A surgical robot intelligent power control method and device
The intelligent power control method and device for surgical robots adjust the swing saw frequency based on real-time feedback and actual increments to adapt to varying rigid environments, enhancing cutting precision and efficiency.
Patent Information
- Application Number
- CN202311508352.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-13
- Publication Date
- 2024-12-17
- Estimated Expiration
- 2043-11-13
AI Technical Summary
The swing frequency of the swing saw in existing surgical robots cannot adapt to different rigid environments, leading to potential damage or reduced grinding speed during cutting tasks.
An intelligent power control method and device that uses an admittance controller to actively and compliantly control the robotic arm's movement based on the force acting on the saw blade, determining the actual increment and real-time swing frequency to adjust the oscillation frequency of the oscillating saw, allowing it to adapt to the current working environment.
Enables the oscillating saw to adjust its frequency in real-time to match the actual grinding progress, ensuring precise and efficient cutting without needing to sense the rigid working environment, thereby improving cutting results and accuracy.
Smart Images
Figure CN117653343B_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of medical device technology, and more specifically, to an intelligent power control method and device for a surgical robot. Background Art
[0002] The surgical robot system is a complex that integrates many modern high-tech means. It has a wide range of uses and is widely used in clinical practice. With the vigorous development of medical robot technology, surgical robot assistants have been widely used. Artificial knee replacement is a new technology for the treatment of knee diseases that has gradually developed in modern times. It can effectively eradicate late-stage knee pain and greatly improve the patient's quality of life.
[0003] In the human-machine interaction of the surgical robot's mechanical arm, various power devices are often installed at the end, and the electric pendulum is one of them. The pendulum swings at a high frequency and contacts the rigid environment to complete various cutting tasks. However, the power model required for interaction with different rigid environments is different. When the swing frequency of the pendulum saw is too high, it is easy to cause damage to the object being ground, and when it is too low, it is easy to slow down the grinding speed. Summary of the invention
[0004] The problem that the present application solves is that the swing frequency of the swing saw of the existing surgical robot cannot adapt to different rigid environments.
[0005] In order to solve the above problems, the first aspect of the present application provides a surgical robot intelligent power control method, comprising:
[0006] When the mechanical arm is dragged by an external force, determine the force acting in the axis direction of the saw blade of the swing saw;
[0007] Based on the force in the axial direction of the saw blade of the swing saw, the movement of the robot arm in the axial direction of the saw blade of the swing saw is actively and compliantly controlled; the active and compliant control is completed by the admittance controller of the robot arm;
[0008] Obtaining the actual increment of the oscillating saw in the direction of the axial line of the oscillating saw blade;
[0009] Determine the real-time swing frequency of the swing saw based on the actual increment and the output of the admittance controller in the direction of the saw blade axis of the swing saw;
[0010] Based on the real-time oscillation frequency of the oscillating saw, the surgical robot and the oscillating saw are controlled.
[0011] The second aspect of the present application provides an intelligent power control device for a surgical robot, comprising:
[0012] A force sensing unit, which is used to determine the force acting in the axis direction of the saw blade of the swing saw when the robot arm is dragged by an external force;
[0013] An admittance control unit, which is used to actively and compliantly control the movement of the robot arm in the direction of the axis of the oscillating saw blade based on the force in the direction of the axis of the oscillating saw blade; the active compliance control is completed by the admittance controller of the robot arm;
[0014] A coordinate monitoring unit, which is used to obtain the actual increment of the oscillating saw in the direction of the axial line of the oscillating saw blade;
[0015] A swing frequency calculation unit, which is used to determine the real-time swing frequency of the swing saw based on the actual increment and the output of the admittance controller in the direction of the saw blade axis of the swing saw;
[0016] An intelligent control unit is connected to the internal motor of the oscillating saw and is used to control the surgical robot and the oscillating saw based on the real-time oscillating frequency of the oscillating saw.
[0017] A third aspect of the present application provides an electronic device, comprising: a memory and a processor;
[0018] The memory is used to store programs;
[0019] The processor, coupled to the memory, is configured to execute the program to:
[0020] When the mechanical arm is dragged by an external force, determine the force acting in the axis direction of the saw blade of the swing saw;
[0021] Based on the force in the axial direction of the saw blade of the swing saw, the movement of the robot arm in the axial direction of the saw blade of the swing saw is actively and compliantly controlled; the active and compliant control is completed by the admittance controller of the robot arm;
[0022] Obtaining the actual increment of the oscillating saw in the direction of the axial line of the oscillating saw blade;
[0023] Determine the real-time swing frequency of the swing saw based on the actual increment and the output of the admittance controller in the direction of the saw blade axis of the swing saw;
[0024] Based on the real-time oscillation frequency of the oscillating saw, the surgical robot and the oscillating saw are controlled.
[0025] A fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the program is executed by a processor to implement the above-mentioned intelligent power control method for a surgical robot.
