive assembly to deflect in two different directions that are staggered, and the opening and closing driving member drives the surgical instruments 1426 to open and close through the transmission cables.
  • the rotary driving member that drives the actuator rod 1424 and the surgical instrument 1426 to rotate synchronously along the axial direction of the actuator rod 1424 is installed in the first movable platform 1446, which avoids that all four motors are placed on the actuator rod 1424.
  • the wire rope When one end is rotated along the z-axis, the wire rope will be twisted, thereby further improving the accuracy of the operation, reducing the output power of the driving member 1422, and increasing the service life of the driving member 1422.
  • a method for controlling a surgical manipulator wherein the telecentric control assembly of the surgical manipulator in this embodiment further includes a multi-stage parallel platform connected to each other; it needs additional explanation that each level Parallel platforms can each include two platforms and a telescopic element located between the two platforms.
  • the first-level parallel platform includes two platforms, namely the first moving platform 1446 and the static platform 1442; the second-level parallel platform may also include two platforms, respectively, the second moving platform and fixed on the first moving platform 1446 Installation platform (not shown).
  • the second-level parallel platform and the larger number of parallel platforms can also omit the corresponding installation platform, and one of the previous-level parallel platforms will be responsible for it.
  • the second-level parallel platform includes two platforms, which are the second moving platform and the first moving platform 1446 in the first-level parallel platform, that is, the first moving platform 1446 is shared by the two-level parallel platform at this time.
  • the term “the parallel platform of each stage includes two opposing platforms and a telescopic element located between the two platforms” mentioned in this article has two situations.
  • each stage has two parallel platforms. There are two platforms, and the two platforms are not shared between different levels of parallel platforms; one is that each level of parallel platforms can realize the relative movement between its own two platforms by sharing adjacent levels of platforms.
  • the number of stages of the parallel platform is two stages, that is, the telecentric control assembly 144 further includes a second-stage parallel platform connected to the first-stage parallel platform, and the second-stage parallel platform includes a second moving platform and a set A plurality of second telescopic elements between the first moving platform 1446 and the second moving platform; the second moving platform is relatively far away from the telecentric control assembly 144 on the side of the static platform 1442 fixedly connected to the execution assembly 142
  • Figure 6 is a flowchart of a method for controlling a surgical manipulator according to another embodiment of the present application. As shown in Figure 6, the method further includes the following steps:
  • Step S602 Calculate and acquire the secondary origin coordinates of the origin of the second moving platform in the static coordinate system, and acquire the length of the second telescopic element;
  • FIG. 7A is a telecentric control assembly according to an embodiment of the present application A perspective view, as shown in FIG. 7A, a second movable platform 72 and a plurality of second telescopic elements 74 arranged between the first movable platform 1446 and the second movable platform 72, and the second movable platform 72 is connected to the Execute component 142.
  • Fig. 7B is a top view of a telecentric control assembly according to an embodiment of the present application.
  • the first-stage deflection angle movement range of the first moving platform 1446 Within the first-stage limit boundary is the first-stage deflection angle movement range of the first moving platform 1446;
  • the second movable platform 72 is in the zero position and locked; once the calculated deflection angle of the first movable platform 1446 exceeds the second stage opening boundary, the second stage is unlocked
  • the activity boundary after starting the second-level platform is the second-level limit boundary.
  • the movement of the first movable platform 1446 is restricted to the first-level limit boundary, and the plane formed by the normal line of the deflection angle of the second movable platform 72 and the telecentric immobile point is ensured to deflection with the first movable platform 1446.
  • the surface formed by the normal and the telecentric fixed point are in the same plane, thereby preventing the telecentric control assembly 144 from being distorted; among them, the circle between the first-level limit boundary and the second-level limit boundary in FIG.
  • the area is a safety control area, and the setting value of the safety control area must be greater than the maximum possible deflection angle of the first movable platform 1446 in a single motion command cycle (for example, 1 ms), for example, the maximum deflection angle is 1°.
  • the second moving platform moves to the zero position, and at the same time the first moving platform 1446 of the first stage moves to the target value; wherein, both the first and second motions Meet the original fixed point constraints.
  • the pose of the second movable platform 72 is determined; wherein, the algorithm of the secondary origin point coordinates is the same as that of the origin point coordinates, and the length of the second telescopic element 74 is The algorithm is the same as that of the length of the first telescopic element 1444.
  • step S602 by adding a second moving platform, and determining the pose of the second moving platform according to the coordinates of the secondary origin and the length of the secondary first telescopic element, the multi-level solution of the surgical manipulator is realized.
  • the deflection angle of the single-stage Stewart parallel mechanism is relatively small, and the single-stage platform is superimposed into a multi-stage platform to accumulate the deflection angle, thereby increasing the operating space of the surgical instrument 1426.
  • a method for controlling a surgical robotic arm is provided, and the method further includes the following steps:
  • Step S702 Determine a first calculation model according to the relationship between the telecentric fixed point coordinates, the trajectory coordinates and the direction vector modulus length, where the direction vector modulus length is the direction vector modulus length of the actuator 1424 in the static coordinate system;
  • the positional relationship between the telecentric fixed point coordinates, the trajectory coordinates and the first origin coordinates determines the second calculation model; determines the third calculation model according to the distance formula between the trajectory coordinates and the origin coordinates;
  • the calculation model, the second calculation model, and the third calculation model obtain the origin coordinates;
  • the telecentric fixed point coordinates are (fx, fy, fz)
  • the trajectory coordinates of the end point are (tx, ty, tz)
  • the direction vector of the line where the execution rod 1424 is located in the static coordinate system is obtained at this time:
  • the origin of the moving coordinate system O M (m ox , m oy , m oz ) is at the center of the plane where the moving hinge point is located, so the telecentric fixed point coordinates, the trajectory coordinates and the origin coordinates are on the same line at any time On the straight line, the following relationship is satisfied:
  • the first calculation model, the second calculation model, and the third calculation model are determined by the telecentric immobile point and the end motion trajectory of the actuator 1424; and according to the first calculation model, the second calculation model and the first calculation model
  • the three-calculation model calculates the origin coordinates, thereby realizing the real-time determination of the movement trajectory of the first moving platform 1446 during the operation, and improving the accuracy of the operation.
  • a method for controlling a surgical robotic arm is provided, and the method further includes the following steps:
  • Step S802 Determine a first transformation matrix according to the first rotation angle and the second rotation angle; wherein, the first rotation angle is the rotation angle of the actuator rod 1424 around the second coordinate axis, and the second rotation angle is the actuator rod 1424.
  • the actuator rod 1424 during the operation, its rotational movement can be described as rotating around the XM and YM coordinate axes in the coordinate system successively, where the first rotation angle is ⁇ x , and the second rotation angle is ⁇ y , Then the first conversion matrix is:
  • the sine functions of x and y increase monotonically within this range.
  • the first element in the third column of the first conversion matrix and use the inverse sine function to find the Euler angle ⁇ y that rotates around the Y M axis.
  • the second element in the third column of the first conversion matrix to find For the Euler angle ⁇ x rotating around the X M axis, the first conversion matrix can be uniquely determined and calculated.
  • the rod length at any time satisfies the following formula:
  • the length of the first telescopic element 1444 is calculated using the distance formula between two points in space, In this way, the posture of the first moving platform 1446 during the operation can be reversed, and the response speed to the commands of the control system is improved.
  • a method for controlling a surgical robotic arm is provided, and the method further includes the following steps:
  • Step S902 according to the first origin coordinate and the third rotation angle, obtain the first homogeneous coordinate of the movable hinge point in the dynamic coordinate system; according to the first origin coordinate and the fourth rotation angle, obtain the static hinge point at The second homogeneous coordinate in the static coordinate system; wherein, the third rotation angle is the angle at which the movable hinge point rotates around the origin of the first movable platform 1446, and the fourth rotation angle is the static hinge point around the origin The rotation angle of the origin of the static platform 1442;
  • s i is the rotation angle from the intersection point to the corresponding hinge point with the origin of the static coordinate system as the center of the circle.
  • the origin of the static platform 1442 coordinate system is defined at the center of the plane where the static hinge point is located. Therefore, the Z S axial coordinate of any static hinge point in the static coordinate system is 0. At the same time, considering the coordinate rotation and translation transformation, the static hinge point can be obtained.
  • Step S904 Determine a second conversion matrix according to the first conversion matrix and the origin coordinate, and obtain the third homogeneous coordinate of the movable hinge point in the static coordinate system according to the second conversion matrix and the first homogeneous coordinate. ;
  • the second transformation matrix defined from the static coordinate S to the dynamic coordinate M can be expressed as:
  • Step S906 According to the second homogeneous coordinates and the third homogeneous coordinates, the length of the first telescopic element 1444 of the telecentric control assembly 144 is calculated; wherein, the second homogeneous coordinate is the static hinge point at the static The homogeneous coordinates in the coordinate system; substituting the second homogeneous coordinates and the third homogeneous coordinates into formula 12, the length of the first telescopic element 1444 can be obtained.
  • the second transformation matrix is used to determine the homogeneous coordinates.
  • the homogeneous coordinates are four-dimensional vectors, which contain posture information and position information.
  • the posture coordinates and position coordinates of the movable hinge point in the static coordinate system further improve the response speed to the commands of the control system.
  • a method for controlling a surgical robotic arm is provided, and the method further includes the following steps:
  • Step S1002 in the case of traversing the telecentric fixed point from the first end point to the second end point, calculate and obtain the first maximum value, the second maximum value, and the third maximum value; wherein, the first maximum value is The maximum value of the length of the first telescopic element 1444, the second maximum value is the maximum value of the swing angle of the static hinge point, and the third maximum value is the maximum value of the swing angle of the movable hinge point;
  • ⁇ imax is the limit swing angle of the ball joint.
  • the above calculation process is solved by MATLAB, and the swing angle of the first telescopic element 1444 in the expected motion space is obtained.
  • the minimum value of the maximum swing angle range of the static hinge is about 22°. To be safe, you should ensure that the maximum swing angle of the selected ball joint (in all directions relative to the initial position) is greater than or equal to 25°.
  • S i is the coordinate of the hinge point under a static force corresponding to the coordinate system.
  • the vector from the moving hinge point to the static hinge point in the moving coordinate system at any time is:
  • the joint motion interference check calculation of the telecentric control assembly 144 requires the specific dimensions of each joint member, first set some adjustable parameters (such as dynamic and static platform size, vertical distance, etc.), according to the required elongation of the rod length
  • the minimum (stroke) and the minimum swing angle of the articulated pair are optimized to obtain the recommended parameter value (this is the optimal situation within the parameter range to meet the requirements), and then select the appropriate part model, and then give a suitable platform
  • the solution that meets the functional requirements is finally determined.
