Adjustment arm control method, device, system, and computer equipment

Abstract

The present application relates to an adjustment arm control method, device, system, computer equipment, storage medium and computer program product. The method comprises: obtaining the fixed point coordinates corresponding to the target adjustment arm; obtaining the installation type of the target adjustment arm; the installation type is used to characterize the installation position of the adjustment arm; according to the installation type, determining the target control logic corresponding to the target adjustment arm; the target control logic is used to ensure that the position of the fixed point coordinates corresponding to the target adjustment arm remains unchanged during the control of the movement of each joint of the target adjustment arm; and controlling the movement of each joint of the target adjustment arm based on the target control logic and the fixed point coordinates. The use of this method can enable each joint of the adjustment arm to move automatically during the movement of the adjustment arm, ensure that the end of the adjustment arm always remains at the fixed point, prevent damage to the working object of the adjustment arm, and improve the safety of the adjustment arm control.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to an adjustment arm control method, device, system, computer equipment, storage medium and computer program product. Background Art

[0002] At present, in the surgical robot system, there is generally an endoscope with multiple degrees of freedom and multiple multi-degree-of-freedom instruments. The instruments and the endoscope enter the patient's body through the poking channel at the fixed point to perform surgical operations. The No. 1 adjustment arm is usually fixed on the main suspension plate or fixed on the No. 2 adjustment arm. After the tool arm is connected to the poking card, in order to increase the working space of the tool arm and avoid the interference of multiple tool arms during the operation, the expansion joints of the adjustment arms connected to the tool arms are manually adjusted, so that the positioning space of multiple robot arms is mutually expanded. After the expansion joints of the adjustment arms are adjusted, other joints of the adjustment arms need to be manually adjusted to avoid the change of the fixed point position of the adjustment arms. However, manual adjustment will cause the joints of the adjustment arms to not follow in real time. The fixed point position of the adjustment arms will always be affected during the manual adjustment process. After the tool arm completes the poking card connection, manual adjustment is easy to cause the poking card to squeeze and damage the tissue near the hole. In addition, when the No. 1 adjustment arm is fixed to the No. 2 adjustment arm, adjusting the No. 2 adjustment arm will also affect the fixed point position of the No. 1 adjustment arm. The manual adjustment method will be more complicated, and the surgical risk will increase during the adjustment process.

[0003] Therefore, the safety of the current positioning control of the surgical robot adjustment arm is not high. Summary of the invention

[0004] Based on this, it is necessary to provide an adjustment arm control method, device, computer equipment, computer readable storage medium and computer program product that can improve the safety of adjustment arm control in order to address the above technical problems.

[0005] In a first aspect, the present application provides a control method for an adjustment arm. The method comprises:

[0006] Get the fixed point coordinates corresponding to the target adjustment arm;

[0007] Obtaining the installation type of the target adjustment arm; the installation type is used to characterize the installation position of the adjustment arm;

[0008] According to the installation type, the target control logic corresponding to the target adjustment arm is determined; the target control logic is used to ensure that the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinate during the process of controlling the movement of each joint of the target adjustment arm;

[0009] The target adjustment arm's joint motions are controlled based on the target control logic and fixed point coordinates.

[0010] In one embodiment, determining the target control logic corresponding to the target adjustment arm according to the installation type includes:

[0011] If the target adjustment arm is of the first installation type, determining a first control logic corresponding to the target adjustment arm; the first installation type is used to indicate that the target adjustment arm is mounted on the main suspension plate; the first control logic is used to control at least one joint of the target adjustment arm;

[0012] If the target adjustment arm is of the second installation type, determine the second control logic corresponding to the target adjustment arm; the second installation type is used to characterize that the target adjustment arm is mounted on the active adjustment arm, and the active adjustment arm is mounted on the main suspension plate; the second control logic is used to control all joints of the target adjustment arm.

[0013] In one embodiment, the target control logic is a first control logic, and the movement of each joint of the target adjustment arm is controlled based on the target control logic and the fixed point coordinates, including:

[0014] Acquire a first influencing motion parameter of the target adjustment arm according to the displacement of the unfolded joint of the target adjustment arm;

[0015] According to the first influencing motion parameter and the fixed point coordinates, obtaining the first compensation motion parameter of each joint of the target adjustment arm except the unfolding joint;

[0016] The motion of each joint of the target adjustment arm except the unfolding joint is controlled according to the first compensation motion parameter.

[0017] In one embodiment, the first influencing motion parameter includes an influencing position parameter, and obtaining the first compensating motion parameter of each joint of the target adjustment arm except the unfolding joint according to the first influencing motion parameter and the fixed point coordinates includes:

[0018] Calculate the end position change matrix of the target adjustment arm according to forward kinematics;

[0019] Substitute the influencing position parameters and the fixed point coordinates into the end position change matrix, calculate the compensation position parameters of each joint of the target adjustment arm except the unfolding joint according to the inverse kinematics, and use the compensation position parameters as the first compensation motion parameters.

[0020] In one embodiment, the first influencing motion parameter includes an influencing speed parameter, and obtaining the first compensating motion parameter of each joint of the target adjustment arm except the unfolding joint according to the first influencing motion parameter and the fixed point coordinates, further includes:

[0021] The end of the target adjustment arm is arranged at the fixed point coordinate, and the fixed point speed of the end of the target adjustment arm is determined to be 0;

[0022] Calculate the velocity Jacobian matrix of the target adjustment arm according to forward kinematics;

[0023] According to the velocity Jacobian matrix, the influencing velocity parameter and the fixed point velocity, the compensation velocity parameters of each joint of the target adjustment arm except the unfolding joint are calculated;

[0024] Obtaining initial position parameters of each joint of the target adjustment arm except the unfolding joint;

[0025] According to the initial position parameters and the compensation speed parameters, the compensation position parameters of each joint of the target adjustment arm except the unfolding joint are obtained, and the compensation position parameters are used as the first compensation motion parameters.

[0026] In one embodiment, the target control logic is a second control logic, and the movement of each joint of the target adjustment arm is controlled based on the target control logic and the fixed point coordinates, including:

[0027] Determine, according to the installation position of the target adjustment arm, a linkage joint of the active adjustment arm corresponding to the target adjustment arm; the linkage joint is used to characterize at least one joint of the active adjustment arm located between the installation position of the target adjustment arm and the main suspension plate;

[0028] According to the displacement of the linkage joint, a second influencing motion parameter of the active adjustment arm is obtained;

[0029] According to the second influencing motion parameter and the fixed point coordinates, second compensating motion parameters of the linkage joint and each joint of the target adjustment arm are obtained;

[0030] The motion of each joint of the target adjustment arm is controlled according to the second compensation motion parameter.

[0031] In one embodiment, the second influencing motion parameter includes an influencing position parameter, and obtaining the second compensating motion parameter of each joint of the linkage joint and the target adjustment arm according to the second influencing motion parameter and the fixed point coordinates includes:

[0032] Calculate the end position change matrix of the target adjustment arm according to forward kinematics;

[0033] Substitute the influencing position parameters and the fixed point coordinates into the end position change matrix, and calculate the compensation position parameters of each joint of the target adjustment arm according to the inverse kinematics;

[0034] The compensated position parameter is used as the second compensated motion parameter.

[0035] In one embodiment, the second influencing motion parameter includes an influencing speed parameter, and obtaining the second compensating motion parameter of each joint of the linkage joint and the target adjustment arm according to the second influencing motion parameter and the fixed point coordinates, further comprising:

[0036] The end of the target adjustment arm is arranged at the fixed point coordinate, and the fixed point speed of the end of the target adjustment arm is determined to be 0;

[0037] Calculate the velocity Jacobian matrix of the target adjustment arm according to forward kinematics;

[0038] According to the velocity Jacobian matrix, the influencing velocity parameters and the fixed point velocity, the compensation velocity parameters of each joint of the target adjustment arm are calculated;

[0039] Obtaining the initial position parameters of each joint of the target adjustment arm;

[0040] According to the initial position parameters and the compensation speed parameters, the compensation position parameters of each joint of the target adjustment arm are obtained;

[0041] The compensated position parameter is used as the second compensated motion parameter.