[0026] In the present application, the output of the oscillating saw in the direction of the saw blade axis is determined by sensing the external force of the robotic arm; combined with the actual increment of the oscillating saw, the real-time oscillation frequency that the oscillating saw currently needs to execute is determined and executed; thereby, there is no need to sense the rigid working environment around the oscillating saw, and the oscillation frequency of the oscillating saw is adjusted to adapt to the current working environment, thereby achieving the effect of intelligent control.
[0027] In this application, the expected increment of the swing saw / the output of the swing saw in the direction of the saw blade axis is determined by sensing the external force of the mechanical arm, and the actual increment of the swing saw is determined by sensing the displacement of the end of the mechanical arm; the real-time swing frequency that the swing saw needs to execute is determined by the deviation between the actual increment of the swing saw and the expected increment. Thus, the real-time swing frequency of the swing saw is associated with the actual grinding progress, so that the swing frequency can be adjusted according to the actual grinding progress to adapt it to the current working environment and achieve the effect of intelligent control. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1 A schematic diagram of the interaction between the robotic arm and the swing saw of the intelligent power control method of the surgical robot in this application;
[0029] Figure 2 This is a flow chart of the intelligent power control method of the surgical robot in this application;
[0030] Figure 3 A schematic diagram of a swing saw for the intelligent power control method of a surgical robot in this application;
[0031] Figure 4 A flow chart of the force sensing process of the intelligent power control method of the surgical robot in this application;
[0032] Figure 5 This is a schematic diagram of the intelligent power control device for the surgical robot in this application;
[0033] Figure 6 This is a schematic diagram of the intelligent power control unit of the surgical robot of this application;
[0034] Figure 7 This is a structural diagram of a variable resistor element in the intelligent power control of a surgical robot in this application;
[0035] Figure 8 This is a schematic diagram of the structure of the push rod control circuit in the intelligent power control of the surgical robot in this application;
[0036] Fig. 9 This is a schematic diagram of the electronic device used in this application. DETAILED DESCRIPTION
[0037] 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 in conjunction with the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.
[0038] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.
[0039] The surgical robot system is a complex that integrates many modern high-tech means. It has a wide range of uses and is widely used in clinical practice. With the vigorous development of medical robot technology, surgical robot assistants have been widely used. Artificial knee replacement is a new technology for treating knee diseases that has gradually developed in modern times. It can effectively eradicate late-stage knee pain and greatly improve the patient's quality of life. It is relatively popular in developed countries and is currently in a stage of rapid development in China.
[0040] In the human-machine interaction of the surgical robot's mechanical arm, various power devices are often installed at the end, and the electric pendulum is one of them. The pendulum swings at a high frequency and contacts the rigid environment to complete various cutting tasks. However, the power model required for interaction with different rigid environments is different. When the swing frequency of the pendulum saw is too high, it is easy to cause damage to the object being ground, and when it is too low, it is easy to slow down the grinding speed.
[0041] The problem that the present application solves is that the swing frequency of the swing saw of the existing surgical robot cannot adapt to different rigid environments.
[0042] In response to the above problems, the present application provides a new intelligent power control solution for a surgical robot, which can control the displacement of the oscillating saw through flexible control of the robotic arm, and adjust the oscillation frequency of the oscillating saw based on the output of the flexible control and the actual increment, thereby solving the problem that the oscillation frequency of the oscillating saw of the existing surgical robot cannot adapt to different rigid environments.
[0043] The present application embodiment provides a method for intelligent power control of a surgical robot. The specific scheme of the method is as follows: Figure 1-Figure 4 As shown, the method can be performed by an intelligent power control device for a surgical robot. Figure 1 , Figure 2 As shown, it is a flow chart of a surgical robot intelligent power control method according to an embodiment of the present application; wherein the surgical robot intelligent power control method includes:
[0044] S100, determining the force acting in the direction of the axis of the saw blade of the swing saw when the robot arm is dragged by an external force;
[0045] In the present application, the robotic arm is controlled using an active compliant control method.
[0046] In this application, compliance control is to obtain a control signal from a force sensor and use this signal to control the robot so that it responds to this change and moves. The robot uses the feedback information of the force to adopt a certain control strategy to actively control the force, which is called active compliance control.
[0047] In the present application, the active compliance control process is the control of the robotic arm; the oscillating saw is installed at the end of the robotic arm and moves synchronously with the movement of the robotic arm.
[0048] S200, based on the force in the axial direction of the saw blade of the swing saw, actively and compliantly control the movement of the robot arm in the axial direction of the saw blade of the swing saw; the active and compliant control is performed by an admittance controller of the robot arm;
[0049] In one embodiment, after the force acting in the axial direction of the saw blade of the oscillating saw is obtained, the movement of the robot arm in other directions is restricted so that the robot arm can only move in the axial direction of the saw blade of the oscillating saw.
[0050] By locking the movement of the mechanical arm, displacement of the mechanical arm in other directions can be avoided, which would affect the normal operation of the swing saw blade.