  • the end point traversal motion is set as follows: at the beginning of the traversal, the telecentric point F with constant coordinates in the static coordinate system coincides with F 1 on the actuator 1424. Subsequently, the telecentric control assembly 144 moves forward due to the elongation movement of the first telescopic element 1444, and the telecentric point moves relative to the actuator rod 1424.
  • the actuator rod 1424 When the end is extended to the farthest distance, the telecentric point in the static coordinate system and the actuator The F 2 on the rod 1424 coincides; for each Z S axial indexing position during the extension of the end of the actuator rod 1424, the actuator rod 1424 has a gradually increasing deflection angle relative to the static coordinate system Z S , and the deflection angle range is 0- 20°; corresponding to each Z S axis extension length and each instrument deflection angle, the end has a circular motion on the plane perpendicular to the Z S axis.
  • the end of the actuator 1424 selects an appropriate subdivision and undergoes the above traversal movement, it can theoretically reach any point in space. At this time, the length of the first telescopic element 1444 and the motion swing angle of this process are recorded as an evaluation function for parameter optimization under ergodic motion.
  • each first telescopic element 1444 For each first telescopic element 1444, record the longest and shortest rod length during its traversal movement, and obtain the range of the length of each first telescopic element 1444, as shown in formula 30:
  • a mi ⁇ A mimax -A mimin formula 32
  • a mi min (A mi )
  • a mimax max (A mi )
  • a mi is the set of all the swing angles of the movable articulation recorded by a certain rod.
  • f ammax max(a m1 ⁇ , a m2 ⁇ , a m3 ⁇ , a m4 ⁇ , a m5 ⁇ , a m6 ⁇ ) Equation 35
  • Step S1004 Determine the fitness function of the first maximum value, the second maximum value and the third maximum value according to the genetic algorithm; determine the ergodic function according to the size parameter of the telecentric control component 144, and obtain the parameters according to the ergodic function Optimize data;
  • Step S1006 Determine the optimized size of the telecentric control component 144 according to the fitness function and the parameter optimization data; wherein, the optimized size is used to ensure that the requirements for controlling the actuator 1424 are met;
  • FIG. 8 is a schematic diagram of a length range of a first telescopic element in an embodiment of this application
  • FIG. 9 is a schematic diagram of a static hinge swing angle range in an embodiment of this application
  • FIG. 10 is a schematic diagram of a range of a static hinge in an embodiment of this application.
  • the average values of the five parameters after rounding are 55, 35, 45, 45, and 300 respectively, that is, the adjacent hinge points of the static platform 1442 and the first moving platform 1446 are relative to each other.
  • the static platform 1442 hinge radius r s and the first movable distribution platform 1446 can be hinged optimum state is obtained when the distribution radius r m, respectively to remove the limit.
  • the length of the first telescopic element 1444 is less than 140mm
  • the static hinge swing angle is less than 16°
  • the dynamic hinge swing angle is less than 40°.
  • Adams simulation verification was performed.
  • the Adams model is established.
  • the software applies the same spiral motion to the end of the actuator 142, and through the built-in
  • the algorithm inversely solves the data of the length of each first telescopic element 1444 and the swing angle of the dynamic and static hinges over time. The comparison shows that there is no significant difference between the two sets of data.
  • the length range of the first telescopic element 1444, the swing angle range of the dynamic hinge point, and the swing angle range of the static hinge point are obtained through the traversal motion of the telecentric immobile point, and the maximum length of the first telescopic element 1444 is obtained.
  • the maximum swing angle of the dynamic hinge point and the maximum swing angle of the static hinge point are obtained to obtain the optimized parameters of the telecentric control assembly 144, which ensures that the movement of the first movable platform 1446 will not be restricted during the operation, and realizes the Improved surgical accuracy.
  • steps in the flowcharts of FIGS. 2 and 4 to 7 are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless specifically stated in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least part of the steps in Figures 2 and 4 to 7 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The order of execution of the sub-steps or stages is not necessarily performed sequentially, but may be executed alternately or alternately with other steps or at least a part of the sub-steps or stages of other steps.
  • FIG. 11 is a structural block diagram of a surgical robotic arm according to an embodiment of the present application.
  • the surgical robotic arm includes a preoperative positioning assembly 12 ,
  • the active arm 14 and the control system 112 the active arm includes an actuator rod 1424 and a telecentric control assembly 144, the actuator rod 1424 and the telecentric control assembly 144 are connected, the telecentric control assembly 144 and the preoperative positioning assembly 12 connect;
  • the control system 112 calculates the telecentric immobile point on the actuator rod 1424 according to the target point, and controls the preoperative positioning assembly 12 to advance the first axis of the telecentric control assembly 144 along the first coordinate axis of the moving coordinate system.
  • the moving platform 1446, the advancing distance is equal to the obtained distance between the telecentric control assembly 144 and the minimally invasive opening;
  • the control system 112 calculates the origin coordinates of the origin of the first movable platform 1446 of the telecentric control assembly 144 in the static coordinate system according to the coordinates of the telecentric fixed point and the trajectory coordinates of the end point on the actuator rod 1424;
  • the control system 112 calculates the length of the first telescopic element 1444 of the telecentric control component 144 according to the coordinates of the hinge point of the telecentric control component 144 in the static coordinate system;
  • the control system 112 controls the first moving platform 1446 to move to a specified pose; wherein, the specified pose is determined according to the origin coordinates and the length of the first telescopic element 1444.
  • the control system 112 calculates the telecentric immobile point on the actuator rod 1424 according to the target point, and according to the telecentric immobility point and the trajectory of the end of the actuator rod 1424, the control system 112 reverses the solution to obtain the
  • the position and posture of the first moving platform 1446 can easily realize online real-time calculation of the inverse solution, and ensure that the executive rod 1424 has a certain telecentric immobility point when deflecting at different angles, so as to keep the skin wounds intact during the operation. It is cut apart by the approach rod 1424; at the same time, the parallel mechanism formed by the connection of the first moving platform 1446 and the static platform 1442 has a smaller structural size and a larger bearing capacity.
  • control system 112 is also used to control the first moving platform 1446 to pull the execution rod 1424 to move to be perpendicular to the plane where the minimally invasive opening is located when receiving the instruction to replace the execution rod 1424, and save the end The first coordinate of the point;
  • the control system 112 instructs the preoperative positioning assembly 12 to pull the first movable platform 1446 to move along the first coordinate axis, and the first movable platform 1446 to pull the actuator rod 1424 to move along the first coordinate axis to the minimally invasive opening.
  • control system 112 When the control system 112 receives the replacement completion instruction, it controls the first moving platform 1446 to drag the execution rod 1424 to move along the first coordinate axis, and reset to the telecentric immobile point and the minimally invasive point according to the first coordinate.
  • the openings coincide.
  • FIG. 12 is a structural block diagram of a surgical robotic arm according to another embodiment of the present application. As shown in FIG. 12, the surgical robotic arm further includes a driving member 1422;
  • the control system 112 controls the driving member 1422 to drive the surgical instrument 1426 of the actuator rod 1424 to move to a specified position along the first coordinate axis, and the driving member 1422 is installed in the first movable platform 1446.
  • a surgical robotic arm is provided, the surgical robotic arm further includes a second movable platform 72 and a second telescopic element 74, and the second movable platform 72 is connected to the second movable platform 72 through the secondary first telescopic element 74 A moving platform 72;
  • the control system 112 calculates and acquires the secondary origin coordinates of the origin of the second movable platform 72 in the static coordinate system, and acquires the length of the secondary first telescopic element 74; the control system 112 calculates and acquires the secondary origin coordinates and the secondary origin coordinates.
  • the length of the first telescopic element 74 determines the posture of the second movable platform 72.
  • control system 112 is further configured to calculate the first maximum value, the second maximum value and the third maximum value when the telecentric immobile point is traversed from the first end point to the second end point. Value; wherein, the first maximum value is the maximum value of the length of the first telescopic element 1444, the second maximum value is the maximum value of the swing angle of the static hinge point, and the third maximum value is the swing angle of the movable hinge point Maximum angle
  • the control system 112 determines the fitness function of the first maximum value, the second maximum value and the third maximum value according to the genetic algorithm; the control system 112 determines the ergodic function according to the size parameter of the telecentric control component 144, the The control system 112 obtains parameter optimization data according to the traversal function;
  • the control system 112 determines the optimized size of the telecentric control assembly 144 according to the fitness function and the parameter optimization data; wherein, the optimized size is used to ensure that the requirements for controlling the actuator 1424 are met.
  • the ratio of the diameter of the first movable platform 1446 to the static platform 1442 of the telecentric control assembly 144 is between 1:1 and 1:2, which can control the deflection of the first movable platform 1446 to adjust the remote The position of the fixed point of the heart. Further, in the embodiment of the present application, the ratio of the diameter of the first moving platform 1446 to the static platform 1442 is 1:1.7, thereby improving the stability of the mechanism, and at this time, the telecentric control assembly The space volume of 144 is more suitable.
  • the 6 movable hinge points of the first movable platform 1446 of the telecentric control assembly 144 are distributed in pairs, and the angle between each pair of points ranges from 15° to 60°.
  • the static platform 1442 The 6 static hinge points are also distributed in pairs, and the angle between each pair of points ranges from 60° to 105°.
  • the movable hinge points are sequentially connected with the static hinge points to form the arrangement position of the first telescopic element 1444; wherein, the position arrangement of the first telescopic element 1444 between the first movable platform 1446 and the static platform 1442 forms a parallel mechanism, and Compared with the Da Vinci robot, it has greater rigidity, stable structure, greater carrying capacity, and is easy to realize online real-time calculation of the inverse solution.
  • a computer device is provided.
  • the computer device may be a server.
  • FIG. 13 is an internal structure diagram of a computer device according to an embodiment of the present application, as shown in FIG. 13.
  • the computer equipment includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide calculation and control capabilities.
  • the memory of the computer device includes a non-volatile storage medium and an internal memory.
  • the non-volatile storage medium stores an operating system, a computer program, and a database.
  • the internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium.
  • the database of the computer equipment is used to store the telecentric immobile point related data.
  • the network interface of the computer device is used to communicate with an external terminal through a network connection.
  • the computer program is executed by the processor to realize a control method of the surgical manipulator arm.
  • FIG. 13 is only a block diagram of part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.
  • the specific computer device may Including more or fewer parts than shown in the figure, or combining some parts, or having a different arrangement of parts.
  • a computer device which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor.
  • the processor executes the computer program to implement the surgical robotic arm provided in the foregoing embodiments. Steps in the control method.
