WO2024046116A1 - 操作臂回收控制方法、装置及操作设备 - Google Patents

操作臂回收控制方法、装置及操作设备 Download PDF

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Publication number
WO2024046116A1
WO2024046116A1 PCT/CN2023/113179 CN2023113179W WO2024046116A1 WO 2024046116 A1 WO2024046116 A1 WO 2024046116A1 CN 2023113179 W CN2023113179 W CN 2023113179W WO 2024046116 A1 WO2024046116 A1 WO 2024046116A1
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WO
WIPO (PCT)
Prior art keywords
arm
operating arm
damping
target
operating
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PCT/CN2023/113179
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English (en)
French (fr)
Inventor
石晗
王家寅
彭晓宁
李自汉
袁帅
Original Assignee
上海微创医疗机器人（集团）股份有限公司
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Publication of WO2024046116A1 publication Critical patent/WO2024046116A1/zh

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Classifications

    • 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
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

Definitions

  • This instruction manual relates to the technical field of medical devices, especially to operating arm recovery control methods, devices and operating equipment.
  • Robotic equipment usually includes at least one robotic arm.
  • Each robotic arm is composed of multiple sub-arms, and two adjacent sub-arms are connected by joints.
  • each joint moves according to the control instructions, causing the robotic arm to expand to achieve various operations;
  • each joint moves according to the control instructions, causing the robotic arm to shrink to the vicinity of the base to reduce the non-working time of the robotic arm.
  • the space occupied prevents the robotic arm from being collided.
  • abnormal situations may occur, such as equipment power outage, the operator's inability to send operation control instructions to the robotic equipment, robotic arm control failure, etc. These abnormal conditions may cause the extended robotic arm to fall naturally under the action of gravity, and the falling speed is relatively fast, which may easily cause damage to the robotic arm.
  • an operating arm is usually provided on the operating platform for the operator to manually operate the robotic equipment. Under abnormal circumstances, the operating arm on the operating platform is also easily damaged.
  • the purpose of the embodiments of this application is to provide an operating arm recovery control method, device and operating equipment to solve the problem that the operating arm is easily damaged.
  • the first aspect of this specification provides a control method for operating arm recovery, which includes: detecting the working status of the operating arm in real time; when the operating arm falls due to abnormal working status of the operating arm, activating the damping control unit; using the damping control unit to The operating arm performs the following operations: adjusts the falling speed of the operating arm in real time according to the falling state of the operating arm.
  • a second aspect of this specification provides an operating arm recovery control device, including: a first detection unit for detecting the working status of the operating arm in real time; and an activation unit for when the operating arm falls due to abnormal working status of the operating arm. , activate the damping control unit; the operating unit is used to use the damping control unit to perform the following operations on the operating arm: adjust the falling speed of the operating arm in real time according to the falling state of the operating arm.
  • the third aspect of this specification provides an operating device, including: a base; an operating arm, which is disposed on the base; and a controller, which is used to detect the working status of the operating arm in real time; when the working status of the operating arm is abnormal and causes When the operating arm falls, the damping control unit is activated; the damping control unit is used to perform the following operations on the operating arm: adjust the falling speed of the operating arm in real time according to the falling state of the operating arm.
  • the operating arm recovery control method, device and operating equipment provided in this manual activate the damping control unit when the operating arm falls due to abnormal working status, and adopts the damping control unit to adjust the operating arm in real time according to the falling state of the operating arm. Adjusting the falling speed of the operating arm can reduce the falling speed of the operating arm, or even adjust the operating arm to fall according to a predetermined speed curve, thereby protecting the operating arm from damage.
  • Figure 1 shows a schematic diagram of the control end device in the surgical robot system
  • Figure 2 shows a schematic diagram of the execution end device in the surgical robot system
  • Figure 3 shows a schematic diagram of a damper installed at the joint of the torsion member N;
  • Figure 4 shows a schematic diagram of the sub-arm X, the sub-arm Y on the operating arm, and the torsion member N connecting the sub-arm X and the sub-arm Y;
  • Figure 5 shows a flow chart of the operating arm recovery control method provided in this specification
  • Figure 6 shows a schematic diagram of the control effect of damping force on speed
  • Figure 7 shows a schematic diagram of the control effect on speed
  • This manual provides an operating arm recovery control method, which can be used to adjust the falling speed of the operating arm in real time to protect the operating arm from damage when a malfunction occurs in the working state of the operating arm.
  • the robotic arm described in this specification can be a robotic arm on a robotic device used to perform a target operation, or it can be a manipulator on an operating table used by an operator to control the robotic device.
  • the following takes the surgical robot system as an example to illustrate the operating arm recovery control method provided in this manual.
  • the surgical robot system is a system that performs complex surgical procedures in a minimally invasive manner.
  • Surgical robot systems usually consist of control-side equipment, execution-side equipment, and image-side equipment.
  • the control end device often called the doctor's console, is located outside the sterile area of the operating room and is used to send control instructions to the execution end device.
  • the execution end device that is, the surgical robot device (referred to as the surgical robot in this manual), is used to control the surgical instruments installed at the end of its robotic arm to perform specific surgical operations on the patient according to the control instructions.
  • Surgical robot equipment can also be equipped with endoscopic lenses.
  • the image terminal device usually called the image trolley, is used to process the information collected by the endoscopic lens to form a three-dimensional high-definition image and feed it back to the control terminal device.
  • a control terminal device 100 that is, a doctor's console (which can also be called an operating console), is provided with a manipulator 110 (also called a main operator), an imaging device, and a main controller.
  • the main operator detects the hand movement information of the surgeon and serves as the control signal for the entire surgical robot system.
  • the imaging device provides the chief surgeon with a three-dimensional image of the patient's body detected by the endoscope, and provides the chief surgeon with reliable image information for surgical operations.
  • the surgeon sits on the doctor's console and controls the surgical robot and endoscope through the manipulator. Specifically, the surgeon observes the three-dimensional intracavity image returned by the imaging device and manually operates the manipulator.
  • the manipulator changes posture under the operation of the surgeon's hands.
  • the surgical robot is used to control the movement of the robotic arm mechanism and surgical instruments.
  • the control signal changes as the posture of the manipulator changes, and the control signal controls the surgical robot to implement corresponding surgical actions.
