An ultrasonic knife control method, system, storage medium and surgical device

Abstract

The application provides an ultrasonic knife control method, system, storage medium and surgical equipment, relates to the technical field of medical instruments, and comprises the following steps: acquiring joint encoder data, a rotation angle and a clamping angle of an operating end respectively; generating an expected position matrix according to the joint encoder data; acquiring a spatial coordinate system of an ultrasonic knife end, generating an actual position matrix by using a D-H parameter method according to the spatial coordinate system; decoupling the expected position matrix and the actual position matrix to generate joint motion instructions of the ultrasonic knife end; converting the rotation angle and the clamping angle into a motion angle and a yaw angle of the ultrasonic knife end respectively; generating posture motion instructions according to the motion angle, the yaw angle and an angle limitation rule; and controlling the ultrasonic knife end according to the joint motion instructions and the posture motion instructions. Through the above method, the problem of ultrasonic knife arm shaking is solved, and the control precision of the ultrasonic knife is improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to an ultrasonic scalpel control method, system, storage medium, and surgical equipment. Background Technology

[0002] Ultrasonic scalpel surgical instruments are widely used in modern surgery. They utilize high-frequency vibration to cut tissue into smaller pieces, allowing for more precise surgical procedures. The heat energy generated at the vibrating cutting port of the ultrasonic scalpel enables rapid cutting and effective hemostasis. Compared to traditional scalpels, ultrasonic scalpels can remove tissue more deeply without damaging surrounding tissues, which is its advantage in minimally invasive surgery.

[0003] Existing ultrasonic scalpel control methods employ kinematic models to perform inverse kinematics calculations on the desired pose matrix as a whole, i.e., to obtain the position and orientation of the ultrasonic scalpel tip as a whole. This calculation process involves coupling of position and orientation calculations, requiring the participation of position joints to realize the orientation motion commands. In other words, when controlling the ultrasonic scalpel according to the orientation commands, position commands are mixed in, leading to ultrasonic scalpel arm tremors and reducing the control accuracy of the ultrasonic scalpel. Summary of the Invention

[0004] The problem addressed by this invention is how to improve the control precision of ultrasonic scalpels.

[0005] To address the above problems, in a first aspect, the present invention provides an ultrasonic scalpel control method, comprising:

[0006] The joint encoder data, rotation angle, and clamping angle of the operating end are acquired respectively;

[0007] Based on the joint encoder data, generate the desired position matrix;

[0008] Obtain the spatial coordinate system of the ultrasonic scalpel tip, and generate the actual position matrix based on the spatial coordinate system using the DH parameter method;

[0009] Decouple the desired position matrix and the actual position matrix to generate joint motion commands for the ultrasonic scalpel tip;

[0010] The rotation angle and the clamping angle are respectively converted into the motion angle and the yaw angle of the ultrasonic scalpel tip;

[0011] Generate posture motion commands based on the motion angle, the yaw angle, and the angle restriction rules;

[0012] The ultrasonic scalpel tip is controlled according to the joint movement commands and the posture movement commands.

[0013] Optionally, generating the desired position matrix based on the joint encoder data includes:

[0014] Based on the joint encoder data, joint angle data is generated;

[0015] Obtain the operation axis data of the operation terminal, and construct the DH parameter table based on the joint angle data and the operation axis data;

[0016] The desired position matrix is ​​generated based on the DH parameter table.

[0017] Optionally, obtaining the spatial coordinate system of the ultrasonic scalpel tip includes:

[0018] Acquire the robotic arm joint data and the distal fixed point at the ultrasonic scalpel tip;

[0019] The spatial coordinate system is established based on the joint data of the robotic arm and the telecentric fixed point.

[0020] Optionally, the step of decoupling the desired position matrix and the actual position matrix to generate the joint motion command for the ultrasonic scalpel tip includes:

[0021] Remove the attitude parameter columns from the desired position matrix to generate a desired position column matrix;

[0022] Remove the attitude parameter column from the actual position matrix to generate the actual position column matrix;

[0023] The joint motion command is generated by combining the desired position column matrix and the actual position column matrix.

[0024] Optionally, converting the rotation angle and the clamping angle into the motion angle and yaw angle of the ultrasonic scalpel tip, respectively, includes:

[0025] According to the motion formula, the rotation angle is converted into the motion angle, and the motion formula includes:

[0026] θ slave =Q*θ master ;

[0027] Where, θ slave Let θ be the motion angle, Q be the motion ratio, and θ be the motion angle. master The rotation angle is mentioned.

