Master-slave heterogeneous surgical robot control method, device, equipment and storage medium

Abstract

The present application relates to the field of robot control, and provides a master-slave heterogeneous surgical robot control method, device, equipment and storage medium, wherein the method comprises: acquiring a real-time pose and a real-time position of the end of the master end of the surgical robot; determining a target pose of the end of the slave end of the surgical robot according to the real-time pose, and determining a target position of the end of the slave end according to the real-time position, wherein the joint structures of the master end and the slave end are different; determining a target value of a first position angle of the distal end continuum of the slave end according to the target pose, and determining a target value of a second position angle of the proximal parallelogram of the slave end according to the target position; and controlling the slave end to move based on the target value of the first position angle and the target value of the second position angle. Through the present application, the problem of low master-slave control precision in the master-slave heterogeneous surgical robot in the related art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot control, in particular to a master-slave heterogeneous surgical robot control method, device, equipment and storage medium. BACKGROUND

[0002] Some surgical robots in the medical field are teleoperation robots, and the teleoperation robots mainly adopt a master-slave operation method, including a master end and a slave end, and the basic idea is to determine the movement angle of each joint of the slave end by detecting the movement angle of each joint of the master end, so as to control the slave end.

[0003] In the related art, the control method of the teleoperation robot is to detect the joint freedom degrees of the master end, obtain the mapping relationship between the joints of the slave end and the joints of the master end in the joint space, and obtain the joint freedom degrees of the slave end according to the mapping relationship. However, since the mechanical structures and the freedom degrees of the master end and the slave end in the master-slave heterogeneous surgical robot are not the same, the matching degree of the joints of the slave end and the joints of the master end in the joint space is not high, which leads to low accuracy of the determined joint freedom degrees of the slave end, and further leads to low master-slave control precision in the master-slave heterogeneous surgical robot. SUMMARY

[0004] The problem solved by the present application is the low master-slave control precision in the master-slave heterogeneous surgical robot in the related art.

[0005] To solve the above problems, the present application provides a master-slave heterogeneous surgical robot control method, which comprises: acquiring the real-time attitude and real-time position of the end of the master end of the surgical robot;

[0006] determining the target attitude of the end of the slave end of the surgical robot according to the real-time attitude, and determining the target position of the end of the slave end according to the real-time position, wherein the joint structures of the master end and the slave end are different;

[0007] determining the target value of the first position angle of the distal continuum of the slave end according to the target attitude, and determining the target value of the second position angle of the proximal parallelogram of the slave end according to the target position, wherein the slave end comprises the distal continuum and the proximal parallelogram, the distal continuum is used to realize the attitude change of the slave end, and the proximal parallelogram is used to realize the position movement of the slave end;

[0008] controlling the slave end to move based on the target value of the first position angle and the target value of the second position angle, wherein the target value of the first position angle and the target value of the second position angle are used to determine the corresponding multiple joint variables of the slave end.

[0009] In an optional embodiment, the target pose of the slave end of the slave hand is determined according to the real-time pose, comprising: obtaining a first mapping relationship between the pose of the master end of the master hand and the pose of the slave end of the slave hand; and determining the target pose according to the first mapping relationship and the real-time pose.

[0010] In an optional embodiment, the target value of the first position angle of the distal continuum of the slave hand is determined according to the target pose, comprising: obtaining a first expression of a homogeneous transformation matrix corresponding to the distal continuum, wherein an independent variable of the first expression is the first position angle; and solving the target value of the first position angle based on a first equation constructed based on the first expression and the target pose.

[0011] In an optional embodiment, the first expression is:

[0012]

[0013] wherein T1 is the homogeneous transformation matrix corresponding to the distal continuum, cθ2 represents cosθ2, cα2 represents cosα2, sθ2 represents sinθ2, sα2 represents sinα2, θ2 is a first bending angle, and α2 is a first phase angle, and the first position angle comprises the first bending angle and the first phase angle.

[0014] In an optional embodiment, the target position of the slave end of the slave hand is determined according to the real-time position, comprising: obtaining a second mapping relationship between the position of the master end of the master hand and the position of the slave end of the slave hand; and determining the target position according to the second mapping relationship and the real-time position.

