WO2022141138A1 - 混联主从映射方法、机械臂系统和计算机设备 - Google Patents

混联主从映射方法、机械臂系统和计算机设备 Download PDF

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Publication number
WO2022141138A1
WO2022141138A1 PCT/CN2020/141175 CN2020141175W WO2022141138A1 WO 2022141138 A1 WO2022141138 A1 WO 2022141138A1 CN 2020141175 W CN2020141175 W CN 2020141175W WO 2022141138 A1 WO2022141138 A1 WO 2022141138A1
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WIPO (PCT)
Prior art keywords
joint
arm
displacement
passive arm
coordinate system
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PCT/CN2020/141175
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English (en)
French (fr)
Inventor
黄善灯
柏龙
陈晓红
潘鲁锋
柳建飞
Original Assignee
诺创智能医疗科技(杭州)有限公司
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Application filed by 诺创智能医疗科技(杭州)有限公司 filed Critical 诺创智能医疗科技(杭州)有限公司
Priority to PCT/CN2020/141175 priority Critical patent/WO2022141138A1/zh
Priority to US18/269,207 priority patent/US20240042593A1/en
Priority to EP20967485.2A priority patent/EP4252969A4/en
Publication of WO2022141138A1 publication Critical patent/WO2022141138A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated 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
    • B25J9/16—Programme controls
    • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39552—Stewart platform hand, parallel structured hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

Definitions

  • the present application relates to the field of control, in particular to a hybrid master-slave mapping method, a robotic arm system and a computer device.
  • surgical robots with multi-DOF parallel platforms and passive arms are applied to various surgical procedures.
  • the end of the passive arm of the surgical robot is equipped with a multi-degree-of-freedom parallel platform, and the position and attitude control of the surgical instrument is realized by arranging surgical instruments on the moving platform of the multi-degree-of-freedom parallel platform.
  • the range of motion of the passive arm is relatively large, due to the large volume and weight of the passive arm, all joints of the passive arm are locked during the operation to prevent the passive arm from injuring the patient during the operation.
  • the movement of the parallel platform alone cannot move in a large range on the patient's body surface. Therefore, the range of motion of surgical robots during surgery is small, and no effective solution has been proposed yet.
  • a hybrid master-slave mapping method includes the following steps: acquiring a current position and a target position of an end point of a robotic arm, where the robotic arm includes a passive arm and a A multi-degree-of-freedom parallel platform at the end of the passive arm; the displacement from the current position to the target position is decomposed into the vertical direction and the horizontal plane, respectively, to obtain the vertical displacement position and the horizontal displacement position; according to the vertical displacement determining the position of a first control amount of the multi-degree-of-freedom parallel platform, and determining a second control amount of the passive arm according to the horizontal displacement position; controlling the multi-degree-of-freedom parallel platform according to the first control amount, and The passive arm is controlled according to the second control amount.
  • the above-mentioned hybrid master-slave mapping method has the following advantages: compared with the related art that all joints of the passive arm must be locked, in this embodiment, only the joints that can generate displacement in the vertical direction can be locked.
  • the displacement of the end point of the manipulator is decomposed into the vertical and horizontal planes. Because the passive arm can move in a wider range in the horizontal plane, compared with the multi-degree-of-freedom parallel platform, the movement range in the horizontal plane is much larger, so the movement range of the surgical robot is increased, which solves the problem of the surgical robot in the related art. Due to the small range of motion during surgery, the range of motion of the surgical robot is improved.
  • the robotic arm is controlled by a master operator; acquiring the current position of the end point of the robotic arm includes: at the moment when the master operator starts to be operated, set the end point of the robotic arm to The location is recorded as the current location.
  • the robotic arm is controlled by a master operator; acquiring the target position of the end point of the robotic arm includes: at the moment when the master operator starts to be operated, initializing the master operator's initial position; after the main operator is operated, the current position of the main operator is determined, and the displacement of the main operator is determined according to the current position and the initial position of the main operator; according to the preset displacement ratio coefficient, the displacement of the main operator is converted into the target displacement of the mechanical arm, and the target position is determined according to the target displacement and the current position of the end point of the mechanical arm.
  • the preset displacement scaling factor is adjustable.
  • the passive arm includes a plurality of joints; determining the second control amount of the passive arm according to the horizontal displacement position includes: determining at least one of the plurality of joints that produces displacement in a horizontal plane a target moving joint and at least one target rotating joint that rotates around the vertical direction; a second control amount of the passive arm is determined according to the horizontal displacement position, wherein the second control amount includes the movement amount of the target moving joint and the amount of rotation of the target revolute joint.
  • determining the second control amount of the passive arm according to the horizontal displacement position includes: obtaining the control amount of the passive arm according to the inverse solution of the horizontal displacement position; In the case that the control variable of the arm is multiple sets of results, the set of results with the smallest angle required to rotate with the target rotary joint is determined as the second control variable; the control variable of the passive arm obtained in the inverse solution is one. In the case of a group result, the group result is determined as the second control amount.
  • a robotic arm system includes a computer device and a robotic arm, the robotic arm includes a passive arm and a multi-degree-of-freedom parallel platform mounted on the end of the passive arm , the computer device is electrically connected to the passive arm and the multi-degree-of-freedom parallel platform, respectively, the computer device includes a processor and a storage medium, and the storage medium stores a computer program, and the computer program is set
  • the hybrid master-slave mapping method provided by the embodiment of the present application is executed at runtime.
  • the passive arm includes a plurality of joints, and a joint of the plurality of joints capable of causing a vertical displacement of the end point of the mechanical arm is locked.
  • the joints of the plurality of joints that can cause the end point of the mechanical arm to produce displacement in the vertical direction include: a moving joint that is displaced in the vertical direction, and/or has a non-vertical displacement joint.
  • a computer device includes a processor and a storage medium, where a computer program is stored in the storage medium, and the computer program is configured to execute the embodiments of the present application when running Provides a mixed master-slave mapping method.
  • FIG. 1 is a structural block diagram of a robotic arm system provided by an embodiment of the present application.
  • FIG. 2 is a flowchart of a hybrid master-slave mapping method provided by an embodiment of the present application.
  • FIG. 3 is a flowchart of a coordinate conversion method for a multi-joint passive arm according to an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a robotic arm provided by a preferred embodiment of the present application.
  • FIG. 5 is a schematic diagram of a mechanical coordinate system and a joint coordinate system of a robotic arm provided by a preferred embodiment of the present application.
  • FIG. 6 is a schematic diagram of motion mapping of the main operator and the end point of the ultrasonic probe in the user coordinate system according to the preferred embodiment of the present application.
  • FIG. 1 is a structural block diagram of the robotic arm system provided by the embodiment of the present application.
  • the robotic arm system includes a computer device 101 and a robotic arm 102
  • the robotic arm 102 includes The passive arm 1021 and the multi-degree-of-freedom parallel platform 1022 mounted on the end of the passive arm 1021 .
  • the passive arm 1021 may include a plurality of joints, and the types of joints include but are not limited to moving joints and rotating joints, so as to ensure that the passive arm 1021 can move in a wide range.
  • Each joint of the passive arm 1021 has a locking device, which can lock the posture of each joint to maintain a fixed displacement or rotation angle.
  • the passive arm 1021 can be manually pulled to move to the vicinity of the corresponding surgical position.
  • each joint of the passive arm 1021 is locked before the operation starts, so as to prevent accidents such as the patient being smashed due to the falling of the passive arm 1021 during the operation.
  • joints of the driven arm 1021 are locked, but only the joints that can cause the end point of the mechanical arm to be displaced in the vertical direction are locked, which can make the mechanical
  • the joints in which the end point of the arm is displaced in the vertical direction include, but are not limited to: a moving joint that is displaced in a vertical direction, and/or a rotating joint that is rotated around a non-vertical direction.
  • the displacement direction or rotation axis of each joint of the passive arm 1021 is parallel to a certain coordinate axis of the orthogonal coordinate system.
  • the Z-axis of the orthogonal coordinate system vertically upward, the X-axis horizontally to the right, the Y-axis perpendicular to the XZ plane, and the coordinate axis setting conforming to the right-hand rule as an example, in this case, there is a moving joint that is displaced along the Z-axis direction, And the rotating joints that rotate around the X-axis or the Y-axis may cause the end point of the robotic arm to move vertically downward, thus posing a safety hazard.
  • the multi-degree-of-freedom parallel platform in this embodiment can realize the movement of multiple degrees of freedom.
  • the Stewart parallel platform includes a static platform, a moving platform, and a plurality of sets between the static platform and the moving platform.
  • the telescopic components in between can realize the movement of six degrees of freedom in space, namely displacement along the X axis, displacement along the Y axis, displacement along the Z axis, rotation around the X axis, rotation around the Y axis and rotation around the Z axis.
