WO2024007900A1 - 冗余自由度的调整方法、装置、计算机设备和机械臂 - Google Patents

冗余自由度的调整方法、装置、计算机设备和机械臂 Download PDF

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Publication number
WO2024007900A1
WO2024007900A1 PCT/CN2023/102878 CN2023102878W WO2024007900A1 WO 2024007900 A1 WO2024007900 A1 WO 2024007900A1 CN 2023102878 W CN2023102878 W CN 2023102878W WO 2024007900 A1 WO2024007900 A1 WO 2024007900A1
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WO
WIPO (PCT)
Prior art keywords
freedom
robotic arm
redundant degree
redundant
degree
Prior art date
Application number
PCT/CN2023/102878
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English (en)
French (fr)
Inventor
董天来
孙培
Original Assignee
瑞龙诺赋(上海)医疗科技有限公司
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Publication of WO2024007900A1 publication Critical patent/WO2024007900A1/zh

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Classifications

    • 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
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • 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
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture

Definitions

  • the present application relates to the technical field of surgical robots, such as adjustment methods, devices, computer equipment and robotic arms with redundant degrees of freedom.
  • the configuration design of the surgical robot's robotic arm usually provides redundant degrees of freedom.
  • the adjustment of the redundant degrees of freedom needs to be done before surgery. Ready to complete.
  • there is a lack of solutions that take into account simplicity, accuracy, and low cost in terms of how to use the redundant degrees of freedom of the robotic arm to simplify the doctor's preoperative adjustments and reduce the collision of the robotic arm during surgery.
  • This application provides an adjustment method, a device, a computer device, and a robotic arm for redundant degrees of freedom, so as to avoid collisions of the robotic arms during surgery while improving the simplicity and accuracy of adjusting the redundant degrees of freedom and reducing costs.
  • the cost of the robotic arm is not limited to, but not limited to, but not limited to, but not limited to, but not limited to, but not limited to, but not limited to, but not limited to, but not limited to, but not limited to avoid collisions of the robotic arms during surgery while improving the simplicity and accuracy of adjusting the redundant degrees of freedom and reducing costs.
  • This application provides a redundant degree of freedom adjustment method, which is applied to computer equipment, including:
  • This application provides an adjustment method for redundant degrees of freedom, applied to robotic arms, including:
  • the redundant degree of freedom is adjusted according to the acquired target redundant degree of freedom position of the robotic arm, where the target redundant degree of freedom position of the robotic arm is obtained by the computer device from the end point and telecentric fixed point of the robotic arm.
  • the spatial position is determined by determining the spatial position of the robotic arm based on the spatial positions of the end point and the telecentric fixed point, and is generated by performing collision analysis on the spatial position of the robotic arm.
  • This application provides an adjustment device with redundant degrees of freedom, including:
  • the acquisition module is set to obtain the spatial position of the end point and the telecentric fixed point of the robotic arm;
  • a determination module configured to determine the spatial position of the robotic arm based on the spatial positions of the end point and the telecentric fixed point;
  • a generation module configured to perform collision analysis on the spatial position of the robotic arm and generate a target redundant degree-of-freedom position of the robotic arm, so that the robotic arm can perform redundancy based on the acquired target redundant degree-of-freedom position of the robotic arm. Adjustment of remaining degrees of freedom.
  • the present application provides a storage medium, including: the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to perform the above-mentioned adjustment method for the redundant degree of freedom applied to computer equipment.
  • the present application provides a computer device, including a memory and a processor, the memory is configured to store information including program instructions, and the processor is configured to control the execution of the program instructions, wherein the program instructions are loaded by the processor and When executed, the above adjustment method for redundant degrees of freedom applied to computer equipment is implemented.
  • This application provides an adjustment device with redundant degrees of freedom, including:
  • the adjustment module is configured to adjust the redundant degree of freedom according to the obtained target redundant degree of freedom position of the robotic arm.
  • the target redundant degree of freedom position of the robotic arm is obtained by the computer device.
  • the end point and telecentricity of the robotic arm The spatial position of the moving point is determined by determining the spatial position of the robotic arm based on the spatial position of the end point and the telecentric fixed point, and is generated by performing collision analysis on the spatial position of the robotic arm.
  • the present application provides a storage medium, including: the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to perform the above adjustment method for the redundant degree of freedom of a robotic arm.
  • the present application provides a robotic arm, including a memory and a processor.
  • the memory is configured to store information including program instructions.
  • the processor is configured to control the execution of the program instructions, wherein the program instructions are loaded by the processor and The above adjustment method applied to the redundant degrees of freedom of the robotic arm is implemented during execution.
  • This application provides a surgical robot, including the above-mentioned robotic arm.
  • Figure 1 is a schematic diagram of the joint structure of a robotic arm of a surgical robot provided by an embodiment of the present application
  • Figure 2 is a flow chart of a redundant degree of freedom adjustment method provided by an embodiment of the present application
  • Figure 3 is a flow chart of another redundant degree of freedom adjustment method provided by an embodiment of the present application.
  • Figure 4a is a schematic diagram of a target redundant degree of freedom position provided by an embodiment of the present application.
  • Figure 4b is a schematic diagram of another target redundant degree of freedom position provided by an embodiment of the present application.
  • Figure 4c is a schematic diagram of another target redundant degree of freedom position provided by an embodiment of the present application.
  • Figure 5 is a schematic diagram of the arrangement of a sensor provided by an embodiment of the present application.
  • Figure 6 is a schematic diagram of an audible and visual alarm device provided by an embodiment of the present application.
  • Figure 7 is a schematic diagram of a redundant degree of freedom adjustment device provided by an embodiment of the present application.
  • Figure 8 is a schematic diagram of a computer device provided by an embodiment of the present application.
  • Figure 9 is a schematic diagram of another redundant degree of freedom adjustment device provided by an embodiment of the present application.
  • Figure 10 is a schematic diagram of a robotic arm provided by an embodiment of the present application.
  • the doctor needs to adjust the redundant degrees of freedom of the robotic arm of the surgical robot before surgery according to the schematic diagram of the robotic arm position on the card.
  • position sensors are configured for each joint of the robotic arm, and the relative posture between the robotic arm is calculated in real time during the operation to determine whether there is a risk of collision, and redundancy is adjusted based on the calculation results. degrees of freedom to avoid collisions.
  • FIG. 1 is a diagram of a mechanical arm of a surgical robot provided by an embodiment of the present application. Schematic diagram of the joint structure, as shown in Figure 1.
  • the robotic arm includes multiple joints. The multiple joints are respectively They are the first joint 1, the second joint 2, the third joint 3, the fourth joint 4, the fifth joint 5, the sixth joint 6, the seventh joint 7, the eighth joint 8, the ninth joint 9 and the tenth joint 10. .
  • the first joint 1, the second joint 2, the third joint 3 and the fourth joint 4 of the robotic arm are independent freely rotating joints.
  • the fifth joint 5 of the manipulator controls the axial rotation of the telecentric fixed point 11 and provides 1 degree of freedom.
  • a parallelogram axis connecting rod 12 is provided between the fifth joint 5 and the sixth joint 6 .
  • the sixth joint 6, the seventh joint 7 and the eighth joint 8 form a parallelogram telecentric motion mechanism, which can maintain the parallelogram telecentric point and provide one degree of freedom, but cannot provide redundant degrees of freedom.
  • the ninth joint 9 is a linear feed joint that controls the insertion depth of the surgical robot and does not provide the degree of freedom of the telecentric fixed point 11 .
  • the tenth joint 10 is an axial rotation joint of the surgical tool and can provide one degree of freedom.
  • the manipulator can provide 7 degrees of freedom for the telecentric fixed point 11 (including 3 spatial translational degrees of freedom, 3 rotational degrees of freedom and 1 redundant degree of freedom).
  • a robotic arm with 7 degrees of freedom is a solution of the embodiment of the present application, and the embodiment of the present application is also applicable to a robotic arm that includes at least one redundant degree of freedom.