  • a computer-readable storage medium is provided, and a computer program is stored thereon.
  • the computer program is executed by a processor to implement the steps in the surgical robot arm control method provided in the foregoing embodiments.
  • Non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Channel (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

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Abstract

一种手术机械臂的控制方法、计算机设备及一种手术机械臂，根据目标靶点计算得到执行杆(1424)上的远心不动点(F)，并控制术前摆位组件(12)沿动坐标系的第一坐标轴推进远心操控组件(144)的第一动平台(1446，S202)；根据远心不动点(F)的坐标和末端点(T)的轨迹坐标，计算得到第一动平台(1446)的原点(O M)在静坐标系下的第一原点坐标(S204)；根据远心操控组件(144)的铰接点在静坐标系下的坐标，计算得到远心操控组件(144)的第一伸缩元件长度(S206)；控制第一动平台(1446)移动至指定位姿，其中，根据第一原点坐标和第一伸缩元件长度确定指定位姿(S208)，从而实现了远心不动点(F)，解决了手术机械臂的结构尺寸大和手术机械臂之间存在干涉的问题。

Description

手术机械臂的控制方法、计算机设备及一种手术机械臂
相关申请
本申请要求2020年1月23日申请的，申请号为202010076419.0，发明名称为“手术机械臂的控制方法、计算机设备及一种手术机械臂”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及医疗器械技术领域，特别是涉及一种手术机械臂的控制方法、计算机设备及一种手术机械臂。
背景技术
随着科学技术的发展，手术机器人大大增加了手术操作的灵活性，医生能够进行更精细的操作，同时加入人机工程学方面的设计，能够减少医生的疲劳。在相关技术中，医生通过在远程操作发出控制指令，然后控制系统根据该控制指令，将手术机器人，例如达芬奇手术机器人的若干个手术机械臂(一般为4-6个)末端的手术器材入路进患者体内，并偏转不同的角度来穿过心脏或者肺部直达病灶进行手术；因此，在相关技术中，手术机器人通常结构尺寸较大且结构复杂，而为了完成相应的手术操作，特别是在器材末端动作幅度较大的时候，手术机器人的机械臂之间容易发生干涉，不利于微创手术的实施。
针对相关技术中，手术机械臂的结构尺寸大和手术机械臂之间存在干涉的问题，目前尚未提出有效的解决方案。
发明内容
根据本申请的各种实施例，提供一种手术机械臂的控制方法、计算机设备及一种手术机械臂。
根据本申请的一个方面，提供了一种手术机械臂的控制方法，所述手术机械臂包括术前摆位组件和主动臂，所述主动臂包括执行杆和远心操控组件，所述执行杆和所述远心操控组件连接，所述远心操控组件和所述术前摆位组件连接，所述方法包括：
根据目标靶点计算得到所述执行杆上的远心不动点，并控制所述术前摆位组件沿动坐标系的第一坐标轴推进所述远心操控组件的第一动平台，所述推进的距离等于获取的所述远心不动点与所述执行组件上的末端点的距离；
根据所述远心不动点的坐标和所述末端点的轨迹坐标，计算得到所述第一动平台的原点在静坐标系下的第一原点坐标；
根据所述远心操控组件的铰接点在所述静坐标系下的坐标，计算得到所述远心操控组件的第一伸缩元件长度；
控制所述第一动平台移动至指定位姿；其中，根据所述第一原点坐标和所述第一伸缩元件长度确定所述指定位姿。
在其中一个实施例中，所述控制所述第一动平台移动至指定位姿之后，所述方法包括：
移动所述远心不动点，并根据所述移动后的远心不动点坐标重新确定所示指定位姿；其中，所述远心不动点在预设范围内移动。
在其中一个实施例中，所述移动所述远心不动点包括以下至少之一：
在控制所述第一动平台牵引所述执行杆移动至与微创开口所在平面垂直的情况下，控制所述术前摆位组件沿所述第一坐标轴牵引所述远心操控组件移动；
控制所述第一动平台运动，所述运动用于移动所述远心不动点。
在其中一个实施例中，所述根据所述远心不动点坐标和所述末端点的轨迹坐标，计算得到所述第一动平台的原点在静坐标系下的第一原点坐标标包括：
依据所述远心不动点坐标、所述轨迹坐标和方向向量模长的关系确定第一计算模型，所述方向向量模长为所述执行杆在静坐标系下的方向向量模长；
依据所述远心不动点坐标、所述轨迹坐标和所述第一原点坐标的之间的位置关系确定第二计算模型；
依据所述轨迹坐标和所述第一原点坐标的距离公式确定第三计算模型；
根据所述第一计算模型、所述第二计算模型和所述第三计算模型确定所述第一原点坐标。
在其中一个实施例中，所述根据所述远心操控组件的铰接点在所述静坐标系下的坐标，计算得到所述远心操控组件的第一伸缩元件长度包括：
根据第一旋转角度和第二旋转角度，确定第一转换矩阵；其中，所述第一旋转角度为所述执行杆绕第二坐标轴旋转的角度，所述第二旋转角度为所述执行杆绕第三坐标轴旋转的角度；
根据所述第一转换矩阵确定第一坐标，根据所述第一坐标和第二坐标，计算得到所述远心操控组件的第一伸缩元件长度；其中，所述第一坐标为动铰接点在所述静坐标系下的坐标，所述第二坐标为静铰接点在所述静坐标系下的坐标，所述动铰链点位于所述第一动平台上，所述静铰接点位于所述远心操控组件的静平台上。
在其中一个实施例中，所述根据所述第一转换矩阵确定第一坐标，根据所述第一坐标和第二坐标，计算得到所述远心操控组件的第一伸缩元件长度包括：
根据所述第一原点坐标和第三旋转角度，获取所述动铰链点在动坐标系下的第一齐次坐标；根据所述第一原点坐标和第四旋转角度，获取所述静铰链点在所述静坐标系下的第二齐次坐标；
其中，所述第三旋转角度为所述动铰链点绕所述第一动平台原点旋转的角度，所述第四旋转角度为所述静铰链点绕所述静平台原点旋转的角度；
根据所述第一转换矩阵和所述第一原点坐标确定第二转换矩阵，根据所述第二转换矩阵和所述第一齐次坐标，获取所述动铰链点在所述静坐标系下的第三齐次坐标；
根据所述第二齐次坐标和所述第三齐次坐标，计算得到所述远心操控组件的第一伸缩元件长度。
在其中一个实施例中，所述控制所述第一动平台移动至指定位姿之后，所述方法包括：
在所述远心操控组件还包括第二动平台以及设置于所述第一动平台与所述第二动平台之间的多个第二伸缩元件，且所述第二动平台连接所述执行组件的情况下，计算获取所述第二动平台的原点在所述静坐标系上的第二原点坐标，并获取第二伸缩元件长度；
根据所述第二原点坐标和所述第二伸缩元件长度，确定所述第二动平台的位姿。
在其中一个实施例中，所述计算获取所述第二动平台的原点在所述静坐标系上的第二原点坐标，并获取第二伸缩元件长度之前，所述方法包括：
在所述第一动平台的偏转角计算值位于第二级开启边界内的情况下，将所述第二动平台设置为锁住状态；
在所述偏转角计算值大于所述第二级开启边界内的情况下，解锁所述第二动平台进行运动。
在其中一个实施例中，所述解锁所述第二动平台进行运动包括：
第一平面和第二平面处于同一平面内，其中，所述第一平面为所述第二动平台偏转角度的法线和所述远心不动点形成的平面，所述第二平面为所述第一动平台偏转角度的法线和所述远心不动点形成的平面。
在其中一个实施例中，所述控制所述第一动平台移动至指定位姿之后，所述方法包括：
控制转动驱动件驱动所述执行组件沿所述执行杆的轴向转动，所述转动驱动件安装在所述第一动平台内。
在其中一个实施例中，所述控制所述第一动平台移动至指定位姿之后，所述方法包括：
控制第一偏转驱动件与第二偏转驱动件驱动所述执行组件内置的传动线缆，分别带动所述执行组件的手术器具朝交错的两个不同的方向偏转；
控制开合驱动件驱动通过所述传动线缆带动所述手术器具张开与闭合；其中，所述第一偏转驱动件、所述第二偏转驱动件和所述开合驱动件安装在所述执行杆内。
在其中一个实施例中，所述控制所述第一动平台移动至指定位姿之后，所述方法包括：
在接收到更换所述执行杆指令的情况下，控制所述第一动平台牵引所述执行杆移动至与微创开口所在平面垂直，并保存所述末端点的第三坐标；
指示所述术前摆位组件牵引所述第一动平台沿所述第一坐标轴移动，所述第一动平台牵引所述执行杆沿所述第一坐标轴移动至所述微创开口的外侧；
在接收到更换完成指令的情况下，根据所述第三坐标，控制所述远心操控组件复位。
根据本申请的另一个方面，提供了一种手术机械臂，包括术前摆位组件、远心操控组件、执行组件和控制系统，所述术前摆位组件和所述远心操控组件连接，所述远心操控组件和所述执行组件连接；
所述控制系统根据目标靶点计算得到所述执行组件的执行杆上的远心不动点，并控制所述术前摆位组件沿动坐标系的第一坐标轴推进所述远心操控组件的第一动平台，所述推进的距离等于获取的所述远心不动点与所述执行组件上的末端点的距离；
所述控制系统根据所述远心不动点的坐标和所述末端点的轨迹坐标，计算得到所述第一动平台的原点在静坐标系下的第一原点坐标；
所述控制系统根据所述远心操控组件的铰接点在所述静坐标系下的坐标，计算得到所述远心操控组件的第一伸缩元件长度；
所述控制系统控制所述第一动平台移动至指定位姿；其中，根据所述第一原点坐标和所述第一伸缩元件长度确定所述指定位姿。
在其中一个实施例中，所述手术机械臂还包括转动驱动件；
所述控制系统控制所述转动驱动件驱动所述执行组件沿所述执行杆的轴向转动，所述转动驱动件安装在所述第一动平台内。
在其中一个实施例中，所述远心操控组件包括多级相互连接的并联平台，每级所述并联平台均包括相对的两个平台以及位于两个所述平台之间的伸缩元件：
其中，多级所述并联平台中相对靠近所述术前摆位组件的并联平台为第一级并联平台，所述第一级并联平台包括静平台、所述第一动叠台以及设置于所述静平台与所述第一动平台之间的多个第一伸缩元件。
在其中一个实施例中，所述并联平台的级数为两级，所述远心操控组件还包括连接于所述第一级并联平台的第二级并联平台，所述第二级并联平台包括第二动平台以及设置于所述第一动平台与所述第二动平台之间的多个第二伸缩元件；所述第二动平台相对远离所述远心操控组件的静平台的一侧固定连接于所述执行组件；每个所述第二伸缩元件的两端均分别转动连接于所述第一动平台与所述第二动平台；
