Robotic system comprising a bending tool and master slave motion control method thereof

Abstract

This disclosure relates to the field of medical devices, and discloses a robotic system including a bending tool and its master-slave motion control method. The robotic system includes a master manipulator, a motion arm, and a bending tool. The bending tool includes a bending rigid arm and an end effector. The method includes determining the target pose of the master manipulator's handle based on the current pose of the end effector, and controlling the handle to move towards the target pose; executing a motion control loop, in which, based on the current pose of the handle and the pose relationship between the handle and the end effector, the target pose of the end effector is determined. Based on a reference point, an RCM point located on the bending rigid arm is determined, and the bending tool is controlled to move around the RCM point to move the end effector towards the target pose. Before establishing a teleoperation relationship, this method adjusts the pose of the master manipulator's handle to match the pose of the end effector, achieving accurate master-slave mapping and controlling the bending tool to move around the RCM point on the bending rigid arm, thus increasing the motion flexibility of the end effector.

Description

Technical Field

[0001] This disclosure relates to the field of medical devices, and more particularly to a robotic system including a bending tool and a master-slave motion control method thereof. Background Technology

[0002] Minimally invasive surgical techniques, which result in less trauma to patients and higher postoperative outcomes, have come to occupy an important position in surgical procedures. These techniques utilize surgical instruments, including visual illumination modules and surgical arms, which are inserted into the body through incisions or natural cavities to reach the surgical site. Current surgical instruments are primarily rigid straight rods, with a multi-link hinged wrist joint at the distal end. Driven by the tension of a steel cable, the surgical instruments can bend at the hinge joint.

[0003] When a surgical robot uses multiple positioning arms to carry multiple rigid straight-rod surgical instruments through a single incision or natural cavity, a large workspace is typically required outside the body to move the distal wrist joints of the instruments and ensure distal flexibility. However, such a large range of motion can easily lead to collisions between the instruments, posing a safety hazard. At the start or during operation, the surgical robot must first establish a mapping between the master manipulator and the surgical instruments before implementing master-slave control. Because the master manipulator is not pre-matched to the corresponding controlled surgical instruments in terms of posture, a mismatch (such as orientation or angle) may occur between them. Directly matching them in a master-slave mapping would reduce the control precision of the surgical instruments and degrade the human-computer interaction experience for medical personnel (such as surgeons). Summary of the Invention

[0004] Based on the above problems, the purpose of this disclosure is to provide a master-slave motion control method for a bending tool robot system, characterized in that the robot system includes a master manipulator, at least one motion arm, and at least one bending tool disposed at the distal end of the at least one motion arm, the bending tool including a bending rigid arm and an end effector disposed at the distal end of the bending tool, and the control method includes:

[0005] Determine the current attitude of the end effector relative to the reference coordinate system;

[0006] Based on the current attitude of the end effector, determine the target attitude of the handle of the master controller;

[0007] Control the handle of the main operator to move toward the target posture of the handle;

[0008] Execute at least one motion control cycle, including: in each motion control cycle,

[0009] Determine the current pose of the handle of the main operator;

[0010] Based on the current pose of the handle of the main manipulator and the pose relationship between the handle of the main manipulator and the end effector of the bending tool, the target pose of the end effector is determined.

[0011] Based on a reference point, determine the remote center of motion (RCM) point located on the bending rigid arm of the at least one bending tool; and

[0012] Controlling the movement of at least one bending tool around the RCM point causes the end effector to move toward the target pose.

[0013] In some embodiments, a robotic system includes:

[0014] At least one moving arm;

[0015] At least one bending tool is disposed at the distal end of the at least one moving arm, the bending tool comprising a bending rigid arm and an end effector disposed at the distal end of the bending tool; and

[0016] The control device is configured to execute the control method as described in any embodiment of this disclosure based on motion commands.

[0017] In some embodiments, this disclosure also provides a computer device comprising: a memory for storing at least one instruction; and a processor coupled to the memory and configured to execute the at least one instruction to perform a control method as described in any embodiment of this disclosure.

[0018] This disclosure also provides a computer-readable storage medium for storing at least one instruction, which, when executed by a computer, causes the computer to implement the control method as described in any embodiment of this disclosure. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.

[0020] Figure 1(a) shows a flowchart of a master-slave motion control method for a bending tool robot system according to some embodiments of the present disclosure;

[0021] Figure 1(b) shows a flowchart of a method for each motion control cycle according to some embodiments of the present disclosure;

[0022] Figure 2 A schematic diagram of the structure of a plurality of slave trolleys of a robot system according to some embodiments of the present disclosure is shown;

[0023] Figure 3 A schematic diagram of the framework of a robot system according to some embodiments of the present disclosure is shown;

[0024] Figure 4 A schematic diagram of the structure of a master operator according to some embodiments of the present disclosure is shown;

[0025] Figure 5 This diagram shows a schematic representation of the structure of a main control trolley according to some embodiments of the present disclosure;

[0026] Figure 6 A schematic diagram of the structure of a bending tool according to some embodiments of the present disclosure is shown;

[0027] Figure 7 This diagram illustrates a coordinate system in a master-slave motion mapping according to some embodiments of the present disclosure;

[0028] Figure 8 A schematic diagram of the structure of a motion arm according to some embodiments of the present disclosure is shown;

[0029] Figure 9 A partial structural schematic diagram of a motion arm system including a bending tool according to some embodiments of the present disclosure is shown;

[0030] Figure 10 The diagram shows a structural schematic of a continuum segment according to some embodiments of the present disclosure;

[0031] Figure 11 A partial structural schematic diagram of a bending tool according to some embodiments of the present disclosure is shown;

[0032] Figure 12 A longitudinal sectional view of a bendable member according to some embodiments of the present disclosure is shown;

[0033] Figure 13 A schematic diagram of the structure of a bendable member according to other embodiments of the present disclosure is shown;

[0034] Figure 14(a) shows a schematic diagram of the structure of a bending unit according to some embodiments of the present disclosure;

[0035] Figure 14(b) shows a schematic diagram of the structure of adjacent bending units in accordance with some embodiments of the present disclosure;

[0036] Figure 15(a) shows a schematic diagram of the structure of a distal continuum segment according to some embodiments of the present disclosure;

[0037] Figure 15(b) shows a schematic diagram of the structure of a distal continuum segment according to some other embodiments of the present disclosure;

[0038] Figure 16 A schematic diagram of the structure of a proximal continuum segment according to some embodiments of the present disclosure is shown. Detailed Implementation

[0039] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0040] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. In this disclosure, the end closer to the operator (e.g., a doctor) is defined as the proximal end, proximal or rear end, or rear portion, and the end closer to the surgical patient is defined as the distal end, distal or front end, or anterior portion. Those skilled in the art will understand that the embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0042] In this disclosure, the term "position" refers to the location of an object or a portion of an object in three-dimensional space (e.g., variations in Cartesian X, Y, and Z coordinates can be used to describe three translational degrees of freedom, such as three translational degrees of freedom along the Cartesian X, Y, and Z axes, respectively). In this disclosure, the term "pose" refers to the rotational setting of an object or a portion of an object (e.g., three rotational degrees of freedom, which can be described using roll, pitch, and yaw). In this disclosure, the term "pose" refers to a combination of the position and pose of an object or a portion of an object, which can be described, for example, using six parameters from the six degrees of freedom mentioned above. In this disclosure, the pose of a bending tool refers to the pose of the coordinate system defined by the bending tool relative to the coordinate system defined by the motion arm base or the world coordinate system. In this disclosure, the configuration or pose of a motion arm or a portion thereof can be represented by a set of joint values ​​of the joints of the motion arm (e.g., a one-dimensional matrix composed of these joint values). In this disclosure, the joint values ​​of a joint can include the angle of rotation of the respective joint relative to the respective joint axis or the distance moved relative to the initial position.

[0043] Figure 1 shows a flowchart of a master-slave motion control method 1000(a) for a bending tool robot system according to some embodiments of the present disclosure. Figure 2 This diagram illustrates the structure of a plurality of driven trolleys of a robot system 10 according to some embodiments of the present disclosure. Figure 3 A schematic diagram of the framework of a robot system 10 according to some embodiments of the present disclosure is shown. Method 1000(a) may be implemented or performed by hardware, software, or firmware. In some embodiments, method 1000(a) may be performed by a robot system (e.g., Figure 3 The control device 3 of the robot system 10 shown executes the method. In some embodiments, method 1000(a) can be implemented as computer-readable instructions. These instructions can be read and executed by a general-purpose processor or a special-purpose processor. For example, the processor of the control device 3 of the robot system 10 is configured to execute method 1000(a). In some embodiments, these instructions can be stored on a computer-readable medium.

[0044] In some embodiments, such as Figure 2 As shown, the robot system 10 includes at least one motion arm 101 and at least one bending tool 100 disposed at the distal end of the at least one motion arm 101. For example, Figure 2 The illustrated robotic system may include three driven carriages 1, each driven carriage 1 including a motion arm 101 and a bending tool 100 disposed at the distal end of each motion arm 101. Those skilled in the art will understand that other numbers of driven carriages 1, motion arms 101, and bending tools 100 may be used. It should be understood that multiple motion arms may also be mounted on the same driven carriage.

[0045] In some embodiments, such as Figure 3 As shown, the robot system 10 may include a slave carriage 1, a master control carriage 2, and a control device 3. The control device 3 can communicate with the master control carriage 2 and the slave carriage 1, for example, via cable or wireless connection, to achieve communication between them. The master control carriage 2 includes a master manipulator 20 for remote operation by an operator, and the slave carriage 1 includes at least one motion arm 101 and at least one bending tool 100 disposed at the distal end of the at least one motion arm 101. The control device 3 realizes a master-slave mapping between the master manipulator 20 in the master control carriage 2 and the bending tool 100 in the slave carriage 1, enabling the master manipulator 20 to control the motion of the bending tool 100. It should be understood that the control device 3 may be configured on a computer device and located inside the master control carriage 2. Those skilled in the art will understand that the master control carriage 2 and the slave carriage 1 may adopt other structures or forms, such as bases, supports, or buildings.

[0046] In some embodiments, the end effector of the bending tool can be a surgical actuator, such as a clamp, bending scissors, or electrosurgical unit, for performing surgical procedures. It should be understood that the end effector may also include, but is not limited to, image acquisition devices or lighting devices.

