A control method, device and storage medium of an intervention pose adjustment joint

Abstract

The application provides a control method and device of an intervention pose adjustment joint and a storage medium, and relates to the technical field of medical instruments; the method comprises the following steps: obtaining a shape and position planning scheme of a plurality of surgical mechanical arms according to a surgical parameter and an initial pose of the end of the surgical mechanical arm; then obtaining a simulated motion trajectory of each joint; when the simulated motion trajectories are all within a safety range, taking different performance indicators of the surgical mechanical arm as inputs of an optimization algorithm, taking an index residual of each group of performance indicators as an output of the optimization algorithm, generating a plurality of reference planning schemes according to a shape and position planning scheme corresponding to a performance indicator corresponding to a minimum index residual in each group of index residuals, selecting a corresponding reference planning scheme according to different performance indicators, and controlling the joint to move to a target pose in the reference planning scheme. The application obtains a shape and position planning scheme by adjusting the joint according to an intervention pose, and realizes multi-path automatic planning by screening the simulated motion trajectories.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a control method, device and storage medium for an interventional pose adjustment joint. BACKGROUND

[0002] The laparoscopic surgery robot is a medical device used to assist doctors in performing laparoscopic surgery. The laparoscopic surgery robot has the advantages of minimally invasive, fine, fewer complications, quick recovery, and is beneficial to precise operation of doctors, and has high research and application value.

[0003] In the prior art, before performing laparoscopic surgery, the mechanical arm needs to be adjusted to a suitable working space, but since the interventional pose adjustment joint needs to be assisted by a surgical assistant whether it is preoperative selection of point position or intraoperative adjustment of working space, there is a certain limitation. SUMMARY

[0004] The problem solved by the present application is how to realize master-slave control of the interventional pose adjustment joint.

[0005] To solve the above problems, the present application provides a control method, device and storage medium for an interventional pose adjustment joint.

[0006] In a first aspect, the present application provides a control method for an interventional pose adjustment joint, which is applied to a surgical platform, the surgical platform comprising a plurality of surgical mechanical arms, each surgical mechanical arm comprising a plurality of joints, the control method for the interventional pose adjustment joint comprising:

[0007] obtaining a shape and position planning scheme of a plurality of surgical mechanical arms corresponding to the surgical parameters according to the surgical parameters and the initial pose of the end of the surgical mechanical arm;

[0008] obtaining a simulated motion trajectory of each joint according to the shape and position planning scheme;

[0009] when the simulated motion trajectories of all the joints of the surgical mechanical arm are within a safe range, taking different performance indicators of the surgical mechanical arm as inputs of an optimization algorithm, the output of the optimization algorithm being an indicator residual of each group of performance indicators, and generating a plurality of reference planning schemes according to the shape and position planning scheme corresponding to the performance indicator corresponding to the minimum indicator residual in each group of indicator residuals;

[0010] according to different performance indicators, selecting a corresponding reference planning scheme to control the joint to move to a target pose in the reference planning scheme.

[0011] Optionally, the obtaining of the shape and position planning scheme of the surgical robot arm corresponding to the surgical parameter according to the initial pose of the end of the surgical robot arm and the surgical parameter comprises:

[0012] S1: obtaining an angle value of any joint of the surgical robot arm;

[0013] S2: obtaining the initial pose of the end of the surgical robot arm according to the angle value through a forward kinematics algorithm;

[0014] S3: comparing the initial pose of the surgical robot arm with a target pose of the surgical robot arm to obtain a pose error;

[0015] S4: optimizing the initial pose according to the pose error;

[0016] S5: repeating S1 to S4 until the pose error obtained satisfies a preset pose error range, stopping the optimization of the initial pose, obtaining an optimized initial pose, and obtaining the shape and position planning scheme of the surgical robot arm corresponding to the surgical parameter according to the optimized initial pose and the surgical parameter.

[0017] Optionally, the optimization of the initial pose according to the pose error comprises:

[0018] obtaining a Jacobian matrix of the surgical robot arm, wherein the Jacobian matrix is used to describe the relationship between the pose of the end of the surgical robot arm and the angle of each joint;

[0019] obtaining an incremental value of the angle value of any joint according to the pose error and the Jacobian matrix;

[0020] adding the incremental value to the angle value of the corresponding joint to optimize the angle value of the joint.

[0021] Optionally, the obtaining of the Jacobian matrix of the surgical robot arm comprises:

[0022] establishing a coordinate system of the surgical robot arm,

[0023] obtaining a forward kinematics equation of the surgical robot arm according to the coordinate system;

[0024] obtaining the Jacobian matrix of the surgical robot arm by taking the partial derivative of the forward kinematics equation of the surgical robot arm.

[0025] Optionally, the obtaining of the simulation motion trajectory of each joint according to the shape and position planning scheme comprises:

[0026] The shape and position planning scheme comprises the surgical parameters and the optimized initial pose, and the simulation motion trajectory of each joint is generated by a motion trajectory planning algorithm according to the surgical parameters and the optimized initial pose.

[0027] Optionally, the simulation motion trajectory of each joint is generated by a motion trajectory planning algorithm, comprising:

[0028] The motion trajectory planning algorithm comprises a seven-segment acceleration-deceleration S-curve motion trajectory planning method, wherein the seven-segment acceleration-deceleration S-curve motion trajectory planning method comprises seven motion stages, and the seven motion stages specifically comprise: a jerk motion stage, a uniform acceleration motion stage, a deceleration acceleration motion stage, a uniform speed motion stage, an acceleration-deceleration motion stage, a uniform deceleration motion stage, and a deceleration-deceleration motion stage.