所述控制系统计算获取所述第二动平台的原点在所述静坐标系上的第二原点坐标，并获取第二伸缩元件长度；根据所述第二原点坐标和所述第二伸缩元件长度，确定所述第二动平台的位姿。
根据本申请的另一个方面，提供了一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述任一所述方法的步骤。
根据本申请的另一个方面，提供了一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述任一所述方法的步骤。
通过本申请，采用一种手术机械臂的控制方法，根据目标靶点计算得到执行杆上的远心不动点，并控制术前摆位组件沿动坐标系的第一坐标轴推进远心操控组件的第一动平台；根据该远心不动点的坐标和该末端点的轨迹坐标，计算得到该第一动平台的原点在静坐标系下的第一原点坐标；根据所述远心操控组件的铰接点在所述静坐标系下的坐标，计算得到该远心操控组件的第一伸缩元件长度；控制该第一动平台移动至指定位姿，其中，根据该第一原点坐标和该第一伸缩元件长度确定该指定位姿，从而实现了远心不动点，解决了手术机械臂的结构尺寸大和手术机械臂之间存在干涉的问题。
附图说明
为了更好地描述和说明这里公开的那些的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的、目前描述的实施例和/或示例以及目前理解的这些的最佳模式中的任何一者的范围的限制。
图1为根据本申请实施例的一种手术机械臂的模型的示意图；
图2为根据本申请一实施例的一种手术机械臂的控制方法的流程图；
图3A为根据本申请实施例的一种远心操控组件的轴视图；
图3B为根据本申请实施例的一种远心操控组件的正视图；
图3C为根据本申请实施例的一种远心操控组件的俯视图；
图4为根据本申请另一实施例的一种手术机械臂的控制方法的流程图；
图5为根据本申请另一实施例的一种手术机械臂的控制方法的流程图；
图6为根据本申请另一实施例的一种手术机械臂的控制方法的流程图；
图7A为根据本申请实施例的一种远心操控组件的立体图；
图7B为根据本申请实施例的一种远心操控组件的俯视图；
图8为本申请实施例中一种第一伸缩元件长度范围的示意图；
图9为本申请实施例中一种静铰摆角范围的示意图；
图10为本申请实施例中一种动铰摆角范围的示意图；
图11为根据本申请一实施例的一种手术机械臂的结构框图；
图12为根据本申请另一实施例的一种手术机械臂的结构框图；
图13为根据本申请实施例的一种计算机设备内部的结构图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
在本实施例中，提供了一种手术机械臂的模型，图1为根据本申请实施例的一种手术机械臂的模型的示意图，如图1所示。该手术机械臂包括术前摆位组件12和主动臂14。该术前摆位组件12包括伸缩机构122和旋转机构124；该伸缩机构122做伸缩运动用于控制伸缩位置，主要用于术前摆位；该旋转机构124用于术前摆位，用于调整机构的位置。
该主动臂14包括执行组件142和远心操控组件144；该执行组件142包括驱动件1422、执行杆1424和手术器具1426，执行杆1424与手术器具1426之间由转动关节连接，执行杆1424与转动关节的边沿均为圆滑过渡，无棱角，避免对人体或器官造成伤害；执行杆1424内部置有钢丝绳用于控制手术器具1426的动作，该驱动件1422用于驱动钢丝绳运动，从而驱动控制该执行杆1424的三个自由度的转动，以及控制该手术器具1426的夹取组织的动作。
该远心操控组件144是由一个具有多个方向运动的末端执行器通过铰链及可伸缩机构与机械系统的另一固定端相连接而构成的空间并联机构，该远心操控组件144可以是Stewart并联平台，该Stewart并联平台包括静平台1442、6个第一伸缩元件1444和第一动平台1446；该静平台1442与该6个第一伸缩元件1444采用U副铰接，该静平台1442可以在x轴和y轴方向转动，但是限制了z轴方向的自由度；，该第一伸缩元件1444可以为驱动杆，该驱动杆由电极和丝杠组成，通过电极驱动丝杠可以使电缸自由伸缩，从而改变该第一动平台1446的运动状态，该6个第一伸缩元件1444按照一定规律排列，使该Stewart并联平台偏转角度较小，其中，该第一伸缩元件1444与z轴的偏转角度范围在±20°之间；该第一动平台1446的直径小于该静平台1442，该第一动平台1446的运动状态由该第一伸缩元件1446的长度变化来控制，该第一动平台1446与该第一伸缩元件1444采用球铰接的方法，可以实现在x轴、y轴和z轴三个方向转动；其中，本申请实施例中动坐标系下和静坐标系下的第一坐标轴为z轴，第二坐标轴为x轴，第三坐标轴为y轴。
在本实施例中，提供了一种手术机械臂的控制方法，图2为根据本申请一实施例的一种手术机械臂的控制方法的流程图，如图2所示，该方法包括如下步骤：
步骤S202，根据目标靶点计算得到该执行杆1424上的远心不动点，具体地，该目标靶点由操作者给出，通过医生主操作手的位置来给出该目标靶点的位置，通过该目标靶点位置与微创开口的距离计算得到该远心不动点在执行杆1424上的位置。
控制该术前摆位组件12沿动坐标系的第一坐标轴推进该远心操控组件144的第一动平台1446，其中，通过测距传感器获取该推进的距离，且该推进的距离等于根据坐标获取的该远心操控组件144和末端点的距离，该测距传感器设置于该执行杆1424和远心操控组件144的连接处；此外，在该推动过程中，可以由该术前摆位组件12带动该主动臂14运动使得该远心不动点与该微创开口重合；或者可以由该术前摆位组件12带动该主动臂14至指定位置，再由该远心操控组件144沿第一坐标轴移动使得该远心不动点与该微创开口重合，从而提高该重合过程的精度；该远心操控组件144可以为Stewart并联平台；
图3A为根据本申请实施例的一种远心操控组件的轴视图，图3B为根据本申请实施例的一种远心操控组件的正视图，图3C为根据本申请实施例的一种远心操控组件的俯视图，如图3A至图3C所示，该远心操控组件144包含第一动平台1446、静平台1442、动铰接副、静铰接副和第一伸缩元件1444，该远心操控组件144与执行杆1424连接。平台上动铰接点为其所在第一动平台1446上的连接点，静铰接点为其所在静平台1442上的连接点，其中，六个静铰接点S 1、S 2、S 3、S 4、S 5和S 6呈圆周分布在静平台1442上，六个动铰接点M 1、M 2、M 3、M 4、M 5和M 6呈圆周分布在第一动平台1446上；相邻最近的动铰接点对应的圆心角为α，相邻最近的静铰接点对应的圆心角为β；该第一动平台1446的半径为r S，该静平台1442的半径为r M。
在初始时刻，该执行杆1424垂直于第一动平台1446，且该执行杆1424的轴线通过该远心操控组件144中心，l h为该执行杆1424末端点T距远心不动点F的距离；l j为平台运动过程中该执行杆1424与远心不动点重合的部分，其中F 1与F 2为执行杆1424上这一部分的两个端点；h为初始时刻第一动平台1446与静平台1442间的垂直距离；l为该执行杆1424长度。
建立远心操控组件144各坐标系如下：静坐标系OS-XSYSZS固连于静平台1442，原点建立于初始位姿(即图3所示位姿)时静铰接点分布圆的圆心O S处，X S轴沿角S 5O SS 6的角平分线，Z S轴垂直于静平台1442向上，Y S轴符合右手定则；动坐标系O M-X MY MZ M固连于第一动平台1446，原点建立于初始位置时动铰接点分布圆的圆心OM处，初始位姿时，各轴与静坐标系对应轴平行。静铰接坐标系S i-X SiY SiZ Si(i＝1，2，3……6)固连于静平台1442，原点位于对应标号的静铰接点中心处，X Si轴由静铰接点分布圆的圆心O S指向S i，Z Si轴垂直于静平台1442向上，Y Si符合右手定则(图3中示出了S 4-X S4Y S4Z S4)；动铰接坐标系M i-X MiY MiZ Mi固连于第一动平台1446，原点位于对应标号的动铰接点中心处，X Mi轴由静铰接点分布圆的圆心O M指向M i，Z Mi轴垂直于静平台1442向上，Y Mi符合右手定则。
远心操控组件144尺寸参数如表1所示，由此可得到远心不动点到在静坐标系O S-X SY SZ S下的第一坐标(f x，f y，f z)。
表1远心操控组件尺寸参数
Figure PCTCN2020101996-appb-000001
此外，手术过程中，执行组件142始终围绕与患者微创开口重合的远心不动点运动并实施手术操作；为了实现手术机械臂中手术器具1426在不同区域内的摆动，执行杆1424上的远心不动点可以在预设范围内移动，结合图3A以及表1可知，该预设范围为该执行杆1424上F 1点与F 2点之间的范围，在本申请实施例中该范围长度为100mm。
步骤S204，在该第一坐标轴不变的情况下，根据远心不动点坐标和该执行杆1424上的末端点的轨迹坐标，计算得到该第一动平台1446的原点在静坐标系下的第一原点坐标；
静坐标系下远心不动点F坐标为(f x，f y，f z)，其中，f x＝f y＝0，f z＝h+l-l h。手术机器人末端轨迹点根据控制系统给出，故任意时刻轨迹点T已知表示为(t x，t y，t z)，整个平台被后端的术前摆位组件12向前推进到相应位置后(此时执行杆1424末端已伸入体内)，该远心不动点F(0，0，h+l-l h)和执行杆1424上的F 1重合，此时末端点在绝对坐标系下的坐标为(0，0，h+l)。运动过程中，第一动平台1446在静坐标系下按预定要求移动，可以转换为以动坐标系为基准，静坐标系下固定的远心不动点F在执行杆1424上的F 1和F 2之间范围内移动，因此第一动平台1446在Z S方向上的移动范围为l j，相应的手术器具1426在Z S方向上的移动范围也为l j，末端相应方向的坐标范围为t z∈[h+l，h+l+lj]。
步骤S206，根据动铰接点在该静坐标系下的坐标，以及静铰接点在该静坐标系下的坐标，计算得到该远心操控组件144的第一伸缩元件1444长度；其中，根据空间两点间的距离公式，计算任意一对动、静铰接点之间的距离，如公式1所示：
Figure PCTCN2020101996-appb-000002
步骤S208，控制该第一动平台1446移动至指定位姿；其中，根据该原点坐标和该第一伸缩元件1444长度确定该指定位姿；当需要调整至该指定位姿的时候，根据该原点坐标和该第一伸缩元件1444长度，移动该第一动平台1446，该第一动平台1446调节执行杆1424绕远心不动点偏转一定角度，其中，在调节时，保持六个第一伸缩元件1444均匀调整。