  • the main controller is the core control component of the surgical robot system and is used to control the surgical robot system to achieve various operations and functions.
  • the execution end device 200 that is, the surgical robot device, includes a base 210 and a robotic arm mechanism 220 .
  • the surgical robot equipment is located in the sterile area of the operating room. Its main function is to carry surgical instruments installed at the end of its robotic arm to perform specific surgical operations on the patient according to the control instructions given by the surgeon, and to carry an endoscope.
  • assistant doctors are usually arranged to replace the surgical instruments installed on the surgical robot and assist the surgeon in completing the operation. In order to ensure patient safety, assistant doctors usually have higher priority on the control of surgical robots.
  • the robotic arm mechanism 220 may include a telescopic arm sub-mechanism and an operating arm sub-mechanism.
  • the first end of the telescopic arm sub-mechanism is connected to the base 210 , and the telescopic arm sub-mechanism can be extended or shortened in the radial direction of the base 210 .
  • the first end of the operating arm sub-mechanism is connected to the second end of the telescopic arm sub-mechanism, and the operating arm sub-mechanism 221 can be bent to switch between an expanded state and a retracted state.
  • the telescopic arm sub-mechanism may include a first sub-arm 2211 and a first torsion member 2212.
  • the first torsion member 2212 connects the first end of the first sub-arm 2211 and the base 210 .
  • the first torsion member 2212 can drive the first sub-arm 2211 to rotate on the horizontal plane with the first torsion member 2212 as the center of the circle, as shown by arrow A. This arrangement enables the multiple robotic arm mechanisms 220 to collapse together or expand in the horizontal direction.
  • the "rotation on the horizontal plane” mentioned here may mean that the plane of the actual rotational motion has a non-vertical angle with the horizontal plane, so that the actual rotational motion has a rotational component on the horizontal plane.
  • the operating arm sub-mechanism may include a second torsion member 2221, a second sub-arm 2222, a third torsion member 2223, a third sub-arm 2224, a fourth torsion member 2225, a fourth sub-arm 2226, a fifth torsion member 2227 and a fifth Sub-arm 2228.
  • the instrument M is installed on the fifth sub-arm 2228.
  • the second sub-arm 2222 is located below the first sub-arm 2211, and the second torsion member 2221 connects the second end of the first sub-arm 2211 and the first end of the second sub-arm 2222.
  • the second torsion member 2221 can drive the second end of the second sub-arm 2222 to move toward or away from the base 210 on a vertical plane, as shown by arrow B.
  • the third sub-arm 2224 is located on a side of the second end of the second sub-arm 2222 away from the base 210 and intersects the second sub-arm 2222 at a fixed angle (for example, the fixed angle in FIG. 2 is an acute angle).
  • the third torsion member 2223 connects the first end of the third sub-arm 2224 and the second end of the second sub-arm 2222.
  • the third torsion member 2223 can drive the third sub-arm 2224 to rotate around its own axis, such as Indicated by arrow C.
  • the fourth torsion member 2225 connects the second end of the third sub-arm 2224 and the first end of the fourth sub-arm 2226.
  • the fourth torsion member 2225 can drive the fourth sub-arm 2226 to move to change the angle between the third sub-arm 2224 and the fourth sub-arm 2226, as shown by arrow D.
  • the fifth torsion member 2227 connects the second end of the fourth sub-arm 2226 and the first end of the fifth sub-arm 2228.
  • the second end of the fifth torsion member 2227 is provided with a mechanical claw to clamp the target instrument to perform clamping, cutting, and shearing. Waiting for surgery.
  • the fifth torsion member 2227 drives the fifth sub-arm 2228 to move to change the angle between the fourth sub-arm 2226 and the fifth sub-arm 2228.
  • torsion motors may be respectively provided. These torsion motors are electrically connected to the controller, so that the controller can control the torsion motor by The torsion component is controlled to drive the movement of the sub-arm, which in turn drives the posture change of the instrument M.
  • the above-mentioned torsion components are also the joints of the robotic arm.
  • the operating arm recovery control method provided in this manual is shown in Figure 5 and includes the following steps:
  • the operating arm may be a robotic arm that performs surgical operations on the execution end device 200, or may be the manipulator 110 in FIG. 1, that is, an operating arm used by the surgeon to operate the surgical robot device.
  • Steps S10 and S20 provide the conditions for activating the damping control unit, which include three conditions: 1. Abnormal working status; 2. Drop of operating arm; 3. Drop of operating arm caused by abnormal working status. If the operating arm is controlled to drop under normal working conditions, the damping control unit will not be activated. If the working condition is abnormal, but the abnormality will not cause the operating arm to drop, the damping control unit will not be activated.
  • Whether the working status of the robotic arm on the surgical robot equipment is abnormal can be determined based on the control signal and control deviation of the robotic arm control system.
  • the operating arm on the doctor's console can be determined based on the alarm information.
  • Whether the operating arm has fallen can be determined based on the detection results of the posture detection component of the operating arm in the operating arm control system, or an inertial sensor is installed on the operating arm, and whether the operating arm is in a falling state is determined based on the output value of the inertial sensor.
  • the damping control unit may be a program unit in the controller, corresponding to the code segment burned in the controller. Then, activating the damping control unit means starting to execute the code segment corresponding to the damping control unit and exiting. The damping control unit means that the code segment corresponding to the damping control unit is no longer executed.
  • the damping control unit may also be a physical component unit provided on the operating arm.
  • the damping control unit in the form of a physical component can be a motor on a surgical robot that drives the joints of the robotic arm; it can also be a damper installed at the joints on the surgical robot that drives the robotic arm, or a doctor's console (or a Dampers, etc. installed at the joints of the manipulator (called the operating console).
  • Figure 4 shows a schematic diagram of the sub-arm X, the sub-arm Y on the operating arm, and the torsion member N connecting the sub-arm X and the sub-arm Y.
  • the sub-arm X Under the action of gravity, it will rotate and fall along the hollow arrow shown in Figure 3 with the torsion member N as the center of the circle.
  • This manual provides a solution, as shown in Figure 4, where a damper can be installed at the joint of the torsion member N. In this way, due to the damping effect of the damper, when the sub-arm X falls, its falling speed will not be too fast and damage the operating arm.
  • the damping control unit in the form of a solid component when it is not activated, it has no damping effect. It will only show the damping effect after it is activated.
