A robot control method and related products

Abstract

This application relates to a robot control method and related products. The method includes: responding to a control signal for a medical device, generating a velocity signal corresponding to each segment of the soft robot based on the control signal; inputting the velocity signal corresponding to each segment of the soft robot into a kinematic model, such that the kinematic model obtains the target rope length change of each of the N drive ropes included in each segment of the soft robot based on the velocity signal corresponding to each segment of the soft robot; obtaining the motor rotation angle corresponding to the drive device based on the target rope length change of each drive rope; and operating the drive device at the motor rotation angle, so that the drive device drives each drive rope to produce a deformation of the target rope length change. This method enables precise determination of the rope length change of each drive rope through the velocity signal, thereby achieving precise motion control of the soft robot included in the medical device.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a robot control method and related products. Background Technology

[0002] With the rapid development of robot control technology, more and more robots are being applied to various industries. For example, in the field of clinical medical testing, doctors can actively control the propulsion and bending of the snake-like robot in the endoscope to provide more accurate judgment for the operation.

[0003] However, the current method of operating the endoscopic snake-bone robot requires doctors to manually rotate the knob to adjust the bending direction of the snake based on real-time medical images. This requires a high level of skill from the doctor. If the advancing force and position are not accurately controlled during the advancement process, the endoscope may be unable to advance further at a certain position. It is also easy to cause scratches and damage to human organs when repeatedly adjusting the position of the snake, which will affect the patient's recovery. Summary of the Invention

[0004] Therefore, it is necessary to provide a robot control method, device, computer equipment, computer-readable storage medium, and computer program product that can achieve precise motion control of soft robots, addressing the aforementioned technical problems.

[0005] Firstly, this application provides a robot control method applied in a medical device. The medical device includes M segments of soft robots and a drive device. Each segment of the M soft robots includes N drive ropes, and the segments are connected sequentially. The method includes:

[0006] In response to control signals for medical devices, a speed signal corresponding to each segment of the soft robot is generated based on the control signals.

[0007] The velocity signal corresponding to each segment of the soft robot is input into the kinematic model, so that the kinematic model can obtain the change in target rope length of each of the N driving ropes included in each segment of the soft robot based on the velocity signal corresponding to each segment of the soft robot.

[0008] The motor rotation angle corresponding to the drive device is obtained based on the change in the target rope length corresponding to each drive rope.

[0009] The drive unit operates at the rotation angle of the motor, so that the drive unit drives each drive rope to produce deformation of the target rope length change.

[0010] Secondly, this application also provides a robot control device for use in medical devices. The medical device includes M segments of soft robots and a drive device. Each segment of the M soft robots includes N drive ropes, and the segments are connected sequentially. The device includes:

[0011] The response module is used to respond to control signals for medical devices and generate speed signals corresponding to each segment of the soft robot based on the control signals.

[0012] The input module is used to input the velocity signal corresponding to each segment of the soft robot into the kinematic model, so that the kinematic model can obtain the target rope length change of each of the N driving ropes included in each segment of the soft robot based on the velocity signal corresponding to each segment of the soft robot.

[0013] The rotation module is used to obtain the motor rotation angle corresponding to the drive device based on the change in the target rope length corresponding to each drive rope.

[0014] The drive module is used to operate the drive unit at the rotation angle of the motor, so that the drive unit drives each drive rope to produce deformation of the target rope length change.

[0015] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0016] In response to control signals for medical devices, a speed signal corresponding to each segment of the soft robot is generated based on the control signals.

[0017] The velocity signal corresponding to each segment of the soft robot is input into the kinematic model, so that the kinematic model can obtain the change in target rope length of each of the N driving ropes included in each segment of the soft robot based on the velocity signal corresponding to each segment of the soft robot.

[0018] The motor rotation angle corresponding to the drive device is obtained based on the change in the target rope length corresponding to each drive rope.

[0019] The drive unit operates at the rotation angle of the motor, so that the drive unit drives each drive rope to produce deformation of the target rope length change.