[0042] In one embodiment, the compensation velocity parameters of each joint of the target adjustment arm are calculated based on the velocity Jacobian matrix, the influencing velocity parameter and the fixed point velocity, including:

[0043] According to the velocity Jacobian matrix, the influencing velocity parameters and the fixed point velocity, the joint velocity equation of the target adjustment arm is constructed;

[0044] Solve the joint velocity equation to obtain the initial compensation velocity parameters including redundant solutions;

[0045] Based on the fixed point null space iteration strategy, the redundant solutions in the initial compensation velocity parameters are iteratively optimized and selected to obtain the compensation velocity parameters of each joint of the target adjustment arm.

[0046] In one embodiment, obtaining the fixed point coordinates corresponding to the target adjustment arm includes:

[0047] Determine the poking channel corresponding to the target adjustment arm, and determine the fixed point coordinates according to the position of the poking channel.

[0048] In a second aspect, the present application also provides an adjustment arm control device. The device comprises:

[0049] A positioning module is used to obtain the fixed point coordinates corresponding to the target adjustment arm;

[0050] An acquisition module, used for acquiring the installation type of the target adjustment arm; the installation type is used for characterizing the installation position of the adjustment arm;

[0051] A matching module is used to determine the target control logic corresponding to the target adjustment arm according to the installation type; the target control logic is used to ensure that the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinate during the process of controlling the movement of each joint of the target adjustment arm;

[0052] The control module is used to control the movement of each joint of the target adjustment arm based on the target control logic and the fixed point coordinates.

[0053] In a third aspect, the present application also provides an adjustment arm control system. The system comprises:

[0054] A controller is used to obtain the installation type of the target adjustment arm; the installation type is used to characterize the installation position of the adjustment arm; according to the installation type, the target control logic corresponding to the target adjustment arm is determined; the fixed point coordinates corresponding to the target adjustment arm are obtained; based on the target control logic and the fixed point coordinates, the joint movements of the target adjustment arm are controlled; the target control logic is used to ensure that in the process of controlling the joint movements of the target adjustment arm, the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinates;

[0055] A main suspension plate for mounting at least one adjustment arm;

[0056] A first adjusting arm, mounted on the second adjusting arm;

[0057] The second adjusting arm is mounted on the main suspension plate.

[0058] In a fourth aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0059] Get the fixed point coordinates corresponding to the target adjustment arm;

[0060] Obtaining the installation type of the target adjustment arm; the installation type is used to characterize the installation position of the adjustment arm;

[0061] According to the installation type, the target control logic corresponding to the target adjustment arm is determined; the target control logic is used to ensure that the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinate during the process of controlling the movement of each joint of the target adjustment arm;

[0062] The target adjustment arm's joint motions are controlled based on the target control logic and fixed point coordinates.

[0063] In a fifth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0064] Get the fixed point coordinates corresponding to the target adjustment arm;

[0065] Obtaining the installation type of the target adjustment arm; the installation type is used to characterize the installation position of the adjustment arm;

[0066] According to the installation type, the target control logic corresponding to the target adjustment arm is determined; the target control logic is used to ensure that the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinate during the process of controlling the movement of each joint of the target adjustment arm;

[0067] The target adjustment arm's joint motions are controlled based on the target control logic and fixed point coordinates.

[0068] In a sixth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0069] Get the fixed point coordinates corresponding to the target adjustment arm;

[0070] Obtaining the installation type of the target adjustment arm; the installation type is used to characterize the installation position of the adjustment arm;

[0071] According to the installation type, the target control logic corresponding to the target adjustment arm is determined; the target control logic is used to ensure that the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinate during the process of controlling the movement of each joint of the target adjustment arm;

[0072] The target adjustment arm's joint motions are controlled based on the target control logic and fixed point coordinates.

[0073] The above-mentioned adjustment arm control method, device, system, computer equipment, storage medium and computer program product obtain the fixed point coordinates corresponding to the target adjustment arm; obtain the installation type of the target adjustment arm; the installation type is used to characterize the installation position of the adjustment arm; according to the installation type, the target control logic corresponding to the target adjustment arm is determined; the target control logic is used to ensure that the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinates during the control of the movement of each joint of the target adjustment arm; based on the target control logic and the fixed point coordinates, the movement of each joint of the target adjustment arm is controlled. During the movement of the adjustment arm, each joint of the adjustment arm can move automatically to ensure that the end of the adjustment arm always remains at the fixed point, prevent damage to the working object of the adjustment arm, and improve the safety of the adjustment arm control. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 A schematic flow chart of an adjustment arm control method in one embodiment;

[0075] Figure 2 A schematic diagram of various installation types of an adjustment arm in one embodiment;

[0076] Figure 3 A schematic diagram of the structure of an adjustment arm in an embodiment;

[0077] Figure 4 A schematic diagram of the joint structure of an adjusting arm in one embodiment;

[0078] Figure 5 A schematic diagram of a position-based control process of an adjustment arm of a first installation type in one embodiment;

[0079] Figure 6 A schematic diagram of a speed control process of a first installation type adjustment arm in one embodiment;

[0080] Figure 7 A schematic diagram of a speed control process of a second installation type adjusting arm in one embodiment;

[0081] Figure 8 A schematic diagram of a control flow based on iterative solution for a second installation type adjustment arm in one embodiment;

[0082] Fig. 9 is a schematic diagram of the position of a fixed point in an embodiment;

[0083] Fig.10 Schematic diagram of the relationship between the poking card and the fixed point in one embodiment;

[0084] Fig.11 A schematic diagram of a surgical robot scene in an embodiment;

[0085] Fig.12 A schematic diagram of a control console in one embodiment;

[0086] Fig.13 A schematic diagram of a surgical trolley in one embodiment;

[0087] Fig.14 A schematic diagram of the structure of a surgical instrument in one embodiment;

[0088] Fig.15 A schematic diagram of a surgical robot workflow in one embodiment;

[0089] Fig.16 is a structural block diagram of an adjustment arm control device in one embodiment;

[0090] Fig.17 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0091] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0092] The control method of the adjustment arm provided in the embodiment of the present application can be applied to a robot, wherein the robot comprises at least a controller and an adjustment arm, and the adjustment arm comprises at least an adjustment arm end and a plurality of adjustment arm joints. A robot is a machine device that automatically performs work. It can accept human commands, run pre-programmed programs, or act according to principles and guidelines formulated with artificial intelligence technology. The task of the robot is to assist or replace human work, such as production, construction, medical treatment, etc.

[0093] In one embodiment, Figure 1 As shown, a control method for adjusting an arm is provided, which is described by taking the application of the method to a surgical robot as an example, and includes the following steps:

[0094] Step 102, obtaining the fixed point coordinates corresponding to the target adjustment arm.

[0095] Optionally, the controller obtains the fixed point coordinates corresponding to the target adjustment arm. The corresponding relationship between the target adjustment arm and the fixed point coordinates can be obtained through external input, or the fixed point coordinates corresponding to the target adjustment arm can be directly positioned. Usually, the surgical robot includes multiple adjustment arms, and the surgical area will be located with multiple fixed point coordinates. Before the surgical robot performs a task, each adjustment arm is matched with each fixed point coordinate one by one. In this way, when performing a task, the controller can determine the fixed point coordinates corresponding to the target adjustment arm based on the currently moving target adjustment arm.

[0096] Step 104 , obtaining the installation type of the target adjustment arm; the installation type is used to characterize the installation position of the adjustment arm.

