WO2025112140A1 - 一种基于脉搏波信号的机械臂按压力度控制方法和系统 - Google Patents

一种基于脉搏波信号的机械臂按压力度控制方法和系统 Download PDF

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WO2025112140A1
WO2025112140A1 PCT/CN2023/141316 CN2023141316W WO2025112140A1 WO 2025112140 A1 WO2025112140 A1 WO 2025112140A1 CN 2023141316 W CN2023141316 W CN 2023141316W WO 2025112140 A1 WO2025112140 A1 WO 2025112140A1
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pulse wave
trajectory
pressing
wave signal
pressing force
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English (en)
French (fr)
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孙方敏
李春阳
李烨
谢晓亮
唐闽
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed

Definitions

  • the present invention relates to the field of computer application technology, and more specifically, to a method and system for controlling the pressing force of a robot arm based on a pulse wave signal, which is particularly suitable for a scenario of pressing and stopping bleeding at a femoral artery puncture point.
  • Cardiac interventional therapy has become a common treatment for cardiovascular diseases such as coronary heart disease, arrhythmia, congenital heart disease, and valvular heart disease.
  • cardiovascular diseases such as coronary heart disease, arrhythmia, congenital heart disease, and valvular heart disease.
  • the radial artery and femoral artery are the main surgical routes for cardiac interventional therapy.
  • the femoral artery is easy to puncture and catheterize due to its thick diameter, and has unparalleled advantages over other interventional routes when dealing with some complex lesions. However, it is precisely because of the large diameter of the femoral artery and the fast blood flow rate that the difficulty of immediate hemostasis after surgery is another problem that plagues interventional surgeons.
  • the traditional manual compression method has a long compression time (compression hemostasis time after extubation is mostly about 25 minutes), is difficult to control, has poor hemostasis effect, and has a long limb immobilization time for patients, which not only increases the workload of doctors, but also aggravates the discomfort and pain of patients, and even causes symptoms such as urinary retention or back pain.
  • the recently developed arterial puncture closure devices and femoral artery compression hemostats are unable to simulate the intensity of local compression applied by human operators to different individual puncture points due to individual physiological differences among patients (such as vascular conditions and obesity). As a result, they often increase the risk of postoperative complications due to misplaced or inappropriate pressure.
  • the femoral artery compression hemostat commonly used in clinical practice includes lifting bracket type, inflatable type, and rotary type.
  • electronic pressurized hemostat has emerged due to breakthroughs in ergonomic stability and control performance.
  • the results of relevant clinical application research show that although these devices shorten postoperative bed rest and hospitalization time and improve patient comfort to a certain extent, due to the lack of real-time monitoring and feedback of physiological signals such as the dorsalis pedis artery pulsation of the patient and the inability to adjust the pressure in real time, the incidence of clinical complications in patients using this type of device is not necessarily lower than that of manual compression.
  • a special puncture point immediate hemostasis operation mechanism which can adaptively select the appropriate compression scheme according to the real-time monitored patient vital signs information, and form a closed loop of compression operation and patient vital signs monitoring, thereby improving convenience, flexibility, and patient comfort and reducing the incidence of postoperative complications.
  • force control methods include impedance control, hybrid force/position control and intelligent control.
  • the impedance control method continuously adjusts the impedance parameters of the target by actually detecting the force between the robot and the environment, and then controls the position of the robot through the position controller to finally achieve force control.
  • the hybrid force/position control method decomposes the robot's motion space into force control space and position control space through the selection matrix, assigns a control method to each joint, and realizes the separate control of force and position of the entire robot.
  • Intelligent control methods include neural network control, optimization algorithm control, deep reinforcement learning, etc.
  • the existing puncture point compression hemostasis technology has the following defects: the pressing force cannot be adaptively adjusted according to the body shape, blood pressure and other physiological parameters of different patients; the patient's braking time during the pressing process is long, and the pressing force cannot be adaptively adjusted according to the patient's posture changes; the data-driven intelligent control method of pressing force has poor robustness and high training costs.
  • the purpose of the present invention is to overcome the above-mentioned defects of the prior art and provide a method and system for controlling the pressing force of a robotic arm based on a pulse wave signal.
  • a method for controlling the pressing force of a robot arm based on a pulse wave signal comprises the following steps:
  • a PID controller is used to determine The control amount of the subsequent movement of the robot arm to achieve tracking of the desired trajectory.