[0051] Combination Figure 1 As shown, it is a schematic diagram of the interaction between the robot arm and the oscillating saw during robot arm control; wherein, after the operator applies external force, the force sensing module of the robot arm obtains the external force, and inputs it into the robot arm admittance control model to obtain the expected position corresponding to the external force; the expected position is contacted with the environment in which the oscillating saw is located, or mapped to the environment, so as to obtain the actual position of the oscillating saw and the position error (between the actual position and the expected position), and the position error is introduced into the rigid contact model of the oscillating saw to obtain the expected oscillation frequency, and adaptive oscillation frequency adjustment is performed based on the expectation.
[0052] S300, obtaining an actual increment of the oscillating saw in the direction of the axial line of the oscillating saw blade;
[0053] In the present application, the actual increment is a position increment or a displacement increment. By converting the external force into a visible and easily measurable position change / displacement change, the measurement difficulty is greatly reduced.
[0054] In this application, a positioning bracket is installed at the end of the mechanical arm, and the displacement of the positioning bracket is identified by NDI equipment, etc. The displacement is the displacement of the end of the mechanical arm, that is, the displacement of the swing saw. Based on the displacement of the swing saw, the actual increment of the swing saw can be determined.
[0055] In one embodiment, the robotic arm is limited so that it can only move in the direction of the axis of the saw blade of the oscillating saw. In this way, the displacement of the end of the robotic arm can be directly used as the displacement of the oscillating saw in the direction of the axis of the saw blade of the oscillating saw without splitting the displacement of the end of the robotic arm, which greatly improves the efficiency and real-time performance of displacement identification, thereby improving the response speed of the entire PID control.
[0056] In the present application, the robotic arm is limited so that it can only move in the axial direction of the oscillating saw blade. The characteristics of the oscillating saw blade, which is simple to move forward and backward but complex to move horizontally, are also utilized simultaneously (the oscillating saw cannot perform horizontal cutting, which will cause the oscillating saw to deform), thereby greatly improving the cutting results and cutting accuracy of the oscillating saw.
[0057] S400, determining a real-time swing frequency of the swing saw based on the actual increment and the output of the admittance controller in the direction of the saw blade axis of the swing saw;
[0058] In the present application, the oscillating saw cannot perceive the surrounding interactive environment, nor can it determine the dynamic model of the surrounding rigid environment, so it is impossible to adjust the oscillation frequency of the oscillating saw.
[0059] In the present application, the swing frequency of the swing saw is adjusted by obtaining the actual increment and the output of the admittance controller in the axis direction of the swing saw blade, so there is no need to perceive the interactive environment around the swing saw, and the swing frequency is controlled by using the actual increment and the expected increment (the output of the admittance controller in the axis direction of the swing saw blade).
[0060] In the present application, the real-time swing frequency of the oscillating saw is the swing frequency to which the oscillating saw is to be adjusted. Since the adjustment process is short, it is regarded as the real-time swing frequency of the oscillating saw.
[0061] S500, controlling the surgical robot and the oscillating saw based on the real-time oscillation frequency of the oscillating saw.
[0062] In this step, after the real-time swing frequency of the swing saw is determined, the swing frequency is controlled so that the saw operates according to the real-time swing frequency.
[0063] In the present application, the output of the oscillating saw in the direction of the saw blade axis is determined by sensing the external force of the robotic arm; combined with the actual increment of the oscillating saw, the real-time oscillation frequency that the oscillating saw currently needs to execute is determined and executed; thereby, there is no need to sense the rigid working environment around the oscillating saw, and the oscillation frequency of the oscillating saw is adjusted to adapt to the current working environment, thereby achieving the effect of intelligent control.
[0064] In this application, the expected increment of the swing saw / the output of the swing saw in the direction of the saw blade axis is determined by sensing the external force of the mechanical arm, and the actual increment of the swing saw is determined by sensing the displacement of the end of the mechanical arm; the real-time swing frequency that the swing saw needs to execute is determined by the deviation between the actual increment of the swing saw and the expected increment. Thus, the real-time swing frequency of the swing saw is associated with the actual grinding progress, so that the swing frequency can be adjusted according to the actual grinding progress to adapt it to the current working environment and achieve the effect of intelligent control.
[0065] In one embodiment, in S400, based on the actual increment and the output of the admittance controller in the direction of the saw blade axis of the swing saw, the real-time swing frequency of the swing saw is determined by the formula:
[0066]
[0067] The question of whether increase is a derivative
[0068] Among them, ψ is the real-time swing frequency, is the time derivative of the swing frequency, x r is the output of the manipulator admittance controller along the axial direction of the road surface, x is the actual increment, t is the swing frequency control time interval, K p , K i , K d is the control gain parameter, ψ max For rated load.
[0069] In this application, is the derivative of the swing frequency in time, that is, the swing frequency increment. By executing the swing frequency increment, the real-time swing frequency can be obtained.