在相关技术中手术机器人通常在手术过程中动作幅度较大，而本申请实施例通过上述步骤S202至S208，根据目标靶点计算得到执行杆1424上的远心不动点，并根据该远心不动点和执行杆1424末端轨迹，实时反解获取该第一动平台1446的位姿，从而容易实现在线实时计算反解，并保证该执行杆1424在偏转不同的角度的时候具有一定的远心不动点，使得在手术的过程中保持皮肤创口不被入路的执行杆1424划开；同时，与相关技术相比，达芬奇手术机器人的结构复杂，成本昂贵，且由于载荷原因导致其使用寿命有限，同时达芬奇采用平行四边形结构带来了干涉问题，本申请实施例通过该第一动平台1446和该静平台1442连接形成的并联机构及其控制方法，结构更加简单，结构尺寸较小且承载能力更大，从而解决了手术机械臂的结构尺寸大和手术机械臂之间存在干涉的问题，并降低了成本。
在一个实施例中，提供了一种手术机械臂的控制方法，图4为根据本申请另一实施例的一种手术机械臂的控制方法的流程图，如图4所示，该方法还包括如下步骤：
步骤S402，在接收到更换该执行杆1424指令的情况下，控制该第一动平台1446该第一动平台 1446牵引该执行杆1424移动至与所述微创开口所在平面垂直，并保存所述远心不动点的第三坐标；例如，在出于不同的目的对病灶进行活检取样或消融切除的情况下，需要采用不同的执行杆1424来实现对应的目的，该控制系统在接收到更换该执行杆1424指令后，首先根据该远心不动点的坐标，计算在动坐标系下与该远心不动心坐标的x轴和y轴方向的坐标点均相同的末端点坐标，根据该远心不动点坐标和末端点坐标移动该第一动平台，使得执行杆1424与该微创开口所在平面垂直，并保存此时末端点坐标即第一坐标，以便进行后续将该执行杆1424从病人体内取出的操作。
步骤S404，保证在x轴和y轴方向锁定，指示该术前摆位组件牵引该第一动平台沿该第一坐标轴即y轴移动，该第一动平台1446牵引该执行杆沿该第一坐标轴移动至该微创开口的外侧，从而控制该执行杆1424沿着z轴方向从取出病人体内取出。
步骤S404，在接收到更换完成指令的情况下，控制该第一动平台1446牵引该执行杆1424沿该第一坐标轴移动，根据该第三坐标，复位至该远心不动点与该微创开口重合；其中，在该执行杆1424已经更换完成的情况下，该控制系统接收到该更换完成指令，并控制该执行杆1424进行复位，之后继续手术。
通过上述步骤S402至S404，在接收到更换该执行杆1424指令的情况下，控制该第一动平台1446沿该第一坐标轴移动，该第一动平台1446牵引该执行杆1424沿该第一坐标轴移动至该微创开口的外侧，从而确保在更换该执行杆1424的情况下不扩大微创开口。
在一个实施例中，提供了一种手术机械臂的控制方法，图5为根据本申请另一实施例的一种手术机械臂的控制方法的流程图，如图5所示，该方法还包括如下步骤：
步骤S502，在驱动件1422包括转动驱动件、第一偏转驱动件、第二偏转驱动件和开合驱动件的情况下，控制该转动驱动件驱动该执行组件142沿该执行杆1424的轴向转动，该转动驱动件安装在该第一动平台1446内。
同时，在执行组件142与该第一动平台1446连接处安装第一偏转驱动件、第二偏转驱动件和开合驱动件，第一偏转驱动件与第二偏转驱动件驱动所述执行组件内置的传动线缆，分别带动所述执行组件的手术器具1426朝交错的两个不同的方向偏转，开合驱动件驱动通过所述传动线缆带动所述手术器具1426张开与闭合。
通过上述步骤S502，将驱动驱动执行杆1424与手术器具1426沿该执行杆1424的轴向同步转动的转动驱动件安装在该第一动平台1446内，避免了4个电机都放在执行杆1424一端时沿z轴转动时钢丝绳会发生扭转，从而进一步提高了手术精度，且减少了驱动件1422的输出功率，增长了驱动件1422的使用寿命。
在一个实施例中，提供了一种手术机械臂的控制方法，其中，本实施例中手术机械臂的远心操控组件还包括多级相互连接的并联平台；需要额外说明的是，每一级并联平台均可以包括两个平台以及位于两个平台之间的伸缩元件。例如第一级并联平台包括两个平台，分别为第一动平台1446与静平台1442；第二级并联平台也可以包括两个平台，分别为第二动平台以及固定在第一动平台1446上的安装平台(图未示)。
当然，除了第一级并联平台需要两个平台之外，第二级并联平台以及更大级数的并联平台也可以将对应的安装平台省略，而由前一级并联平台中的某一平台承当。例如第二级并联平台中的包括两个平台，分别为第二动平台以及第一级并联平台中的第一动平台1446，也即此时第一动平台1446为两级并联平台所共用。
总结而言，本文所称的“每级所述并联平台均包括相对的两个平台以及位于两个所述平台之间的伸缩元件”具有两种情况，一种是每级并联平台均具有两个平台，且两个平台在不同级并联平台之间不共用；一种是每级并联平台通过共用相邻级别的平台，实现自身两个平台之间的相对运动。
具体的，该并联平台的级数为两级，即该远心操控组件144还包括连接于该第一级并联平台的第二级并联平台，该第二级并联平台包括第二动平台以及设置于该第一动平台1446与该第二动平台之间的多个第二伸缩元件；该第二动平台相对远离该远心操控组件144的静平台1442的一侧固定连接于该执行组件142；图6为根据本申请另一实施例的一种手术机械臂的控制方法的流程图，如图6所示，该方法还包括如下步骤：
步骤S602，计算获取该第二动平台的原点在该静坐标系上的二级原点坐标，并获取第二伸缩元件长度；其中，图7A为根据本申请实施例的一种远心操控组件的立体图，如图7A所示，第二动平台72以及设置于该第一动平台1446与该第二动平台72之间的多个第二伸缩元件74，且该第二动平台72连接所 述执行组件142。
图7B为根据本申请实施例的一种远心操控组件的俯视图，如图7B所示，第一级极限边界以内为第一级的第一动平台1446偏角运动范围；当该远心操控组件144在第二级开启边界以内运动的时候，该第二动平台72处于零位且锁住状态；一旦该第一动平台1446的偏角计算值超出第二级开启边界，解锁第二级进行运动，启动第二级平台之后的活动边界为二级极限边界。同时将该第一动平台1446的运动限制在该第一级极限边界，并保证第二动平台72偏转角度的法线和远心不动点所成的平面，与该第一动平台1446偏转的法线和远心不动点形成的面处于同一平面内，从而防止该远心操控组件144处于扭曲状态；其中，图7B中的第一级极限边界和二级极限边界之间的圆环区域为安全控制区域，该安全控制区域的设定值必须大于单个运动指令周期(例如1ms)内该第一动平台1446可能的最大偏转角，例如该最大偏转角为1°。
当远心操控组件进入第二级开启边界内区域时，该第二动平台运动至零位，同时第一级的第一动平台1446运动至目标值；其中，该一、二级运动都要满足原定的不动点约束条件。
根据该二级原点坐标和该第二伸缩元件74长度，确定该第二动平台72的位姿；其中，该二级原点坐标的算法与原点坐标的算法相同，该第二伸缩元件74长度的算法与第一伸缩元件1444长度的算法相同。
通过上述步骤S602，通过增加第二动平台，并根据该二级原点坐标和该二级第一伸缩元件长度，确定该第二动平台的位姿，实现了手术机械臂的多级方案，由于单级Stewart并联机构偏转的角度较小，把单级平台叠加为多级平台，可以使偏转角度累积，从而增大了手术器具1426的手术空间。
在一个实施例中，提供了一种手术机械臂的控制方法，该方法还包括如下步骤：
步骤S702，依据该远心不动点坐标、该轨迹坐标和方向向量模长的关系确定第一计算模型，该方向向量模长为该执行杆1424在静坐标系下的方向向量模长；依据该远心不动点坐标、该轨迹坐标和该第一原点坐标的之间的位置关系确定第二计算模型；依据该轨迹坐标和该原点坐标的距离公式确定第三计算模型；根据该第一计算模型、该第二计算模型和该第三计算模型得到该原点坐标；
其中，任意时刻，该远心不动点坐标为(fx，fy，fz)，该末端点的轨迹坐标为(tx，ty，tz)，由于该远心不动点坐标和该轨迹坐标位于该执行杆1424上，此时得到该执行杆1424所在直线在静坐标系下的方向向量为：
Figure PCTCN2020101996-appb-000003
计算该方向向量的模长，得到该第一计算模型，如公式3所示：
Figure PCTCN2020101996-appb-000004
根据定义，动坐标系的原点O M＝(m ox，m oy，m oz)在动铰接点所在平面的中心，故任意时刻远心不动点坐标、该轨迹坐标和该原点坐标在同一条直线上，满足以下关系：
Figure PCTCN2020101996-appb-000005
因末端点和远心不动点不重合，即k≠0。
上式公式4可转化为第二计算模型，如公式5所示：
Figure PCTCN2020101996-appb-000006
其中，i为x，y，z。考虑到末端点和动坐标系原点之间的距离是固定值，即执行杆1424长度l，可得到第三计算模型，如公式6所示：
(t x-m ox) 2+(t y-m oy) 2+(t z-m oz) 2＝l 2      公式6
又根据该第一计算模型有：
Figure PCTCN2020101996-appb-000007
联合公式5、公式6和公式7，k可由远心点和末端点在静坐标系下的坐标表示，从而可求得动坐标系原点OM在静坐标系下的坐标。
通过上述步骤S702，通过远心不动点和执行杆1424末端运动轨迹，确定该第一计算模型、第二计算模型和第三计算模型；并根据该第一计算模型、第二计算模型和第三计算模型计算得到该原点坐标，从而实现了在手术过程中对该第一动平台1446运动轨迹的实时确定，提高了手术精度。
在一个实施例中，提供了一种手术机械臂的控制方法，该方法还包括如下步骤：
步骤S802，根据第一旋转角度和第二旋转角度，确定第一转换矩阵；其中，该第一旋转角度为该执行杆1424绕第二坐标轴旋转的角度，该第二旋转角度为该执行杆1424绕第三坐标轴旋转的角度；该第二坐标轴可以为X轴，该第三坐标轴可以为Y轴。
对于执行杆1424，在手术过程中，其旋转运动可以描述成先后绕动坐标系中的XM，YM两坐标轴旋转，其中，该第一旋转角度为λ x，该第二旋转角度为λ y，则该第一转换矩阵为：
Figure PCTCN2020101996-appb-000008
由F指向T的向量在动坐标系中和ZM轴重合，可以表示为
Figure PCTCN2020101996-appb-000009