[0029] When the joint of the surgical manipulator is in the jerk motion stage, the joint of the surgical manipulator starts to move according to an initial speed in an initial motion direction, the jerk of the joint of the surgical manipulator is a preset jerk threshold, and after moving for a first preset time length, the acceleration of the joint of the surgical manipulator increases to a preset acceleration threshold, and the joint of the surgical manipulator reaches the uniform acceleration motion stage.

[0030] When the joint of the surgical manipulator is in the uniform acceleration motion stage, the jerk of the joint of the surgical manipulator is zero, the acceleration remains unchanged, the motion speed of the joint of the surgical manipulator accelerates to a maximum speed, the motion speed of the joint of the surgical manipulator remains the maximum speed for a second preset time length, and reaches the deceleration acceleration motion stage.

[0031] When the joint of the surgical manipulator is in the deceleration acceleration motion stage, the acceleration of the joint of the surgical manipulator gradually decreases, and moves for a third preset time length to reach the uniform speed motion stage.

[0032] When the joint of the surgical manipulator is in the uniform speed motion stage, the acceleration and the jerk of the joint of the surgical manipulator are both zero, and moves for a fourth preset time length to reach the acceleration-deceleration motion stage.

[0033] When the joint of the surgical manipulator is in the acceleration-deceleration motion stage, the direction of the jerk of the joint of the surgical manipulator is opposite to the initial motion direction, the direction of the acceleration of the joint of the surgical manipulator is opposite to the initial motion direction, and increases to the preset acceleration threshold, moves for a fifth preset time length to reach the uniform deceleration motion stage.

[0034] When the joint of the surgical robotic arm is in the uniform deceleration motion phase, the sum of the accelerations of the joint of the surgical robotic arm is zero, the acceleration of the joint of the surgical robotic arm remains unchanged, and the motion reaches the deceleration motion phase after a sixth preset time.

[0035] When the joint of the surgical robotic arm is in the deceleration phase, the direction of the acceleration of the joint of the surgical robotic arm is the same as the initial direction of motion. The acceleration of the joint of the surgical robotic arm decreases until the acceleration is zero. The joint of the surgical robotic arm reaches the preset target position and generates the motion trajectory of each joint according to the seven motion phases.

[0036] Optionally, when the simulated motion trajectories of all joints of the surgical robotic arm are within a safe range, different performance indicators of the surgical robotic arm are used as inputs to the optimization algorithm, including:

[0037] Obtain the workspace of each joint of the surgical robotic arm;

[0038] Set workspace critical thresholds;

[0039] If, at any given moment, the workspaces of any two or more of the joints overlap or the workspace of any one of the joints exceeds the critical threshold, then the shape and position planning schemes in which the workspaces overlap or exceed the critical threshold are removed.

[0040] When the workspaces of all the joints do not overlap and the workspaces of all the joints are greater than the critical threshold of the workspace, the different performance indicators of the surgical robot are used as inputs to the optimization algorithm.

[0041] Optionally, the control method for the interventional posture adjustment joint further includes:

[0042] The surgical robotic arm is initialized according to the surgical objective to determine the surgical parameters and the initial pose of the end effector of the surgical robotic arm. The initialization settings include setting the intervention position of the surgical robotic arm and the surgical objective, the surgical area, and the field of view.

[0043] The control method of the interventional pose adjustment joint provided by the application can meet different surgical scenes and requirements according to different surgical parameters, and obtains a shape and position planning scheme in combination with the initial pose of the end of the surgical robot arm. The shape and position planning scheme can give corresponding simulation motion trajectories according to different surgical parameters and different surgical scenes. By simulating the motion trajectories of the joints, it can be verified whether the joint motion meets the mechanical structure and kinematics requirements. On this basis, the influence of the joint motion on the target position and attitude can be predicted by simulating the motion trajectories of the joints. And the simulation motion trajectories of all joints are subjected to secondary screening to determine whether they are in a safe range, ensuring that the simulation motion trajectories of all joints are in the safe range. Then, different performance indicators of the surgical robot arm are taken as inputs of the optimization algorithm, and the index residuals of each group of performance indicators are taken as outputs of the optimization algorithm. Then, a plurality of reference planning schemes are generated according to the shape and position planning scheme corresponding to the performance indicator corresponding to the minimum index residual in each group of index residuals. Finally, the joint motion is controlled to the target pose in the reference planning scheme according to the reference planning scheme. In this way, the unexpected situation in the joint motion is avoided to a certain extent, the surgical risk is reduced, and the safety of the surgical process is ensured. Moreover, automatic path planning is realized, and the operator can operate the interventional pose adjustment joint through the console to make the surgical robot arm reach the best surgical shape and position.

[0044] In a second aspect, the application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the control method of the interventional pose adjustment joint described above when executing the computer program.

[0045] The computer device described in the application has the same advantages as the control method of the interventional pose adjustment joint described above with respect to the prior art, and will not be described here.

[0046] In a third aspect, a computer readable storage medium has a computer program stored thereon, wherein the computer program is executable on a processor to implement the steps of the control method of the interventional pose adjustment joint described above.