[0070] In this application, the output of the manipulator admittance controller along the axial direction of the road surface is the expected increment, and the real-time swing frequency is determined by setting the expected increment and the actual increment: the working process of the swing saw is simulated by the expected increment and the actual increment. When the swing saw is actually executed, the higher the swing frequency, the smoother the actual execution, that is, the smaller the deviation between the expected increment and the real-time increment; the lower the swing frequency, the weaker the penetration, the slower the travel speed, and the execution is prone to problems. Reflected in the osteotomy stage, if the swing frequency is greater than the actual demand, the swing saw advances as expected, and if the swing frequency is less than the actual demand, the swing saw advances less than expected, and there is a deviation between the expected increment and the actual increment.
[0071] It can be seen from the above formula that a deviation between the expected increment and the actual increment means that the pendulum frequency is too low and the bone or cartilage tissue in the forward path cannot be cut in time. At this time, the real-time pendulum frequency will be increased; and on this basis, the greater the deviation between the expected increment and the actual increment, the greater the increase in the real-time pendulum frequency.
[0072] In addition, a differential term is added to the above formula, and the differential of the deviation between the expected increment and the actual increment is used as a factor to adjust the real-time swing frequency. Through the leading effect, the dynamic performance indicators of the overall system are improved, the dynamic deviation is reduced, and the stability is improved.
[0073] It should be noted that an integral term is added to the above formula to eliminate the residual error in the adjustment process.
[0074] In the present application, the real-time swing frequency is adjusted in time by the above formula, and the output can reach the set value quickly and stably through the integration and differentiation settings.
[0075] In this application, K p , K i , Kd To control the gain parameter, its specific data can be measured according to actual conditions, and the specific measurement method will not be repeated in this application.
[0076] In this application, the robotic arm drives the oscillating saw to move toward the object to be cut. The working environment encountered by the tool is unknown and difficult to identify dynamically. The swing frequency control formula is used to cope with the unknown working environment and adjust the appropriate swing frequency in time to adapt to the rigid working environment.
[0077] In one embodiment, the admittance controller of the robotic arm is:
[0078]
[0079]
[0080] in, is the positive diagonal matrix of virtual mass, is the virtual damping diagonal matrix, X(x,y,z) is the position increment of the robot in Cartesian space, Derivative of X with respect to time, for Taking the derivative with respect to time, F is the controller output.
[0081] In this application, a method for obtaining position increment is added.
[0082] In the present application, through the above-mentioned admittance controller, the mechanical signal detected in real time (increasing the admittance control process, such as how to obtain the force signal and how to use the force signal for admittance control) is input into the admittance controller for control, so that the robotic arm can promptly determine the feedback action and execute it under the external force, thereby increasing the real-time and smoothness of the user's control of the robotic arm and increasing the authenticity of the robotic arm control.
[0083] In one embodiment, in combination Figure 4 As shown, S100, when the robot arm is dragged by an external force, determining the axial force of the saw blade of the swing saw includes:
[0084] S101, when the operator drags the oscillating saw, obtaining an external force acting on the oscillating saw; the external force is the resultant external force of all external forces acting on the oscillating saw, and the oscillating saw is installed at the end of a mechanical arm of a surgical robot and is rigidly connected to the mechanical arm;
[0085] In this application, the total external force refers to the sum of all external forces acting on an object.
[0086] In the present application, the oscillating saw is mounted on the mechanical arm and moves synchronously, so the resultant external force of all external forces on the oscillating saw is the resultant external force of all external forces on the mechanical arm and the oscillating saw. For example, if force A acts on the mechanical arm, force B acts on the mechanical arm, and force C acts on the oscillating saw, then the resultant force of forces A, B, and C is the resultant external force.
[0087] It should be noted that the combined external force excludes the gravity factor, that is, excludes the gravity exerted on the mechanical arm and the swing saw and the supporting force for offsetting the gravity.
[0088] In the present application, all external forces on the robotic arm and the oscillating saw are generally the forces applied by doctors or nurses to move or correct the movements of the robotic arm. In order to eliminate the gravity factor, the force sensing device of the robotic arm and the oscillating saw can be calibrated in an unmanned environment to eliminate the influence of gravity and supporting force. The force detected again after calibration is the resultant external force.
[0089] In the present application, the oscillating saw is installed at the end of the robotic arm and is rigidly connected to the robotic arm, that is, the oscillating saw and the end of the robotic arm move synchronously; at this time, if the oscillating saw is obstructed in cutting, the forward speed of the oscillating saw is limited, and the forward speed of the end of the robotic arm is also synchronously limited.
[0090] S102, projecting the resultant external force in the direction of the saw blade axis to obtain a decomposed force of the resultant external force in the direction of the saw blade axis;
[0091] In the present application, the resultant external force is a vector, and its projection in the direction of the saw blade axis (also a vector, recorded as a projection vector) is a combination of the projections of the starting point and end point of the vector on the saw blade axis (that is, the projection of the starting point of the resultant external force vector on the saw blade axis is used as the starting point of the projection vector, and the projection of the end point of the resultant external force vector on the saw blade axis is used as the end point of the projection vector).
[0092] S103, determining the decomposed force in the axis direction of the saw blade as the force acting in the axis direction of the saw blade of the swing saw.
[0093] In the present application, the decomposed force of the resultant external force in the direction of the saw blade axis is obtained by projection, and the decomposed force is the force of the resultant external force on the robot arm / swing saw in the direction of the saw blade axis.