[0020] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0021] In response to control signals for medical devices, a speed signal corresponding to each segment of the soft robot is generated based on the control signals.

[0022] The velocity signal corresponding to each segment of the soft robot is input into the kinematic model, so that the kinematic model can obtain the change in target rope length of each of the N driving ropes included in each segment of the soft robot based on the velocity signal corresponding to each segment of the soft robot.

[0023] The motor rotation angle corresponding to the drive device is obtained based on the change in the target rope length corresponding to each drive rope.

[0024] The drive unit operates at the rotation angle of the motor, so that the drive unit drives each drive rope to produce deformation of the target rope length change.

[0025] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:

[0026] In response to control signals for medical devices, a speed signal corresponding to each segment of the soft robot is generated based on the control signals.

[0027] The velocity signal corresponding to each segment of the soft robot is input into the kinematic model, so that the kinematic model can obtain the change in target rope length of each of the N driving ropes included in each segment of the soft robot based on the velocity signal corresponding to each segment of the soft robot.

[0028] The motor rotation angle corresponding to the drive device is obtained based on the change in the target rope length corresponding to each drive rope.

[0029] The drive unit operates at the rotation angle of the motor, so that the drive unit drives each drive rope to produce deformation of the target rope length change.

[0030] The aforementioned robot control method, apparatus, computer equipment, storage medium, and computer program product, in response to a control signal for a medical device, generate a velocity signal corresponding to each segment of the soft robot based on the control signal; input the velocity signal corresponding to each segment of the soft robot into a kinematic model, so that the kinematic model obtains the target rope length change of each of the N drive ropes included in each segment of the soft robot based on the velocity signal corresponding to each segment of the soft robot; obtain the motor rotation angle corresponding to the drive device based on the target rope length change of each drive rope; and operate the drive device with the motor rotation angle so that the drive device drives each drive rope to produce a deformation of the target rope length change. By using the method of this application embodiment, by inputting the velocity signal corresponding to the soft robot into the kinematic model to obtain the rope length change of each drive rope included in the soft robot, and finally obtaining the motor rotation angle corresponding to the drive device to operate the drive device, it is realized that each drive rope is driven to produce a deformation of the corresponding rope length change. Therefore, it is realized that the rope length change of each drive rope is accurately obtained through the velocity signal, thereby achieving precise motion control of the soft robot included in the medical device. Attached Figure Description

[0031] Figure 1 This is a diagram illustrating the application environment of a robot control method in one embodiment;

[0032] Figure 2 This is a flowchart illustrating a robot control method in one embodiment;

[0033] Figure 3 This is a diagram illustrating the application environment of the robot control method in another embodiment;

[0034] Figure 4 This is a schematic diagram of the kinematic model in one embodiment;

[0035] Figure 5 This is a structural schematic diagram of the cross-section of a soft robot in one embodiment;

[0036] Figure 6 This is a schematic diagram of the coordinate system of a soft robot in one embodiment;

[0037] Figure 7 This is a structural block diagram of a robot control device in one embodiment;

[0038] Figure 8 This is a structural block diagram of the robot control device in another embodiment;

[0039] Figure 9 This is an internal structural diagram of a computer device in one embodiment;

[0040] Figure 10This is a diagram of the internal structure of a computer device in another embodiment. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0042] It should be noted that in the following description, the terms "first, second, and third" are used only to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, and third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0043] The robot control method provided in this application embodiment can be applied to, for example, Figure 1 The application environment shown is illustrated. Terminal 102 communicates with medical device 104 via a network. A data storage system can store the data that medical device 104 needs to process. The data storage system can be integrated onto the server medical device, or it can be located in the cloud or on other network servers.

[0044] The terminal 102 can be a smartphone, tablet, laptop, desktop computer, IoT device, etc.

[0045] Terminal 102 and medical device 104 can be connected via Bluetooth, USB (Universal Serial Bus) or network communication, and this application does not impose any restrictions on this.