[0047] The computer readable storage medium described in the application has the same advantages as the control method of the interventional pose adjustment joint described above with respect to the prior art, and will not be described here. BRIEF DESCRIPTION OF DRAWINGS

[0048] Figure 1 One of the flowcharts of the control method of the interventional pose adjustment joint of the embodiments of the application;

[0049] Figure 2 The second flowchart of the control method of the interventional pose adjustment joint of the embodiments of the application. DETAILED DESCRIPTION

[0050] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the drawings.

[0051] According to the shape and position planning scheme, the simulated motion trajectory of each joint is obtained;

[0052] In a first aspect, in combination with Figure 1 As shown in the drawings, the present application provides a control method of an interventional pose adjustment joint, which is applied to a surgical platform, the surgical platform comprising a plurality of surgical mechanical arms, each surgical mechanical arm comprising a plurality of joints, the control method of the interventional pose adjustment joint comprising:

[0053] According to the surgical parameters and the initial pose of the end of the surgical mechanical arm, a plurality of shape and position planning schemes of the surgical mechanical arm corresponding to the surgical parameters are obtained;

[0054] Specifically, when performing shape and position planning of the surgical mechanical arm, according to the requirements of the surgical parameters and the initial pose of the end of the mechanical arm, a plurality of shape and position planning schemes can be obtained. According to different combinations of surgical parameters, different shape and position planning schemes can be obtained; wherein the surgical parameters can include the interventional position of the surgical mechanical arm, the surgical region, the field of view direction and the initial position, according to different combinations of surgical parameters, different mechanical arm motion routes and motion modes can be obtained; according to the surgical parameters and the initial pose of the end of the mechanical arm, a plurality of shape and position planning schemes of the surgical mechanical arm can be obtained.

[0055] According to the shape and position planning scheme, the simulated motion trajectory of each joint is obtained; when the simulated motion trajectory of all the joints of the surgical mechanical arm is within the safety range, different performance indicators of the surgical mechanical arm are respectively taken as the input of the optimization algorithm, the output of the optimization algorithm is the indicator residual of each group of performance indicators, and a plurality of reference planning schemes are generated according to the shape and position planning scheme corresponding to the performance indicator corresponding to the minimum indicator residual in each group of indicator residuals;

[0056] Specifically, path planning and path optimization can be performed in advance, the end pose of the robot arm is calculated according to the input information, the seven-segment acceleration-deceleration S-shaped curve can be used to plan the joint motion process, the position and angle of each joint of each robot arm are known to the system, and the workspace reached by each joint of the robot arm in each cycle can be known according to kinematic calculation, a critical threshold is set, and if there is an overlap within a small range threshold, it can be judged that a collision will occur, at this time, the shape and position planning scheme is removed, the redundant joint is adjusted to make the workspace distance exceed the set threshold, so that no collision occurs, wherein, there are multiple shape and position planning schemes within the safety range, according to different performance indicators of the surgical robot arm, and after performance indicator optimization, the corresponding shape and position planning scheme is selected as the reference planning scheme. Moreover, each reference planning scheme displays the performance indicators of the surgical robot arm, and the performance indicators specifically include: the workspace range after installing the instrument, the instrument dexterity, the field of view condition, and the operability, wherein the workspace range includes the intersection of the in-vivo surgery coverage area and the in-vivo non-collision area. In the specific operation process, the operator selects one according to the desired indicators, and then controls the joint motion to the target pose in the reference planning scheme.

[0057] According to different performance indicators, the corresponding reference planning scheme is selected, and the joint motion is controlled to the target pose in the reference planning scheme.

[0058] Specifically, the joints of the surgical robot arm are controlled to move using the selected planning scheme to achieve the corresponding pose relationship. In this embodiment, multiple reference schemes can be generated according to different performance indicators, for example: there are scheme A and scheme B, wherein indicator 1 in scheme A is the best, and indicator 2 in scheme B is the best, the user can select scheme A from multiple schemes according to the current desired indicator, such as the desired indicator 1, and control the joint motion according to scheme A to achieve the target pose. The present application can generate different joint adjustment combination schemes according to different performance indicators.

[0059] The control method of the interventional pose adjustment joint provided by the application can meet different surgical scenes and requirements according to different surgical parameters, and obtains a shape and position planning scheme in combination with an initial pose of the end of the surgical robot arm. The shape and position planning scheme can give corresponding simulation motion trajectories according to different surgical parameters in combination with different surgical scenes. By simulating the motion trajectories of the joints, it can be verified whether the joint motion meets the mechanical structure and kinematics requirements, and on this basis, the influence of the joint motion on the target position and attitude can be predicted. The simulation motion trajectories of all joints are subjected to secondary screening to determine whether they are in a safe range, and it is ensured that the simulation motion trajectories of all joints are in the safe range. Different performance indicators of the surgical robot arm are taken as inputs of an optimization algorithm, the indicator residuals of each group of performance indicators are taken as outputs of the optimization algorithm, and a plurality of reference planning schemes are generated according to the shape and position planning scheme corresponding to the performance indicator corresponding to the minimum indicator residual in each group of indicator residuals. Finally, the joint motion is controlled to the target pose in the reference planning scheme according to the reference planning scheme. In this way, to a certain extent, unexpected situations in joint motion are avoided, surgical risks are reduced, and the safety of the surgical process is ensured. Automatic path planning is realized, and the operator can operate the interventional pose adjustment joint through the console to make the surgical robot arm reach the best surgical shape and position.