则该向量在两坐标系中的转换关系如公式9所示：
Figure PCTCN2020101996-appb-000010
将该方向向量
Figure PCTCN2020101996-appb-000011
和公式9带入公式8，可得到如公式10所示的计算公式：
Figure PCTCN2020101996-appb-000012
在手术过程中，x∈(-90°，90°)，y∈(-90°，90°)，x，y的正弦函数在该范围内单调递增。考察该第一转换矩阵第三列的第一元素利用反正弦函数可求出绕Y M轴转动的欧拉角λ y，同理再结合该第一转换矩阵第三列第二元素可求出绕X M轴转动的欧拉角λ x，则该第一转换矩阵可以唯一确定并求出。
步骤S804，根据该第一转换矩阵确定该第一坐标，根据第一坐标和第二坐标，计算得到该远心操控组件144的第一伸缩元件1444长度；其中，任意静铰接点Si在静坐标系下的坐标为(ss ix，ss iy，0)，其对应动铰接点M i在动坐标系下的坐标可表示为(mm ix，mm iy，0)，则其在静坐标系下的坐标 SM i＝(sm ix，sm iy，0)的计算公式为：
SM i＝ SR MM i       公式11
将该第一坐标和第二坐标代入公式1，计算任意一对动、静铰接点之间的距离，即该第一伸缩元件1444长度l i；
为满足第一伸缩元件1444伸长条件，任意时刻杆长满足以下公式：
l min≤l i≤l max       公式12
通过上述步骤S802至S804，根据动铰接点在该静坐标系下的坐标，以及静铰接点在该静坐标系下的坐标，利用空间中两点的距离公式计算获得第一伸缩元件1444长度，从而反解出在手术过程中该第一动平台1446的位姿，提高了对控制系统指令的响应速度。
在一个实施例中，提供了一种手术机械臂的控制方法，该方法还包括如下步骤：
步骤S902，根据该第一原点坐标和第三旋转角度，获取该动铰链点在动坐标系下的第一齐次坐标；根据该第一原点坐标和第四旋转角度，获取该静铰链点在所述静坐标系下的第二齐次坐标；其中，该第三旋转角度为该动铰链点绕该第一动平台1446原点旋转的角度，该第四旋转角度为所述静铰链点绕该静平台1442原点旋转的角度；
现计算动铰接点在动坐标系、静铰接点在静坐标系的坐标。以静铰接点坐标计算为例，根据前文叙述，先将静铰接点S i(i＝1～6)由静坐标系原点O S移动到静坐标系X S轴和静坐标系平台分布圆周交点 处，此时坐标值为(r s,0)。根据平面坐标旋转定理，任意坐标点为(x，y)绕原点旋转θ角度后的坐标可由公式13计算得到：
x'＝x cosθ-y sinθ，y'＝x sinθ+y cosθ    公式13
将坐标(r s,0)作为x，y的值带入公式13，则其坐标可表示为：
(ss ix,ss iy)＝(r s cosθ si,r s sinθ si)     公式14
其中s i为以静坐标系原点为圆心从交点旋转到相应铰接点的旋转角度。
静平台1442坐标系原点定义在静铰接点所在平面中心处，因此任意静铰接点在静坐标系下的Z S轴向坐标为0，同时考虑到坐标旋转和平移变换，可得到静铰接点在静平台1442的第二齐次坐标：
S i＝(ss ix,ss iy,0,1)      公式15
相应铰接点变换过程中的旋转角度由表2给出。
表2静铰接点相应变换旋转角度
Figure PCTCN2020101996-appb-000013
同理，获得动铰接点在动坐标系下的第一齐次坐标：
M i＝(mm ix,mm iy,0,1)      公式16
相应铰接点变换过程中的旋转角度由表3给出。
表3动铰接点相应变换旋转角度
Figure PCTCN2020101996-appb-000014
步骤S904，根据该第一转换矩阵和该原点坐标确定第二转换矩阵，根据该第二转换矩阵和该第一齐次坐标，获取该动铰链点在该静坐标系下的第三齐次坐标；
为方便坐标变换，定义从静坐标S到动坐标M的第二转换矩阵可表示为：
Figure PCTCN2020101996-appb-000015
任意静铰接点S i在静坐标系下的齐次坐标为(ss ix，ss iy，0，1)，其对应动铰接点M i在动坐标系下的齐次坐标可表示为(mm ix，mm iy，0，1)，则其在静坐标系下的第三齐次坐标SM i＝(sm ix，sm iy，0，1)的计算公式为
SM i＝ ST MM i       公式18
步骤S906，根据该第二齐次坐标和第三齐次坐标，计算得到所述远心操控组件144的第一伸缩元件1444长度；其中，该第二齐次坐标为该静铰接点在该静坐标系下的的齐次坐标；将该第二齐次坐标和第三齐次坐标代入公式12，即可求出该第一伸缩元件1444长度。
通过上述步骤S902至S906，通过该第二转换矩阵确定齐次坐标，与确定普通坐标相比，齐次坐标是四维的向量，本身就包含了姿态信息和位置信息，从而一步到位地求出在静坐标系下该动铰接点的姿态坐标和位置坐标，进一步提高了对控制系统指令的响应速度。
在一个实施例中，提供了一种手术机械臂的控制方法，该方法还包括如下步骤：
步骤S1002，在将该远心不动点由第一端点遍历至第二端点的情况下，计算获取第一最大值、第二最大值和第三最大值；其中，该第一最大值为该第一伸缩元件1444长度的最大值，该第二最大值为该静铰接点的摆角最大值，该第三最大值为该动铰接点的摆角最大值；
其中，远心操控组件144处于初始位置时，第一伸缩元件1444处于收缩极限位置附近。首先计算初始位置时动铰接点在静坐标系下的齐次坐标 SM i0＝(sm ix0，sm iy0，sm iz0，1)，
sm ix0＝mm ix,sm iy0＝mm iy,sm iz0＝h        公式19
从而得到初始位置时，第一伸缩元件1444在静坐标系下的方向向量：
Figure PCTCN2020101996-appb-000016
动铰接点在静坐标系中的坐标为 SM i＝(sm ix，sm iy，sm iz，1)，任意时刻静坐标系下从静铰接点指向动铰接点的向量为：
Figure PCTCN2020101996-appb-000017
用i(i＝1～6)表示静铰接摆角，以第四杆为例，此时该第一伸缩元件1444静铰接处和初始位置的夹角φ 4为：
Figure PCTCN2020101996-appb-000018
为满足摆角范围要求，夹角φ i的限定要求为：
0≤φ i≤φ imax     公式23
其中，φ imax为球铰接副极限摆角。
将以上计算过程通过MATLAB进行求解，得到预期运动空间中第一伸缩元件1444的摆动角度，在现有参数条件下，静铰接最大摆动角度范围(相对于初始位置)的最小值为约22°。为保险起见，应确保选择的球铰副的最大摆动角度(相对初始位置时的各个方向)大于等于25°。
为计算动铰接处摆角大小，先计算初始位置时静铰接点在动坐标系下的齐次坐标 MS i0＝(ms ix0，ms iy0，ms iz0，1)，如公式24所示：
ms ix0＝ss ix，ms iy0＝ss iy,ms iz0＝-h      公式24
从而得到初始位置时，第一伸缩元件1444在动坐标系下的方向向量，如公式25所示：
Figure PCTCN2020101996-appb-000019
利用第二转换矩阵，可知静铰接点在动坐标系中的坐标 MS i＝(ms ix，ms iy，ms iz，1)，如公式26所示：
MS i＝( ST M) -1S i       公式26
其中S i为对应静铰接点在静坐标系下的坐标。任意时刻动坐标系下动铰接点到指向静铰接点的向量为：
Figure PCTCN2020101996-appb-000020
用i(i＝1～6)表示动铰接摆角。以第四杆为例，此时该第一伸缩元件1444动铰接处和初始位置的夹角
Figure PCTCN2020101996-appb-000021
为：
Figure PCTCN2020101996-appb-000022
为满足摆角范围要求，夹角i的限定要求为：
Figure PCTCN2020101996-appb-000023
其中，
Figure PCTCN2020101996-appb-000024
为虎克铰接副极限摆角。将以上计算过程通过MATLAB进行求解，得到动坐标系下第一伸缩元件1444虎克铰处的摆动角度。在现有参数条件下，动铰的最大摆动角度范围(相对于初始位置)的最小值为约43°。为保险起见，应确保选择的虎克铰接副的最大摆动角度(相对初始位置时的各个方向)大于等于45°。
其中，由于远心操控组件144的铰接副运动干涉验算需要各铰接副构件的具体尺寸，因此先设定一部分可调参数(如动静平台尺寸，垂直距等)，针对杆长所需伸长量(行程)最小以及铰接副运动摆角最小进行参数优化，得到推荐的参数值(此时即是参数范围内满足需求的最优情况)，再选择合适的零部件型号，进而给出合适的平台相关具体尺寸，得到最终确定满足功能要求的方案。
为获得杆长、摆角范围的合适衡量方式，以满足所有六个第一伸缩元件1444的运动情况。设定末端点遍历运动如下：遍历开始时，静坐标系下坐标不变的远心点F和执行杆1424上的F 1重合。随后，远心操控组件144由于第一伸缩元件1444的伸长运动向前进给，远心点由此相对执行杆1424运动，末端伸到最远距离时，静坐标系下的远心点和执行杆1424上的F 2重合；执行杆1424末端外伸过程中的每一个 Z S轴向分度位置，执行杆1424相对静坐标系Z S有逐渐增大的偏角，偏角范围为0-20°；对应每一个Z S轴方向伸出长度和每一个器械偏角，末端有在垂直于Z S轴平面上的圆周运动。利用微分的思想，执行杆1424末端选择合适细分经历以上遍历运动后，理论上能够达到空间上任一点。此时记录下这一过程第一伸缩元件1444的长度和运动摆角处理后作为遍历运动下参数优化的评价函数。
对于每一个第一伸缩元件1444，记录其遍历运动过程中最长和最短的杆长，得出各第一伸缩元件1444长度变化范围，如公式30所示：
l imin＝min(L i)，l imax＝max(L i)，l iΔ＝l imax-l imin        公式30
其中l i为某一第一伸缩元件1444记录到的所有长度的集合，i＝1～6。
同理，得到静铰接摆角变化范围，如公式31所示：
a siΔ＝A simax-A simin        公式31
其中，a simin＝min(A si)，a simax＝max(A si)，A si为某一第一伸缩元件1444记录的所有静铰接摆角大小的集合。
再次，得到动铰接摆角变化范围，如公式32所示：
a miΔ＝A mimax-A mimin      公式32
