Master-slave motion control method of surgical robot and related equipment

Abstract

The invention relates to the technical field of robots, in particular to a master-slave motion control method of a surgical robot and related equipment, and the surgical robot comprises a slave control end used for executing an operation and a master control end used for controlling the slave control end; the master-slave motion control method comprises the following steps: acquiring a current posture of a master control end and a current posture of a slave control end; judging the posture matching condition of the current posture of the master control end and the current posture of the slave control end; adjusting a guide parameter of the master control end based on a judgment result of the posture matching condition, wherein the guide parameter represents a deviation degree between a current direction of the master control end and a target direction in which the master control end guides an operation object or a control unit to move; and controlling the master control end according to the adjusted guide parameter so as to enable the attitude of the master control end to be matched with the attitude of the slave control end. By adopting the method, the adjustment direction of the master control end can be determined, so that the master-slave matching efficiency can be improved.

Description

[0001] This application is a divisional application of the invention patent with application date of June 7, 2024, application number 2024107349977, and name “Master-slave motion control method and related equipment of surgical robot”. Technical Field

[0002] The present invention relates to the technical field of robots, and in particular to a master-slave motion control method of a surgical robot and related equipment. Background Art

[0003] With the advancement of science and technology, the application of surgical robot technology has become increasingly widespread. Usually, a surgical robot includes a master operating tool (i.e., the master control end) and a slave operating tool (i.e., the slave control end). The operator can generate corresponding control instructions by operating the operating part of the master control end to control the end effector of the slave control end to move to the target position for surgery.

[0004] Generally, in order to ensure efficient surgery, it is necessary to ensure that the postures of the master control end and the slave control end match. In the prior art, when the postures of the master control end and the slave control end do not match, the operator will actively move the master control end to adjust the master control end to the target posture so that it matches the posture of the slave control end. However, such adjustment efficiency is low. There are also solutions that combine visual information to assist the operator to actively operate the master control end more quickly, but the operator still needs to constantly observe the display to determine the current matching situation, which has the disadvantage of low adjustment efficiency. Summary of the invention

[0005] In order to solve the above technical problems, the embodiment of the present application provides a master-slave motion control method and related equipment of a surgical robot, and the technical solution is as follows:

[0006] On the one hand, a master-slave motion control method of a surgical robot is provided, wherein the surgical robot comprises a slave control terminal for performing surgery and a master control terminal for controlling the slave control terminal; the method comprises:

[0007] Acquire the current posture of the master end and the current posture of the slave end;

[0008] Determining whether the current posture of the master terminal matches the current posture of the slave terminal;

[0009] Adjusting the guidance parameter of the master control end based on the judgment result of the posture matching situation, wherein the guidance parameter represents the degree of deviation between the current direction of the master control end and the target direction in which the master control end guides the operation object or the control unit to move the master control end;

[0010] The master control end is controlled according to the adjusted guidance parameter so that the posture of the master control end matches that of the slave control end.

[0011] Optionally, controlling the master control end according to the adjusted guidance parameter includes:

[0012] Determining control parameters of the master control terminal based on the adjusted guidance parameters and the current posture of the master control terminal;

[0013] The main control end is controlled according to the control parameter.

[0014] On the other hand, a master-slave motion control device of a surgical robot is provided, wherein the surgical robot comprises a slave control terminal for performing surgery and a master control terminal for controlling the slave control terminal; the device comprises:

[0015] An acquisition module, used for acquiring the current posture of the master control end and the current posture of the slave control end;

[0016] A judgment module, used to judge whether the current posture of the master terminal matches the current posture of the slave terminal;

[0017] An adjustment module, used to adjust the guidance parameters of the master control end based on the judgment result of the posture matching situation, wherein the guidance parameters represent the degree of deviation between the current direction and the target direction in which the master control end guides the operation object or the control unit to move the master control end;

[0018] The control module is used to control the master control end according to the adjusted guidance parameters so that the posture of the master control end matches that of the slave control end.

[0019] On the other hand, a surgical robot is provided, which includes a master control terminal, a slave control terminal and the above-mentioned control device;

[0020] The slave terminal follows the movement of the master terminal;

[0021] The control device is used to perform motion control on the master control end and the slave control end.

[0022] On the other hand, a computer-readable storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the master-slave motion control method of a surgical robot according to any of the above embodiments.

[0023] The present application proposes a method for controlling the master-slave motion of a surgical robot and related equipment, wherein the surgical robot includes a slave terminal for performing surgery and a master terminal for controlling the slave terminal; by acquiring the current posture of the master terminal and the current posture of the slave terminal; judging the posture matching between the current posture of the master terminal and the current posture of the slave terminal; adjusting the guidance parameters of the master terminal based on the judgment result of the posture matching, wherein the guidance parameters represent the degree of deviation between the current direction of the master terminal and the target direction in which the master terminal guides the operation object or the control unit to move; and controlling the master terminal according to the adjusted guidance parameters so that the posture of the master terminal matches that of the slave terminal. In this way, the adjustment direction of the master terminal can be clarified based on the posture matching of the master and slave terminals, thereby improving the efficiency of master-slave matching. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 is a schematic diagram of an exemplary application scenario of a surgical robot system of the present application;

[0026] Figure 2 is a schematic diagram of the structure of a slave operating device in an exemplary surgical robot system of the present application;

[0027] Figure 3 This is a schematic diagram of a partial structure of an instrument end in an exemplary operation device of the present application;

[0028] Figure 4 is a flowchart of an exemplary master-slave motion control method of a surgical robot of the present application;

[0029] Figure 5 This is a simplified structural diagram of an exemplary master control terminal of the present application;

[0030] Figure 6 is a simplified structural diagram of an exemplary mechanical arm assembly of the present application;

[0031] Figure 7 It is a simplified structural diagram of an exemplary continuum bending section of the present application;

[0032] Figure 8 It is a flowchart of an exemplary master-slave motion control method of an angle-based surgical robot of the present application;

[0033] Fig. 9 It is a flowchart of an exemplary master-slave motion control method of a surgical robot based on angle increments of the present application;

[0034] Fig.10 It is a flowchart of an exemplary master-slave motion control method of a surgical robot based on Cartesian spatial posture of the present application;

[0035] Fig.11 is a schematic diagram of the structure of an exemplary virtual second-order system of the present application;

[0036] Fig.12 It is a flowchart of another exemplary master-slave motion control method of a surgical robot in the present application.

[0037] Fig.13 This is a block diagram of an exemplary master-slave motion control device of a surgical robot in the present application. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0039] It should be noted that the terms "first" and "second" in the specification and claims of the embodiment of the present application and the above-mentioned drawings are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" can expressly or implicitly include one or more of the features. In the description of the present embodiment, unless otherwise specified, the meaning of "multiple" is two or more. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0040] In order to make the purpose, technical solution and advantages disclosed in the embodiments of the present application more clearly understood, the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the embodiments of the present application and are not used to limit the embodiments of the present application.

[0041] See also Figure 1 , which is a schematic diagram of an exemplary application scenario of a surgical robot system of the present application. The surgical robot system of the present application embodiment includes a master operating device 100 (i.e., a master control terminal) and a slave operating device 200 (i.e., a slave control terminal) controlled by the master operating device 100.

[0042] The master operating device 100 has a control input device that can send control commands to the slave operating device 200 according to the movements of the hands and / or feet of the operating object, so as to drive the posture adjustment of the robotic arm assembly 210 of the slave operating device 200 and drive the execution instrument of the robotic arm assembly 210 to perform corresponding surgical operations.