[0028] According to the yaw formula, the clamping angle is converted into the yaw angle, and the yaw formula includes:

[0029] β slave =Q′*β master ;

[0030] Where, βslave Let β be the yaw angle, Q′ be the yaw ratio, and β be the yaw angle. master The clamping angle is [value].

[0031] Optionally, after converting the rotation angle and the clamping angle into the motion angle and yaw angle of the ultrasonic scalpel tip, respectively, and before generating the attitude motion command based on the motion angle, the yaw angle, and the angle limitation rules, the method further includes:

[0032] Obtain the mechanical limit of the ultrasonic scalpel tip, and generate the angle restriction rule based on the mechanical limit.

[0033] Optionally, the angle restriction rule includes a motion restriction sub-rule and a yaw restriction sub-rule, wherein the motion restriction sub-rule includes:

[0034] When θ slave ≤θ min When, θ slave =θ min ;

[0035] When θ min <θ slave <θ max When, θ slave =Q*θ master ;

[0036] When θ slave ≥θ max When, θ slave =θ max ;

[0037] Where, θ min For the minimum angle of motion, θ max This represents the maximum value of the motion angle;

[0038] The yaw limiting sub-rule includes:

[0039] When β slave ≤β min At that time, β slave =β min ;

[0040] When β min <β slave <β max At that time, β slave =Q′*β master ;

[0041] When β slave ≥β max At that time, β slave =β max ;

[0042] Where, βmin β is the minimum yaw angle. max This represents the maximum yaw angle.

[0043] In a second aspect, the present invention provides an ultrasonic scalpel control system, comprising:

[0044] The acquisition module is used to acquire the joint encoder data, rotation angle, and clamping angle from the operating end, respectively.

[0045] The expectation matrix generation module is used to generate an expectation position matrix based on the joint encoder data;

[0046] The actual matrix generation module is used to obtain the spatial coordinate system of the ultrasonic scalpel tip and generate the actual position matrix based on the spatial coordinate system using the DH parameter method.

[0047] The first instruction generation module is used to decouple the desired position matrix and the actual position matrix to generate joint motion instructions for the ultrasonic scalpel tip.

[0048] The conversion module is used to convert the rotation angle and the clamping angle into the motion angle and yaw angle of the ultrasonic scalpel tip, respectively.

[0049] The second instruction generation module is used to generate posture motion instructions based on the motion angle, the yaw angle, and the angle restriction rules.

[0050] The control module is used to control the ultrasonic scalpel tip according to the joint movement command and the posture movement command.

[0051] Thirdly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the ultrasonic scalpel control method as described above.

[0052] Fourthly, the present invention provides a surgical device comprising the ultrasonic scalpel control system as described above, or comprising the computer-readable storage medium as described above, or applying the ultrasonic scalpel control method as described above.

[0053] The beneficial effects of the ultrasonic scalpel control method, system, storage medium, and surgical device of the present invention are as follows:

[0054] By acquiring the joint encoder data, rotation angle, and clamping angle from the operating end, the user's desired position and posture for controlling the ultrasonic scalpel can be determined. Since the positional relationships between the joints of the ultrasonic scalpel can be obtained through the spatial coordinate system of the ultrasonic scalpel tip and the position matrix generated using the DH parameter method, decoupling the desired position matrix from the operating end and the position matrix of the ultrasonic scalpel tip allows for the acquisition of joint motion commands. This enables control of the ultrasonic scalpel tip's position based on the user's desired location. By converting the rotation angle and clamping angle into the ultrasonic scalpel tip's motion angle and yaw angle, respectively, the required motion angle and yaw angle for the ultrasonic scalpel tip to respond to the user's desired posture can be clearly defined. The posture motion commands generated according to angle constraint rules ensure surgical safety in case of user errors and prevent surgical accidents caused by ultrasonic scalpel tip malfunction due to excessively large desired postures. Furthermore, since the step of decoupling position and attitude is abandoned when decoupling the desired position matrix of the operating end and the position matrix of the ultrasonic scalpel end, the attitude motion command is generated separately based on the rotation angle, clamping angle and angle limitation rules of the operating end. This not only avoids the problem of ultrasonic scalpel arm shaking caused by the need for position joints to participate in the realization of attitude motion commands in the existing technology, thus improving the control accuracy of the ultrasonic scalpel, but also reduces the amount of calculation to generate the position matrix and improves the running speed. Attached Figure Description