  • the activation and deactivation forms of the damping control unit in the form of solid components can be determined according to its solid structure.
  • the damper shown in Figure 4 can be a hysteresis mechanical damper.
  • the structure of the hysteresis mechanical damper includes a coil, a rotor and a stator pole.
  • the rotor is made of special hysteresis material, and the stator pole has There is a certain air gap, and the rotor rotates in the air gap.
  • the damping control unit can be activated by energizing the coil, and deactivated by de-energizing the coil.
  • S30 Use the damping control unit to perform the following operations on the operating arm; adjust the falling speed of the operating arm in real time according to the falling state of the operating arm.
  • S30 may be: the program unit itself realizes real-time adjustment of the falling speed of the operating arm according to the state of the operating arm.
  • S30 can be: the controller controls the damping control unit to output the damping amount according to the falling state of the operating arm, thereby adjusting the speed of the falling operating arm.
  • the operating arm recovery control method provided in this manual is used when the operating arm's working status is abnormal and causes the operating arm to fall. Activate the damping control unit and use the damping control unit to adjust the falling speed of the operating arm in real time according to the falling state of the operating arm, which can reduce the falling speed of the operating arm, and even adjust the operating arm to fall according to a predetermined speed curve, thereby protecting the operating arm from falling. be damaged.
  • the working status of the operating arm can be continued to be detected in real time; when the working status of the operating arm exits the abnormal working status, the damping control unit is turned off. That is to say, the damping unit is only started when the operating arm falls due to abnormal working conditions. After the abnormality is over, the damping control unit can be turned off. This will not increase the control complexity under normal working conditions and can better ensure that the operating arm will not fall. damage.
  • the damping control unit may not be turned off until it is shut down and restarted.
  • S30 may include the following steps:
  • abnormal working conditions cause the robotic arm to fall. This can be divided into two situations: the first is that although the robotic arm falls, the controller can still control the movement of the robotic arm; the second is that the controller cannot control the movement of the robotic arm. .
  • the first case it may be that the hardware structure of the robotic arm is not damaged, and the controller can control the movement of the robotic arm again through program repair and other operations; in the second case, it may be that a component that affects the movement of the robotic arm has failed, and There is no way to automatically fix, for example, a motor outage at a robot arm joint.
  • S32 may be to control whether and how much damping torque the "motor that drives the joint movement of the robotic arm” outputs a damping torque, where the direction of the damping torque is the direction that drives the robotic arm to lift.
  • S32 may be to control whether the damping control unit in the form of a physical component is activated or how much damping amount is output after activation.
  • S32 may be to control whether the damping control unit in the form of a physical component is activated or how much damping amount is output after activation.
  • S32 may determine whether to output damping and how much damping amount to output based on the position of the target sub-arm among the sub-arms constituting the operating arm.
  • S32 includes the following steps S321, S322 and S323.
  • the target sub-arm refers to the focused sub-arm among the sub-arms that constitute the operating arm. In practical applications, you can focus on one of the sub-arms, such as the end sub-arm, or you can focus on multiple sub-arms, or even each sub-arm that constitutes the operating arm.
  • the above-mentioned second sub-arm 2222, third sub-arm 2224, fourth sub-arm 2226, and fifth sub-arm 2228 can all be regarded as sub-arms here.
  • S322 Determine the target damping amount corresponding to the current posture of each target sub-arm based on the predetermined correspondence between the position and posture of the target sub-arm and the target damping amount.
  • the correspondence can be determined through experiments, and the "experiment" here can be a destructive experiment or a simulation experiment.
  • the "pose” of the target sub-arm includes not only the three-dimensional coordinate position in the spatial coordinates, but also the attitude relationship (such as the angle) between the target sub-arm and the adjacent sub-arm.
  • the target damping amount can be represented by a damping torque or a control amount to achieve the required damping torque (for example, the control current of the motor used to achieve the damping effect can also be used to characterize the damping amount).
  • the output of the target damping amount can also use a closed-loop feedback control system to ensure the accuracy of the output target damping amount.
  • S32 includes the following steps S324, S325, S326 and S327.
  • the target sub-arm refers to the focused sub-arm among the sub-arms that constitute the operating arm. In practical applications, you can focus on one of the sub-arms, such as the end sub-arm, or you can focus on multiple sub-arms, or even each sub-arm that constitutes the operating arm.
  • the above-mentioned second sub-arm 2222, third sub-arm 2224, fourth sub-arm 2226, and fifth sub-arm 2228 can all be regarded as sub-arms here.
  • S325 Determine the expected pose change speed of the target sub-arm in the current pose according to the predetermined speed expectation curve of the target sub-arm; the speed expectation curve includes the expected pose change speed corresponding to the pose where the target sub-arm is located.
  • the correspondence can be determined through experiments, and the "experiment" here can be a destructive experiment or a simulation experiment.
  • the "pose” of the target sub-arm includes not only the three-dimensional coordinate position in the spatial coordinates, but also the attitude relationship (such as the angle) between the target sub-arm and the adjacent sub-arm.
  • the target damping amount can be represented by a damping torque or a control amount to achieve the required damping torque (for example, the control current of the motor used to achieve the damping effect can also be used to characterize the damping amount).
  • S326 Determine whether the current pose change speed is greater than the expected pose change speed.
  • This embodiment predetermines the optimal speed-position curve during the falling process of the operating arm. If the speed during the falling process of the operating arm is higher than the expected speed, the output damping is used to reduce the falling speed of the operating arm to adjust the falling speed of the operating arm. The speed complies with the optimal speed-position curve, reducing damage to the operating arm.
  • S32 may also include: obtaining the current posture and the current posture change speed of the target sub-arm of the operating arm; determining whether the current posture change speed is greater than the preset value of the current posture change speed, and Increase; if so, increase the damping of the target sub-arm, otherwise, maintain the damping of the target sub-arm.
  • the preset value of the posture change speed can be a single value; or it can be that different positions correspond to different preset values of the posture change speed during the entire falling process of the operating arm.
  • ⁇ is the motor output torque
  • ⁇ G is the self-weight balance torque output by the self-balancing module
  • ⁇ D is the applied damping force
  • q are the joint angle
  • M is the inertia matrix
  • C is the Christoffel matrix
  • G is the gravity moment
  • ⁇ f is the friction moment.