[0047] Figure 4 This diagram shows a schematic representation of the structure of a master operator 20 according to some embodiments of the present disclosure. Figure 5 A schematic diagram of the main control carriage 2 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 5 As shown, the main control carriage 2 may include a main operator 20 and a display for displaying images of the operating area (e.g., ...). Figure 5 (Shown on displays 21-23). ​​The image acquisition device can be used to acquire images of the operating area, and after processing by the video processing module, the acquired images are displayed on the monitor of the main control carriage 2. The operator obtains the pose of the end effector of the bending tool relative to the reference coordinate system in real time through the image on the monitor. The pose of the main operator relative to the reference coordinate system is the pose actually perceived by the operator. The pose change felt by the operator through remote operation of the main operator and the pose change of the end effector of the bending tool perceived by the operator on the monitor conform to a preset pose relationship. In this way, by remotely operating the main operator, the pose transformation of the main operator is converted into the pose change of the end effector of the bending tool based on the preset pose relationship, thereby realizing the pose control of the end effector of the bending tool. Thus, when the operator holds the handle of the main operator to operate the bending tool, based on the principle of intuitive operation, the amount of pose change of the end effector of the bending tool felt by the operator is consistent with the amount of pose change of the main operator felt by the operator, which helps to improve the operator's remote operation experience and remote operation accuracy.

[0048] In some embodiments, such as Figure 5 As shown, the display of the main control carriage 2 may include a stereoscopic display 21, a main control external display 22, and a main control touch display 23. The stereoscopic display 21 displays surgical images and system status prompts, the main control external display 22 displays surgical images and system status prompts, and the touch display 23 displays the software user interface of the main control carriage 2. In some embodiments, the images displayed by the stereoscopic display 21 or the main control external display 22 may be determined based on images acquired by an image acquisition device. In some embodiments, the main control carriage 2 may also include foot pedals (e.g., foot pedals 24-26), which are used to collect input from the feet of medical personnel. For example, the foot pedals may include structures such as an electrocautery pedal 24, an electrocoagulation pedal 25, and a clutch pedal 26. The control device is communicatively connected to the main operator 20, the main control carriage display, and the foot pedals, respectively, for signal interaction with the main operator 20, the main control carriage display, and the foot pedals, and for generating corresponding control commands based on the collected control information.

[0049] Figure 6 A schematic diagram of the structure of a bending surgical tool according to some embodiments of the present disclosure is shown. Figure 6 As shown, the bending tool 100 includes a rigid bending arm 111 and an end effector 140 disposed at the distal end of the bending tool 100. In some embodiments, the motion arm 101 may include multiple joints and an arm body connected to the multiple joints, thereby enabling multiple degrees of freedom of motion of the motion arm 101. For example, the motion arm 101 may include six degrees of freedom to achieve pose adjustment of the motion arm 101. It should be understood that one or more sensors can be used to acquire joint value data corresponding to multiple joints of the motion arm 101 to obtain the pose data of the motion arm 101.

[0050] In some embodiments, the bending tool 100 may further include a distal continuum segment 120. An end effector 140 (e.g., a gripper) may be disposed at the distal end of the distal continuum segment 120. The distal continuum segment 120 may employ various suitable structures and may achieve multiple degrees of freedom. For example, the distal continuum segment 120 may include a series of serpentine structures, achieving two degrees of freedom.

[0051] Figure 7 A schematic diagram of the coordinate system in master-slave motion mapping according to some embodiments of the present disclosure is shown. Figure 7 The coordinate systems are defined as follows: the bending tool base coordinate system {Tb}, with its origin located on the motion arm base. The direction can be upwards. The direction can be perpendicular to the direction when the moving arm is not driven. For example, the base coordinate system {Tb} of the bending tool can be as follows: Figure 8 The coordinate system of the moving arm shown Alternatively, in some embodiments, the origin of the bending tool base coordinate system {Tb} is located on the motion arm base. and The direction can be relative to the reference coordinate system {w} direction and The directions are the same. It should be understood that the origin of the bending tool's base coordinate system {Tb} can also be located at the exit point of the sheath through which the bending tool passes. The camera coordinate system {lens} has its origin at the camera center, and the camera axis direction is... Direction, after the field of vision is straightened, the upper part is Direction. The coordinate system {wm} of the end effector of the bending tool, with the origin located at the end of the bending tool. Consistent with the axial direction at the end, Direction such as Figure 7 As shown. The reference coordinate system {w} can be the coordinate system of the space where the main manipulator, bending tool, or camera is located, such as the bending tool base coordinate system {Tb}, or the world coordinate system, such as... Figure 7 As shown. In some embodiments, the operator's tactile sensation can be used as a reference; when the operator is seated in front of the main control panel, the perceived upward direction is... Direction, the perceived forward direction is... Direction. The monitor coordinate system {Screen} has its origin at the center of the monitor, and the direction perpendicular to the screen image inwards is... Positive direction, the top of the screen is Direction. The main operator's base coordinate system is {CombX}, and the coordinate axis directions are as follows: Figure 7 As shown. The main controller's handle coordinate system is {H}, and the coordinate axes are oriented as follows. Figure 7 As shown.

[0052] As shown in Figure 1(a), in step 1001, the current pose of the end effector relative to a reference coordinate system is determined. It should be understood that the reference coordinate system can be the coordinate system of the space where the master manipulator, bending tool, or camera is located, or the world coordinate system. In some embodiments, the current pose of the end effector relative to the reference coordinate system can be the current pose of the end effector relative to the bending tool base coordinate system {Tb}. For example, the bending tool base coordinate system {Tb} can be the coordinate system of the surgical robot's arm base, the coordinate system of the sheath through which the bending tool passes (e.g., the coordinate system of the sheath exit), etc. The bending tool base coordinate system remains fixed during teleoperation. In some embodiments, the current pose of the end effector relative to the reference coordinate system can be the current pose of the image of the end effector on the display relative to the world coordinate system. For example, the world coordinate system can be the coordinate system of the space where the operator or master manipulator is located (e.g., {CombX}). Therefore, the pose of the image of the end effector on the display relative to the world coordinate system is the pose perceived by the operator. In some embodiments, the current pose of the image of the end effector on the display relative to the world coordinate system can be obtained through coordinate transformation. For example, based on the bending tool base coordinate system {Tb}, the camera coordinate system {lens}, the display coordinate system {Screen}, and the world coordinate system, the current pose of the end device's image on the display relative to the world coordinate system can be obtained.

[0053] In step 1003, the target orientation of the master controller's handle is determined based on the current orientation of the end effector. In some embodiments, the target orientation of the master controller's handle is the orientation relative to the master controller's base coordinate system {CombX}. The master controller's base coordinate system {CombX} may be the coordinate system of the base to which the master controller is connected. In some embodiments, the master controller's base coordinate system {CombX} has a defined transformation relationship with the bending tool's base coordinate system {Tb}.

[0054] In some embodiments, the current orientation of the end device is matched with the target orientation of the handle, for example, being the same, proportional, or having a fixed difference. For example, before teleoperation, the current orientation of the end device is kept unchanged, and the current orientation of the end device is used as the target orientation of the handle. The current orientation of the handle is then adjusted to the target orientation of the handle to achieve orientation matching between the handle and the end device.

[0055] In step 1005, the handle of the master controller is controlled to move towards the target posture of the handle. In some embodiments, the current posture of the handle of the master controller is determined, and a control signal for the master controller is generated based on the target posture of the handle and the current posture of the handle. The control signal is used to control the handle of the master controller to move from the current posture of the handle to the target posture of the handle. The current posture of the handle of the master controller can be the posture of the handle of the master controller relative to the master controller base coordinate system {CombX}. In some embodiments, the master controller includes at least one posture joint for controlling the posture of the handle of the master controller, and controlling the movement of the handle of the master controller towards the target posture of the handle includes generating a control signal for controlling one or more of the at least one posture joint. The posture of the handle of the master controller is adjusted by adjusting one or more posture joints, thereby achieving posture matching between the handle of the master controller and the end effector.

[0056] In some embodiments, the master actuator includes at least one attitude joint for controlling the attitude of the handle. Determining the current attitude of the handle of the master actuator includes: obtaining joint information of at least one attitude joint, and determining the current attitude of the master actuator based on the joint information of at least one attitude joint.

[0057] like Figure 4 As shown, the main manipulator 20 includes a multi-degree-of-freedom robotic arm 201 and a handle 202 disposed at the end of the robotic arm 201. The multi-degree-of-freedom robotic arm 201 includes multiple joints. The multiple joints of the robotic arm 201 may include position joints and attitude joints. Attitude joints can be used to adjust the attitude of the main manipulator, and position joints can adjust the position of the main manipulator. The main manipulator sensors can be disposed at the attitude joints and position joints of the robotic arm to acquire the joint information (position or angle) corresponding to the attitude joints and position joints. Based on the acquired joint information, the current pose of the handle of the main manipulator relative to the main manipulator base coordinate system {CombX} can be determined. Those skilled in the art will understand that the same joint can be both a position joint and an attitude joint.

[0058] For example, such as Figure 4 As shown, the main manipulator 20 may include seven joints 2011-2017, wherein the first joint 2011, the second joint 2012, and the third joint 2013 are position joints, and the first joint 2011, the second joint 2012, the fifth joint 2015, the sixth joint 2016, and the seventh joint 2017 are posture joints. The first joint 2011 and the second joint 2012 can adjust both the position and posture of the main manipulator handle 202. The fifth joint 2015, the sixth joint 2016, and the seventh joint 2017 can only adjust the posture of the main manipulator handle 202. The third joint 2013 can only adjust the position of the main manipulator handle 202.

[0059] In some embodiments, the main manipulator base coordinate system {CombX} is a coordinate system established with the base as a virtual point, and its orientation can be determined based on its physical structure. The handle coordinate system {H} is a coordinate system established with the handle as a virtual point, and its orientation can be determined based on its physical structure. In some embodiments, the origin of the handle coordinate system {H} can coincide with the origin of the coordinate systems of the fifth, sixth, and seventh joints.

[0060] The current attitude of the master manipulator is calculated using joint information (such as angles) acquired by the master manipulator sensors based on attitude joints and a forward kinematics algorithm. The current position of the master manipulator is calculated using joint information (such as position) acquired by the master manipulator sensors based on position joints and a forward kinematics algorithm.