[0046] In one embodiment, such as Figure 2 As shown, a robot control method is provided, applied in a medical device. The medical device includes M segments of soft robots and a drive unit. Each segment of the soft robot includes N drive cables, and the segments are connected sequentially. This method can be used by... Figure 1 The method is executed by a server or terminal, or by a server and terminal working together. Figure 1 Taking the terminal execution in the example, the following steps are included:

[0047] S202, in response to control signals for medical devices, generates speed signals corresponding to each segment of the soft robot based on the control signals.

[0048] Among these, the medical device can be an endoscope, and further, the endoscope can be a gastroscope, a bronchoscope, or an endoscope that reaches other human organs. The soft robot can be the serpentine part of the medical device. The drive device can be a drive motor.

[0049] A velocity signal is a vector signal, meaning that a velocity signal includes both the magnitude and direction of the velocity.

[0050] Each segment of the soft robot consists of N drive ropes, which are used to control the movement of the soft robot. The joint angles of the soft robot are changed by the change in rope length.

[0051] The first end of the terminal is connected to the medical device, while the second end is connected to the control device. Thus, the control signal can be initiated on the control device and input to the medical device via the terminal. Specifically, the first end of the terminal is connected to the drive unit of the medical device. The control device can be a remote control handle, and more specifically, a game controller.

[0052] Specifically, each soft robot segment includes a first end and a second end. The first end of each soft robot segment is close to the drive device, and the second end is far from the drive device. Thus, each soft robot segment is connected sequentially. That is, the first end of the first soft robot segment closest to the drive device is connected to the drive device, and its second end is connected to the first end of the next soft robot segment. The first end of the tail soft robot segment farthest from the drive device is connected to the second end of the soft robot segment above it, but its second end is not connected to any other soft robot. For intermediate soft robot segments (excluding the first and tail segments), the first end is connected to the second end of the soft robot segment above it, and the second end is connected to the first end of the next soft robot segment. This sequential connection method allows the medical device to have a longer length, enabling it to detect deeper lesions or other locations to be detected.

[0053] Specifically, the terminal displays the received medical images on its interface and generates a planned motion path for the medical images based on virtual navigation technology. This planned motion path indicates the path to a planned destination within the medical images, which is the location of the lesion or other location to be detected. The user can then initiate control signals for the medical device using the control device based on the planned motion path. The terminal responds to these control signals by generating a velocity signal corresponding to each segment of the soft robot. Furthermore, the control signals initiated by the user for the medical device are specifically for the head end of the soft robot located away from the terminal. The terminal then generates a velocity signal corresponding to each segment of the soft robot based on the control signals from the head end of the soft robot.

[0054] For example, such as Figure 3 As shown, the medical device is an endoscope, the soft robot is the snake-like part of the endoscope, the drive device is the drive motor of the endoscope, the terminal is a desktop computer, and the control device is a game controller. Thus, the first end of the terminal is connected to the control device and the second end is connected to the drive device of the medical device.

[0055] S204, input the velocity signal corresponding to each segment of the soft robot into the kinematic model, so that the kinematic model can obtain the change in target rope length of each of the N driving ropes included in each segment of the soft robot based on the velocity signal corresponding to each segment of the soft robot.

[0056] The kinematic model can be constructed based on the inverse kinematics of the forward kinematics of "the change in length of the driving rope, the joint angle of the soft robot, and the velocity of the soft robot". Specifically, the inverse kinematics of the forward kinematics is the inverse kinematics of "the velocity of the soft robot, the joint angle of the soft robot, and the change in length of the driving rope". Thus, the embodiments of this application can obtain the target rope length change of each driving rope included in each segment of the soft robot through the velocity signal corresponding to each segment of the soft robot.

[0057] Furthermore, a kinematic model is used to obtain the joint angles corresponding to each segment of the soft robot based on the velocity signal corresponding to each segment, and then to obtain the target rope length change of each of the N drive ropes included in each segment of the soft robot based on the joint angles corresponding to each segment.