[0097] Optionally, the installation type of the target adjustment arm is divided into two types: installation on the main suspension plate and installation on other adjustment arms. The controller obtains the installation type of the target adjustment arm, and can directly receive the installation type of the target adjustment arm through external input, or obtain the installation information of the target adjustment arm through external input, and determine the installation type of the target adjustment arm according to the installation information, and can also identify the device information of the target adjustment arm, and determine the installation type of the target adjustment arm according to the correspondence between the pre-configured device information and the installation type. For example, Figure 2As shown, a robot includes 4 adjustment arms, and each adjustment arm can have a different installation type. In configuration a, the 4 adjustment arms are independently distributed on a main suspension plate and do not affect each other; in configuration b, 2 adjustment arms are independently distributed on a main suspension plate, adjustment arms No. 2 and No. 3 are independently distributed on the main suspension plate, adjustment arm No. 1 is installed on adjustment arm No. 2, and adjustment arm No. 4 is installed on adjustment arm No. 3; when adjustment arms No. 2 and No. 3 are adjusted, they will drive adjustment arms No. 1 and No. 4 respectively; in configuration c, 3 adjustment arms are independently distributed on a main suspension plate, adjustment arms No. 2, 3, and 4 are independently distributed on the main suspension plate, adjustment arm No. 1 is installed on adjustment arm No. 2, and when adjustment arm No. 2 is adjusted, it will drive adjustment arm No. 1. (Configuration c can also include adjustment arms No. 1 / 2 / 3 being independently distributed on the main suspension plate, and adjustment arm No. 4 being installed on adjustment arm No. 3.)

[0098] Step 106, determining the target control logic corresponding to the target adjustment arm according to the installation type; the target control logic is used to ensure that the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinate during the process of controlling the movement of each joint of the target adjustment arm.

[0099] Optionally, the controller calls the target control logic that matches the installation type of the target adjustment arm according to the installation type of the target adjustment arm. This is because the active joints and follower joints of the adjustment arm are different for different installation types. For example, Figure 3 As shown, the target adjustment arm includes 4 joints, namely, an expansion joint 1 (illustrated as a connecting rod 301), a translation joint 2 (illustrated as a connecting rod 302), a rotation joint 3 (illustrated as a rotating shaft connecting rod 303) and a rotation joint 4 (illustrated as a connecting rod 304), and also includes a tool arm mounting base 305, wherein the expansion joint 1 can pull the four adjustment arms apart from each other to expand the surgical operation space. If the target adjustment arm is installed on the main suspension plate, the expansion joint 1 connecting rod 301 of the target adjustment arm is usually actively controlled by the operator, driving the expansion joint 1 to move, then the controller only needs to automatically adjust the translation joint 2, the rotation joint 3 and the rotation joint 4 to ensure that the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinate. If the target adjustment arm is installed on another adjustment arm, the operator usually actively controls any joint of the other adjustment arm, and the other adjustment arm drives the target adjustment arm to move, then the controller needs to automatically adjust all joints of the target adjustment arm (expansion joint 1, translation joint 2, rotation joint 3 and rotation joint 4) to ensure that the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinate. The controller may directly receive the target control logic corresponding to the installation type through external input, or may call the target control logic corresponding to the installation type from the control logic database according to the correspondence between the pre-configured control logic and the installation type.

[0100] Step 108, controlling the movement of each joint of the target adjustment arm based on the target control logic and the fixed point coordinates.

[0101] Optionally, the controller controls the motion of each joint of the target adjustment arm according to the target control logic to ensure that the end of the target adjustment arm always remains at the fixed point coordinate. Figure 3 Take the adjusting arm structure in as an example. Figure 4 As shown, the Cartesian position of the fixed point coordinate position of the target adjustment arm relative to the base coordinate system RB is P0 (P0_x, P0_y, P0_z), and the speed is V0 (V0_x, V0_y, V0_z); Z1 represents the rotation direction of the axis of the unfolding joint 1; Z2 represents the horizontal movement direction of the translation joint 2; Z3 represents the direction of the rotation axis of the rotation joint 3, and the direction of the up and down adjustment; Z4 represents the rotation direction of the axis of the rotation joint 4. Assuming that the target adjustment arm is installed on another adjustment arm, and the other adjustment arm is installed on the main suspension plate, the other adjustment arm is adjusted, and all joints of the target adjustment arm are actively followed and compensated, and the fixed point position P0 (P0_x, P0_y, P0_z) of the target adjustment arm must be guaranteed to remain unchanged. Assuming that the target adjustment arm is installed on the main suspension plate, when the unfolding joint 1 of the target adjustment arm is adjusted, the translation joint 2, rotation joint 3 and rotation joint 4 of the target adjustment arm actively follow and compensate to ensure that the fixed point position P0 (P0_x, P0_y, P0_z) remains unchanged.

[0102] In the above-mentioned control method for the adjusting arm, the fixed point coordinates corresponding to the target adjusting arm are obtained; the installation type of the target adjusting arm is obtained; the installation type is used to characterize the installation position of the adjusting arm; according to the installation type, the target control logic corresponding to the target adjusting arm is determined; the target control logic is used to ensure that the fixed point spatial position of the target adjusting arm is always located at the fixed point coordinates during the control of the movement of each joint of the target adjusting arm; the movement of each joint of the target adjusting arm is controlled based on the target control logic and the fixed point coordinates. During the movement of the adjusting arm, each joint of the adjusting arm can move automatically to ensure that the end of the adjusting arm always remains at the fixed point, thereby preventing damage to the working object of the adjusting arm and improving the safety of the control of the adjusting arm.

[0103] In one embodiment, the target control logic corresponding to the target adjustment arm is determined according to the installation type, including: if the target adjustment arm is of the first installation type, the first control logic corresponding to the target adjustment arm is determined; the first installation type is used to characterize that the target adjustment arm is mounted on the main suspension plate; the first control logic is used to control at least one joint of the target adjustment arm; if the target adjustment arm is of the second installation type, the second control logic corresponding to the target adjustment arm is determined; the second installation type is used to characterize that the target adjustment arm is mounted on the active adjustment arm, and the active adjustment arm is mounted on the main suspension plate; the second control logic is used to control all joints of the target adjustment arm.

[0104] Among them, for the target adjustment arm, the first control logic is used to control the joints except the unfolding joint, and the second control logic is used to control all the joints.

[0105] Optionally, if the target adjustment arm is of the second installation type, determine the second control logic and the first control logic corresponding to the target adjustment arm. When the target adjustment arm is of the second installation type, the operator can actively control the active adjustment arm. At this time, the target adjustment arm is equivalent to the follow-up adjustment arm, and the controller is required to control the motion of all joints of the target adjustment arm; the operator can also keep the active adjustment arm stationary and actively control the expansion joint of the target adjustment arm. At this time, the target adjustment arm is no longer a follow-up adjustment arm, and the controller is required to control the motion of joints of the target adjustment arm except the expansion joint. At this time, the control method can adopt the first control logic.

[0106] In one possible implementation, Figure 2 and Figure 3 As shown, assuming Figure 2 Each adjusting arm is made of Figure 3 In the structure. In configuration a, when the unfolded joint 1 of any adjusting arm is adjusted, the controller performs active follow-up compensation on the translation joint 2, rotation joint 3 and rotation joint 4 of the adjusting arm to ensure that the fixed point position remains unchanged. In configuration b, when the No. 2 adjusting arm (or No. 3 adjusting arm) is adjusted, the controller performs active follow-up compensation on all joints of the No. 1 adjusting arm (or No. 4 adjusting arm) to ensure that the fixed point position of the No. 1 adjusting arm (or No. 4 adjusting arm) remains unchanged; at the same time, when the unfolded joint 1 of any adjusting arm is adjusted, the controller also performs active follow-up compensation on the translation joint 2, rotation joint 3 and rotation joint 4 of the adjusting arm to ensure that the fixed point position remains unchanged. In configuration c, when the No. 2 adjusting arm is adjusted, the controller performs active follow-up compensation on all joints of the No. 1 adjusting arm to ensure that the fixed point position of the No. 1 adjusting arm remains unchanged; at the same time, when the unfolded joint 1 of any adjusting arm is adjusted, the controller also performs active follow-up compensation on the translation joint 2, rotation joint 3 and rotation joint 4 of the adjusting arm to ensure that the fixed point position remains unchanged.