[0055] Figure 1 This is a flowchart illustrating the ultrasonic scalpel control method according to an embodiment of the present invention;

[0056] Figure 2 This is a schematic diagram of the ultrasonic scalpel control system according to an embodiment of the present invention;

[0057] Figure 3 This is a schematic diagram of the structure of the operating terminal according to an embodiment of the present invention;

[0058] Figure 4 This is a schematic diagram of the ultrasonic scalpel tip according to an embodiment of the present invention. Detailed Implementation

[0059] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0060] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0061] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc., used in this invention are only used to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies. It should be noted that the modifications "a" and "a plurality" used in this invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless explicitly stated in the context, they should be understood as "one or more".

[0062] To solve the above problems, such as Figure 1 As shown, an embodiment of the present invention provides an ultrasonic scalpel control method, including:

[0063] S1 acquires the joint encoder data, rotation angle, and clamping angle from the operating end.

[0064] Specifically, the present invention adopts master-slave control logic. In, for example, in a laparoscopic surgical robot ultrasonic scalpel device, the master hand operated by medical staff is the operating end (also known as the master end). The operating end includes at least one joint. Each joint includes a motor and an encoder. The motor is used to match the posture of the instrument, and the encoder is used to collect the angle values ​​of each joint of the master hand in real time, that is, the joint encoder data. The angle value of the end joint of the master hand is the rotation angle, and the angle of the clamping angle of the master hand is the clamping angle.

[0065] S2, Generate the desired position matrix based on the joint encoder data.

[0066] Specifically, the joint encoder data includes the angle data of each joint and the link length data between each joint axis. Based on the joint encoder data, a coordinate system for each joint is established, and a DH parameter table for the operating end is generated using the DH parameter method. The pose transformation matrix of adjacent coordinate systems is calculated based on the DH parameter table, and all pose transformation matrices are multiplied together to obtain the desired position matrix of the operating end, i.e., the target position of the ultrasonic scalpel tip controlled by the user. In other words, the desired position matrix is ​​used to characterize the target position that the ultrasonic scalpel is expected to reach.

[0067] S3. Obtain the spatial coordinate system of the ultrasonic scalpel tip, and generate the actual position matrix based on the spatial coordinate system using the DH parameter method.

[0068] Specifically, in a laparoscopic surgical robot's ultrasonic scalpel device, for example, the ultrasonic scalpel tip (also known as the slave end) includes a mid-arm rotation joint, an arm pitch joint, and a slide-lift joint. The ultrasonic scalpel is mounted on the slide-lift joint. Each of the mid-arm rotation joint, arm pitch joint, and slide-lift joint includes a drive motor and an encoder. The drive motor is used to realize the movement of the corresponding joint, and the encoder is used to detect the real-time position of the joint. The spatial coordinate systems of each joint at the ultrasonic scalpel tip are obtained, and a DH parameter table for the ultrasonic scalpel tip is generated using the DH parameter method. The pose transformation matrix of adjacent coordinate systems is calculated based on the DH parameter table, and all pose transformation matrices are multiplied together to obtain the actual position matrix of the ultrasonic scalpel tip, i.e., the actual position of the ultrasonic scalpel. In other words, the actual position matrix is ​​used to characterize the actual position of the ultrasonic scalpel.

[0069] S4, decouple the desired position matrix and the actual position matrix to generate joint motion commands for the ultrasonic scalpel tip.

[0070] Specifically, the first step is to calculate the specific value of the desired position based on the desired position matrix. To ensure consistency in the mechanical pose of the operating end and the ultrasonic scalpel tip, the desired position value calculated from the desired position matrix is ​​made equal to that of the actual position matrix during decoupling, thus constructing a calculation equation. Simultaneously, the attitude parameters in both the desired and actual position matrices are removed. During calculation, only the position parameters are calculated, and the joint motion commands for the ultrasonic scalpel tip are generated based on the calculated position matrix. This avoids the coupling between position and attitude calculations, preventing the implementation of attitude motion commands from requiring the participation of position joints and causing ultrasonic scalpel arm tremors, thereby improving the accuracy of ultrasonic scalpel control.

[0071] S5, convert the rotation angle and the clamping angle into the motion angle and yaw angle of the ultrasonic scalpel tip, respectively.