[0015] In an optional embodiment, the target value of the second position angle of the proximal parallelogram of the slave hand is determined according to the target position, comprising: obtaining a second expression of a homogeneous transformation matrix corresponding to the proximal parallelogram, wherein an independent variable of the second expression is the second position angle; determining a corresponding Jacobian matrix expression according to the second expression; and determining the target value of the second position angle according to the Jacobian matrix expression and the target position.

[0016] In an optional embodiment, the target value of the second position angle is determined according to the Jacobian matrix and the target position, including: performing a target operation in a loop until a target error meets a preset condition or a loop number reaches a preset value; in the case that the target error meets the preset condition, determining a current position angle in the last target operation as the target value of the second position angle; in the case that the loop number reaches the preset value and the target error in the last target operation does not meet the preset condition, determining a value of the second position angle obtained according to the Jacobian matrix expression as the target value of the second position angle.

[0017] The target operation includes: updating the value of the second position angle of the proximal parallelogram to obtain the current position angle; determining a current position corresponding to the distal end of the slave end according to the current position angle; determining a target error between the current position and the target position; and judging whether the target error meets the preset condition and whether the loop number reaches the preset value.

[0018] The application further provides a master-slave heterogeneous surgical robot control device, which comprises: an acquisition unit configured to acquire a real-time pose and a real-time position of a distal end of a master end of a surgical robot;

[0019] a first determination unit configured to determine a target pose of a distal end of a slave end of the surgical robot according to the real-time pose and determine a target position of the distal end of the slave end according to the real-time position, wherein the joint structures of the master end and the slave end are different;

[0020] a second determination unit configured to determine a target value of a first position angle of a distal continuum of the slave end according to the target pose and determine a target value of a second position angle of a proximal parallelogram of the slave end according to the target position, wherein the slave end comprises the distal continuum and the proximal parallelogram, the distal continuum is configured to realize a pose change of the slave end, and the proximal parallelogram is configured to realize a position movement of the slave end;

[0021] a control unit configured to control the slave end to move based on the target value of the first position angle and the target value of the second position angle, wherein the target value of the first position angle and the target value of the second position angle are used to determine a plurality of joint variables corresponding to the slave end.

[0022] The application further provides an electronic device comprising a memory and a processor; the memory is configured to store a computer program; and the processor is configured to implement the master-slave heterogeneous surgical robot control method as described above when executing the computer program.

[0023] The application further provides a computer readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the master-slave heterogeneous surgical robot control method is executed.

[0024] By the application, the slave end is composed of a distal continuum and a proximal parallelogram, the distal continuum is used to change the pose of the slave end, the proximal parallelogram is used to change the position of the slave end, the target pose of the slave end is determined according to the real-time rotation matrix of the master end, and then the target value of the first position angle of the distal continuum in the slave end is determined according to the target pose; the target position of the slave end is determined according to the real-time position of the master end, and then the target value of the second position angle of the proximal parallelogram in the slave end is determined according to the target position; the target value of the first position angle and the target value of the second position angle are determined through the mapping of the motion trajectories of the master end and the slave end in the Cartesian space, from the pose of the master end to the pose of the slave end, and from the position of the master end to the position of the slave end; the target value of the first position angle and the target value of the second position angle can determine the joint degrees of freedom of the slave end, and then the slave end is controlled to move; compared with the joint matching of the master end and the slave end in the joint space, the pose and position of the master end can be accurately matched with the pose and position of the slave end, and the matching degree is higher, so that the accuracy of the target value of the first position angle and the target value of the second position angle is higher, and the control of the surgical robot based on the target values of the two position angles can improve the master-slave control precision of the master-slave heterogeneous surgical robot.