[0058] The change in target rope length corresponding to each drive rope can be the same or different from each other.

[0059] S206, based on the change in target rope length for each drive rope, obtain the motor rotation angle corresponding to the drive device.

[0060] Furthermore, if the rotation angle of the motor corresponding to the drive device is greater than the preset rotation angle, the terminal can determine the speed reduction value based on the angle difference between the motor rotation angle and the preset rotation angle, generate a speed reduction signal based on the speed reduction value, and input the speed reduction signal to the drive device of the medical device, thereby causing the drive device to rotate at a lower speed to avoid the soft robot moving too fast and causing scratches and damage to human organs. If the rotation angle of the motor corresponding to the drive device is greater than the preset rotation angle, the terminal can generate an alarm message and push it to the terminal's display interface. The alarm message is used to remind the user that the operation range of the operating device is too large and collisions are likely to occur. Alternatively, the alarm message can be generated and pushed to the terminal's display interface at the same time as generating the above-mentioned speed reduction signal and inputting it to the drive device of the medical device.

[0061] S208, the drive unit operates by rotating the motor at an angle so that the drive unit drives each drive rope to produce deformation of the target rope length change.

[0062] Specifically, the terminal is connected to the drive unit of the medical device. After obtaining the motor rotation angle corresponding to the drive unit, the terminal generates a rotation signal based on the motor rotation angle and inputs the rotation signal into the drive unit of the medical device. This causes the drive unit to rotate according to the rotation signal, ultimately driving each drive rope to produce a deformation of the target rope length change.

[0063] In the aforementioned robot control method, in response to a control signal for the medical device, a velocity signal corresponding to each segment of the soft robot is generated based on the control signal. This velocity signal is then input into a kinematic model, allowing the kinematic model to obtain the target rope length change for each of the N drive ropes included in each segment of the soft robot based on the velocity signal. The rotation angle of the motor corresponding to the drive device is then obtained based on the target rope length change for each drive rope. The drive device is operated at the motor rotation angle, causing each drive rope to deform by the target rope length change. By using the method of this embodiment, the velocity signal corresponding to the soft robot is input into the kinematic model to obtain the rope length change for each drive rope included in the soft robot, and finally, the rotation angle of the motor corresponding to the drive device is obtained to operate the drive device. This achieves the goal of driving each drive rope to deform by the corresponding rope length change, thereby achieving precise measurement of the rope length change for each drive rope through the velocity signal, and ultimately realizing precise motion control of the soft robot included in the medical device.

[0064] In one embodiment, the kinematic model is constructed based on a first mapping relationship and a second mapping relationship. The first mapping relationship is the mapping relationship between joint angle and rope length change, and the second mapping relationship is the mapping relationship between velocity and joint angle.

[0065] In one embodiment, obtaining the target rope length change of each of the N drive ropes in each soft robot segment based on the velocity signal corresponding to each segment includes:

[0066] Based on the velocity signal and the second mapping relationship corresponding to each segment of the soft robot, the joint angle corresponding to each segment of the soft robot is obtained;

[0067] Based on the joint angles and the first mapping relationship corresponding to each segment of the soft robot, the change in target rope length for each drive rope is obtained.

[0068] Wherein, joint angle refers to the joint angle corresponding to the soft robot. Rope length change refers to the rope length change corresponding to the drive ropes included in the soft robot.

[0069] In this embodiment, since the kinematic model is constructed based on the first mapping relationship and the second mapping relationship, the velocity signal corresponding to each segment of the soft robot is input into the kinematic model. The kinematic model obtains the joint angle corresponding to each segment of the soft robot according to the velocity signal corresponding to each segment of the soft robot and the second mapping relationship. Then, according to the joint angle corresponding to each segment of the soft robot and the first mapping relationship, the target rope length change corresponding to each drive rope is obtained. Thus, the rope length change of each drive rope can be accurately obtained through the velocity signal, thereby realizing precise motion control of the soft robot included in the medical device.