  • the robotic arm includes a robotic arm with a parallelogram telecentric motion mechanism.
  • surgical tools can be installed and removed on the robotic arm, and the end point 15 of the robotic arm is the end point of the installed surgical tool.
  • a redundant degree of freedom can be used to adjust the configuration of the robotic arm of the surgical robot without displacement while maintaining the telecentric fixed point 11 of the surgical robot, thereby avoiding collisions between the robotic arms. and the role of gaining additional work space.
  • the embodiment of the present application it is necessary to adjust the first joint 1, the second joint 2, the third joint 3 and the fourth joint 4 to appropriate positions during preparation for the operation.
  • the method of the third joint 3 and the fourth joint 4 please refer to the following adjustment method of redundant degrees of freedom, and then maintain a static state until the end of the operation.
  • Figure 2 is a method provided by the embodiment of the present application.
  • the flow chart of a redundant degree of freedom adjustment method is shown in Figure 2. The method includes:
  • Step 102 Obtain the spatial positions of the end point and the telecentric fixed point of the robotic arm.
  • the method of obtaining the spatial position of the end point and the telecentric fixed point of the robotic arm may be motion simulation, or retrieving the end point and telecentric fixed point of the robotic arm pre-stored in the database. Spatial location.
  • motion simulation is performed on multiple robotic arms through simulation software to obtain the spatial positions of the end points and telecentric fixed points of the robotic arms, where the motion simulation includes surgical simulation.
  • surgical simulations include hysterectomy surgery simulation, partial liver resection surgery simulation, or partial kidney resection surgery simulation. technology simulation.
  • the telecentric fixed point is the abdominal point. As shown in Figure 1 , the spatial positions of the end point 15 and the telecentric fixed point 11 of the robotic arm need to be obtained.
  • Step 104 Determine the spatial position of the robotic arm based on the spatial positions of the end point and the telecentric fixed point.
  • the spatial position of the end point and the telecentric fixed point is calculated inversely to generate the spatial position of the robotic arm.
  • Step 106 Perform collision analysis on the spatial position of the robotic arm, and generate a target redundant degree of freedom position of the robotic arm, so that the robotic arm can adjust the redundant degree of freedom based on the acquired target redundant degree of freedom position of the robotic arm.
  • the collision of the robotic arm includes the collision of the robotic arm itself, the collision between different robotic arms, and the collision between the robotic arm and other foreign objects.
  • other foreign objects include the patient or other items in the operating room.
  • the spatial position is calculated through the collision detection model to generate the target redundant degree of freedom position of the manipulator.
  • the spatial position of the end point and the telecentric fixed point of the robotic arm is obtained; the spatial position of the robotic arm is determined based on the spatial positions of the end point and the telecentric fixed point; and the spatial position of the robotic arm is determined.
  • the spatial position is subjected to collision analysis to generate the target redundant degree of freedom position of the manipulator arm, so that the manipulator arm can adjust the redundant degree of freedom based on the acquired target redundant degree of freedom position of the manipulator arm.
  • by analyzing the collision of the robotic arm and adjusting the redundant degree of freedom of the robotic arm before surgery it is possible to avoid collisions of the robotic arm during the operation and at the same time improve the redundant degree of freedom of adjustment. simplicity and accuracy and reduces the cost of the robotic arm.
  • an embodiment of the present application provides another method for adjusting redundant degrees of freedom.
  • Figure 3 shows another method of adjusting redundant degrees of freedom provided by an embodiment of the present application.
  • the flow chart of the method is shown in Figure 3. The method includes:
  • Step 202 The computer device obtains the spatial positions of the end point and the telecentric fixed point of the robotic arm.
  • step 102 please refer to step 102 for the description of step 202.
  • Step 204 The computer device determines the spatial position of the robotic arm based on the spatial positions of the end point and the telecentric fixed point.
  • the spatial position of the end point and the telecentric fixed point is calculated through the inverse solution method of robot kinematics to generate the spatial position of the robotic arm.
  • the spatial position includes the spatial position and relationship of the joints during the operation.
  • the spatial position of the joint includes the spatial position of the parallelogram axis joint.
  • Step 206 The computer device performs collision analysis on the spatial position of the robotic arm and generates a target redundant degree-of-freedom position of the robotic arm.
  • the collision of the robotic arm includes the collision of the robotic arm itself, the collision between different robotic arms, and the collision between the robotic arm and other foreign objects.
  • other foreign objects include the patient or other items in the operating room.
  • the spatial position is calculated through the collision detection model to generate the target redundant degree of freedom position of the manipulator.
  • the spatial position is calculated through the collision detection model. After determining the spatial position of the robot arm without collision, the target redundant degree of freedom position is measured based on the spatial position of the robot arm without collision. The target redundant degree of freedom position is obtained. The position can be used as the target position for robot arm adjustment. In the embodiment of this application, the measurement method of the position of the redundant degree of freedom can be selected according to the actual situation. In order to facilitate the measurement, in the embodiment of this application, the angle between the parallelogram axis link 12 of the robotic arm and the ground is selected as the target redundant degree of freedom. Position, the angle can be obtained through a gravity sensor or a level sensor.
  • the adjustment of the target redundant degree of freedom position is realized by the simultaneous movement of the second joint 2, the third joint 3 and the fourth joint 4 in Figure 1.
  • the target redundant degree of freedom position can be adjusted while maintaining the telecentric fixed point.
  • the configuration of the robotic arm is adjusted without moving the position of 11 (entry point), thereby achieving the function of avoiding collision.
  • the angle between the parallelogram axis connecting rod 12 and the ground is selected as the measurement method of the target redundant degree of freedom position. This is different from the traditional industrial robot field that uses joint angles as the measurement method of the degree of freedom.
  • the parallelogram axis connection is used.
  • the angle between the rod 12 and the ground can provide intuitive physical meaning as a measurement method for the position of the redundant degree of freedom of the target.
  • Figure 4a is a schematic diagram of a target redundant degree of freedom position provided by the embodiment of the present application.
  • the extension line of the parallelogram axis connecting rod 12 is the parallelogram axis 13. From the far center The fixed point 11 is a parallel line on the ground, and the angle between this parallel line and the parallelogram axis 13 is 0 degrees, then the target redundant degree of freedom position is 0 degrees.
  • Figure 4b is a schematic diagram of another target redundant degree of freedom position provided by the embodiment of the present invention.
  • the extension line of the parallelogram axis connecting rod 12 is the parallelogram axis 13.
  • From the telecentric fixed point 11 Draw a parallel line on the ground.
  • the angle between the parallel line and the parallelogram axis 13 is -15 degrees.
  • the target redundant degree of freedom position is -15 degrees.
  • Figure 4c is a schematic diagram of another target redundant degree of freedom position provided by the embodiment of the present invention.
  • the extension line of the parallelogram axis connecting rod 12 is the parallelogram axis 13. From the telecentric fixed point 11 Draw a parallel line on the ground, and the angle between this parallel line and the parallelogram axis 13 is 15 degrees, then the target redundant degree of freedom position is 15 degrees.
  • using a surgical simulation method to determine the optimal target redundant degree-of-freedom position can avoid consuming a large amount of computing power due to collisions of the mechanical arms during the surgery.
  • Step 208 The robotic arm obtains the actual redundant degree of freedom position of the robotic arm through the sensor.
  • the senor includes a gravity sensor or a level sensor.
  • the actual redundant degree-of-freedom position of the robotic arm needs to be measured before starting the operation to ensure that it is at the correct target position.
  • FIG 5 is a schematic diagram of the installation of a sensor provided by an embodiment of the present application. As shown in Figure 5, the installation direction of the sensor 14 is parallel to the direction of the parallelogram axis 13 of the parallelogram axis connecting rod 12 of the robotic arm. The sensor can directly measure the angle between the parallelogram axis connecting rod 12 and the ground.