[0025] In addition, in the application, the distal continuum is used to change the pose of the slave end, and the proximal parallelogram is used to change the position of the slave end, so that the joint structure of the slave end is decoupled, the motion decoupling between the pose change and the position change is realized, the computational complexity is reduced, the computational efficiency is improved, and the real-time performance of the master-slave control is improved. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 is a flowchart of the master-slave heterogeneous surgical robot control method of the embodiment of the application;

[0027] Figure 2 is a schematic diagram of the joint structure of the slave end of the embodiment of the application;

[0028] Figure 3 is a schematic diagram of the master-slave heterogeneous surgical robot control strategy of the embodiment of the application;

[0029] Figure 4 is a structural schematic diagram of the master-slave heterogeneous surgical robot control device of the embodiment of the application. DETAILED DESCRIPTION

[0030] 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.

[0031] While some embodiments of the invention are shown in the accompanying drawings, it should be understood that the 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 invention. It should be understood that the accompanying drawings and embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the invention.

[0032] 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.

[0033] 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., mentioned in this invention are used only 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.

[0034] The names of the messages or information exchanged between the multiple devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0035] like Figure 1 As shown, an embodiment of the present invention provides a master-slave heterogeneous surgical robot control method, which includes the following steps:

[0036] Step S101: Obtain the real-time pose and position of the end effector of the main hand in the surgical robot.

[0037] In this embodiment, the surgical robot consists of a master hand and a slave hand. The master hand moves under human control, while the slave hand follows the movement of the master hand. In the surgical robot, the master hand is located on the surgeon's console and is moved by the surgeon. The slave hand needs to follow the movement of the master hand. The joint degrees of freedom of the slave hand are determined based on the movement of the master hand to indicate how it should follow the master hand's movement.

[0038] The real-time pose and real-time position of the end of the master hand end are acquired when the operator operates the master hand end, wherein the real-time pose and real-time position of the end of the master hand end can be determined through the input of the operator or the movement data of the master hand end collected by the sensor arranged on the master hand end. The above movement data can be the data of the joint freedom degrees of the master hand end collected by the sensor, and the real-time pose and real-time position of the end of the master hand end in the Cartesian space are calculated through the joint freedom degrees data in the joint space, that is, the above real-time pose and real-time position are determined through forward kinematics; or the above movement data can be the pose information and position information acquired by using a positioning sensor (such as GPS, camera visual positioning).

[0039] In step S102, the target pose of the end of the slave hand end in the surgical robot is determined according to the real-time pose, and the target position of the end of the slave hand end is determined according to the real-time position, wherein the joint structures of the master hand end and the slave hand end are different.

[0040] In the embodiment, the surgical robot is a master-slave heterogeneous robot, that is, the joint structures of the master hand end and the slave hand end are different. For example, the seven joint freedom degrees of the master hand end correspond to the six joint freedom degrees of the slave hand end, that is, the master hand end has six joint motion freedom degrees and one end tool freedom degree (clamper), and the slave hand end has five joint motion freedom degrees and one end tool freedom degree (clamper). The joint freedom degrees of the master hand end and the slave hand end cannot be one-to-one corresponding, and it is difficult to completely match in the joint space, that is, the matching degree of each joint of the slave hand end and each joint of the master hand end in the joint space is not high.

[0041] However, the motion trajectories of the end of the master hand end and the end of the slave hand end can be completely mapped and matched in the Cartesian space. The motion trajectories can be represented by the real-time pose and real-time position. When the end of the master hand end moves to the current position (real-time position) and is in the current pose (real-time pose), the end of the slave hand end should be controlled to move to the corresponding position (target position) and keep the corresponding pose (target pose). Therefore, through the mapping relationship of the motion trajectories of the end of the master hand end and the end of the slave hand end, the target position to which the end of the slave hand end will move can be determined according to the real-time position of the end of the master hand end, and the target pose to which the end of the slave hand end will change can be determined according to the real-time pose of the end of the master hand end.

[0042] Specifically, determining the target pose of the slave end of the slave hand according to the real-time pose comprises: obtaining a first mapping relationship between the pose of the master end of the master hand and the pose of the slave end of the slave hand; and determining the target pose according to the first mapping relationship and the real-time pose. The first mapping relationship represents the mapping relationship between the pose of the master end of the master hand and the pose of the slave end of the slave hand. For example, the pose of the master end of the master hand can be represented by a first rotation matrix R_M1, and the pose of the slave end of the slave hand can be represented by a second rotation matrix R_C1. The first rotation matrix and the second rotation matrix satisfy R_C1=A*R_M1, where A corresponds to the first mapping relationship. Therefore, the target pose of the slave end of the slave hand can be determined according to the real-time pose of the master end of the master hand and the first mapping relationship.