[0043] like Figure 2 and Figure 3 As shown, the slave operation device 200 has a mechanical arm assembly 210 for performing surgical actions, a driving device 220 for driving the mechanical arm assembly 210 according to a control command, and a base 230 for supporting the driving device 220, wherein the mechanical arm assembly 210 includes at least one mechanical arm 211, and the mechanical arm 211 can specifically refer to a flexible mechanical arm, a rigid mechanical arm, or a combination of the two. The end of each mechanical arm 211 can be loaded with an execution instrument for performing different or the same surgical operations, and the surgical operations that can be performed by the execution instrument include but are not limited to clamping, cutting, shearing, suturing, electrocuting or electrocoagulation. For example, the execution instrument can be any one of the needle holders, scissors, grippers, and clamp applicators. The needle holders are generally used to implement operations such as clamping, suturing, and knotting, the scissors are generally used to implement operations such as cutting, dissecting, and cutting, the grippers are generally used to implement operations such as grasping and pulling, and the clamp applicators are generally used to cooperate with the ligation clamp for ligation.

[0044] Optionally, continue as Figure 1As shown, the surgical robot system also includes an image device 400, which is used to obtain the surgical field image of the cavity (referring to the patient's body cavity) taken by the endoscope, and then image the surgical field image, and transmit it to the first display device of the image device 400 and / or the second display device (not shown in the figure) of the main operating device 100 for display, so that the operating object can observe the surgical field image. The surgical field image includes but is not limited to the type, number, position and posture of the executing instrument in the body cavity, the target organ tissue that needs to be operated, and the morphology of the surrounding blood vessels, etc. Further, a mechanical arm 211 in the mechanical arm assembly 210 of the operating device 200 can also be loaded with an endoscope for assisting in collecting images in the surgical field, which can then be displayed through the first display device and / or the second display device. It should be understood that the image displayed by the image device 400 can be a two-dimensional or three-dimensional image. The endoscope may include various endoscopes used for surgery, such as a thoracoscope, an arthroscope, and a nasal mirror.

[0045] Optionally, the surgical robot system further includes a supporting device 300 (eg, an operating table) for supporting a surgical object for surgery. The supporting device 300 may also be replaced with other surgical platforms depending on the type of surgery, which is not limited in this embodiment.

[0046] It should be noted that Figures 1 to 3 This is just an example. The surgical robot system is not limited to the device structure or quantity shown in the above figures, and corresponding adjustments can be made in other application scenarios, such as adding or deleting Figure 1 equipment, adjust the quantity of equipment or parts, or adjust the structure of equipment or components, etc.

[0047] The prior art mainly includes the following master-slave control schemes. The first scheme is to only support the user to actively control the master control end after determining that the master-slave does not match. This requires the user to constantly observe the master-slave matching situation and constantly move the master control end. The user may repeatedly move the master control end in the wrong control direction, resulting in very low matching efficiency. The second scheme is to assist the user to actively move the master control end based on tactile information after detecting the master-slave mismatch, but it can only play the role of prompting the user to move the master control end. The user still needs to constantly observe the master-slave matching situation and constantly move the master control end, making the matching efficiency low. The third scheme is to assist the user to actively move the master control end based on visual information after detecting the master-slave mismatch, but because the user needs to constantly switch to observe the surgical scene and the display device, it is easy to distract attention and it takes a long time to match the master and slave. The fourth scheme is to directly move the master control end to a matching target posture through motor control after detecting the master-slave mismatch, but this scheme based only on motor control has low reliability and cannot guarantee the experience continuity of the surgical process. In order to solve these problems, the embodiments of the present invention provide a master-slave motion control method and related equipment for a surgical robot, which can provide clear directional feedback information, and the feedback information can be conveyed through the somatosensory information of the hand. No additional display device is required, and the user does not need to switch his or her line of sight back and forth between the surgical scene and the display device. The user can focus on the surgical scene throughout the process, which can improve the master-slave matching efficiency. Moreover, the control right of the master control end is in the hands of the operator throughout the process, which is consistent with the control state during the operation, which can improve the experience consistency of the entire surgical process. Moreover, when an emergency situation of motor failure at the master control end occurs during the operation, master-slave matching can still be achieved based on this solution, and the smooth progress of the operation will not be affected.

[0048] The following describes a specific implementation of a master-slave motion control method for a surgical robot provided by an embodiment of the present disclosure. Figures 1 to 3As shown, the surgical robot includes a slave terminal for performing surgical actions, a master terminal for controlling the slave terminal, and a control device; the control device is configured to execute the master-slave motion control method of the embodiment of the present disclosure, and perform master-slave motion control on the slave terminal and the master terminal. The control device can be set at the slave terminal, can be set at the master terminal, or can be set at both ends separately, which is not limited here. Among them, the master terminal includes at least one master hand mechanical arm (specifically, it can refer to the connecting rod below), and at least one driving motor and at least one sensor set at at least one joint on the master hand mechanical arm, and the at least one sensor is used to obtain feedback data of at least one joint. The mechanical arm assembly of the slave terminal includes at least a flexible part that can bend or rotate. The number of slave terminals can be one or more. The master terminal and one of the slave terminals can constitute an operating unit that performs master-slave control. The master terminal can, under the drive of external force, drive the corresponding slave terminal to perform corresponding operations through the connected joints. In the case of multiple slave terminals, different master terminals can drive the associated slave terminals to perform corresponding operations through joints. Please refer to Figure 4 , which is a flow chart of an exemplary master-slave motion control method of a surgical robot of the present application. The method comprises the following steps:

[0049] S401: Acquire the current posture of the master end and the current posture of the slave end.

[0050] In the disclosed embodiments, please refer to Figure 5 , which is a simplified structural diagram of an exemplary master control terminal of the present application. The master control terminal includes a plurality of connecting rods and joints, and adjacent connecting rods are rotatably connected by a joint. Specifically, the master control terminal may include joint A1, joint A2, joint A3, joint A4, ..., joint A 2n-1 and joint A 2n , where q1, q2, …, q 2n-1， q 2n etc. represent the angles of each joint. For example, the angle of joint A1 is q1, and the angle of joint A 2n The angle is q 2n , n is an integer greater than or equal to 3. Figure 5 Joint A4 and joint A 2n-1 The dotted lines between represent any number of joints and connecting rods, and the end is a clamping piece. The operator can control the movement of the device clamped by the end clamping piece of the corresponding slave end by operating the clamping piece of the master end. Specifically, each joint is also equipped with a drive motor and a sensor. The drive motor is used to drive the joint to rotate, and the sensor is used to collect and feedback the relevant motion data of the joint.

[0051] In the disclosed embodiments, please refer to Figure 6-7, which respectively show a schematic diagram of the structure of an exemplary mechanical arm assembly of the present application and a schematic diagram of the structure of a continuous body bending section. The mechanical arm assembly includes a driving mechanism, a flexible arm, and an instrument end connected to the flexible arm. The flexible arm may specifically refer to Figure 6 The continuous curved segment shown is connected to the rigid segment, and the rigid segment is connected to the driving mechanism. The instrument end includes an execution instrument for performing surgical operations such as clamping, cutting, shearing, suturing, electrocuting or electrocoagulation. Optionally, the continuous curved segment may include a plurality of continuously connected flexible members, such as N flexible members, such as Figure 7 As shown, the continuous curved section may include flexible member C1, flexible member C2, ..., flexible member CN, where N is an integer greater than or equal to 3. N Respectively represent the bending angles of each flexible member, φ1,…,φ N They represent the rotation angle of each flexible segment, such as the bending angle of the flexible member C1 is θ1, and the rotation angle is φ1; N The bending angle is θ N , the rotation angle is φ N . Figure 7 The dotted line between the flexible component C2 and the flexible component CN represents any number of flexible components. Optionally, the control mapping relationship between each flexible component in the slave control end and each joint of the master control end can be a one-to-one corresponding relationship, or a one-to-many mapping control relationship, that is, one joint mapping controls multiple flexible components, or a many-to-one mapping control relationship, that is, multiple joints mapping controls one flexible component, which is not limited here.