[0107] In this embodiment, if the target adjustment arm is of the first installation type, the first control logic corresponding to the target adjustment arm is determined; if the target adjustment arm is of the second installation type, the second control logic corresponding to the target adjustment arm is determined. Appropriate control logic can be selected according to the installation type of the target adjustment arm.

[0108] In one embodiment, the target control logic is the first control logic, and the motion of each joint of the target adjustment arm is controlled based on the target control logic and the fixed point coordinates, including: obtaining the first influencing motion parameter of the target adjustment arm according to the displacement of the unfolded joint of the target adjustment arm; the first influencing motion parameter includes the influencing position parameter. The end position change matrix of the target adjustment arm is calculated according to forward kinematics; the influencing position parameter and the fixed point coordinates are substituted into the end position change matrix, and the compensation position parameters of each joint of the target adjustment arm except the unfolded joint are obtained according to the inverse kinematics calculation, and the compensation position parameters are used as the first compensation motion parameters. According to the first compensation motion parameters, the motion of each joint of the target adjustment arm except the unfolded joint is controlled.

[0109] Optional, with Figure 2 Take any adjusting arm in (a) as the target adjusting arm as an example. When the target adjusting arm unfolds joint 1 for adjustment, the translation joint 2, rotation joint 3 and rotation joint 4 of the adjusting arm actively follow and compensate to ensure that the fixed point position P0 (P0_x, P0_y, P0_z) remains unchanged. First, the DH kinematic model of the adjusting arm is established. The Cartesian position of P0 relative to the reference coordinate system RB is:

[0110]

[0111]

[0112] In the formula, represents the coordinate transformation of joint axis i relative to axis i-1;

[0113] Represents the attitude change matrix of the end of the coordinate system relative to the base coordinate system, r ij represents the rotation matrix element;

[0114] Represents the position change matrix of the end of the coordinate system relative to the base coordinate system.

[0115] like Figure 5 As shown in the figure, when the adjustment arm unfolds joint 1 to adjust, when θ1 changes, the translation joint 2, rotation joint 3 and rotation joint 4 of the adjustment arm actively follow and compensate to ensure that the fixed point position P0 (P0_x, P0_y, P0_z) remains unchanged; while ensuring that the fixed point position at the end remains unchanged, the fixed point holding position P0_init (P0_x, P0_y, P0_z) is brought into the above change matrix Through inverse kinematics, the follow-up compensation positions θ2, θ3, θ4 of the translation joint 2, the rotation joint 3, and the rotation joint 4 can be calculated.

[0116] In this embodiment, the first compensation motion parameter is calculated by the principle of forward and inverse kinematics, and the motion of each joint of the target adjustment arm except the unfolding joint can be controlled according to the first compensation motion parameter, so that each joint except the unfolding joint follows the unfolding joint for follow-up compensation.

[0117] In one embodiment, the target control logic is the first control logic, and the movement of each joint of the target adjustment arm is controlled based on the target control logic and the fixed point coordinates, and also includes: according to the displacement of the unfolded joint of the target adjustment arm, the first influencing motion parameter of the target adjustment arm is obtained; the first influencing motion parameter includes the influencing speed parameter. The end of the target adjustment arm is configured at the fixed point coordinate, and the fixed point speed of the end of the target adjustment arm is determined to be 0; the speed Jacobian matrix of the target adjustment arm is calculated according to forward kinematics; according to the speed Jacobian matrix, the influencing speed parameter and the fixed point speed, the compensation speed parameters of each joint of the target adjustment arm except the unfolded joint are calculated; the initial position parameters of each joint of the target adjustment arm except the unfolded joint are obtained; according to the initial position parameters and the compensation speed parameters, the compensation position parameters of each joint of the target adjustment arm except the unfolded joint are obtained, and the compensation position parameters are used as the first compensation motion parameters. According to the first compensation motion parameters, the movement of each joint of the target adjustment arm except the unfolded joint is controlled.

[0118] Optional, with Figure 2 Take any one of the adjustment arms in (a) as the target adjustment arm for example. When the target adjustment arm unfolds joint 1 for adjustment, the translation joint 2, rotation joint 3 and rotation joint 4 of the adjustment arm actively follow and compensate. To ensure that the fixed point position P0 (P0_x, P0_y, P0_z) remains unchanged, the Cartesian terminal velocity V0 (V0_x, V0_y, V0_z) of the fixed point is 0.

[0119]

[0120] Where Js represents the velocity Jacobian matrix corresponding to the adjustment arm, Indicates the input speed of the adjustment arm deployment joint 1, They represent the active following speeds of the adjustment arm translation joint 2, rotation joint 3 and rotation joint 4 respectively.

[0121]

[0122] In the formula, θ i Indicates the active following position of each following joint of the adjustment arm (translational joint 2, rotational joint 3 and rotational joint 4).

[0123] like Figure 6 As shown, the adjustment arm unfolds joint 1 and actively adjusts to obtain the speed input (That is, the speed of the joints of the adjustment arm). Based on the control strategy that the Cartesian speed of the fixed point at the end of the adjustment arm is 0, the joint following speeds of the adjustment arm's translational joint 2, rotational joint 3, and rotational joint 4 are calculated. The joint following speeds of each joint are integrated to obtain the command position, and the forward kinematics and Jacobian matrix of the adjustment arm are calculated. The command position and command speed are sent to the adjustment arm controller to carry out active following compensation in real time.

[0124] In this embodiment, the first compensating motion parameter is calculated by adjusting the principle of constant Cartesian velocity at the end of the arm. According to the first compensating motion parameter, the movement of each joint of the target adjustment arm except the unfolding joint can be controlled so that each joint except the unfolding joint follows the unfolding joint for follow-up compensation.

[0125] In one embodiment, the target control logic is the second control logic, and the movement of each joint of the target adjustment arm is controlled based on the target control logic and the fixed point coordinates, including: determining the linkage joint of the active adjustment arm corresponding to the target adjustment arm according to the installation position of the target adjustment arm; the linkage joint is used to characterize at least one joint of the active adjustment arm located between the installation position of the target adjustment arm and the main suspension plate; according to the displacement of the linkage joint, the second influencing motion parameter of the active adjustment arm is obtained; the second influencing motion parameter includes the influencing position parameter. The end position change matrix of the target adjustment arm is calculated according to forward kinematics; the influencing position parameter and the fixed point coordinates are substituted into the end position change matrix, and the compensation position parameters of each joint of the target adjustment arm are calculated according to inverse kinematics; the compensation position parameters are used as the second compensation motion parameters. According to the second compensation motion parameters, the movement of each joint of the target adjustment arm is controlled.

[0126] Optional, with Figure 2 (b) The No. 2 adjustment arm is taken as the target adjustment arm as an example. Figure 5 The same forward / inverse kinematic control strategy can also be used to calculate the follow-up compensation command position of the No. 1 adjustment arm when the No. 2 adjustment arm is adjusted. Through the active follow-up compensation of all joints of the No. 1 adjustment arm, the position of the fixed point remains unchanged. The influence position of the linkage joint is taken as θ0, and the follow-up compensation positions θ1, θ2, θ3, θ4 of the unfolding joint 1, translation joint 2, rotation joint 3 and rotation joint 4 of the No. 1 adjustment arm are calculated respectively. It should be noted that Figure 2 (b) Middle No. 2 adjusting arm, Figure 2 (b) No. 3 adjusting arm and Figure 2 (c) The No. 2 adjusting arms are of the same installation type, so Figure 2 When the No. 3 adjusting arm is used as the target adjusting arm in (b), the No. 4 adjusting arm can also be controlled using the same principle. Figure 2 When the No. 2 adjusting arm in (c) is used as the target adjusting arm, the No. 1 adjusting arm can also be controlled using the same principle.

[0127] In this embodiment, the second compensation motion parameter is calculated by the principle of forward and inverse kinematics, and the motion of each joint of the target adjustment arm can be controlled according to the second compensation motion parameter, so that each joint of the target adjustment arm follows the active adjustment arm for follow-up compensation.