[0061] In some embodiments, method 1000(a) may further include: determining the attitude matching degree between the handle of the master operator and the end device in response to the satisfaction of a predetermined condition, the predetermined condition including the triggering of remote operation control rights. In some embodiments, the triggering of remote operation control rights may be achieved by a triggering device. For example, the triggering device may be a switch located on the master operator or display for easy access, touch, press, or slide by the operator. Triggering methods may include, but are not limited to, maintaining proximity, touch, slide, tap, or long press. The triggering method of the triggering device may be proximity to a sensor, toggling a switch on the master operator, touching a sensing position on the master operator, long pressing or tapping a button on the master operator, stepping on a foot pedal of the master console, operating the display screen of the master console, etc. In some embodiments, matching means that the attitude of the handle and the attitude of the end device meet a preset relationship (e.g., consistency), and the attitude matching degree refers to the degree of matching between the current attitude of the handle and the current attitude of the end device. In some embodiments, the attitude matching degree between the master operator and the end device is determined based on the current attitude of the handle of the master operator and the current attitude of the end device.

[0062] In some embodiments, method 1000(a) may further include generating a control signal for the master operator's handle in response to the attitude matching degree being lower than a preset threshold, such that the attitude matching degree is higher than or equal to the preset threshold. Alternatively, in response to the attitude matching degree being higher than or equal to the preset threshold, establishing a master-slave mapping between the master operator and the end device. For example, when the attitude matching degree is lower than the preset threshold, in response to the attitude matching degree being lower than the preset threshold, generating a control signal to adjust the current attitude of the master operator's handle so that the attitude matching degree is higher than or equal to the preset threshold. In this way, when the attitudes of the two do not match, attitude adjustment can be automatically performed to achieve consistency between the attitudes of the two. When the current attitudes of the two are consistent or substantially consistent (attitude matching degree is higher than or equal to the preset threshold), in response to the attitude matching degree being higher than or equal to the preset threshold, establishing a master-slave mapping between the master operator and the end device, so that the next teleoperation procedure can be executed.

[0063] In some embodiments, adjusting the orientation of the master controller's handle to match the orientation of the end device includes: keeping the current orientation of the end device unchanged, and adjusting the orientation of the master controller's handle to match the orientation of the end device.

[0064] In some embodiments, the target orientation of the master controller's handle is consistent with the current orientation of the end device, establishing a master-slave mapping between the master controller and the end device. This allows the master controller to perform teleoperations on the end device, improving the accuracy and user experience of the teleoperations. Those skilled in the art will understand that "orientation consistency" means that the orientations are essentially the same. There may be some error between the target orientation of the master controller's handle and the current orientation of the end device, but this error must be within an acceptable range.

[0065] In step 1007, at least one motion control cycle is executed. Through at least one motion control cycle, master-slave control of the end effector by the master operator can be achieved.

[0066] Figure 1(b) illustrates a flowchart of method 1000(b) for each motion control cycle according to some embodiments of the present disclosure. In some embodiments, as shown in Figure 1(b), in step 1009, method 1000(b) may include: in each motion control cycle, determining the current pose of the handle of the master operator.

[0067] It should be understood that the current pose includes both the current position and the current orientation. Figure 7Taking the coordinate system shown as an example, in some embodiments, the current pose of the main manipulator's handle is the pose relative to the main manipulator's base coordinate system {CombX}. For example, this could be the pose defined by the support or base on which the main manipulator is located, or the pose in the world coordinate system. In some embodiments, determining the current pose of the main manipulator's handle includes determining the current position and current orientation of the main manipulator's handle relative to the main manipulator's base coordinate system {CombX}.

[0068] In some embodiments, the current pose of the master operator can be determined based on coordinate transformation. For example, the current pose of the handle can be determined based on the transformation relationship between the master operator's handle coordinate system {H} and the master operator's base coordinate system {CombX}. Typically, the master operator's base coordinate system {CombX} can be set on the bracket or base on which the master operator is located, and the master operator's base coordinate system {CombX} remains unchanged during teleoperation.

[0069] In some embodiments, the current pose of the master manipulator can be determined based on a master manipulator sensor. In some embodiments, current joint information of at least one joint of the master manipulator is received, and the current pose of the master manipulator is determined based on the current joint information of at least one joint. For example, the current pose of the master manipulator is determined based on the current joint information of at least one joint obtained by the master manipulator sensor. The master manipulator sensor is disposed at at least one joint position of the master manipulator. For example, the master manipulator includes at least one joint, and at least one master manipulator sensor is disposed at at at least one joint. The current pose of the master manipulator is calculated based on the joint information (position or angle) of the corresponding joint obtained by the master manipulator sensor. For example, the current position and current orientation of the master manipulator are calculated based on a forward kinematics algorithm.

[0070] For example, such as Figure 4 As shown, the main manipulator 20 may include seven joints 2011-2017, wherein the first joint 2011, the second joint 2012 and the third joint 2013 are position joints, and the first joint 2011, the second joint 2012, the fifth joint 2015, the sixth joint 2016 and the seventh joint 2017 are posture joints.

[0071] Those skilled in the art will understand that the position and orientation of the handle coordinate system {H} relative to the main manipulator base coordinate system {CombX} can be determined using the joint information from the first to the seventh joints.

[0072] In step 1011, method 1000(b) may include: determining the target pose of the end effector based on the current pose of the handle of the master manipulator and the pose relationship between the handle of the master manipulator and the end effector of the bending tool. For example, a master-slave mapping relationship may be established between the handle of the master manipulator and the end effector of the bending tool, and the pose of the end effector of the bending tool may be controlled by teleoperating the master manipulator. The pose relationship includes the relationship between the pose of the end effector of the bending tool relative to the reference coordinate system {w} and the pose of the master manipulator relative to the reference coordinate system {w}. The reference coordinate system {w} may include the coordinate system of the space where the master manipulator, the bending tool, or the camera is located, or the world coordinate system.

[0073] In some embodiments, the pose relationship between the handle of the master operator and the end effector of the bending tool may include a relationship between the pose change of the handle of the master operator and the pose change of the end effector of the bending tool, such as being equal or proportional. Determining the target pose of the end effector of the bending tool includes: determining the previous pose of the handle of the master operator, determining the initial pose of the end effector of the bending tool, and determining the target pose of the end effector of the bending tool based on the previous pose and current pose of the handle of the master operator and the initial pose of the end effector of the bending tool. The previous pose and current pose of the handle may be the pose of the handle of the master operator relative to the master operator base coordinate system {CombX}. The initial pose and target pose of the end effector of the bending tool may be the pose of the end effector of the bending tool relative to the bending tool base coordinate system {Tb}.

[0074] The pose of the end effector of a bending tool can include the pose of the end effector coordinate system {wm} relative to the base coordinate system {Tb} of the bending tool. The base coordinate system {Tb} can be the coordinate system of the base on which the motion arm is mounted, or the coordinate system of the sheath through which the end effector passes, or the world coordinate system. For example, the base coordinate system {Tb} of the bending tool can be set at the driven trolley on which the motion arm is mounted, and it remains unchanged during teleoperation. A coordinate system transformation can be performed on the initial pose of the end effector of the bending tool to obtain its pose relative to other coordinate systems (e.g., a reference coordinate system). Figure 2 As shown, the robot system 10 may include multiple motion arms 101. The multiple motion arms 101 may be mounted on different driven carriages or on the same driven carriage.

[0075] In some embodiments, previous joint information of at least one joint of the master manipulator can be received, and the previous pose of the master manipulator can be determined based on the previous joint information of at least one joint. For example, the previous pose and current pose of the master manipulator's handle can be determined based on joint information of the master manipulator read from the master manipulator's sensors at a previous time and at the current time. The position change of the master manipulator's handle can be determined based on the previous position and current position of the handle relative to the master manipulator's base coordinate system {CombX}. The attitude change of the master manipulator's handle can be determined based on the previous attitude and current attitude of the handle relative to the master manipulator's base coordinate system {CombX}.

[0076] For each motion control cycle, the pose of the master manipulator obtained in the previous motion control cycle can be determined as the previous pose of the master manipulator in the current motion control cycle. The target pose of the end effector of the bending tool obtained in the previous control cycle can be used as the starting pose of the end effector of the bending tool in the current motion control cycle. For example, in each motion control cycle, the target pose of the end effector of the bending tool can be determined based on the current pose of the master manipulator handle, and this target pose can be used as the starting pose of the end effector of the bending tool in the next control cycle. For example, for the first motion control cycle, the initial pose of the end effector of the bending tool (e.g., the zero position of the bending tool) can be used as the starting pose of the first motion control cycle. For example, after a teleoperation is interrupted, before starting a new teleoperation, the current posture of the end device (which may be the target posture of the end device in the last motion control cycle before the teleoperation is interrupted) is kept unchanged, and the current posture of the end device is used as the target posture of the handle. The current posture of the handle (for example, the current posture of the handle in the last motion control cycle before the teleoperation is interrupted) is adjusted to the target posture of the handle to achieve posture matching between the handle and the end device, and then a new teleoperation motion control cycle is started.

[0077] In some embodiments, the pose change of the master manipulator can be determined based on its previous and current poses. The pose change of the end effector of the bending tool can be determined based on the pose change of the master manipulator and the pose relationship between the master manipulator and the end effector of the bending tool. The target pose of the end effector of the bending tool can be determined based on its initial pose and the pose change of the end effector.

[0078] Positional relationships can include both positional relationships and attitude relationships. The positional relationship between the master manipulator and the end effector of the bending tool can include the relationship between the positional change of the master manipulator and the positional change of the end effector of the bending tool, such as equality or proportionality. The attitudeal relationship between the master manipulator and the end effector of the bending tool can include the relationship between the attitude change of the master manipulator and the attitude change of the end effector of the bending tool, such as equality or proportionality.

[0079] In some embodiments, method 1000(b) may further include determining the target pose of the end device relative to the bending tool base coordinate system based on the previous and current poses of the handle relative to the master operator base coordinate system, the transformation relationship between the bending tool base coordinate system and the master operator base coordinate system, and the initial pose of the end device relative to the bending tool base coordinate system.

[0080] In some embodiments, the transformation relationship between the bending tool base coordinate system and the main operator base coordinate system can be determined based on the transformation relationship between the bending tool base coordinate system and the camera coordinate system, the transformation relationship between the camera coordinate system and the display coordinate system, and the transformation relationship between the display coordinate system and the main operator base coordinate system.