  • a control system for the pressing force of a manipulator based on a pulse wave signal includes a signal acquisition and processing module, an admittance control model, a PID controller and a manipulator, wherein the signal acquisition and processing module is used to acquire the pulse wave signal of the target and obtain the interaction force between the end of the manipulator and the target, and then determine the desired pressing force according to the mapping relationship between the pressing effect and the pulse wave signal; the admittance control model is used to convert the desired pressing force into the desired trajectory of the manipulator; the PID controller is used to determine the control amount of the subsequent movement of the manipulator based on the error between the actual trajectory of the manipulator and the desired trajectory, so as to achieve tracking of the desired trajectory.
  • the advantage of the present invention is that a method for adaptively controlling the pressing force of a hemostatic robot is proposed.
  • the pressing force on the femoral artery is different, and the amplitude of the pulse wave collected at the end of the lower limb will change accordingly.
  • the amplitude of the pulse wave will gradually decrease.
  • the pressing force completely cuts off the propagation of the pulse wave the amplitude of the pulse wave collected at the end of the lower limb is zero.
  • the present invention proposes a method for adaptively adjusting the pressing force of a puncture point pressing hemostatic robot arm based on pulse wave feedback, which improves the effectiveness and comfort of pressing hemostasis.
  • FIG1 is a flow chart of a method for controlling the pressing force of a robot arm based on a pulse wave signal according to an embodiment of the present invention
  • FIG2 is a schematic diagram of the overall process of a method for controlling the pressing force of a robot arm based on a pulse wave signal according to an embodiment of the present invention
  • FIG3 is a schematic diagram of an admittance control model according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the overall process of executing a follow-up control task according to an embodiment of the present invention.
  • the method for controlling the pressing force of a robotic arm based on a pulse wave signal first associates different pressing strategies with the patient's physiological signals by integrating the pulse wave signal as a standard for measuring whether the pressing force is appropriate; then, by establishing an admittance control model (or admittance controller), the measured actual pressure and the expected pressing force are used as model inputs to obtain the expected trajectory, and finally, the trajectory of the robotic arm is driven by a servo control system to accurately track the expected trajectory, and the servo control system uses a position controller to control the pressing force of the robotic arm.
  • admittance control model or admittance controller
  • the present invention can be used for pressing force control in a variety of scenarios, and is particularly suitable for pressing hemostasis, such as pressing hemostasis at the femoral artery puncture point.
  • pressing hemostasis such as pressing hemostasis at the femoral artery puncture point.
  • the idea of the present invention will be mainly introduced for the pressing hemostasis scenario.
  • the provided method for controlling the pressure intensity of a robotic arm based on a pulse wave signal includes the following steps:
  • Step S110 determining the expected pressing force of the robot arm according to the mapping relationship between the pressing effect and the pulse wave signal.
  • a suitable compression force is particularly important.
  • the compression force is adjusted based on the real-time acquisition of the pulse wave signal amplitude at the end of the pressing limb, and the compression force is adjusted to the optimal value based on the clinician's experience in compression hemostasis.
  • the pulse wave signal amplitude at the end of compression is maintained at 70% of the normal amplitude.
  • an integrated multi-parameter measurement module can be designed to measure and record the pulse wave signal as a standard for automatic adjustment of the expected compression intensity.
  • the pulse wave measurement sensor is placed at the end of the ipsilateral limb for measurement.
  • the specific steps include: the robotic arm automatically and continuously detects the patient's hemostasis site downward, and after contacting the patient, records the pressing force and the pulse wave signal. As the pressing force continues to increase and the pulse wave signal disappears completely, the pressure sensor information at this time is recorded and the pressing robotic arm is raised by 30%, and this pressing force is maintained.
  • the expected pressing force torque of the end of the hemostasis robot arm can be obtained.
  • Step S120 establishing an admittance control model to convert the desired pressing force into the desired trajectory of the robot arm.
  • a position-based impedance control model namely admittance control
  • admittance control is adopted.
  • the advantage is that the pressing force control can be completed only by relying on the kinematic model without establishing a mechanical arm dynamics model, and the position servo control of the motor is relatively complete.
  • the position-based impedance control can give full play to its advantages. Conform to the human-machine contact force generated when the patient's body moves, and do not hinder its movement while maintaining constant force pressing.