[0128] In one embodiment, the target control logic is the second control logic, and the movement of each joint of the target adjustment arm is controlled based on the target control logic and the fixed point coordinates, and also includes: determining the linkage joint of the active adjustment arm corresponding to the target adjustment arm according to the installation position of the target adjustment arm; the linkage joint is used to characterize at least one joint of the active adjustment arm located between the installation position of the target adjustment arm and the main suspension plate; obtaining the second influencing motion parameter of the active adjustment arm according to the displacement of the linkage joint; the second influencing motion parameter includes the influencing speed parameter. The end of the target adjustment arm is configured at the fixed point coordinate, and the fixed point speed of the end of the target adjustment arm is determined to be 0; the speed Jacobian matrix of the target adjustment arm is calculated according to forward kinematics; the compensation speed parameters of each joint of the target adjustment arm are calculated according to the speed Jacobian matrix, the influencing speed parameter and the fixed point speed; the initial position parameters of each joint of the target adjustment arm are obtained; the compensation position parameters of each joint of the target adjustment arm are obtained according to the initial position parameters and the compensation speed parameters; the compensation position parameters are used as the second compensation motion parameters. According to the second compensation motion parameters, the movement of each joint of the target adjustment arm is controlled.

[0129] Optional, with Figure 2 In (b), take the No. 2 adjustment arm as the target adjustment arm as an example. When the No. 2 adjustment arm is adjusted, the No. 1 adjustment arm actively follows and compensates. To ensure that the fixed point position P0 (P0_x, P0_y, P0_z) remains unchanged, the Cartesian terminal velocity V0 (V0_x, V0_y, V0_z) of the fixed point is 0.

[0130]

[0131] Where Js represents the velocity Jacobian matrix corresponding to the adjustment arm, Indicates the input speed of the No. 2 adjusting arm, Indicates the active following speed of the four joints of the No. 1 adjustment arm.

[0132]

[0133] In the formula, θ i Indicates the active following position of each joint of No. 1 adjustment arm.

[0134] like Figure 7 As shown, when the No. 2 adjusting arm is actively adjusted, the No. 2 adjusting arm affects the speed input (That is, the linkage joint speed of adjustment arm 2). Based on the control strategy of the Cartesian speed of the fixed point end being 0, the joint following speed of adjustment arm No. 1 is calculated. The command position is obtained by integrating the joint speed, and the forward kinematics and Jacobian matrix of adjustment arm No. 1 are calculated. The command position and command speed are sent to the adjustment arm controller to carry out active following compensation in real time.

[0135] In this embodiment, the second compensating motion parameter is calculated by the principle of constant Cartesian velocity at the end of the adjustment arm. According to the second compensating motion parameter, the motion of each joint of the target adjustment arm can be controlled so that each joint of the target adjustment arm follows the active adjustment arm for follow-up compensation.

[0136] In one embodiment, the compensation velocity parameters of each joint of the target adjustment arm are calculated according to the velocity Jacobian matrix, the influencing velocity parameters and the fixed point velocity, including: constructing the joint velocity equation of the target adjustment arm according to the velocity Jacobian matrix, the influencing velocity parameters and the fixed point velocity; solving the joint velocity equation to obtain initial compensation velocity parameters including redundant solutions; based on the fixed point null space iteration strategy, iteratively optimizing and selecting the redundant solutions in the initial compensation velocity parameters to obtain the compensation velocity parameters of each joint of the target adjustment arm.

[0137] Optionally, when the No. 2 adjustment arm is adjusted, the No. 1 adjustment arm actively follows and compensates. To ensure that the fixed point position P0 (P0_x, P0_y, P0_z) remains unchanged, the Cartesian terminal velocity V0 (V0_x, V0_y, V0_z) of the fixed point is 0;

[0138] First, the DH kinematic model of the adjustment arm is established. The Cartesian position of P0 relative to the reference coordinate system RB is:

[0139]

[0140]

[0141] The matrix representing the position change of the end of the coordinate system relative to the base coordinate system is the correlation function of θ0, θ1, θ2, θ3, and θ4.

[0142] like Figure 8 As shown in the figure, during the adjustment process, the Cartesian position of point P0 remains unchanged, and the Cartesian terminal velocity is 0. Therefore, the terminal velocity is obtained by taking the derivative of the terminal Cartesian position.

[0143]

[0144] Where Js represents the Jacobian matrix obtained by derivation of the Cartesian position expression, For input, is the output.

[0145] There is a redundant solution in the formula, which can be solved based on the matrix null space solution strategy to obtain the target solution.

[0146]

[0147] Where, T adjust is the iterative parameter matrix calculated based on the null space, and k1 is the iterative adjustment coefficient.

[0148]

[0149] In the formula, θ i Indicates the active following position of each joint of No. 1 adjustment arm.

[0150] In this embodiment, the second compensating motion parameter is calculated by the principle of constant Cartesian velocity at the end of the adjustment arm. According to the second compensating motion parameter, the motion of each joint of the target adjustment arm can be controlled so that each joint of the target adjustment arm follows the active adjustment arm for follow-up compensation.

[0151] In one embodiment, obtaining the fixed point coordinates corresponding to the target adjustment arm includes: determining the card poking channel corresponding to the target adjustment arm, and determining the fixed point coordinates according to the position of the card poking channel. Fig. 9 As shown in the figure, during laparoscopic robotic surgery, 3-4 poking card channels need to be established on the patient's skin surface. After the robot is connected to the poking card in the figure, the surgical instrument enters the patient's chest and abdominal cavity through the poking card, and then the robotic surgery is performed. During the operation, it is necessary to ensure that the position of the poking card fixed point remains unchanged to avoid squeezing and damaging the tissue. The position of the fixed point is determined based on the robotic arm. The robotic arm consists of an adjustment arm and a tool arm. The intersection of the rotation axis of the 1 / 2 joint of the tool arm connected to the adjustment arm is the fixed point, and the translation axis of the tool arm telescopic joint also passes through the fixed point. The fixed point position is not affected by the adjustment of the tool arm position joint, but is affected by the adjustment arm position joint.

[0152] Specifically, during robotic surgery, the end of each adjustment arm of the robot is connected to a tool arm, the end of the tool arm is connected to a surgical instrument, and each surgical instrument is connected to a poking card, through which the surgical instrument enters the patient's abdominal cavity for surgery. Fig.10 As shown in the figure, usually, one of the puncture holes is used for the endoscope, and 2-3 puncture holes are used for surgical instruments. During the operation, the puncture holes will remain in place to avoid squeezing and damaging the surrounding tissues. Under the endoscopic image, the surgeon uses the surgical instruments to cut, electrocute, coagulate, and suture the lesion tissue (for example, the prostate) to complete the intended surgical goal.

[0153] In one embodiment, a control method for an adjustment arm includes:

[0154] Determine the poking channel corresponding to the target adjustment arm, and determine the fixed point coordinates according to the position of the poking channel.

[0155] Get the installation type of the target adjustment arm; the installation type is used to characterize the installation position of the adjustment arm.

[0156] If the target adjustment arm is of the first installation type, determine the first control logic corresponding to the target adjustment arm; the first installation type is used to characterize that the target adjustment arm is mounted on the main suspension plate; the first control logic is used to control at least one joint of the target adjustment arm; if the target adjustment arm is of the second installation type, determine the second control logic corresponding to the target adjustment arm; the second installation type is used to characterize that the target adjustment arm is mounted on the active adjustment arm, and the active adjustment arm is mounted on the main suspension plate; the second control logic is used to control all joints of the target adjustment arm. The first control logic and the second control logic are used to ensure that in the process of controlling the movement of each joint of the target adjustment arm, the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinate.

[0157] According to the displacement of the unfolded joint of the target adjustment arm, the first influencing motion parameter of the target adjustment arm is obtained; the first influencing motion parameter includes the influencing position parameter. According to forward kinematics, the terminal position change matrix of the target adjustment arm is calculated; the influencing position parameter and the fixed point coordinates are substituted into the terminal position change matrix, and the compensation position parameters of each joint of the target adjustment arm except the unfolded joint are obtained according to inverse kinematics, and the compensation position parameters are used as the first compensation motion parameter. According to the first compensation motion parameter, the motion of each joint of the target adjustment arm except the unfolded joint is controlled.

