[0022] Example
[0023] like figure 1 As shown, this embodiment includes: an embedded central control module, a multi-axis motion control module, 7 AC servo drives, 7 AC servo motors, a human-computer interaction module, a sensor module, a switch module, an indicator light module and an operating lever, Among them: the embedded central control module is connected to the multi-axis motion control module to transmit motion planning information and other information transferred through the latter, the embedded central control module is connected to the human-computer interaction module to transmit image display information and user input information, and the multi-axis motion The control module is connected to the AC servo drive to transmit motor control information, the AC servo drive is connected to the AC servo motor to transmit motor drive and motor encoder information, the multi-axis motion control module is connected to the sensor module to transmit the limit position information of each motion joint and the surrounding environment information, The multi-axis motion control module is connected with the indicator light module to transmit status information, the multi-axis motion control module is connected with the switch module to transmit switch information, and the multi-axis motion control module is connected with the operating lever to transmit manual manipulation control information.
[0024] like figure 2As shown, the embedded central control module includes: a system interface sub-module, a state monitoring sub-module, a network communication sub-module and a motion adjustment sub-module, wherein: the system interface sub-module is connected with the state monitoring sub-module to transmit system operating state information , the system interface sub-module is connected to the motion adjustment sub-module to transmit system parameters and posture state information, the state monitoring sub-module is connected to the motion adjustment sub-module to transmit manual motion control command information, and the network communication sub-module is connected to the motion adjustment sub-module to transmit navigation information , the system interface sub-module is connected to the human-computer interaction module to transmit system parameter setting and status display information, the status monitoring sub-module is connected to the switch module to transmit switch information, and the status monitoring sub-module is connected to the sensor module to transmit the limit position information of each kinematic joint and surrounding For environmental information, the state monitoring sub-module is connected with the operating lever to transmit manual manipulation control information, and the motion adjustment sub-module is connected with the multi-axis motion control module to transmit motion planning information.
[0025] The system interface sub-module provides the user with a graphical interface through the liquid crystal touch screen and accepts the user's touch and click input. Through this interface, users can complete the setting of various parameters, complete various operations on the system, and monitor the running status of the system in real time, including: system setting unit, IO status display unit, pose display unit, parameter input unit and a coordinate calibration unit, wherein: the system setting unit is connected to the human-computer interaction module to transmit system setting information, the parameter input unit is connected to the system setting unit to transmit system parameter information, and the coordinate calibration unit is connected to the system setting unit to transmit coordinate information, The parameter input unit is connected to the motion adjustment sub-module to transmit system parameter information, the coordinate calibration unit is connected to the motion adjustment sub-module to transmit coordinate transformation matrix parameter information, the IO state display unit is connected to the state monitoring sub-module to transmit IO state information, and the pose display unit is connected to the The motion adjustment sub-module is connected to transmit pose information.
[0026] The state monitoring sub-module monitors the system state at any time, including the motor running state fed back from the multi-axis motion control module, the user input state obtained from the touch screen input, other peripheral information obtained from each sensor, and obtained from each control switch. user setting information. These status information is displayed to the user through the LCD touch screen after a certain calculation and processing, and operations such as alarm and emergency stop are triggered according to the set conditions. The module includes: a logic control unit, an IO signal reading unit and an AD conversion unit, wherein: the logic control unit is connected to the IO state display unit to transmit IO state information, the logic control unit is connected to the motion adjustment sub-module to transmit motion state information, and the IO signal The reading unit is connected to the logic control unit to transmit digital IO information, the IO signal reading unit is connected to the switch module to transmit switch information, the IO signal reading unit is connected to the sensor module to transmit various status information detected by the sensor, the AD conversion unit is connected to the operation The lever is connected to transmit the analog information input by the operation lever, and the AD conversion unit is connected with the motion adjustment sub-module to transmit the digital information input by the operation lever.
[0027] The motion adjustment sub-module includes: a motion planning unit, a motion controller interface unit and a motor state reading unit, wherein: the motion controller interface unit is connected with the multi-axis motion control module to transmit motion planning information, and the motion controller interface unit is connected to the multi-axis motion control module. The motor state reading unit is connected to transmit motor state information, the motor state reading unit is connected to the network communication sub-module to transmit motor state information, the motor state reading unit is connected to the pose display unit to transmit motor state information, and the motion controller interface unit is connected to the motion controller. The planning unit is connected to transmit motion planning information, the motion planning unit is respectively connected to the parameter input unit and the coordinate calibration unit to transmit the set system parameter information, the motion planning unit is respectively connected to the AD conversion unit and the logic control unit to transmit the control signal and switch of the joystick information.
[0028] The motion adjustment sub-module accepts motion control commands from a navigation device or a user's manual signal according to different operating modes. According to the type of motion command, the motion trajectory of the robot is calculated in the robot joint space or Cartesian coordinate space, including the robot position, attitude and speed. Finally, the motion amount of each joint motor is calculated according to the robot kinematics formula and transmitted to the multi-axis motion control module. The robot involved in this embodiment has redundant degrees of freedom and "hand-grip" control functions, both of which are specifically realized by the motion adjustment sub-module, as follows:
[0029] In normal operation, the third joint of the robot remains unchanged at the preset angle, and the operation is realized by the other six joints, which is similar to the ordinary 6-DOF robot. During operation, when the doctor feels that the posture of the robot is obstructed, he only needs to touch the switch located on the wrist of the robot, and the controller controls the end effector of the robot to move according to the original plan; The axis rotates to realize the avoidance of the robot's elbow joint, until the doctor feels that it is no longer hindering its operation and stops touching the switch. This method can realize the real-time online adjustment of the robot arm shape without affecting the current operation of the robot.