[0070] In one embodiment, the above method further includes:

[0071] Establish the first initial mapping relationship between the change in rope length and the joint angle, and the second initial mapping relationship between the joint angle and the velocity in sequence;

[0072] By sequentially solving the inverse solutions of the second initial mapping relation and the first initial mapping relation, the second mapping relation and the first mapping relation are obtained respectively;

[0073] Based on the first and second mapping relationships, a kinematic model is constructed.

[0074] For example, such as Figure 4 As shown, let l represent the change in length of the drive rope in the execution space, q represent the joint angle of the joint space soft robot, and v represent the velocity of the soft robot's end effector. First, a first initial mapping relationship between the change in rope length and the joint angle is established, and then a second initial mapping relationship between the joint angle and the velocity is established. At this point, the forward kinematics mapping relationship, including the first and second initial mapping relationships, is completed. After the forward kinematics mapping relationship is completed, the inverse solution of the second initial mapping relationship between the joint angle and the velocity is first obtained to get the second mapping relationship between the velocity and the joint angle. Then, the inverse solution of the first initial mapping relationship between the change in rope length and the joint angle is obtained to get the first mapping relationship between the joint angle and the change in rope length. At this point, the inverse kinematics mapping relationship, including the first and second mapping relationships, is completed. Based on the first and second mapping relationships, a kinematic model is constructed.

[0075] In this embodiment, by first constructing the forward kinematics mapping relationship, and then inversely solving the forward kinematics mapping relationship, the inverse kinematics mapping relationship including the first mapping relationship and the second mapping relationship is obtained. This enables the joint angle to be obtained from the velocity corresponding to the velocity signal, and then the rope length change of each drive rope to be accurately obtained based on the joint angle. This enables precise motion control of soft robots, including medical devices, based on inverse kinematics.

[0076] In one embodiment, each of the aforementioned soft robot segments has a constant curvature.

[0077] In this embodiment, each soft robot segment included in the medical device has a constant curvature. Therefore, the joint angle obtained from the velocity signal corresponding to each soft robot segment is definite and can be calculated. Consequently, the kinematic model can obtain the corresponding joint angle based on the velocity signal corresponding to each soft robot segment, and then obtain the rope length change corresponding to each drive rope included in each soft robot segment, thereby realizing precise motion control of the soft robot included in the medical device.

[0078] In one embodiment, the joint angles corresponding to each segment of the soft robot include a first joint angle and a second joint angle, using... Let θ represent the angle of the first joint of the i-th segment of the soft robot. i Let β represent the angle of the second joint of the i-th segment of the soft robot, denoted by r, and the horizontal distance between each drive cable and the center of the soft robot's skeleton. i Let β represent the misalignment angle between the drive rope hole of each soft robot segment and the next soft robot segment, and let β represent the misalignment angle between each soft robot segment and the drive rope hole of the next soft robot segment. i For a constant value, use ΔL ij Let represent the change in target rope length corresponding to the j-th drive rope of the i-th segment of the soft robot.

[0079]

[0080] Where 1≤i≤M, 1≤j≤N, and i and j are positive integers.

[0081] In one embodiment, M = 2 and N = 3.

[0082] In one embodiment, β1 = 0,

[0083] For example, such as Figure 5 As shown, M=2, N=3, the soft robot includes 3 drive ropes, and in the cross-section of the soft robot, the horizontal distance between each drive rope and the center of the robot's skeleton is r; based on Figure 4The kinematic model shown first establishes the coordinate system corresponding to the first segment of the soft robot. This coordinate system includes the origin O1, the X1 axis, the Y1 axis, and the Z1 axis. In this coordinate system, the Z1 axis is tangent to the joints of the soft robot, and the Y1 axis points to the hole of the first drive rope. Then, the X1 axis is determined using the right-hand coordinate system. Thus, the coordinate system of the first segment of the soft robot is established. The coordinate system of the second segment of the soft robot, including the origin O2, the X2 axis, the Y2 axis, and the Z2 axis, can be obtained similarly, and will not be elaborated further here. Therefore, we can obtain the following... Figure 6 The diagram shows the structure of the soft robot coordinate system. The coordinate points corresponding to the origin O3, X3 axis, Y3 axis and Z3 axis of the second segment of the soft robot end position are the three-dimensional coordinates (x, y, z) of the soft robot end position.