  • the admittance controller can be expressed as:
  • Xr is the initial expected trajectory of the robot
  • X is the new expected trajectory of the robot
  • Fr is the expected pressing force of the robot
  • Fe is the contact force (or interaction force) between the human and the robot.
  • inertia matrix Md is the second and first derivatives of X, respectively.
  • rigidity matrix Kd is the second and first derivatives of X, respectively.
  • Fe is generated from the actual pressure measured by the flexible pressure array sensor during compression
  • Fr is generated from the pulse
  • the wave signal disappears completely when the pressing force is 70%
  • Xr is the function that keeps the initial pressing position unchanged over time
  • X is the new pressing position trajectory generated by the admittance controller.
  • the change in position relationship indirectly affects the contact force between the human and the machine, and maintains the dynamic relationship between the motion trajectory of the pressing hemostasis robot and the human-machine interaction force.
  • the admittance controller By designing the admittance controller, the desired torque transformation can be converted into the desired position change.
  • Step S130 using a PID controller to track the desired trajectory to perform a follow-up control task.
  • a PID controller is used to achieve the tracking effect of the desired trajectory.
  • the overall system control loop for performing the follow-up control task is shown in Figure 4.
  • e(t) is the system error between the system input x(t) and the system output y(t)
  • u(t) is the control quantity output to the robot arm.
  • the effect of follow-up control is achieved by selecting appropriate proportional Kp , integral Ki , and differential Kd parameters.
  • x(t) comes from the desired pressing force
  • y(t) comes from the contact force generated by the interaction between the robot arm and the person.
  • the actual joint angle is obtained through the encoder on the joint, and finally the PID controller makes the robot arm reach the target position, and the interaction force generated by it and the environment reacts to the admittance controller to form a double closed-loop control.
  • the present invention also provides a mechanical arm pressing force control system based on pulse wave signals, which is used to implement one or more aspects of the above method.
  • the system includes a signal acquisition and processing module, an admittance control model, a PID controller and a mechanical arm, wherein: the signal acquisition and processing module is used to collect the pulse wave signal of the target and obtain the interaction force between the end of the mechanical arm and the target, and then determine the expected pressing force according to the mapping relationship between the pressing effect and the pulse wave signal; the admittance control model is used to convert the expected pressing force into the expected pressing force of the mechanical arm; The PID controller is used to determine the control amount of the subsequent movement of the robot arm based on the error between the actual trajectory of the robot arm and the expected trajectory, so as to achieve tracking of the expected trajectory.
  • Functional modules such as the signal acquisition and processing module, the admittance control model, and the PID controller can be implemented using dedicated hardware or FPGA, or a general-purpose processor combined with software.
  • the experiment used a self-developed compression hemostasis mechanical arm to perform compression hemostasis and continuously monitor the physiological characteristics such as electrocardiogram, pulse, and respiration of beagle dogs after hind limb femoral artery puncture, and adjusted the pressing force of the compression hemostasis end through the monitored pulse wave feedback, achieving a better compression hemostasis effect.
  • the present invention has the following advantages:
  • a method of pressing hemostasis based on real-time monitoring of the pulse wave signal amplitude to adaptively adjust the pressure at the puncture point is proposed.
  • the pressure at the puncture point is adjusted by using the real-time acquired amplitude of the affected-side terminal pulse wave signal, which improves the patient's comfort while ensuring the hemostasis effect.
  • a pressure control system combining the admittance controller, robot kinematics and PID controller is designed.
  • the desired correction trajectory in the task space is obtained through the admittance controller, which is then converted into position instructions in the joint space through the robot kinematics.
  • the tracking control of the desired trajectory is achieved through the PID controller.
  • This position-based impedance control model namely the admittance controller, is the most An effective control strategy for the compression hemostasis task can maintain a certain relationship between external force and displacement, thereby achieving movement in accordance with the patient's movements, ensuring smooth control while also achieving constant force following, and realizing a low-impedance and smooth interactive effect when the patient's puncture site moves.
  • the present invention realizes adaptive adjustment of the pressing force for different patients and different physiological conditions based on the relationship between the change in pressing force during the compression of the femoral artery and the change in the amplitude of the pulse wave signal at the end of the compression, combined with the pressure sensor on the end effector of the robotic arm.