[0081] like Figure 7 The transformation relationship between the bending tool base coordinate system {Tb} and the main manipulator base coordinate system {CombX} is shown. CombX R Tb It can be based on the transformation relationship between the bending tool base coordinate system {Tb} and the camera coordinate system {lens}. lens R Tb Transformation relationship between camera coordinate system {lens} and display coordinate system {Screen} Screen R lens Transformation relationship between the display coordinate system {Screen} and the main operator base coordinate system {CombX} CombX R Screen Sure.

[0082] In some embodiments, the display coordinate system {Screen} and the main operator base coordinate system {CombX} have a predetermined transformation relationship. For example, the transformation relationship between the main operator and the display can be predetermined; for instance, the main operator and the display can be respectively fixedly mounted on the main control carriage. In some embodiments, the bending tool base coordinate system {Tb} and the camera coordinate system {lens} have a predetermined transformation relationship. In some embodiments, the camera can be located at the end of the vision tool, and the vision tool has finished moving before the operator performs the operation. The transformation relationship between the bending tool base coordinate system {Tb} and the camera coordinate system {lens} is determined by... lens R Tb It no longer changes. For example, as Figure 2As shown, the bending tool base coordinate system {Tb} can be located on the motion arm base and has a predetermined transformation relationship with the base where the motion arm on which the camera is mounted. Based on the configuration or pose of the motion arm on which the camera is mounted, the transformation relationship between the bending tool base coordinate system {Tb} and the camera coordinate system {lens} can be determined. lens R Tb .

[0083] In some embodiments, the display coordinate system {Screen} and the camera coordinate system {lens} are defined in the same way for the field of view direction. Therefore, the change in position of the end effector of the bending tool relative to the display coordinate system {Screen} is consistent with the change in position of the end effector of the bending tool relative to the camera coordinate system {lens}. Thus, when the operator holds the handle of the main controller, the pose change of the actuator image of the bending tool's end effector perceived by the operator maintains a preset transformation relationship with the pose change of the main controller's handle perceived by the operator.

[0084] In some embodiments, the attitude of the handle is matched with the attitude of the end effector before teleoperation. When the operator begins operation (e.g., pressing the clamp button on the master controller's handle), the master-slave mapping can be quickly established, and the master controller and end effector enter teleoperation mode. Furthermore, only the current attitude of the end effector is maintained; the operator can still move the master controller's handle to a suitable position before performing teleoperation matching even when not in operation, greatly increasing the master controller's handle's range of motion. Moreover, the master-slave motion control method described above is applicable to various slave ends with different principles and forms, and the calculation process is highly targeted and computationally efficient, reducing the drive required to adjust the master controller's handle to the target attitude.

[0085] In some embodiments, by establishing a connection between the master operator and the end device and transferring control, the attitude matching degree between the master operator's handle and the end device is determined under the connected and control-transferred state. If the attitude matching degree meets a preset threshold condition, a master-slave mapping is established between the master operator and the end device, and teleoperation steps are executed to perform multiple motion control cycles. If the attitude matching degree does not meet the preset threshold condition, the attitude of the master operator's handle needs to be adjusted to match the current attitude of the end device before establishing the master-slave mapping between the master operator and the end device, and teleoperation is performed through the master operator's handle. Adjusting the attitude of the master operator's handle to match the attitude of the end device before establishing the teleoperation relationship ensures the accuracy of the master-slave mapping between the master operator's handle and the end device, improves the operator's experience during teleoperation, achieves high-precision matching between the operated actions and actual actions, and avoids operational limitations caused by inconsistencies in the motion control boundaries between the master operator and the end device.

[0086] It should be understood that when the controlled object of the master operator (e.g., the end effector) is changed, the orientation of the end effector's front end facing the abdomen may differ from the current orientation of the master operator's handle. The method provided in this disclosure can adjust the orientation of the master operator's handle to match the current orientation of the end effector before the master operator and end effector establish a master-slave mapping relationship and before the operator actually operates the device. This achieves a good operating experience for the operator and a high-precision match between expected and actual movements, while avoiding operational limitations caused by inconsistencies in the motion control boundaries between the master operator and the end effector.

[0087] As shown in Figure 1(b), in step 1013, method 1000(b) may include: determining a remote center of motion (RCM) point located on the bending rigid arm of at least one bending tool based on a reference point. It should be understood that the reference point may be an entry point. For example, for a surgical robot, the reference point may be the patient's abdominal incision, its own entry point, etc. The distal end of one or more bending tools may be inserted into the patient's body through the abdominal incision. In some embodiments, method 1000(b) may further include determining the distance, such as Euclidean distance, between a point on the bending rigid arm of at least one bending tool and the reference point based on the location of the reference point, and determining the point on the bending rigid arm with the smallest distance (e.g., Euclidean distance) to the reference point as the RCM point. It should be understood that during the movement of the bending tool, the point on the bending rigid arm with the smallest distance to the reference point is continuously updated along the bending rigid arm, and the position of the RCM point continuously changes along the bending rigid arm of the bending tool.

[0088] In some embodiments, method 1000(b) may further include determining an analytical solution for the Euclidean distance between a point on the bending rigid arm and a reference point in response to the configuration of the bending rigid arm. It should be understood that the configuration of the bending rigid arm may include the shape of the bending rigid arm. For example, the bending rigid arm includes at least one arcuate rigid arm, and the Euclidean distance between a point on the arcuate rigid arm and the reference point can be determined based on the analytical solution between the point and the arc.

[0089] As shown in Figure 1(b), in step 1015, method 1000(b) may include controlling at least one bending tool to move about an RCM point to move the end effector toward a target pose. In some embodiments, method 1000(b) may further include controlling the RCM point on at least one bending tool (e.g., radially) to move closer to a reference point. In some embodiments, method 1000(b) may further include determining the radial convergence velocity of the RCM point on at least one bending tool, and determining the Jacobian matrix related to the radial convergence velocity based on the kinematic model of at least one moving arm. It should be understood that by controlling the RCM point on the bending tool to move closer to the reference point, the RCM point can always move toward the reference point during the bending tool's movement to satisfy the RCM constraint. This prevents the bending tool from moving away from the reference point, thus avoiding safety risks. For example, in a surgical robot, if the bending tool moves away from the abdominal incision, it will create lateral traction on the incision, causing tearing. In some embodiments of this disclosure, by dynamically determining the RCM point and controlling the movement of the bending tool around the RCM point, the RCM constraint can be satisfied, thereby reducing or even avoiding the risk of traction on the abdominal incision.

[0090] In some embodiments, method 1000(b) may further include determining a target configuration of at least one motion arm and at least one bending tool based on a target pose of the end effector, an inverse kinematics model of at least one motion arm, and an inverse kinematics model of at least one bending tool. Based on the target configuration of at least one motion arm and at least one bending tool, the movement of at least one motion arm and / or at least one bending tool is controlled to cause the end effector to move toward the target pose.

[0091] In some embodiments, such as Figure 6 As shown, the bending tool 100 may sequentially include, from proximal to distal end, a proximal continuum segment 421, a bending rigid arm 110, a distal continuum segment 120, and an end effector 140 (e.g., a gripper) disposed on the distal continuum segment 120. The distal continuum segment 120 and the proximal continuum segment 421 may be structurally similar; for example, each segment may include a base plate (e.g., as shown in the diagram). Figure 16 The proximal base disk 4212 shown, the distal base disk 3212 shown in FIG. 15(a), and at least one spacer disk (e.g., such as Figure 16 The proximal spacer 4214 shown, the distal spacer 3214 shown in Figure 15(a), and the end plate (e.g., as shown in Figure 15(a)) Figure 16 The proximal stop disc 4213 shown, the distal stop disc 3213 shown in Figure 15(a), and multiple structural bones (e.g., such as...) Figure 16The proximal structural bone 4211 is shown, and the distal structural bone 3211 is shown in Figure 15(a). The segment is bent by pulling and pushing the structural bones made of a superelastic nickel-titanium alloy. Spacers (e.g., spacers in the distal segment can be implemented by bellows) prevent the structural bones from becoming unstable under compressive loads. In some embodiments, the bending shape of the segment can be approximated as an arc.

[0092] Multiple structural bones pass through the distal continuum segment 120, the bending rigid arm 110, and the proximal continuum segment 421, and are fixed at both ends to end plates of the two continuum segments. The number of structural bones distributed in the distal continuum segment 120 is proportional to the number of structural bones distributed in the proximal continuum segment 421 to form a dual continuum mechanism. Since the total length of the structural bones is constant, bending of the proximal continuum segment 421 can change the length of the structural bones in the proximal continuum segment 421, thereby changing the length of the structural bones in the distal continuum segment 120, causing the distal continuum segment 120 to bend in opposite directions at a proportional bending angle. Because the dual continuum mechanism includes redundant structural bones, finer structural bones can be used to maintain appropriate load capacity. At the same time, finer structural bones result in a larger bending curvature. A larger bending angle can be achieved within a limited segment length. By using the continuum segment as a distal wrist joint, the flexibility and effective load capacity of the bending tool can be improved.

[0093] In some embodiments, such as Figure 6 As shown, the bending rigid arm 110 may have at least one arcuate bending arm 111. The at least one arcuate arm 111 may include a first arcuate bending arm 111a and a second arcuate bending arm 111b with opposite bending directions. The shape of the arcuate bending arm 111 can be kinematically optimized to improve the dexterity and load-bearing capacity of the bending tool, meeting practical application requirements. The interior of the bending rigid arm may include guide channels to facilitate the passage of structural bone from the continuum segment. It should be understood that the dexterity of the distal end of the bending tool 100 or the load-bearing capacity of the bending tool 100 can be increased by optimizing the curvature of the arcuate bending arm or the length of the arcuate segment to meet various surgical requirements.

[0094] Figure 8 The diagram shows a schematic representation of the structure of a motion arm according to some embodiments of the present disclosure. Figure 9 This diagram shows a partial structural schematic of a motion arm system including a bending tool according to some embodiments of the present disclosure. Figure 10 The diagram shows a structural schematic of a continuum segment according to some embodiments of the present disclosure. Figure 11 A partial structural schematic diagram of a bending tool according to some embodiments of the present disclosure is shown. It should be understood that the nomenclature listed in Table I and... Figures 8 to 11The coordinates shown are used to define coordinate systems to describe the kinematics of a single continuum segment and the kinematics of a motion arm system including a bending tool. The coordinate system in this disclosure is defined as follows:

[0095] World coordinate system A motion arm system used to describe a bending tool.