[0072] Specifically, the ultrasonic scalpel instrument at the tip of the ultrasonic scalpel includes a rotary joint and a yaw joint, which are driven by the rotary motor and yaw motor of the surgical robot's robotic arm slide, respectively. The movements of the two joints are relatively independent and uncoupled. The rotation angle and clamping angle of the operating end can be directly converted into the motion angle and yaw angle of the ultrasonic scalpel tip, simplifying the calculation steps and improving the response speed.

[0073] S6. Generate posture motion commands based on the motion angle, the yaw angle, and the angle restriction rules.

[0074] Specifically, the instrument's rotation and yaw joints have mechanical and physical limitations. At the same time, in order to ensure the safety of the surgery, it is necessary to limit the range of motion of the ultrasonic scalpel instrument. Angle limitation rules are constructed based on the mechanical and physical limitations and the actual situation. The posture movement commands generated based on the angle limitation rules can limit the range of motion of the ultrasonic scalpel instrument and ensure the safety of the surgery and the instrument.

[0075] S7, control the ultrasonic scalpel tip according to the joint movement command and the posture movement command.

[0076] Specifically, joint motion commands are used to control the position of each joint at the tip of the ultrasonic scalpel and position the ultrasonic scalpel instrument. Posture motion commands are used to control the posture of the joints of the ultrasonic scalpel instrument. By combining joint motion commands and posture motion commands, the tip of the ultrasonic scalpel can be controlled to complete the surgical operation.

[0077] Optionally, generating the desired position matrix based on the joint encoder data includes:

[0078] Based on the joint encoder data, joint angle data is generated;

[0079] Obtain the operation axis data of the operation terminal, and construct the DH parameter table based on the joint angle data and the operation axis data;

[0080] The desired position matrix is ​​generated based on the DH parameter table.

[0081] Specifically, such as Figure 3 As mentioned above, D is the clamping angle. The operating end includes 7 rotary joints, H1-H7. The joint angle data of each of the 7 joints is acquired, and the rod length between the axes of the 7 rotary joints, i.e., the operating axis data, is also acquired. Based on the joint angle data and the operating axis data, the DH parameter table of the operating end is constructed as follows:

[0082] i <![CDATA[α i-1 ]]> <![CDATA[a i-1 ]]> <![CDATA[d i ]]> <![CDATA[θ i ]]> 1 0 0 0 <![CDATA[θ1]]> 2 -90° <![CDATA[L1]]> 0 <![CDATA[θ2]]> 3 -90° <![CDATA[L2]]> 0 <![CDATA[θ3]]> 4 90° <![CDATA[L3]]> 0 <![CDATA[θ4]]> 5 90° <![CDATA[L4]]> 0 <![CDATA[θ5]]> 6 90° <![CDATA[L5]]> 0 <![CDATA[θ6]]> 7 90° <![CDATA[L6]]> 0 <![CDATA[θ7]]>

[0083] Where θ1 to θ7 are the joint angle data of the 7 joints, and L1 to L6 are the link lengths between the 7 rotary joint axes. Based on the above DH parameter table, the pose transformation matrices of adjacent coordinate systems can be calculated as follows: Among them Taking a matrix as an example, the specific calculation result is as follows:

[0084]

[0085] Will The pose transformation matrices of adjacent coordinate systems are multiplied together to generate the desired position matrix.

[0086] Optionally, obtaining the spatial coordinate system of the ultrasonic scalpel tip includes:

[0087] Acquire the robotic arm joint data and the distal fixed point at the ultrasonic scalpel tip;

[0088] The spatial coordinate system is established based on the joint data of the robotic arm and the telecentric fixed point.

[0089] Specifically, when the ultrasonic scalpel tip includes an arm rotation joint, an arm pitch joint, and a slide lifting joint, the distal fixed point is the point whose spatial position does not change during the movement of the arm rotation and pitch joints, that is, the intersection of the extended line of the arm rotation joint and the straight line of the ultrasonic scalpel instrument rod, such as... Figure 4 As shown, RCM (Remote Center of Motion) is the telecentric fixed point, A is the arm rotation joint, B is the arm pitch joint, and C is the slide lifting joint. The robotic arm joint data includes the distance data between the arm rotation joint, arm pitch joint, and slide lifting joint. Based on the robotic arm joint data and the telecentric fixed point, the spatial coordinate system is established, as follows: Figure 4 As shown, a first spatial coordinate system (x1, y1, z1), a second spatial coordinate system (x2, y2, z2), a third spatial coordinate system (x3, y3, z3), and a fourth spatial coordinate system (x4, y4, z4) are established respectively. The first spatial coordinate system is the base coordinate system. The second spatial coordinate system can represent the distance relationship between the RCM point and the first spatial coordinate system. The third spatial coordinate system can represent the spatial coordinate system of the arm pitch joint. The fourth spatial coordinate system represents a certain distance d3 that the third spatial coordinate system moves along the ultrasonic scalpel instrument rod, that is, the distance that the slide lifting joint needs to move.