  • the Stewart parallel platform is supported by 6 telescopic components. Compared with the passive arm using the cantilever beam structure in series, the rigidity is higher and the structure is stable.
  • the parallel structure Due to the high rigidity, the parallel structure has a higher self-weight or volume than the series structure. Carrying capacity.
  • the error at the end of the passive arm using the cantilever beam structure in series is the accumulation and amplification of the errors of each joint, so the error is large and the precision is low. Precision surgical operation.
  • the inverse solution of the parallel platform is very easy, and it is easy to obtain the motion posture of each telescopic component of the parallel platform according to the coordinate position.
  • the computer device 101 is electrically connected to the passive arm 1021 and the multi-degree-of-freedom parallel platform 1022, respectively.
  • the computer device 101 includes a processor 1011 and a storage medium 1012.
  • the storage medium 1012 stores a computer program 10121, and the computer
  • the program 10121 executes the control method of the robotic arm system when executed by the processor.
  • FIG. 2 is a flowchart of a hybrid master-slave mapping method provided by an embodiment of the present application. As shown in FIG. 2 , the flowchart includes the following steps.
  • Step S201 obtaining the current position and the target position of the end point of the mechanical arm, where the mechanical arm includes a passive arm and a multi-degree-of-freedom parallel platform mounted on the end of the passive arm.
  • Step S202 Decompose the displacement from the current position to the target position into the vertical direction and the horizontal plane, respectively, to obtain the vertical displacement position and the horizontal displacement position.
  • Step S203 Determine the first control amount of the multi-degree-of-freedom parallel platform according to the vertical displacement position, and determine the second control amount of the passive arm according to the horizontal displacement position.
  • Step S204 control the multi-degree-of-freedom parallel platform according to the first control amount, and control the passive arm according to the second control amount.
  • a master-slave mapping method can be used to control the passive arm and the multi-degree-of-freedom parallel platform.
  • the robotic arm system further includes a master operator. Compared with the related art, the main operator can only be used to control the multi-degree-of-freedom parallel platform. joint control.
  • the position of the end point of the manipulator may be recorded as the current position at the moment when the main operator starts to be operated.
  • the initial position of the main operator is initialized, that is, the position at which the main operator starts to be operated is set as the initial position.
  • the position of the main operator moves to a new position, and this new position is called the current position of the main operator.
  • the displacement of the main operator during the operation can be determined, and the displacement will be mapped to the displacement of the robot arm, so that the end point of the robot arm can be determined according to the The displacement of the robot arm determined by the displacement of the main operator, moves from the current position to the target position.
  • the relationship between the displacement of the main operator and the displacement of the end point of the mechanical arm is determined according to a preset displacement proportional coefficient.
  • the preset displacement scale factor is adjustable. For example, when the preset displacement proportional coefficient is less than 1, the displacement value of the main operator is greater than the displacement value of the end point of the robotic arm. Therefore, in the case of high-precision surgery, the preset displacement value can be The scale factor is set to a value less than 1. When the preset displacement proportional coefficient is greater than 1, the position value of the main operator is smaller than the displacement value of the end point of the manipulator. Therefore, in the case where the end point of the manipulator needs to move within a larger range, it is possible to Set the preset displacement scale factor to a value greater than 1 to improve the operating experience.
  • the first control variable of the multi-degree-of-freedom parallel platform is obtained from the inverse solution of the vertical displacement position obtained by decomposing the target position of the end point of the manipulator in the vertical direction, because the multi-degree-of-freedom parallel platform It is very easy to calculate the inverse solution of , so the above method can reduce the amount of calculation and improve the control efficiency of the robot arm.
  • determining the second control amount of the passive arm according to the horizontal displacement position includes: determining at least one target moving joint that produces displacement in the horizontal plane and at least one target rotating joint that rotates around the vertical direction among the plurality of joints ; Determine the second control amount of the passive arm according to the horizontal displacement position, wherein the second control amount includes the movement amount of the target moving joint and the rotation amount of the target rotating joint.
  • the inverse solution operation is more complicated than the forward solution operation.
  • the target moving joints can be selected as little as possible while meeting the motion range requirements. and the target rotation joint, and ensure that all other joints except the selected target movement joint and target rotation joint are locked. After the other joints are locked, the coordinate transformation relationship between the other joints is also fixed, then the unknown coordinate transformation relationship in the passive arm of the serial structure inverse solution operation only involves the selected target moving joint and target rotating joint. The coordinate conversion relationship between them greatly reduces the complexity of the operation.
  • the number of selected target movement joints is one, and the number of selected target rotation joints is also one.
  • the selected target moving joint may be the moving joint with the largest moving range among the moving joints in the passive arm that move in the horizontal plane, thereby ensuring the largest moving range.
  • the inverse solution of the passive arm with the tandem structure may be multiple.
  • the control amount of the passive arm is determined according to the horizontal displacement position
  • the control amount of the passive arm obtained by the inverse solution is multiple sets of results , then it is determined that the group of results with the smallest rotation angle with the target rotary joint is the second control variable; if the control variable of the passive arm obtained from the inverse solution is a group of results, then this group of results is determined to be the second control variable.
  • this embodiment provides a method for establishing and converting a coordinate system of a passive arm, which is applied to a passive arm including a rotating joint and a moving joint, and these rotating joints and moving joints are connected in series in sequence connect.
  • the number of rotating joints and moving joints can be set according to the required degrees of freedom and motion range, that is, the number of rotating joints and moving joints can be one or more.
  • FIG. 3 is a flowchart of a coordinate conversion method for a multi-joint passive arm according to an embodiment of the present application. As shown in FIG. 3 , the flowchart includes the following steps S301 to S303 .
  • Step S301 When the passive arm is in an initial state, establish a mechanical coordinate system of the passive arm and a joint coordinate system of each joint of the passive arm.
  • the control of the passive arm is usually based on the transformation of the coordinate system based on the DH parameters.
  • Two connected joints are adjacent joints.
  • the transformation of the joint coordinate system of two adjacent joints is usually represented by a DH parameter or an improved DH parameter.
  • a DH parameter as an example, two adjacent joint coordinate systems can overlap each other by rotating ⁇ around the Z axis and translating d, and then rotating ⁇ around the X axis and translating a.
  • ⁇ , d, ⁇ and a are DH parameters. It can be seen from this that the simpler the DH parameter is, the simpler the transformation of two adjacent joint coordinate systems will be.
  • the Z axis of the joint coordinate system of the rotating joint is set along the rotation axis
  • the Z axis of the joint coordinate system of the moving joint is set along the moving direction
  • the mechanical coordinate system is the same as the joint coordinate system of each joint. It is a left-handed system or a right-handed system, and when the joint before the rotating joint is a moving joint, the origin of the joint coordinate system of the rotating joint coincides with the origin of the joint coordinate system of the moving joint.
  • the above-mentioned mechanical coordinate system can also be called a global coordinate system, a reference coordinate system or a world coordinate system.
  • the mechanical coordinate system is usually set at the center of the base of the passive arm, and is located directly below the first joint of the mechanical arm, so that the The transformation relationship between the mechanical coordinate system and the first joint is as simple as possible.
  • the rotary joint In a multi-joint passive arm, in most cases, when the rotary joint receives a command with a rotation angle of 0 or 2 ⁇ , it may not be necessary to distinguish between the two, and it may not rotate according to the preset setting or rotate 2 ⁇ in the set direction. . However, in some cases, it is necessary to distinguish between these two corners. In the case where it is necessary to distinguish the 0 or 2 ⁇ rotation angle, the rotation angle of the Z axis in the DH parameter of the rotary joint is not 0 or 2 ⁇ to avoid confusing the positions of 0 and 2 ⁇ .
  • Step S302 Obtain the mechanical coordinate system of the passive arm and the DH parameters of the joint coordinate system of each joint of the passive arm, and determine the conversion between the mechanical coordinate system of the passive arm and the joint coordinate system of the end joint of the passive arm according to the DH parameters relation.
  • the DH parameters between adjacent joints can be obtained in turn, and according to the DH parameters, the conversion relationship between the mechanical coordinate system of the passive arm and the joint coordinate system of the end joint of the passive arm can be determined. .
  • the homogeneous transformation from the coordinates of the i-1th joint to the coordinates of the ith joint is constructed as a sequence with two rotations and two transformations, which can be expressed as follows using a matrix:
  • n is the total number of rotating joints and moving joints of the passive arm.
  • the DH parameter of the first joint of the passive arm is the transformation of the coordinate system between the first joint and the mechanical coordinate system, denoted as Then the conversion relationship between the mechanical coordinate system and the joint coordinate system of the first joint:
  • the Nth joint is the end joint.
  • Step S303 Perform coordinate conversion between the mechanical coordinate system and the joint coordinate system of the end joint according to the conversion relationship.
  • step S302 It represents the coordinate conversion relationship between the mechanical coordinate system and the joint coordinate system of the end joint. According to the conversion relationship, the coordinate conversion between the mechanical coordinate system and the joint coordinate system of the end joint can be realized.