  • the present invention may be a system, a method and/or a computer program product.
  • the computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.
  • Computer readable storage medium can be a tangible device that can hold and store instructions used by an instruction execution device.
  • Computer readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof.
  • Non-exhaustive list of computer readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, for example, a punch card or a convex structure in a groove on which instructions are stored, and any suitable combination thereof.
  • RAM random access memory
  • ROM read-only memory
  • EPROM or flash memory erasable programmable read-only memory
  • SRAM static random access memory
  • CD-ROM compact disk read-only memory
  • DVD digital versatile disk
  • memory stick a floppy disk
  • mechanical encoding device for example, a punch card or a convex structure in a groove on which instructions are stored, and any suitable combination thereof.
  • the computer readable storage medium used here is not interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagated by a waveguide or other transmission medium (for example, a light pulse by an optical fiber cable), or an electrical signal transmitted by a wire.
  • the computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing/processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and/or a wireless network.
  • the network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and/or edge servers.
  • the network adapter card or network interface in each computing/processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing/processing device.
  • the computer program instructions for performing the operations of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages-such as Smalltalk, C++, Python, etc., and conventional procedural programming languages-such as "C" language or similar programming languages.
  • Computer-readable program instructions can be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server.
  • the remote computer can be connected to the user's computer through any type of network-including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).
  • LAN local area network
  • WAN wide area network