[0090] For example, such as Figure 4 As shown, the step of generating the actual position matrix using the DH parameter method based on the spatial coordinate system includes:

[0091] Based on the aforementioned spatial coordinate system, a DH parameter table for the ultrasonic scalpel tip is established, as shown below:

[0092] i <![CDATA[α i-1 ]]> <![CDATA[a i-1 ]]> <![CDATA[d i ]]> <![CDATA[θ i ]]> 1 0 0 0 <![CDATA[θ8]]> 2 0 0 <![CDATA[d2=L]]> 0 3 -90° 0 0 <![CDATA[90°-θ9]]>

[0093] Where θ8 and θ9 are the angles that the arm rotation joint and arm pitch joint need to move, respectively; d2 is the distance between the telecentric fixed point and the origin of the first coordinate system; and d3 is the distance that the slide lifting joint needs to move. Based on the DH parameter table of the ultrasonic scalpel tip, the pose transformation relationship of each adjacent matrix of the ultrasonic scalpel tip can be obtained using the DH parameter method. The pose transformation relationship of each adjacent matrix includes:

[0094]

[0095]

[0096]

[0097]

[0098] Therefore, the actual position matrix of the ultrasonic scalpel tip relative to the base coordinate system can be obtained as follows:

[0099]

[0100] Optionally, the step of decoupling the desired position matrix and the actual position matrix to generate the joint motion command for the ultrasonic scalpel tip includes:

[0101] Remove the attitude parameter columns from the desired position matrix to generate a desired position column matrix;

[0102] Remove the attitude parameter column from the actual position matrix to generate the actual position column matrix;

[0103] The joint motion command is generated by combining the desired position column matrix and the actual position column matrix.

[0104] Specifically, the columns containing the attitude parameters in the expected position matrix and the actual position matrix are removed, and the expected position column matrix and the actual position column matrix are combined to perform an equation calculation, thereby obtaining the specific data of the angles that the arm rotation joint and the arm pitch joint need to move, as well as the distance that the slide table lifting joint needs to move.

[0105] For example, such as Figure 4 As shown, P S For the distal end of the ultrasonic scalpel instrument, to ensure that the movement of the ultrasonic scalpel instrument is consistent with the position of the operating end, the desired position matrix of the operating end is equivalent to the distal end P of the ultrasonic scalpel instrument. S The pose transformation matrix of the fourth spatial coordinate system relative to the first spatial coordinate system, and the desired position matrix are:

[0106]

[0107] Among them, R (3×3) These are attitude parameters, which will be discarded in subsequent calculations. (3×1) The position parameters are used to calculate the specific desired position, i.e., the desired position column matrix, denoted as (x, y, z).

[0108] The actual position matrix is:

[0109]

[0110] The simplified actual position matrix after removing the attitude parameter columns from the actual position matrix is ​​as follows:

[0111] (-d3cosθ8cosθ9,-d3cosθ9sinθ8,L-d3sinθ9);

[0112] The combined expected position column matrix and actual position column matrix are as follows:

[0113] x = -d3cosθ8cosθ9;

[0114] y = -d3cosθ9sinθ8;

[0115] z = L - d3sinθ9;

[0116] The result after solving is:

[0117] θ8 = arctan(y / x);

[0118]

[0119]

[0120] The above calculation process yields the angles θ8 and θ9 that the arm rotation joint and arm pitch joint need to move, respectively, and the distance d3 that the slide lifting joint needs to move, which are the joint movement commands.

[0121] Optionally, converting the rotation angle and the clamping angle into the motion angle and yaw angle of the ultrasonic scalpel tip, respectively, includes:

[0122] According to the motion formula, the rotation angle is converted into the motion angle, and the motion formula includes:

[0123] θ slave =Q*θ master ;

[0124] Where, θ slave Let θ be the motion angle, Q be the motion ratio, and θ be the motion angle. master The rotation angle is mentioned.