[0094] In the present application, the resultant external force is split, and the resulting projection vector is the decomposed force in the direction of the saw blade axis, and the other decomposed force is the decomposed force in the direction perpendicular to the saw blade axis (this decomposed force does not affect the forward and backward movement of the saw blade). By means of projection, the force in the direction of the saw blade axis of the oscillating saw can be directly obtained without splitting the resultant external force.
[0095] An embodiment of the present application provides a surgical robot intelligent power control device, which is used to execute the surgical robot intelligent power control method described in the above content of the present application. The surgical robot intelligent power control device is described in detail below.
[0096] like Figure 5 As shown, the intelligent power control device of the surgical robot comprises:
[0097] A force sensing unit 101, which is used to determine the force acting in the axis direction of the saw blade of the swing saw when the robot arm is dragged by an external force;
[0098] An admittance control unit 102, which is used to actively and compliantly control the movement of the robot arm in the direction of the axis of the oscillating saw blade based on the force in the direction of the axis of the oscillating saw blade; the active compliance control is completed by the admittance controller of the robot arm;
[0099] A coordinate monitoring unit 103, which is used to obtain the actual increment of the oscillating saw in the direction of the axial line of the oscillating saw blade;
[0100] A swing frequency calculation unit 104, which is used to determine the real-time swing frequency of the swing saw based on the actual increment and the output of the admittance controller in the direction of the saw blade axis of the swing saw;
[0101] The intelligent control unit 105 is connected to the internal motor of the oscillating saw and is used to control the surgical robot and the oscillating saw based on the real-time oscillating frequency of the oscillating saw.
[0102] In the present application, the swing frequency of the swing saw is controlled by the internal motor of the swing saw. The faster the speed of the internal motor, the higher the swing frequency of the swing saw. The swing frequency can be controlled by adjusting the speed of the internal motor.
[0103] In the present application, the output of the oscillating saw in the direction of the saw blade axis is determined by sensing the external force of the robotic arm; combined with the actual increment of the oscillating saw, the real-time oscillation frequency that the oscillating saw currently needs to execute is determined and executed; thereby, there is no need to sense the rigid working environment around the oscillating saw, and the oscillation frequency of the oscillating saw is adjusted to adapt to the current working environment, thereby achieving the effect of intelligent control.
[0104] In this application, the expected increment of the swing saw / the output of the swing saw in the direction of the saw blade axis is determined by sensing the external force of the mechanical arm, and the actual increment of the swing saw is determined by sensing the displacement of the end of the mechanical arm; the real-time swing frequency that the swing saw needs to execute is determined by the deviation between the actual increment of the swing saw and the expected increment. Thus, the real-time swing frequency of the swing saw is associated with the actual grinding progress, so that the swing frequency can be adjusted according to the actual grinding progress to adapt it to the current working environment and achieve the effect of intelligent control.
[0105] In one implementation, in the swing frequency calculation unit 104, the formula for determining the real-time swing frequency is:
[0106]
[0107]
[0108] Among them, ψ is the real-time swing frequency, is the time derivative of the swing frequency, x r is the output of the manipulator admittance controller along the axial direction of the road surface, x is the actual increment, t is the swing frequency control time interval, K p , K i , K d is the control gain parameter, ψ max For rated load.
[0109] In one embodiment, the admittance controller of the robotic arm is:
[0110]
[0111]
[0112] in, is the positive diagonal matrix of virtual mass, is the virtual damping diagonal matrix, X(x,y,z) is the position increment of the robot in Cartesian space, Derivative of X with respect to time, for Taking the derivative with respect to time, F is the controller output.
[0113] In one embodiment, the force sensing unit 101 is also used to: obtain the external force acting on the oscillating saw when the operator drags the oscillating saw; the external force is the resultant external force of all external forces acting on the oscillating saw, and the oscillating saw is installed at the end of the mechanical arm of the surgical robot and is rigidly connected to the mechanical arm; the resultant external force is projected in the direction of the saw blade axis to obtain the decomposed force of the resultant external force in the direction of the saw blade axis; the decomposed force in the direction of the saw blade axis is determined as the force acting in the direction of the saw blade axis of the oscillating saw.
[0114] In one embodiment, in combination Figure 6 As shown, the intelligent control unit 105 includes: a power supply circuit and an adjustable resistance element; one output end of the adjustable resistance element is connected to the power supply circuit, and the other output end is connected to the internal motor to output an adjustable resistance; the power supply circuit is connected to the adjustable resistance element to provide a stable voltage to the internal motor and the adjustable resistance element.
[0115] Combination Figure 6As shown in , the two output ends (111, 112) of the adjustable resistance element are connected respectively, one output end (111) is connected to the positive electrode of the power supply circuit, the other output end (112) is connected to the internal motor, and the other end of the internal motor is connected to the negative electrode of the power supply circuit, thereby forming a power supply loop. At this time, when the voltage provided by the power supply circuit remains unchanged, the adjustable resistance element acts as a voltage divider resistor, and the voltage at both ends of the internal motor can be adjusted by adjusting the resistance value.