[0043] Determining the target position of the slave end of the slave hand according to the real-time position comprises: obtaining a second mapping relationship between the position of the master end of the master hand and the position of the slave end of the slave hand; and determining the target position according to the second mapping relationship and the real-time position. The second mapping relationship represents the mapping relationship between the position of the master end of the master hand and the position of the slave end of the slave hand. For example, the pose of the master end of the master hand can be represented by a third rotation matrix R_M2, and the pose of the slave end of the slave hand can be represented by a fourth rotation matrix R_C2. The third rotation matrix and the fourth rotation matrix satisfy R_C2=B*R_M2, where B corresponds to the second mapping relationship. Therefore, the target position of the slave end of the slave hand can be determined according to the real-time position of the master end of the master hand and the first mapping position.

[0044] In step S103, a target value of a first position angle of a distal continuum of the slave hand is determined according to the target pose, and a target value of a second position angle of a proximal parallelogram of the slave hand is determined according to the target position. The slave hand comprises the distal continuum and the proximal parallelogram. The distal continuum is used to change the pose of the slave hand, and the proximal parallelogram is used to move the position of the slave hand.

[0045] The joint structure of the slave hand is as follows: Figure 2As shown, the slave hand end comprises three continuous bodies: a first continuous body 21, a second continuous body 22, and a third continuous body 23, wherein the third continuous body is closest to the tip 24 of the slave hand end and farthest from the base 25 of the slave hand end, the third continuous body is the distal continuous body in the slave hand end, the first continuous body and the second continuous body are closer to the base of the slave hand end than the third continuous body, the first continuous body, the second continuous body, and the connecting segment between the first continuous body and the second continuous body constitute a proximal parallelogram, and the continuous bodies comprise one or more joints. The slave hand end is divided into the distal continuous body and the proximal parallelogram, and the posture change of the tip of the slave hand end is realized through the movement of the distal continuous body, and the position change of the tip of the slave hand end is realized through the movement of the proximal parallelogram.

[0046] Further, the target value of the first position angle of the distal continuous body of the slave hand end is determined according to the target posture, comprising: obtaining a first expression of the homogeneous transformation matrix corresponding to the distal continuous body, wherein the independent variable of the first expression is the first position angle; and solving the target value of the first position angle based on a first equation constructed based on the first expression and the target posture.

[0047] The movement parameter of the distal continuous body of the slave hand end is the first position angle, and the homogeneous transformation matrix of the distal continuous body of the slave hand end can be expressed by a first expression:

[0048]

[0049] wherein T is the homogeneous transformation matrix corresponding to the distal continuous body, cθ2 represents cosθ2, cα2 represents cosα2, sθ2 represents sinθ2, and sα2 represents sinα2, θ2 is a first bending angle, α2 is a first phase angle, and the first position angle comprises the first bending angle and the first phase angle. The independent variable of the above expression is the first position angle, and specifically, the independent variable is θ2 and α2 included in the first position angle.

[0050] The above first expression is used to describe the posture of the tip of the slave hand end, and the posture of the tip of the slave hand end is expressed by the movement parameter (first position angle) of the distal continuous body. In the case where the desired posture (i.e., target posture) of the tip of the slave hand end has been determined, an equation is established according to the first expression and the target posture, and the target value of the first position angle of the distal continuous body is solved, and then the distal continuous body is controlled to move according to the target value of the first position angle, so that the posture of the tip of the slave hand end moves to the target posture.

[0051] Further, the target value of the second position angle of the proximal parallelogram of the slave end is determined according to the target position, comprising: obtaining a second expression of a homogeneous transformation matrix corresponding to the proximal parallelogram, wherein the independent variable of the second expression is the second position angle; determining a corresponding Jacobian matrix expression according to the second expression; and determining the target value of the second position angle according to the Jacobian matrix expression and the target position.