[0125] According to the yaw formula, the clamping angle is converted into the yaw angle, and the yaw formula includes:

[0126] β slave =Q′*β master ;

[0127] Where, β slave Let β be the yaw angle, Q′ be the yaw ratio, and β be the yaw angle. master The clamping angle is [value].

[0128] Specifically, the motion ratio Q and the yaw ratio Q′ can be adjusted according to the actual situation to meet the needs of different surgical scenarios and different doctors' usage habits, thereby improving the operating experience.

[0129] Optionally, after converting the rotation angle and the clamping angle into the motion angle and yaw angle of the ultrasonic scalpel tip, respectively, and before generating the attitude motion command based on the motion angle, the yaw angle, and the angle limitation rules, the method further includes:

[0130] Obtain the mechanical limit of the ultrasonic scalpel tip, and generate the angle restriction rule based on the mechanical limit.

[0131] Specifically, since both the rotary joint and the yaw joint of the instrument have mechanical and physical limits, the range of motion of the motor of the rotary joint and the yaw joint should also be limited. The range of motion should be limited to the mechanical limit, and the specific setting can be made according to the actual situation.

[0132] Optionally, the angle restriction rule includes a motion restriction sub-rule and a yaw restriction sub-rule, wherein the motion restriction sub-rule includes:

[0133] When θ slave ≤θ min When, θ slave =θ min ;

[0134] When θ min <θ slave <θ max When, θ slave =Q*θ master ;

[0135] When θ slave ≥θ max When, θ slave =θ max ;

[0136] Where, θ min For the minimum angle of motion, θ max This represents the maximum value of the motion angle;

[0137] The yaw limiting sub-rule includes:

[0138] When β slave ≤β min At that time, β slave =β min ;

[0139] When β min <β slave <β max At that time, β slave =Q′*β master ;

[0140] When β slave ≥β max At that time, β slave =β max ;

[0141] Where, β min β is the minimum yaw angle. max This represents the maximum yaw angle.

[0142] Specifically, when the calculated motion angle is less than or equal to the minimum yaw angle, the actual motion angle is the minimum yaw angle; when the calculated motion angle is less than the maximum motion angle but greater than the minimum yaw angle, the actual motion angle is the calculated motion angle; when the calculated motion angle is greater than the maximum motion angle, the actual motion angle is the maximum motion angle.

[0143] like Figure 2 As shown, another embodiment of the present invention provides an ultrasonic scalpel control system, comprising:

[0144] The acquisition module is used to acquire the joint encoder data, rotation angle, and clamping angle from the operating end, respectively.

[0145] The expectation matrix generation module is used to generate an expectation position matrix based on the joint encoder data;

[0146] The actual matrix generation module is used to obtain the spatial coordinate system of the ultrasonic scalpel tip and generate the actual position matrix based on the spatial coordinate system using the DH parameter method.

[0147] The first instruction generation module is used to decouple the desired position matrix and the actual position matrix to generate joint motion instructions for the ultrasonic scalpel tip.

[0148] The conversion module is used to convert the rotation angle and the clamping angle into the motion angle and yaw angle of the ultrasonic scalpel tip, respectively.

[0149] The second instruction generation module is used to generate posture motion instructions based on the motion angle, the yaw angle, and the angle restriction rules.

[0150] The control module is used to control the ultrasonic scalpel tip according to the joint movement command and the posture movement command.

[0151] Another embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the ultrasonic scalpel control method as described above.

[0152] Another embodiment of the present invention provides a surgical device, including the ultrasonic scalpel control system as described above, or including the computer-readable storage medium as described above, or applying the ultrasonic scalpel control method as described above.

[0153] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A method for controlling an ultrasonic scalpel, characterized in that, include: The joint encoder data, rotation angle, and clamping angle of the operating end are acquired respectively; Based on the joint encoder data, generate the desired position matrix; Obtain the spatial coordinate system of the ultrasonic scalpel tip, and generate the actual position matrix based on the spatial coordinate system using the DH parameter method; Decouple the desired position matrix and the actual position matrix to generate joint motion commands for the ultrasonic scalpel tip; The rotation angle and the clamping angle are respectively converted into the motion angle and the yaw angle of the ultrasonic scalpel tip; Generate posture motion commands based on the motion angle, the yaw angle, and the angle restriction rules; The ultrasonic scalpel tip is controlled according to the joint movement commands and the posture movement commands.