  • the angle between the parallelogram axis connecting rod 12 and the ground is obtained by measuring the joint angle of each joint in the joint kinematic chain of the robotic arm and then solving it through kinematic calculation.
  • Step 210 The robot arm determines whether the obtained target redundant degree of freedom position of the robot arm is the same as the actual redundant degree of freedom position of the robot arm. If the target redundant degree of freedom position is the same as the actual redundant degree of freedom position of the robot arm, the process End; if the target redundant degree of freedom position is different from the actual redundant degree of freedom position of the manipulator, perform step 212.
  • the robot arm obtains the target redundant degree of freedom position of the robot arm from the computer device.
  • the robotic arm determines that the target redundant degree of freedom position of the robotic arm is the same as the actual redundant degree of freedom position of the robotic arm, it indicates that the robotic arm has reached a position where collision will not occur and the redundant freedom has been completed. degree of adjustment, the process ends; if the robotic arm determines that the target redundant degree of freedom position of the robotic arm is different from the actual redundant degree of freedom position of the robotic arm, it indicates that the robotic arm has not reached a position where collision will not occur and the redundancy has not been completed. To adjust the degree of freedom, continue to step 212.
  • the target redundant degree-of-freedom position of the mechanical arm can be used as the target position, and the actual redundant degree-of-freedom position of the mechanical arm can be used as the actual position.
  • Step 212 The robot arm prompts the user to adjust the position of the redundant degree of freedom, so as to adjust the actual redundant degree of freedom position of the robot arm to the target redundant degree of freedom position of the robot arm.
  • the actual redundant degree of freedom position of the robotic arm is adjusted to the target redundant degree of freedom position of the robotic arm, that is, the actual position is adjusted to the target position to complete the adjustment of the redundant degree of freedom position of the robotic arm.
  • the redundant degree of freedom position adjustment scheme of the robotic arm has large errors and is unintuitive.
  • a combination of sound and light is used to guide the doctor to adjust the redundant degrees of freedom, so that the doctor can easily complete the adjustment of the redundant degrees of freedom under sound and light guidance after determining the surgical procedure. .
  • a sound and light alarm device is provided on the robotic arm.
  • the sound and light alarm device provided on the robotic arm prompts the user to adjust the position of the redundant degree of freedom.
  • Figure 6 shows an sound and light alarm provided by an embodiment of the present application.
  • the schematic diagram of the device is shown in Figure 6.
  • the sound and light alarm device includes three light-emitting modules, a speaker and two adjustment buttons.
  • the three light-emitting modules are the upward deviation indicator light 22, the target position indicator light 21 and the downward adjustment button.
  • Deviation indicator light 20 one speaker is speaker 23, and two adjustment buttons are zero space up adjustment button 24 and zero space down adjustment button 25.
  • the upward deviation indicator light 22 is in the shape of an upward arrow
  • the downward deviation indicator light 20 is in the shape of a downward arrow.
  • the upward deviation indicator light 22 and the downward deviation indicator light 20 may be composed of yellow lights.
  • the target position indicator light 21 is a horizontal indicator light and may be composed of white light.
  • the parallelogram axis link 12 of the robot arm deviates upward from the target redundant degree of freedom position, the upward deviation indicator light 22 flashes, and the speaker 23 emits an alarm sound to remind the doctor to adjust the redundant degree of freedom, otherwise the robot arm will collide during the operation. risk.
  • the parallelogram axis link 12 of the robot arm deviates downward from the target redundant degree of freedom position, the downward deviation indicator light 20 flashes, and at the same time the speaker 23 emits an alarm sound to remind the doctor to adjust the redundant degree of freedom, otherwise the robot arm will malfunction during the operation. Risk of collision.
  • the target position indicator light 21 in the middle lights up reminding the doctor through the speaker that the redundant degree of freedom of the robotic arm has been adjusted in place.
  • the zero space upward adjustment button 24 and the zero space downward adjustment button 25 are placed at the end of the parallelogram axis link 12. Pressing the zero space upward adjustment button 24 can increase the angle between the parallelogram link 12 and the ground. Pressing the zero space downward adjustment button 25 can reduce the angle between the parallelogram axis link 12 and the ground.
  • the robotic arm is connected to a display, and the target redundant degree of freedom position of the robotic arm and the actual redundant degree of freedom position of the robotic arm are displayed on the display.
  • the doctor can adjust the zero space up button 24 and the zero space down button. Adjust button 25 to coincide with the target redundant degree of freedom position of the robotic arm displayed on the display and the actual redundant degree of freedom position of the robotic arm to complete the adjustment of the redundant degree of freedom.
  • the spatial position of the end point and the telecentric fixed point of the robotic arm is obtained; the spatial position of the robotic arm is determined based on the spatial positions of the end point and the telecentric fixed point;
  • the spatial position of the manipulator arm is subjected to collision analysis, and the target redundant degree of freedom position of the manipulator arm is generated, so that the manipulator arm can adjust the redundant degree of freedom according to the obtained target redundant degree of freedom position of the manipulator arm.
  • by analyzing the collision of the robotic arm and adjusting the redundant degree of freedom of the robotic arm before surgery it is possible to avoid collisions of the robotic arm during the operation and at the same time improve the redundant degree of freedom of adjustment. simplicity and accuracy and reduces the cost of the robotic arm.
  • FIG. 7 is a schematic structural diagram of a redundant degree of freedom adjustment device provided by an embodiment of the present application. As shown in FIG. 7 , the device includes: an acquisition module 31 , a determination module 32 and a generation module 33 .
  • the acquisition module 31 is configured to acquire the spatial position of the end point and the telecentric fixed point of the robotic arm.
  • the determination module 32 is configured to determine the spatial position of the robotic arm based on the spatial positions of the end point and the telecentric fixed point.
  • the generation module 33 is configured to perform collision analysis on the spatial position of the robotic arm and generate a target redundant degree-of-freedom position of the robotic arm, so that the robotic arm can adjust the redundant degree-of-freedom according to the obtained target redundant degree-of-freedom position of the robotic arm.
  • the determination module 32 is configured to calculate the spatial position of the end point and the telecentric fixed point through the inverse solution method of robot kinematics to generate the spatial position of the robotic arm.
  • the generation module 33 is configured to calculate the spatial position through the collision detection model and generate the target redundant degree of freedom position of the mechanical arm.
  • the target redundant degree of freedom position includes the angle between the parallelogram axis link of the manipulator and the ground.
  • the angle is obtained through a gravity sensor or a level sensor.
  • the method of obtaining the spatial position of the end point and the telecentric fixed point of the robotic arm includes motion simulation.
  • the spatial position of the end point and the telecentric fixed point of the robotic arm is obtained; the spatial position of the robotic arm is determined based on the spatial positions of the end point and the telecentric fixed point; and the spatial position of the robotic arm is determined.
  • the spatial position is subjected to collision analysis to generate the target redundant degree of freedom position of the manipulator arm, so that the manipulator arm can adjust the redundant degree of freedom based on the acquired target redundant degree of freedom position of the manipulator arm.
  • by analyzing the collision of the robotic arm and adjusting the redundant degree of freedom of the robotic arm before surgery it is possible to avoid collisions of the robotic arm during the operation and at the same time improve the redundant degree of freedom of adjustment. simplicity and accuracy and reduces the cost of the robotic arm.
  • the redundant degree of freedom adjustment device provided in this embodiment can be configured to implement the redundant degree of freedom adjustment method in Figure 2 or Figure 3.
  • the redundant degree of freedom adjustment method please refer to the embodiment of the redundant degree of freedom adjustment method, which will not be discussed here. Repeat the description again.
  • An embodiment of the present application provides a storage medium.
  • the storage medium includes a stored program.
  • the program is running, the device where the storage medium is located is controlled to perform multiple steps of the embodiment of the above redundant degree of freedom adjustment method.
  • An embodiment of a method for adjusting redundant degrees of freedom is provided.
  • Embodiments of the present application provide a computer device, including a memory and a processor.
  • the memory is configured to store information including program instructions.