[0060] Optionally, the obtaining of the plurality of shape and position planning schemes of the surgical robot arm corresponding to the surgical parameters comprises:

[0061] S1: obtaining an angle value of any joint of the surgical robot arm;

[0062] S2: obtaining the initial pose of the end of the surgical robot arm by a forward kinematics algorithm according to the angle value;

[0063] S3: comparing the initial pose of the surgical robot arm with a target pose of the surgical robot arm to obtain a pose error;

[0064] S4: optimizing the initial pose according to the pose error;

[0065] S5: repeating S1 to S4 until the obtained pose error meets a preset pose error range, stopping the optimization of the initial pose, obtaining an optimized initial pose, and obtaining the plurality of shape and position planning schemes of the surgical robot arm corresponding to the surgical parameters according to the optimized initial pose and the surgical parameters.

[0066] Specifically, the current angle value of any joint of the surgical manipulator can be obtained by a sensor or an encoder; the initial pose of the end of the surgical manipulator is calculated according to the obtained current joint angle value in combination with a forward kinematics algorithm. The initial pose is compared with the target pose of the surgical manipulator to obtain a pose error. The initial pose is optimized according to the pose error, and the optimized initial pose and a new pose error are obtained again. The optimization of the initial pose is repeated until the pose error meets a preset pose error range, the optimization of the initial pose is stopped, the optimized initial pose is obtained, and finally a plurality of shape and position planning schemes are generated according to the optimized initial pose and the surgical parameters, wherein the preset pose error range can be set according to actual conditions, which is not limited herein.

[0067] In the embodiment, the corresponding shape and position planning scheme can be obtained according to the surgical parameters and the optimized initial pose, thereby providing a reference for the surgical operation, enabling the manipulator to move according to the expected trajectory and speed, and further improving the accuracy and safety of the surgical operation to a certain extent.

[0068] Optionally, the optimization of the initial pose according to the pose error comprises:

[0069] The Jacobian matrix of the surgical manipulator is obtained, wherein the Jacobian matrix is used to describe the relationship between the pose of the end of the surgical manipulator and the angle of each joint;

[0070] According to the pose error and the Jacobian matrix, the increment value of the angle value of any joint is obtained;

[0071] The increment value is added to the angle value of the corresponding joint to optimize the angle value of the joint.

[0072] Specifically, a Jacobian matrix of the surgical manipulator is acquired, where the Jacobian matrix is used to describe the relationship between the pose of the end of the surgical manipulator and each joint angle; in this embodiment, the Jacobian matrix can be calculated by analyzing the kinematics model of the surgical manipulator. In combination with the forward kinematics algorithm and the Jacobian matrix of the surgical manipulator, the initial pose of the end effector is calculated according to the given joint angle, the calculated initial pose is compared with the target pose, the pose error is calculated, and the incremental value of the joint angle is obtained through the Jacobian matrix and the pose error. The joint angle increment is added to the initial angle value to obtain the optimized initial angle value, and the pose of the end effector is recalculated according to the optimized initial angle value and compared with the target pose to obtain a new pose error; the loop optimization method is used to reacquire the optimized initial pose and the new pose error, and then the initial pose is optimized again according to the optimized pose error, until the pose error meets the preset pose error range, the optimization is stopped, and finally the final optimized joint angle value is obtained. According to the optimized joint angle value and the surgical parameters, a plurality of shape and position planning schemes are generated.

[0073] In this embodiment, the initial angle value is optimized through the Jacobian matrix and the pose error, and the performance index optimization is performed according to the optimization algorithm to obtain the shape and position planning scheme corresponding to the performance index corresponding to the minimum index residual in each group of index residuals, thereby generating a plurality of reference planning schemes, and providing guidance for the movement of the surgical manipulator, so that it can move according to the expected trajectory and speed, and realize precise and safe surgical operation.

[0074] Optionally, the Jacobian matrix of the surgical manipulator comprises:

[0075] A coordinate system of the surgical manipulator is established,

[0076] A forward kinematics equation of the surgical manipulator is obtained according to the coordinate system;

[0077] The partial derivative of the forward kinematics equation of the surgical manipulator is obtained, and the Jacobian matrix of the surgical manipulator is obtained.

[0078] Specifically, according to actual requirements, a reference point can be selected as the origin, the directions of three coordinate axes are determined, and the unit length on each coordinate axis is determined to establish the coordinate system of the surgical manipulator. The forward kinematics equation is derived by using the geometric structure and the kinematics model of the manipulator, where the forward kinematics equation is used to represent the mathematical relationship between the end of the joint of the surgical manipulator and each joint angle.

[0079] In some preferred embodiments, the forward kinematics equation can be: X = f(q); wherein X is the position and pose of the end of the joint of the surgical robot arm, q is a vector of joint angles, and f is a mapping function that maps the joint angles to the space of the end of the joint of the surgical robot arm. By taking the partial derivative of the forward kinematics equation, a Jacobian matrix can be obtained, wherein the Jacobian matrix is used to represent the rate of change of the pose of the end effector with respect to each joint angle, i.e., the effect of the joint angle increment on the pose.