[0116] It should be noted that in this application, the power swing frequency in the electric swing saw is determined by the speed of the internal motor of the swing saw. Conventional swing saws have a starting trigger. The force of pressing the trigger can control the speed of the internal motor of the swing saw. There is a magnet and a Hall element inside the trigger. The trigger goes from the initial state to the extreme state of being pressed, which is the process of the magnet constantly approaching the Hall element. During this process, the output of the Hall element changes from 0V to 5V. By limiting the maximum output of the Hall element, the maximum swing frequency of the power output can be adjusted.
[0117] In the present application, the power supply circuit can be a Hall element in a conventional swing saw, that is, a resistor is connected in series on the output signal line of the Hall element, and the swing frequency is adjusted by changing the resistance value of the resistor. When used specifically, the trigger is limited so that the output of the Hall element is the maximum value output. At this time, the swing frequency of the swing saw is controlled by adjusting the adjustable resistance element. In this way, there is no need to modify the swing saw or modify it with the minimum amplitude, thereby greatly improving the application range of the swing frequency control, and the swing frequency can be directly controlled.
[0118] In the present application, the power supply circuit may be a conventional power supply, so that the oscillating saw can be modified by adding a power supply to achieve the adjustment of the oscillating frequency.
[0119] In one embodiment, in combination Figure 7 As shown, the adjustable resistance element includes: a linear potentiometer 1 and an adjustable electric push rod 2; the linear potentiometer 1 includes an output sleeve 11 and a telescopic rod 12, the output sleeve is provided with two output ends (111, 112) to output resistance, the telescopic rod is inserted into the output sleeve, and the resistance value between the two output ends is changed by telescopic movement; the adjustable electric push rod 2 includes an input sleeve 21 and a push rod 22, the input sleeve is provided with a motor 23 and two input ends, and the motor operation is controlled by input power; one end of the push rod is inserted into the sleeve and connected to the motor, and performs telescopic movement under the drive of the motor; the telescopic rod is fixedly connected to the push rod, so that the push rod drives the telescopic rod to move synchronously.
[0120] Furthermore, the stroke of the electric push rod (2 / TG1) and the linear potentiometer 1 are both 50 mm, and the two components are fixed together by a connecting pin 3, so that the linear potentiometer follows the electric push rod (2 / TG1) to perform telescopic movement, and the resistance value between the two wires 111 and 112 at the output end of the linear potentiometer varies from 0 to 5KΩ. The two wires (200, 201) at the input end of the electric push rod (2 / TG1), the input end 201 is connected to 24V, and the input end 200 is connected to 0V, then the push rod performs an extension movement, and the input end 201 is connected to 0V, and the input end 200 is connected to 24V, then the push rod performs a retraction movement.
[0121] In the present application, reference numeral 2 and reference numeral TG1 both refer to electric linear actuators.
[0122] In the present application, the telescopic rod is fixedly connected to the push rod, and the movement directions are parallel, so that the movement of the telescopic rod and the push rod is synchronous.
[0123] Furthermore, the telescopic rod is fixedly connected to the push rod and has the same movement direction, so that the movement of the telescopic rod and the push rod can be precisely controlled.
[0124] It should be noted that the linear potentiometer has three output terminals, only two of which are selected in the present application. The resistance between the two selected output terminals also changes synchronously after the telescopic rod moves. However, whether the resistance increases or decreases as the telescopic rod extends depends on the actual connection situation. The present application does not limit this, and only requires that it can complete a one-to-one correspondence with the specific pushing process of the electric push rod.
[0125] Furthermore, in the present application, as the telescopic rod in the electric push rod is extended, the resistance value of the linear potentiometer increases. This connection method is taken as an example for the subsequent description.
[0126] In one embodiment, in combination Figure 8 As shown, the intelligent control unit also includes a push rod control circuit, which includes a relay K1 and a relay K2 to power the motor of the adjustable electric push rod; one input end of the adjustable electric push rod is connected to the positive pole of the power supply via the normally open contact K1-1 of the relay K1, and is connected to the negative pole of the power supply via the normally open contact K2-2 of the relay K2; the other input end of the adjustable electric push rod is connected to the positive pole of the power supply via the normally open contact K2-1 of the relay K2, and is connected to the negative pole of the power supply via the normally open contact K1-2 of the relay K1.
[0127] In one embodiment, in combination Figure 8As shown, the push rod control circuit also includes a communication module, the output port 1L of the communication module is grounded, the output port 0.0 is connected to the power supply voltage via the relay K1, and the output port 0.1 is connected to the power supply voltage via the relay K2; the communication module is connected to the computer serial port to receive communication instructions to control the conduction or disconnection of the output port 1L and the output port 0.0 / output port 0.1.