  • the processor is configured to control the execution of program instructions. When the program instructions are loaded and executed by the processor, the above-mentioned redundancy is achieved.
  • the multiple steps of the embodiment of the method for adjusting the degree of freedom please refer to the above embodiment of the method for adjusting the redundant degree of freedom.
  • FIG. 8 is a schematic diagram of a computer device provided by an embodiment of the present application.
  • the computer device 40 of this embodiment includes: a processor 41, a memory 42, and a computer program 43 stored in the memory 42 and executable on the processor 41.
  • the computer program 43 is executed by the processor 41
  • the functions of multiple models/units in the adjustment device for redundant degrees of freedom in the embodiment are implemented. To avoid repetition, they will not be described one by one here.
  • the computer device 40 includes, but is not limited to, a processor 41 and a memory 42 .
  • FIG. 8 is only an example of the computer device 40 and does not constitute a limitation on the computer device 40. It may include more or less components than shown in the figure, or some components may be combined, or different components may be used.
  • computer equipment may also include input and output devices, network access devices, buses, etc.
  • the so-called processor 41 can be a central processing unit (Central Processing Unit, CPU), or other general-purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • Memory 42 may be an internal storage unit of computer device 40, such as a hard drive or memory of computer device 40.
  • the memory 42 may also be an external storage device of the computer device 40, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, or a flash memory card (Flash) equipped on the computer device 40. Card) etc.
  • Memory 42 may also include both internal storage units of computer device 40 and external storage devices.
  • Memory 42 is provided for storing computer programs and other programs and data required by the computer equipment.
  • the memory 42 may also be configured to temporarily store data that has been output or is to be output.
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined. Either it can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • multiple functional units in the embodiments of the present application may be integrated into one processing unit, multiple units may physically exist independently, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium and includes a plurality of instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (Processor) to execute the method described in the embodiments of this application. Some steps.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc., which can store program code. medium.
  • FIG. 9 is a schematic structural diagram of another redundant degree of freedom adjustment device provided by an embodiment of the present application. As shown in FIG. 9 , the device includes: an adjustment module 51 .
  • the adjustment module 51 is configured to adjust the redundant degree of freedom according to the obtained target redundant degree of freedom position of the robotic arm.
  • the target redundant degree of freedom position of the robotic arm is obtained by the computer device from the end point and the telecentric fixed point of the robotic arm.
  • the spatial position of the robotic arm is determined based on the spatial position of the end point and the telecentric fixed point; it is generated by performing collision analysis on the spatial position of the robotic arm.
  • the adjustment module 51 is configured to obtain the actual redundant degree of freedom position of the robotic arm through a sensor; determine whether the target redundant degree of freedom position of the robotic arm is the same as the actual redundant degree of freedom position of the robotic arm; if it is determined that The target redundant degree of freedom position of the robot arm is different from the actual redundant degree of freedom position of the robot arm. The user is prompted to adjust the redundant degree of freedom position to adjust the actual redundant degree of freedom position of the robot arm to the target redundant degree of freedom position of the robot arm. The position of the remaining degrees of freedom; if it is determined that the target of the robot arm has redundant freedom The degree position is the same as the actual redundant degree of freedom position of the manipulator, then the adjustment of the redundant degree of freedom position is completed.
  • the adjustment module 51 is also configured to prompt the user to adjust the position of the redundant degree of freedom through an audible and visual alarm device provided on the robotic arm.
  • the robotic arm includes a robotic arm with a parallelogram telecentric motion mechanism.
  • the spatial position of the end point and the telecentric fixed point of the robotic arm is obtained; the spatial position of the robotic arm is determined based on the spatial positions of the end point and the telecentric fixed point; and the spatial position of the robotic arm is determined.
  • the spatial position is subjected to collision analysis to generate the target redundant degree of freedom position of the manipulator arm, so that the manipulator arm can adjust the redundant degree of freedom based on the acquired target redundant degree of freedom position of the manipulator arm.
  • by analyzing the collision of the robotic arm and adjusting the redundant degree of freedom of the robotic arm before surgery it is possible to avoid collisions of the robotic arm during the operation and at the same time improve the redundant degree of freedom of adjustment. simplicity and accuracy and reduces the cost of the robotic arm.
  • the redundant degree of freedom adjustment device provided in this embodiment can be configured to implement the above-mentioned redundant degree of freedom adjustment method in Figure 3.
  • the above embodiment of the redundant degree of freedom adjustment method please refer to the above embodiment of the redundant degree of freedom adjustment method, and the description will not be repeated here. .
  • An embodiment of the present application provides a storage medium.
  • the storage medium includes a stored program.
  • the program is running, the device where the storage medium is located is controlled to perform multiple steps of the embodiment of the above redundant degree of freedom adjustment method.
  • An embodiment of a method for adjusting redundant degrees of freedom is provided.
  • Embodiments of the present application provide a robotic arm, including a memory and a processor.
  • the memory is configured to store information including program instructions.
  • the processor is configured to control the execution of program instructions. When the program instructions are loaded and executed by the processor, the above-mentioned redundancy is achieved.
  • the multiple steps of the embodiment of the method for adjusting the degree of freedom please refer to the above embodiment of the method for adjusting the redundant degree of freedom.
  • Figure 10 is a schematic diagram of a robotic arm provided by an embodiment of the present application.
  • the robotic arm 60 of this embodiment includes: a processor 61, a memory 62, and a computer program 63 stored in the memory 62 and executable on the processor 61.
  • the computer program 63 is executed by the processor 61
  • the adjustment methods applied to redundant degrees of freedom in the implementation embodiment will not be described one by one here.
  • the computer program is executed by the processor 61
  • the functions of multiple models/units in the adjustment device for redundant degrees of freedom in the embodiment are implemented. To avoid repetition, they will not be described one by one here.
  • the robotic arm 60 includes, but is not limited to, a processor 61 and a memory 62 .
  • FIG. 10 is only an example of the robotic arm 60 and does not constitute a limitation on the robotic arm 60. It may include more or fewer components than shown in the figure, or some components may be combined, or different components may be used.
  • the robotic arm can also include input and output devices, network access devices, buses, etc.
  • the so-called processor 61 may be a CPU, or other general-purpose processor, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Pass The processor may be a microprocessor or the processor may be any conventional processor.
  • the memory 62 may be an internal storage unit of the robot arm 60 , such as a hard disk or memory of the robot arm 60 .
  • the memory 62 can also be an external storage device of the robotic arm 60, such as a plug-in hard disk, SMC, SD card, Flash Card, etc. equipped on the robotic arm 60.
  • Memory 62 may also include both internal storage units of robotic arm 60 and external storage devices.
  • Memory 62 is provided to store computer programs as well as other programs and data required by the robotic arm.
  • the memory 62 may also be configured to temporarily store data that has been output or is to be output.
  • the disclosed systems, devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined. Either it can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • multiple functional units in the embodiments of the present application may be integrated into one processing unit, multiple units may physically exist independently, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium and includes a plurality of instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a Processor to execute some steps of the method described in the embodiments of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program code.
  • An embodiment of the present application provides a surgical robot, including a robotic arm as shown in Figure 1 or Figure 10 .