[0084] First joint angle Let θ be the angle between the tangent planes of the X-axis and Z-axis of the i-th segment of the soft robot, and let θ be the second joint angle. i (i = 1, 2) represents the angle between the Z-axis of the (i+1)th segment of the soft robot and the Z-axis of the ith segment. With θ i The joint angles that make up each segment of the soft robot;

[0085] Based on the mapping relationship between the change in rope length and the joint angle, the relationship between the joint angle and the rope length is determined as follows:

[0086] Use L ij Let represent the length of the j-th drive rope of the i-th segment of the soft robot. Then, the angle of the first joint of the i-th segment of the soft robot is:

[0087] Furthermore, using κ i Let represent the curvature of the i-th segment of the soft robot, then the curvature of the i-th segment of the soft robot is .

[0088]

[0089] Furthermore, using L i Let represent the length of the support skeleton of the i-th segment of the soft robot. Then, the length of the support skeleton of the i-th segment of the soft robot is...

[0090] Furthermore, the second joint angle of the i-th segment of the soft robot is θ. i =κ i L i ,(i=1,2);

[0091] Based on the mapping relationship between joint angles and velocities, the forward kinematic equations are determined. The determination process is as follows: determine the homogeneous transformation matrix T1 for the first segment of the soft robot, and then determine the homogeneous transformation matrix T2 for the second segment of the soft robot. The homogeneous transformation matrix is ​​a mathematical concept and will not be detailed here. The matrix T, obtained by multiplying T1 and T2, is the forward kinematic equation. The three-dimensional coordinates (x, y, z) of the soft robot's end effector are the first three elements of the fourth column of matrix T (corresponding to x, y, and z from top to bottom).

[0092]

[0093] Furthermore, the Jacobian matrix is ​​derived based on the forward kinematics equations. The Jacobian matrix is ​​the formula for calculating the relationship between joint angles and velocities. The joint angles of the soft robot mainly include the first joint angle between the X-axis and Z-axis tangents of that segment of the soft robot. And the second joint angle θ between the Z-axis of this soft robot segment and the Z-axis of the next soft robot segment. i (i = 1, 2), thus, the Jacobian matrix between the three-dimensional coordinates (x, y, z) of the end effector's spatial position and the joint angles is:

[0094]

[0095] Furthermore, since the Jacobian matrix is ​​not a square matrix, a pseudo-inverse method is used to solve the mapping relationship between velocity and joint angle, where v represents the velocity vector and q represents the joint angle vector. The derivative of the joint angle, i.e., the angular velocity, denoted by v, is given by the following formula: The joint angle of the soft robot is... in, The purpose of [0.01diag(1,1,1)] in the formula is to prevent the occurrence of no solution during the process of finding the inverse of the Jacobian matrix;

[0096] Furthermore, in order to determine the change in rope length as the input signal to the medical device, it is necessary to integrate the joint angles and determine the mapping relationship between the joint angles and the change in rope length. This allows us to obtain the target rope length change for each drive rope.

[0097]

[0098] Thus, the formula corresponding to the mapping relationship between joint angle and rope length change is now determined when M=2, N=3, that is, when the medical device includes two soft robot segments and each soft robot segment includes three drive ropes.

[0099] Similarly, based on the above derivation, when M=2 and N=4, the change in target rope length corresponding to each driving rope is:

[0100]

[0101] Thus, the formula corresponding to the mapping relationship between joint angle and rope length change is now determined when the medical device includes two soft robot segments, and each soft robot segment includes four drive ropes.