其中，a mimin＝min(A mi)，a mimax＝max(A mi)，A mi为某一杆记录的所有动铰接摆角大小的集合。
为确保满足每一个第一伸缩元件1444都能满足要求，取各第一伸缩元件1444长度变化范围的最大值：
f lmax＝max(l 1Δ,l 2Δ,l 3Δ,l 4Δ,l 5Δ,l 6Δ)      公式33
f asmax＝max(a s1Δ,a s2Δ,a s3Δ,a s4Δ,a s5Δ,a s6Δ)     公式34
f ammax＝max(a m1Δ,a m2Δ,a m3Δ,a m4Δ,a m5Δ,a m6Δ)    公式35
利用MATLAB遗传算法工具箱对远心操控组件144五个尺寸相关的参数进行优化，五个参数的含义及范围如表4所示：
表4遗传算法优化参数
Figure PCTCN2020101996-appb-000025
步骤S1004，根据遗传算法，确定该第一最大值、该第二最大值和该第三最大值的适应函数；根据该远心操控组件144的尺寸参数，确定遍历函数，根据该遍历函数得到参数优化数据；
根据遗传算法多目标优化的要求，为第一伸缩元件1444长度变化最大值f lmax和摆角范围最大值f amax分配不同的权重，求和得到适应函数f max，如公式35所示：
f max＝w 1f lmax+w 2f asmax+w 3f ammax     公式35
根据初期数据观察，使第一伸缩元件1444长度和摆角范围在同一数量级，取w 1＝1，w 2＝10，w 3＝4。
步骤S1006，根据该适应函数和该参数优化数据，确定该远心操控组件144的优化尺寸；其中，该优化尺寸用于确保满足控制该执行杆1424的要求；
优化过程中，设置相应约束；保证远心操控组件144基本性能和运动特性，第一动平台1446铰接分布圆半径小于等于静平台1442铰接分布圆半径的0.9倍，静平台1442铰接点相邻夹角小于第一动平台1446铰接点相邻角度夹角，如公式36所示：
r m≤0.9r s，α≤β      公式36
写成线性约束的矩阵形式，如公式37所示：
Ax≤b       公式37
其中，
Figure PCTCN2020101996-appb-000026
x＝[r s,r m,α,β,h]，b＝[0,0]。
将待优化的五个参数作为参变量编写遍历函数后，进行五次优化得到的结果如表5所示。
表5：参数优化结果
Figure PCTCN2020101996-appb-000027
根据表5数据，取r s＝55mm，r m＝35mm，α＝45°，β＝45°，h＝300mm，在获取的最优参数下再次计算第一伸缩元件1444长度和动静铰摆角变化范围，图8为本申请实施例中一种第一伸缩元件长度范围的示意图，图9为本申请实施例中一种静铰摆角范围的示意图，图10为本申请实施例中一种动铰摆角范围的示意图，具体数据如图8至图10所示，可以理解的是，该远心操控组件144中的6个第一伸缩元件1444的长度变换趋势一致，6个静铰摆角变化趋势一致，且6个动铰摆角变化趋势一致。
根据数据情况可知，当遗传种群处于最优状态时，五个参数的平均数值圆整后分别为55、35、45、45、300，即静平台1442相邻铰接点、第一动平台1446相邻铰接点和动静平台1442垂直距h分别取上极限值，静平台1442铰接分布圆半径r s和第一动平台1446铰接分布圆半径r m分别取下极限时能获得最优状态。此时第一伸缩元件1444长度小于140mm，静铰接摆角小于16°，动铰接摆角小于40°。考虑到静平台1442需要足够空间安装驱动件1422，第一动平台1446需安装虎克铰接副，其分布圆半径不可太小，同时结合推荐的第一动平台1446、静平台1442分布圆半径大小r s＝70mm，r m＝40mm，并且考虑到第一伸缩元件1444伸长范围和第一伸缩元件1444的型号有关，推荐第一动平台144和静平台1442之间最短垂直距为200mm，因此本申请实施例的手术机械臂中使用优化后的推荐参数r s＝70mm，r m＝40mm，α＝45°，β＝45°，h＝200mm。
同时，为验证本申请实施例中方法的正确性，进行了Adams仿真验证。根据同样的尺寸参数(r s＝70mm，r m＝40mm，α＝45°，β＝45°，h＝200mm)建立Adams模型，软件中对执行组件142末端施加相同的螺旋运动，并通过内置算法逆解得出各第一伸缩元件1444长度、动静铰接副摆角随时间变化的数据，对比发现两组数据无明显差异。
通过上述步骤S1002至S1006，通过远心不动点的遍历运动，获取第一伸缩元件1444长度范围、动铰接点摆角范围和静铰接点摆角范围，并根据第一伸缩元件1444长度最大值、动铰接点摆角最大值和静铰接点摆角最大值，获取该远心操控组件144的优化参数，确保了在手术过程中该第一动平台1446的运动不会受到限制，实现了对手术精度的提高。
应该理解的是，虽然图2、图4至图7的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图2、图4至图7中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些子步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
在本实施例中，提供了一种手术机械臂，图11为根据本申请一实施例的一种手术机械臂的结构框图，如图11所示，该手术机械臂包括术前摆位组件12、主动臂14和控制系统112，该主动臂包括执行杆1424和远心操控组件144，该执行杆1424和该远心操控组件144连接，该远心操控组件144和该术前摆位组件12连接；
该控制系统112根据目标靶点计算得到该执行杆1424上的远心不动点，并控制该术前摆位组件12沿动坐标系的第一坐标轴推进该远心操控组件144的第一动平台1446，该推进的距离等于获取的该远心操控组件144和微创开口的距离；
该控制系统112根据该远心不动点坐标和该执行杆1424上的末端点的轨迹坐标，计算得到该远心操控组件144的第一动平台1446原点在静坐标系上的原点坐标；
该控制系统112根据该远心操控组件144的铰接点在所述静坐标系下的坐标，计算得到该远心操控组件144的第一伸缩元件1444长度；
该控制系统112控制该第一动平台1446移动至指定位姿；其中，根据该原点坐标和该第一伸缩元件1444长度确定该指定位姿。
通过上述实施例，该控制系统112根据目标靶点计算得到执行杆1424上的远心不动点，并根据该远心不动点和执行杆1424末端轨迹，该控制系统112实时反解获取该第一动平台1446的位姿，从而容易实现在线实时计算反解，并保证该执行杆1424在偏转不同的角度的时候具有一定的远心不动点，使得在手术的过程中保持皮肤创口不被入路的执行杆1424划开；同时，通过该第一动平台1446和该静平台1442连接形成的并联机构，结构尺寸较小且承载能力更大。
在一个实施例中，该控制系统112还用于在接收到更换该执行杆1424指令的情况下，控制该第一动平台1446牵引执行杆1424移动至与微创开口所在平面垂直，并保存末端点的第一坐标；
该控制系统112指示术前摆位组件12牵引述第一动平台1446沿该第一坐标轴移动，该第一动平台1446牵引该执行杆1424沿该第一坐标轴移动至该微创开口的外侧；
该控制系统112在接收到更换完成指令的情况下，控制该第一动平台1446牵引该执行杆1424沿该第一坐标轴移动，根据第一坐标复位至该远心不动点与该微创开口重合。
在一个实施例中，提供了一种手术机械臂，图12为根据本申请另一实施例的一种手术机械臂的结构框图，如图12所示，该手术机械臂还包括驱动件1422；
该控制系统112控制该驱动件1422驱动该执行杆1424的手术器具1426沿该第一坐标轴移动至指定位置，该驱动件1422安装在该第一动平台1446内。
在一个实施例中，提供了一种手术机械臂，该手术机械臂还包括第二动平台72和第二伸缩元件74，该第二动平台72通过该二级第一伸缩元件74连接该第一动平台72；
该控制系统112计算获取该第二动平台72的原点在该静坐标系上的二级原点坐标，并获取二级第一伸缩元件74长度；该控制系统112根据该二级原点坐标和该二级第一伸缩元件74长度，确定该第二动平台72的位姿。
在一个实施例中，该控制系统112还用于在将该远心不动点由第一端点遍历至第二端点的情况下，计算获取第一最大值、第二最大值和第三最大值；其中，该第一最大值为该第一伸缩元件1444长度的最大值，该第二最大值为该静铰接点的摆角最大值，该第三最大值为所述动铰接点的摆角最大值；
该控制系统112根据遗传算法，确定该第一最大值、该第二最大值和该第三最大值的适应函数；该控制系统112根据该远心操控组件144的尺寸参数，确定遍历函数，该控制系统112根据该遍历函数得到参数优化数据；
该控制系统112根据该适应函数和该参数优化数据，确定该远心操控组件144的优化尺寸；其中，该优化尺寸用于确保满足控制该执行杆1424的要求。
在一个实施例中，该远心操控组件144的第一动平台1446与静平台1442的直径之比在1:1至1:2之间，能够实现控制第一动平台1446的偏转来调节远心不动点的位置，进一步地，本申请实施例采用第一动平台1446与静平台1442的直径之比为：1:1.7，从而提高了机构的稳定性，且此时该远心操控组件144的空间体积较适合。
在一个实施例中，该远心操控组件144的第一动平台1446的6个动铰接点成对分布，每对点之间的夹角范围在15°至60°之间，静平台上1442的6个静铰接点也是成对分布，每对点之间的夹角范围在60°至105°之间。动铰接点成与静铰接点依次连接起来形成第一伸缩元件1444的排布位置；其中，第一动平台1446和静平台1442之间的第一伸缩元件1444的位置排布形成并联机构，与达芬奇机器人相比刚度大，结构稳定，承载能力更大，并且容易实现在线实时计算反解。
在一个实施例中，提供了一种计算机设备，该计算机设备可以是服务器，图13为根据本申请实施例的一种计算机设备内部的结构图，如图13所示。该计算机设备包括通过系统总线连接的处理器、存储器、网络接口和数据库。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作系统、计算机程序和数据库。该内存储器为非易失性存储介质中的操作系统和计算机程序的运行提供环境。该计算机设备的数据库用于存储 远心不动点相关数据。该计算机设备的网络接口用于与外部的终端通过网络连接通信。该计算机程序被处理器执行时以实现一种手术机械臂控制方法。