[0158] According to the displacement of the unfolded joint of the target adjustment arm, the first influencing motion parameter of the target adjustment arm is obtained; the first influencing motion parameter includes the influencing speed parameter. The end of the target adjustment arm is configured at the fixed point coordinate, and the fixed point speed of the end of the target adjustment arm is determined to be 0; the speed Jacobian matrix of the target adjustment arm is calculated according to forward kinematics; according to the speed Jacobian matrix, the influencing speed parameter and the fixed point speed, the compensation speed parameters of each joint of the target adjustment arm except the unfolded joint are calculated; the initial position parameters of each joint of the target adjustment arm except the unfolded joint are obtained; according to the initial position parameters and the compensation speed parameters, the compensation position parameters of each joint of the target adjustment arm except the unfolded joint are obtained, and the compensation position parameters are used as the first compensation motion parameters. According to the first compensation motion parameters, the motion of each joint of the target adjustment arm except the unfolded joint is controlled.

[0159] According to the installation position of the target adjustment arm, the linkage joint of the active adjustment arm corresponding to the target adjustment arm is determined; the linkage joint is used to characterize at least one joint of the active adjustment arm located between the installation position of the target adjustment arm and the main suspension plate; according to the displacement of the linkage joint, the second influencing motion parameter of the active adjustment arm is obtained; the second influencing motion parameter includes the influencing position parameter. The end position change matrix of the target adjustment arm is calculated according to forward kinematics; the influencing position parameter and the fixed point coordinates are substituted into the end position change matrix, and the compensation position parameters of each joint of the target adjustment arm are obtained according to inverse kinematics calculation; the compensation position parameter is used as the second compensation motion parameter. According to the second compensation motion parameter, the movement of each joint of the target adjustment arm is controlled.

[0160] According to the installation position of the target adjustment arm, the linkage joint of the active adjustment arm corresponding to the target adjustment arm is determined; the linkage joint is used to characterize at least one joint of the active adjustment arm located between the installation position of the target adjustment arm and the main suspension plate; according to the displacement of the linkage joint, the second influencing motion parameter of the active adjustment arm is obtained; the second influencing motion parameter includes the influencing velocity parameter. The end of the target adjustment arm is configured at the fixed point coordinate, and the fixed point velocity of the end of the target adjustment arm is determined to be 0; the velocity Jacobian matrix of the target adjustment arm is calculated according to forward kinematics. According to the velocity Jacobian matrix, the influencing velocity parameter and the fixed point velocity, the joint velocity equation of the target adjustment arm is constructed; the joint velocity equation is solved to obtain the initial compensation velocity parameter containing redundant solutions; based on the fixed point null space iteration strategy, the redundant solutions in the initial compensation velocity parameters are iteratively optimized and selected to obtain the compensation velocity parameters of each joint of the target adjustment arm. The initial position parameters of each joint of the target adjustment arm are obtained; according to the initial position parameters and the compensation velocity parameters, the compensation position parameters of each joint of the target adjustment arm are obtained; the compensation position parameters are used as the second compensation motion parameters. According to the second compensation motion parameters, the motion of each joint of the target adjustment arm is controlled.

[0161] In one embodiment, a control method for an adjustment arm is provided. Taking the method applied to an adjustment arm control system as an example, the system includes:

[0162] A controller is used to obtain the installation type of a target adjustment arm; the installation type is used to characterize the installation position of the adjustment arm; according to the installation type, a target control logic corresponding to the target adjustment arm is determined; the fixed point coordinates corresponding to the target adjustment arm are obtained; the joint movements of the target adjustment arm are controlled based on the target control logic and the fixed point coordinates; the target control logic is used to ensure that in the process of controlling the joint movements of the target adjustment arm, the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinates.

[0163] Operating table trolley, used to install the main suspension plate.

[0164] The main suspension plate is used to mount at least one adjustment arm.

[0165] The first adjusting arm is mounted on the second adjusting arm.

[0166] The second adjusting arm is mounted on the main suspension plate.

[0167] Specifically, the use scenarios of the adjustment arm control system are as follows: Fig.11 As shown, the system includes a doctor's console 100, an operating trolley 200, an image trolley 300, and a tool trolley 400, and a master operator is provided on the doctor's console 100. The operating trolley 200 has at least two mechanical arms 201, and surgical instruments and endoscopes can be mounted on the mechanical arms respectively. The controller can be integrated on the operating trolley 200 or on the doctor's console 100. The operator (for example, a surgeon) remotely operates the doctor's console 100 and the master operator to perform minimally invasive surgery on the patient on the bed. Among them, the master operator and the mechanical arm 201 and the surgical instrument form a master-slave control relationship. Specifically, the mechanical arm 201 and the surgical instrument move according to the movement of the master operator during the operation, that is, according to the operation of the operator's hand. Further, the master operator also receives the force information of the human tissue and organ on the surgical instrument and feeds it back to the operator's hand, so that the operator can feel the surgical operation more intuitively. The doctor's console 100 has a display device, which is connected to the endoscope mounted on the mechanical arm of the operating table 200, and can receive and display the images collected by the endoscope. The operator controls the movement of the mechanical arm and the surgical instrument through the main operator according to the image displayed by the display device on the doctor's console 100. The endoscope and the surgical instrument enter the patient's position through the wound on the patient's body respectively. The surgical robot also includes auxiliary components such as a ventilator and anesthesia machine 500 for use in surgery. Those skilled in the art can select and configure these auxiliary components according to the prior art.

[0168] Doctor console 100, such as Fig.12As shown, the system also includes: an adjustment component 110, a manipulation arm 120, a trolley component 130, and an image component 140. The two manipulation arms 120 detect the operator's hand motion information through the control handles at their ends as the motion control input of the entire system; the trolley part 130 is a basic bracket for installing other components. The control trolley has movable casters and can be moved or fixed as needed; a foot switch is installed on the trolley component 130 to detect the switch control signal sent by the operator; the adjustment component 110 can electrically adjust the position of the manipulation arm, the image component, the operator's armrest and other devices, that is, the human-machine parameter adjustment function. The image component 140 can provide the operator with a three-dimensional image detected from the image system, and provide the operator with reliable image information for performing surgical operations. During the operation, the operator sitting in front of the doctor's console is located outside the disinfection area, and the operator controls the surgical instruments and laparoscope by operating the control handle at the end of the manipulation arm. The surgeon observes the intracavitary images transmitted back by the imaging component and uses both hands to control the movement of the robotic arm and instruments of the patient's surgical platform to complete various operations, thereby achieving the purpose of performing surgery on the patient. At the same time, the surgeon can control some actions through the foot switch, such as completing electroresection, electrocoagulation and other related operation inputs through the foot switch.

[0169] Operating trolley 200, such as Fig.13 As shown, it also includes: an adjustment arm 210, a tool arm 201, a tool arm 202, a tool arm 203, a surgical instrument 204, and an endoscope assembly 205. The adjustment arm is mounted on the main suspension plate 230, and the surgical instrument 204 and the endoscope assembly 205 are mounted at the end of the tool arm. The surgical instrument and the endoscope can be inserted into the body through the poking hole on the surface of the human body. The image trolley 300 transmits the image information in the body to the display screen through the endoscope assembly 205. As shown in the schematic diagram, 301 is the surgical instrument in the image, and 302 is the end field of view of the endoscope. The image trolley 300 of the surgical robot system mainly includes: an endoscope device and a display device. The endoscope device is used to obtain and process the image of the surgical space in the patient's body; the display device is used to display the image acquired and processed by the endoscope device 301 in real time. During the operation, the operator can operate the control handle at the end of the manipulation arm to realize the manipulation of the surgical instrument and the endoscope, thereby completing the corresponding surgical operation.