[0080] In the present embodiment, by solving the partial derivative of the forward kinematics equation, the Jacobian matrix is obtained; thereby realizing the precise motion of the robot arm.

[0081] Optionally, the obtaining of the simulated motion trajectory of each joint according to the shape and position planning scheme comprises:

[0082] The shape and position planning scheme comprises the surgical parameters and the optimized initial pose, and the simulated motion trajectory of each joint is generated by a motion trajectory planning algorithm according to the surgical parameters and the optimized initial pose.

[0083] It can be understood that the optimized initial pose is close to the target pose, and then according to the initial pose, the optimized initial pose and the surgical parameters, the simulated motion trajectory can be obtained by the motion trajectory planning algorithm, and accordingly, the motion according to the simulated motion trajectory can basically reach the target pose.

[0084] In the present embodiment, the shape and position planning scheme is used to display the performance indicators of each surgical robot arm, wherein the performance indicators comprise: workspace range, instrument dexterity, field of view condition and operability, the robot workspace comprises the intersection of the in-vivo surgical coverage area and the out-of-body non-collision area; the shape and position planning scheme of the corresponding surgical robot arm is selected according to the performance indicators, and the surgical robot arm reaches the corresponding pose relationship through the planned path, thereby obtaining the target motion trajectory of each joint. Through the generated target joint motion trajectory, the surgical robot arm can realize accurate pose change and gradually optimize the transition from the initial pose to the target pose.

[0085] Optionally, the generating of the simulated motion trajectory of each joint by the motion trajectory planning algorithm comprises:

[0086] The motion trajectory planning algorithm comprises a seven-segment acceleration-deceleration S-curve motion trajectory planning method, wherein the seven-segment acceleration-deceleration S-curve motion trajectory planning method comprises seven motion stages, and the seven motion stages specifically comprise: a plus-plus acceleration motion stage, a uniform acceleration motion stage, a minus-plus acceleration motion stage, a uniform speed motion stage, a plus-minus acceleration motion stage, a uniform deceleration motion stage, and a minus-minus deceleration motion stage.

[0087] When the joint of the surgical mechanical arm is in the jerk motion phase, the joint of the surgical mechanical arm starts to move according to an initial speed in an initial motion direction, the jerk of the joint of the surgical mechanical arm is a preset jerk threshold, and after moving for a first preset time length, the acceleration of the joint of the surgical mechanical arm increases to a preset acceleration threshold, and the joint of the surgical mechanical arm reaches the uniform acceleration motion phase.

[0088] When the joint of the surgical mechanical arm is in the uniform acceleration motion phase, the jerk of the joint of the surgical mechanical arm is zero, the acceleration remains unchanged, the motion speed of the joint of the surgical mechanical arm accelerates to a maximum speed, the motion speed of the joint of the surgical mechanical arm remains the maximum speed for a second preset time length, and reaches the deceleration motion phase.

[0089] When the joint of the surgical mechanical arm is in the deceleration motion phase, the acceleration of the joint of the surgical mechanical arm gradually decreases, and moves for a third preset time length to reach the uniform motion phase.

[0090] When the joint of the surgical mechanical arm is in the uniform motion phase, the acceleration and the jerk of the joint of the surgical mechanical arm are both zero, and moves for a fourth preset time length to reach the jerk motion phase.

[0091] When the joint of the surgical mechanical arm is in the jerk motion phase, the direction of the jerk of the joint of the surgical mechanical arm is opposite to the initial motion direction, the direction of the acceleration of the joint of the surgical mechanical arm is opposite to the initial motion direction, and increases to the preset acceleration threshold, moves for a fifth preset time length to reach the uniform deceleration motion phase.

[0092] When the joint of the surgical mechanical arm is in the uniform deceleration motion phase, the sum of the jerk of the joint of the surgical mechanical arm is zero, the acceleration of the joint of the surgical mechanical arm remains unchanged, and moves for a sixth preset time length to reach the deceleration motion phase.

[0093] When the joint of the surgical mechanical arm is in the deceleration motion phase, the direction of the jerk of the joint of the surgical mechanical arm is the same as the initial motion direction, the acceleration of the joint of the surgical mechanical arm decreases until the acceleration is zero, the joint of the surgical mechanical arm reaches a preset target position, and a motion trajectory of each joint is generated according to the seven motion phases.