  • FIG. 4 is a schematic structural diagram of a robotic arm provided by a preferred embodiment of the present application.
  • the robotic arm shown in FIG. 4 sequentially includes a passive arm and a multi-degree-of-freedom parallel platform.
  • the passive arm includes: a moving joint 1, a rotating joint 2, and a moving joint 3 , rotary joint 4, rotary joint 5, mobile joint 6, rotary joint 7, mobile joint 8, rotary joint 9, mobile joint 10.
  • the multi-degree-of-freedom parallel platform is fixed on the end of the joint arm of the mobile joint 10 .
  • the robotic arm also includes a base 11 fixedly connected with the moving joint 1 .
  • the coordinate transformation method of the robot arm in this preferred embodiment includes steps 1 to 3, corresponding to steps S301 to S303 in FIG. 3 , respectively.
  • Step 1 According to the rules of the world coordinate system, the mechanical coordinate system and the joint coordinate system of each joint are established at the base of the passive arm.
  • FIG. 5 is a schematic diagram of a mechanical coordinate system and a joint coordinate system of a robotic arm provided by a preferred embodiment of the present application.
  • the origin of the mechanical coordinate system F 0 -X 0 Y 0 Z 0 is fixed at the base of the passive arm, the Z 0 axis points from F 0 to the moving joint 1 , and the Y 0 axis points from the base F 0 Point to the passive arm, and the X 0 axis points to conform to the right-handed coordinate system.
  • the origin L 1 of the joint coordinate system L 1 -X 1 Y 1 Z 1 of the mobile joint 1 is fixed on the mobile joint 1, and the orientation of each coordinate axis is the same as that of the corresponding axis of the mechanical coordinate system.
  • the origin of the joint coordinate system R 2 -X 2 Y 2 Z 2 of the rotary joint 2 is fixed on the rotary joint 2 and coincides with L 1.
  • the Z 2 and Z 1 axes point in the same direction, the X 2 axis and the Y 2 axis The directions are opposite to the X 1 axis and Y 1 axis respectively.
  • the joint coordinate system L 3 -X 3 Y 3 Z 3 of the mobile joint 3 is fixed at the origin L 3 of the mobile joint 3, the Z 3 axis points from the L 1 point to the L 3 point, and the X 3 axis and the Y 3 axis are respectively connected with the X 2 Axis and Z 2 axis point the same.
  • the joint coordinate system R 4 -X 4 Y 4 Z 4 of the rotary joint 4 is fixed at the origin R 4 of the rotary joint 4 and coincides with the point L 3 (Fig. 5 is a clear indication of the joint coordinate system of the mobile joint 3 and the rotary joint 4).
  • the joint coordinate system of L 3 and R 4 are marked separately, the same below), the Z 4 axis points to the opposite direction to the Y 3 axis, initially, the X 4 axis and the Y 4 axis point to the X 3 axis and the Z 3 axis respectively. on the contrary.
  • the joint coordinate system R 5 -X 5 Y 5 Z 5 of the rotary joint 5 is fixed at the origin R 5 of the rotary joint 5.
  • the direction of the Z 5 axis and the Z 4 axis are the same. Initially, the X 5 axis and the Y 5 axis point respectively.
  • the X 4 -axis and Y 4 -axis point opposite.
  • the joint coordinate system L 6 -X 6 Y 6 Z 6 of the mobile joint 6 is fixed at the origin L 6 of the mobile joint 6.
  • the Z 6 axis points from the R 5 point to the L 6 point, and the X 6 axis and the Y 6 axis point to the X axis respectively.
  • the 5 -axis and the Z 5 -axis point the same.
  • the joint coordinate system R 7 -X 7 Y 7 Z 7 of the rotary joint 7 is fixed at the origin R 7 of the rotary joint 7 and coincides with the L 6 point. Initially, the Z 7 axis and the Y 7 axis point to the Y 6 axis respectively. The X 7 axis and the Z 6 axis point in the same direction, as opposed to the X 6 axis.
  • the origin of the joint coordinate system L 8 -X 8 Y 8 Z 8 of the mobile joint 8 is fixed on the mobile joint 8.
  • the Z 8 axis points from the L 8 point to the R 7 point, and the directions of the X 8 and Y 8 axes are respectively the same as The X 7 and Y 7 axes point the same.
  • the origin of the joint coordinate system R9 - X9Y9Z9 of the rotary joint 9 is fixed on the rotary joint 9 and coincides with the L8 point.
  • the direction of the Z9 axis is opposite to the direction of the Y8 axis.
  • the direction of the X 9 axis is opposite to the direction of the Z 8 axis, and the direction of the Y 9 axis is the same as the direction of the X8 axis.
  • the origin of the joint coordinate system L 10 -X 10 Y 10 Z 10 of the mobile joint 10 is fixed on the mobile joint 10.
  • the Z 10 axis points from the R 9 point to the L 10 point, and the X 10 axis and the Y 10 axis point respectively. The same point as the X 9 and Z 9 axes.
  • the length of F 0 R 2 is l 1
  • the length of R 2 R 4 is l 2
  • the length of R 4 R 5 is l 3
  • the length of R 5 R 7 is l 4
  • the length of R 7 R 9 is l 5
  • the length of R 9 L 10 is l 6
  • the points L 1 , R 2 , L 3 , R 4 , R 5 , L 6 and R 7 are located on the same horizontal plane.
  • Step 2 Obtain DH parameters, and calculate the conversion relationship from the mechanical coordinate system to the end joints of the multi-joint passive arm.
  • the DH parameters can be traditional DH parameters or improved DH parameters.
  • a parallel platform can also be mounted on the end joint of the multi-joint manipulator shown in Figure 4.
  • the parallel platform includes a static platform, a moving platform, and a plurality of telescopic components arranged between the static platform and the moving platform.
  • the calculation coordinate system of the parallel platform It is completely coincident with the joint coordinate system of the end joint of the multi-joint mechanical arm, and the ultrasonic detection device is arranged on the moving platform.
  • the parallel platform in this embodiment can realize motion with multiple degrees of freedom.
  • the Stewart parallel platform includes a static platform, a moving platform, and a plurality of telescopic and retractable platforms arranged between the static platform and the moving platform.
  • the component can realize six degrees of freedom movement in space, namely displacement along the X axis, displacement along the Y axis, displacement along the Z axis, rotation around the X axis, rotation around the Y axis, and rotation around the Z axis.
  • the Stewart parallel platform is supported by 6 telescopic components. Compared with the passive arm using the cantilever beam structure in series, the rigidity is higher and the structure is stable.
  • the parallel structure Due to the high rigidity, the parallel structure has a higher self-weight or volume than the series structure. Carrying capacity.
  • the error at the end of the passive arm using the cantilever beam structure in series is the accumulation and amplification of the errors of each joint, so the error is large and the precision is low, while the parallel platform does not have such an error accumulation and amplification relationship. Precision surgical operation.
  • the inverse solution of the parallel platform is very easy, and it is easy to obtain the motion posture of each telescopic component of the parallel platform according to the coordinate position.
  • the displacement of the master operator can be mapped to the slave user coordinate system by establishing the slave user coordinate system on the static platform, and then the slave user coordinate system can be used to map the displacement of the master operator into the slave user coordinate system.
  • the position information of the target position in the calculation coordinate system can be obtained by the conversion of the system and the calculation coordinate system. According to the position information, the motion posture of each telescopic assembly of the parallel platform can be easily obtained through the inverse solution.
  • the transformation matrix from the mth joint (containing the m degree of freedom) to the nth joint can be expressed as:
  • T trans_mach_st the transformation matrix from the Stewart calculation coordinate system to the mechanical coordinate system
  • Step 3 According to the transformation matrix and the inverse matrix of the transformation matrix, coordinate transformation between the mechanical coordinate system and the Stewart calculation coordinate system is performed.
  • a user coordinate system can also be established on the manipulator.
  • the coordinate transformation method of the manipulator shown in FIG. 3 may further include the following steps.
  • Step 1 Establish a user coordinate system, wherein the XY coordinate plane of the user coordinate system is parallel to the XY plane of the mechanical coordinate system, and the origin of the user coordinate system coincides with the origin of the joint coordinate system of the end joint.
  • Step 2 Obtain the viewing angle value input by the user, and determine the conversion relationship between the user coordinate system and the mechanical coordinate system according to the viewing angle value and the conversion relationship between the mechanical coordinate system and the joint coordinate system of the end joint.
  • the angle of rotation around the Z axis of the XY coordinate plane of the user coordinate system established in step 2 is the viewing angle value.
  • the viewing angle value is input by the user according to the viewing angle, named ⁇ theta_mach_user .