[0052] For example, the current posture of the master terminal may be the current angle of each joint (such as q1, q2, ..., q 2n-1 ,q 2n), any one of the current angle increment of each joint, the current Cartesian space pose of the terminal and the current Cartesian space pose increment of the terminal. Specifically, the angle increment of each joint may refer to the difference between the angle of the joint and the initial angle. The initial angle of a joint may be the angle of the joint in the "initial state". This initial state may specifically refer to a state of the surgical robot system, which occurs before the master end controls the movement of the slave end. In this state, there will be no relative movement between the master end and the slave end, and their postures will be recorded and recorded as the initial posture. Optionally, the initial state may be a fixed master end posture related to a specific surgical scene and a matching slave end posture, or a non-fixed master end posture related to a specific surgical scene and a matching slave end posture. That is, the initial state can be fixed or not, depending on the application scenario. For example, in scenario 1, at the beginning of the natural orifice surgery, after the slave end enters the cavity, the master end will control the slave end to move to a posture suitable for the surgery. At this time, the postures of the master end and the slave end are fixed, and each surgery is consistent. In scenario 2, during the execution phase of the natural orifice surgery, this phase occurs after scenario 1 is completed. The posture of the slave end for each surgery is uncertain, and the "initial state" at this time depends on the execution of scenario 1. Similarly, the Cartesian space pose increment of the end of the master end can refer to the difference between the Cartesian space pose of the end and the initial Cartesian space pose in the initial state.

[0053] Corresponding to the posture of the above-mentioned master end, the posture of the slave end can specifically refer to any one of the current change angle of each flexible part, the current angle increment of each flexible part, the current Cartesian space posture of the terminal and the current Cartesian space posture increment of the terminal. Among them, the current change angle of each flexible part can specifically refer to the rotation angle of the motor that drives each flexible part to rotate, or it can refer to the bending angle and rotation angle of each flexible part. Specifically, the bending angle and rotation angle of each flexible part refer to Figure 6 and Figure 7 ,in, Figure 7 where θ1,…,θ N Respectively represent the bending angles of each flexible member, φ1,…,φ NRespectively represent the rotation angle of each flexible segment. The current angle increment of each flexible member may refer to the change angle of the flexible member in the above-mentioned initial state. Similarly, the Cartesian space pose increment of the end of the slave end may refer to the difference between the Cartesian space pose of the end and the initial Cartesian space pose in the initial state. Optionally, the bending angle and rotation angle of the flexible member may be specifically calculated based on the rotation angle and transmission ratio of the motor controlling the flexible member, or may be measured by parameter detection equipment including but not limited to imaging equipment, laser measuring instruments, magnetic sensors, etc., or may be calculated based on the tension on the drive rope through the robot forward dynamics model.

[0054] S403: Determine whether the current posture of the master terminal matches the current posture of the slave terminal.

[0055] S405: adjusting the guidance parameters of the master control end based on the judgment result of the posture matching situation, wherein the guidance parameters represent the degree of deviation between the current direction in which the master control end guides the operation object or the control unit to move the master control end and the target direction.

[0056] In the disclosed embodiment, the current posture of the master end may include but is not limited to any one of the current angles of each joint, the current angle increments of each joint, the current Cartesian space pose of the terminal, and the current Cartesian space pose increments of the terminal. The posture of the slave end may include but is not limited to any one of the current change angles of each flexible part, the current angle increments of each flexible part, the current Cartesian space pose of the terminal, and the current Cartesian space pose increments of the terminal. Therefore, the specific way of determining the guidance parameters is different according to the specific types of current postures of the master end and the slave end.

[0057] See also Figure 8 , the current posture of the master control end is the current angle of each joint, and the current posture of the slave control end is the current change angle of each flexible part. The above steps S401-S405 can be specifically described as follows:

[0058] S801: Acquire the current angle of each joint of the master control end and the current change angle of each flexible member of the slave control end corresponding to each joint.

[0059] In the disclosed embodiment, the current angle of each joint of the master control end may specifically be the rotation angle of the drive motor corresponding to each joint at the current moment. The current change angle of each flexible part may specifically refer to the rotation angle of the motor driving each flexible part to rotate at the current moment, or may refer to the bending angle and rotation angle of each flexible part.

[0060] S803: Determine whether the angle matching difference between the current angle of the target joint of the master control end and the current change angle of the corresponding flexible part is greater than a preset angle threshold.

[0061] In the disclosed embodiment, the angle matching difference between the current angle of the target joint of the master control end and the current change angle of the corresponding flexible part may specifically refer to the difference between the current angle of the target joint of the master control end and the current change angle of the corresponding flexible part. For example, when the current change angle of each flexible part is the rotation angle of the corresponding drive motor, the angle matching difference △q between the current angle of the target joint of the master control end and the current change angle of the corresponding flexible part is the difference between the current angle q (master) of the target joint of the master control end and the current change angle q (slave) of the corresponding flexible part. Optionally, the target joint may refer to all joints in the master control end, or may refer to joints with preset numbers set as needed (such as joints A1 and A2). 2n ), the number of target joints can be one or more, and there is no restriction here.

[0062] S805: Adjust the guidance parameters of the main control end based on the judgment result of the angle matching difference and the preset angle threshold.

[0063] In the embodiment of the present disclosure, step S805 can be specifically explained as follows: if the judgment result of the angle matching difference and the preset angle threshold is that the angle matching difference is greater than the preset angle threshold, a first judgment result is generated; the first judgment result indicates that the master-slave posture does not match; if the judgment result of the angle matching difference and the preset angle threshold is that the angle matching difference is less than or equal to the preset angle threshold, a second judgment result is generated; the second judgment result indicates that the master-slave posture matches; subsequently, in the case of a master-slave posture mismatch, the guidance parameters need to be adjusted, and optionally, a historical angle matching difference can be obtained, and the current angle matching difference can be compared with the historical angle matching difference to obtain a comparison result. When the comparison result indicates that the current angle matching difference is higher than the historical angle matching difference, a first adjustment information is generated. ; The first adjustment information indicates an upward adjustment to the guidance parameter; when the comparison result indicates that the current angle matching difference is lower than the historical angle matching difference, the second adjustment information is generated; the second adjustment information indicates a downward adjustment to the guidance parameter; when the comparison result indicates that the current angle matching difference is equal to the historical angle matching difference, the third adjustment information is generated; the third adjustment information indicates that the guidance parameter is not adjusted, and the target adjustment direction is determined based on the first adjustment information, the second adjustment information or the third adjustment information; and a preset adjustment step is obtained; the preset adjustment step represents the amplitude of the adjustment of the guidance parameter along the target adjustment direction; the guidance parameter is adjusted based on the target adjustment direction and the preset adjustment step, so as to obtain the corresponding updated guidance parameter. For example, assuming that the preset angle threshold is denoted as q0, and the current guidance parameter is denoted as K, if the current angle matching difference △q (current) is greater than the historical angle matching difference △q (historical), indicating that the posture matching difference between the current posture of the master end and the current posture of the slave end increases, then the determined target adjustment direction is +, and the preset adjustment step is a, then the updated guidance parameter K'=K+a, that is, the guidance value of the guidance parameter fed back by the master end to the operation object increases. Optionally, the historical angle matching difference may specifically refer to the angle matching difference between the previous moment (such as moment t-1) or the average value of the angle matching difference between multiple historical moments (such as moments t-2n to tn), and similarly, the current angle matching difference may refer to the angle matching difference between the current moment (such as moment t) or the average value of the angle matching difference between multiple moments near the current moment (such as moments t-n+1 to t-1).