[0102] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0103] Based on the same inventive concept, this application also provides a robot control device for implementing the robot control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more robot control device embodiments provided below can be found in the limitations of the robot control method described above, and will not be repeated here.

[0104] In one embodiment, such as Figure 7 As shown, a robot control device is provided for use in medical devices. The medical device includes M segments of soft robots and a drive unit. Each segment of the soft robot includes N drive ropes, and the segments are connected sequentially. The device includes: a response module 1002, an input module 1004, a rotation module 1006, and a drive module 1008.

[0105] The response module 1002 is used to respond to control signals for medical devices and generate speed signals corresponding to each segment of the soft robot based on the control signals.

[0106] The input module 1004 is used to input the velocity signal corresponding to each segment of the soft robot into the kinematic model, so that the kinematic model can obtain the change in target rope length of each of the N driving ropes included in each segment of the soft robot based on the velocity signal corresponding to each segment of the soft robot.

[0107] The rotation module 1006 is used to obtain the motor rotation angle corresponding to the drive device based on the change in the target rope length corresponding to each drive rope.

[0108] The drive module 1008 is used to operate the drive device at the rotation angle of the motor so that the drive device drives each drive rope to produce deformation of the target rope length change.

[0109] In one embodiment, the kinematic model is constructed based on a first mapping relationship and a second mapping relationship. The first mapping relationship is the mapping relationship between joint angle and rope length change, and the second mapping relationship is the mapping relationship between velocity and joint angle.

[0110] In one embodiment, in obtaining the change in target rope length of each of the N drive ropes included in each soft robot segment based on the velocity signal corresponding to each soft robot segment, the input module 1004 is further configured to:

[0111] Based on the velocity signal and the second mapping relationship corresponding to each segment of the soft robot, the joint angle corresponding to each segment of the soft robot is obtained;

[0112] Based on the joint angles and the first mapping relationship corresponding to each segment of the soft robot, the change in target rope length for each drive rope is obtained.

[0113] In one embodiment, such as Figure 8 As shown, the above-mentioned device further includes a construction module 1010, which is used for:

[0114] Establish the first initial mapping relationship between the change in rope length and the joint angle, and the second initial mapping relationship between the joint angle and the velocity in sequence;

[0115] By sequentially solving the inverse solutions of the second initial mapping relation and the first initial mapping relation, the second mapping relation and the first mapping relation are obtained respectively;

[0116] Based on the first and second mapping relationships, a kinematic model is constructed.

[0117] In one embodiment, each of the aforementioned soft robot segments has a constant curvature.

[0118] In one embodiment, the joint angles corresponding to each segment of the soft robot include a first joint angle and a second joint angle, using... Let θ represent the angle of the first joint of the i-th segment of the soft robot. i Let β represent the angle of the second joint of the i-th segment of the soft robot, denoted by r, and the horizontal distance between each drive cable and the center of the soft robot's skeleton. iLet β represent the misalignment angle between the drive rope hole of each soft robot segment and the next soft robot segment, and let β represent the misalignment angle between each soft robot segment and the drive rope hole of the next soft robot segment. i For a constant value, use ΔL ij Let represent the change in target rope length corresponding to the j-th drive rope of the i-th segment of the soft robot.

[0119]

[0120] Where 1≤i≤M, 1≤j≤N, and i and j are positive integers.

[0121] In one embodiment, M = 2 and N = 3.

[0122] In one embodiment, β1 = 0,

[0123] Each module in the aforementioned robot control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0124] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 9 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores medical data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When the computer program is executed by the processor, it implements a robot control method.

[0125] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 10As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a robot control method. The display unit of the computer device is used to form a visually visible image. It can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0126] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0127] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0128] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps in the above method embodiments.