  • the transformation matrix of the user coordinate system relative to the machine coordinate system can be obtained:
  • the following describes the hybrid master-slave mapping method of the preferred embodiment by taking an example of an ultrasonic detection device mounted on a moving platform of a multi-degree-of-freedom parallel platform. Since the ultrasonic detection device needs to move in a large range on the patient's body surface to obtain a comprehensive image, the control method of the robot arm system of the present preferred embodiment is used to realize the hybrid mapping of the robot arm and realize a wide range of movement.
  • the end point of the ultrasonic detection device is located on the axis of the moving platform of the multi-degree-of-freedom parallel platform.
  • the manipulation of the ultrasound probe requires a large range of movement on the patient's body surface, that is, a large range of movement in the XY plane of the mechanical coordinate system, but does not require a large range of movement in the direction perpendicular to the patient's body surface, that is, the mechanical coordinate system No extensive movement is required in the Z-axis direction. Due to the large volume and heavy weight of the passive arm, the moving joints along the Z-axis and the rotating joints around the X-axis and Y-axis must be locked during the operation to ensure the safety of the operation.
  • the movement of the master hand along the Z axis of the machine coordinate system (according to the establishment criteria of the user coordinate system, the Z axis of the machine coordinate system is parallel to the Z axis of the user coordinate system) is mapped to the Stewart parallel platform to complete, and the master hand is in the machine coordinate system XY.
  • the movement in the plane (according to the establishment criteria of the user coordinate system, the XY plane of the mechanical coordinate system is parallel to the XY plane of the user coordinate system) is mapped to a rotating joint and a moving joint of the passive arm.
  • the hybrid mapping method of this preferred embodiment includes the following steps.
  • Step 1 Select a moving joint d 6 and a rotating joint ⁇ 5 around the Z axis in the XY plane of the passive arm in the mechanical coordinate system as the two control objects in the series part of the hybrid control.
  • the Stewart parallel platform is used as the control object of the parallel part.
  • Step 2 From the moment when the operator holds the main operator and starts the operation, the period from the time when the hand leaves the main operator to stop the operation is regarded as a working cycle T.
  • Step 3 The operator holds the main operator and starts the operation time, that is, time T(0), and the position coordinates of the main operator at this moment are set as the origin M 0 (0, 0, 0); at this time, the end point of the instrument is at the user
  • the position coordinates of the coordinate system are S 0 (X 0 , Y 0 , Z 0 ), and the system will calculate and save S 0 (X 0 , Y 0 , Z 0 ) as a known value, denoted as C coord_now_user .
  • Step 4 At any time t in the working cycle, set the position coordinates of the main operator as M t (X mt , Y mt , Z mt ), denoted as C coord_offset_mas :
  • C coord_offset_mas [cx coord_offset_mas cy coord_offset_mas cz coord_offset_mas ].
  • the position coordinates S t (X t , Y t , Z t ) of the moving target point of the device end point in the user coordinate system can be obtained through M t (X mt , Y mt , Z mt ) through the displacement proportional amplification factor K 1 . :
  • the coordinates are S 0 (X 0 , Y 0 , Z 0 ), in each motion execution cycle, the main operator will send the current coordinates M t (X mt , Y mt , Z mt ) to calculate the coordinates S t (X t , Y t , Z t ) of the end point of the instrument in the user coordinate system at this moment, denoted as C coord_new_user :
  • C cooed_new_user C coord_now_user +K 0 ⁇ C coord_offset_mas .
  • Step 5 Decompose the movement of the main hand into the displacement in the Z-axis direction and the displacement in the XY plane in the user coordinate system, the initial point S 0 (X 0 , Y 0 , Z 0 ) to the target point S t (
  • the motion decomposition point S'(X 0 , Y 0 , Z t ) of X t , Y t , Z t ) is denoted as C coord_znew_user :
  • C coord_znew_user [C coord_now_user (1) C coord_now_user (2) C coord_new_user (3) 1] T .
  • Step 6 Convert the coordinates of the motion decomposition point S' (X 0 , Y 0 , Z t ) in the user coordinate system to the Stewart calculation coordinate system through the transformation matrix from the user coordinate system to the Stewart calculation coordinate system, and denote it as C coord_znew_st :
  • T trans_st_user is the transformation matrix from the user coordinate system to the Stewart calculation coordinate system.
  • Step 7 Knowing the coordinates of the end point of the instrument in the Stewart calculation coordinate system, the motion of each joint of the platform can be calculated through the inverse kinematics of the Stewart platform, and the movement of the main hand in the direction of the Z axis of the mechanical coordinate to the Stewart parallel platform can be completed.
  • Motion Mapping Knowing the coordinates of the end point of the instrument in the Stewart calculation coordinate system, the motion of each joint of the platform can be calculated through the inverse kinematics of the Stewart platform, and the movement of the main hand in the direction of the Z axis of the mechanical coordinate to the Stewart parallel platform can be completed. Motion Mapping.
  • Step 8 Next, calculate the motion mapping of the master hand on the mechanical coordinate XY plane to the passive arm: Since the movement of the passive arm does not affect the coordinates in the coordinate system calculated by Stewart, the end point of the ultrasound probe, after one movement execution cycle, the ultrasound The coordinates of the probe end point in the Stewart calculation coordinate system are still C coord_znew_st , and the coordinates in the user coordinate system become C coord_new_user , so the coordinate transformation formula can be obtained:
  • T trans_user_mach is the transformation matrix from the machine coordinate system to the user coordinate system.
  • the principle of proximity is adopted, and the closest value is taken as the final solution.
  • the method is to subtract the two solutions from the initial value of ⁇ 5 and take the absolute value, and take the smaller absolute value. That solution, the pivot joint of the passive arm can rotate the smallest angle to reach the target point.
  • the schematic diagram of the motion mapping between the main operator and the end point of the ultrasound probe in the user coordinate system is shown in Figure 6.
  • the movement of the probe from S 0 to S ' is realized by the movement of the Stewart platform, and the movement from S ' to S t
  • the movement is achieved by the movement of the rotating and moving joints of the passive arm.
  • S' is an imaginary reference point that separates the movement of the probe in the Z-axis direction from the movement in the XY plane, not the trajectory point of the probe in actual work.
  • a computer device including a storage medium and a processor, where a computer program is stored in the storage medium, and the processor is configured to run the computer program to execute the steps in any of the above method embodiments .
  • the above-mentioned computer device may further include a transmission device and an input-output device, wherein the transmission device is connected to the above-mentioned processor, and the input-output device is connected to the above-mentioned processor.
  • the above-mentioned processor may be configured to execute the following steps through a computer program.
  • the manipulator includes a passive arm and a multi-degree-of-freedom parallel platform mounted on the end of the passive arm.
  • S2 Decompose the displacement from the current position to the target position into the vertical direction and the horizontal plane, respectively, to obtain the vertical displacement position and the horizontal displacement position.
  • S3 Determine the first control amount of the multi-degree-of-freedom parallel platform according to the vertical displacement position, and determine the second control amount of the passive arm according to the horizontal displacement position.
  • S4 Control the multi-degree-of-freedom parallel platform according to the first control amount, and control the passive arm according to the second control amount.
  • an embodiment of the present application further provides a storage medium for implementation.
  • Computer program instructions are stored on the medium; when the computer program instructions are executed by the processor, any one of the hybrid master-slave mapping methods in the foregoing embodiments is implemented.