  • the magnitude of the applied damping force ⁇ D depends on the current speed with ideal speed in, Relevant to the current position q.
  • FIG. 7 is a schematic diagram of the speed change trajectory of a single-joint operating arm under damping control.
  • the moment of inertia is 0.5kgm 2
  • the expected speed v d is constant at 0.1rad/s
  • the initial speed v is 0.2rad/s
  • the damping coefficient K d 2.
  • the device includes a first detection unit, an activation unit and an operating unit.
  • the first detection unit is used to detect the working status of the operating arm in real time.
  • the activation unit is used to activate the damping control unit when the working state of the operating arm is abnormal and causes the operating arm to fall.
  • the operating unit is used to use a damping control unit to perform the following operations on the operating arm: adjust the falling speed of the operating arm in real time according to the falling state of the operating arm.
  • the damping control unit after activating the damping control unit, it also includes: a second detection unit for detecting the working status of the operating arm in real time; and a closing unit for detecting the operating arm's working status when it exits the abnormal working status. Switch off the damping control unit.
  • the operating unit includes: a first judgment subunit, used to judge in real time whether the operating arm is in a balanced position; a first control subunit, used to control at least the output of a target damping amount if not, the target
  • the damping amount is the minimum damping amount that prevents the operating arm from being damaged when the target sub-arm falls at the current posture and/or the current posture change speed of the target operating arm.
  • the first control subunit includes: a first acquisition subunit, used to acquire the current posture of each target sub-arm of the operating arm; a first determination subunit, used to determine the target according to the target determined in advance through experiments. The corresponding relationship between the pose of the sub-arm and the target damping amount determines the target damping amount corresponding to the current pose of each target sub-arm; the second control subunit is used to use the target damping amount as the control target to control the damping output component to output damping .
  • the first control subunit includes: a second acquisition subunit, used to acquire the current posture and current posture change speed of each target sub-arm of the operating arm; a second determination subunit, used to obtain the current posture and posture change speed according to The predetermined speed expectation curve of the target sub-arm determines the expected pose change speed of the target sub-arm in the current pose; the speed expectation curve includes the expected pose change speed corresponding to the pose of the target sub-arm; second The judgment subunit is used to judge whether the current pose change speed is greater than the expected pose change speed; the third control subunit is used to control the output damping of the target sub-arm if yes; otherwise, control the target sub-arm not to Output damping.