[0129] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0130] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0131] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0132] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0133] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A robot control method, characterized in that, Used in medical devices, the medical devices include The segment soft robot and drive device, the Each segment of the soft robot includes A drive rope is used to sequentially connect each segment of the soft robot, and the method includes: In response to a control signal for the medical device, a speed signal corresponding to each segment of the soft robot is generated based on the control signal. The velocity signal corresponding to each segment of the soft robot is input into the kinematic model, so that the kinematic model obtains the components of each segment of the soft robot based on the velocity signal corresponding to each segment. The change in target rope length corresponding to each drive rope in the root drive rope; The motor rotation angle corresponding to the drive device is obtained based on the change in target rope length corresponding to each drive rope. The drive device is operated at the rotation angle of the motor so that the drive device drives each drive rope to produce the deformation of the target rope length change; The method further includes: Establish the first initial mapping relationship between the change in rope length and the joint angle, and the second initial mapping relationship between the joint angle and the velocity in sequence; By sequentially inverting the second initial mapping relation and the first initial mapping relation, the second mapping relation and the first mapping relation are obtained respectively; The kinematic model is constructed based on the first mapping relationship and the second mapping relationship.

2. The method according to claim 1, characterized in that, The process involves obtaining the components of each soft robot segment based on the velocity signal corresponding to each segment. The change in target rope length for each drive rope in the root drive rope includes: Based on the velocity signal corresponding to each segment of the soft robot and the second mapping relationship, the joint angle corresponding to each segment of the soft robot is obtained; Based on the joint angles corresponding to each segment of the soft robot and the first mapping relationship, the change in target rope length corresponding to each drive rope is obtained.

3. The method according to claim 1, characterized in that, Each segment of the soft robot has a constant curvature.

4. The method according to claim 1, characterized in that, The joint angles corresponding to each segment of the soft robot include the first joint angle and the second joint angle, used as... Indicates the first The angle of the first joint of the segmented soft robot, using Indicates the first The angle of the second joint of the segmented soft robot, using The horizontal distance between each drive rope and the center of the skeleton of the soft robot is represented by [insert symbol here]. This indicates the misalignment angle between the drive rope hole of each soft robot segment and the next soft robot segment, and For constant values, use Indicates the first The first segment of soft robots The change in the target rope length corresponding to the root driving rope, then ； in, , , and It is a positive integer.

5. The method according to any one of claims 1-4, characterized in that, ， 。 6. A robot control device, characterized in that, Used in medical devices, the medical devices include The segment soft robot and drive device, the Each segment of the soft robot includes A drive rope, wherein each segment of the soft robot is connected sequentially, the device includes: A response module is used to respond to a control signal for the medical device and generate a speed signal corresponding to each segment of the soft robot based on the control signal. The input module is used to input the velocity signal corresponding to each soft robot segment into the kinematic model, so that the kinematic model obtains the components of each soft robot segment based on the velocity signal corresponding to each soft robot segment. The change in target rope length corresponding to each drive rope in the root drive rope; The rotation module is used to obtain the motor rotation angle corresponding to the drive device based on the change in the target rope length corresponding to each drive rope; A drive module is used to operate the drive device at the rotation angle of the motor, so that the drive device drives each drive rope to produce the deformation of the target rope length change. The device further includes a construction module, which is used to sequentially establish a first initial mapping relationship between the change in rope length and the joint angle, and a second initial mapping relationship between the joint angle and the velocity; sequentially solve the inverse solutions of the second initial mapping relationship and the first initial mapping relationship to obtain the second mapping relationship and the first mapping relationship respectively; and construct the kinematic model based on the first mapping relationship and the second mapping relationship.

7. The apparatus according to claim 6, characterized in that, Based on the velocity signal corresponding to each segment of the soft robot, the components included in each segment of the soft robot are obtained. Regarding the change in target rope length for each drive rope in the root drive rope, the input module is further configured to obtain the joint angle corresponding to each segment of the soft robot based on the velocity signal corresponding to each segment of the soft robot and the second mapping relationship; and to obtain the change in target rope length for each drive rope based on the joint angle corresponding to each segment of the soft robot and the first mapping relationship.

8. The apparatus according to claim 6, characterized in that, Each segment of the soft robot has a constant curvature.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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