[0096] Motion arm coordinate system The joint axes assigned to the motion arm are based on the Denavit-Hartenberg rule as shown in Table II. {D0} is located at the bottom of the motion arm.

[0097] Bending tool coordinate system From {D6} in The directional translation distance is l. {Ste} is located at the bottom of the bending tool and has an optimized two-circular-arc plane curve on the YZ plane.

[0098] Joint base coordinate system It is attached to the base plate of the segment. The XY plane lies on the base plate centered at the origin. Pointing from the center to the first structural bone.

[0099] Bending coordinate system of the joint base Located at the origin of {S1}, the nodal is on the XY plane.

[0100] Joint end bending coordinate system From {S2} through surrounding Obtained by rotation, such that It is tangent to the virtual central trunk at the end plate. The origin of {S3} is located at the center of the end plate.

[0101] coordinate system at the end of the structure It is fixed on the end plate. The point is from the center of the end plate to the first structural bone. Perpendicular to the end plate.

[0102] Table I Nomenclature

[0103]

[0104] Table II

[0105] Including the structural parameters and range of the motion arm of the bending tool

[0106]

[0107]

[0108] It should be understood that the nomenclature in Table I and the structural parameters and ranges of the bending tools and motion arms in Table II are merely exemplary and do not constitute limitations. Those skilled in the art may use other nomenclature or structural parameters and ranges according to the actual situation.

[0109] For a single continuum segment (e.g., a proximal segment or a distal segment), based on the constant bending assumption, the center position of the end plate can be determined using formula (1):

[0110]

[0111] In formula (1), when θ L When approaching zero, S1 p S1_S4 =[0 0L] T .

[0112] The direction mapping from {S4} to {S1} can be shown in formula (2):

[0113] S1 R S4 = S1 R S2 S2 R S3 S3 R S4 (2)

[0114] In formula (2), and Indicates surrounding Rotate by an angle -δ,

[0115] The instantaneous kinematics between the configuration space and the workspace from {S4} to {S1} is shown in Equation (3):

[0116]

[0117] In formula (3), The working space velocity (including linear velocity and angular velocity) from {S4} to {S1}. J is the configuration velocity vector within the configuration space of a continuum component. S J represents the Jacobian matrix of the continuum components. vS and J ωS Let represent the linear velocity Jacobian matrix and angular velocity Jacobian matrix of the continuous component, respectively.

[0118] The linear velocity Jacobian matrix J of the continuum component vS The angular velocity Jacobian matrix J of the continuum segment can be determined based on formula (4). ωSIt can be determined based on formula (5):

[0119]

[0120]

[0121] It should be understood that the Denavit-Hartenberg parameters listed in Table II can be used to describe the kinematics of the motion arm. The homogeneous transformation matrix of the motion arm is shown in Equation (6):

[0122]

[0123] In formula (6),

[0124]

[0125] The instantaneous kinematics of the motion arm from {D0} to {D6} between the configuration space and the workspace are shown in Equation (7):

[0126]

[0127] In formula (7), The working space velocity (including linear velocity and angular velocity) from {D6} to {D0}. J is the configuration velocity vector within the configuration space of the motion arm. D Let J represent the Jacobian matrix of the moving arm, respectively. vD and J ωD Let represent the Jacobian matrix of linear velocity and the Jacobian matrix of angular velocity of the moving arm, respectively.

[0128] The linear velocity Jacobian matrix J of the moving arm vD The angular velocity Jacobian matrix J of the moving arm can be determined based on formula (8). ωD It can be determined based on formula (9):

[0129]

[0130]

[0131] In some embodiments, the drive unit and bending tool may be connected to the distal end of the motion arm (e.g., to the distal flange of the motion arm), {Ste} along Translate from {D6} by a constant distance l: D6 p D6_Ste =[0 0 l] T , D6 R Ste =I.

[0132] {S1} is located at the position of the planar curve transformation from {Ste} along the YZ plane of {Ste}. The transformation includes... Ste R S1 The surrounding area is indicated The rotation, and by Ste p Ste_S1 This represents a translation within a plane. It should be understood that for a specific straight rod, Ste R S1 It can be an identity matrix.

[0133] The tip of the end effector (e.g., a gripper) is located in {S4}. S4 p S4_gp =[0 0g] T The position of the tip in {D0} can be determined based on formula (10):

[0134]

[0135] In formula (10),

[0136] The instantaneous kinematics between the configuration space and the workspace from the tip of the end device to {D0} is shown in Equation (11):

[0137]

[0138] The velocity (including linear velocity and angular velocity) in the workspace from the tip of the end device to {D0}. J is the configuration velocity vector in the configuration space of the motion arm system including the bending tool. gp J represents the Jacobian matrix of a motion arm system including a bending tool. vgp and J ωgp These represent the linear velocity Jacobian matrix and the angular velocity Jacobian matrix of the motion arm system, which includes the bending tool, respectively.

[0139] In formula (11), The linear velocity and angular velocity in the equation can be determined based on formulas (12) and (13):

[0140]

[0141]

[0142] In formulas (12) and (13), D0 R S1 = D0 R D6 D6 R Ste Ste RS1 , D0 p D6_gp = D0 R D6 D6 p D6_gp , S1 p S4_gp = S1 R S4 S4 p S4_gp .

[0143] The linear velocity Jacobian matrix of the motion arm system including the bending tool can be determined based on formula (14), and the angular velocity Jacobian matrix of the motion arm system including the bending tool can be determined based on formula (15):

[0144] J vgp =[J vD -[ D0 p D6_gp ×]J ωD D0 R S1 (J vS -[ S1 p S4_gp ×]J ωS (14)

[0145] J ωgp =[J ωD D0 R S1 J ωS (15)

[0146] In formula (14), [p×] is the skew-symmetric matrix of p.

[0147] In some embodiments, method 1000(b) may further include determining the position of at least one RCM point on a bending tool, determining the tangential unit vector of the RCM point on the bending tool, and determining the Jacobian matrix related to the radial convergence velocity based on the kinematic model of at least one moving arm, the unit vector, and the position of the RCM point. In some embodiments, such as Figure 11 As shown, the RCM point is Ste p Ste_RCM (s)=[0f y (s)f z (s)] T ,s∈[0,h],f y (s) represents the Y-coordinate of a point s along the bending rigid arm from the origin of the {Ste} coordinate system. z(s) represents the Z-coordinate of the RCM point at a distance s from the origin of the {Ste} coordinate system along the tangent direction of the bending tool, which varies at different points. For example, the unit vector along the tangent direction of the RCM point can be calculated based on formula (16):

[0148]

[0149] In formula (16), Let be the unit vector of the tangent at the RCM point. a R b Represents the coordinate transformation matrix from {b} to {a} (e.g. D0 R Ste (This is the coordinate transformation matrix from coordinate system {Ste} to {D0}). For the bending tool coordinate system, Let {D0} be the coordinate system of the moving arm, where j is the degree of freedom index, j = 1, 2, ..., 8. Let {D0} be the coordinate system located at the bottom of the moving arm. a p b_c This represents the position vector from the origin of {b} to the origin of {c} in {a} (e.g. Ste p Ste_RCM (s) is the position vector from the origin of {Ste} to the origin of {RCM} in {Ste}.

[0150] The actual linear velocity of the RCM point D0 v RCM It can be calculated based on formula (17):

[0151]

[0152] In formula (17), D6 p D6_RCM (s)= D6 p D6_Ste + D6 R Ste Ste p Ste_RCM (s).

[0153] Radial velocity at RCM point D0 v RCM⊥ It can be calculated based on formula (18):

[0154]

[0155] It should be understood that the radial velocity of the RCM point includes both the direction toward the reference point and the direction away from the reference point, and the radial velocity toward the reference point is defined as the radial convergence velocity.

[0156] The Jacobian matrix J related to the radial convergence rateRCM⊥ It can be calculated based on formula (19):

[0157]

[0158] In formula (19), J vD and J ωD Let {D0} and {D6} represent the linear velocity and angular velocity of the Jacobian matrices from {D0} to {D6}, respectively.

[0159] In some embodiments, method 1000(b) may further include determining the deviation distance between at least one RCM point on the bending tool and a reference point, and determining the radial convergence rate as proportional to the deviation distance. For example, the radial convergence rate of the RCM point may be determined based on formula (20):

[0160]

[0161] In formula (20), k RCM It is a scalar coefficient. D0 p dis_RCM (s)= D0 p D0_AEP – D0 p D0_RCM (s)and D0 p D0_RCM (s)= D0 p D0_D6 + D0 R D6 D6 p D6_RCM (s). Among them, D0 p D0_AEP Used as a reference point (e.g., the abdominal incision).

[0162] Based on formula (21), the RCM points are converged to the reference point:

[0163]

[0164] In some embodiments, at least one moving arm may include a first moving arm and a second moving arm, and at least one bending tool may include a first bending tool and a second bending tool, the first bending tool and the second bending tool being respectively disposed at the distal ends of the first moving arm and the second moving arm. It should be understood that the number of moving arms and bending tools may also be other, such as three, four, or more. Method 1000(b) may further include determining whether interference will occur between the first moving arm and the second moving arm, and increasing the distance between the first moving arm and the second moving arm in response to interference. In some embodiments, method 1000(b) may further include determining whether interference will occur between the first bending tool and the second bending tool, and increasing the distance between the first bending tool and the second bending tool in response to interference.

[0165] In some embodiments, the closest points on the first and second motion arm models corresponding to the first and second motion arms respectively can be determined, it can be determined whether the distance between the closest points on the first and second motion arm models is less than a first preset threshold, and in response to the distance being less than the first threshold, the distance between the first and second motion arms can be increased.

[0166] In some embodiments, the closest points on the first bending tool model and the second bending tool model corresponding to the first bending tool and the second bending tool, respectively, can be determined, it can be determined whether the distance between the closest points on the first bending tool model and the second bending tool model is less than a second threshold, and in response to the distance being less than the second threshold, the distance between the first bending tool and the second bending tool can be increased.