[0064] See also Fig. 9 , with the current posture of the master end as the current angle increment of each joint, and the current posture of the slave end as the current angle increment corresponding to each joint, the above steps S401-S405 can be specifically described as follows:

[0065] S901: Determine the current angle increment of each joint of the master control end and the current angle increment of each flexible member of the slave control end corresponding to each joint.

[0066] In some exemplary embodiments, step S901 can be specifically explained as: obtaining the current angle and initial angle of each joint of the master control end; determining the difference between the current angle and the initial angle of each joint of the master control end as the current angle increment of each joint of the master control end; obtaining the current change angle and initial angle of each flexible part of the slave control end corresponding to each joint; determining the difference between the current change angle and the initial angle of each flexible part of the slave control end as the current angle increment of each flexible part of the slave control end.

[0067] In the disclosed embodiment, the initial angle of each joint may refer to the rotation angle of the drive motor corresponding to each joint of each joint in the initial state. The initial angle of each flexible member may refer to the rotation angle of the motor driving each flexible member to rotate in the initial state, or may refer to the bending angle and rotation angle of each flexible member in the initial state.

[0068] S903: Determine whether the angle increment matching difference between the current angle increment of the target joint of the master control end and the current angle increment of the corresponding flexible part is greater than a preset angle increment threshold.

[0069] In the embodiment of the present disclosure, the angle increment matching difference may specifically be the difference between the current angle increment of the target joint of the pointing end and the current angle increment of the corresponding flexible member.

[0070] S905: Adjust the guidance parameters of the master control end based on the judgment result of the angle increment matching difference and the preset angle increment threshold.

[0071] In the embodiment of the present disclosure, the specific scheme of adjusting the guidance parameters in step S905 is the same as that in the above step S805, and the difference mainly lies in the different parameter types of the current postures of the two. The angle matching difference in step S805 can be replaced by the angle increment matching difference, and the preset angle threshold can be replaced by the preset angle increment threshold. No further details will be given here.

[0072] See also Fig.10 , the current posture of the master end is the current Cartesian space posture of the end of the master end, and the current posture of the slave end is the current Cartesian space posture of the end of the slave end. The above steps S401-S405 can be specifically described as follows:

[0073] S1001: Determine a current Cartesian space pose of a terminal of the master end and a current Cartesian space pose of a terminal of the slave end.

[0074] In some exemplary embodiments, step S1001 can be specifically explained as: obtaining the current Cartesian space posture of the end of the master end, and obtaining the length, bending angle and rotation angle of the flexible part of the end of the slave end; determining the Cartesian space posture of the end of the slave end based on the length, bending angle and rotation angle of the flexible part of the end of the slave end.

[0075] Specifically, the method of obtaining the Cartesian spatial pose of the terminal of the master terminal may include but is not limited to: using the joint encoder to collect the joint position, and then calculating the terminal pose through forward kinematics. Alternatively, using a depth camera to obtain the spatial coordinates of the terminal and identify the pose of the terminal of the master terminal. Please continue to refer to Figure 6 and Figure 7 , the posture of the slave end can be the Cartesian spatial posture of its end or the end of the instrument it holds; taking a flexible part that can be radially bent and axially rotated as an example, its length is defined as l, the bending angle is θ, and the rotation angle is φ, then the Cartesian spatial posture T of the end of the flexible part can be expressed as:

[0076]

[0077] Specifically, the bending angle and rotation angle of the flexible member can be calculated based on the rotation angle of the motor controlling the flexible member, or can be measured by, but not limited to, an imaging device, a laser measuring instrument, or a magnetic sensor, or can be calculated based on the stress on the driving rope. No limitation is made here.

[0078] For a slave end composed of a plurality of continuous flexible parts, the Cartesian spatial pose of the end can be obtained by combining the Cartesian spatial pose of the end of each flexible part constituting it with the forward kinematics calculation of the robot.

[0079] S1003: Determine whether a pose matching difference between a current Cartesian spatial pose of a terminal of the master control terminal and a current Cartesian spatial pose of a terminal of the slave control terminal is greater than a preset spatial pose threshold.

[0080] In the embodiment of the present disclosure, the posture matching difference can be obtained by calculating the absolute value of the difference between the current Cartesian space position and spatial posture of the terminal of the master control end and the corresponding Cartesian space position and spatial posture of the terminal of the slave control end or the terminal of the instrument held by it, and then judging whether the posture matching difference is greater than the preset spatial posture threshold, so as to judge whether the master and slave postures match; wherein the posture matching difference can be based on the calculation method of the difference between the quaternion spatial postures, and the specific calculation scheme can be expressed as follows:

[0081] The spatial posture R of the terminal of the master end m The spatial posture R of the end of the slave end sConvert them into the corresponding quaternion q m ,q s , then the difference between the two, that is, the pose matching difference err, can be calculated based on the following formula (1):

[0082]

[0083] The pose matching difference can also be calculated based on the space angle or matrix modulus, etc. There is no limitation here.

[0084] S1005: Adjust the guidance parameters of the master control end based on the judgment result of the posture matching difference and the preset spatial posture threshold.

[0085] In the disclosed embodiment, the specific scheme of adjusting the guidance parameters in step S1005 is the same as that in the above step S805, the difference mainly lies in the different parameter types of the current postures of the two, and the angle matching difference in step S805 is replaced by the posture matching difference, and the preset angle threshold is replaced by the preset spatial posture threshold. No further details will be given here.

[0086] When the current posture of the master end is the current Cartesian space posture increment of the end of the master end, and the current posture of the slave end is the current Cartesian space posture increment of the end of the slave end, the specific implementation plan of the above steps S401-S405 can refer to steps S901-S905. The difference between the two is mainly the difference in the posture type of the master end and the slave end. For the Cartesian space posture of the ends of the master end and the slave end, and the calculation method of the posture matching difference, please refer to the contents involved in the above steps S1001-S1005, which will not be repeated here.