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Abstract

冗余自由度的调整方法、装置、计算机设备和机械臂。冗余自由度的调整方法包括：获取机械臂的末端点和远心不动点的空间位置；根据末端点和远心不动点的空间位置，确定机械臂的空间位置；对机械臂的空间位置进行碰撞分析，生成机械臂的目标冗余自由度位置，以供机械臂根据获取的机械臂的目标冗余自由度位置进行冗余自由度的调整。

Description

冗余自由度的调整方法、装置、计算机设备和机械臂
本申请要求在2022年07月04日提交中国专利局、申请号为202210787255.1的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及手术机器人技术领域，例如涉及冗余自由度的调整方法、装置、计算机设备和机械臂。
背景技术
为了提高手术机器人的机械臂的灵活度并且减少手术机器人的机械臂在手术中的碰撞，手术机器人的机械臂的构型设计通常会提供冗余自由度，冗余自由度的调整需在手术前准备完成。但就如何使用机械臂的冗余自由度从而简化医生的术前调整并且降低手术过程中机械臂的碰撞缺少同时兼顾了简便精确和低成本的解决方案。
发明内容
本申请提供了冗余自由度的调整方法、装置、计算机设备和机械臂，用以在避免手术过程中机械臂的碰撞的同时，提高了调整冗余自由度的简便性和精确性并降低了机械臂的成本。
本申请提供了一种冗余自由度的调整方法，应用于计算机设备，包括：
获取机械臂的末端点和远心不动点的空间位置；
根据所述末端点和远心不动点的空间位置，确定机械臂的空间位置；
对所述机械臂的空间位置进行碰撞分析，生成机械臂的目标冗余自由度位置，以供所述机械臂根据获取的所述机械臂的目标冗余自由度位置进行冗余自由度的调整。
本申请提供了一种冗余自由度的调整方法，应用于机械臂，包括：
根据获取的机械臂的目标冗余自由度位置进行冗余自由度的调整，其中，所述机械臂的目标冗余自由度位置是由计算机设备获取机械臂的末端点和远心不动点的空间位置，根据所述末端点和远心不动点的空间位置，确定机械臂的空间位置，对所述机械臂的空间位置进行碰撞分析生成的。
本申请提供了一种冗余自由度的调整装置，包括：
获取模块，设置为获取机械臂的末端点和远心不动点的空间位置；
确定模块，设置为根据所述末端点和远心不动点的空间位置，确定机械臂的空间位置；
生成模块，设置为对所述机械臂的空间位置进行碰撞分析，生成机械臂的目标冗余自由度位置，以供所述机械臂根据获取的所述机械臂的目标冗余自由度位置进行冗余自由度的调整。
本申请提供了一种存储介质，包括：所述存储介质包括存储的程序，其中，在所述程序运行时控制所述存储介质所在设备执行上述应用于计算机设备的冗余自由度的调整方法。
本申请提供了一种计算机设备，包括存储器和处理器，所述存储器设置为存储包括程序指令的信息，所述处理器设置为控制程序指令的执行，其中，所述程序指令被处理器加载并执行时实现上述应用于计算机设备的冗余自由度的调整方法。
本申请提供了一种冗余自由度的调整装置，包括：
调整模块，设置为根据获取的机械臂的目标冗余自由度位置进行冗余自由度的调整，所述机械臂的目标冗余自由度位置是由计算机设备获取机械臂的末端点和远心不动点的空间位置，根据所述末端点和远心不动点的空间位置，确定机械臂的空间位置，对所述机械臂的空间位置进行碰撞分析生成的。
本申请提供了一种存储介质，包括：所述存储介质包括存储的程序，其中，在所述程序运行时控制所述存储介质所在设备执行上述应用于机械臂的冗余自由度的调整方法。
本申请提供了一种机械臂，包括存储器和处理器，所述存储器设置为存储包括程序指令的信息，所述处理器设置为控制程序指令的执行，其中，所述程序指令被处理器加载并执行时实现上述应用于机械臂的冗余自由度的调整方法。
本申请提供了一种手术机器人，包括上述机械臂。
附图说明
图1为本申请实施例提供的一种手术机器人的机械臂的关节结构示意图；
图2为本申请实施例提供的一种冗余自由度的调整方法的流程图；
图3为本申请实施例提供的另一种冗余自由度的调整方法的流程图；
图4a为本申请实施例提供的一种目标冗余自由度位置的示意图；
图4b为本申请实施例提供的另一种目标冗余自由度位置的示意图；
图4c为本申请实施例提供的另一种目标冗余自由度位置的示意图；
图5为本申请实施例提供的一种传感器的设置示意图；
图6为本申请实施例提供的一种声光报警装置的示意图；
图7为本申请实施例提供的一种冗余自由度的调整装置的示意图；
图8为本申请实施例提供的一种计算机设备的示意图；
图9为本申请实施例提供的另一种冗余自由度的调整装置的示意图；
图10为本申请实施例提供的一种机械臂的示意图。
具体实施方式
下面结合附图对本申请实施例进行描述。
所描述的实施例仅仅是本申请一部分实施例。
在本申请实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。
本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，甲和/或乙，可以表示：单独存在甲，同时存在甲和乙，单独存在乙这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
一种相关技术中，医生需要对照卡片上的机械臂位置示意图在手术前调整手术机器人的机械臂的冗余自由度。在该技术方案中医生很难根据二维的机械臂位置示意图准确摆放机械臂。从而会导致手术过程中的机械臂碰撞等不良后果。
另一种相关技术中，为机械臂的每一个关节配置位置传感器，并在手术过程中实时计算机械臂与机械臂之间的相对位姿，判断有无碰撞风险，并根据计算结果调整冗余自由度来避免碰撞。该技术方案从结果上解决了手术操作中机械臂碰撞的风险，但需要消耗手术机器人的中央处理器大量的资源用于碰撞计算，成本很高。
本申请实施例提供了一种手术机器人的机械臂的关节结构，该机械臂可设置于在平面上移动的台车的顶部，图1为本申请实施例提供的一种手术机器人的机械臂的关节结构示意图，如图1所示，该机械臂包括多个关节，多个关节分别 为第一关节1、第二关节2、第三关节3、第四关节4、第五关节5、第六关节6、第七关节7、第八关节8、第九关节9和第十关节10。机械臂的第一关节1、第二关节2、第三关节3和第四关节4为独立自由旋转关节，其作用是调整远心不动点11在三维空间中的位置，可提供4个自由度，其中，第二关节2、第三关节3和第四关节4可提供冗余自由度。机械臂的第五关节5控制远心不动点11的轴向旋转，可提供1个自由度。第五关节5与第六关节6之间设置有平行四边形轴线连杆12。第六关节6、第七关节7和第八关节8组成一个平行四边形远心运动机构，可保持平行四边形远心点，可提供1个自由度，不能提供冗余自由度。第九关节9为直线进给关节控制手术机器人的插入深度，不提供远心不动点11的自由度。第十关节10为手术工具轴向旋转关节，可提供1个自由度。该机械臂可以为远心不动点11提供7个自由度(包含3个空间平动自由度，3个转动自由度以及1个冗余自由度)。综上，7个自由度的机械臂为本申请实施例的一个方案，本申请实施例也适用于至少包含一个冗余自由度的机械臂。
本申请实施例中，机械臂包括带有平行四边形远心运动机构的机械臂。
本申请实施例中，机械臂上可以安装和拆卸手术工具，机械臂的末端点15为安装后的手术工具的末端点。
本申请实施例中，使用一个冗余自由度可以在保持手术机器人的远心不动点11在不发生位移的条件下调整手术机器人的机械臂的构型，从而达到避免机械臂之间的碰撞以及获得额外的工作空间的作用。
本申请实施例中，需要在手术准备时，将第一关节1、第二关节2、第三关节3和第四关节4调整到合适的位置，调整第一关节1、第二关节2、第三关节3和第四关节4的方式请参见下述冗余自由度的调整方法，随后保持静止的状态直到手术结束。为解决相关技术中的技术问题，基于上述图1中的手术机器人的机械臂的关节结构，本申请实施例提供了一种冗余自由度的调整方法，图2为本申请实施例提供的一种冗余自由度的调整方法的流程图，如图2所示，该方法包括：