  • an Internet service provider for example, using an Internet service provider to connect through the Internet.
  • the electronic circuit can execute the computer-readable program instructions, thereby realizing various aspects of the present invention.
  • These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions/actions specified in one or more boxes in the flowchart and/or block diagram is generated.
  • These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and/or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions/actions specified in one or more boxes in the flowchart and/or block diagram.
  • Computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the flowchart and/or block diagram.
  • each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function.
  • the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.
  • each box in the block diagram and/or flow chart, and the combination of the boxes in the block diagram and/or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

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Abstract

本发明公开了一种基于脉搏波信号的机械臂按压力度控制方法和系统。该方法包括：采集目标的脉搏波信号；获取机械臂末端与目标之间的交互力，并根据按压效果与所述脉搏波信号之间的映射关系确定期望按压力度；建立导纳控制模型，以将所述期望按压力度转换为机械臂的期望轨迹；基于机械臂的实际轨迹与期望轨迹之间的误差，利用PID控制器确定机械臂后续移动的控制量，以实现对所述期望轨迹的跟踪。本发明实现了按压目标移动时低阻抗且柔顺的交互效果。

Description

一种基于脉搏波信号的机械臂按压力度控制方法和系统 技术领域
本发明涉及计算机应用技术领域，更具体地，涉及一种基于脉搏波信号的机械臂按压力度控制方法和系统，尤其适应于股动脉穿刺点按压止血场景。
背景技术
心脏介入治疗技术已成为冠心病、心律失常、先天性心脏病、瓣膜性心脏病等心血管疾病的常用治疗方法。桡动脉和股动脉是心脏介入治疗的主要手术路径。股动脉由于管径较粗便于穿刺和导管操作，在应对一些复杂病变时具有其他介入路径无法比拟的优势。然而，正是由于股动脉血管直径大、血流速度快，术后即刻止血难是困扰介入手术医生的另一问题。通常股动脉穿刺点止血法有三种：人工压迫止血法、机械压迫法及血管闭合器止血法。传统手工压迫法压迫时间长(拔管后压迫止血时间多在25分钟左右)、不易控制、止血效果差、患者肢体制动时间长，不仅增加了医生的劳动量，而且加重了患者的不适和痛苦，甚至导致尿潴留或背痛等症状。最近发展起来的动脉穿刺闭合器及股动脉压迫止血器，由于病人个体具有生理差异性(如血管条件、胖瘦)，无法模拟人类操作者对不同个体穿刺点进行局部压迫的力度，往往因为加压错位或者加压力度不合适，反而增加了术后并发症的风险。
目前，临床常用的股动脉压迫止血器有升降支架式、充气式、旋扭式等。近年来，电子加压式止血器由于在工学稳定性与操控性能上有所突破而兴起。但是相关临床应用研究结果显示，虽然这些装置设备缩短了术后卧床和住院时间、一定程度上提高了患者舒适度，但由于缺乏对患者足背动脉搏动等生理信号的实时监测反馈、无法实时调节按压力度，使用该类装置的患者临床并发症发生率并不一定比人工按压低。因此，迫切需要借 助机器人相关技术，设计专用的穿刺点即刻止血操作机构，使其能根据实时监测的患者体征信息自适应选择合适的按压方案，将按压操作与患者生命体征监护构成闭环，提高便捷性、灵活性、病人舒适度，减少术后并发症发生率。
在按压止血机器人的力控策略方面，常用的力控方法包括阻抗控制法、混合力/位置控制和智能控制等方式。阻抗控制方式通过实际检测机器人与环境之间的作用力不断的调整目标的阻抗参数，然后通过位置控制器控制机器人的位置，最终实现力控制。混合力/位置控制方式通过选择矩阵将机器人的运动空间分解为力控制空间与位置控制空间，为每个关节分配一种控制方式，实现对整个机器人进行力与位置分开控制。智能控制方式包含神经网络控制、优化算法控制、深度强化学习等。然而，数据驱动的智能控制方式存在模型复杂、参数较多、数据集不易收集等问题，并且训练后的模型鲁棒性较差、代价高昂。混合力/位置控制方式在按压止血的任务中不容易将按压的动作清晰地划分到合适的选择矩阵中。