[0052] The homogeneous transformation matrix corresponding to the proximal parallelogram is used to represent the influence of the motion of the proximal parallelogram on the position of the end of the slave end, and the second expression can be expressed as:

[0053]

[0054] T2 is the homogeneous transformation matrix corresponding to the proximal parallelogram, cθ1 represents cosθ1, cα1 represents cosα1, sθ1 represents sinθ1, sα1 represents sinα1, c2θ1 represents cos2θ1, s2α1 represents sin2α1, θ1 is a second bending angle, α1 is a second phase angle, the second position angle includes the second bending angle and the second phase angle, the independent variable of the above-mentioned second expression is the second position angle, that is, θ1 and α1, d2 is the length of the proximal parallelogram, and I is a 3x3 matrix.

[0055] The relationship between the position and attitude of the end effector of the slave end and the second position angle corresponding to the proximal parallelogram is derived through the above-mentioned homogeneous transformation matrix corresponding to the proximal parallelogram, and the Jacobian matrix expression is obtained by using differential transformation, which describes the relationship between the linear velocity and angular velocity of the end of the slave end and the second position angle corresponding to the proximal parallelogram. Wherein, the Jacobian matrix expression includes a third expression and a fourth expression, that is, J = [J v , J ω ] T , wherein J is the Jacobian matrix expression, J v is the third expression, and J ω is the fourth expression.

[0056] The third expression is used to represent the relationship between the instantaneous linear velocity of the end of the slave end and the second position angle, and the fourth expression is used to represent the relationship between the instantaneous angular velocity of the end of the slave end and the second position angle.

[0057] Specifically, the third expression is:

[0058]

[0059] Wherein, V represents the instantaneous linear velocity from the tip of the hand end, P represents the position matrix from the tip of the hand end, l is a preset length, cθ1 represents cosθ1, cα1 represents cosα1, sθ1 represents sinθ1, sα1 represents sinα1, θ1 is a second bending angle, α1 is a second phase angle, and Ψ is a second position angle, the second position angle including the second bending angle and the second phase angle.

[0060] The fourth expression is:

[0061]

[0062] Wherein, ω represents the instantaneous linear velocity from the tip of the hand end, cθ1 represents cosθ1, cα1 represents cosα1, sθ1 represents sinθ1, sα1 represents sinα1, θ1 is a second bending angle, α1 is a second phase angle, and Ψ is a second position angle, the second position angle including the second bending angle and the second phase angle.

[0063] Further, the target value of the second position angle is determined according to the Jacobian matrix and the target position, including: performing a target operation in a loop until a target error meets a preset condition or a loop number reaches a preset value; in the case that the target error meets the preset condition, determining a current position angle in the last target operation as the target value of the second position angle; in the case that the loop number reaches the preset value and the target error in the last target operation does not meet the preset condition, determining a value of the second position angle obtained according to the Jacobian matrix expression as the target value of the second position angle.

[0064] In the embodiment, the value of the second position angle is calculated by two methods, i.e. the first method is to calculate the value of the second position angle (i.e. the true value) by the Jacobian matrix, and the true value calculated by the Jacobian matrix can adopt the calculation method in the prior art, which is not described here; the second method is to determine the value of the second position angle (the value of the second position angle in the last iteration process) by the iterative updating method, denoted as the first value, and the value of the second position angle close to the true value is determined by the second method. The second method has higher calculation efficiency and faster solving speed than the first method, but the accuracy of the first method is higher.

[0065] In order to balance the calculation efficiency and accuracy, the iteration number (preset value) in the iterative updating method (i.e. the target operation is executed in a loop) is set in the second method, the calculation error (target error) is calculated in each iteration process, and when the target error meets the preset condition, the iteration updating is stopped, and the value of the second position angle in this iteration process is determined as the target value of the second position angle; when the target error does not meet the preset condition when the iteration number (i.e. the loop number) is reached, the calculation result of the second method is determined as the target value of the second position angle

[0066] Specifically, each iteration process in the iterative updating, i.e. the target operation, includes: updating the value of the second position angle of the proximal parallelogram to obtain the current position angle; determining the current position corresponding to the distal end of the slave hand according to the current position angle; determining the target error between the current position and the target position; judging whether the target error meets the preset condition and whether the loop number reaches the preset value.