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Abstract

一种混联主从映射方法，通过获取机械臂的末端点的当前位置和目标位置；将当前位置到目标位置的位移分解到竖直方向和水平平面，得到竖直位移位置和水平位移位置；根据竖直位移位置确定多自由度并联平台的第一控制量，根据水平位移位置确定被动臂的第二控制量；根据第一控制量控制多自由度并联平台，根据第二控制量控制被动臂，解决了手术机器人在术中运动范围小的问题，提高了手术机器人的运动范围。

Description

混联主从映射方法、机械臂系统和计算机设备 技术领域
本申请涉及控制领域，特别是涉及混联主从映射方法、机械臂系统和计算机设备。
背景技术
目前具有多自由度并联平台和被动臂的手术机器人被应用到各种手术过程。这种手术机器人的被动臂末端搭载有多自由度并联平台，通过在多自由度并联平台的动平台上设置手术器械来实现手术器械的位置和姿态控制。但是一方面，虽然被动臂的运动范围比较大，但由于被动臂的体积和重量大，在术中被动臂的所有关节均被锁死，以防止被动臂在术中运动砸伤患者；另一方面，由于多自由度并联平台的工作空间较小，仅依靠并联平台的运动无法在患者体表大范围移动。因此，手术机器人在术中的运动范围小，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，提供一种混联主从映射方法，该方法包括以下步骤：获取机械臂的末端点的当前位置和目标位置，所述机械臂包括被动臂和搭载在所述被动臂的末端的多自由度并联平台；将所述当前位置到所述目标位置的位移分别分解到竖直方向和水平平面上，得到竖直位移位置和水平位移位置；根据所述竖直位移位置确定所述多自由度并联平台的第一控制量，以及根据所述水平位移位置确定所述被动臂的第二控制量；根据所述第一控制量控制所述多自由度并联平台，以及根据所述第二控制量控制所述被动臂。
上述混联主从映射方法具有以下优点：相较于相关技术中被动臂的各个关节都必须锁死而言，在本实施例中可以仅锁死在竖直方向能够产生位移的关节，通过将机械臂的末端点的位移分解到竖直方向和水平平面内。由于被动臂能够在水平平面内的更大范围内运动，相较于多自由度并联平台在水平平面内的运动范围大得多，因此增加了手术机器人的运动范围，解决了相关技术中手术机器人在术中运动范围小的问题，提高了手术机器人的运动范围。
在其中一些实施例中，所述机械臂由主操作手控制；获取所述机械臂的末端点的当前位置包括：在所述主操作手开始被操作的时刻，将所述机械臂的末端点的位置记录为所述当前位置。
在其中一些实施例中，所述机械臂由主操作手控制；获取所述机械臂的末端点的目标位置包括：在所述主操作手开始被操作的时刻，初始化所述主操作手的初始位置；在所述主操作手被操作后，确定所述主操作手的当前位置，并根据所述主操作手的当前位置和初始位置，确定所述主操作手的位移；根据预设位移比例系数，将所述主操作手的位移转换为所述机械臂的目标位移，并根据所述目标位移和所述机械臂的末端点的所述当前位置确定所述目标位置。
在其中一些实施例中，所述预设位移比例系数可调节。
在其中一些实施例中，所述被动臂包括多个关节；根据所述水平位移位置确定所述被动臂的第二控制量包括：确定所述多个关节中至少一个在水平平面内产生位移的目标移动关节和至少一个绕竖直方向转动的目标旋转关节；根据所述水平位移位置确定所述被动臂的第二控制量，其中，所述第二控制量包括所述目标移动关节的移动量和所述目标旋转关节的旋转量。
在其中一些实施例中，根据所述水平位移位置确定所述被动臂的第二控制量包括：根据所述水平位移位置逆解得到所述被动臂的控制量；在逆解得到的所述被动臂的控制量为多组结果的情况下，确定与所述目标旋转关节需要旋转的角度最小的一组结果为所述第二控制量；在逆解得到的所述被动臂的控制量为一组结果的情况下，确定这一组结果为所述第二控制量。
根据本申请的各种实施例，提供一种机械臂系统，所述机械臂系统包括计算机设备和机械臂，所述机械臂包括被动臂和搭载在所述被动臂的末端的多自由度并联平台，所述计算机设备分别与所述被动臂和所述多自由度并联平台电性连接，所述计算机设备包括处理器和存储介质，所述存储介质中存储有计算机程序，所述计算机程序被设置为运行时执行本申请实施例提供的混联主从映射方法。
在其中一些实施例中，所述被动臂包括多个关节，所述多个关节中能够使得所述机械臂的末端点在竖直方向产生位移的关节被锁定。
在其中一些实施例中，所述多个关节中能够使得所述机械臂的末端点在竖直方向产生位移的关节包括：具有沿竖直方向位移的移动关节，和/或具有绕非竖直方向转动的旋转关节。
根据本申请的各种实施例，提供一种计算机设备，所述计算机设备包括处理器和存储介质，所述存储介质中存储有计算机程序，所述计算机程序被设置为运行时执行本申请实施例提供的混联主从映射方法。
附图说明
为了更好地描述和说明这里公开的那些发明的实施例和/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发明、目前描述的实施例和/或示例以及目前理解的这些发明的最佳模式中的任何一者的范围的限制。
图1是本申请实施例提供的机械臂系统的结构框图。
图2是本申请实施例提供的混联主从映射方法的流程图。
图3是本申请实施例的多关节被动臂的坐标转换方法的流程图。
图4是本申请优选实施例提供的机械臂的结构示意图。
图5是本申请优选实施例提供的机械臂的机械坐标系和关节坐标系的示意图。
图6是本申请优选实施例提供的主操作手与超声探头末端点在用户坐标系下的运动映射示意图。
具体实施方式
以下将对本申请提供的混联主从映射方法、机械臂系统和计算机设备作进一步说明。
本实施例提供了一种机械臂系统，图1是本申请实施例提供的机械臂系统的结构框图，如图1所示，该机械臂系统包括计算机设备101和机械臂102，机械臂102包括被动臂1021和搭载在被动臂1021的末端的多自由度并联平台1022。
该被动臂1021可以包括多个关节，关节的类型包括但不限于移动关节和旋转关节，以保证该被动臂1021能够在较大的范围内运动。被动臂1021的各个关节都具有锁定装置，可以将各个关节的姿态锁定，以保持固定的位移或者旋转角度。
在术前摆位时，可以通过人为拉动被动臂1021运动到相应的手术位置附近。在相关技术中，手术开始之前会将被动臂1021的各个关节锁定，以防止被动臂1021在术中下坠导致患者被砸伤等意外。
与相关技术不同之处在于，在本实施例中，并不将被动臂1021的全部关节都锁定，而仅将能够使机械臂的末端点在竖直方向产生位移的关节锁定，这些能够使得机械臂的末端点在竖直方向产生位移的关节包括但不限于：具有沿竖直方向位移的移动关节，和/或具有绕非竖直方向转动的旋转关节。
通常而言，为了运算方便，被动臂1021的各关节的位移方向或者旋转轴都平行于正交坐标系的某一条坐标轴。以正交坐标系的Z轴竖直向上，X轴水平向右，Y轴垂直于XZ平面，坐标轴设置符合右手法则为例，在这种情况下，具有沿Z轴方向位移的移动关节，以及绕X轴或者绕Y轴方向转动的旋转关节都有可能使得机械臂的末端点竖直向下运动，从而存在安全隐患。
仍以上述坐标轴为例，若某个移动关节平行于X轴或Y轴方向，或者某个旋转关节的旋转轴平行于Z轴，则这样的移动关节或旋转关节不会使得机械臂的末端点竖直向下运动，因此，这样的移动关节或旋转关节即使未被锁定，也可以保证手术机器人的安全性。除了上述的移动关节和旋转关节之外，被动臂1021中按照其他方向设置的移动关节和旋转关节都应当在术中被锁定，以保障手术安全。
本实施例的多自由度并联平台可以实现多个自由度的运动，以具有六自由度的Stewart并联平台为例，Stewart并联平台包括静平台、动平台和多个设置在静平台与动平台之间的伸缩组件，可以实现空间上六个自由度的运动，分别为沿X轴位移、沿Y轴位移、沿Z轴位移、绕X轴转动、绕Y轴转动和绕Z轴转动。Stewart并联平台由6根伸缩组件支撑，与采用串联的悬臂梁结构的被动臂相比刚度大，结构稳定，并且由于刚度大，并联结构较串联结构在相同的自重或体积下，有较高的承载能力。采用串联的悬臂梁结构的被动臂末端的误差是各个关节误差的积累和放大，因而误差大、精度低，而并联平台则没有那样的误差积累和放大关系，微动精度高，更适宜执行高精度的手术操作。此外，在位置求解上，并联平台的逆解非常容易，容易根据坐标位置求得并联平台各伸缩组件的运动姿态。
在上述的机械臂系统中，计算机设备101分别与被动臂1021和多自由度并联平台1022电性连接，计算机设备101包括处理器1011和存储介质1012，存储介质1012中存储有计算机程序10121，计算机程序10121被处理器运行时执行机械臂系统的控制方法。
图2是本申请实施例提供的混联主从映射方法的流程图，如图2所示，该流程包括如下步骤。
步骤S201：获取机械臂的末端点的当前位置和目标位置，机械臂包括被动臂和搭载在被动臂的末端的多自由度并联平台。