步骤102、获取机械臂的末端点和远心不动点的空间位置。
本申请实施例中，多个步骤由计算机设备执行。
本申请实施例中，获取机械臂的末端点和远心不动点的空间位置的方式可以为运动仿真，或者是调取预先储存在数据库里的机械臂的末端点和远心不动点的空间位置。
作为一种方案，通过仿真软件对多个机械臂进行运动仿真以获取机械臂的末端点和远心不动点的空间位置，其中，运动仿真包括手术仿真。例如，手术仿真包括子宫切除术手术仿真、肝脏部分切除术手术仿真或肾脏部分切除术手 术仿真。
本申请实施例中，远心不动点为入腹点，如图1所示，需获取机械臂的末端点15和远心不动点11的空间位置。
步骤104、根据末端点和远心不动点的空间位置，确定机械臂的空间位置。
通过机器人运动学逆解方法对末端点和远心不动点的空间位置进行反推计算，生成机械臂的空间位置。
步骤106、对机械臂的空间位置进行碰撞分析，生成机械臂的目标冗余自由度位置，以供机械臂根据获取的机械臂的目标冗余自由度位置进行冗余自由度的调整。
本申请实施例中，机械臂的碰撞包括机械臂自身的碰撞、不同的机械臂之间的碰撞以及机械臂与其他外物的碰撞。其中，其他外物包括患者或手术室中的其他物品。
通过碰撞检测模型对空间位置进行计算，生成机械臂的目标冗余自由度位置。
本申请实施例中，当一个手术机器人包含多个机械臂时，则需对每个机械臂进行上述步骤102-步骤106的计算。
本申请实施例提供的技术方案中，获取机械臂的末端点和远心不动点的空间位置；根据末端点和远心不动点的空间位置，确定机械臂的空间位置；对机械臂的空间位置进行碰撞分析，生成机械臂的目标冗余自由度位置，以供机械臂根据获取的机械臂的目标冗余自由度位置进行冗余自由度的调整。本申请实施例提供的技术方案中，通过对机械臂的碰撞分析，在手术前调整机械臂的冗余自由度，能够在避免手术过程中机械臂的碰撞的同时，提高了调整冗余自由度的简便性和精确性并降低了机械臂的成本。
基于上述图1中的手术机器人的机械臂的关节结构，本申请实施例提供了另一种冗余自由度的调整方法，图3为本申请实施例提供的另一种冗余自由度的调整方法的流程图，如图3所示，该方法包括：
步骤202、计算机设备获取机械臂的末端点和远心不动点的空间位置。
本申请实施例中，步骤202的描述请参见步骤102。
步骤204、计算机设备根据末端点和远心不动点的空间位置，确定机械臂的空间位置。
通过机器人运动学逆解方法对末端点和远心不动点的空间位置进行计算，生成机械臂的空间位置。其中，空间位置包括手术过程中关节的空间位置、关 节的空间位置包括平行四边形轴线关节的空间位置。
步骤206、计算机设备对机械臂的空间位置进行碰撞分析，生成机械臂的目标冗余自由度位置。
本申请实施例中，机械臂的碰撞包括机械臂自身的碰撞、不同的机械臂之间的碰撞以及机械臂与其他外物的碰撞。其中，其他外物包括患者或手术室中的其他物品。
通过碰撞检测模型对空间位置进行计算，生成机械臂的目标冗余自由度位置。
本申请实施例中，通过碰撞检测模型对空间位置进行计算，在确定了机械臂没有碰撞的空间位置后，根据机械臂没有碰撞的空间位置测量得到目标冗余自由度位置，该目标冗余自由度位置可作为机械臂调整的目标位置。本申请实施例中，冗余自由度位置的测量方法可以根据实际情况进行选择，本申请实施例为了便于测量，选择机械臂的平行四边形轴线连杆12与地面的夹角作为目标冗余自由度位置，该夹角可通过重力传感器或水平仪传感器获得。该目标冗余自由度位置的调整由图1中第二关节2、第三关节3和第四关节4三个关节同时运动实现，调整该目标冗余自由度位置可以在保持远心不动点11(入腹点)的位置不发生移动的条件下调整机械臂的构型，从而实现避免碰撞的功能。
本申请实施例中选取了平行四边形轴线连杆12与地面的夹角作为目标冗余自由度位置的测量方式，与传统工业机器人领域使用关节转角作为自由度的测量方式不同，使用平行四边形轴线连杆12与地面的夹角作为目标冗余自由度位置的测量方式可以提供直观的物理意义。
本申请实施例中，图4a为本申请实施例提供的一种目标冗余自由度位置的示意图，如图4a所示，平行四边形轴线连杆12的延长线为平行四边形轴线13，从远心不动点11作地面的平行线，该平行线与平行四边形轴线13的夹角为0度，则目标冗余自由度位置为0度。
图4b为本发明申请实施例提供的另一种目标冗余自由度位置的示意图，如图4b所示，平行四边形轴线连杆12的延长线为平行四边形轴线13，从远心不动点11作地面的平行线，该平行线与平行四边形轴线13的夹角为-15度，则目标冗余自由度位置为-15度。
图4c为本发明申请实施例提供的另一种目标冗余自由度位置的示意图，如图4c所示，平行四边形轴线连杆12的延长线为平行四边形轴线13，从远心不动点11作地面的平行线，该平行线与平行四边形轴线13的夹角为15度，则目标冗余自由度位置为15度。
本申请实施例中，使用手术仿真模拟的方法来确定最佳的目标冗余自由度位置可以避免在手术过程中计算机械臂的碰撞而导致消耗大量的计算能力。
本申请实施例中，当一个手术机器人包含多个机械臂时，则需对每个机械臂进行上述步骤202-步骤206的计算。
步骤208、机械臂通过传感器获取机械臂的实际冗余自由度位置。
本申请实施例中，传感器包括重力传感器或水平仪传感器。
本步骤中，在手术开始之前需要对机械臂的实际冗余自由度位置进行测量，以确保其在正确的目标位置。
图5为本申请实施例提供的一种传感器的设置示意图，如图5所示，传感器14的安装方向与机械臂的平行四边形轴线连杆12的平行四边形轴线13方向平行。传感器可以直接测量得出平行四边形轴线连杆12与地面的夹角。
作为一种方案，通过测量机械臂的关节运动链中每一个关节的关节转角后再通过运动学计算求解得出平行四边形轴线连杆12与地面的夹角。
步骤210、机械臂判断获取的机械臂的目标冗余自由度位置和机械臂的实际冗余自由度位置是否相同，若目标冗余自由度位置和机械臂的实际冗余自由度位置相同，流程结束；若目标冗余自由度位置和机械臂的实际冗余自由度位置不相同，执行步骤212。
本申请实施例中，步骤210之前包括机械臂从计算机的设备获取机械臂的目标冗余自由度位置。
本申请实施例中，机械臂若判断出机械臂的目标冗余自由度位置和机械臂的实际冗余自由度位置相同，则表明机械臂已到达不会发生碰撞的位置，已完成冗余自由度的调整，流程结束；机械臂若判断出机械臂的目标冗余自由度位置和机械臂的实际冗余自由度位置不同，则表明机械臂未到达不会发生碰撞的位置，未完成冗余自由度的调整，继续执行步骤212。
本申请实施例中，可将机械臂的目标冗余自由度位置作为目标位置，将机械臂的实际冗余自由度位置作为实际位置。
步骤212、机械臂提示用户进行冗余自由度位置的调整，以将机械臂的实际冗余自由度位置调整至机械臂的目标冗余自由度位置。
本申请实施例中，将机械臂的实际冗余自由度位置调整至机械臂的目标冗余自由度位置，即将实际位置调整至目标位置，以完成机械臂的冗余自由度位置的调整。
相关技术中的机械臂的冗余自由度位置调整方案中，存在误差大、不直观， 培训操作学习曲线长的问题。在本申请实施例中使用了声光结合的方式引导医生对冗余自由度进行调节，使医生能在确定了手术术式后即可简便地在声光引导下完成对冗余自由度的调整。
作为一种方案，机械臂上设置有声光报警装置，通过机械臂上设置的声光报警装置提示用户进行冗余自由度位置的调整，图6为本申请实施例提供的一种声光报警装置的示意图，如图6所示，声光报警装置包括三个发光模块、一个扬声器和两个调整按钮，其中，三个发光模块分别为向上偏离指示灯22、目标位置指示灯21和向下偏离指示灯20，一个扬声器为扬声器23，两个调整按钮为零空间向上调整按钮24和零空间向下调整按钮25。
作为一种方案，向上偏离指示灯22呈向上的箭头造型，向下偏离指示灯20呈向下的箭头造型，向上偏离指示灯22和向下偏离指示灯20可由黄色灯光组成。目标位置指示灯21为水平指示灯，可由白色灯光组成。
当机械臂平行四边形轴线连杆12向上偏离目标冗余自由度位置时，向上偏离指示灯22闪亮，同时扬声器23发出报警声提醒医生调整冗余自由度，否则手术中会发生机械臂碰撞的风险。