[0067] In each iteration process, the value of the second position angle, i.e. the current position angle, is first updated, and according to the forward kinematics, the position of the slave hand corresponding to the current position angle, i.e. the current position, can be obtained, and the target error is calculated according to the current position and the target position to be reached by the distal end of the slave hand. When the target error does not meet the preset condition, it means that iteration needs to continue, and the target operation is executed again. In each execution of the target operation (i.e. each iteration process), the value of the second position angle in the last iteration process can be modified and adjusted to obtain the current position angle.

[0068] In step S104, the slave hand is controlled to move based on the target value of the first position angle and the target value of the second position angle, wherein the target value of the first position angle and the target value of the second position angle are used to determine a plurality of joint variables corresponding to the slave hand.

[0069] The master-slave heterogeneous surgical robot control strategy is as shown in the figure Figure 3 As shown in the figure, the operator operates the master hand end to move through hand movement, the pose of the distal end of the master hand end (corresponding to the real-time attitude and real-time position) is obtained through forward kinematics according to the joint variables in the master hand movement, the pose of the distal end of the slave hand (i.e. the target attitude and target position) is obtained according to the mapping of the master hand and the slave hand, the joint variables of the slave hand are solved through inverse kinematics based on the target attitude and target position of the distal end of the slave hand, the target value of the second position angle corresponding to the proximal parallelogram and the target value of the first position angle corresponding to the distal continuum are calculated when the joint variables of the slave hand are solved, the joint variables of each joint in the slave hand are determined through the target value of the first position angle and the target value of the second position angle, and the slave hand can be controlled to move following the movement of the master hand.

[0070] Through the above embodiment, the slave end is composed of a distal continuum and a proximal parallelogram, the distal continuum realizes the pose change of the slave end, the proximal parallelogram realizes the position change of the slave end, the target pose of the slave end is determined according to the real-time rotation matrix of the master end, and then the target value of the first position angle of the distal continuum in the slave end is determined according to the target pose; the target position of the slave end is determined according to the real-time position of the master end, and then the target value of the second position angle of the proximal parallelogram in the slave end is determined according to the target position; the target value of the first position angle and the target value of the second position angle are determined through the mapping of the motion trajectories of the master end and the slave end in the Cartesian space, from the pose of the master end to the pose of the slave end, and from the position of the master end to the position of the slave end; the target value of the first position angle and the target value of the second position angle can determine the joint degrees of freedom of the slave end, and then control the movement of the slave end; compared with the joint matching of the master end and the slave end in the joint space, the pose and position of the master end can be accurately matched with the pose and position of the slave end, and the matching degree is higher, so that the accuracy of the target value of the first position angle and the target value of the second position angle is higher, and the control of the surgical robot based on the target values of the two position angles can improve the master-slave control precision of the master-slave heterogeneous surgical robot.

[0071] In addition, in the present application, the distal continuum is set to realize the pose change of the slave end, and the proximal parallelogram is set to realize the position change of the slave end, so that the joint structure of the slave end is decoupled, and the motion decoupling between the pose change and the position change is realized, the calculation complexity is reduced, the calculation efficiency is improved, and the real-time performance of the master-slave control is improved.

[0072] As shown in FIG. 1, Figure 4 In another embodiment of the present application, a master-slave heterogeneous surgical robot control device is provided, which comprises:

[0073] The acquisition unit 401 is configured to acquire the real-time pose and the real-time position of the end of the master end of the surgical robot;

[0074] The first determination unit 402 is configured to determine the target pose of the end of the slave end of the surgical robot according to the real-time pose, and determine the target position of the end of the slave end according to the real-time position, wherein the joint structures of the master end and the slave end are different.