  • the first control subunit includes: a third acquisition subunit, used to acquire the target sub-arm on the operating arm. The current pose and the current pose change speed; the third judgment subunit is used to determine whether the current pose change speed is greater than the preset value of the current pose change speed and is increasing; the fourth control subunit is used If so, increase the damping on the target sub-arm.
  • the output component of the damping amount includes any of the following: a motor that drives the joint movement of the operating arm, and a damper installed at the joint that drives the operating arm movement.
  • This specification also provides an operating device, including: a base; an operating arm, which is arranged on the base; a controller, used to detect the working status of the operating arm in real time; when the working status of the operating arm is abnormal and the operation When the arm falls, the damping control unit is activated; the damping control unit is used to perform the following operations on the operating arm: adjust the falling speed of the operating arm in real time according to the falling state of the operating arm.
  • Embodiments of the present invention also provide a controller, which may include a processor and a memory, where the processor and the memory may be connected through a bus or other means.
  • This specification also provides a computer storage medium that stores computer program instructions. When the computer program instructions are executed, the steps of the aforementioned embodiments are implemented.

Abstract

本说明书提供了操作臂回收控制方法、装置及操作设备，其中，该方法包括：实时检测操作臂的工作状态；当操作臂的工作状态出现异常而导致操作臂下落时，激活阻尼控制单元；采用阻尼控制单元，对操作臂执行以下操作：根据操作臂下落的状态，实时调节操作臂下落的速度。本说明书所提供的操作臂回收控制方法，在操作臂的工作状态出现异常而导致操作臂下落时，激活阻尼控制单元，并采用阻尼控制单元，根据操作臂下落的状态，实时调节操作臂下落的速度，能够降低操作臂下落的速度，甚至调节操作臂按照预定速度曲线下落，从而能够保护操作臂不被损坏。

Description

操作臂回收控制方法、装置及操作设备
本申请要求2022年08月31日递交的申请号为202211055560.8、发明名称为“操作臂回收控制方法、装置及操作设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本说明书涉及医疗器械技术领域，特别涉及操作臂回收控制方法、装置及操作设备。
背景技术
机器人设备通常包括至少一条机械臂，每条机械臂由多条子臂构成，相邻两条子臂之间通过关节连接。在工作时，各关节根据控制指令动作，使得机械臂展开以实现各种操作；在工作接收时，各关节根据控制指令动作，使得机械臂收缩至基座附近，以减少机械臂在非工作时间所占用的空间，避免机械臂被碰撞。
然而，在机械臂伸展开来执行工作任务时，可能会出现异常情况，例如，设备断电、操作者端无法将操作控制指令发送至机器人设备、机械臂控制故障等。这些异常情况可能导致伸展开的机械臂在重力作用下自然下落，且下落速度较快，容易导致机械臂损坏。此外，用于操作者手动操作机器人设备的操作台上通常也设置有操作臂，在异常情况下，操作台上的操作臂也容易损坏。
发明内容
本申请实施方式的目的是提供操作臂回收控制方法、装置及操作设备，以解决操作臂容易损坏的问题。
本说明书第一方面提供一种操作臂回收控制方法，包括：实时检测操作臂的工作状态；当操作臂的工作状态出现异常而导致操作臂下落时，激活阻尼控制单元；采用阻尼控制单元，对操作臂执行以下操作：根据操作臂下落的状态，实时调节操作臂下落的速度。
本说明书第二方面提供一种操作臂回收控制装置，包括：第一检测单元，用于实时检测操作臂的工作状态；激活单元，用于当操作臂的工作状态出现异常而导致操作臂下落时，激活阻尼控制单元；操作单元，用于采用阻尼控制单元，对操作臂执行以下操作：根据操作臂下落的状态，实时调节操作臂下落的速度。
本说明书第三方面提供一种操作设备，包括：基座；操作臂，设置在所述基座上；控制器，用于实时检测操作臂的工作状态；当操作臂的工作状态出现异常而导致操作臂下落时，激活阻尼控制单元；采用阻尼控制单元，对操作臂执行以下操作：根据操作臂下落的状态，实时调节操作臂下落的速度。
本说明书所提供的操作臂回收控制方法、装置及操作设备，在操作臂的工作状态出现异常而导致操作臂下落时，激活阻尼控制单元，并采用阻尼控制单元，根据操作臂下落的状态，实时调节操作臂下落的速度，能够降低操作臂下落的速度，甚至调节操作臂按照预定速度曲线下落，从而能够保护操作臂不被损坏。
附图说明