当机械臂平行四边形轴线连杆12向下偏离目标冗余自由度位置时，向下偏离指示灯20闪亮，同时扬声器23发出报警声提醒医生调整冗余自由度，否则手术中会发生机械臂碰撞的风险。
当机械臂平行四边形轴线连杆12到达目标冗余自由度位置时，中间的目标位置指示灯21亮起，通过扬声器提醒医生机械臂的冗余自由度已经调整到位。
本实施例中的零空间向上调整按钮24和零空间向下调整按钮25放置在平行四边形轴线连杆12的末端，按动零空间向上调整按钮24可以增加平行四边形连杆12与地面的角度，按动零空间向下调整按钮25可以降低平行四边形轴线连杆12与地面的角度。
作为另一种方案，机械臂与显示器连接，显示器上显示机械臂的目标冗余自由度位置和机械臂的实际冗余自由度位置，医生可通过调整零空间向上调整按钮24和零空间向下调整按钮25，将显示器上显示的机械臂的目标冗余自由度位置和机械臂的实际冗余自由度位置重合，以完成冗余自由度的调整。
本申请实施例中，在手术机器人领域，考虑到患者的安全，应当尽量避免可以对患者造成伤害的无监督运动。因此在医生手动按动操作下进行调整可以提高冗余自由度调整的安全性。
本申请实施例提供的技术方案中，获取机械臂的末端点和远心不动点的空间位置；根据末端点和远心不动点的空间位置，确定机械臂的空间位置；对机 械臂的空间位置进行碰撞分析，生成机械臂的目标冗余自由度位置，以供机械臂根据获取的机械臂的目标冗余自由度位置进行冗余自由度的调整。本申请实施例提供的技术方案中，通过对机械臂的碰撞分析，在手术前调整机械臂的冗余自由度，能够在避免手术过程中机械臂的碰撞的同时，提高了调整冗余自由度的简便性和精确性并降低了机械臂的成本。
本申请实施例提供了一种冗余自由度的调整装置。图7为本申请实施例提供的一种冗余自由度的调整装置的结构示意图，如图7所示，该装置包括：获取模块31、确定模块32和生成模块33。
获取模块31设置为获取机械臂的末端点和远心不动点的空间位置。
确定模块32设置为根据末端点和远心不动点的空间位置，确定机械臂的空间位置。
生成模块33设置为对机械臂的空间位置进行碰撞分析，生成机械臂的目标冗余自由度位置，以供机械臂根据获取的机械臂的目标冗余自由度位置进行冗余自由度的调整。
本申请实施例中，确定模块32设置为通过机器人运动学逆解方法对末端点和远心不动点的空间位置进行计算，生成机械臂的空间位置。
本申请实施例中，生成模块33设置为通过碰撞检测模型对空间位置进行计算，生成机械臂的目标冗余自由度位置。
本申请实施例中，目标冗余自由度位置包括机械臂的平行四边形轴线连杆与地面的夹角，夹角通过重力传感器或水平仪传感器获得。
本申请实施例中，获取机械臂的末端点和远心不动点的空间位置的方式包括运动仿真。
本申请实施例提供的技术方案中，获取机械臂的末端点和远心不动点的空间位置；根据末端点和远心不动点的空间位置，确定机械臂的空间位置；对机械臂的空间位置进行碰撞分析，生成机械臂的目标冗余自由度位置，以供机械臂根据获取的机械臂的目标冗余自由度位置进行冗余自由度的调整。本申请实施例提供的技术方案中，通过对机械臂的碰撞分析，在手术前调整机械臂的冗余自由度，能够在避免手术过程中机械臂的碰撞的同时，提高了调整冗余自由度的简便性和精确性并降低了机械臂的成本。
本实施例提供的冗余自由度的调整装置可设置为实现上述图2或图3中的冗余自由度的调整方法，描述可参见上述冗余自由度的调整方法的实施例，此处不再重复描述。
本申请实施例提供了一种存储介质，存储介质包括存储的程序，其中，在程序运行时控制存储介质所在设备执行上述冗余自由度的调整方法的实施例的多个步骤，描述可参见上述冗余自由度的调整方法的实施例。
本申请实施例提供了一种计算机设备，包括存储器和处理器，存储器设置为存储包括程序指令的信息，处理器设置为控制程序指令的执行，程序指令被处理器加载并执行时实现上述冗余自由度的调整方法的实施例的多个步骤，描述可参见上述冗余自由度的调整方法的实施例。
图8为本申请实施例提供的一种计算机设备的示意图。如图8所示，该实施例的计算机设备40包括：处理器41、存储器42以及存储在存储器42中并可在处理器41上运行的计算机程序43，该计算机程序43被处理器41执行时实现实施例中的应用于冗余自由度的调整方法，为避免重复，此处不一一赘述。或者，该计算机程序被处理器41执行时实现实施例中应用于冗余自由度的调整装置中多个模型/单元的功能，为避免重复，此处不一一赘述。
计算机设备40包括，但不仅限于，处理器41、存储器42。本领域技术人员可以理解，图8仅仅是计算机设备40的示例，并不构成对计算机设备40的限定，可以包括比图示更多或更少的部件，或者组合一些部件，或者不同的部件，例如计算机设备还可以包括输入输出设备、网络接入设备、总线等。
所称处理器41可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
存储器42可以是计算机设备40的内部存储单元，例如计算机设备40的硬盘或内存。存储器42也可以是计算机设备40的外部存储设备，例如计算机设备40上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。存储器42还可以既包括计算机设备40的内部存储单元也包括外部存储设备。存储器42设置为存储计算机程序以及计算机设备所需的其他程序和数据。存储器42还可以设置为暂时地存储已经输出或者将要输出的数据。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统，装置和单元的工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如，多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请实施例中的多个功能单元可以集成在一个处理单元中，也可以是多个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括多个指令用以使得一台计算机装置(可以是个人计算机，服务器，或者网络装置等)或处理器(Processor)执行本申请实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等多个种可以存储程序代码的介质。
本申请实施例提供了另一种冗余自由度的调整装置。图9为本申请实施例提供的另一种冗余自由度的调整装置的结构示意图，如图9所示，该装置包括：调整模块51。
调整模块51设置为根据获取的机械臂的目标冗余自由度位置进行冗余自由度的调整，机械臂的目标冗余自由度位置是由计算机设备获取机械臂的末端点和远心不动点的空间位置；根据末端点和远心不动点的空间位置，确定机械臂的空间位置；对机械臂的空间位置进行碰撞分析生成的。
本申请实施例中，调整模块51设置为通过传感器获取机械臂的实际冗余自由度位置；判断机械臂的目标冗余自由度位置和机械臂的实际冗余自由度位置是否相同；若判断出机械臂的目标冗余自由度位置和机械臂的实际冗余自由度位置不同，提示用户进行冗余自由度位置的调整，以将机械臂的实际冗余自由度位置调整至机械臂的目标冗余自由度位置；若判断出机械臂的目标冗余自由 度位置和机械臂的实际冗余自由度位置相同，则完成冗余自由度位置的调整。
本申请实施例中，调整模块51还设置为通过机械臂上设置的声光报警装置提示用户进行冗余自由度位置的调整。
本申请实施例中，机械臂包括带有平行四边形远心运动机构的机械臂。
本申请实施例提供的技术方案中，获取机械臂的末端点和远心不动点的空间位置；根据末端点和远心不动点的空间位置，确定机械臂的空间位置；对机械臂的空间位置进行碰撞分析，生成机械臂的目标冗余自由度位置，以供机械臂根据获取的机械臂的目标冗余自由度位置进行冗余自由度的调整。本申请实施例提供的技术方案中，通过对机械臂的碰撞分析，在手术前调整机械臂的冗余自由度，能够在避免手术过程中机械臂的碰撞的同时，提高了调整冗余自由度的简便性和精确性并降低了机械臂的成本。