[0167] It should be understood that the motion arm model corresponding to the motion arm can include convex polyhedra, and the bending tool model corresponding to the bending tool can include line segments and arcs (e.g., an arc can correspond to the bending rigid arm of the bending tool). The distance between two convex polyhedra can be determined using the GJK (Gilbert–Johnson–Keerthi) algorithm, and the distances between line segments and between a line segment and an arc can be determined analytically. For example, two motion arm systems including bending tools are represented as A and B, respectively. The structure between {D3} and {D4} is represented as solid 1, the structure between {D6} and {Ste} is represented as solid 2, and the two arcs of the bending rigid arm are represented as solid 3 and solid 4, respectively. This can be achieved by determining four pairs of solids A. e1 -B e1 A e1 -B e2 A e2 -B e1 , and A e2 -B e2The distance between them is used to determine whether the first and second moving arms interfere (e.g., collide) outside the abdomen. This is achieved by determining the distance between four pairs of entities A. e3 -B e3 A e3 -B e4 A e4 -B e3 , and A e4 -B e4 The distance between them is used to determine whether the first and second bending tools interfere with each other inside the abdomen.

[0168] In entity A e1 -B e1 A e1 -B e2 A e2 -B e1 , and A e2 -B e2 In the middle, those with a distance less than the first threshold (which can be a preset value), and those in entity A e3 -B e3 A e3 -B e4 A e4 -B e3 , and A e4 -B e4 In the above, if the distance is less than the second threshold (which can be a preset value), the two corresponding entities can be represented as At and Bt (t = 1, 2, 3, ...), and the position vector of the closest point on the two entities is represented as p. At and p Bt .

[0169] In response to interference that may occur between moving arms or bending tools, p can be increased. At and p Bt Distance between: d t_AB =||p At -p Bt 2. The Jacobian matrix, as the partial derivative of the squared distance with respect to Ψ, (with row vector j) At_ca and j Bt_ca The form of ) can be as shown in formula (22):

[0170]

[0171] In formula (22), Ψ A and Ψ B These are the configuration vectors for two motion arm systems that include bending tools. At_ca and j Bt_ca Let At and Bt represent the driving forces for any two points p on systems A and B, respectively. Atand p Bt Each is a Jacobian matrix representing the movement in the opposite direction along the connecting line. It should be understood that for a single motion arm system including a bending tool, only one task is added, therefore j At_ca and j Bt_ca They are all row vectors.

[0172] In some embodiments, the separation speed between the first and second moving arms can be determined to be proportional to the distance between them, thereby increasing the distance between the first and second moving arms. Similarly, the separation speed between the first and second bending tools can be determined to be proportional to the distance between them, thereby increasing the distance between them. For example, p At and p Bt The corresponding separation rate can be determined based on formula (23):

[0173]

[0174] In formula (23), k ca It is a scalar coefficient that can be used to define the magnitude of the separation rate.

[0175] For multiple pairs of entities whose distance is less than a threshold (e.g., the first threshold or the second threshold), interference can be prevented based on formula (24):

[0176]

[0177] In formula (24), and The corresponding configuration velocity vectors of two motion arm systems A and B, each including a bending tool. J A_ca Represents multiple j At_ca J is the Jacobian matrix formed by the row vectors superimposed on each other. B_ca Represents multiple j Bt_ca The Jacobian matrix is ​​formed by the row vectors superimposed on each other.

[0178] In some embodiments, the target pose of the end effector may include a target position and a target orientation. Method 1000(b) may further include, in response to the end effector failing to reach the target pose, controlling the end effector to reach the target position and controlling the end effector to move toward the target orientation. It should be understood that during the control of at least one bending tool moving about an RCM point, it is necessary to prevent interference between bending tools and between moving arms. Giving the movement about the RCM point and the anti-interference constraints the highest priority may, in some cases, prevent the end effector from reaching the target pose. In response to the end effector failing to reach the target pose, the linear velocity of the end effector is... D0 v des Set to specific angular velocityD0 ω tar Higher priority, achieved by controlling the linear velocity of the end device. D0 v des This is to enable the end effector to reach the target position and control the angular velocity of the end effector. D0 ω tar This allows the end effector to move toward the target orientation. For example, a three-level priority inverse kinematics for a motion arm system including a bending tool can be determined based on formula (25). It should be understood that lower priority tasks are adapted to the system's remaining motion capabilities and do not violate higher priority tasks.

[0179]

[0180] In formula (25), Let be the Moore-Penrose pseudoinverse of the Jacobian matrix J. 1st This indicates the target speed corresponding to the first priority. J 1st J represents the Jacobian matrix that assigns the RCM constraint and the anti-interference constraint the first priority. 2nd J represents the Jacobian matrix that assigns the linear velocity of the end effector with second priority. 3rd This represents the Jacobian matrix that assigns the angular velocity of the end effector to the third priority.

[0181] In some embodiments, method 1000(b) may further include determining joint velocities of a plurality of joints of at least one motion arm based on a target pose of the end effector, and reducing the joint velocities of the plurality of joints of at least one motion arm in response to a joint velocity exceeding a joint velocity limit. It should be understood that, for the j-th joint, the velocity limit of the j-th element... The joint velocities can be defined based on formula (26), and the joint velocities of multiple joints can be proportionally reduced based on formula (27) to avoid excessively high joint velocities:

[0182]

[0183]

[0184] The j-th element (Ψ|) of the configuration vector in formulas (26) and (27) j_lower and Ψ| j_upper The lower and upper limits of ) can be defined based on formula (28):

[0185] Ψ| j_lower ≤Ψ| j ≤Ψ| j_upper (28)

[0186] It should be understood that when at least one configuration variable of the updated configuration vector violates the velocity limit, the joint velocities of multiple joints are scaled down to keep the configuration variable within the velocity limit range in order to avoid position and / or orientation deviations that may result from the configuration variable exceeding the limit.

[0187] In some embodiments, method 1000(b) may further include determining joint values ​​of a plurality of joints of at least one motion arm based on the target pose of the end effector, and performing dimensionality reduction in response to the joint values ​​of at least one joint exceeding joint limits. It should be understood that dimensionality reduction may include reducing the dimension of the Jacobian matrix and using unsaturated joints to satisfy the original task and constraints. For example, dimensionality reduction may be performed based on equation (29):

[0188] J' = JD (29)

[0189] In formula (29), D is a diagonal matrix. When the constraint of the j-th joint is exceeded, the j-th diagonal element is specified as 0, otherwise it is specified as 1, indicating that the corresponding degree of freedom is available.

[0190] The Jacobian matrix based on the dimension reduction process will be substituted into formula (25) to recalculate the configuration velocity vector to obtain the updated configuration vector.

[0191] In some embodiments, after dimensionality reduction, joint values ​​of multiple joints of at least one motion arm are determined based on the target pose of the end effector, and dimensionality reduction is performed again in response to the joint values ​​of at least one joint exceeding joint limits. It should be understood that the updated configuration velocity vector still causes the remaining configuration variables to exceed the limits, and the dimension of the Jacobian matrix can be further reduced, as shown in Equation (29), until all calculated configuration variables are within the corresponding limits.

[0192] It should be understood that this control method can control the movement of the bending tool around the remote center of motion (RCM) point on the rigid bending arm, and can prevent collisions between external moving arms and between internal bending tools. Simultaneously, the real-time movement of each joint meets the system's limit positions and speed constraints. This control method can be based on priority inverse kinematics, allowing the system to prioritize more important tasks, and performing dimensionality reduction when the motion capability exceeds limits, thus ensuring convenient, safe, and efficient system operation.

[0193] In some embodiments, such as Figure 3As shown, this disclosure provides a bending tool 100, including a bending rigid arm 110, a bendable assembly 120, and an end effector 140 disposed at the distal end of the bendable assembly 120. The bendable assembly 120 is disposed at the distal end of the bending rigid arm 110 and is configured to drive the end effector 140 to bend or rotate relative to the bending rigid arm 110. The bending rigid arm can enhance the strength of the surgical tool and increase the mobility of the end effector, while the bendable assembly can further enhance the mobility of the end effector, enabling the surgical tool to perform high-load, highly flexible surgical operations in confined spaces.

[0194] In some embodiments, Figure 12 A longitudinal sectional view of a bendable member according to some embodiments of the present disclosure is shown. For example... Figure 12 As shown, the bendable assembly 120 includes at least one bendable member 121 and multiple drive wires 122. The at least one bendable member 121 is disposed at the distal end of the bending rigid arm 110, and the distal ends of the multiple drive wires 122 are connected to the bendable member 121. The multiple drive wires 122 extend through at least a portion of the bendable member 121 and the bending rigid arm 110, and are used to drive the bendable member 121 to bend in at least one degree of freedom. It should be understood that the bending rigid arm 110 can be formed by pre-bending a nickel-titanium alloy tube. Depending on different needs, the curvature of the pre-bending of the bending rigid arm 110 and the arm length can be varied to increase applicability. In some embodiments, the bending rigid arm 110 may include one, two, or more bending segments. For example, the length or curvature of each bending segment may be different.

[0195] In some embodiments, the bendable assembly 120 may include at least one wheel and at least one drive wire. The at least one wheel is connected to the end device 140 to drive the end device 140 to rotate, and the at least one drive wire is connected to the at least one wheel to drive the wheel to rotate. For example, the wheel may be a pulley fixedly mounted on the end device 140, and the drive wire may be a steel wire rope that drives the pulley to rotate, thereby driving the end device 140 to rotate. As another example, the at least one wheel may be a pulley assembly fixedly mounted on the end device 140, with multiple drive wires connected to the pulley assembly to drive the pulley assembly to rotate, thereby causing the end device 140 to rotate in multiple degrees of freedom.

[0196] like Figure 12As shown, the bendable component 121 may include a bellows 121a, with a drive wire 122 penetrating through the bellows 121a or through the bellows wall of the bellows 121a. The distal end of the drive wire 122 is fixedly connected to the distal end of the bellows 121a. For example, the bellows 121a may include a pipe body 1211, the wall of which is radially corrugated to form a plurality of corrugated flanges 1212 spaced apart in the extension direction of the pipe body. It should be understood that the plurality of corrugated flanges 1212 may have corresponding through holes for the drive wire 122 to pass through. Alternatively, a plurality of spacer discs may be fixedly spaced apart inside the bellows 121a, each spacer disc having corresponding through holes for the drive wire 122 to pass through. It should be understood that the plurality of corrugated flanges 1212 are spaced apart at equal intervals, with grooves formed between adjacent corrugated flanges 1212 to provide space for the bending deformation of the bellows 121a. The corrugated tube allows for more uniform radial bending stress on the bendable component 121, resulting in higher bending deformation accuracy. The tube body 1211 can be a metal corrugated tube, which ensures structural strength while maintaining good deformability, and also facilitates the sterilization of surgical instruments.