[0170] A robotic arm is mainly composed of an adjustment arm, a tool arm and a surgical instrument (or endoscope), wherein the surgical instrument 204 is as follows: Fig.14 As shown, it mainly includes: a transmission mechanism 240, an instrument rod 241, and an operating mechanism 242. The surgical instrument can be telescopically moved along the instrument rod axis; can be self-rotating around the instrument rod; the operating mechanism can be pitched, yawed, and opened and closed, so as to realize various applications in surgical operations.

[0171] like Fig.15As shown, during normal surgical operation, the operator controls the position and posture of the end of the instrument through master-slave teleoperation under the guidance of the endoscopic image. The controller can be integrated in the robot operation master end or in the robot operation slave end.

[0172] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0173] Based on the same inventive concept, the embodiment of the present application also provides an adjustment arm control device for implementing the adjustment arm control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more adjustment arm control device embodiments provided below can refer to the limitations of the adjustment arm control method above, and will not be repeated here.

[0174] In one embodiment, Fig.16 As shown, an adjustment arm control device is provided, including: a positioning module 1601, an acquisition module 1602, a matching module 1603 and a control module 1604, wherein:

[0175] A positioning module 1601 is used to obtain the fixed point coordinates corresponding to the target adjustment arm;

[0176] The acquisition module 1602 is used to acquire the installation type of the target adjustment arm; the installation type is used to characterize the installation position of the adjustment arm;

[0177] The matching module 1603 is used to determine the target control logic corresponding to the target adjustment arm according to the installation type; the target control logic is used to ensure that the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinate during the process of controlling the movement of each joint of the target adjustment arm;

[0178] The control module 1604 is used to control the movement of each joint of the target adjustment arm based on the target control logic and the fixed point coordinates.

[0179] In one embodiment, the matching module 1603 is also used to determine the first control logic corresponding to the target adjustment arm if the target adjustment arm is of the first installation type; the first installation type is used to characterize that the target adjustment arm is installed on the main suspension plate; the first control logic is used to control at least one joint of the target adjustment arm; if the target adjustment arm is of the second installation type, determine the second control logic corresponding to the target adjustment arm; the second installation type is used to characterize that the target adjustment arm is installed on the active adjustment arm, and the active adjustment arm is installed on the main suspension plate; the second control logic is used to control all joints of the target adjustment arm.

[0180] In one embodiment, the control module 1604 is also used to obtain the first influencing motion parameter of the target adjustment arm according to the displacement of the unfolding joint of the target adjustment arm; obtain the first compensating motion parameter of each joint of the target adjustment arm except the unfolding joint according to the first influencing motion parameter and the fixed point coordinates; and control the movement of each joint of the target adjustment arm except the unfolding joint according to the first compensating motion parameter.

[0181] In one embodiment, the control module 1604 is also used to calculate the end position change matrix of the target adjustment arm according to forward kinematics; substitute the influencing position parameters and the fixed point coordinates into the end position change matrix, and obtain the compensation position parameters of each joint of the target adjustment arm except the unfolding joint according to inverse kinematics, and use the compensation position parameters as the first compensation motion parameters.

[0182] In one embodiment, the control module 1604 is also used to configure the end of the target adjustment arm at the fixed point coordinate, determine the fixed point speed of the end of the target adjustment arm to be 0; calculate the velocity Jacobian matrix of the target adjustment arm according to forward kinematics; calculate the compensation speed parameters of each joint of the target adjustment arm except the unfolded joint according to the velocity Jacobian matrix, the influencing speed parameters and the fixed point speed; obtain the initial position parameters of each joint of the target adjustment arm except the unfolded joint; obtain the compensation position parameters of each joint of the target adjustment arm except the unfolded joint according to the initial position parameters and the compensation speed parameters, and use the compensation position parameters as the first compensation motion parameters.

[0183] In one embodiment, the control module 1604 is also used to determine the linkage joint of the active adjustment arm corresponding to the target adjustment arm according to the installation position of the target adjustment arm; the linkage joint is used to characterize at least one joint of the active adjustment arm located between the installation position of the target adjustment arm and the main suspension plate; according to the displacement of the linkage joint, the second influencing motion parameter of the active adjustment arm is obtained; according to the second influencing motion parameter and the fixed point coordinates, the second compensating motion parameter of each joint of the linkage joint and the target adjustment arm is obtained; according to the second compensating motion parameter, the movement of each joint of the target adjustment arm is controlled.

[0184] In one embodiment, the control module 1604 is also used to calculate the end position change matrix of the target adjustment arm according to forward kinematics; substitute the influencing position parameters and fixed point coordinates into the end position change matrix, and obtain the compensation position parameters of each joint of the target adjustment arm according to inverse kinematics; and use the compensation position parameters as the second compensation motion parameters.

[0185] In one embodiment, the control module 1604 is also used to configure the end of the target adjustment arm at the fixed point coordinate, determine that the fixed point speed of the end of the target adjustment arm is 0; calculate the velocity Jacobian matrix of the target adjustment arm according to forward kinematics; calculate the compensation speed parameters of each joint of the target adjustment arm according to the velocity Jacobian matrix, the influencing speed parameters and the fixed point speed; obtain the initial position parameters of each joint of the target adjustment arm; obtain the compensation position parameters of each joint of the target adjustment arm according to the initial position parameters and the compensation speed parameters; and use the compensation position parameters as the second compensation motion parameters.

[0186] In one embodiment, the control module 1604 is also used to construct the joint velocity equation of the target adjustment arm according to the velocity Jacobian matrix, the influencing velocity parameters and the fixed point velocity; solve the joint velocity equation to obtain the initial compensation velocity parameters including redundant solutions; based on the fixed point null space iteration strategy, iteratively optimize and select the redundant solutions in the initial compensation velocity parameters to obtain the compensation velocity parameters of each joint of the target adjustment arm.

[0187] In one embodiment, the positioning module 1601 is further used to determine the poking channel corresponding to the target adjustment arm, and determine the fixed point coordinates according to the position of the poking channel.

[0188] Each module in the above-mentioned adjusting arm control device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0189] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.17As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store control logic data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for controlling an adjustment arm is implemented.

[0190] Those skilled in the art will understand that Fig.17 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0191] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0192] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0193] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0194] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0195] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0196] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0197] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A control method for an adjustment arm, characterized in that: The method comprises: Obtain the fixed point coordinates corresponding to the target adjustment arm; the surgical robot includes multiple adjustment arms, and the surgical area is positioned with multiple fixed point coordinates, and each adjustment arm corresponds to each fixed point coordinate one by one; Acquire the installation type of the target adjustment arm; the installation type is used to characterize the installation position of the adjustment arm; According to the installation type, determining the target control logic corresponding to the target adjustment arm; the target control logic is used to ensure that in the process of controlling the movement of each joint of the target adjustment arm, the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinate; Controlling the movement of each joint of the target adjustment arm based on the target control logic and the fixed point coordinates; Determining the target control logic corresponding to the target adjustment arm according to the installation type includes: If the target adjustment arm is of the second installation type, determining the second control logic corresponding to the target adjustment arm; the second installation type is used to indicate that the target adjustment arm is mounted on the active adjustment arm, and the active adjustment arm is mounted on the main suspension plate; the second control logic is used to control all joints of the target adjustment arm; The target control logic is a second control logic, and the control of each joint movement of the target adjustment arm based on the target control logic and the fixed point coordinates includes: According to the installation position of the target adjustment arm, determining the linkage joint of the active adjustment arm corresponding to the target adjustment arm; the linkage joint is used to represent at least one joint of the active adjustment arm located between the installation position of the target adjustment arm and the main suspension plate; According to the displacement of the linkage joint, obtaining a second influencing motion parameter of the active adjustment arm; According to the second influencing motion parameter and the fixed point coordinates, obtaining second compensating motion parameters of each joint of the linkage joint and the target adjustment arm; The movement of each joint of the target adjustment arm is controlled according to the second compensation movement parameter.