为了更清楚地说明本说明书实施例，下面将对实施例中所需要使用的附图作简单地介绍，下面描述中的附图仅仅是本说明书中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1示出了手术机器人系统中控制端设备的示意图；
图2示出了手术机器人系统中执行端设备的示意图；
图3示出了在扭转构件N的关节处安装的阻尼器的示意图；
图4示出了操作臂上的子臂X、子臂Y、连接子臂X和子臂Y的扭转构件N的示意图；
图5示出了本说明书提供的操作臂回收控制方法的流程图；
图6示出了阻尼力对速度的控制效果示意图；
图7示出了对速度的控制效果示意图；
具体实施方式
为了使本技术领域的人员更好地理解本说明书中的技术方案，下面将结合本说明书实施例中的附图，对本说明书实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本说明书一部分实施例，而不是全部的实施例。基于本说明书中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都应当属于本说明书保护的范围。
本说明书提供一种操作臂回收控制方法，可以用于在操作臂工作状态出现故障时，实时调节操作臂的下落速度，保护操作臂不受损坏。
本说明书书中所述的机械臂可以是用于执行目标操作的机器人设备上的机械臂，也可以是用于操作者控制机器人设备的操作台上的操纵器。下面以手术机器人系统为例，来阐述本说明书所提供的操作臂回收控制方法。
手术机器人系统是一种通过微创的方式实施复杂外科手术的系统。手术机器人系统通常由控制端设备、执行端设备、图像端设备组成。控制端设备，通常称为医生控制台，位于手术室的无菌区之外，用于向执行端设备发送控制指令。执行端设备，即手术机器人设备(本说明书中简称为手术机器人)，用于根据控制指令控制安装在其机械臂末端的手术器械在患者身上执行具体的手术操作。手术机器人设备上还可以搭载内窥镜头。图像端设备，通常称为图像台车，用于将内窥镜头采集到的信息进行处理形成三维立体高清影像反馈至控制端设备等。
如图1所示，控制端设备100，即医生控制台(也可以称为操作台)上设置操纵器110(也称主操作手)、成像设备、主控制器。主操作手检测主刀医生的手部运动信息，作为整个手术机器人系统的控制信号。成像设备为主刀医生提供内窥镜所检测到的患者体内的立体图像，为主刀医生进行手术操作提供可靠的图像信息。在进行手术时，主刀医生坐在医生控制台上，通过操纵器来控制手术机器人和内窥镜。具体地，主刀医生根据成像设备观察传回的腔内立体图像并手动操作操纵器，操纵器在主刀医生双手的操作下发生位姿变化，手术机器人端用于控制机械臂机构及手术器械运动的控制信号随操纵器的位姿变化而变化，该控制信号控制手术机器人实现相应的手术动作。主控制器为手术机器人系统的核心控制元件，用于控制手术机器人系统实现各种操作与功能。
如图2所示，执行端设备200，即手术机器人设备，包括基座210和机械臂机构220。手术机器人设备位于手术室的无菌区内，主要功能是搭载安装在其机械臂末端的手术器械根据主刀医生给出的控制指令在患者身上执行具体的手术操作，以及搭载内窥镜。在无菌区内，通常还会安排助手医生，负责更换手术机器人上所安装的手术器械，协助主刀医生完成手术。为了确保患者安全，助手医生通常对手术机器人的控制具有更高的优先级。
具体地，在图2中机械臂机构220可以包括伸缩臂子机构和操作臂子机构。伸缩臂子机构的第一端连接在基座210上，该伸缩臂子机构能够在基座210的径向方向上伸长或缩短。操作臂子机构的第一端连接在伸缩臂子机构的第二端上，该操作臂子机构221能够进行弯曲以在展开状态和收缩状态之间进行切换。
伸缩臂子机构可以包括第一子臂2211和第一扭转构件2212。第一扭转构件2212连接第一子臂2211的第一端与基座210。该第一扭转构件2212能带动第一子臂2211以第一扭转构件2212为圆心在水平面上旋转，如箭头A所示。这一设置使得多条机械臂机构220能够在水平方向上收缩在一起或展开。
这里所述的“在水平面上旋转”，可以是指实际旋转运动的平面与水平面具有非垂直的夹角，从而实际旋转运动在水平面上具有旋转的分量。
操作臂子机构可以包括第二扭转构件2221、第二子臂2222、第三扭转构件2223、第三子臂2224、第四扭转构件2225、第四子臂2226、第五扭转构件2227和第五子臂2228。第五子臂2228上安装器械M。
第二子臂2222位于第一子臂2211的下方，第二扭转构件2221连接第一子臂2211的第二端与第二子臂2222的第一端。第二扭转构件2221能带动第二子臂2222的第二端在竖直平面上朝向或远离基座210运动，如箭头B所示。
第三子臂2224位于第二子臂2222第二端的远离基座210的一侧，且与第二子臂2222以固定夹角(例如，图2中的固定夹角为锐角)相交。第三扭转构件2223连接第三子臂2224的第一端与第二子臂2222的第二端，该第三扭转构件2223能带动第三子臂2224以自身的轴线为中心进行旋转运动，如箭头C所示。
第四扭转构件2225连接第三子臂2224的第二端与第四子臂2226的第一端。第四扭转构件2225能带动第四子臂2226运动，以改变第三子臂2224与第四子臂2226之间的夹角，如箭头D所示。
第五扭转构件2227连接第四子臂2226的第二端与第五子臂2228的第一端，第五扭转构件2227的第二端设置机械爪，以夹持目标器械实施夹、切、剪等手术操作。第五扭转构件2227带动第五子臂2228运动，以改变第四子臂2226与第五子臂2228之间的夹角。
在上述第二扭转构件2221、第三扭转构件2223、第四扭转构件2225、第五扭转构件22222中，可以分别设置扭转电机，这些扭转电机与控制器电连接，从而控制器可以通过控制扭转电机控制扭转构件带动子臂运动，进而带动器械M的位姿变化。上述各扭转构件也即机械臂的各关节。
本说明书所提供的操作臂回收控制方法，如图5所示，包括如下步骤：
S10：实时检测操作臂的工作状态。
该操作臂可以是执行端设备200上执行手术操作的各机械臂，也可以是图1中的操纵器110，即用于主刀医生操作手术机器人设备的操作臂。
S20：当操作臂的工作状态出现异常而导致操作臂下落时，激活阻尼控制单元。
步骤S10和S20给出了激活阻尼控制单元的条件，即包括3个：1、工作状态异常；2、操作臂下落；3、操作臂下落是由工作状态异常导致的。若正常工作状态下控制操作臂下落则不激活阻尼控制单元，若工作状态异常，但是该异常不会导致操作臂下落，则也不会激活阻尼控制单元。
手术机器人设备上的机械臂的工作状态是否出现异常，可以根据机械臂控制系统的控制信号及控制偏差来确定。医生控制台上的操作臂可以根据报警信息来却确定。
操作臂是否下落，可以根据操作臂控制系统中操作臂的位姿检测组件的检测结果来确定，或者在操作臂上安装惯性传感器，根据惯性传感器的输出值确定操作臂是否处于下落状态。
在一些实施例中，阻尼控制单元可以是控制器中的程序单元，对应于烧录在控制器中的代码段，那么，激活阻尼控制单元也即是开始执行阻尼控制单元对应的代码段，退出阻尼控制单元即是不再执行阻尼控制单元对应的代码段。
在一些实施例中，阻尼控制单元也可以是设置在操作臂上的实体组件单元。实体组件形式的阻尼控制单元，例如，可以为手术机器人上驱动机械臂的关节活动的电机；也可以为手术机器人上带动机械臂活动的关节处安装的阻尼器等，或者医生控制台(也可以称为操作台)上在操纵器的关节处安装的阻尼器等。