步骤S202：将当前位置到目标位置的位移分别分解到竖直方向和水平平面上，得到竖直位移位置和水平位移位置。
步骤S203：根据竖直位移位置确定多自由度并联平台的第一控制量，以及根据水平位移位置确定被动臂的第二控制量。
步骤S204：根据第一控制量控制多自由度并联平台，以及根据第二控制量控制被动臂。
相较于相关技术中被动臂的各个关节都必须锁死而言，在本实施例中可以仅锁死在竖直方向能够产生位移的关节，通过将机械臂的末端点的位移分解到竖直方向和水平平面内。由于被动臂能够在水平平面内的更大范围内运动，相较于多自由度并联平台在水平平面内的运动范围大得多，因此增加了手术机器人的运动范围。
本实施例的机械臂系统中，可以采用主从映射方式来控制被动臂和多自由度并联平台。在其中一些实施例中，机械臂系统还包括主操作手。相较于相关技术中的主操作手只能用来控制多自由度并联平台不同之处在于，在本实施例中，主操作手通过混联映射的方式实现被动臂和多自由度并联平台的共同控制。
在其中一些实施例中，为了获得机械臂的末端点的当前位置，可以在主操作手开始被操作的时刻，将机械臂的末端点的位置记录为当前位置。
在其中一些实施例中，在主操作手开始被操作的时刻，初始化主操作手的初始位置，也就是将主操作手在开始被操作的时刻所处的位置设为初始位置。在主操作手被操作后，主操作手的位置运动到新的位置，这个新的位置称为主操作手的当前位置。那么，根据主操作手的初始位置到主操作手的当前位置，就能够确定主操作手在被操作过程中的位移，该位移将被映射为机械臂的位移，从而使得机械臂的末端点根据由主操作手的位移确定的机械臂的位移，从当前位置移动到目标位置。
在本实施例中，主操作手的位移与机械臂的末端点的位移之间的关系根据预设位移比例系数确定。该预设位移比例系数可调节。例如，当该预设位移比例系数小于1的情况下，则主操作手的位移数值大于机械臂的末端点的位移数值，因此，在需要进行高精度的手术的情形下，可以将预设位移比例系数设置为小于1的数值。当该预设位移比例系数大于1的情况下，则主操作手的位置数值小于机械臂的末端点的位移数值，因此，在需要机械臂的末端点在较大范围内运动的情形下，可以将预设位移比例系数设置为大于1的数值，以提高操作体验。
另外，在上述实施例中，多自由度并联平台的第一控制量是根据机械臂末端点的目标位置在竖直方向上分解得到的竖直位移位置逆解得到的，由于多自由度并联平台的逆解运算非常容易，因此上述方式能够减少运算量，提高机械臂的控制效率。
在其中一些实施例中，根据水平位移位置确定被动臂的第二控制量包括：确定多个关节中至少一个在水平平面内产生位移的目标移动关节和至少一个绕竖直方向转动的目标旋转关节；根据水平位移位置确定被动臂的第二控制量，其中，第二控制量包括目标移动关节的移动量和目标旋转关节的旋转量。
在采用串联结构的被动臂中，逆解运算相较于正解运算要复杂，为了降低运算复杂度，在其中一些实施例中，可以在满足运动范围要求的情况下，尽量少地选取目标移动关节和目标旋转关节，并保证除选取的目标移动关节和目标旋转关节之外的其他关节都被锁定。在其他关节被锁定后，其他关节之间的坐标转换关系也就固定下来了，那么串联结构的被动臂中 逆解运算未知的坐标转换关系仅涉及到与被选取的目标移动关节和目标旋转关节之间的坐标转换关系，大大地降低了运算的复杂度。
在一些实施例中，选取的目标移动关节的数量为1个，选取的目标旋转关节的数量也为1个。其中，被选取的这一个目标移动关节可以是被动臂中在水平平面内运动的移动关节中能够移动的范围最大的移动关节，从而保证最大的运动范围。
具有串联结构的被动臂的逆解可能为多个。在其中一些实施例中，根据水平位移位置确定被动臂的第二控制量时，在根据水平位移位置逆解得到被动臂的控制量之后，如果逆解得到的被动臂的控制量为多组结果，则确定与目标旋转关节需要旋转的角度最小的一组结果为第二控制量；如果逆解得到的被动臂的控制量为一组结果，则确定这一组结果为第二控制量。
下面通过优选实施例对本申请进行描述和说明。
针对相关技术中被动臂的控制复杂的问题，在本实施例提供了一种被动臂的坐标系建立和转换方法，应用于包括旋转关节和移动关节的被动臂，这些旋转关节和移动关节依次串联连接。为了实现被动臂在空间中多个自由度的运动，旋转关节和移动关节的数量可以根据需要的自由度和运动范围进行设置，即旋转关节和移动关节的数量都可以是一个或者多个。
图3是本申请实施例的多关节被动臂的坐标转换方法的流程图，如图3所示，该流程包括如下步骤S301至步骤S303。
步骤S301：在被动臂处于初始状态时，建立被动臂的机械坐标系和被动臂的各关节的关节坐标系。
被动臂的控制通常基于DH参数进行坐标系的转换。相连接的两个关节为相邻关节。相邻两个关节的关节坐标系的变换通常采用DH参数或改进的DH参数来表示。以DH参数为例，相邻两个关节坐标系通过绕Z轴旋转θ、平移d后，再绕X轴旋转α、平移a，就能够相互重合，上述的θ、d、α和a即为DH参数。由此可知，如果DH参数越简洁，则相邻两个关节坐标系的转换越简单。
为了简化DH参数，在本实施例中，旋转关节的关节坐标系的Z轴沿旋转轴设置，移动关节的关节坐标系的Z轴沿移动方向设置，机械坐标系与各关节的关节坐标系同为左手系或右手系，且当旋转关节之前的关节为移动关节时，旋转关节的关节坐标系的原点与该移动关节的关节坐标系的原点重合。
上述的机械坐标系又可以称为全局坐标系、参考坐标系或者世界坐标系，该机械坐标系通常设置于被动臂的底座中心，并且位于机械臂的第一个关节的正下方，这样可以使得机械坐标系与第一个关节的转换关系尽可能地简单。
在多关节被动臂中，在大多数情况下旋转关节在接收到转角为0或2π的指令时，可能不需要区分二者，而是根据预先的设定保持不旋转或者以设定方向旋转2π。但在一些情况下，需要对这两个转角进行区分。在需要对0或2π转角进行区分的情形下，旋转关节的DH参数中Z轴的旋转角度不为0或2π，以避免混淆0和2π的位置。
步骤S302：获取被动臂的机械坐标系和被动臂的各关节的关节坐标系的DH参数，并根据DH参数，确定被动臂的机械坐标系到被动臂的末端关节的关节坐标系之间的转换关系。
在建立各关节的关节坐标系之后，就可以依次获得相邻关节之间的DH参数，并根据DH参数，确定被动臂的机械坐标系到被动臂的末端关节的关节坐标系之间的转换关系。
其中，根据DH法则，第i-1关节的坐标到第i关节的坐标的齐次变换被构造为具有两个旋转和两个变换的序列，采用矩阵可表示如下：
Figure PCTCN2020141175-appb-000001
其中，i＝2,3,4,…,n；n为被动臂的旋转关节和移动关节的总数量。被动臂的第1个关节的DH参数是表示的该第一个关节与机械坐标系之间的坐标系的转换，记为
Figure PCTCN2020141175-appb-000002
则机械坐标系与第1个关节的关节坐标系的转换关系：
Figure PCTCN2020141175-appb-000003
可见，该变换关系与第i-1关节的坐标到第i关节的坐标的齐次变换形式完全相同。
在得到
Figure PCTCN2020141175-appb-000004
与
Figure PCTCN2020141175-appb-000005
之后，从第0个坐标系(机械坐标系)到第N关节的关节坐标系的转换矩阵可表示为：
Figure PCTCN2020141175-appb-000006
其中，第N个关节为末端关节。
步骤S303：根据转换关系进行机械坐标系与末端关节的关节坐标系之间的坐标转换。
上述步骤S302中确定的
Figure PCTCN2020141175-appb-000007
表示的就是机械坐标系与末端关节的关节坐标系之间的坐标转换关系，根据该转换关系就能够实现机械坐标系与末端关节的关节坐标系之间的坐标转换。
图4是本申请优选实施例提供的机械臂的结构示意图，如图4所示的机械臂依次包括被动臂和多自由度并联平台，被动臂包括：移动关节1、旋转关节2、移动关节3、旋转关节4、旋转关节5、移动关节6、旋转关节7、移动关节8、旋转关节9、移动关节10。多自由度并联平台固定在移动关节10的关节臂末端。该机械臂还包括与移动关节1固连的基座11。
该优选实施例的机械臂的坐标转换方法包括步骤1至步骤3，分别对应于图3中的步骤S301至步骤S303。
步骤1：依照世界坐标系的规则在被动臂的基座处建立机械坐标系，以及各关节的关节坐标系。
图5是本申请优选实施例提供的机械臂的机械坐标系和关节坐标系的示意图。
参考图5，机械坐标系F 0-X 0Y 0Z 0坐标系原点F 0固连于被动臂基座处，Z 0轴由F 0指向移动关节1，Y 0轴由基座F 0点指向被动臂，X 0轴指向符合右手坐标系。
移动关节1的关节坐标系L 1-X 1Y 1Z 1的原点L 1固连在移动关节1上，各坐标轴的指向和机械坐标系的对应轴指向相同。