[0094] Specifically, when the joint of the surgical manipulator is in the stage of jerk motion, the joint of the surgical manipulator starts to move according to the initial speed in the initial motion direction, the jerk of the joint of the surgical manipulator is a preset jerk threshold, and after moving for a first preset time length, the acceleration of the joint of the surgical manipulator increases to a preset acceleration threshold, the joint of the surgical manipulator reaches the stage of uniform acceleration motion; wherein the preset jerk threshold and the preset acceleration threshold can be set according to actual conditions. Herein, without limitation, when the joint of the surgical manipulator is in the stage of uniform acceleration motion, the jerk is zero and the acceleration remains unchanged, the motion speed of the joint of the surgical manipulator accelerates to the maximum speed, the motion speed of the joint of the surgical manipulator maintains the maximum speed for a second preset time length, and reaches the stage of deceleration motion; when the joint of the surgical manipulator is in the stage of deceleration motion, the acceleration of the joint of the surgical manipulator gradually decreases, and moves for a third preset time length to reach the stage of uniform motion; when the joint of the surgical manipulator is in the stage of uniform motion, the acceleration and the jerk of the joint of the surgical manipulator are both zero, and moves for a fourth preset time length to reach the stage of jerk motion; when the joint of the surgical manipulator is in the stage of jerk motion, the direction of the jerk of the joint of the surgical manipulator is opposite to the initial motion direction, the direction of the acceleration of the joint of the surgical manipulator is opposite to the initial motion direction, and the size of the acceleration of the joint of the surgical manipulator increases to the preset acceleration threshold, moves for a fifth preset time length to reach the stage of uniform deceleration motion; when the joint of the surgical manipulator is in the stage of uniform deceleration motion, the sum of the jerk of the joint of the surgical manipulator is zero, the acceleration of the joint of the surgical manipulator remains unchanged, and moves for a sixth preset time length to reach the stage of deceleration motion; when the joint of the surgical manipulator is in the stage of deceleration motion, the direction of the jerk of the joint of the surgical manipulator is the same as the initial motion direction, the acceleration of the joint of the surgical manipulator decreases until the acceleration is zero, the joint of the surgical manipulator reaches the preset target position, and the motion trajectory of each joint is generated according to the seven motion stages.

[0095] In the embodiment, the first preset time length, the second preset time length, and the third preset time length, the fourth preset time length, the fifth preset time length and the sixth preset time length are all related to the acceleration, the jerk and the preset target position of the joint of the surgical manipulator, and herein only represent the time lengths of the seven different stage motions. In the present application, the seven-segment jerk S-shaped curve motion realizes smooth motion trajectory by using continuous acceleration and deceleration segments, so that the stability of the mechanical system can be maintained to a certain extent, and the precise control of the motion speed can be realized by realizing the smooth switching of the three stages of acceleration, uniform speed and deceleration in the joint motion process,

[0096] Optionally, when the simulation motion trajectories of all the joints of the surgical manipulator are in the safety range, different performance indicators of the surgical manipulator are respectively taken as inputs of the optimization algorithm, including:

[0097] obtaining a workspace of each joint of the surgical manipulator arm;

[0098] setting a workspace critical threshold;

[0099] if there is any overlap of the workspaces of any two or more joints or any workspace of a joint exceeds the workspace critical threshold at the same time, removing the pose and position planning scheme with the overlap of the workspaces or the workspace exceeding the workspace critical threshold;

[0100] when there is no overlap of the workspaces of all the joints and the workspace of each joint is greater than the workspace critical threshold, taking different performance indicators of the surgical manipulator arm as inputs of an optimization algorithm respectively.

[0101] Specifically, the workspace of each joint can be calculated according to a geometric model and a kinematic model of the manipulator arm, and after the workspace of each joint is determined, the workspace critical threshold is set, wherein the workspace critical threshold is used to detect whether the workspace exceeds a limited threshold, and in the embodiment, the workspace critical threshold can be set artificially according to actual conditions, which is not limited herein; if there is any overlap of the workspaces of any two or more joints or any workspace of a joint exceeds the workspace critical threshold, the pose and position planning scheme is removed. Finally, if there is no overlap of the workspaces of all the joints and the workspace of each joint is greater than the workspace critical threshold, the pose and position planning scheme can be used as a reference planning scheme, and in the embodiment, a plurality of reference planning schemes are generated according to performance indicators, and in the process of specific operation, an operator selects one of the reference planning schemes according to a desired indicator, and then controls the joints to move to a target pose in the reference planning scheme.

[0102] In the embodiment, the above steps can be used to identify and exclude the pose and position planning schemes with conflicts, so as to provide a feasible planning scheme for a surgical operator.

[0103] Optionally, the control method of the intervention pose adjustment joint further includes:

[0104] performing initialization setting on the surgical manipulator arm according to a surgical target to determine the surgical parameters and the initial pose of the end of the surgical manipulator arm, wherein the initialization setting includes setting an intervention position of the surgical manipulator arm and the surgical target, a surgical region, and a field of view direction.

[0105] In the embodiment, in the preoperative preparation link, the operator can specify the intervention position of the surgical manipulator and the surgical target according to the specific structure of the surgical target, specify the appropriate surgical area, the field of view direction and the initial position of the instrument, as the input information to initialize the surgical manipulator, so as to determine the initial pose of the surgical parameter and the end of the surgical manipulator.