[0087] In some exemplary embodiments, in step S405, adjusting the guidance parameters of the master end based on the judgment result of the posture matching situation includes: adjusting the guidance parameters of the master end based on the judgment result of the posture matching difference between the current posture of the master end and the current posture of the slave end and a preset posture threshold. Based on the above embodiments, it can be understood that the specific method of determining the guidance parameters is different according to the current posture of the specific type of the master end and the slave end. In summary, the above method of determining the update of the guidance parameters based on steps S403-S405 may include: determining the posture matching difference between the current posture of the master end and the current posture of the slave end, if the judgment result of the posture matching difference and the preset posture threshold is that the posture matching difference is greater than the preset posture threshold, then a first judgment result is generated; the first judgment result indicates that the master-slave posture does not match; if the judgment result of the posture matching difference and the preset posture threshold is that the posture matching difference is less than or equal to the preset posture threshold, then a second judgment result is generated; the second judgment result indicates that the master-slave posture matches; subsequently, in the case of a master-slave posture mismatch, the guidance parameters need to be adjusted. Optionally, the historical posture matching difference can be obtained, and the current posture matching difference can be compared with the historical posture matching difference. The values ​​are compared to obtain a comparison result, and when the comparison result indicates that the current posture matching difference is higher than the historical posture matching difference, the first adjustment information is generated; the first adjustment information indicates that the guidance parameter is adjusted upward; when the comparison result indicates that the current posture matching difference is lower than the historical posture matching difference, the second adjustment information is generated; the second adjustment information indicates that the guidance parameter is adjusted downward; when the comparison result indicates that the current posture matching difference is equal to the historical posture matching difference, the third adjustment information is generated; the third adjustment information indicates that the guidance parameter is not adjusted, and the target adjustment direction is determined based on the first adjustment information, the second adjustment information or the third adjustment information; and a preset adjustment step is obtained; the preset adjustment step represents the amplitude of the adjustment of the guidance parameter along the target adjustment direction; the guidance parameter is adjusted based on the target adjustment direction and the preset adjustment step, so as to obtain the corresponding updated guidance parameter. That is, if the posture matching difference between the current posture of the master control end and the current posture of the slave control end increases, the guidance value of the guidance parameter fed back by the master control end to the operation object will increase; if the posture matching difference between the current posture of the master control end and the current posture of the slave control end decreases, the guidance value of the guidance parameter fed back by the master control end to the operation object will decrease.

[0088] It can be understood that in addition to determining whether the master-slave postures match by judging whether the matching difference is greater than the preset posture threshold, the above steps S803, S903 and S1001 can also use other methods to make judgments, such as judging whether the angle matching difference, the angle incremental matching difference or the posture matching difference is within the preset posture threshold range. If the angle matching difference, the angle incremental matching difference or the posture matching difference is within the preset posture threshold range, it indicates that the master-slave postures match. Otherwise, the master-slave postures do not match.

[0089] S407: Control the master control end according to the adjusted guidance parameter so that the posture of the master control end matches that of the slave control end.

[0090] In some exemplary embodiments, controlling the master control end according to the adjusted guidance parameters in step S407 may specifically include: determining the control parameters of the master control end based on the adjusted guidance parameters and the current posture of the master control end; controlling the master control end according to the control parameters, so that in the case of master-slave mismatch, the guidance parameters can be adjusted according to the posture matching difference between the master and the slave, and then, the corresponding control parameters can be determined based on the adjusted guidance parameters and the current posture of the master control end, thereby realizing automatic control of the master control end so that the posture of the master control end matches that of the slave control end. At this time, the guidance parameters represent the parameters that guide the control unit to move the master control end in the target direction, such as the rotation angle, angular velocity and angular acceleration of the motor. In other exemplary embodiments, the step S407 of controlling the master control terminal according to the adjusted guidance parameter includes: obtaining the operating force applied to the master control terminal by the operating object; the operating force is positively correlated with the guidance parameter; determining the control parameter of the master control terminal based on the operating force, the adjusted guidance parameter and the current posture of the master control terminal; and controlling the master control terminal according to the control parameter. At this time, the guidance parameter can represent the parameter for guiding the operating object to move the master control terminal in the target direction. Therefore, in the case of mismatch between the master and the slave, the guidance parameter can be adjusted according to the master and slave posture matching difference first, so that the guidance force fed back to the operating object is different, so that the resistance generated by the motor of the joint felt by the operating object when moving the master control terminal is different. When the operating object is the master control terminal moving in the target direction (i.e., the direction in which the master and slave posture matching difference is reduced), the resistance generated by the motor of the joint is reduced, otherwise, when the operating object moves the master control terminal in the opposite direction of the target direction, the resistance generated by the motor of the joint is increased.

[0091] Specifically, when the operating object pushes the end of the main control end to move, the driving motor will generate a corresponding force (i.e., the resistance of the main control end felt by the operating object). At each moment, it can be considered that the operating force and resistance actively applied by the operating object are equal to the actual operating force applied to the end of the main control end.

[0092] The following mainly describes the solution of actively moving the master control end based on the operation object to achieve the adjustment of the master-slave matching in the above step S407.

[0093] In some exemplary embodiments, the control parameters of the master control end are determined based on the operating force, the adjusted guidance parameters and the current posture of the master control end, including: determining the external torque of each joint of the master control end based on the operating force; acquiring the historical control parameters of each joint of the master control end; for each joint of the master control end, determining the current control parameters of the joint based on the adjusted guidance parameters, the second-order spring model coefficients and the historical control parameters of the joint; and controlling the master control end based on the current control parameters of each joint of the master control end.

[0094] Specifically, when the current posture of the master control terminal is the current angle of each joint, after the above steps S801-S803, the specific method of determining the control parameter corresponding to each joint includes the following steps:

[0095] 1-1) First obtain the operating force F applied by the operating object to the main control end ext When the operating object actively moves the main control end by dragging the end, the operating force F ext It can be regarded as an external disturbance of the control system of the master end. The disturbance reflected on each joint can be regarded as the external torque τ of the joint. ext In some exemplary embodiments, the specific implementation of determining the external torque of each joint of the master control end based on the operating force may include: calculating the Jacobian matrix based on the current angle of each joint of the master control end; and determining the external torque of each joint of the master control end based on the Jacobian matrix and the operating force. Specifically, based on the operating force F ext Calculate the external moment τ of the joint ext The method is to combine the Jacobian J(q) calculated based on the joint angle q, which can be obtained based on the following formula (2):

[0096] τ ext =J(q) T F ext Formula (2)

[0097] Among them, the operating force F ext For example, it can be directly measured by a force sensor located at the end of the main control end; τ extThe unit is Nm / rad, but the radian unit is generally defined as a dimensionless unit in the International System of Units and is usually not written. Then τ ext The unit is Nm, that is, Newton meter. Similarly, the units involving symbols below, including rad, can be omitted; J(q) T The unit is m / rad, that is, meter / radian, F ext The unit is N, which means newton.

[0098] In another determination of the external moment τ of the joint ext In the implementation mode, the joint motor can actually output torque τ act Compared with the theoretical output torque τ of the joint motor calculated based on the robot inverse dynamics model thy The difference between them is calculated, which can be expressed as the following formula (3):

[0099] τ ext =τ act -τ thy Formula (3)

[0100] Among them, τ thy is based on the joint angle q, angular velocity Angular acceleration The calculation based on the robot inverse dynamics model can be specifically calculated based on the following formula (4):

[0101]

[0102] Where M represents the inertia matrix, the unit is kgm 2 , that is, kilograms squared meters; C represents the Coriolis force matrix, the unit is kgm 2 / s, that is, kilogram squared meter per second; G represents the gravity term, the unit is Nm, that is, Newton meter; τ f represents the friction term, with the unit of Nm, i.e. Newton meter; it can be obtained through theoretical parameters designed by CAD or parameter identification. And q, They are the actual angle, actual angular velocity and actual angular acceleration of the joint, and their units are rad (i.e. radians), rad / s (i.e. radians / second), rad / s 2 (i.e. radians / seconds squared), therefore, The unit is kgm 2 / s 2 , that is, Nm; The unit is kgm 2 / s 2 , that is Nm.