图4示出了操作臂上的子臂X、子臂Y、连接子臂X和子臂Y的扭转构件N的示意图，在图4所示的位姿状态下，操作臂下落，则子臂X会在重力作用下，沿图3中所示的空心箭头，以扭转构件N为圆心进行旋转下落。本说明书提供一种方案，如图4所示，可以在扭转构件N的关节处安装阻尼器。这样，受阻尼器的阻尼作用，子臂X在下落时，其下落速度不会过快而损坏操作臂。
对于实体组件形式的阻尼控制单元，在未激活时，其没有阻尼作用，只有在被激活后，才会显现出阻尼作用。实体组件形式的阻尼控制单元的激活及关闭形式可以根据其实体结构来确定。例如，图4中所示的阻尼器可以为磁滞式机械阻尼器，该磁滞式机械阻尼器的结构包括线圈、转子和定子磁极，转子由特殊的磁滞材料制成，定子磁极中有一定的气隙，转子在气隙中转动。当线圈通电时，气隙中产生磁场，使转子产生磁滞效应。当转子在外力作用下克服磁滞力转动时，产生额定的扭矩，该扭矩即可以作为阻尼力。扭矩仅与激磁电流大小有关，与转速及温度无关。因此，可以采用给线圈通电的方式激活阻尼控制单元，给线圈断电的方式关闭阻尼控制单元。
S30：采用阻尼控制单元，对操作臂执行如下操作；根据操作臂下落的状态，实时调节操作臂下落的速度。
对于程序单元形式的阻尼控制单元，S30可以是：程序单元本身实现根据操作臂的状态实时调节操作臂下落的速度。
对于实体组件形式的阻尼控制单元，S30可以是：控制器根据操作臂下落的状态，控制阻尼控制单元输出阻尼量，从而调节操作臂下落的速度。
本说明书所提供的操作臂回收控制方法，在操作臂的工作状态出现异常而导致操作臂下落时， 激活阻尼控制单元，并采用阻尼控制单元，根据操作臂下落的状态，实时调节操作臂下落的速度，能够降低操作臂下落的速度，甚至调节操作臂按照预定速度曲线下落，从而能够保护操作臂不被损坏。
在一些实施例中，在激活阻尼控制模式之后，还可以继续实时检测操作臂的工作状态；在操作臂的工作状态退出异常工作状态的情况下，关闭阻尼控制单元。也即，只有在工作状态异常导致操作臂下落时才启动阻尼单元，异常结束后即可关闭阻尼控制单元，不会增加正常工作状态下的控制复杂度，又能够较好地保障操作臂不会损坏。
在一些实施例中，并不是在退出异常工作状态时就立即关闭阻尼控制单元，有可能会延迟一段时间再关闭阻尼控制单元，或者等待操作臂达到平衡位置后再关闭阻尼控制单元。
在一些实施例中，阻尼控制单元也可以一直不关闭，直至关机重启之后再关闭。
在一些实施例中，S30可以包括如下步骤：
S31：实时判断操作臂是否处于平衡位置。
当操作臂处于平衡位置时，操作臂不会由于自然重力作用下落。
S32：若否，控制至少输出目标阻尼量，所述目标阻尼量为在操作臂以各目标操作臂的当前位姿和/或当前位姿变化速度下落时，使得操作臂不受损坏的最小阻尼量。
在手术机器人侧，工作状态异常导致机械臂下落，可以分为两种情况：第一种是虽然机械臂下落，但是控制器依然能够控制机械臂动作；第二种是控制器无法控制机械臂动作。第一种情况，可能是机械臂的硬件结构并未损坏，控制器还可以通过程序修复等操作再次控制机械臂动作；第二种情况，可能是对机械臂动作有影响的部件出现故障，且无法自动修复，例如，机械臂关节处的电机断电。
对于上述第一种情况，S32可以是控制“驱动机械臂的关节活动的电机”是否输出阻尼力矩以及输出多少阻尼力矩，其中，阻尼力矩的方向为驱使机械臂抬起的方向。
对于上述第二种情况，S32可以是控制上述实体组件形式的阻尼控制单元是否被激活或者激活后输出多少阻尼量。
在医生控制台侧，工作状态异常导致操纵器下落，可能是在手动调节操纵器位姿后、用于固定操纵器位姿的部件出现故障，且无法自动修复，例如，用于输出阻尼以使得操纵器对抗重力作用的电机断电。在这种情况下，S32可以是控制上述实体组件形式的阻尼控制单元是否被激活或者激活后输出多少阻尼量。
在一些实施例中，S32可以根据构成操作臂的各子臂中的目标子臂的位置来确定是否输出阻尼以及输出多少阻尼量。
例如，S32包括如下步骤S321、S322和S323。
S321：获取操作臂上目标子臂的当前位姿。
目标子臂是指构成操作臂的各子臂中被关注的一个子臂。在实际应用时，可以关注其中一个子臂，例如末端子臂，也可以关注多个子臂，甚至构成操作臂的每一个子臂。上述第二子臂2222、第三子臂2224、第四子臂2226、第五子臂2228都可以视为这里的子臂。
S322：根据预先确定的目标子臂的位姿与目标阻尼量的对应关系，确定各目标子臂的当前位姿对应的目标阻尼量。
对应关系可以是通过实验确定的，而这里的“实验”，可以是破坏性实验，也可以是仿真实验。
目标子臂的“位姿”，既包括在空间坐标中的三维坐标位置，也包括目标子臂与相邻子臂之间的姿态关系(例如夹角)等。
该目标阻尼量可以通过阻尼力矩来表示，也可以通过实现所需要阻尼力矩的控制量来表示(例如用于实现阻尼作用的电机的控制电流也可以被用于表征阻尼量)。
S323：以目标阻尼量作为控制目标，控制阻尼输出组件输出阻尼。
目标阻尼量的输出也可以采用闭环的反馈控制系统，从而保证所输出的目标阻尼量的准确性。
在一些实施例中，S32包括如下步骤S324、S325、S326和S327。
S324：获取操作臂各目标子臂的当前位姿、当前位姿变化速度。
目标子臂是指构成操作臂的各子臂中被关注的一个子臂。在实际应用时，可以关注其中一个子臂，例如末端子臂，也可以关注多个子臂，甚至构成操作臂的每一个子臂。上述第二子臂2222、第三子臂2224、第四子臂2226、第五子臂2228都可以视为这里的子臂。
S325：根据预先确定的目标子臂的速度期望曲线，确定目标子臂在当前位姿的期望位姿变化速度；所述速度期望曲线包括目标子臂所在的位姿对应的期望位姿变化速度。
对应关系可以是通过实验确定的，而这里的“实验”，可以是破坏性实验，也可以是仿真实验。
目标子臂的“位姿”，既包括在空间坐标中的三维坐标位置，也包括目标子臂与相邻子臂之间的姿态关系(例如夹角)等。
该目标阻尼量可以通过阻尼力矩来表示，也可以通过实现所需要阻尼力矩的控制量来表示(例如用于实现阻尼作用的电机的控制电流也可以被用于表征阻尼量)。
S326：判断当前位姿变化速度是否大于期望位姿变化速度。
S327：在是的情况下，控制对目标子臂输出阻尼；否则，控制对目标子臂不输出阻尼。
该实施例预先确定了操作臂下落过程中的最佳速度-位置曲线，若操作臂下落过程中的速度高于期望速度，则输出阻尼用于降低操作臂的下落速度，以调节操作臂的下落速度符合最佳速度-位置曲线，减小对操作臂的损坏。
在一些实施例中，S32还可以包括：获取操作臂目标子臂的当前位姿、当前位姿变化速度；判断当前位姿变化速度是否大于当前位姿的位姿变化速度预设值，并且在增大；若是，则增大对目标子臂的阻尼，否则，维持对目标子臂的阻尼。
在操作臂的整个下落过程中，该位姿变化速度预设值可以是一个数值；也可以是在操作臂的整个下落过程中，不同位置对应不同的位姿变化速度预设值。
在操作臂运动过程中施加阻尼力可以对该过程产生阻碍作用。通过改变阻尼力大小，可以改变运动速度的变化速率，进而控制该运动过程的速度。该过程的表达式为：
其中，τ为电机输出力矩，τG为自平衡模块输出的自重平衡力矩，τD为施加的阻尼力，q、 为关节转角、速度与加速度，M为惯性矩阵，C为Christoffel矩阵，G为重力矩，τf为摩擦力矩。