本实施例提供的冗余自由度的调整装置可设置为实现上述图3中的冗余自由度的调整方法，描述可参见上述冗余自由度的调整方法的实施例，此处不再重复描述。
本申请实施例提供了一种存储介质，存储介质包括存储的程序，其中，在程序运行时控制存储介质所在设备执行上述冗余自由度的调整方法的实施例的多个步骤，描述可参见上述冗余自由度的调整方法的实施例。
本申请实施例提供了一种机械臂，包括存储器和处理器，存储器设置为存储包括程序指令的信息，处理器设置为控制程序指令的执行，程序指令被处理器加载并执行时实现上述冗余自由度的调整方法的实施例的多个步骤，描述可参见上述冗余自由度的调整方法的实施例。
图10为本申请实施例提供的一种机械臂的示意图。如图10所示，该实施例的机械臂60包括：处理器61、存储器62以及存储在存储器62中并可在处理器61上运行的计算机程序63，该计算机程序63被处理器61执行时实现实施例中的应用于冗余自由度的调整方法，为避免重复，此处不一一赘述。或者，该计算机程序被处理器61执行时实现实施例中应用于冗余自由度的调整装置中多个模型/单元的功能，为避免重复，此处不一一赘述。
机械臂60包括，但不仅限于，处理器61、存储器62。本领域技术人员可以理解，图10仅仅是机械臂60的示例，并不构成对机械臂60的限定，可以包括比图示更多或更少的部件，或者组合一些部件，或者不同的部件，例如机械臂还可以包括输入输出设备、网络接入设备、总线等。
所称处理器61可以是CPU，还可以是其他通用处理器、DSP、ASIC、FPGA或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通 用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
存储器62可以是机械臂60的内部存储单元，例如机械臂60的硬盘或内存。存储器62也可以是机械臂60的外部存储设备，例如机械臂60上配备的插接式硬盘，SMC，SD卡，Flash Card等。存储器62还可以既包括机械臂60的内部存储单元也包括外部存储设备。存储器62设置为存储计算机程序以及机械臂所需的其他程序和数据。存储器62还可以设置为暂时地存储已经输出或者将要输出的数据。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统，装置和单元的工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如，多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请实施例中的多个功能单元可以集成在一个处理单元中，也可以是多个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括多个指令用以使得一台计算机装置(可以是个人计算机，服务器，或者网络装置等)或Processor执行本申请实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等多种可以存储程序代码的介质。
本申请实施例提供了一种手术机器人，包括如图1或图10所述的机械臂。

Claims (17)

  1. 一种冗余自由度的调整方法，应用于计算机设备，包括：
    获取机械臂的末端点和远心不动点的空间位置；
    根据所述末端点和远心不动点的空间位置，确定机械臂的空间位置；
    对所述机械臂的空间位置进行碰撞分析，生成机械臂的目标冗余自由度位置，以供所述机械臂根据获取的所述机械臂的目标冗余自由度位置进行冗余自由度的调整。
  2. 根据权利要求1所述的方法，其中，所述根据所述末端点和远心不动点的空间位置，确定机械臂的空间位置，包括：
    通过机器人运动学逆解方法对所述末端点和远心不动点的空间位置进行计算，生成所述机械臂的空间位置。
  3. 根据权利要求1所述的方法，其中，所述对所述机械臂的空间位置进行碰撞分析，生成机械臂的目标冗余自由度位置，包括：
    通过碰撞检测模型对所述空间位置进行计算，生成所述机械臂的目标冗余自由度位置。
  4. 根据权利要求1所述的方法，其中，所述目标冗余自由度位置包括所述机械臂的平行四边形轴线连杆与地面的夹角，所述夹角通过重力传感器或水平仪传感器获得。
  5. 根据权利要求1所述的方法，其中，所述获取机械臂的末端点和远心不动点的空间位置的方式包括运动仿真。
  6. 根据权利要求1所述的方法，其中，所述机械臂包括带有平行四边形远心运动机构的机械臂。
  7. 一种冗余自由度的调整方法，应用于机械臂，包括：
    根据获取的机械臂的目标冗余自由度位置进行冗余自由度的调整，其中，所述机械臂的目标冗余自由度位置是由计算机设备获取机械臂的末端点和远心不动点的空间位置，根据所述末端点和远心不动点的空间位置，确定机械臂的空间位置，对所述机械臂的空间位置进行碰撞分析生成的。
  8. 根据权利要求7所述的方法，其中，所述根据获取的机械臂的目标冗余自由度位置进行冗余自由度的调整，包括：
    通过传感器获取机械臂的实际冗余自由度位置；
    判断所述机械臂的目标冗余自由度位置和所述机械臂的实际冗余自由度位置是否相同；
    响应于所述机械臂的目标冗余自由度位置和所述机械臂的实际冗余自由度位置不同，提示用户进行冗余自由度位置的调整，以将所述机械臂的实际冗余自由度位置调整至所述机械臂的目标冗余自由度位置；
    响应于所述机械臂的目标冗余自由度位置和所述机械臂的实际冗余自由度位置相同，完成冗余自由度位置的调整。
  9. 根据权利要求8所述的方法，其中，所述提示用户进行冗余自由度位置的调整，包括：
    通过所述机械臂上设置的声光报警装置提示用户进行冗余自由度位置的调整。
  10. 根据权利要求7所述的方法，其中，所述机械臂包括带有平行四边形远心运动机构的机械臂。
  11. 一种冗余自由度的调整装置，包括：
    获取模块，设置为获取机械臂的末端点和远心不动点的空间位置；
    确定模块，设置为根据所述末端点和远心不动点的空间位置，确定机械臂的空间位置；
    生成模块，设置为对所述机械臂的空间位置进行碰撞分析，生成机械臂的目标冗余自由度位置，以供机所述械臂根据获取的所述机械臂的目标冗余自由度位置进行冗余自由度的调整。
  12. 一种存储介质，其中，包括：所述存储介质包括存储的程序，其中，在所述程序运行时控制所述存储介质所在设备执行权利要求1至6任一项所述的冗余自由度的调整方法。
  13. 一种计算机设备，包括存储器和处理器，所述存储器设置为存储包括程序指令的信息，所述处理器设置为控制程序指令的执行，其中，所述程序指令被处理器加载并执行时实现权利要求1至6任一项所述的冗余自由度的调整方法的步骤。
  14. 一种冗余自由度的调整装置，其中，包括：
    调整模块，设置为根据获取的机械臂的目标冗余自由度位置进行冗余自由度的调整，其中，所述机械臂的目标冗余自由度位置是由计算机设备获取机械臂的末端点和远心不动点的空间位置，根据所述末端点和远心不动点的空间位置，确定机械臂的空间位置，对所述机械臂的空间位置进行碰撞分析生成的。
  15. 一种存储介质，包括：所述存储介质包括存储的程序，其中，在所述 程序运行时控制所述存储介质所在设备执行权利要求7至10任一项所述的冗余自由度的调整方法。
  16. 一种机械臂，包括存储器和处理器，所述存储器设置为存储包括程序指令的信息，所述处理器设置为控制程序指令的执行，所述程序指令被处理器加载并执行时实现权利要求7至10任一项所述的冗余自由度的调整方法的步骤。
  17. 一种手术机器人，包括如权利要求16所述的机械臂。
PCT/CN2023/102878 2022-07-04 2023-06-27 冗余自由度的调整方法、装置、计算机设备和机械臂 WO2024007900A1 (zh)

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