[0030] The doctor adjusts the position and posture of the end of the robot by turning the joystick. The potentiometer built in the joystick measures the azimuth and angle of the moved handle, and inputs it to the controller through AD conversion. The control program calculates the position of the operating lever according to the robot's kinematics method and the posture of the robot arm itself, and controls the robot to move along the direction of the doctor's toggle; the movement speed depends on the toggle angle, and the angle is reset by the human hand overcoming the toggle lever. The force of the spring is determined, so it can realize the stepless speed regulation proportional to the operating force, making the whole adjustment process very intuitive and natural, without any additional learning and training.
[0031] The network communication sub-module adopts the TCP/IP network protocol to communicate with the navigation device through a local area network, receives guidance instructions from the navigation device, and feeds back its own state to the navigation device. The module includes: a TCP/IP interface unit, a command parsing unit unit and data uploading unit, wherein: the data uploading unit is connected with the motor state reading unit to transmit the robot posture information, the data uploading unit is connected with the TCP/IP interface unit to transmit the robot posture information, and the command parsing unit is connected with the TCP/IP interface unit to transmit Command information of external equipment, command parsing unit is connected with motion planning unit to transmit motion control instructions and parameter information, TCP/IP interface unit is connected with local area network to transmit robot attitude information and external control information.
[0032] The multi-axis motion control module adopts the GTS-800-PV series motion controller in the prior art, is connected with the embedded central control module through the PCI bus, and can accept the motion from the motion planning sub-module of the embedded central control module. The planning information is calculated and processed according to the given motion control method to generate the servo motor control signal, which is sent to each servo motor driver through the signal cable to control the motion of each servo motor. Due to the high real-time performance of the multi-axis motion control module, it also includes several digital input/output ports, which can process external signals with high real-time requirements. The multi-axis motion control module transmits the collected status signals of each servo motor such as position and speed to the embedded central control module through the PCI bus, and the signals are used for decision-making and judgment.
[0033] Said AC servo driver and AC servo motor adopt Yaskawa ΣV series products in the prior art, receive control signals from multi-axis motion control cards, and drive the robot to move according to the control signals.
[0034] The human-computer interaction module adopts the liquid crystal touch screen in the prior art, which is the display output and touch input component of the embedded central control module, including: the liquid crystal screen and the touch film part covered on it, wherein: the liquid crystal screen passes through the VGA. The interface is connected with the embedded central control module, and plays the role of a computer display. The touch film is connected with the embedded central control module through the USB interface, and plays the role of mouse input through touch.
[0035] The sensor module is the limit position sensor of each axis of the robot, uses a micro switch to detect whether each joint of the robot reaches the limit position, and transmits it to the multi-axis motion control module through a digital IO interface.
[0036] The switch module includes: an emergency stop button, an operation mode selection switch and a redundant degree of freedom control switch, wherein: the emergency stop button is connected to the multi-axis motion control module through a digital IO interface, and is used to stop the robot motion in an emergency; The mode selection switch is connected to the multi-axis motion control module through the digital IO interface, which is used to switch the joystick control mode; the redundant degree of freedom control switch is connected to the multi-axis motion control module through the digital IO interface, and is used to control the redundant degrees of freedom of the robot. Adjust the posture of the robotic arm.
[0037] When this embodiment is used, it can be selected according to the manual or automatic working state according to the needs:
[0038] When the robot works in an automatic state, the embedded central control module accepts the guidance instructions from the navigation system through the network communication sub-module, and after analysis, the motion planning sub-module performs the motion trajectory calculation, and drives each joint motor through the multi-axis motion control module, allowing The robot realizes the predetermined movements planned before the operation. During the execution process, the chief surgeon can terminate the robot action at any time through the switch module and adjust the planned position and posture through the operation lever. At this time, the embedded central control module reads the instructions from the operating lever through the state monitoring sub-module, calculates the motion trajectory through the motion planning sub-module, and drives each joint motor through the multi-axis motion control module, so that the robot can realize the adjustment action set by the doctor. .
[0039] When the robot works in the manual state, an operator needs to cooperate, and the chief surgeon controls the robot action through the operation lever. At this time, the embedded central control module reads the instructions from the operation lever through the state monitoring sub-module, and moves through the motion planning sub-module. Trajectory calculation, drive each joint motor through the multi-axis motion control module, so that the robot can realize the adjustment action set by the doctor. The operator cooperates with the doctor to record key positions, set parameters such as speed and movement mode through the system interface sub-module, complete the surgical action plan on the spot, and start the robot to complete the operation under the password command of the chief surgeon. This is mainly because the chief surgeon is inconvenient to complete the computer operation during the operation, and the nurse or assistant can act as the robot operator.
[0040] This embodiment has 7 degrees of freedom, and the redundant degrees of freedom are convenient for cooperating with doctors; it can work in manual or automatic working state, and has high autonomy; the structure is open, the operation mode is flexible; the operation is convenient, and the positioning accuracy is high, which is especially suitable for The need for manipulating robots during surgery.