[0103] Actual output torque of joint motor τ actIt can be obtained based on the detection and conversion of the joint current i, which can be specifically expressed as the following formula (5):

[0104] τ act =K t ·i Formula (5)

[0105] Among them, K t It represents the current torque constant related to the motor, and its unit is Nm / A, i.e. Newton meter / ampere. The unit of joint current i is A, i.e. ampere.

[0106] Optional, τ act It can also be obtained by detecting a joint torque sensor, or by establishing a momentum observer or other methods, without limitation.

[0107] 1-2) Obtain the historical control parameters of the joint. Specifically, the actual angle q of the joint at the historical moment can be obtained i-1 , actual angular velocity

[0108] 1-3) Based on the joint at a certain time t i The external torque τ ext , and the corresponding historical control parameters, determine the current control parameters of the joint.

[0109] The above τ act This can be achieved by smooth control of the joints, see Fig.11 The basic principle is a virtual second-order system consisting of a slider, a spring, and a damper, which can be specifically expressed as the following formula (6):

[0110]

[0111] Among them, the spring second-order model coefficients corresponding to the virtual second-order system include K1, B1, M1; M1 represents the mass term of the slider, the unit is kgm 2 , i.e. kilograms per square meter; B1 represents the damping term of the damper, in Nms / rad, i.e. Newton-meter-second / radian; K1 represents the stiffness term of the spring, in Nm / rad, i.e. Newton-meter / radian; q d , They represent the expected angle, expected angular velocity, and expected angular acceleration of the joint, which are equivalent to the actual values ​​without external torque. Specifically, the expected angle, angular velocity, and angular acceleration are known quantities. If the joint is in a stationary state, the angle remains unchanged, and the angular velocity and angular acceleration are zero. If the joint is in a controlled motion state, the angle, angular velocity, and angular acceleration are all provided by the motion planner. If the joint is in an uncontrolled state, it will not be considered. Specifically, (q d -q) is in rad (radians); The unit is rad / s (radians per second). The unit is rad / s 2 (i.e. radians / seconds squared), therefore, The unit is kgm 2 / s 2 , that is Nm.

[0112] In the disclosed embodiment, the guidance parameter may specifically refer to the stiffness K1 (or K2 below) of the above-mentioned spring, that is, by adjusting the stiffness K1 in the compliance control, the force required for the operating object to move the main control end through the same distance can be changed. If it is detected that the matching difference is increasing, such as the matching difference of the current cycle is greater than the matching difference of the previous cycle, or the average matching difference of the last N cycles (or the maximum error or other measurement methods) is greater than the average matching difference of the previous 2N to N cycles (or the maximum error or other measurement methods), the resistance felt by the operating object can be increased by appropriately increasing the stiffness K1; conversely, the resistance felt by the operating object can be reduced by appropriately reducing the stiffness K1.

[0113] Based on the above step 1-1), the joint at a certain time t has been obtained. i The external torque τ ext , and the historical control parameters, by substituting them into the above formula (6), the angular acceleration of the virtual slider at that moment can be calculated Specifically, it can be expressed based on the following formula (7):

[0114]

[0115] Then, at the current time t i Angular velocity Angle q i can be obtained by time integration in turn, that is, they can be calculated based on the following formulas (8) and (9):

[0116]

[0117]

[0118] Among them, q i-1 , Represent the historical moment t i-1 Angular velocity and angular acceleration; Δt is the operating period of the system, which can be expressed as the difference between the current moment and the historical moment.

[0119] Based on the q obtained from the above steps 1-1) to 1-3) i , That is, the joint at time t iIn response to the user's operating torque τ ext The angle, angular velocity, and angular acceleration that should be generated are the current control parameters of the joint, and the motor control is then used to make the joint produce corresponding movements.

[0120] When the current posture of the master control end is the current angle increment of each joint, that is, after the above steps S901-S903, the specific determination method of the control parameters corresponding to each joint can still be calculated based on the above steps 1-1) to 1-3).

[0121] When the current posture of the master control terminal is the current Cartesian space posture of the terminal of the master control terminal, after the above steps S1001-S1003, the specific method of determining the control parameters corresponding to each joint includes the following steps:

[0122] 2-1) Obtaining the operating force F applied by the operating object to the main control end ext , optional, operating force F ext It can be obtained by directly measuring the force sensor located at the end of the main control end, or it can be calculated based on the above formula (2).

[0123] 2-2) Obtain the historical control parameters of the master control terminal. Specifically, the position x of the terminal of the master control terminal at the historical moment can be obtained. i-1 ,speed

[0124] 2-3) Based on the joint at a certain time t i Operating force F ext , and the corresponding historical control parameters, determine the current control parameters of the joint.

[0125] Operating force F ext This can be achieved by compliant control in Cartesian space, see Fig.11 The basic principle is a virtual second-order system consisting of a slider, a spring, and a damper, which can be specifically expressed as the following formula (10):

[0126]

[0127] Among them, F ext is the external force at the end of the main control end, M2 represents the mass term of the slider, the unit is kg, i.e. kilogram; B2 represents the damping term of the damper, the unit is Ns / m, i.e. Newton second / meter; K2 represents the stiffness term of the spring, the unit is N / m, i.e. Newton / meter; x, They represent the actual position, actual speed and actual acceleration of the terminal of the master control end, respectively, and their units are m (meter), m / s (meter / second), m / s 2 (i.e. meter / second squared). x d , They represent the expected angle, expected angular velocity, and expected angular acceleration of the joint, respectively, and their units are m (meter), m / s (meter / second), and m / s 2 (i.e., meter / second squared), which is equivalent to the actual value without external force. Therefore, the above The unit is kgm / s 2 , that is N.

[0128] Optionally, the position x can be calculated based on the joint angle and the robot forward kinematics, that is, it can be expressed based on the following formula (11):

[0129] x=f(q1,q2,…,q N ) Formula (11)

[0130] Among them, f(q1,q2,…,q N ) is a simplified function, which includes the angles of each joint of the robot, the distance between each joint (the length of the connecting rod), the angle between the rotation axes of each joint, etc. Because the latter two terms are fixed values ​​for a specific robot, they are generally omitted from the function when expressing the relationship between angle and position. In other words, since f(q1,q2,…,q N ) is composed of the product of the sine and cosine of the joint angle and the length of the connecting rod, and the unit of the connecting rod length is m (i.e. meter), so the function f(q1,q2,…,q N ) is also in m.

[0131] Optional, speed It can be obtained by differentiating the position x, such as based on the following formula (12):

[0132]

[0133] Among them, x i-1 Represents historical moment t i-1 The position of; Δt can be expressed as the difference between the current moment and the historical moment; x i , They represent the end of the master at time t i position and velocity.

[0134] Optional, speed It can also be calculated by the joint angular velocity and the robot differential kinematics, such as based on the following formula (13):

[0135]

[0136] in, The unit of J(q) is m / rad, that is, meter / radian. The unit is rad / s (radians per second).

[0137] Optional, acceleration By adjusting the speed Perform differential processing to obtain, such as based on the following formula (14):

[0138]

[0139] in, Indicates that the end of the master end is at time t i The acceleration of Represents historical moment t i-1 speed.