[0197] The driving mechanism pushes or pulls multiple driving wires 122 to cause the bellows 121a to bend, thereby driving the distal end of the bending tool 100 to bend in at least one degree of freedom. In some embodiments, the number of driving wires 122 can be multiple, distributed circumferentially at intervals. By pushing, pulling, or co-pushing and pulling multiple driving wires 122, the bending direction of the bellows 121a can be adjusted to achieve bending of the bendable member 121 in multiple degrees of freedom. For example, co-pushing and pulling two corresponding driving wires 122 can achieve bending of the bendable member 121 in a first degree of freedom direction, and co-pushing and pulling another two corresponding driving wires 122 can achieve bending of the bendable member 121 in a second degree of freedom direction, thereby giving the bendable member 121 at least one degree of freedom in at least one direction.

[0198] Figure 13 A schematic diagram of the structure of a bendable member 221 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 13 As shown, the bendable member 221 may include a serpentine structure 221a. Figure 14(a) shows a structural schematic diagram of the bending unit 2211 according to some embodiments of the present disclosure, and Figure 14(b) shows a structural schematic diagram of the cooperation between adjacent bending units 2211 according to some embodiments of the present disclosure. Figure 13 As shown in Figures 14(a) and 14(b), the snake bone structure 221a may include multiple hollow bamboo-shaped bending units 2211 connected end to end. Adjacent bending units 2211 form a radially bending kinematic pair through mutually nested connecting grooves 2212 and connecting protrusions 2213.

[0199] The drive wire 122 can be disposed through each bending unit 2211 or through the tube wall of each bending unit 2211. The distal end of the drive wire 122 can be fixed at the distal end of the snake structure 221a or at the distal end of the intermediate bending unit 2211 of the snake structure 221a, and the proximal end of the drive wire 122 is connected to the drive mechanism. The drive mechanism pushes or pulls the drive wire 122 to drive the snake structure 221a to bend, thereby driving the bendable component 221 to bend. By pushing, pulling, or synergistically pushing or pulling multiple drive wires 122, the bending direction of the snake structure 221a can be adjusted to achieve bending of the bendable component 221 in multiple degrees of freedom.

[0200] It should be understood that bendable components include, but are not limited to, the structures described above, and any bendable structure falls within the protection scope of this disclosure.

[0201] Figures 15(a) and 15(b) respectively illustrate structural schematic diagrams of a distal continuum segment 321 according to some embodiments of the present disclosure. In some embodiments, as shown in Figures 15(a) and 15(b), the bendable assembly 120 may include at least one distal continuum segment 321. As shown in Figure 15(a), the bendable assembly 120 may include a distal continuum segment 321. The distal continuum segment 321 may include a plurality of distal structural bones 3211, a distal base plate 3212, a distal stop plate 3213, and at least one distal spacer plate 3214 disposed between the distal base plate 3212 and the distal stop plate 3213. The distal ends of the plurality of distal structural bones 3211 are fixedly connected to the distal stop plate 3213, and the plurality of distal structural bones 3211 slidably pass through at least one distal spacer plate 3214 and the distal base plate 3212. For example, the distal base plate 3212, at least one distal spacer plate 3214, and distal stop plate 3213 can be spaced apart, each plate having corresponding circumferentially spaced through holes. Multiple distal structural bones 3211 can slide through the through holes on the distal spacer plate 3214 and the distal base plate 3212. The multiple distal structural bones 3211 can be radially oppositely distributed, coordinating to push and pull two oppositely positioned structural bones to drive the bending of the distal continuum segment 321. In some embodiments, the distal base plate 3212, distal stop plate 3213, and at least one distal spacer plate 3214 can be implemented using a bellows structure, similar to... Figure 12 The bellows 121a shown.

[0202] Figure 16 A schematic diagram of the structure of a proximal continuum segment 421 according to some embodiments of the present disclosure is shown. In some embodiments, such as Figure 16As shown, the bending tool 100 also includes at least one proximal continuum segment 421. The proximal continuum segment 421 may include multiple proximal structural bones 4211, a proximal stop plate 4213, a proximal base plate 4212, and at least one proximal spacer plate 4214 disposed between the proximal base plate 4212 and the proximal stop plate 4213. The proximal ends of the multiple proximal structural bones 4211 are fixedly connected to the proximal stop plate 4213, the multiple proximal structural bones 4211 are slidably connected to at least one proximal spacer plate 4214 and the proximal base plate 4212, and the distal ends of the proximal structural bones 4211 are fixedly connected to or integrally formed with the proximal ends of corresponding distal structural bones among the multiple distal structural bones.

[0203] Those skilled in the art will understand that the proximal base plate 4212 can be fixedly disposed, for example, fixedly disposed on the support 150, or the proximal base plate 4212 can be integrally formed with the support 150. The proximal ends of multiple proximal structural bones 4211 can be distributed circumferentially along the proximal stop plate 4213 and fixedly connected to the proximal stop plate 4213. The proximal structural bones 4211 can be evenly spaced along the circumferential direction of the proximal stop plate 4213, or they can be non-uniformly symmetrically spaced. For example, the proximal base plate 4212, at least one proximal spacer plate 4214, and the proximal stop plate 4213 can be spaced apart, and each plate is provided with corresponding through holes spaced circumferentially. Multiple proximal structural bones 4211 can slide through the through holes on the proximal spacer plate 4214 and the proximal base plate 4212, and the distal ends are fixedly connected to or integrally formed with the proximal ends of the corresponding distal structural bones 3211. By providing proximal spacer disc 4214 and distal spacer disc 3214, instability of the structural bone during push-pull is prevented, thereby increasing the motion accuracy and stability of the continuum segment. It should be understood that the drive wire 122 (e.g., proximal structural bone 4211 and / or distal structural bone 3211) may comprise an elastic rod or tube made of a hyperelastic material, such as a nickel-titanium alloy.

[0204] In some embodiments, such as Figure 16 As shown, the proximal continuum segment 421 may further include multiple proximal driving structure bones 4215. The proximal end of each proximal driving structure bone 4215 may be fixedly connected to a proximal stop plate 4213. Each proximal driving structure bone 4215 passes through at least one proximal spacer plate 4214 and a proximal base plate 4212, and its distal end is connected to at least one driving mechanism. The driving mechanism collaboratively pushes and pulls two proximal driving structure bones 4215 in opposite positions to drive the proximal continuum segment 421 to bend, thereby causing the distal continuum segment 321 to bend. For example, the diameter of the proximal driving structure bone 4215 may be larger than that of the proximal structure bone 4211 to prevent breakage during pushing and pulling, thereby increasing the service life of the bending tool 100. It should be understood that the diameter of the proximal driving structure bone 4215 may also be equal to or smaller than the diameter of the proximal structure bone 4211.

[0205] It should be understood that by fixing the proximal end of the proximal drive structure bone 4215 to the proximal stop plate 4213 and the distal end to the drive mechanism, the drive mechanism is positioned forward (towards the distal end), achieving a close arrangement between the drive mechanism and the proximal continuum segment 421, thereby reducing the size of the bending tool 100. It should also be understood that the proximal end of the proximal drive structure bone 4215 can be fixedly connected to the proximal base plate 4212, the proximal drive structure bone 4215 passes through at least one proximal spacer plate 4214 and the proximal stop plate 4213, and the proximal end is connected to at least one drive mechanism, thereby positioning the drive mechanism rearward (towards the proximal end).

[0206] In some embodiments, the bending tool 100 further includes a plurality of proximal continuum segments 421, which can provide more degrees of freedom. As shown in FIG15(b), at least one distal continuum segment 321 may include a first distal continuum segment 321a and a second distal continuum segment 321b, wherein the second distal continuum segment 321b may be disposed distal to the first distal continuum segment 321a. The first distal continuum segment 321a may include a plurality of first distal structural bones 3211a, a first distal stop disc 3213a, a first distal base disc 3212a, and at least one first distal spacer disc 3214a disposed between the first distal base disc 3212a and the first distal stop disc 3213a. The distal ends of the plurality of first distal structural bones 3211a are fixedly connected to the first distal stop disc 3213a, slide through at least one first distal spacer disc 3214a and the first distal base disc 3212a, and are proximally connected to at least one drive mechanism. Multiple first distal structural bones 3211a are pushed and pulled in coordination by a partial drive mechanism to drive the first distal continuum segment 321a to bend.

[0207] The second distal continuum segment 321b may include multiple second distal structural bones 3211b, a second distal stop disc 3213b, a second distal base disc (which should be understood to be the same as the first distal stop disc 3213a), and at least one second distal spacer disc 3214b disposed between the second distal base disc and the second distal stop disc 3213b. The distal ends of the multiple second distal structural bones 3211b are fixedly connected to the second distal stop disc 3213b, and the multiple second distal structural bones 3211b slide through at least one second distal spacer disc 3214b and the second distal base disc (or the first distal stop disc 3213a). The proximal ends are fixedly connected to or integrally formed with the distal ends of multiple proximal structural bones 4211. By partially driving the mechanism to push and pull the multiple proximal driving structural bones 4215, the proximal continuum segment 421 is driven to bend, and the proximal continuum segment 421 drives the distal continuum segment 321 to bend.

[0208] It should be understood that the distal structural bone 3211a can also be pushed and pulled directly by a partial drive mechanism to drive the distal continuum segment 321a to bend, and the proximal continuum segment 421 can be bent by a partial drive mechanism to drive the distal continuum segment 321b to bend.

[0209] In some embodiments, such as Figure 2 As shown, this disclosure also provides a robotic system 10, including at least one motion arm 101, at least one bending tool 100 as described in any embodiment of this disclosure, and a control device (e.g., control device 3). The bending tool 100 is disposed at the distal end of the motion arm 101. The bending tool includes a bending rigid arm and an end effector disposed at the distal end of the bending tool. It should be understood that the motion arm 101 may include multiple movable joints and links, having multiple degrees of freedom, and the bending tool 100 is detachably disposed at the distal end of the motion arm 101, which is used to adjust the position and orientation of the end effector of the bending tool 100. The control device may be configured to execute control method 1000(b) based on motion commands. It should be understood that the robotic system 10 may be a surgical robot, and the bending tool may be equipped with a surgical actuator as an end effector. In operation, the surgical robot system 10 can extend into a cavity via one or more bending tools 100 for endovascular interventional diagnosis and treatment. By using the motion arm 101 to move the bending tool 100, the dexterity of the distal end of the surgical tool can be increased, and the bending rigid arm 110 can improve the load-bearing capacity of the bending tool 100 to meet the needs of various surgical procedures. It should be understood that, although... Figure 2 The robot system 10 shown operates multiple bending tools 100 through a single opening, but multiple bending tools 100 of the robot system 10 can also operate through multiple openings.