[0128] Figure 8 In the example, the 485 communication module is connected to the computer serial port, and the communication instructions are used to control the digital output port 1L to be connected or disconnected with 0.0, and 1L to be connected or disconnected with 0.1, so that the power on and off of K1 and K2 are controlled. When K1 is powered on, the normally open contacts K1-1 and K1-2 of K1 are closed, and the electric push rod TG1 moves out. At this time, the resistance between 111 and 112 of the linear potentiometer increases, and the swing frequency decreases accordingly; when K2 is powered on, the normally open contacts K2-1 and K2-2 of K2 are closed, and the electric push rod TG1 moves back. At this time, the resistance between 111 and 112 of the linear potentiometer decreases, and the swing frequency increases accordingly.
[0129] In this application, the 485 communication module can receive the communication instructions of the computer, so as to control the swing frequency of the electric saw according to the instructions. The corresponding relationship between the communication instructions and the swing frequency of the electric saw can be obtained based on actual conditions or after multiple experiments, and will not be repeated in this application.
[0130] The surgical robot intelligent power control device provided in the above-mentioned embodiment of the present application has a corresponding relationship with the surgical robot intelligent power control method provided in the embodiment of the present application. Therefore, the specific content in the device has a corresponding relationship with the intelligent self-labeling method for hip joint diseases. The specific content can refer to the records in the intelligent self-labeling method for hip joint diseases, and will not be repeated in this application.
[0131] The intelligent power control device for a surgical robot provided in the above-mentioned embodiments of the present application and the intelligent power control method for a surgical robot provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.
[0132] The above describes the internal functions and structure of the intelligent power control device of the surgical robot. Fig. 9 As shown, in practice, the intelligent power control device of the surgical robot can be realized as an electronic device, including: a memory 301 and a processor 303.
[0133] The memory 301 may be configured to store programs.
[0134] In addition, the memory 301 may also be configured to store various other data to support operations on the electronic device. Examples of such data include instructions for any application or method operating on the electronic device, contact data, phone book data, messages, pictures, videos, etc.
[0135] The memory 301 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.
[0136] The processor 303 is coupled to the memory 301 and is configured to execute a program in the memory 301 to:
[0137] When the mechanical arm is dragged by an external force, determine the force acting in the axis direction of the saw blade of the swing saw;
[0138] Based on the force in the axial direction of the saw blade of the swing saw, the movement of the robot arm in the axial direction of the saw blade of the swing saw is actively and compliantly controlled; the active and compliant control is completed by the admittance controller of the robot arm;
[0139] Obtaining the actual increment of the oscillating saw in the direction of the axial line of the oscillating saw blade;
[0140] Determine the real-time swing frequency of the swing saw based on the actual increment and the output of the admittance controller in the direction of the saw blade axis of the swing saw;
[0141] Based on the real-time oscillation frequency of the oscillating saw, the surgical robot and the oscillating saw are controlled.
[0142] In one implementation, in the swing frequency calculation unit 104, the formula for determining the real-time swing frequency is:
[0143]
[0144]
[0145] Among them, ψ is the real-time swing frequency, is the time derivative of the swing frequency, x r is the output of the manipulator admittance controller along the axial direction of the road surface, x is the actual increment, t is the swing frequency control time interval, K p , K i , K d is the control gain parameter, ψ max For rated load.
[0146] In one embodiment, the admittance controller of the robotic arm is:
[0147]
[0148]
[0149] in, is the positive diagonal matrix of virtual mass, is the virtual damping diagonal matrix, x(x,y,z) is the position increment of the robot in Cartesian space, Derivative of X with respect to time, for Taking the derivative with respect to time, F is the controller output.
[0150] In one embodiment, the force sensing unit 101 is further used to: when the operator drags the oscillating saw, obtain an external force acting on the oscillating saw; the external force is the resultant external force of all external forces acting on the oscillating saw, and the oscillating saw is installed at the end of the mechanical arm of the surgical robot and is rigidly connected to the mechanical arm;
[0151] Projecting the resultant external force in the direction of the saw blade axis to obtain the decomposed force of the resultant external force in the direction of the saw blade axis;
[0152] The decomposition force in the direction of the saw blade axis is determined as the force acting in the direction of the saw blade axis of the oscillating saw.
[0153] In the present application, the processor is also specifically used to execute all the processes and steps of the above-mentioned surgical robot intelligent power control method. The specific content can refer to the records in the intelligent self-labeling method for hip joint diseases, and will not be repeated in this application.
[0154] In this application, Fig. 9 Only some components are shown schematically, which does not mean that the electronic device only includes Fig. 9 Components shown.
[0155] The electronic device provided in this embodiment is based on the same inventive concept as the intelligent power control method for a surgical robot provided in the embodiment of the present application, and has the same beneficial effects as the method adopted, run or implemented by the application program stored therein.
[0156] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.
[0157] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.
[0158] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.
[0159] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.
[0160] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0161] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.
[0162] The present application also provides a computer-readable storage medium corresponding to the intelligent power control method for a surgical robot provided in the aforementioned embodiment, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it will execute the intelligent power control method for a surgical robot provided in any of the aforementioned embodiments.
[0163] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.
[0164] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the surgical robot intelligent power control method provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.