[0140] Since the joint at a certain time t has been obtained based on the above step 2-1) i F ext , and the historical control parameters, by substituting them into the above formula (10), the displacement x of the virtual slider at that moment can be calculated. i ,speed Acceleration Its value is the value of the master terminal at time t i In order to respond to the displacement, velocity, and acceleration generated by the user's operating torque, based on the robot inverse kinematics, the displacement, velocity, and acceleration are converted into the displacement, velocity, and acceleration of each joint at time t i The angle q i , angular velocity Angular acceleration The motor controls each joint to produce corresponding movements. i It can be solved based on inverse kinematics, that is, q i =

[0141] f -1 (x i ) is calculated, the angular velocity Angular acceleration The current control parameters q of each joint can be calculated based on the above formulas (8) and (9) i ,

[0142] When the current posture of the main control end is the current Cartesian space posture increment of each joint, that is, after the above step S405, the specific determination method of the control parameters corresponding to each joint can still be calculated based on the above steps 2-1) to 2-3).

[0143] In summary, please refer to Fig.12The master-slave motion control method provided in the embodiment of the present application can first obtain the current posture of the master end and the current posture of the slave end, and determine whether the current posture of the master end and the current posture of the slave end match. Specifically, the current posture matching difference can be obtained by calculating the difference between the current posture of the master end and the current posture of the slave end, and then determining whether the current posture matching difference is greater than a preset posture threshold. When the current posture matching difference is less than or equal to the preset posture threshold, indicating that the master-slave posture matches, the method returns to the step of obtaining the current posture of the master end and the current posture of the slave end in real time. When the current posture matching difference is greater than the preset posture threshold, it indicates that the master-slave postures do not match. At this time, the system can prompt the user (i.e., the operating object) to actively move the master control end. Specifically, the user can be prompted by one or more combinations of display screen display, tactile sensor feedback (such as prompting by vibration), and LED light flashing. Subsequently, it is further determined whether the current posture matching difference of the master and slave control ends is reduced. Specifically, the current posture matching difference can be compared with the historical posture matching difference. If the current posture matching difference is greater than the historical posture matching difference, it indicates that the current posture matching difference of the master and slave control ends is increasing. Then, the guidance parameter is increased, thereby increasing the guidance value of the guidance parameter fed back by the master control end to the operating object, and the corresponding guidance force corresponding to the guidance parameter, that is, the resistance felt by the operating object moving the master control end in the current direction, increases. At this time, the operating object knows that the moving direction is wrong, and then adjusts the moving direction of the mobile master control end. If the current posture matching difference is less than the historical posture matching difference, it indicates that the current posture matching difference between the master and slave control ends is decreasing, and the guidance parameter is adjusted down, so that the guidance value of the guidance parameter fed back by the master control end to the operation object is reduced, and the guidance force corresponding to the guidance parameter, that is, the resistance felt by the operation object moving in the current direction, is reduced. At this time, the operation object will continue to move the master control end in the current direction until the posture matching difference is less than the preset posture threshold, that is, the master control end reaches the target posture, and the prompt is terminated. This can greatly improve the matching efficiency of the master and slave postures, and can more efficiently cooperate with the operator in related operations based on the surgical robot.

[0144] It should be noted that when the main control end is detected to be moving in the direction of increasing posture matching difference, in addition to operation force feedback, the solution also supports other forms of feedback, such as visual feedback based on display information, tactile feedback based on tactile sensors, or hybrid feedback that combines these feedback methods.

[0145] An embodiment of the present application also provides a master-slave motion control device for a surgical robot. Fig.13 This is a block diagram of an exemplary master-slave motion control device of a surgical robot of the present application. The surgical robot includes a slave control terminal for performing surgery and a master control terminal for controlling the slave control terminal; the master-slave motion control device of the surgical robot may include at least:

[0146] An acquisition module 1310 is used to acquire the current posture of the master terminal and the current posture of the slave terminal;

[0147] The judging module 1330 is used to judge whether the current posture of the master terminal matches the current posture of the slave terminal;

[0148] An adjustment module 1350 is used to adjust the guidance parameters of the master control end based on the judgment result of the posture matching situation, wherein the guidance parameters represent the degree of deviation between the current direction in which the master control end guides the operation object or the control unit to move the master control end and the target direction;

[0149] The control module 1370 is used to control the master control end according to the adjusted guidance parameters so that the posture of the master control end matches that of the slave control end.

[0150] In some exemplary embodiments, the control module is used to determine the control parameters of the master terminal based on the adjusted guidance parameters and the current posture of the master terminal;

[0151] The main control end is controlled according to the control parameter.

[0152] In some exemplary embodiments, the control module is used to obtain the operating force applied by the operating object to the main control end; the operating force is positively correlated with the guidance parameter;

[0153] Determining a control parameter of the master control end based on the operating force, the adjusted guidance parameter and the current posture of the master control end;

[0154] The main control end is controlled according to the control parameter.

[0155] In some exemplary embodiments, the master control end includes a plurality of connecting rods and joints, and adjacent connecting rods are rotationally connected via a joint; and the slave control end includes a plurality of continuously connected flexible members.

[0156] In some exemplary embodiments, the acquisition module is used to acquire the current angle of each joint of the master control end and the current change angle of each flexible member of the slave control end corresponding to each joint;

[0157] A judgment module, used to judge whether the angle matching difference between the current angle of the target joint of the master control end and the current change angle of the corresponding flexible part is greater than a preset angle threshold;

[0158] The adjustment module is used to adjust the guidance parameters of the main control end based on the judgment result of the angle matching difference and the preset angle threshold.

[0159] In some exemplary embodiments, the acquisition module is used to determine the current angle increment of each joint of the master control end and the current angle increment of each flexible member of the slave control end corresponding to each joint;

[0160] A judgment module, used to judge whether the angle increment matching difference between the current angle increment of the target joint of the master control end and the current angle increment of the corresponding flexible part is greater than a preset angle increment threshold;

[0161] The adjustment module is used to adjust the guidance parameters of the main control end based on the judgment result of the angle increment matching difference and the preset angle increment threshold.

[0162] In some exemplary embodiments, the acquisition module is used to acquire the current angle and initial angle of each joint of the master control end;

[0163] Determine the difference between the current angle and the initial angle of each joint of the master control end as the current angle increment of each joint of the master control end;

[0164] Acquire the current change angle and initial angle of each flexible member of the slave end corresponding to each joint;

[0165] The difference between the current change angle and the initial angle of each flexible member of the slave end is determined as the current angle increment of each flexible member of the slave end.

[0166] In some exemplary embodiments, the acquisition module is used to determine the current Cartesian space pose of the terminal of the master end and the current Cartesian space pose of the terminal of the slave end;

[0167] A judgment module, used to judge whether a posture matching difference between a current Cartesian spatial posture of a terminal of the master control terminal and a current Cartesian spatial posture of a terminal of the slave control terminal is greater than a preset spatial posture threshold;

[0168] An adjustment module is used to adjust the guidance parameters of the main control end based on the judgment result of the posture matching difference and the preset spatial posture threshold.

[0169] In some exemplary embodiments, the acquisition module is used to acquire the current Cartesian spatial position of the end of the master end, and acquire the length, bending angle and rotation angle of the flexible member of the end of the slave end;

[0170] The Cartesian spatial position of the end of the slave end is determined based on the length, bending angle and rotation angle of the flexible member at the end of the slave end.

[0171] In some exemplary embodiments, the adjustment module is used to adjust the guidance parameters of the master terminal based on a judgment result of a posture matching difference between a current posture of the master terminal and a current posture of the slave terminal and a preset posture threshold.