[0075] The second determining unit 403 is configured to determine a target value of a first position angle of a remote continuum of the slave hand end according to the target pose, and determine a target value of a second position angle of a proximal parallelogram of the slave hand end according to the target position, wherein the slave hand end comprises the remote continuum and the proximal parallelogram, the remote continuum is used to realize a pose change of the slave hand end, and the proximal parallelogram is used to realize a position change of the slave hand end.

[0076] The control unit 404 is configured to control the slave hand end to move based on the target value of the first position angle and the target value of the second position angle, wherein the target value of the first position angle and the target value of the second position angle are used to determine a plurality of joint variables corresponding to the slave hand end.

[0077] In an optional embodiment, the device determines the target pose of the end of the slave hand end of the surgical robot according to the real-time pose by: obtaining a first mapping relationship between the pose of the end of the master hand end and the pose of the end of the slave hand end; and determining the target pose according to the first mapping relationship and the real-time pose.

[0078] In an optional embodiment, the device determines the target value of the first position angle of the remote continuum of the slave hand end according to the target pose by: obtaining a first expression of a homogeneous transformation matrix corresponding to the remote continuum, wherein an independent variable of the first expression is the first position angle; and solving the target value of the first position angle based on a first equation constructed based on the first expression and the target pose.

[0079] In an optional embodiment, the first expression is:

[0080]

[0081] wherein T1 is the homogeneous transformation matrix corresponding to the remote continuum, cθ2 represents cosθ2, cα2 represents cosα2, sθ2 represents sinθ2, sα2 represents sinα2, θ2 is a first bending angle, α2 is a first phase angle, and the first position angle comprises the first bending angle and the first phase angle.

[0082] In an optional embodiment, the device determines the target position of the end of the slave hand end according to the real-time position by: obtaining a second mapping relationship between the position of the end of the master hand end and the position of the end of the slave hand end; and determining the target position according to the second mapping relationship and the real-time position.

[0083] In an optional embodiment, the device determines the target value of the second position angle of the proximal parallelogram of the slave end according to the target position by: obtaining a second expression of a homogeneous transformation matrix corresponding to the proximal parallelogram, wherein the independent variable of the second expression is the second position angle; determining a corresponding Jacobian matrix expression according to the second expression; and determining the target value of the second position angle according to the Jacobian matrix expression and the target position.

[0084] In an optional embodiment, the device determines the target value of the second position angle according to the Jacobian matrix and the target position by: performing a target operation cyclically until a target error meets a preset condition or a cycle number reaches a preset value; in the case where the target error meets the preset condition, determining a current position angle in the last target operation as the target value of the second position angle; and in the case where the cycle number reaches the preset value and the target error in the last target operation does not meet the preset condition, determining a value of the second position angle obtained according to the Jacobian matrix expression as the target value of the second position angle.

[0085] The target operation includes: updating the value of the second position angle of the proximal parallelogram to obtain the current position angle; determining a current position corresponding to the end of the slave end according to the current position angle; determining a target error between the current position and the target position; and judging whether the target error meets the preset condition and whether the cycle number reaches the preset value.

[0086] In an exemplary embodiment, the computer readable storage medium can include, but is not limited to: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various computer program storage media.

[0087] Although the present application is disclosed as above, the protection scope of the present application is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and these changes and modifications shall fall within the protection scope of the present application.

Claims

1. A master-slave heterogeneous surgical robot control method, characterized by, The method comprises the following steps: acquiring a real-time pose and a real-time position of a terminal end of a master end of a surgical robot; determining a target pose of a terminal end of a slave end of the surgical robot according to the real-time pose, and determining a target position of the terminal end of the slave end according to the real-time position, wherein joint structures of the master end and the slave end are different; determining a target value of a first position angle of a distal continuum of the slave end according to the target pose, and determining a target value of a second position angle of a proximal parallelogram of the slave end according to the target position, wherein the slave end comprises the distal continuum and the proximal parallelogram, the distal continuum is used to realize a pose change of the slave end, and the proximal parallelogram is used to realize a position movement of the slave end; controlling the slave end to move based on the target value of the first position angle and the target value of the second position angle, wherein the target value of the first position angle and the target value of the second position angle are used to determine a plurality of corresponding joint variables of the slave end.