综上，现有的穿刺点按压止血技术存在以下缺陷：按压力度无法根据不同患者的体型、血压等生理参数自适应调整；按压过程中患者制动时间长，无法根据患者的姿态变换自适应调整按压力度；基于数据驱动的按压力度智能控制方法鲁棒性差，训练成本高。
发明内容
本发明的目的是克服上述现有技术的缺陷，提供一种基于脉搏波信号的机械臂按压力度控制方法和系统。
根据本发明的第一方面，提供一种基于脉搏波信号的机械臂按压力度控制方法。该方法包括以下步骤：
采集目标的脉搏波信号；
获取机械臂末端与目标之间的交互力，并根据按压效果与所述脉搏波信号之间的映射关系确定期望按压力度；
建立导纳控制模型，以将所述期望按压力度转换为机械臂的期望轨迹；
基于机械臂的实际轨迹与期望轨迹之间的误差，利用PID控制器确定 机械臂后续移动的控制量，以实现对所述期望轨迹的跟踪。
根据本发明的第二方面，提供一种基于脉搏波信号的机械臂按压力度控制系统。该系统包括信号采集和处理模块、导纳控制模型、PID控制器和机械臂，其中，所述信号采集和处理模块用于采集目标的脉搏波信号，并获取机械臂末端与目标之间的交互力，进而根据按压效果与所述脉搏波信号之间的映射关系确定期望按压力度；所述导纳控制模型用于将所述期望按压力度转换为机械臂的期望轨迹；所述PID控制器用于基于机械臂的实际轨迹与期望轨迹之间的误差，确定机械臂后续移动的控制量，以实现对所述期望轨迹的跟踪。
与现有技术相比，本发明的优点在于，提出了一种按压止血机器人按压力度自适应控制方法。根据临床经验，对股动脉的按压力度不同，反映在下肢末端采集到的脉搏波的幅值会相应变化，随着对股动脉穿刺点按压力度的增加，脉搏波的幅值会逐渐减小，当按压力度完全切断脉搏波传播时，下肢末端采集到的脉搏波幅值为零。本发明根据脉搏波幅值与穿刺点按压力度的这一关系，提出一种基于脉搏波反馈的穿刺点按压止血机械臂按压力度自适应调整方法，提升了按压止血的有效性及舒适性。
通过以下参照附图对本发明的示例性实施例的详细描述，本发明的其它特征及其优点将会变得清楚。
附图说明
被结合在说明书中并构成说明书的一部分的附图示出了本发明的实施例，并且连同其说明一起用于解释本发明的原理。
图1是根据本发明一个实施例的基于脉搏波信号的机械臂按压力度控制方法的流程图；
图2是根据本发明一个实施例的基于脉搏波信号的机械臂按压力度控制方法的总体过程示意图；
图3是根据本发明一个实施例的导纳控制模型示意图；
图4是根据本发明一个实施例的执行随动控制任务的总体过程示意图。
具体实施方式
现在将参照附图来详细描述本发明的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本发明的范围。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
总体而言，本发明提供的基于脉搏波信号的机械臂按压力度控制方法，首先通过融合脉搏波信号作为衡量按压力度是否合适的标准，将不同的按压策略与患者的生理信号关联起来；进而，通过建立导纳控制模型(或称导纳控制器)，将测量到的实际压力和期望的按压力作为模型输入得到期望轨迹，最后，通过伺服控制系统驱动机械臂的轨迹准确地跟踪期望轨迹，该伺服控制系统采用位置控制器实现机械臂按压力度的控制。本发明可用于多种场景下的按压力度控制，尤其适用于按压止血，例如股动脉穿刺点按压止血场景。在下文中，将主要针对按压止血场景介绍本发明的思想。
具体地，结合图1和图2所示，所提供的基于脉搏波信号的机械臂按压力度控制方法包括以下步骤：
步骤S110，根据按压效果与脉搏波信号之间的映射关系，确定机械臂的期望按压力度。
为实现对患者穿刺手术后良好按压止血效果，合适的按压力度尤为重要，在一个实施例中，基于按压侧肢体末端实时采集脉搏波信号幅值来调整按压力度，并根据临床医生的按压止血经验，将按压力度调整到最优值， 此时按压末端脉搏波信号幅值保持在正常幅值的70％。针对不同患者体态的个体差异性以及患者不同生理状态情况，需要每次按压前对期望的按压力度进行一定的调整，对此可通过设计一体化多参数测量模块测量并记录脉搏波信号作为期望按压力度自动调节的标准。
此外，为获取期望的按压力度还需要测量人机间的接触力，例如通过柔性压力阵列传感器来获取机械臂末端与患者之间的交互力。为获得良好的按压效果和脉搏波信号之间的映射关系，将脉搏波测量传感器放在同侧肢体末端处测量。具体步骤包括：机械臂自动地向下不断探测患者的止血部位，在接触患者后，记录按压力度并记录脉搏波信号，随着按压力度不断加大出现脉搏波信号完全消失时，记录此时的压力传感器信息并使按压机械臂回升30％，并保持这一按压力度。
在此步骤中，通过测量人机之间的交互力和脉搏波信号，并根据按压效果与脉搏波信号之间的映射关系，可以得到按压止血机械臂末端的期望按压力矩。
步骤S120，建立导纳控制模型，以将期望按压力度转换为机械臂的期望轨迹。