旋转关节2的关节坐标系R 2-X 2Y 2Z 2的原点R 2固连在旋转关节2上且与L 1重合，Z 2指向和Z 1轴指向相同，X 2轴和Y 2轴的指向分别与X 1轴和Y 1轴指向相反。
移动关节3的关节坐标系L 3-X 3Y 3Z 3原点L 3固连在移动关节3上，Z 3轴由L 1点指向L 3点，X 3轴和Y 3轴分别与X 2轴和Z 2轴指向相同。
旋转关节4的关节坐标系R 4-X 4Y 4Z 4原点R 4固连在旋转关节4上且与L 3点重合(图5中为清晰标明移动关节3的关节坐标系和旋转关节4的关节坐标系将L 3和R 4分开标出，下同)，Z 4轴指向和Y 3轴指向相反，初始时，X 4轴和Y 4轴指向分别与X 3轴和Z 3轴指向相反。
旋转关节5的关节坐标系R 5-X 5Y 5Z 5原点R 5固连在旋转关节5上，Z 5轴方向和Z 4轴方向相同，初始时，X 5轴和Y 5轴指向分别与X 4轴和Y 4轴指向相反。
移动关节6的关节坐标系L 6-X 6Y 6Z 6原点L 6固连在移动关节6上，Z 6轴由R 5点指向L 6点，X 6轴和Y 6轴指向分别与X 5轴和Z 5轴指向相同。
旋转关节7的关节坐标系R 7-X 7Y 7Z 7原点R 7固连在旋转关节7上且和L 6点重合，初始时，Z 7轴和Y 7轴的指向分别与Y 6轴和X 6轴的指向相反，X 7轴和Z 6轴的指向相同。
移动关节8的关节坐标系L 8-X 8Y 8Z 8的原点L 8固连在移动关节8上，Z 8轴由L 8点指向R 7点，X 8和Y 8轴的指向分别与X 7和Y 7轴的指向相同。
旋转关节9的关节坐标系R 9-X 9Y 9Z 9的原点R 9点固连在旋转关节9上且和L 8点重合，Z 9轴的方向与Y 8轴的方向相反，初始时，X 9轴的方向与Z 8轴的方向相反，Y 9轴的方向与X8轴的方向相同。
移动关节10的关节坐标系L 10-X 10Y 10Z 10的原点L 10固连在移动关节10上，Z 10轴由R 9点指向L 10点，X 10轴和Y 10轴的指向分别与X 9轴和Z 9轴的指向相同。
F 0R 2的长度为l 1，R 2R 4的长度为l 2，R 4R 5的长度为l 3，R 5R 7的长度为l 4，R 7R 9的长度为l 5，R 9L 10的长度为l 6，点L 1、R 2、L 3、R 4、R 5、L 6和R 7位于同一水平面上。
步骤2：获取DH参数，并计算机械坐标系到多关节被动臂的末端关节的转换关系，该DH参数可以为传统的DH参数或改进的DH参数。
DH参数如表1所示。
表1图5所示的多关节被动臂的DH参数表
Figure PCTCN2020141175-appb-000008
在图4所示的多关节机械臂的末端关节上还可以搭载并联平台，并联平台包括静平台、动平台和多个设置在静平台与动平台之间的伸缩组件，并联平台的计算坐标系与多关节机械臂的末端关节的关节坐标系完全重合，超声探测装置设于动平台。
本实施例的并联平台可以实现多个自由度的运动，以具有六自由度的Stewart并联平台为例，Stewart并联平台包括静平台、动平台和多个设置在静平台与动平台之间的伸缩组件，可以实现空间上六个自由度的运动，分别为沿X轴位移、沿Y轴位移、沿Z轴位移、绕X轴转动、绕Y轴转动和绕Z轴转动。Stewart并联平台由6根伸缩组件支撑，与采用串联的悬臂梁结构的被动臂相比刚度大，结构稳定，并且由于刚度大，并联结构较串联结构在相同的自重或体积下，有较高的承载能力。采用串联的悬臂梁结构的被动臂末端的误差是各个关节误差的积累和放大，因而误差大、精度低，而并联平台则没有那样的误差积累和放大关系， 微动精度高，更适宜执行高精度的手术操作。此外，在位置求解上，并联平台的逆解非常容易，容易根据坐标位置求得并联平台各伸缩组件的运动姿态。
正是基于并联平台逆解非常容易的特点，在上述实施例中，可以通过在静平台上建立从用户坐标系，将主操作手的位移量映射到从用户坐标系内，再通过从用户坐标系与计算坐标系的转换从而得到目标位置在计算坐标系内的位置信息，根据该位置信息通过逆解就能够很容易地得到并联平台各伸缩组件的运动姿态，相对于相关技术中通过正运动学求解并联平台末端的位置信息，上述方式大大降低了运算复杂度，提高了控制效率，节约了运算资源。
解算Stewart计算坐标系到机械坐标系的转换矩阵，即移动关节坐标系L 10-X 10Y 10Z 10到机械坐标系F 0-X 0Y 0Z 0的转换矩阵与逆矩阵。
根据机器人正运动学可知两相邻关节之间的转换矩阵为：
Figure PCTCN2020141175-appb-000009
从第m关节(包含m关节的自由度)到第n关节的转换矩阵可表示为：
Figure PCTCN2020141175-appb-000010
可解算得单条被动臂从基座到Stewart平台静平台的转换矩阵
Figure PCTCN2020141175-appb-000011
即机械坐标系到Stewart计算坐标系的转换矩阵，命名为T trans_mach_st，而Stewart计算坐标系到机械坐标系的转换矩阵则为逆矩阵
Figure PCTCN2020141175-appb-000012
步骤3：根据转换矩阵和转换矩阵的逆矩阵进行机械坐标系与Stewart计算坐标系的坐标转换。
在采用主从控制的机械臂系统中，为了简化主从控制的运动映射，还可以在机械臂建立用户坐标系。
在机械臂为单臂工作的情况下，图3所示的机械臂的坐标转换方法还可以包括如下步骤。
步骤1：建立用户坐标系，其中，用户坐标系的XY坐标平面平行于机械坐标系的XY平面，且用户坐标系的原点与末端关节的关节坐标系的原点重合。
步骤2：获取用户输入的视角值，并根据视角值和机械坐标系与末端关节的关节坐标系之间的转换关系，确定用户坐标系与机械坐标系之间的转换关系。
在步骤2中建立的用户坐标系的XY坐标平面绕Z轴旋转角度为视角值。单臂工作时，视角值由用户根据视角自行输入，命名为θ theta_mach_user，根据用户坐标的定义方式，可得到用户坐标系相对于机械坐标系的转换矩阵：
Figure PCTCN2020141175-appb-000013
其中，
Figure PCTCN2020141175-appb-000014
表示上述
Figure PCTCN2020141175-appb-000015
中第1行第4列的数据。
下面以在多自由度并联平台的动平台上搭载超声探测装置为例对本优选实施例的混联主从映射方法进行说明。由于超声探测装置需要在患者体表大范围移动来获取全面的影像，因此采用本优选实施例的机械臂系统的控制方法来实现机械臂的混联映射，实现大范围的运动。
在本优选实施例中，超声探测装置的末端点位于多自由度并联平台的动平台的轴线上。
在临床应用中，操控超声探头时需要在患者体表大范围的移动，即机械坐标系XY平面内的大范围移动，而垂直于患者体表的方向不需要大范围的移动，即机械坐标系Z轴方向上不需要大范围移动。由于被动臂体积较大，质量较重，在手术过程中必须将沿Z轴方向的移动关节和绕X轴、Y轴方向的转动关节锁死，才能保证手术的安全性。因此，主手沿机械坐标系Z轴方向(根据用户坐标系建立准则，机械坐标系的Z轴与用户坐标系Z轴平行)的移动映射到Stewart并联平台上完成，主手在机械坐标系XY平面(根据用户坐标系建立准则，机械坐标系的XY平面与用户坐标系XY平面平行)内的移动映射到被动臂的一个转动关节和一个移动关节上。
本优选实施例的混联映射方法包括如下步骤。
步骤1：选取被动臂在机械坐标系下XY平面内的一个移动关节d 6和一个绕Z轴的转动关节θ 5，作为混联控制中串联部分的两个控制对象。Stewart并联平台作为并联部分的控制对象。
步骤2：术者握持主操作手开始手术操作时刻起，至手离开主操作手停止的手术操作期间视为一个工作周期T。
步骤3：术者握持主操作手开始手术操作时刻即T(0)时刻，将该时刻的主操作手的位置坐标设为原点M 0(0，0，0)；该时刻器械末端点在用户坐标系的位置坐标为S 0(X 0，Y 0，Z 0)，系统会计算并保存S 0(X 0，Y 0，Z 0)作为已知值，记为C coord_now_user。
步骤4：在工作周期内的任一时刻t，设主操作手的位置坐标为M t(X mt，Y mt，Z mt)，记为C coord_offset_mas：
C coord_offset_mas＝[cx coord_offset_mas cy coord_offset_mas cz coord_offset_mas]。
此时器械末端点在用户坐标系中运动目标点位置坐标S t(X t，Y t，Z t)可通过M t(X mt，Y mt，Z mt)经位移比例放大系数K 1为获得：
Xt＝X 0+K 1*X mt；
Yt＝Y 0+K 1*Y mt；
Zt＝Z 0+K 1*Z mt。
基于T(0)时刻器械末端点在用户坐标系的位置坐标为S 0(X 0，Y 0，Z 0)，在每一个运动执行周期，主操作手会发送当下的坐标M t(X mt，Y mt，Z mt)来解算该时刻器械末端点在用户坐标系下的坐标S t(X t，Y t，Z t)，记做C coord_new_user：