[0106] In combination Figure 2The control method of the intervention pose adjustment joint of the application is shown. The coordinate system of the surgical robot arm is established, the angle value of any joint of the surgical robot arm is obtained, the initial pose of the end of the surgical robot arm is obtained through the forward kinematics algorithm according to the angle value, the initial pose of the surgical robot arm is compared with the target pose of the surgical robot arm to obtain the pose error, the partial derivative of the forward kinematics of the surgical robot arm is obtained to obtain the Jacobian matrix of the surgical robot arm, the incremental value of the angle value of any joint is obtained according to the pose error and the Jacobian matrix, the incremental value is added to the angle value of the corresponding joint to optimize the angle value of the joint, until the obtained pose error meets the preset pose error range, the optimization of the initial pose is stopped, the optimized initial pose is obtained, and the planning scheme of the surgical robot arm corresponding to the surgical parameter is obtained according to the optimized initial pose and the surgical parameter. The shape and position planning scheme includes the surgical parameter and the optimized initial pose. According to the surgical parameter and the optimized initial pose, the simulation motion trajectory of each joint is generated through the motion trajectory planning algorithm, the working space of each joint of the surgical robot arm is obtained, the working space critical threshold is set, and at the same time, if the working space of any two or more joints overlaps or the working space of any one joint exceeds the working space critical threshold, the shape and position planning scheme with overlapping working space or exceeding the working space critical threshold is removed. In the shape and position planning scheme in the safety range, the optimal search algorithm is used for optimization, and the optimization targets are different robot performance indexes. Correspondingly, the optimal solution under different targets can be obtained. Different optimal targets correspond to different mechanical arm reference planning schemes. The required performance index reference scheme is selected, and the joint motion is controlled to the target pose in the reference scheme.The control method of the interventional pose adjustment joint provided by the application can meet different surgical scenes and requirements according to different surgical parameters, and obtains a shape-position planning scheme in combination with an initial pose of the end of the surgical mechanical arm. The shape-position planning scheme can give corresponding simulation motion trajectories according to different surgical parameters in combination with different surgical scenes. By simulating the motion trajectories of the joint, it can be verified whether the joint motion meets the mechanical structure and kinematics requirements, and on this basis, the influence of the joint motion on the target position and attitude can be predicted. The simulation motion trajectories of all joints are subjected to secondary screening to determine whether they are in a safe range, and it is ensured that the simulation motion trajectories of all joints are in the safe range. Different performance indicators of the surgical mechanical arm are taken as inputs of an optimization algorithm, and the index residuals of each group of performance indicators are taken as outputs of the optimization algorithm. A plurality of reference planning schemes are generated according to the shape-position planning scheme corresponding to the performance indicator corresponding to the minimum index residual in each group of index residuals. Finally, the joint motion is controlled to the target pose in the reference planning scheme according to the reference planning scheme. In this way, the unexpected situation in the joint motion is avoided to a certain extent, the surgical risk is reduced, and the safety of the surgical process is ensured. Automatic path planning is realized, and the operator can operate the interventional pose adjustment joint through the console to make the surgical mechanical arm reach the best surgical shape-position.

[0107] In a second aspect, the application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the control method of the interventional pose adjustment joint when executing the computer program.

[0108] The computer device provided by the application has the same advantages as the control method of the interventional pose adjustment joint described above, and thus will not be described here.

[0109] In a third aspect, a computer readable storage medium has a computer program stored thereon, wherein the computer program implements the steps of the control method of the interventional pose adjustment joint when executed by a processor.

[0110] The computer readable storage medium provided by the application has the same advantages as the control method of the interventional pose adjustment joint described above, and thus will not be described here.

[0111] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The program can be stored in a non-volatile computer readable storage medium, and when the program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, storage, databases, or other media in this application includes non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0112] It should be noted that, in this document, the terms "first" and "second" and the like are used merely to distinguish one entity or action from another, and do not necessarily require or imply any actual such relationship or order between such entities or actions. Also, the terms "comprises", "comprising", or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by an indefinite article "a" or "an" does not exclude the existence of additional identical elements in the process, method, article, or apparatus including the element.

[0113] The above description is merely one specific implementation of the application. Many modifications and variations of the described embodiments can be apparent to those skilled in the art without departing from the spirit or scope of the application. Thus, it is intended that the present application cover modifications and variations of this implementation provided they come within the scope of the appended claims and their equivalents.

[0114] Although the present application has been disclosed with reference to the above embodiments, the scope of the present application is not limited to the above. Various changes and modifications can be made to the present application without departing from the spirit and scope thereof, and such changes and modifications are intended to fall within the scope of the present application.

Claims

1. A control method of an intervention pose adjustment joint, characterized in that, The control method of the interventional pose adjustment joint is applied to a surgical platform, the surgical platform comprising a plurality of surgical mechanical arms, each surgical mechanical arm comprising a plurality of joints, the control method of the interventional pose adjustment joint comprising: According to the initial pose of the end of the surgical mechanical arm and the surgical parameters, a shape and position planning scheme corresponding to the surgical parameters of the surgical mechanical arm is obtained; specifically comprising: S1: obtaining the angle value of any joint of the surgical mechanical arm; S2: According to the angle value, the initial pose of the end of the surgical mechanical arm is obtained by forward kinematics algorithm; S3: Comparing the initial pose of the surgical mechanical arm with the target pose of the surgical mechanical arm to obtain the pose error; S4: According to the pose error, the initial pose is optimized; S5: Repeat S1 to S4 until the pose error obtained satisfies the preset pose error range, stop optimizing the initial pose, obtain the optimized initial pose, and according to the optimized initial pose and the surgical parameters, obtain the shape and position planning scheme corresponding to the surgical parameters of the surgical mechanical arm; According to the shape and position planning scheme, the simulation motion trajectory of each joint is obtained; specifically comprising: the shape and position planning scheme comprises the surgical parameters and the optimized initial pose, and the simulation motion trajectory of each joint is generated by a motion trajectory planning algorithm according to the surgical parameters and the optimized initial pose; When the simulation motion trajectory of all joints of the surgical mechanical arm is within the safety range, different performance indicators of the surgical mechanical arm are taken as inputs of an optimization algorithm, and the output of the optimization algorithm is the index residual error of each group of performance indicators, and a plurality of reference planning schemes are generated according to the shape and position planning scheme corresponding to the performance indicators corresponding to the minimum index residual error in each group of index residual errors; According to different performance indicators, the corresponding reference planning scheme is selected to control the joint to move to the target pose in the reference planning scheme.