当患者长时间保持同一个动作时，会增加患者的心理和身体负担，为提高患者长时间被按压时的舒适度、保证按压力度恒定且不丢失位置。在一个实施例中，参见图3所示，采用基于位置式的阻抗控制模型即导纳控制，其优点是可以在未建立机械臂动力学模型的条件下，仅依靠运动学模型完成按压力控制，并且电机的位置伺服控制比较完善，利用基于位置式的阻抗控制可以充分发挥其优势。顺应患者身体移动时所产生的人机接触力，在保持恒力按压的基础上不阻碍其运动。导纳控制器可表示为：
其中，Xr为机械臂初始期望轨迹，X为机械臂新期望轨迹，Fr为机械臂期望按压力度，Fe为人机之间的接触力(或称交互力)，通过选择合适的惯性矩阵Md、阻尼矩阵Bd、刚性矩阵Kd参数来达到柔顺控制的效果。和分别是X的二阶导数和一阶导数，和分别是Xr的二阶导数和一阶导数。Fe产生自按压时柔性压力阵列传感器实际测量的压力大小，Fr产生自脉搏 波信号完全消失时70％的按压力度，Xr为保持初始按压位置随时间不改变的函数，X为经过导纳控制器产生的新的按压位置轨迹。通过位置关系的改变间接影响人机之间的接触力，保持按压止血机械臂的运动轨迹与人机交互力之间的动态关系。通过设计导纳控制器能够将期望力矩变换转变为期望位置变化。
步骤S130，利用PID控制器实现对期望轨迹的跟踪，以执行随动控制任务。
为实现针对患者多种动作意愿下的按压恒力跟随效果，即在患者进行抬升或平移等动作时也可以保持正常的按压止血效果，并且考虑到机械臂本体所使用的电机驱动控制器，在一个实施例中，采用PID控制器实现对期望轨迹的跟踪效果。执行随动控制任务的整体系统控制回路参见图4所示。
具体地，PID控制器表示为：

e(t)＝x(t)-y(t)        (3)
其中，e(t)为系统输入x(t)和系统输出y(t)之间的系统误差，u(t)为输出给机械臂的控制量，通过选择合适的比例Kp、积分Ki、微分Kd参数来达到随动控制的效果。x(t)来自于期望的按压力度，y(t)来自于机械臂与人交互产生的接触力。通过将上述导纳控制模型获得的轨迹变化量作为机械臂在任务空间上的轨迹变化量，并使用机械臂逆运动学模型将新的轨迹转变为各个电机关节角度值，经由关节上的编码器获得实际的关节角度，最终PID控制器使机械臂达到目标位置，其与环境产生的交互作用力又反作用于导纳控制器中形成双闭环控制。
相应地，本发明还提供一种基于脉搏波信号的机械臂按压力度控制系统，用于实现上述方法的一个方面或多个方面。例如，该系统包括信号采集和处理模块、导纳控制模型、PID控制器和机械臂，其中：所述信号采集和处理模块用于采集目标的脉搏波信号，并获取机械臂末端与目标之间的交互力，进而根据按压效果与所述脉搏波信号之间的映射关系确定期望按压力度；所述导纳控制模型用于将所述期望按压力度转换为机械臂的期 望轨迹；所述PID控制器用于基于机械臂的实际轨迹与期望轨迹之间的误差，确定机械臂后续移动的控制量，以实现对所述期望轨迹的跟踪。信号采集和处理模块、导纳控制模型、PID控制器等功能模块可采用专用硬件或FPGA实现，或者采用通用处理器结合软件实现。
为进一步验证本发明的效果，进行了实验验证。实验使用自行研发的按压止血机械臂对后肢股动脉穿刺术后比格犬进行按压止血和心电、脉搏、呼吸等生理特征进行连续监测，并通过监测到的脉搏波反馈调整按压止血末端的按压力度，实现了较好的按压止血效果。
在实验验证过程中，对实验犬的左后肢穿刺后，拔除动脉鞘管后使用股动脉穿刺点即刻止血机器人进行压迫。首先，将机械臂手动拉到穿刺点上方并对准穿刺点位置，操控上位机显示界面将机械臂按下去，保持按压20分钟；然后，移开按压止血机械臂，观察穿刺点已经完全无出血情况。通过动物狗的股动脉穿刺术后即可按压止血实验，证明了所研发的经皮股动脉介入术后体征监测与穿刺点即可止血机器人具有较好的止血效果，经过20分钟的自动按压止血能够有效止血且不会造成内出血。
此外，按压过程中观察到按压侧肢体末端脉搏波随着按压力的增大脉搏波幅值逐渐减小，当按压力度大到一定阈值，脉搏波消失；自适应按压力度控制算法检测到脉搏波消失后，按压力度停止增加并开始回调，这时又观察到脉搏波再次出现。实验结果表明，所研发的经皮股动脉介入术后穿刺点即可止血机械臂能够通过监测到的脉搏波自适应调整按压力度的大小，从而保证了最佳的止血效果和舒适度。
综上所述，相对于现有技术，本发明具有以下优势：
1)提出了一种基于实时监测脉搏波信号幅值自适应调整穿刺点按压力度的按压止血方法，通过采用实时采集的患侧末端脉搏波信号幅值来调整穿刺点按压力度大小，在保证止血效果的同时，提升了患者舒适性。
2)设计了结合导纳控制器、机械臂运动学以及PID控制器的按压力度控制系统，通过导纳控制器获得任务空间上的期望修正轨迹，进而通过机械臂运动学转换成关节空间下的位置指令，最后通过PID控制器实现对期望轨迹的跟踪控制。这种基于位置式的阻抗控制模型即导纳控制器是最 有效的按压止血任务的控制策略，能够维持外力和位移之间保持一定关系，从而实现顺应患者动作而进行移动，保证柔顺控制的同时还做到恒力跟随，实现了当患者穿刺部位移动时低阻抗且柔顺的交互效果。
3)本发明根据对股动脉按压过程中按压力度变化与按压末端的脉搏波信号幅度变化的关系，结合机械臂末端执行器上的压力传感器，实现了针对不同患者、不同生理状况下的按压力度的自适应调节。
本发明可以是系统、方法和/或计算机程序产品。计算机程序产品可以包括计算机可读存储介质，其上载有用于使处理器实现本发明的各个方面的计算机可读程序指令。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是但不限于电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身，诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如，通过光纤电缆的光脉冲)、或者通过电线传输的电信号。