2. The method according to claim 1, characterized in that Determining the target control logic corresponding to the target adjustment arm according to the installation type includes: If the target adjustment arm is of the first installation type, determine the first control logic corresponding to the target adjustment arm; the first installation type is used to characterize that the target adjustment arm is mounted on the main suspension plate; the first control logic is used to control at least one joint of the target adjustment arm.

3. The method according to claim 2, characterized in that The target control logic is a first control logic, and the control of each joint movement of the target adjustment arm based on the target control logic and the fixed point coordinates includes: Acquire a first influencing motion parameter of the target adjustment arm according to the displacement of the unfolded joint of the target adjustment arm; According to the first influencing motion parameter and the fixed point coordinates, obtaining first compensating motion parameters of each joint of the target adjustment arm except the unfolding joint; The movement of each joint of the target adjustment arm except the unfolding joint is controlled according to the first compensation movement parameter.

4. The method according to claim 3, characterized in that The first influencing motion parameter includes an influencing position parameter, and obtaining the first compensating motion parameter of each joint of the target adjustment arm except the unfolding joint according to the first influencing motion parameter and the fixed point coordinates includes: Calculating the end position change matrix of the target adjustment arm according to forward kinematics; Substitute the influencing position parameters and the fixed point coordinates into the end position change matrix, calculate the compensation position parameters of each joint of the target adjustment arm except the unfolding joint according to inverse kinematics, and use the compensation position parameters as the first compensation motion parameters.

5. The method according to claim 3, characterized in that: The first influencing motion parameter includes an influencing speed parameter, and the step of obtaining the first compensating motion parameter of each joint of the target adjustment arm except the unfolding joint according to the first influencing motion parameter and the fixed point coordinates further includes: The end of the target adjustment arm is arranged at the fixed point coordinate, and the fixed point speed of the end of the target adjustment arm is determined to be 0; Calculating the velocity Jacobian matrix of the target adjustment arm according to forward kinematics; According to the velocity Jacobian matrix, the influencing velocity parameter and the fixed point velocity, the compensation velocity parameter of each joint of the target adjustment arm except the unfolding joint is calculated; Acquire initial position parameters of each joint of the target adjustment arm except the unfolding joint; According to the initial position parameters and the compensation speed parameters, the compensation position parameters of each joint of the target adjustment arm except the unfolding joint are obtained, and the compensation position parameters are used as the first compensation motion parameters.

6. The method according to claim 1, characterized in that The second influencing motion parameter includes an influencing position parameter, and obtaining the second compensating motion parameter of each joint of the linkage joint and the target adjustment arm according to the second influencing motion parameter and the fixed point coordinates includes: Calculating the end position change matrix of the target adjustment arm according to forward kinematics; Substituting the influencing position parameters and the fixed point coordinates into the end position change matrix, and obtaining the compensation position parameters of each joint of the target adjustment arm according to inverse kinematics calculation; The compensated position parameter is used as the second compensated motion parameter.

7. The method according to claim 1, characterized in that The second influencing motion parameter includes an influencing speed parameter, and the second compensating motion parameter of each joint of the linkage joint and the target adjustment arm is obtained according to the second influencing motion parameter and the fixed point coordinates, further comprising: The end of the target adjustment arm is arranged at the fixed point coordinate, and the fixed point speed of the end of the target adjustment arm is determined to be 0; Calculating the velocity Jacobian matrix of the target adjustment arm according to forward kinematics; Calculating the compensation velocity parameters of each joint of the target adjustment arm according to the velocity Jacobian matrix, the influencing velocity parameter and the fixed point velocity; Obtaining initial position parameters of each joint of the target adjustment arm; According to the initial position parameter and the compensation speed parameter, obtaining the compensation position parameter of each joint of the target adjustment arm; The compensated position parameter is used as the second compensated motion parameter.

8. The method according to claim 7, characterized in that The method of calculating the compensation velocity parameters of each joint of the target adjustment arm according to the velocity Jacobian matrix, the influencing velocity parameter and the fixed point velocity comprises: Constructing a joint velocity equation of the target adjustment arm according to the velocity Jacobian matrix, the influencing velocity parameter and the fixed point velocity; Solving the joint velocity equation to obtain initial compensation velocity parameters including redundant solutions; Based on the fixed point null space iteration strategy, redundant solutions in the initial compensation velocity parameters are iteratively optimized and selected to obtain compensation velocity parameters of each joint of the target adjustment arm.

9. The method according to claim 1, characterized in that: The step of obtaining the fixed point coordinates corresponding to the target adjustment arm includes: The poking channel corresponding to the target adjustment arm is determined, and the fixed point coordinates are determined according to the position of the poking channel.

10. An adjusting arm control device, characterized in that: The device comprises: A positioning module is used to obtain the fixed point coordinates corresponding to the target adjustment arm; the surgical robot includes multiple adjustment arms, and the surgical area is positioned with multiple fixed point coordinates, and each adjustment arm corresponds to each fixed point coordinate one by one; An acquisition module, used for acquiring the installation type of the target adjustment arm; the installation type is used for characterizing the installation position of the adjustment arm; A matching module, used for determining the target control logic corresponding to the target adjustment arm according to the installation type; the target control logic is used for ensuring that the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinate during the process of controlling the movement of each joint of the target adjustment arm; A control module, used for controlling the movement of each joint of the target adjustment arm based on the target control logic and the fixed point coordinates; The matching module is further used to determine a second control logic corresponding to the target adjustment arm if the target adjustment arm is of a second installation type; the second installation type is used to indicate that the target adjustment arm is mounted on an active adjustment arm, and the active adjustment arm is mounted on a main suspension plate; the second control logic is used to control all joints of the target adjustment arm; The target control logic is the second control logic, and the control module is also used to determine the linkage joint of the active adjustment arm corresponding to the target adjustment arm according to the installation position of the target adjustment arm; the linkage joint is used to characterize at least one joint of the active adjustment arm located between the installation position of the target adjustment arm and the main suspension plate; according to the displacement of the linkage joint, the second influencing motion parameter of the active adjustment arm is obtained; according to the second influencing motion parameter and the fixed point coordinates, the second compensating motion parameters of the linkage joint and each joint of the target adjustment arm are obtained; according to the second compensating motion parameter, the movement of each joint of the target adjustment arm is controlled.

11. An adjustment arm control system, characterized in that: The system comprises: A controller, used for obtaining the installation type of a target adjustment arm; the installation type is used to characterize the installation position of the adjustment arm; according to the installation type, determining the target control logic corresponding to the target adjustment arm; obtaining the fixed point coordinates corresponding to the target adjustment arm; the surgical robot includes a plurality of adjustment arms, and a plurality of fixed point coordinates are positioned in the surgical area, and each adjustment arm corresponds to each fixed point coordinate one by one; based on the target control logic and the fixed point coordinates, the movement of each joint of the target adjustment arm is controlled; the target control logic is used to ensure that in the process of controlling the movement of each joint of the target adjustment arm, the fixed point spatial position of the target adjustment arm is always located at the fixed point coordinates; A main suspension plate for mounting at least one adjustment arm; A first adjusting arm, mounted on the second adjusting arm; The second adjusting arm is mounted on the main suspension plate; The controller is further used to determine a second control logic corresponding to the target adjustment arm if the target adjustment arm is of a second installation type; the second installation type is used to indicate that the target adjustment arm is mounted on an active adjustment arm, and the active adjustment arm is mounted on a main suspension plate; the second control logic is used to control all joints of the target adjustment arm; The target control logic is the second control logic, and the controller is also used to determine the linkage joint of the active adjustment arm corresponding to the target adjustment arm according to the installation position of the target adjustment arm; the linkage joint is used to characterize at least one joint of the active adjustment arm located between the installation position of the target adjustment arm and the main suspension plate; according to the displacement of the linkage joint, the second influencing motion parameter of the active adjustment arm is obtained; according to the second influencing motion parameter and the fixed point coordinates, the second compensating motion parameters of the linkage joint and each joint of the target adjustment arm are obtained; according to the second compensating motion parameter, the movement of each joint of the target adjustment arm is controlled.

12. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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