2. The master-slave heterogeneous surgical robotic control method of claim 1, wherein, The method of determining the target pose of the terminal end of the slave end of the surgical robot according to the real-time pose comprises the following steps: acquiring a first mapping relationship between a pose of the terminal end of the master end and a pose of the terminal end of the slave end; determining the target pose according to the first mapping relationship and the real-time pose.

3. The master-slave heterogeneous surgical robotic control method of claim 2, wherein, The method of determining the target value of the first position angle of the distal continuum of the slave end according to the target pose comprises the following steps: acquiring a first expression of a homogeneous transformation matrix corresponding to the distal continuum, wherein an independent variable of the first expression is the first position angle; solving the first position angle to obtain the target value of the first position angle based on a first equation constructed based on the first expression and the target pose.

4. The master-slave heterogeneous surgical robotic control method of claim 3, wherein, The first expression is as follows: wherein T1 is the homogeneous transformation matrix corresponding to the distal continuum, cθ2 represents cosθ2, cα2 represents cosα2, sθ2 represents sinθ2, sα2 represents sinα2, θ2 is a first bending angle, and α2 is a first phase angle, and the first position angle comprises the first bending angle and the first phase angle.

5. The master-slave heterogeneous surgical robotic control method of claim 1, wherein, The method of determining the target position of the terminal end of the slave end according to the real-time position comprises the following steps: acquiring a second mapping relationship between a position of the terminal end of the master end and a position of the terminal end of the slave end; determining the target position according to the second mapping relationship and the real-time position.

6. The master-slave heterogeneous surgical robotic control method of claim 5, wherein, The method of determining the target value of the second position angle of the proximal parallelogram of the slave end according to the target position comprises the following steps: acquiring a second expression of a homogeneous transformation matrix corresponding to the proximal parallelogram, wherein an independent variable of the second expression is the second position angle; determining a corresponding Jacobian matrix expression according to the second expression; determining the target value of the second position angle according to the Jacobian matrix expression and the target position.

7. The master-slave heterogeneous surgical robotic control method of claim 6, wherein, The method of determining the target value of the second position angle according to the Jacobian matrix and the target position comprises the following steps: performing a target operation in a loop until a target error meets a preset condition or a loop number reaches a preset value, and then stopping performing the target operation. In a case where the target error meets a preset condition, a current position angle in a last time of the target operation is determined as a target value of the second position angle; In a case where the number of times of circulation reaches the preset value and the target error in the last time of the target operation does not meet the preset condition, a value of the second position angle obtained according to the Jacobian matrix expression is determined as the target value of the second position angle; The target operation comprises: updating the value of the second position angle of the proximal parallelogram to obtain the current position angle; determining a current position corresponding to the distal end of the slave end according to the current position angle; determining a target error between the current position and the target position; judging whether the target error meets the preset condition and whether the number of times of circulation reaches the preset value.

8. A master-slave heterogeneous surgical robotic control apparatus, characterized by, comprise: an acquisition unit configured to acquire a real-time posture and a real-time position of a distal end of a master end in a surgical robot; a first determination unit configured to determine a target posture of a distal end of a slave end in the surgical robot according to the real-time posture, and determine a target position of the distal end of the slave end according to the real-time position, wherein joint structures of the master end and the slave end are different; a second determination unit configured to determine a target value of a first position angle of a distal continuum of the slave end according to the target posture, and determine a target value of a second position angle of a proximal parallelogram of the slave end according to the target position, wherein the slave end comprises the distal continuum and the proximal parallelogram, the distal continuum is configured to realize a posture change of the slave end, and the proximal parallelogram is configured to realize a position movement of the slave end; a control unit configured to control the slave end to move based on the target value of the first position angle and the target value of the second position angle, wherein the target value of the first position angle and the target value of the second position angle are used to determine a plurality of joint variables corresponding to the slave end.

9. An electronic device, comprising: comprise a memory and a processor; the memory is configured to store a computer program; the processor is configured to, when the computer program is executed, implement the master-slave heterogeneous surgical robot control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the master-slave heterogeneous surgical robot control method according to any one of claims 1 to 7 is implemented.

Images