[0210] In some embodiments, the motion arm 101 is configured to move the bending tool 100 about a remote center of motion (RCM) located on the curved segment 111 of the rigid bending arm 110. For example, the RCM may be located on the curved segment 111 of the rigid bending arm 110, and the bending tool 100 can move about the RCM under the drive of the motion arm 101. Therefore, during surgery, the RCM of the bending tool 100 can be positioned at the opening (e.g., incision or natural opening) into the patient's body. By controlling the movement of the bending tool 100 about the RCM, the opening location is not damaged, and the rigid bending arm 110 of the bending tool 100 can increase the mobility of the end effector 140. Moreover, the rigid bending arm 110 can increase the load capacity of the end effector 140 compared to a flexible arm.

[0211] In some embodiments, this disclosure provides a computer-readable storage medium for storing at least one instruction. When executed by a computer, the at least one instruction causes the computer to perform the control method described in any of the above embodiments.

[0212] In some embodiments, this disclosure provides a computer device that may include a memory and at least one processor. The memory may include at least one instruction. The processor is configured to execute at least one instruction to configure the processor to perform the control methods of any of the above embodiments.

[0213] Based on the above description of the implementation methods, those skilled in the art will clearly understand that this disclosure can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0214] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A master-slave motion control method for a bending tool robot system, characterized by, The robot system includes a main manipulator, at least one motion arm, and at least one bending tool disposed at the distal end of the at least one motion arm. The bending tool includes a bending rigid arm and an end effector disposed at the distal end of the bending tool. The control method includes: Determine the current attitude of the end effector relative to the reference coordinate system; Based on the current attitude of the end effector, determine the target attitude of the handle of the master controller; Control the handle of the main operator to move toward the target posture of the handle; Execute at least one motion control cycle, including: in each motion control cycle, Determine the current pose of the handle of the main operator; Based on the current pose of the handle of the main manipulator and the pose relationship between the handle of the main manipulator and the end effector of the bending tool, the target pose of the end effector is determined. Based on a reference point, determine the remote center of motion (RCM) point located on the bending rigid arm of the at least one bending tool; and Control the movement of the at least one bending tool around the RCM point to move the end effector toward the target pose; Executing at least one motion control cycle also includes: in each motion control cycle, Based on the target pose of the end effector, the inverse kinematics model of the at least one motion arm, and the inverse kinematics model of the at least one bending tool, the target configuration of the at least one motion arm and the at least one bending tool is determined; and Based on the target configuration of the at least one moving arm and the at least one bending tool, control the movement of the at least one moving arm and / or the at least one bending tool to move the end effector toward the target pose.

2. The control method according to claim 1, characterized in that, Controlling the movement of the handle of the main operator toward the target posture of the handle includes: Determine the current orientation of the handle of the main controller; and Based on the target posture and current posture of the handle of the main operator, the control signal of the main operator is generated.

3. The control method according to claim 1, characterized in that, The master manipulator includes at least one attitude joint for controlling the attitude of the handle of the master manipulator, and controlling the handle of the master manipulator to move toward a target attitude of the handle includes generating control signals for controlling one or more of the at least one attitude joint.

4. The control method according to any one of claims 1-3, characterized in that, Also includes: In response to the satisfaction of predetermined conditions, the attitude matching degree between the handle of the master operator and the end device is determined, the predetermined conditions including the triggering of teleoperation control rights.

5. The control method according to claim 4, characterized in that, Also includes: In response to the attitude matching degree being lower than a preset threshold, a control signal for the handle of the main operator is generated so that the attitude matching degree is higher than or equal to the preset threshold. or In response to the attitude matching degree being higher than or equal to a preset threshold, a master-slave mapping is established between the master operator and the end device.

6. The control method according to any one of claims 1-3, characterized in that, The target orientation of the handle of the master operator is consistent with the current orientation of the end effector.

7. The control method according to claim 1, characterized in that, Determining the RCM point located on the bending rigid arm of the at least one bending tool based on a reference point includes: The point on the bending rigid arm that is closest to the reference point is defined as the RCM point.

8. The control method according to claim 1, characterized in that, Controlling the movement of the at least one bending tool around the RCM point further includes: Control the RCM point on the at least one bending tool to move closer to the reference point.

9. The control method according to claim 8, characterized in that, Executing at least one motion control cycle also includes: in each motion control cycle, Determine the radial convergence rate of the RCM point on the at least one bending tool; and Based on the kinematic model of the at least one moving arm, the Jacobian matrix related to the radial convergence velocity is determined.

10. The control method according to claim 9, characterized in that, Determining the radial convergence rate of the RCM point on the at least one bending tool includes: Determine the deviation distance between the RCM point on the at least one bending tool and the reference point; and The radial convergence rate is determined to be proportional to the deviation distance.

11. The control method according to claim 10, characterized in that, Determining the Jacobian matrix associated with the radial convergence rate includes: Determine the position of the RCM point on the at least one bending tool; Determine the unit vector of the tangential direction of the RCM point on the at least one bending tool; and Based on the kinematic model of the at least one moving arm, the unit vector, and the position of the RCM point, the Jacobian matrix related to the radial convergence velocity is determined.

12. The control method according to any one of claims 1-3, 5, 7-11, characterized in that, The at least one moving arm includes a first moving arm and a second moving arm, and the at least one bending tool includes a first bending tool and a second bending tool, wherein the first bending tool and the second bending tool are respectively disposed at the distal ends of the first moving arm and the second moving arm. Executing at least one motion control cycle also includes: in each motion control cycle, Determine whether interference will occur between the first and second moving arms; and In response to interference between the first and second moving arms, the distance between the first and second moving arms is increased; and / or Determine whether interference will occur between the first bending tool and the second bending tool; and In response to interference between the first bending tool and the second bending tool, the distance between the first bending tool and the second bending tool is increased.

13. The control method according to claim 12, characterized in that, Determining whether interference will occur between the first moving arm and the second moving arm includes: Determine the points on the first and second motion arm models that are closest to the first and second motion arm models, respectively; Determine whether the distance between the closest points on the first and second motion arm models is less than a first threshold; and In response to the distance being less than the first threshold, increase the distance between the first and second moving arms; and / or Determining whether interference will occur between the first bending tool and the second bending tool includes: Determine the points on the first and second bending tool models that are closest to the first bending tool and the second bending tool, respectively; Determine whether the distance between the nearest points on the first and second bending tool models is less than a second threshold; and In response to the distance being less than the second threshold, the distance between the first bending tool and the second bending tool is increased.

14. The control method according to claim 12, characterized in that, Increasing the distance between the first moving arm and the second moving arm includes: The separation speed between the first and second moving arms is determined to be proportional to the distance between the first and second moving arms; and / or Increasing the distance between the first bending tool and the second bending tool includes: The separation speed between the first bending tool and the second bending tool is determined to be proportional to the distance between the first bending tool and the second bending tool.

15. The control method according to any one of claims 1-3, 5, 7-11, and 13-14, characterized in that, The target pose of the end effector includes a target position and a target orientation, and controlling the movement of the at least one bending tool around the RCM point further includes: In response to the end device failing to reach the target pose, control the end device to reach the target position; and Control the end effector to move toward the target posture.

16. The control method according to any one of claims 1-3, 5, 7-11, and 13-14, characterized in that, Executing at least one motion control cycle also includes: in each motion control cycle, Based on the target pose of the end effector, the joint velocities of multiple joints of the at least one moving arm are determined; and In response to the joint speed exceeding the joint speed limit, the joint speeds of the plurality of joints of the at least one moving arm are reduced.

17. The control method according to claim 16, characterized in that, Executing at least one motion control cycle also includes: in each motion control cycle, Based on the target pose of the end effector, joint values ​​of multiple joints of the at least one moving arm are determined; and Dimensionality reduction is performed in response to the fact that the joint value of at least one joint exceeds the joint limit.

18. The control method according to any one of claims 1-3, 5, 7-11, and 13-14, characterized in that, The bending tool further includes: a bendable assembly disposed at the distal end of the bending rigid arm, and an end device disposed at the distal end of the bendable assembly, wherein the bendable assembly is configured to drive the end device to bend or rotate relative to the bending rigid arm.

19. A robot system, comprising: At least one moving arm; At least one bending tool is disposed at the distal end of the at least one moving arm, the bending tool comprising a bending rigid arm and an end device disposed at the distal end of the bending tool; as well as The control device is configured to execute the control method as described in any one of claims 1-18 based on motion commands.

20. The robot system according to claim 19, characterized in that, The bending rigid arm includes a first bending segment and a second bending segment. The bendable component of the bending tool includes at least one distal continuum segment. The distal continuum segment includes multiple distal structural bones, a distal base plate, a distal stop plate, and at least one distal spacer plate disposed between the distal base plate and the distal stop plate. The distal ends of the plurality of distal structural bones are fixedly connected to the distal stop disc, and the plurality of distal structural bones can slidably pass through the at least one distal spacer disc and the distal base disc; or The bending rigid arm includes a first bending section and a second bending section. The bendable component of the bending tool includes at least one bendable member and multiple drive wires. The bendable member is disposed at the distal end of the second bending section. The distal ends of the multiple drive wires are connected to the bendable member. The multiple drive wires extend through at least a portion of the bendable member and the bending rigid arm. The multiple drive wires are used to drive the bendable member to bend in at least one degree of freedom. The bending rigid arm includes a first bending section and a second bending section. The bendable component of the bending tool includes at least one bendable member and multiple drive wires. The bendable member includes a snake-bone structure. The snake-bone structure includes multiple hollow bamboo-shaped bending units connected end to end. Adjacent bending units are connected by nested connecting grooves and connecting protrusions to form a radially bendable kinematic pair. The drive wires are disposed through the snake-bone structure.

21. The robot system according to claim 19, characterized in that, The at least one bending tool includes a plurality of bending tools capable of operating through a single opening.

22. A computer device, the computer device comprising: Memory, used to store at least one instruction; as well as A processor, coupled to the memory and configured to execute the at least one instruction to perform the control method as described in any one of claims 1-18.

23. A computer-readable storage medium for storing at least one instruction, which, when executed by a computer, causes the computer to perform the control method as described in any one of claims 1-18.

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