2. The ultrasonic scalpel control method according to claim 1, characterized in that, The step of generating the desired position matrix based on the joint encoder data includes: Based on the joint encoder data, joint angle data is generated; Obtain the operation axis data of the operation terminal, and construct the DH parameter table based on the joint angle data and the operation axis data; The desired position matrix is ​​generated based on the DH parameter table.

3. The ultrasonic scalpel control method according to claim 1, characterized in that, The process of obtaining the spatial coordinate system of the ultrasonic scalpel tip includes: Acquire the robotic arm joint data and the distal fixed point at the ultrasonic scalpel tip; The spatial coordinate system is established based on the joint data of the robotic arm and the telecentric fixed point.

4. The ultrasonic scalpel control method according to claim 1, characterized in that, The process of decoupling the desired position matrix and the actual position matrix to generate joint motion commands for the ultrasonic scalpel tip includes: Remove the attitude parameter columns from the desired position matrix to generate a desired position column matrix; Remove the attitude parameter column from the actual position matrix to generate the actual position column matrix; The joint motion command is generated by combining the desired position column matrix and the actual position column matrix.

5. The ultrasonic scalpel control method according to any one of claims 1-4, characterized in that, The step of converting the rotation angle and the clamping angle into the motion angle and yaw angle of the ultrasonic scalpel tip, respectively, includes: According to the motion formula, the rotation angle is converted into the motion angle, and the motion formula includes: i slave =Q*θ master ; Where, θ slave Let θ be the motion angle, Q be the motion ratio, and θ be the motion angle. master The rotation angle is mentioned. According to the yaw formula, the clamping angle is converted into the yaw angle, and the yaw formula includes: β slave ＝Q′*β master ； Where, β slave Let β be the yaw angle, Q′ be the yaw ratio, and β be the yaw angle. master The clamping angle is [value].

6. The ultrasonic scalpel control method according to claim 5, characterized in that, After converting the rotation angle and the clamping angle into the motion angle and yaw angle of the ultrasonic scalpel tip, respectively, and before generating the attitude motion command based on the motion angle, the yaw angle, and the angle limitation rules, the method further includes: Obtain the mechanical limit of the ultrasonic scalpel tip, and generate the angle restriction rule based on the mechanical limit.

7. The ultrasonic scalpel control method according to claim 6, characterized in that, The angle restriction rule includes motion restriction sub-rules and yaw restriction sub-rules, wherein the motion restriction sub-rules include: When θ slave ≤ θ min , then θ slave = θ min ; When θ min <θ slave <θ max , θ slave = Q * θ master ; When θ slave ≥ θ max then, θ slave = θ max ; Where, θ min For the minimum angle of motion, θ max This represents the maximum value of the motion angle; The yaw limiting sub-rule includes: When β slave ≤ β min then β slave = β min ; When β min <β slave <β max When, β slave = Q' * β master ; When β slave ≥ β max then β slave = β max ; Where, β min β is the minimum yaw angle. max This represents the maximum yaw angle.

8. An ultrasonic scalpel control system, characterized in that, include: The acquisition module is used to acquire the joint encoder data, rotation angle, and clamping angle from the operating end, respectively. The expectation matrix generation module is used to generate an expectation position matrix based on the joint encoder data; The actual matrix generation module is used to obtain the spatial coordinate system of the ultrasonic scalpel tip and generate the actual position matrix based on the spatial coordinate system using the DH parameter method. The first instruction generation module is used to decouple the desired position matrix and the actual position matrix to generate joint motion instructions for the ultrasonic scalpel tip. The conversion module is used to convert the rotation angle and the clamping angle into the motion angle and yaw angle of the ultrasonic scalpel tip, respectively. The second instruction generation module is used to generate posture motion instructions based on the motion angle, the yaw angle, and the angle restriction rules. The control module is used to control the ultrasonic scalpel tip according to the joint movement command and the posture movement command.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the ultrasonic scalpel control method as described in any one of claims 1 to 7.

10. A surgical device, characterized in that, It includes the ultrasonic scalpel control system of claim 8, or the computer-readable storage medium of claim 9, or applies the ultrasonic scalpel control method of any one of claims 1 to 7.

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