[0165] It should be noted that in the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known structures and technologies are not shown in detail so as not to obscure the understanding of this description.
[0166] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.
[0167] The above is only the embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims
1. An intelligent power control device for a surgical robot, characterized in that: include: A force sensing unit, which is used to determine the force acting in the axis direction of the saw blade of the swing saw when the robot arm is dragged by an external force; An admittance control unit, which is used to actively and compliantly control the movement of the robot arm in the direction of the axis of the oscillating saw blade based on the force in the direction of the axis of the oscillating saw blade; the active compliance control is completed by the admittance controller of the robot arm; A coordinate monitoring unit, which is used to obtain the actual increment of the oscillating saw in the direction of the axial line of the oscillating saw blade; A swing frequency calculation unit, which is used to determine the real-time swing frequency of the swing saw based on the actual increment and the output of the admittance controller in the direction of the saw blade axis of the swing saw; An intelligent control unit connected to the internal motor of the oscillating saw and used to control the surgical robot and the oscillating saw based on the real-time oscillating frequency of the oscillating saw; In the swing frequency calculation unit, the formula for determining the real-time swing frequency is: Among them, ψ is the real-time swing frequency, is the time derivative of the swing frequency, x r is the output of the manipulator admittance controller along the axial direction of the road surface, x is the actual increment, t is the swing frequency control time interval, K p , K i , K d is the control gain parameter, ψ max is the rated load; The intelligent control unit comprises: a power supply circuit and an adjustable resistance element; one output end of the adjustable resistance element is connected to the power supply circuit, and the other output end is connected to the internal motor to output an adjustable resistance; the power supply circuit is connected to the adjustable resistance element to provide a stable voltage to the internal motor and the adjustable resistance element; The adjustable resistance element includes: a linear potentiometer and an adjustable electric push rod; the linear potentiometer includes an output sleeve and a telescopic rod, the output sleeve is provided with two output ends for outputting resistance, the telescopic rod is inserted into the output sleeve, and the resistance value between the two output ends is changed by telescopic movement; the adjustable electric push rod includes an input sleeve and a push rod, the input sleeve is provided with a motor and two input ends, and the motor operation is controlled by input power; one end of the push rod is inserted into the sleeve and connected to the motor, and telescopic movement is performed under the drive of the motor; the telescopic rod is fixedly connected to the push rod, so that the push rod drives the telescopic rod to move synchronously.
2. The intelligent power control device according to claim 1, characterized in that: The intelligent control unit also includes a push rod control circuit, which includes a relay K1 and a relay K2 to power the motor of the adjustable electric push rod; one input end of the adjustable electric push rod is connected to the positive pole of the power supply via the normally open contact K1-1 of the relay K1, and is connected to the negative pole of the power supply via the normally open contact K2-2 of the relay K2; the other input end of the adjustable electric push rod is connected to the positive pole of the power supply via the normally open contact K2-1 of the relay K2, and is connected to the negative pole of the power supply via the normally open contact K1-2 of the relay K1.
3. An electronic device, characterized in that: include: Memory and processor; The memory is used to store programs; When the mechanical arm is dragged by an external force, determine the force acting in the axis direction of the saw blade of the swing saw; Based on the force in the axial direction of the saw blade of the oscillating saw, the movement of the robot arm in the axial direction of the saw blade of the oscillating saw is actively and compliantly controlled; This active compliance control is accomplished through the admittance controller of the manipulator; Obtaining the actual increment of the oscillating saw in the direction of the axial line of the oscillating saw blade; Determine the real-time swing frequency of the swing saw based on the actual increment and the output of the admittance controller in the direction of the saw blade axis of the swing saw; Controlling the surgical robot and the oscillating saw based on the real-time oscillation frequency of the oscillating saw; The formula for determining the real-time swing frequency is: Among them, ψ is the real-time swing frequency, is the time derivative of the swing frequency, x r is the output of the manipulator admittance controller along the axial direction of the road surface, x is the actual increment, t is the swing frequency control time interval, K p , K i , K d is the control gain parameter, ψ max is the rated load; It also includes an intelligent control unit, which includes: a power supply circuit and an adjustable resistance element; one output end of the adjustable resistance element is connected to the power supply circuit, and the other output end is connected to the internal motor to output an adjustable resistance; the power supply circuit is connected to the adjustable resistance element to provide a stable voltage to the internal motor and the adjustable resistance element; The adjustable resistance element includes: a linear potentiometer and an adjustable electric push rod; the linear potentiometer includes an output sleeve and a telescopic rod, the output sleeve is provided with two output ends for outputting resistance, the telescopic rod is inserted into the output sleeve, and the resistance value between the two output ends is changed by telescopic movement; the adjustable electric push rod includes an input sleeve and a push rod, the input sleeve is provided with a motor and two input ends, and the motor operation is controlled by input power; one end of the push rod is inserted into the sleeve and connected to the motor, and telescopic movement is performed under the drive of the motor; the telescopic rod is fixedly connected to the push rod, so that the push rod drives the telescopic rod to move synchronously.