[0172] In some exemplary embodiments, the control module is used to determine the external torque of each joint of the master control end based on the operating force;

[0173] Obtaining historical control parameters of each joint of the master control end;

[0174] For each joint of the master control end, determining a current control parameter of the joint based on the adjusted guidance parameter, the spring second-order model coefficient and the historical control parameter of the joint;

[0175] The master control end is controlled based on the current control parameters of each joint of the master control end.

[0176] In some exemplary embodiments, the control module is used to calculate the Jacobian matrix based on the current angle of each joint of the master end;

[0177] The external torque of each joint of the master control end is determined based on the Jacobian matrix and the operating force.

[0178] The following is a specific embodiment of a surgical robot according to an embodiment of the present disclosure. The present disclosure also provides a surgical robot, including a master control terminal, a slave control terminal and a control device according to the above embodiment; the slave control terminal follows the movement of the master control terminal; and the control device is used to perform master-slave motion control on the master control terminal and the slave control terminal.

[0179] Regarding the apparatus and system in the above-mentioned embodiments, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0180] An embodiment of the present application also provides a computer-readable storage medium, which can be set in a terminal to store at least one instruction or at least one program for implementing a master-slave motion control method for a surgical robot in a method embodiment, and the at least one instruction or at least one program is loaded and executed by a processor to implement the master-slave motion control method for a surgical robot provided in the above-mentioned method embodiment.

[0181] Optionally, in the embodiment of this specification, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the above storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0182] The memory of the embodiment of this specification can be used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, applications required for functions, etc.; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device. Accordingly, the memory may also include a memory controller to provide the processor with access to the memory.

[0183] The present application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the master-slave motion control method of the surgical robot provided in the above method embodiment.

[0184] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of this specification are described. Other embodiments are within the scope of the attached claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0185] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and server embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0186] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing the relevant hardware through a program, and the relevant program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0187] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A master-slave motion control method for a surgical robot, characterized in that: The surgical robot comprises a slave control terminal for performing surgery and a master control terminal for controlling the slave control terminal; the method comprises: Based on the current posture of the master control end and the current posture of the slave control end, obtaining the posture matching status of the master control end and the slave control end; Adjusting the guidance parameters of the master control end according to the posture matching situation; the guidance parameters represent the degree of deviation between the current direction of the master control end and the target direction in which the master control end guides the operation object to move; Acquiring an operation force exerted by the operation object on the main control end; the operation force is positively correlated with the guidance parameter; Determining a control parameter of the master control end based on the operating force, the adjusted guidance parameter and the current posture of the master control end; The master control end is controlled according to the control parameter so that the posture of the master control end matches that of the slave control end.

2. The control method according to claim 1, characterized in that: The master control end includes a plurality of connecting rods and joints, and adjacent connecting rods are rotationally connected via a joint; the slave control end includes a plurality of continuously connected flexible parts.

3. The control method according to claim 2, characterized in that: The acquiring, based on the current posture of the master control end and the current posture of the slave control end, a posture matching situation of the master control end and the slave control end, and adjusting the guidance parameters of the master control end according to the posture matching situation, comprises: Acquire the current angle of each joint of the master control end and the current change angle of each flexible member of the slave control end corresponding to each joint; Determine whether the angle matching difference between the current angle of the target joint of the master control end and the current change angle of the corresponding flexible member is greater than a preset angle threshold; Adjusting the guidance parameters of the main control end based on the judgment result of the angle matching difference and the preset angle threshold; Or, determining the current angle increment of each joint of the master control end and the current angle increment of each flexible member of the slave control end corresponding to each joint; Determine whether the angle increment matching difference between the current angle increment of the target joint of the master control end and the current angle increment of the corresponding flexible member is greater than a preset angle increment threshold; Adjusting the guidance parameters of the master control end based on the judgment result of the angle increment matching difference and the preset angle increment threshold; or, Determining a current Cartesian space pose of a terminal of the master end and a current Cartesian space pose of a terminal of the slave end; Determine whether a pose matching difference between a current Cartesian spatial pose of a terminal of the master control terminal and a current Cartesian spatial pose of a terminal of the slave control terminal is greater than a preset spatial pose threshold; The guidance parameters of the main control end are adjusted based on the judgment result of the posture matching difference and the preset spatial posture threshold.

4. The control method according to claim 3, characterized in that: The determining of the current angle increment of each joint of the master control end and the current angle increment of each flexible member of the slave control end corresponding to each joint includes: Obtaining the current angle and initial angle of each joint of the master control end; Determine the difference between the current angle and the initial angle of each joint of the master control end as the current angle increment of each joint of the master control end; Acquire the current change angle and initial angle of each flexible member of the slave end corresponding to each joint; The difference between the current change angle and the initial angle of each flexible member of the slave end is determined as the current angle increment of each flexible member of the slave end.

5. The control method according to claim 3, characterized in that: The determining of the current Cartesian space pose of the terminal of the master end and the current Cartesian space pose of the terminal of the slave end comprises: Acquire the current Cartesian spatial position of the end of the master control end, and acquire the length, bending angle and rotation angle of the flexible member of the end of the slave control end; The Cartesian spatial position of the end of the slave end is determined based on the length, bending angle and rotation angle of the flexible member at the end of the slave end.

6. The control method according to claim 1, characterized in that: The adjusting the guidance parameters of the main control end according to the posture matching situation includes: The guidance parameter of the master end is adjusted based on a judgment result of a posture matching difference between a current posture of the master end and a current posture of the slave end and a preset posture threshold.

7. The control method according to claim 3, characterized in that: The determining the control parameter of the master control end based on the operation force, the adjusted guidance parameter and the current posture of the master control end includes: Determine the external torque of each joint of the master control end based on the operating force; Obtaining historical control parameters of each joint of the master control end; For each joint of the master control end, determining a current control parameter of the joint based on the adjusted guidance parameter, the spring second-order model coefficient and the historical control parameter of the joint; Controlling the master control terminal based on current control parameters of each joint of the master control terminal; The determining the external torque of each joint of the master control end based on the operating force includes: Calculate the Jacobian matrix based on the current angles of each joint of the master control end; The external torque of each joint of the master control end is determined based on the Jacobian matrix and the operating force.

8. A master-slave motion control device for a surgical robot, characterized in that: The surgical robot comprises a slave control terminal for performing surgery and a master control terminal for controlling the slave control terminal; the device comprises: An acquisition module, used for acquiring the current posture of the master control end and the current posture of the slave control end; A judgment module, used to judge whether the current posture of the master terminal matches the current posture of the slave terminal; An adjustment module, used to adjust the guidance parameters of the master control end based on the judgment result of the posture matching situation, wherein the guidance parameters represent the degree of deviation between the current direction and the target direction in which the master control end guides the operation object or the control unit to move the master control end; A control module, used for controlling the master control end according to the adjusted guidance parameters so that the posture of the master control end matches that of the slave control end; The controlling the main control end according to the adjusted guidance parameter comprises: Acquire the operating force applied by the operating object to the main control end; the operating force is positively correlated with the guidance parameter; Determining a control parameter of the master control end based on the operating force, the adjusted guidance parameter and the current posture of the master control end; The main control end is controlled according to the control parameter.

9. A surgical robot, characterized in that: comprising a master control terminal, a slave control terminal and a control device as claimed in claim 8; The slave terminal follows the movement of the master terminal; The control device is used to perform motion control on the master control end and the slave control end.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the master-slave motion control method of the surgical robot as described in any one of claims 1 to 7.

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