这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本发明操作的计算机程序指令可以是汇编指令、指令集架构 (ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++、Python等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(LAN)或广域网(WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA)，该电子电路可以执行计算机可读程序指令，从而实现本发明的各个方面。
这里参照根据本发明实施例的方法、装置(系统)和计算机程序产品的流程图和/或框图描述了本发明的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。
这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。
也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图 中的一个或多个方框中规定的功能/动作。
附图中的流程图和框图显示了根据本发明的多个实施例的系统、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的系统来实现，或者可以用专用硬件与计算机指令的组合来实现。对于本领域技术人员来说公知的是，通过硬件方式实现、通过软件方式实现以及通过软件和硬件结合的方式实现都是等价的。
以上已经描述了本发明的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。本发明的范围由所附权利要求来限定。

Claims (10)

  1. 一种基于脉搏波信号的机械臂按压力度控制方法，包括以下步骤：
    采集目标的脉搏波信号；
    获取机械臂末端与目标之间的交互力，并根据按压效果与所述脉搏波信号之间的映射关系确定期望按压力度；
    建立导纳控制模型，以将所述期望按压力度转换为机械臂的期望轨迹；
    基于机械臂的实际轨迹与期望轨迹之间的误差，利用PID控制器确定机械臂后续移动的控制量，以实现对所述期望轨迹的跟踪。
  2. 根据权利要求1所述的方法，其特征在于，所述导纳控制模型表示为：
    其中，Xr为机械臂初始期望轨迹，X为机械臂新期望轨迹，Fr为机械臂期望按压力度，Fe是机械臂末端与目标之间的交互力，Md是惯性矩阵、Bd是阻尼矩阵、Kd是刚性矩阵。
  3. 根据权利要求1所述的方法，其特征在于，所述PID控制器表示为：

    e(t)＝x(t)-y(t)
    其中，e(t)为输入x(t)和输出y(t)之间的误差，u(t)为输出给机械臂的控制量，Kp是比例参数、Ki是积分参数、Kd是微分参数，a和b分别是积分的下限和上限。
  4. 根据权利要求1所述的方法，其特征在于，所述机械臂末端与目标之间的交互力利用设置在机械臂末端的柔性压力阵列传感器获得。
  5. 根据权利要求1所述的方法，其特征在于，所述脉搏波信号利用设置在目标同侧肢体末端的脉搏波测量传感器获得。
  6. 根据权利要求1所述的方法，其特征在于，根据以下步骤实现对所述期望轨迹的跟踪：
    将所述导纳控制模型获得的轨迹变化量作为机械臂在任务空间上的 轨迹变化量，并使用机械臂逆运动学模型将新的轨迹转变为对应机械臂各关节的电机关节角度值，经由关节上的编码器获得实际的关节角度；
    利用所述PID控制器使机械臂达到目标位置，并将与环境产生的交互作用力又反作用于所述导纳控制器，形成双闭环控制，以实现对所述期望轨迹的跟踪。
  7. 根据权利要求1所述的方法，其特征在于，所述按压效果是按压止血效果，该按压止血效果与按压状态的脉搏波信号幅值与正常脉搏波信号幅值的比例之间存在映射关系。
  8. 一种基于脉搏波信号的机械臂按压力度控制系统，包括信号采集和处理模块、导纳控制模型、PID控制器和机械臂，其中：
    所述信号采集和处理模块用于采集目标的脉搏波信号，并获取机械臂末端与目标之间的交互力，进而根据按压效果与所述脉搏波信号之间的映射关系确定期望按压力度；
    所述导纳控制模型用于将所述期望按压力度转换为机械臂的期望轨迹；
    所述PID控制器用于基于机械臂的实际轨迹与期望轨迹之间的误差，确定机械臂后续移动的控制量，以实现对所述期望轨迹的跟踪。
  9. 一种计算机可读存储介质，其上存储有计算机程序，其中，该计算机程序被处理器执行时实现根据权利要求1至7中任一项所述的方法的步骤。
  10. 一种计算机设备，包括存储器和处理器，在所述存储器上存储有能够在处理器上运行的计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1至7中任一项所述的方法的步骤。
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