考虑到实现重力自平衡时，电机输出力矩τ为0，此时，阻尼力对速度的控制效果如图6所示，其中，左图和右图的横坐标表示时间，纵坐标表示速度，单关节操作臂的某段运动轨迹，转动惯量为1kgm2，左图表示未加阻尼的情形，速度恒定为0.1rad/s，右图表示同一段轨迹施以0.1Nm的阻尼力后的情形。从图6可以看出，阻尼力改变了速度的变化速率，进而改变了速度。
施加的阻尼力τD的大小取决于当前的速度与理想速度其中，与当前位置q有关。
例如，基于线性阻尼的算法一种实施例可以为：其中，Kd为阻尼系数。该实施例对速度的控制效果如图7所示。图7为单关节操作臂在阻尼控制下的速度变化轨迹示意图，其中，转动惯量为0.5kgm2，期望速度vd恒定为0.1rad/s，初始速度v为0.2rad/s，阻尼系数Kd＝2。
从图7可以看出，当当前速度大于理想速度时，通过施加通过该控制算法计算所得阻尼力，可以减小运动速度，直至其与理想速度一致。
本说明书提供了一种操作臂回收控制装置，可以用于实现图5所示的操作臂回收控制方法。该装置包括第一检测单元、激活单元和操作单元。
第一检测单元用于实时检测操作臂的工作状态。
激活单元用于当操作臂的工作状态出现异常而导致操作臂下落时，激活阻尼控制单元。
操作单元用于采用阻尼控制单元，对操作臂执行以下操作：根据操作臂下落的状态，实时调节操作臂下落的速度。
在一些实施例中，在激活阻尼控制单元之后，还包括：第二检测单元，用于实时检测操作臂的工作状态；关闭单元，用于在操作臂的工作状态退出异常工作状态的情况下，关闭阻尼控制单元。
在一些实施例中，所述操作单元包括：第一判断子单元，用于实时判断操作臂是否处于平衡位置；第一控制子单元，用于若否，控制至少输出目标阻尼量，所述目标阻尼量为在目标子臂以目标操作臂的当前位姿和/或当前位姿变化速度下落时，使得操作臂不受损坏的最小阻尼量。
在一些实施例中，所述第一控制子单元包括：第一获取子单元，用于获取操作臂各目标子臂的当前位姿；第一确定子单元，用于根据预先通过实验确定的目标子臂的位姿与目标阻尼量的对应关系，确定各目标子臂的当前位姿对应的目标阻尼量；第二控制子单元，用于以目标阻尼量作为控制目标，控制阻尼输出组件输出阻尼。
在一些实施例中，所述第一控制子单元包括：第二获取子单元，用于获取操作臂各目标子臂的当前位姿、当前位姿变化速度；第二确定子单元，用于根据预先确定的目标子臂的速度期望曲线，确定目标子臂在当前位姿的期望位姿变化速度；所述速度期望曲线包括目标子臂所在的位姿所对应的期望位姿变化速度；第二判断子单元，用于判断当前位姿变化速度是否大于期望位姿变化速度；第三控制子单元，用于在是的情况下，控制对目标子臂输出阻尼；否则，控制对目标子臂不输出阻尼。
在一些实施例中，所述第一控制子单元包括：第三获取子单元，用于获取操作臂上目标子臂的 当前位姿、当前位姿变化速度；第三判断子单元，用于判断当前位姿变化速度是否大于当前位姿的位姿变化速度预设值，并且在增大；第四控制子单元，用于若是，则增大对目标子臂的阻尼。
在一些实施例中，阻尼量的输出组件包括以下任意一者：驱动操作臂的关节活动的电机、带动操作臂活动的关节处安装的阻尼器。
本说明书还提供了一种操作设备，包括：基座；操作臂，设置在所述基座上；控制器，用于实时检测操作臂的工作状态；当操作臂的工作状态出现异常而导致操作臂下落时，激活阻尼控制单元；采用阻尼控制单元，对操作臂执行以下操作：根据操作臂下落的状态，实时调节操作臂下落的速度。
上述机械臂回收控制装置及设备的具体细节可以参阅前述实施例中的相关描述和效果进行理解，此处不再赘述。
本发明实施例还提供了一种控制器，该控制器可以包括处理器和存储器，其中处理器和存储器可以通过总线或者其他方式连接。
上述控制器具体细节可以参阅前述实施例中的相关描述和效果进行理解，此处不再赘述。
本说明书还提供一种计算机存储介质，所述计算机存储介质存储有计算机程序指令，所述计算机程序指令被执行时实现前述实施例的步骤。

Claims (10)

  1. 一种操作臂回收控制方法，其特征在于，包括：
    实时检测操作臂的工作状态；
    当操作臂的工作状态出现异常而导致操作臂下落时，激活阻尼控制单元；
    采用阻尼控制单元，对操作臂执行以下操作：根据操作臂下落的状态，实时调节操作臂下落的速度。
  2. 根据权利要求1所述的方法，其特征在于，根据操作臂下落的状态，实时调节操作臂下落的速度，包括：
    实时判断操作臂是否处于平衡位置；
    若否，控制至少输出目标阻尼量，所述目标阻尼量为在目标子臂以目标操作臂的当前位姿和/或当前位姿变化速度下落时，使得操作臂不受损坏的最小阻尼量。
  3. 根据权利要求2所述的方法，其特征在于，控制至少输出目标阻尼量，所述目标阻尼量为在操作臂以各目标子臂的当前位姿和/或当前位姿变化速度下落时，使得操作臂不受损坏的阻尼量包括：
    获取操作臂各目标子臂的当前位姿；
    根据预先通过实验确定的目标子臂的位姿与目标阻尼量的对应关系，确定各目标子臂的当前位姿对应的目标阻尼量；
    以目标阻尼量作为控制目标，控制阻尼输出组件输出阻尼。
  4. 根据权利要求2所述的方法，其特征在于，控制至少输出目标阻尼量，所述目标阻尼量为在操作臂以各目标子臂的当前位姿和/或当前位姿变化速度下落时，使得操作臂不受损坏的阻尼量包括：
    获取操作臂各目标子臂的当前位姿、当前位姿变化速度；
    根据预先确定的目标子臂的速度期望曲线，确定目标子臂在当前位姿的期望位姿变化速度；所述速度期望曲线包括目标子臂所在的位姿所对应的期望位姿变化速度；
    判断当前位姿变化速度是否大于期望位姿变化速度；
    在是的情况下，控制输出对目标子臂的阻尼。
  5. 根据权利要求2所述的方法，其特征在于，控制至少输出目标阻尼量，所述目标阻尼量为在操作臂以各目标子臂的当前位姿和/或当前位姿变化速度下落时，使得操作臂不受损坏的阻尼量包括：
    获取操作臂上目标子臂的当前位姿、当前位姿变化速度；
    判断当前位姿变化速度是否大于当前位姿的位姿变化速度预设值，并且在增大；
    若是，则增大对目标子臂的阻尼。
  6. 根据权利要求2所述的方法，其特征在于，阻尼量的输出组件包括以下任意一者：驱动操作臂的关节活动的电机、带动操作臂活动的关节处安装的阻尼器。
  7. 一种操作臂回收控制装置，其特征在于，包括：
    第一检测单元，用于实时检测操作臂的工作状态；
    激活单元，用于当操作臂的工作状态出现异常而导致操作臂下落时，激活阻尼控制单元；
    操作单元，用于采用阻尼控制单元，对操作臂执行以下操作：根据操作臂下落的状态，实时调节操作臂下落的速度。
  8. 一种操作设备，其特征在于，包括：
    基座；
    操作臂，设置在所述基座上；
    控制器，用于实时检测操作臂的工作状态；当操作臂的工作状态出现异常而导致操作臂下落时，激活阻尼控制单元；采用阻尼控制单元，对操作臂执行以下操作：根据操作臂下落的状态，实时调节操作臂下落的速度。
  9. 一种控制器，其特征在于，包括：
    存储器和处理器，所述处理器和所述存储器之间互相通信连接，所述存储器中存储有计算机指令，所述处理器通过执行所述计算机指令，从而实现权利要求1至6任一项所述方法的步骤。
  10. 一种计算机存储介质，其特征在于，所述计算机存储介质存储有计算机程序指令，所述计算机程序指令被执行时实现权利要求1至6任一项所述方法的步骤。
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