本领域技术人员可以理解，图13中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，提供了一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，处理器执行计算机程序时实现上述各实施例提供的手术机械臂控制方法中的步骤。
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现上述各实施例提供的手术机械臂控制方法中的步骤。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM(DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (19)

  1. 一种手术机械臂的控制方法，其特征在于，所述手术机械臂包括术前摆位组件、远心操控组件和执行组件，所述术前摆位组件和所述远心操控组件连接，所述远心操控组件和所述执行组件连接，所述方法包括：根据目标靶点计算得到所述执行组件的执行杆上的远心不动点；控制所述术前摆位组件沿动坐标系的第一坐标轴推进所述远心操控组件的第一动平台，所述推进的距离等于获取的所述执行组件上的末端点与所述远心不动点的距离；根据所述远心不动点坐标和所述末端点的轨迹坐标，计算得到所述第一动平台的原点在静坐标系下的第一原点坐标；根据所述远心操控组件的铰接点在所述静坐标系下的坐标，计算得到所述远心操控组件的第一伸缩元件长度；控制所述第一动平台移动至指定位姿；其中，根据所述第一原点坐标和所述第一伸缩元件长度确定所述指定位姿。
  2. 根据权利要求1所述的方法，其特征在于，所述控制所述第一动平台移动至指定位姿之后，所述方法包括：移动所述远心不动点，并根据所述移动后的远心不动点坐标重新确定所述指定位姿；其中，所述远心不动点在预设范围内移动。
  3. 根据权利要求2所述的方法，其特征在于，所述移动所述远心不动点包括以下至少之一：
    在控制所述第一动平台牵引所述执行杆移动至与微创开口所在平面垂直的情况下，控制所述术前摆位组件沿所述第一坐标轴牵引所述远心操控组件移动；
    控制所述第一动平台运动，所述运动用于移动所述远心不动点。
  4. 根据权利要求1所述的方法，其特征在于，所述根据所述远心不动点坐标和所述末端点的轨迹坐标，计算得到所述第一动平台的原点在静坐标系下的第一原点坐标包括：依据所述远心不动点坐标、所述轨迹坐标和方向向量模长的关系确定第一计算模型，所述方向向量模长为所述执行杆在静坐标系下的方向向量模长；依据所述远心不动点坐标、所述轨迹坐标和所述第一原点坐标的之间的位置关系确定第二计算模型；依据所述轨迹坐标和所述第一原点坐标的距离公式确定第三计算模型；根据所述第一计算模型、所述第二计算模型和所述第三计算模型确定所述第一原点坐标。
  5. 根据权利要求1所述的方法，其特征在于，所述根据所述远心操控组件的铰接点在所述静坐标系下的坐标，计算得到所述远心操控组件的第一伸缩元件长度包括：根据第一旋转角度和第二旋转角度，确定第一转换矩阵；其中，所述第一旋转角度为所述执行杆绕第二坐标轴旋转的角度，所述第二旋转角度为所述执行杆绕第三坐标轴旋转的角度；根据所述第一转换矩阵确定第一坐标，根据所述第一坐标和第二坐标，计算得到所述远心操控组件的第一伸缩元件长度；其中，所述第一坐标为动铰接点在所述静坐标系下的坐标，所述第二坐标为静铰接点在所述静坐标系下的坐标，所述动铰链点位于所述第一动平台上，所述静铰接点位于所述远心操控组件的静平台上。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述第一转换矩阵确定第一坐标，根据所述第一坐标和第二坐标，计算得到所述远心操控组件的第一伸缩元件长度包括：
    根据所述第一原点坐标和第三旋转角度，获取所述动铰链点在动坐标系下的第一齐次坐标；根据所述第一原点坐标和第四旋转角度，获取所述静铰链点在所述静坐标系下的第二齐次坐标；
    其中，所述第三旋转角度为所述动铰链点绕所述第一动平台原点旋转的角度，所述第四旋转角度为所述静铰链点绕所述静平台原点旋转的角度；
    根据所述第一转换矩阵和所述第一原点坐标确定第二转换矩阵，根据所述第二转换矩阵和所述第一齐次坐标，获取所述动铰链点在所述静坐标系下的第三齐次坐标；
    根据所述第二齐次坐标和所述第三齐次坐标，计算得到所述远心操控组件的第一伸缩元件长度。
  7. 根据权利要求1所述的方法，其特征在于，所述控制所述第一动平台移动至指定位姿之后，所述方法包括：
    在所述远心操控组件还包括第二动平台以及设置于所述第一动平台与所述第二动平台之间的多个第二伸缩元件，且所述第二动平台连接所述执行组件的情况下，计算获取所述第二动平台的原点在所述静坐标系上的第二原点坐标，并获取第二伸缩元件长度；
    根据所述第二原点坐标和所述第二伸缩元件长度，确定所述第二动平台的位姿。
  8. 根据权利要求7所述的方法，其特征在于，所述计算获取所述第二动平台的原点在所述静坐标系上的第二原点坐标，并获取第二伸缩元件长度之前，所述方法包括：
    在所述第一动平台的偏转角计算值位于第二级开启边界内的情况下，将所述第二动平台设置为锁住状 态；
    在所述偏转角计算值大于所述第二级开启边界的情况下，解锁所述第二动平台进行运动。
  9. 根据权利要求8所述的方法，其特征在于，所述解锁所述第二动平台进行运动包括：
    第一平面和第二平面处于同一平面内，其中，所述第一平面为所述第二动平台偏转角度的法线和所述远心不动点形成的平面，所述第二平面为所述第一动平台偏转角度的法线和所述远心不动点形成的平面。
  10. 根据权利要求1所述的方法，其特征在于，所述控制所述第一动平台移动至指定位姿之后，所述方法包括：
    控制转动驱动件驱动所述执行组件沿所述执行杆的轴向转动，所述转动驱动件安装在所述第一动平台内。
  11. 根据权利要求10所述的方法，其特征在于，所述控制所述第一动平台移动至指定位姿之后，所述方法包括：
    控制第一偏转驱动件与第二偏转驱动件驱动所述执行组件内置的传动线缆，分别带动所述执行组件的手术器具朝交错的两个不同的方向偏转；
    控制开合驱动件驱动通过所述传动线缆带动所述手术器具张开与闭合；其中，所述第一偏转驱动件、所述第二偏转驱动件和所述开合驱动件安装在所述执行组件与所述第一动平台连接处。
  12. 根据权利要求1所述的方法，其特征在于，所述控制所述第一动平台移动至指定位姿之后，所述方法包括：
    在接收到更换所述执行杆指令的情况下，控制所述第一动平台牵引所述执行杆移动至与微创开口所在平面垂直，并保存所述末端点的第三坐标；
    指示所述术前摆位组件牵引所述第一动平台沿所述第一坐标轴移动，所述第一动平台牵引所述执行杆沿所述第一坐标轴移动至所述微创开口的外侧；
    在接收到更换完成指令的情况下，根据所述第三坐标，控制所述远心操控组件复位。
  13. 根据权利要求1至12任一项所述的方法，其特征在于，所述根据目标靶点计算得到所述手术机器人的执行杆上的远心不动点之前，所述方法包括：
    在将所述远心不动点由第一端点遍历至第二端点的情况下，计算获取第一最大值、第二最大值和第三最大值；其中，所述第一最大值为所述第一伸缩元件长度的最大值，所述第二最大值为静铰接点的摆角最大值，所述第三最大值为动铰接点的摆角最大值；所述动铰链点位于所述第一动平台上，所述静铰接点位于所述远心操控组件的静平台上；
    根据遗传算法，确定所述第一最大值、所述第二最大值和所述第三最大值的适应函数；根据所述远心操控组件的尺寸参数，确定遍历函数，根据所述遍历函数得到参数优化数据；
    根据所述适应函数和所述参数优化数据，确定所述远心操控组件的优化尺寸；其中，所述优化尺寸用于确保满足控制所述执行杆的要求。
  14. 一种手术机械臂，其特征在于，包括术前摆位组件、远心操控组件、执行组件和控制系统，所述术前摆位组件和所述远心操控组件连接，所述远心操控组件和所述执行组件连接；所述控制系统根据目标靶点计算得到所述执行组件的执行杆上的远心不动点，并控制所述术前摆位组件沿动坐标系的第一坐标轴推进所述远心操控组件的第一动平台，所述推进的距离等于获取的所述远心不动点与所述执行组件上的末端点的距离；所述控制系统根据所述远心不动点的坐标和所述末端点的轨迹坐标，计算得到所述第一动平台的原点在静坐标系下的第一原点坐标；所述控制系统根据所述远心操控组件的铰接点在所述静坐标系下的坐标，计算得到所述远心操控组件的第一伸缩元件长度；所述控制系统控制所述第一动平台移动至指定位姿；其中，根据所述第一原点坐标和所述第一伸缩元件长度确定所述指定位姿。
  15. 根据权利要求14所述的手术机械臂，其特征在于，所述手术机械臂还包括转动驱动件；所述控制系统控制所述转动驱动件驱动所述执行组件沿所述执行杆的轴向转动，所述转动驱动件安装在所述第一动平台内。
  16. 根据权利要求14所述的手术机械臂，其特征在于，所述远心操控组件包括多级相互连接的并联平台，每级所述并联平台均包括相对的两个平台以及位于两个所述平台之间的伸缩元件：其中，多级所述并联平台中相对靠近所述术前摆位组件的并联平台为第一级并联平台，所述第一级并联平台包括静平台、所述第一动平台以及设置于所述静平台与所述第一动平台之间的多个第一伸缩元件。
  17. 根据权利要求16所述的手术机械臂，其特征在于，所述并联平台的级数为两级，所述远心操控组 件还包括连接于所述第一级并联平台的第二级并联平台，所述第二级并联平台包括第二动平台以及设置于所述第一动平台与所述第二动平台之间的多个第二伸缩元件；所述第二动平台相对远离所述远心操控组件的静平台的一侧固定连接于所述执行组件；每个所述第二伸缩元件的两端均分别转动连接于所述第一动平台与所述第二动平台；
    所述控制系统计算获取所述第二动平台的原点在所述静坐标系上的第二原点坐标，并获取第二伸缩元件长度；根据所述第二原点坐标和所述第二伸缩元件长度，确定所述第二动平台的位姿。
  18. 一种计算机设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1至12中任一项所述方法的步骤。
  19. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至12中任一项所述的方法的步骤。
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