C cooed_new_user＝C coord_now_user+K 0×C coord_offset_mas。
步骤5：将主手的运动在用户坐标系内分解为在Z轴方向上的位移和在XY平面内的位移，初始点S 0(X 0，Y 0，Z 0)到目标点S t(X t，Y t，Z t)的运动分解点S’(X 0,Y 0,Z t)记为C coord_znew_user：
C coord_znew_user＝[C coord_now_user(1) C coord_now_user(2) C coord_new_user(3) 1] T。
步骤6：将运动分解点S’(X 0,Y 0,Z t)在用户坐标系下的坐标通过用户坐标系到Stewart计算坐标系的转换矩阵转换到Stewart计算坐标系下，记做C coord_znew_st：
C coord_znew_st＝T trans_st_user·C coord_znew_user。
其中，T trans_st_user为用户坐标系到Stewart计算坐标系的转换矩阵。
步骤7：已知器械末端点在Stewart计算坐标系下的坐标，即可通过Stewart平台的逆运动学解算出平台各个关节的运动量，完成主手在机械坐标Z轴方向的运动到Stewart并联平台的运动映射。
步骤8：接下来解算主手在机械坐标XY平面上的运动到被动臂的运动映射：由于被动臂的运动不影响超声探头末端点Stewart计算坐标系下的坐标，一个运动执行周期后，超声 探头末端点在Stewart计算坐标系下的坐标依然为C coord_znew_st，而在用户坐标系下的坐标变为C coord_new_user，因此可得到坐标变换公式：
Figure PCTCN2020141175-appb-000016
其中，T trans_user_mach为机械坐标系到用户坐标系的转换矩阵。
其中，
Figure PCTCN2020141175-appb-000017
表示被动臂上第j关节到第i关节的转换矩阵。
将上式转化为：
Figure PCTCN2020141175-appb-000018
由于在被动臂除了θ 5和d 6两个运动量参与混联控制，其余运动关节均被锁定，因此其余关节的运动量都是确定的，关节之间的转换矩阵也都是已知的，故方程左边均为已知量，将其用[x 2，y 2，z 2，1] T代替；超声探头末端点在Stewart计算坐标系下的坐标C coord_znew_st在上一步中已求出，且没有因被动臂的运动而改变，故方程右边的
Figure PCTCN2020141175-appb-000019
也是已知量，将其用[x 1，y 1，z 1，1] T代替。
再将关节5和关节6的DH参数带入到转换矩阵
Figure PCTCN2020141175-appb-000020
中，可将上述方程简化为以下形式：
Figure PCTCN2020141175-appb-000021
求解该方程可得：
Figure PCTCN2020141175-appb-000022
对于上一步中逆解多解的情况，采用就近原则，取最接近的值作为终解，方法为用两个解分别与θ 5的初始值相减并取绝对值，取绝对值较小的那个解，则被动臂的转动关节能转动最小的角度到达目标点。
在已知θ 5的情况下，可得移动关节d 6：
Figure PCTCN2020141175-appb-000023
至此完成主手在机械坐标XY平面上的运动到被动臂的运动映射。
主操作手与超声探头末端点在用户坐标系下的运动映射示意图如图6所示，其中，探头从S 0到S’的运动是通过Stewart平台的运动实现的，从S’到S t的运动是由被动臂的转动关节及移动关节运动实现的。值得注意的是，S’为将探头在Z轴方向上的运动与XY平面内运动分解开的假想参考点，并非探头在实际工作中的轨迹点。
在本实施例中还提供了一种计算机设备，包括存储介质和处理器，该存储介质中存储有计算机程序，该处理器被设置为运行计算机程序以执行上述任一项方法实施例中的步骤。
可选地，上述计算机设备还可以包括传输设备以及输入输出设备，其中，该传输设备和上述处理器连接，该输入输出设备和上述处理器连接。
可选地，在本实施例中，上述处理器可以被设置为通过计算机程序执行以下步骤。
S1：获取机械臂的末端点的当前位置和目标位置，机械臂包括被动臂和搭载在被动臂的末端的多自由度并联平台。
S2：将当前位置到目标位置的位移分别分解到竖直方向和水平平面上，得到竖直位移位置和水平位移位置。
S3：根据竖直位移位置确定多自由度并联平台的第一控制量，以及根据水平位移位置确定被动臂的第二控制量。
S4：根据第一控制量控制多自由度并联平台，以及根据第二控制量控制被动臂。
需要说明的是，在本实施例中的具体示例可以参考上述实施例及可选实施方式中所描述的示例，在本实施例中不再赘述。
另外，结合上述实施例中的方法，本申请实施例还提供一种存储介质来实现。该介质上存储有计算机程序指令；该计算机程序指令被处理器执行时实现上述实施例中的任意一种混联主从映射方法。
需要说明的是，本实施例中的具体示例可以参考上述实施例及可选实施方式中所描述的示例，本实施例在此不再赘述。
以上所述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 (10)

  1. 一种混联主从映射方法，其特征在于，所述方法包括：
    获取机械臂的末端点的当前位置和目标位置，所述机械臂包括被动臂和搭载在所述被动臂的末端的多自由度并联平台；
    将所述当前位置到所述目标位置的位移分别分解到竖直方向和水平平面上，得到竖直位移位置和水平位移位置；
    根据所述竖直位移位置确定所述多自由度并联平台的第一控制量，以及根据所述水平位移位置确定所述被动臂的第二控制量；
    根据所述第一控制量控制所述多自由度并联平台，以及根据所述第二控制量控制所述被动臂。
  2. 根据权利要求1所述的方法，其特征在于，所述机械臂由主操作手控制；所述获取所述机械臂的末端点的当前位置包括：
    在所述主操作手开始被操作的时刻，将所述机械臂的末端点的位置记录为所述当前位置。
  3. 根据权利要求1所述的方法，其特征在于，所述机械臂由主操作手控制；所述获取所述机械臂的末端点的目标位置包括：
    在所述主操作手开始被操作的时刻，初始化所述主操作手的初始位置；
    在所述主操作手被操作后，确定所述主操作手的当前位置，并根据所述主操作手的当前位置和初始位置，确定所述主操作手的位移；
    根据预设位移比例系数，将所述主操作手的位移转换为所述机械臂的目标位移，并根据所述目标位移和所述机械臂的末端点的所述当前位置确定所述目标位置。
  4. 根据权利要求3所述的方法，其特征在于，所述预设位移比例系数可调节。
  5. 根据权利要求1所述的方法，其特征在于，所述被动臂包括多个关节；所述根据所述水平位移位置确定所述被动臂的第二控制量包括：
    确定所述多个关节中至少一个在水平平面内产生位移的目标移动关节和至少一个绕竖直方向转动的目标旋转关节；
    根据所述水平位移位置确定所述被动臂的第二控制量，其中，所述第二控制量包括所述目标移动关节的移动量和所述目标旋转关节的旋转量。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述水平位移位置确定所述被动臂的第二控制量包括：
    根据所述水平位移位置逆解得到所述被动臂的控制量；
    在逆解得到的所述被动臂的控制量为多组结果的情况下，确定与所述目标旋转关节需要旋转的角度最小的一组结果为所述第二控制量；
    在逆解得到的所述被动臂的控制量为一组结果的情况下，确定这一组结果为所述第二控制量。
  7. 一种机械臂系统，其特征在于，所述机械臂系统包括计算机设备和机械臂，所述机械臂包括被动臂和搭载在所述被动臂的末端的多自由度并联平台，所述计算机设备分别与所述被动臂和所述多自由度并联平台电性连接，所述计算机设备包括处理器和存储介质，所述存储介质中存储有计算机程序，所述计算机程序被设置为运行时执行如权利要求1至6中任一项所述的混联主从映射方法。
  8. 根据权利要求7所述的机械臂系统，其特征在于，所述被动臂包括多个关节，所述多个关节中能够使得所述机械臂的末端点在竖直方向产生位移的关节被锁定。
  9. 根据权利要求8所述的机械臂系统，其特征在于，所述多个关节中能够使得所述机械臂的末端点在竖直方向产生位移的关节包括：具有沿竖直方向位移的移动关节，和/或具有绕非竖直方向转动的旋转关节。
  10. 一种计算机设备，其特征在于，所述计算机设备包括处理器和存储介质，所述存储介质中存储有计算机程序，所述计算机程序被设置为运行时执行如权利要求1至6中任一项所述的混联主从映射方法。
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