2. The control method of an interventional pose adjustment joint according to claim 1, characterized in that, The optimization of the initial pose according to the pose error comprises: Obtaining the Jacobian matrix of the surgical mechanical arm, wherein the Jacobian matrix is used to describe the relationship between the pose of the end of the surgical mechanical arm and the angle of each joint; According to the pose error and the Jacobian matrix, the increment value of the angle value of any joint is obtained; The increment value is added to the angle value of the corresponding joint to optimize the angle value of the joint.

3. The control method of an interventional pose adjustment joint according to claim 2, characterized in that, The Jacobian matrix of the surgical mechanical arm is obtained, comprising: Establishing the coordinate system of the surgical mechanical arm, According to the coordinate system, the forward kinematics equation of the surgical mechanical arm is obtained; The partial derivative of the forward kinematics equation of the surgical mechanical arm is obtained, and the Jacobian matrix of the surgical mechanical arm is obtained.

4. The control method of an interventional pose adjustment joint according to claim 1, characterized in that, The simulation motion trajectory of each joint is generated by a motion trajectory planning algorithm, comprising: The motion trajectory planning algorithm comprises a seven-segment acceleration-deceleration S-curve motion trajectory planning method, wherein the seven-segment acceleration-deceleration S-curve motion trajectory planning method comprises seven motion stages, and the seven motion stages specifically comprise: a jerk motion stage, a uniform acceleration motion stage, a deceleration acceleration motion stage, a uniform speed motion stage, an acceleration-deceleration motion stage, a uniform deceleration motion stage, and a deceleration-deceleration motion stage. When the joint of the surgical mechanical arm is in the jerk motion stage, the joint of the surgical mechanical arm starts to move according to an initial speed in an initial motion direction, the jerk of the joint of the surgical mechanical arm is a preset jerk threshold, and after moving for a first preset time length, the acceleration of the joint of the surgical mechanical arm increases to a preset acceleration threshold, and the joint of the surgical mechanical arm reaches the uniform acceleration motion stage. When the joint of the surgical mechanical arm is in the uniform acceleration motion stage, the jerk of the joint of the surgical mechanical arm is zero, the acceleration remains unchanged, the motion speed of the joint of the surgical mechanical arm accelerates to a maximum speed, the motion speed of the joint of the surgical mechanical arm remains the maximum speed for a second preset time length, and reaches the deceleration acceleration motion stage. When the joint of the surgical mechanical arm is in the deceleration acceleration motion stage, the acceleration of the joint of the surgical mechanical arm gradually decreases, and moves for a third preset time length to reach the uniform speed motion stage. When the joint of the surgical mechanical arm is in the uniform speed motion stage, the acceleration and the jerk of the joint of the surgical mechanical arm are both zero, and moves for a fourth preset time length to reach the acceleration-deceleration motion stage. When the joint of the surgical mechanical arm is in the acceleration-deceleration motion stage, the direction of the jerk of the joint of the surgical mechanical arm is opposite to the initial motion direction, the direction of the acceleration of the joint of the surgical mechanical arm is opposite to the initial motion direction, and increases to the preset acceleration threshold, moves for a fifth preset time length to reach the uniform deceleration motion stage. When the joint of the surgical mechanical arm is in the uniform deceleration motion stage, the sum of the jerk of the joint of the surgical mechanical arm is zero, the acceleration of the joint of the surgical mechanical arm remains unchanged, and moves for a sixth preset time length to reach the deceleration-deceleration motion stage. When the joint of the surgical mechanical arm is in the deceleration-deceleration motion stage, the direction of the jerk of the joint of the surgical mechanical arm is the same as the initial motion direction, the acceleration of the joint of the surgical mechanical arm decreases until the acceleration is zero, the joint of the surgical mechanical arm reaches a preset target position, and the motion trajectory of each joint is generated according to the seven motion stages.

5. The control method of an interventional pose adjustment joint according to claim 1, characterized in that, When the simulation motion trajectories of all the joints of the surgical mechanical arm are in the safety range, different performance indicators of the surgical mechanical arm are respectively taken as inputs of an optimization algorithm, comprising: obtaining a working space moved by each joint of the surgical mechanical arm; setting a working space critical threshold; If there is any overlap between the workspaces of any two or more of the joints or the workspace of any one of the joints exceeds the workspace threshold value at the same time, the shape and position planning scheme in which the workspaces overlap or exceed the workspace threshold value is removed; When there is no overlap between the workspaces of all the joints and the workspaces of all the joints are greater than the workspace threshold value, different performance indicators of the surgical robot arm are respectively taken as inputs of an optimization algorithm.

6. The control method of an interventional pose adjustment joint according to claim 1, characterized in that, The control method of the interventional pose adjustment joint further comprises: The surgical robot arm is initialized and set according to a surgical target to determine the surgical parameters and the initial pose of the end of the surgical robot arm, wherein the initialization and setting comprises setting an interventional position, a surgical region and a field of view direction of the surgical robot arm and the surgical target.

7. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the steps of the control method of the interventional pose adjustment joint according to any one of claims 1 to 6.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the control method of the interventional pose adjustment joint according to any one of claims 1 to 6.

Images